Merge branch 'main' into toggleCameraMeshTracking

ai2thor/tests/data/arm-metadata-schema.json

@@ -462,7 +462,7 @@
           "type": "number"
         },
         "isStanding": {
-          "type": "boolean"
+          "type": ["boolean", "null"]
         },
         "inHighFrictionArea": {
           "type": "boolean"

ai2thor/tests/test_unity.py

@@ -1418,16 +1418,17 @@ def test_teleport_stretch(controller):
     agent = "stretch"
 
     event = controller.reset(agentMode=agent)
-    assert event.metadata["agent"]["isStanding"] is False, agent + " cannot stand!"
+    assert event.metadata["agent"]["isStanding"] is None, (
+        agent + " cannot stand so this should be None/null!"
+    )
 
-    # Only degrees of freedom on the locobot
     for action in ["Teleport", "TeleportFull"]:
         event = controller.step(
             action=action,
             position=dict(x=-1.5, y=0.9, z=-1.5),
             rotation=dict(x=0, y=90, z=0),
             horizon=30,
-            standing=True,
+            standing=None,
         )
 
         print(f"Error Message: {event.metadata['errorMessage']}")

unity/Assets/Scripts/AgentManager.cs

@@ -321,7 +321,7 @@ public void Initialize(ServerAction action) {
                 : action.dynamicServerAction.agentInitializationParams
         );
         Debug.Log(
-            $"Initialize of AgentController. lastActionSuccess: {primaryAgent.lastActionSuccess}, errorMessage: {primaryAgent.errorMessage}, actionReturn: {primaryAgent.actionReturn}, agentState: {primaryAgent.agentState}"
+            $"Initialize of AgentController.lastAction: {primaryAgent.lastAction} lastActionSuccess: {primaryAgent.lastActionSuccess}, errorMessage: {primaryAgent.errorMessage}, actionReturn: {primaryAgent.actionReturn}, agentState: {primaryAgent.agentState}"
         );
         Time.fixedDeltaTime = action.fixedDeltaTime.GetValueOrDefault(Time.fixedDeltaTime);
         if (action.targetFrameRate > 0) {
@@ -1333,17 +1333,22 @@ bool shouldRenderImageSynthesis
                 if (camera.transform.parent != null) {
                     cMetadata.parentObjectName = camera.transform.parent.name;
 
-                    cMetadata.parentRelativeThirdPartyCameraPosition =
-                        camera.transform.localPosition;
+                    cMetadata.parentRelativeThirdPartyCameraPosition = camera
+                        .transform
+                        .localPosition;
 
                     //get third party camera rotation as quaternion in parent space
-                    cMetadata.parentRelativeThirdPartyCameraRotation =
-                        camera.transform.localEulerAngles;
+                    cMetadata.parentRelativeThirdPartyCameraRotation = camera
+                        .transform
+                        .localEulerAngles;
                 } else {
                     //if not parented, default position and rotation to world coordinate space
                     cMetadata.parentObjectName = "";
                     cMetadata.parentRelativeThirdPartyCameraPosition = camera.transform.position;
-                    cMetadata.parentRelativeThirdPartyCameraRotation = camera.transform.rotation.eulerAngles;
+                    cMetadata.parentRelativeThirdPartyCameraRotation = camera
+                        .transform
+                        .rotation
+                        .eulerAngles;
                 }
 
                 //if this camera is part of the agent's hierarchy at all, get agent relative info
@@ -1360,7 +1365,7 @@ bool shouldRenderImageSynthesis
                         agentSpaceCameraRotationAsQuaternion.eulerAngles;
                 } else {
                     //if this third party camera is not a child of the agent, we don't need agent-relative coordinates
-                    //Note: We don't default this to world space because in the case of a multi-agent scenario, the agent 
+                    //Note: We don't default this to world space because in the case of a multi-agent scenario, the agent
                     //to be relative to is ambiguous and UHHHHH
                     cMetadata.agentRelativeThirdPartyCameraPosition = null;
                     cMetadata.agentRelativeThirdPartyCameraRotation = null;

unity/Assets/Scripts/ArmAgentController.cs

@@ -266,6 +266,80 @@ public virtual IEnumerator RotateAgent(
             );
         }
 
+        public override void Teleport(
+            Vector3? position = null,
+            Vector3? rotation = null,
+            float? horizon = null,
+            bool? standing = null,
+            bool forceAction = false
+        ) {
+            //non-high level agents cannot set standing
+            if (standing != null) {
+                errorMessage = "Cannot set standing for arm/stretch agent";
+                actionFinishedEmit(success: false, actionReturn: null, errorMessage: errorMessage);
+                return;
+            }
+
+            TeleportFull(
+                position: position,
+                rotation: rotation,
+                horizon: horizon,
+                standing: standing,
+                forceAction: forceAction
+            );
+        }
+
+        public override void TeleportFull(
+            Vector3? position = null,
+            Vector3? rotation = null,
+            float? horizon = null,
+            bool? standing = null,
+            bool forceAction = false
+        ) {
+            //non-high level agents cannot set standing
+            if (standing != null) {
+                errorMessage = "Cannot set standing for arm/stretch agent";
+                actionFinishedEmit(success: false, actionReturn: null, errorMessage: errorMessage);
+                return;
+            }
+
+            //cache old values in case there is a failure
+            Vector3 oldPosition = transform.position;
+            Quaternion oldRotation = transform.rotation;
+            Quaternion oldCameraRotation = m_Camera.transform.localRotation;
+
+            try {
+                base.teleportFull(
+                    position: position,
+                    rotation: rotation,
+                    horizon: horizon,
+                    forceAction: forceAction
+                );
+
+                // add arm value cases
+                if (!forceAction) {
+                    if (Arm != null && Arm.IsArmColliding()) {
+                        throw new InvalidOperationException(
+                            "Mid Level Arm is actively clipping with some geometry in the environment. TeleportFull fails in this position."
+                        );
+                    } else if (SArm != null && SArm.IsArmColliding()) {
+                        throw new InvalidOperationException(
+                            "Stretch Arm is actively clipping with some geometry in the environment. TeleportFull fails in this position."
+                        );
+                    }
+                    base.assertTeleportedNearGround(targetPosition: position);
+                }
+            } catch (InvalidOperationException e) {
+                transform.position = oldPosition;
+                transform.rotation = oldRotation;
+                m_Camera.transform.localRotation = oldCameraRotation;
+
+                throw new InvalidOperationException(e.Message);
+            }
+
+            actionFinished(success: true);
+        }
+
         /*
         Rotates the wrist (in a relative fashion) given some input
         pitch, yaw, and roll offsets. Easiest to see how this works by

unity/Assets/Scripts/DiscreteHidenSeekAgentController.cs

@@ -264,10 +264,11 @@ void Update() {
                     ) && PhysicsController.ReadyForCommand
                 ) {
                     ServerAction action = new ServerAction();
-                    if (this.PhysicsController.isStanding()) {
+                    bool? wasStanding = this.PhysicsController.isStanding();
+                    if (wasStanding == true) {
                         action.action = "Crouch";
                         PhysicsController.ProcessControlCommand(action);
-                    } else {
+                    } else if (wasStanding == false) {
                         action.action = "Stand";
                         PhysicsController.ProcessControlCommand(action);
                     }