change format of particleModifier to correctly parse default_fluid/ph…

…ysical/visual_conditions

bddl/data_generation/get_explicit_transition_rules.py

@@ -14,6 +14,16 @@
 OBJECT_CAT_AND_INST_RE = r"[A-Za-z-_]+\.n\.[0-9]+"
 
 
+def parse_conditions_entry(unparsed_conditions):
+    # print(f"Parsing: {unparsed_conditions}")
+    if unparsed_conditions.isnumeric():
+        always_true = bool(int(unparsed_conditions))
+        conditions = [] if always_true else None
+    else:
+        conditions = unparsed_conditions.lower().split(" or ")
+    return conditions
+
+
 def sheet_to_json(submap):
     params = TM_SUBMAPS_TO_PARAMS[submap]
     raw_data = pd.read_csv(os.path.join(SHEETS_DIR, submap + ".csv"))[params].to_json(orient="records")
@@ -68,10 +78,39 @@ def sheet_to_json(submap):
         json.dump(reformatted_data, f, indent=4)
 
 
+def sheet_to_json_washer():
+    records = []
+    with open(os.path.join(SHEETS_DIR, "washer.csv")) as f:
+        reader = csv.DictReader(f)
+        for row in reader:
+            records.append(row)
+    assert len(records) == 1
+    record = records[0]
+
+    default_fluid_conditions = parse_conditions_entry(record["other liquids"])
+    default_visual_conditions = parse_conditions_entry(record["other visualSubstances"])
+    default_physical_conditions = parse_conditions_entry(record["other physicalSubstances"])
+    remover_kwargs = {
+        "conditions": {},
+        "default_fluid_conditions": default_fluid_conditions,
+        "default_visual_conditions": default_visual_conditions,
+        "default_physical_conditions": default_physical_conditions,
+    }
+
+    # Iterate through all the columns headed by a substance, in no particular order since their ultimate location is a dict
+    for dirtiness_substance_synset in [key for key in record if re.match(OBJECT_CAT_AND_INST_RE, key) is not None]:
+        conditions = parse_conditions_entry(record[dirtiness_substance_synset])
+        remover_kwargs["conditions"][dirtiness_substance_synset] = conditions
+
+    with open(os.path.join(JSONS_DIR, "washer.json"), "w") as f:
+        json.dump(remover_kwargs, f, indent=4)
+
 def create_save_explicit_transition_rules():
     print("Creating explicit transition rule jsons...")
     for submap in TM_SUBMAPS_TO_PARAMS:
         sheet_to_json(submap)
+
+    sheet_to_json_washer()
     print("Created and saved explicit transition rule jsons.")
 
 

bddl/data_generation/process_prop_param_annots.py

@@ -75,7 +75,8 @@ def get_synsets_to_particle_remover_params():
 
         # Skip washer and dryer
         if "not particleremover" in record["synset"].lower(): continue
-
+
+        default_fluid_conditions = parse_conditions_entry(record["other liquids"])
         default_visual_conditions = parse_conditions_entry(record["other visualSubstances"])
         default_physical_conditions = parse_conditions_entry(record["other physicalSubstances"])
         if record["method"] not in {"projection", "adjacency"}:
@@ -85,15 +86,15 @@ def get_synsets_to_particle_remover_params():
             "conditions": {},
             "default_visual_conditions": default_visual_conditions,
             "default_physical_conditions": default_physical_conditions,
+            "default_fluid_conditions": default_fluid_conditions,
             "method": record["method"],
         }
 
         # