Merge pull request #862 from allenai/obstructedObjectFix

Adds isInteractable, removes obstructed from the object metadata
allenai · Sep 28, 2021 · 95745d5 · 95745d5
2 parents 3ce9fe1 + 4a32f53
commit 95745d5
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Showing 11 changed files with 264 additions and 218 deletions.
diff --git a/ai2thor/tests/data/arm-metadata-schema.json b/ai2thor/tests/data/arm-metadata-schema.json
@@ -179,7 +179,7 @@
           "visible": {
             "type": "boolean"
           },
-          "obstructed": {
+          "isInteractable": {
             "type": "boolean"
           },
           "receptacle": {
@@ -404,7 +404,7 @@
           "objectId",
           "objectOrientedBoundingBox",
           "objectType",
-          "obstructed",
+          "isInteractable",
           "openable",
           "parentReceptacles",
           "pickupable",

diff --git a/ai2thor/tests/data/metadata-schema.json b/ai2thor/tests/data/metadata-schema.json
@@ -43,7 +43,7 @@
           "visible": {
             "type": "boolean"
           },
-          "obstructed": {
+          "isInteractable": {
             "type": "boolean"
           },
           "receptacle": {
@@ -268,7 +268,7 @@
           "objectId",
           "objectOrientedBoundingBox",
           "objectType",
-          "obstructed",
+          "isInteractable",
           "openable",
           "parentReceptacles",
           "pickupable",

diff --git a/unity/Assets/Scripts/AgentManager.cs b/unity/Assets/Scripts/AgentManager.cs
@@ -1295,9 +1295,9 @@ public class ObjectMetadata {
     // public float cameraHorizon; moved to AgentMetadata, objects don't have a camerahorizon
     public bool visible;
 
-    // If true, object is obstructed by something and actions cannot be performed on it.
+    // If true, object is obstructed by something and actions cannot be performed on it unless forced.
     // This means an object behind glass will be obstructed=True and visible=True
-    public bool obstructed;
+    public bool isInteractable;
 
     // is this object a receptacle?
     public bool receptacle;

diff --git a/unity/Assets/Scripts/BaseFPSAgentController.cs b/unity/Assets/Scripts/BaseFPSAgentController.cs
diff --git a/unity/Assets/Scripts/DebugInputField.cs b/unity/Assets/Scripts/DebugInputField.cs
@@ -1722,16 +1722,6 @@ IEnumerator executeBatch(JArray jActions) {
                         break;
                     }
 
-                // Force pickup object
-                case "fpu": {
-                        ServerAction action = new ServerAction();
-                        action.action = "PickupObject";
-                        action.objectId = splitcommand[1];
-                        action.forceAction = true;
-                        CurrentActiveController().ProcessControlCommand(action);
-                        break;
-                    }
-
                 // Get objects in box
                 case "oib": {
                         Dictionary<string, object> action = new Dictionary<string, object>();
@@ -2060,6 +2050,17 @@ IEnumerator executeBatch(JArray jActions) {
                         break;
                     }
 
+                // Force pickup object
+                case "fpu": {
+                        Dictionary<string, object> action = new Dictionary<string, object>();
+                        action["action"] = "PickupObject";
+                        if (splitcommand.Length > 1) {
+                            action["objectId"] = splitcommand[1];
+                        }
+                        action["forceAction"] = true;
+                        CurrentActiveController().ProcessControlCommand(action);
+                        break;
+                    }
                 // pickup using screen coordinates
                 case "puxy": {
                         Dictionary<string, object> action = new Dictionary<string, object>();

diff --git a/unity/Assets/Scripts/DroneFPSAgentController.cs b/unity/Assets/Scripts/DroneFPSAgentController.cs
@@ -116,7 +116,7 @@ public override void FixedUpdate() {
         }
 
         // generates object metadata based on sim object's properties
-        public override ObjectMetadata ObjectMetadataFromSimObjPhysics(SimObjPhysics simObj, bool isVisible) {
+        public override ObjectMetadata ObjectMetadataFromSimObjPhysics(SimObjPhysics simObj, bool isVisible, bool isInteractable) {
             DroneObjectMetadata objMeta = new DroneObjectMetadata();
             objMeta.isCaught = this.isObjectCaught(simObj);
             objMeta.numSimObjHits = simObj.numSimObjHit;
@@ -181,8 +181,6 @@ public override ObjectMetadata ObjectMetadataFromSimObjPhysics(SimObjPhysics sim
                 }
             }
 
-
-
             // can this object change others to hot?
             objMeta.isHeatSource = simObj.isHeatSource;
 
@@ -213,6 +211,10 @@ public override ObjectMetadata ObjectMetadataFromSimObjPhysics(SimObjPhysics sim
             // in the multiagent setting, explicitly giving this information for now.
             objMeta.visible = isVisible; // simObj.isVisible;
 
+            //determines if the objects is unobstructed and interactable. Objects visible behind see-through geometry like glass will be isInteractable=False even if visible
+            //note using forceAction=True will ignore the isInteractable requirement
+            objMeta.isInteractable = isInteractable;
+
             objMeta.isMoving = simObj.inMotion;// keep track of if this object is actively moving
 
             objMeta.objectOrientedBoundingBox = simObj.ObjectOrientedBoundingBox;

diff --git a/unity/Assets/Scripts/ExpRoom/PhysicsRemoteFPSAgentController_partial_ExpRoom.cs b/unity/Assets/Scripts/ExpRoom/PhysicsRemoteFPSAgentController_partial_ExpRoom.cs
@@ -180,7 +180,7 @@ SimObjPhysics cover in availableExpRoomContainersDict.OrderBy(
                             return false;
                         }
                         if (i == 0) {
-                            if (isSimObjVisible(visibilityCheckCamera, toCover, 10f)) {
+                            if (isSimObjVisible(visibilityCheckCamera, toCover, 10f).visible) {
                                 return false;
                             }
                         }
@@ -415,9 +415,11 @@ public void ObjectsVisibleFromThirdPartyCamera(int thirdPartyCameraIndex, float?
             if (!maxDistance.HasValue) {
                 maxDistance = maxVisibleDistance;
             }
+
+            SimObjPhysics[] interactable;
             actionFinishedEmit(true,
               GetAllVisibleSimObjPhysicsDistance(
-                agentManager.thirdPartyCameras[thirdPartyCameraIndex], maxDistance.Value, null
+                agentManager.thirdPartyCameras[thirdPartyCameraIndex], maxDistance.Value, null, out interactable
               ).Select(sop => sop.ObjectID).ToList()
             );
         }
@@ -441,9 +443,8 @@ public void ProportionOfObjectVisible(
                 Camera camera = thirdPartyCameraIndex.HasValue ? agentManager.thirdPartyCameras[thirdPartyCameraIndex.Value] : m_Camera;
                 foreach (Transform point in visPoints) {
                     // if this particular point is in view...
-                    if (CheckIfVisibilityPointInViewport(
-                        target, point, camera, false
-                    )) {
+
+                    if (CheckIfVisibilityPointInViewport(target, point, camera, false).visible) {
                         visPointCount++;
                     }
                 }