diff --git a/CPU_Container.dockerfile b/CPU_Container.dockerfile index 3ab3f8ac6..cde7119f4 100644 --- a/CPU_Container.dockerfile +++ b/CPU_Container.dockerfile @@ -9,7 +9,7 @@ ARG DEBIAN_FRONTEND=noninteractive ENV TZ=America/New_York # --build-arg mcsversion=x.y.z to override default in docker build command -ARG mcsversion=0.6.2 +ARG mcsversion=0.6.3 ARG mcs_library_version=master WORKDIR /mcs diff --git a/Dockerfile b/Dockerfile index 1982fe622..b43f4fa99 100644 --- a/Dockerfile +++ b/Dockerfile @@ -19,7 +19,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES},display # ENV LANG C.UTF-8 # --build-arg mcsversion=x.y.z to override default in docker build command -ARG mcsversion=0.6.2 +ARG mcsversion=0.6.3 ARG mcs_library_version=master WORKDIR /mcs diff --git a/README.md b/README.md index b6ce9bf3d..d84d64df1 100644 --- a/README.md +++ b/README.md @@ -16,7 +16,7 @@ Publish to PyPI: [![Publish PyPI](https://github.com/NextCenturyCorporation/MCS/ # MCS Python Package -Python interface for interacting with MCS AI2Thor environment and running scenes. The latest release of the MCS Python library is `0.6.2`. You can find the latest documentation [here](https://nextcenturycorporation.github.io/MCS). +Python interface for interacting with MCS AI2Thor environment and running scenes. The latest release of the MCS Python library is `0.6.3`. You can find the latest documentation [here](https://nextcenturycorporation.github.io/MCS). - [Quickstart Installation](#quickstart-installation) - [Usage](#usage) diff --git a/docs/source/install.rst b/docs/source/install.rst index 85dcaeb2f..bf475f833 100644 --- a/docs/source/install.rst +++ b/docs/source/install.rst @@ -2,8 +2,8 @@ Installation and Setup ======================= -.. _Download and unzip the Mac ZIP: https://github.com/NextCenturyCorporation/MCS/releases/download/0.6.2/MCS-AI2-THOR-Unity-App-v0.6.2-mac.zip -.. _Download and unzip the Linux ZIP: https://github.com/NextCenturyCorporation/MCS/releases/download/0.6.2/MCS-AI2-THOR-Unity-App-v0.6.2-linux.zip +.. _Download and unzip the Mac ZIP: https://github.com/NextCenturyCorporation/MCS/releases/download/0.6.3/MCS-AI2-THOR-Unity-App-v0.6.3-mac.zip +.. _Download and unzip the Linux ZIP: https://github.com/NextCenturyCorporation/MCS/releases/download/0.6.3/MCS-AI2-THOR-Unity-App-v0.6.3-linux.zip Virtual Environments ------------------------ diff --git a/integration_tests/data/068.scripted_ghost.oracle.outputs.json b/integration_tests/data/068.scripted_ghost.oracle.outputs.json index 018aff5ba..52c24d1fe 100644 --- a/integration_tests/data/068.scripted_ghost.oracle.outputs.json +++ b/integration_tests/data/068.scripted_ghost.oracle.outputs.json @@ -19,7 +19,7 @@ "texture_color_list": [ "blue" ], - "visible": false + "visible": true }, { "direction_x": 0.0, @@ -38,7 +38,7 @@ "texture_color_list": [ "blue" ], - "visible": true + "visible": false } ], "objects_count": 2, @@ -69,11 +69,11 @@ "texture_color_list": [ "blue" ], - "visible": false + "visible": true }, { "direction_x": 0.0, - "direction_y": -0.248, + "direction_y": -0.27, "direction_z": 0.969, "distance": 2.064, "held": false, @@ -88,7 +88,7 @@ "texture_color_list": [ "blue" ], - "visible": true + "visible": false } ], "objects_count": 2, @@ -119,11 +119,11 @@ "texture_color_list": [ "blue" ], - "visible": false + "visible": true }, { "direction_x": 0.0, - "direction_y": -0.248, + "direction_y": -0.27, "direction_z": 0.969, "distance": 2.064, "held": false, @@ -138,7 +138,7 @@ "texture_color_list": [ "blue" ], - "visible": true + "visible": false } ], "objects_count": 2, @@ -169,11 +169,11 @@ "texture_color_list": [ "blue" ], - "visible": false + "visible": true }, { "direction_x": 0.0, - "direction_y": -0.248, + "direction_y": -0.27, "direction_z": 0.969, "distance": 2.064, "held": false, @@ -188,7 +188,7 @@ "texture_color_list": [ "blue" ], - "visible": true + "visible": false } ], "objects_count": 