Iglu trajectories

agents/craftassist/tests/recorder.py

@@ -56,6 +56,10 @@ def record_mobs(self):
         self.maybe_add_entry()
         self.tape[self.agent.count]["mobs"] = self.agent.get_mobs()
 
+    def record_items(self):
+        self.maybe_add_entry()
+        self.tape[self.agent.count]["items"] = self.agent.get_item_stacks(get_all=True)
+
     def record_players(self):
         self.maybe_add_entry()
         player_list = self.agent.get_other_players()
@@ -87,6 +91,7 @@ def record_world(self):
         self.record_mobs()
         self.record_agent()
         self.record_players()
+        self.record_items()
         self.record_block_changes()
 
     def get_last_record(self):
@@ -119,4 +124,5 @@ def __next__(self):
             "agent": r.get("agent"),
             "players": r.get("players"),
             "actions": r.get("actions"),
+            "items": r.get("items"),
         }

agents/craftassist/tests/test_get_memory.py

@@ -32,7 +32,9 @@ def setUp(self):
     def test_get_name_and_left_of(self):
         # set the name
         name = "fluffball"
-        self.agent.memory.nodes[TripleNode.NODE_TYPE].create(self.agent.memory, subj=self.cube.memid, pred_text="has_name", obj_text=name)
+        self.agent.memory.nodes[TripleNode.NODE_TYPE].create(
+            self.agent.memory, subj=self.cube.memid, pred_text="has_name", obj_text=name
+        )
 
         # get the name
         d = GET_MEMORY_COMMANDS["what is where I am looking"]
@@ -89,15 +91,15 @@ def test_what_are_you_building(self):
 
     def test_where_are_you_going(self):
         # start moving
-        d = MOVE_COMMANDS["move to 42 65 0"]
+        d = MOVE_COMMANDS["move to 8 65 0"]
         self.handle_logical_form(d, max_steps=3)
 
         # where are you going?
         d = GET_MEMORY_COMMANDS["where are you going"]
         self.handle_logical_form(d, stop_on_chat=True)
 
         # check that proper chat was sent
-        self.assertIn("42", self.last_outgoing_chat())
+        self.assertIn("8", self.last_outgoing_chat())
         self.assertIn("65", self.last_outgoing_chat())
 
     def test_where_are_you(self):

droidlet/base_util.py

@@ -18,8 +18,8 @@
 T = TypeVar("T")  # generic type
 
 """FIXME!!!!!!  make all these dicts all through code"""
-Pos = namedtuple("pos", "x, y, z", defaults=(None,) * 3)
-Look = namedtuple("look", "yaw, pitch")
+Pos = namedtuple("Pos", "x, y, z", defaults=(None,) * 3)
+Look = namedtuple("Look", "yaw, pitch")
 Player = namedtuple("Player", "entityId, name, pos, look")
 
 

droidlet/interpreter/craftassist/mc_interpreter.py

@@ -578,7 +578,8 @@ def handle_get(self, agent, speaker, d) -> Tuple[Any, Optional[str], Any]:
                 )
 
             for obj in objs:
-                task_data = {"target": pos, "eid": obj.eid, "obj_memid": obj.memid}
-                tasks.append(self.task_objects["drop"](agent, task_data))
+                if "_in_others_inventory" not in obj.get_tags():
+                    task_data = {"target": pos, "eid": obj.eid, "obj_memid": obj.memid}
+                    tasks.append(self.task_objects["drop"](agent, task_data))
 
             return maybe_bundle_task_list(agent, tasks)

droidlet/interpreter/craftassist/tasks.py

@@ -196,6 +196,8 @@ def __init__(self, agent, task_data):
             return
         self.target = to_block_pos(np.array(task_data["target"]))
         self.approx = task_data.get("approx", 1)
+        # allows agent to destroy blocks to get to a location
+        self.destructive = task_data.get("destructive", False)
         self.path = None
         self.replace = set()
         self.last_stepped_time = agent.memory.get_time()
@@ -235,8 +237,12 @@ def step(self):
         if self.path is None or tuple(agent.pos) != self.path[-1]:
             self.path = astar(agent, self.target, self.approx)
             if self.path is None:
-                self.handle_no_path(agent)
-                return
+                if not self.destructive:
+                    self.finished = True
+                    raise Exception("Could not move to location {}".format(self.target))
+                else:
+                    self.handle_no_path(agent)
+                    return
 
         # take a step on the path
         assert tuple(agent.pos) == self.path.pop()

droidlet/interpreter/tests/all_test_commands.py

@@ -615,13 +615,13 @@ def command(d):
 }
 
 MOVE_COMMANDS = {
-    "move to 42 65 0": {
+    "move to 8 65 0": {
         "dialogue_type": "HUMAN_GIVE_COMMAND",
         "event_sequence": [
             {
                 "action_type": "MOVE",
                 "location": {
-                    "reference_object": {"special_reference": {"coordinates_span": "42 65 0"}}
+                    "reference_object": {"special_reference": {"coordinates_span": "8 65 0"}}
                 },
             }
         ],

droidlet/lowlevel/minecraft/pyworld/fake_mobs.py

@@ -2,6 +2,7 @@
 Copyright (c) Facebook, Inc. and its affiliates.
 """
 import numpy as np
+from collections import namedtuple
 from droidlet.base_util import Pos, Look
 from droidlet.shared_data_struct.craftassist_shared_utils import MOBS_BY_ID
 
@@ -27,8 +28,7 @@ class Opt:
     pass
 
 
-class MobInfo:
-    pass
+MobInfo = namedtuple("MobInfo", "entityId, pos, look, mobType, color, mobname")
 
 
 def make_mob_opts(mobname):
@@ -84,13 +84,9 @@ def add_to_world(self, world):
         self.world.mobs.append(self)
 
     def get_info(self):
-        info = MobInfo()
-        info.entityId = self.entityId
-        info.pos = Pos(*self.pos)
-        info.look = Look(*self.look)
-        info.mobType = self.mobType
-        info.color = self.color
-        info.mobname = self.mobname
+        info = MobInfo(
+            self.entityId, Pos(*self.pos), Look(*self.look), self.mobType, self.color, self.mobname
+        )
         return info
 
     def new_direction(self):

droidlet/lowlevel/minecraft/pyworld/item.py

@@ -24,6 +24,7 @@ def update_position(self, x, y, z):
     def add_to_world(self, world):
         self.entityId = world.new_eid(entityId=self.entityId)
         x, y, z, _, _ = make_pose(world.sl, world.sl, height_map=world.get_height_map())
+        x, y, z = world.from_npy_coords((x, y, z))
         self.update_position(x, y, z)
         world.items[self.entityId] = self