2, @@ -219,11 +219,11 @@ "texture_color_list": [ "blue" ], - "visible": false + "visible": true }, { "direction_x": 0.0, - "direction_y": -0.248, + "direction_y": -0.27, "direction_z": 0.969, "distance": 2.064, "held": false, @@ -238,7 +238,7 @@ "texture_color_list": [ "blue" ], - "visible": true + "visible": false } ], "objects_count": 2, diff --git a/integration_tests/data/068.scripted_ghost.scene.json b/integration_tests/data/068.scripted_ghost.scene.json index e4e508777..9f011337f 100644 --- a/integration_tests/data/068.scripted_ghost.scene.json +++ b/integration_tests/data/068.scripted_ghost.scene.json @@ -53,10 +53,11 @@ "z": 2 }, "scale": { - "x": 0.5, - "y": 0.5, - "z": 0.5 + "x": 0.4, + "y": 0.4, + "z": 0.4 } }] }] -} + } + \ No newline at end of file diff --git a/integration_tests/data/125.agents_interaction_advanced_action.level1.outputs.json b/integration_tests/data/125.agents_interaction_advanced_action.level1.outputs.json index 7e812e631..b2f791312 100644 --- a/integration_tests/data/125.agents_interaction_advanced_action.level1.outputs.json +++ b/integration_tests/data/125.agents_interaction_advanced_action.level1.outputs.json @@ -94,7 +94,7 @@ "objects_count": 0, "position_x": null, "position_z": null, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": null, "step_number": 9, "structural_objects_count": 0 @@ -194,7 +194,7 @@ "objects_count": 0, "position_x": null, "position_z": null, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": null, "step_number": 19, "structural_objects_count": 0 @@ -204,7 +204,7 @@ "objects_count": 0, "position_x": null, "position_z": null, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": null, "step_number": 20, "structural_objects_count": 0 diff --git a/integration_tests/data/125.agents_interaction_advanced_action.level2.outputs.json b/integration_tests/data/125.agents_interaction_advanced_action.level2.outputs.json index 7e812e631..b2f791312 100644 --- a/integration_tests/data/125.agents_interaction_advanced_action.level2.outputs.json +++ b/integration_tests/data/125.agents_interaction_advanced_action.level2.outputs.json @@ -94,7 +94,7 @@ "objects_count": 0, "position_x": null, "position_z": null, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": null, "step_number": 9, "structural_objects_count": 0 @@ -194,7 +194,7 @@ "objects_count": 0, "position_x": null, "position_z": null, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": null, "step_number": 19, "structural_objects_count": 0 @@ -204,7 +204,7 @@ "objects_count": 0, "position_x": null, "position_z": null, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": null, "step_number": 20, "structural_objects_count": 0 diff --git a/integration_tests/data/125.agents_interaction_advanced_action.oracle.outputs.json b/integration_tests/data/125.agents_interaction_advanced_action.oracle.outputs.json index fb8e55c64..ee5281d57 100644 --- a/integration_tests/data/125.agents_interaction_advanced_action.oracle.outputs.json +++ b/integration_tests/data/125.agents_interaction_advanced_action.oracle.outputs.json @@ -734,7 +734,7 @@ "objects_count": 3, "position_x": 0.0, "position_z": -0.6, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": 0.0, "step_number": 9, "structural_objects_count": 5 @@ -1447,7 +1447,7 @@ "objects_count": 3, "position_x": 0.4, "position_z": -0.6, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": 0.0, "step_number": 19, "structural_objects_count": 5 @@ -1518,7 +1518,7 @@ "objects_count": 3, "position_x": 0.4, "position_z": -0.6, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": 0.0, "step_number": 20, "structural_objects_count": 5 diff --git a/integration_tests/data/156.all_actions_on_agent_order_of_return_status.level1.outputs.json b/integration_tests/data/156.all_actions_on_agent_order_of_return_status.level1.outputs.json index 8b1acd505..73e6e7ed7 100644 --- a/integration_tests/data/156.all_actions_on_agent_order_of_return_status.level1.outputs.json +++ b/integration_tests/data/156.all_actions_on_agent_order_of_return_status.level1.outputs.json @@ -426,7 +426,7 @@ "position_z": null, "resolved_object": null, "resolved_receptacle": null, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": null, "step_number": 35, "structural_objects_count": 0 diff --git a/integration_tests/data/156.all_actions_on_agent_order_of_return_status.level2.outputs.json b/integration_tests/data/156.all_actions_on_agent_order_of_return_status.level2.outputs.json index 8b1acd505..73e6e7ed7 100644 --- a/integration_tests/data/156.all_actions_on_agent_order_of_return_status.level2.outputs.json +++ b/integration_tests/data/156.all_actions_on_agent_order_of_return_status.level2.outputs.json @@ -426,7 +426,7 @@ "position_z": null, "resolved_object": null, "resolved_receptacle": null, - "return_status": "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER", + "return_status": "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER", "rotation_y": null, "step_number": 35, "structural_objects_count": 0 diff --git a/integration_tests/data/156.all_actions_on_agent_order_of_return_status.oracle.outputs.json b/integration_tests/data/156.all_actions_on_agent_order_of_return_status.oracle.outputs.json index 8fb6d52bd..a923aed25 100644 --- a/integration_tests/data/156.all_actions_on_agent_order_of_return_status.oracle.outputs.json +++ b/integration_tests/data/156.all_actions_on_agent_order_of_return_status.oracle.outputs.json @@ -1146,7 +1146,7 @@ "position_z": 0.0, "resolved_object": "agent", 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+ "step_number": 27, + "structural_objects_count": 4 + } +] \ No newline at end of file diff --git a/integration_tests/data/180.visible_ghosted_objects.scene.json b/integration_tests/data/180.visible_ghosted_objects.scene.json new file mode 100644 index 000000000..291ab9d41 --- /dev/null +++ b/integration_tests/data/180.visible_ghosted_objects.scene.json @@ -0,0 +1,188 @@ +{ + "name": "Test that ghosted objects are visible", + "version": 3, + "ceilingMaterial": "AI2-THOR/Materials/Walls/Drywall4Tiled", + "floorMaterial": "AI2-THOR/Materials/Fabrics/Carpet3", + "wallMaterial": "Custom/Materials/AzureDrywallMCS", + "performerStart": { + "position": { + "x": 0, + "y": 0, + "z": -4.5 + }, + "rotation": { + "y": 0 + } + }, + "objects": [ + { + "id": "purple_truck", + "type": "truck_2", + "mass": 16.95, + "salientMaterials": [ + "wood" + ], + "moveable": true, + "pickupable": true, + "shows": [ + { + "position": { + "x": -8.45, + "y": 0.0169, + "z": 8.75 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + }, + "stepBegin": 5, + "scale": { + "x": 3.39, + "y": 3.39, + "z": 3.39 + }, + "boundingBox": [ + { + "x": -8.2127, + "y": 0.0, + "z": 8.2754 + }, + { + "x": -8.6873, + "y": 0.0, + "z": 8.2754 + }, + { + "x": -8.6873, + "y": 0.0, + "z": 9.2246 + }, + { + "x": -8.2127, + "y": 0.0, + "z": 9.2246 + }, + { + "x": -8.2127, + "y": 0.678, + "z": 8.2754 + }, + { + "x": -8.6873, + "y": 0.678, + "z": 8.2754 + }, + { + "x": -8.6873, + "y": 0.678, + "z": 9.2246 + }, + { + "x": -8.2127, + "y": 0.678, + "z": 9.2246 + } + ] + } + ], + "materials": [ + "Custom/Materials/Magenta" + ], + "forces": [ + { + "stepBegin": 5, + "stepEnd": 6, + "vector": { + "x": 14916.0, + "y": 0.0, + "z": 0.0 + } + } + ] + }, + { + "id": "green_truck", + "type": "truck_2", + "mass": 16.95, + "salientMaterials": [ + "wood" + ], + "moveable": true, + "pickupable": true, + "shows": [ + { + "position": { + "x": 0.5416, + "y": 0.0169, + "z": 8.75 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + }, + "stepBegin": 3, + "scale": { + "x": 3.39, + "y": 3.39, + "z": 3.39 + }, + "boundingBox": [ + { + "x": -8.2127, + "y": 0.0, + "z": 8.2754 + }, + { + "x": -8.6873, + "y": 0.0, + "z": 8.2754 + }, + { + "x": -8.6873, + "y": 0.0, + "z": 9.2246 + }, + { + "x": -8.2127, + "y": 0.0, + "z": 9.2246 + }, + { + "x": -8.2127, + "y": 0.678, + "z": 8.2754 + }, + { + "x": -8.6873, + "y": 0.678, + "z": 8.2754 + }, + { + "x": -8.6873, + "y": 0.678, + "z": 9.2246 + }, + { + "x": -8.2127, + "y": 0.678, + "z": 9.2246 + } + ] + } + ], + "materials": [ + "Custom/Materials/Lime" + ], + "forces": [], + "ghosts": [ + { + "stepBegin": 4, + "stepEnd": 201 + } + ] + } + ], + "intuitivePhysics": true + } \ No newline at end of file diff --git a/integration_tests/data/181.agent_continues_pointing.actions.txt b/integration_tests/data/181.agent_continues_pointing.actions.txt new file mode 100644 index 000000000..f2d7d0aa0 --- /dev/null +++ b/integration_tests/data/181.agent_continues_pointing.actions.txt @@ -0,0 +1,80 @@ +Pass +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +RotateRight +MoveLeft +MoveLeft +Pass +Pass +Pass +Pass +Pass +Pass +InteractWithAgent,objectImageCoordsX=300,objectImageCoordsY=200 +Pass +Pass +Pass +Pass +Pass +Pass +Pass +Pass +Pass +Pass +Pass +Pass +Pass +Pass +Pass diff --git a/integration_tests/data/181.agent_continues_pointing.level1.outputs.json b/integration_tests/data/181.agent_continues_pointing.level1.outputs.json new file mode 100644 index 000000000..e0a0507ef --- /dev/null +++ b/integration_tests/data/181.agent_continues_pointing.level1.outputs.json @@ -0,0 +1,812 @@ +[ + { + "head_tilt": 0, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 0, + "structural_objects_count": 0 + }, + { + "head_tilt": 0, + "objects_count": 0, + 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}, + { + "id": "toolbox_3", + "type": "toolbox_4", + "mass": 52.5, + "salientMaterials": [], + "receptacle": true, + "openable": true, + "shows": [ + { + "position": { + "x": -3.1647, + "y": 0.0, + "z": -9.1102 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "stepBegin": 0, + "scale": { + "x": 10.5, + "y": 10.5, + "z": 10.5 + } + } + ], + "materials": ["AI2-THOR/Materials/Metals/BlackSmoothMeta"], + "moveable": true, + "locked": false + }, + { + "id": "toolbox_4", + "type": "toolbox_4", + "mass": 52.5, + "salientMaterials": [], + "receptacle": true, + "openable": true, + "shows": [ + { + "position": { + "x": 1.4885, + "y": 0.0, + "z": 2.1048 + }, + "rotation": { + "x": 0.0, + "y": 45.0, + "z": 0.0 + }, + "stepBegin": 0, + "scale": { + "x": 10.5, + "y": 10.5, + "z": 10.5 + } + } + ], + "materials": ["AI2-THOR/Materials/Metals/BlackSmoothMeta"], + "moveable": true, + "locked": false + }, + { + "id": "agent", + "type": "agent_female_01", + "mass": 75, + "agentSettings": { + "chest": 4, + "chestMaterial": 14, + "eyes": 1, + "feet": 2, + "feetMaterial": 3, + "glasses": 6, + "hair": 6, + "hairMaterial": 8, + "hatMaterial": 5, + "hideHair": true, + "isElder": true, + "jacket": 0, + "jacketMaterial": 0, + "legs": 0, + "legsMaterial": 14, + "showBeard": false, + "showGlasses": false, + "showJacket": false, + "showTie": true, + "skin": 2, + "tie": 1, + "tieMaterial": 9 + }, + "actions": [ + { + "id": "Point_start_index_finger", + "stepBegin": 1, + "stepEnd": 8 + }, + { + "id": "Point_hold_index_finger", + "stepBegin": 8, + "isLoopAnimation": true + } + ], + "shows": [ + { + "stepBegin": 0, + "position": { + "x": 2.3809, + "y": 0.0, + "z": -0.583 + }, + "rotation": { + "x": 0, + "y": 187, + "z": 0 + }, + "scale": { + "x": 1, + "y": 1, + "z": 1 + } + } + ] + } + ], + "screenshot": false, + "version": 2, + "ceilingMaterial": "AI2-THOR/Materials/Walls/Drywall", + "floorMaterial": "UnityAssetStore/Baby_Room/Models/Materials/wood 1", + "floorTextures": [], + "intuitivePhysics": false, + "performerStart": { + "position": { + "x": 3, + "y": 0.0, + "z": -0.2 + }, + "rotation": { + "x": 0.0, + "y": -125, + "z": 0.0 + } + }, + "restrictOpenDoors": false, + "roomDimensions": { + "x": 13.0, + "y": 7.0, + "z": 20.0 + }, + "roomMaterials": { + "back": "Custom/Materials/OrangeDrywallMCS", + "front": "Custom/Materials/OrangeDrywallMCS", + "left": "Custom/Materials/OrangeDrywallMCS", + "right": "Custom/Materials/OrangeDrywallMCS" + } + } \ No newline at end of file diff --git a/machine_common_sense/__init__.py b/machine_common_sense/__init__.py index fd9a10706..5375bce0e 100644 --- a/machine_common_sense/__init__.py +++ b/machine_common_sense/__init__.py @@ -1,3 +1,4 @@ +import concurrent.futures import json import logging import logging.config @@ -34,16 +35,26 @@ TIME_LIMIT_SECONDS = 180 -@contextmanager -def time_limit(seconds): - def signal_handler(signum, frame): - raise Exception("Time out!") - signal.signal(signal.SIGALRM, signal_handler) - signal.alarm(seconds) - try: - yield - finally: - signal.alarm(0) +def get_controller(unity_exec: str, config: ConfigManager): + """Function to get the controller, pulled into its own + function so we can time it. """ + controller = Controller(unity_exec, config) + return controller + + +def get_controller_with_timeout(unity_exec: str, config: ConfigManager): + """Wrapper function that sets a timeout for the controller creation. + If getting the controller times out, None is returned. """ + with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: + future = executor.submit(get_controller, unity_exec, config) + try: + controller = future.result(timeout=TIME_LIMIT_SECONDS) + return controller + except concurrent.futures.TimeoutError as Msg: + logger.error("Timeout error in creating controller", exc_info=Msg) + + # TODO: Add checks to continue waiting for the controller creation. + return None @typeguard.typechecked @@ -118,8 +129,7 @@ def create_controller(config_file_or_dict: Union[Dict, str] = None, unity_cache_version).as_posix() config = ConfigManager(config_file_or_dict) - with time_limit(TIME_LIMIT_SECONDS): - controller = Controller(unity_exec, config) + controller = get_controller_with_timeout(unity_exec, config) if not controller: raise Exception('MCS/Python Controller failed to initialize') add_subscribers(controller, config) diff --git a/machine_common_sense/_version.py b/machine_common_sense/_version.py index aece342d9..a68d2bd0a 100644 --- a/machine_common_sense/_version.py +++ b/machine_common_sense/_version.py @@ -1 +1 @@ -__version__ = '0.6.2' +__version__ = '0.6.3' diff --git a/machine_common_sense/action.py b/machine_common_sense/action.py index 017f51570..b1138746f 100644 --- a/machine_common_sense/action.py +++ b/machine_common_sense/action.py @@ -613,6 +613,8 @@ class Action(Enum): """ Interact with an agent. If that agent has an object, it will hold out the object for you to pickup; otherwise, the agent will look sad. + If the agent was pointing at an object, the agent will resume pointing + afterward. Parameters ---------- @@ -642,7 +644,10 @@ class Action(Enum): If the object being interacted with is not a simulation agent "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER" If the object being interacted with is a simulation agent already - interacting with the performer + interacting with the performer. + "AGENT_IS_BUSY" + If the object being interacted with is a simulation agent that is + currently rotating to face an object or beginning its point animation. "NOT_VISIBLE" If the object corresponding to the "objectId" is not in the viewport. "OUT_OF_REACH" diff --git a/machine_common_sense/return_status.py b/machine_common_sense/return_status.py index 898deb35a..51aacdc52 100644 --- a/machine_common_sense/return_status.py +++ b/machine_common_sense/return_status.py @@ -18,8 +18,9 @@ class ReturnStatus(Enum): OBSTRUCTED = "OBSTRUCTED" OUT_OF_REACH = "OUT_OF_REACH" NOT_AGENT = "NOT_AGENT" - AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER = \ - "AGENT_CURRENTLY_INTERACTING_WTIH_PERFORMER" + AGENT_IS_BUSY = "AGENT_IS_BUSY" + AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER = \ + "AGENT_CURRENTLY_INTERACTING_WITH_PERFORMER" SUCCESSFUL = "SUCCESSFUL" SUCCESSFUL_WITH_INVALID_PARAMETERS = "SUCCESSFUL_WITH_INVALID_PARAMETERS" UNDEFINED = "UNDEFINED"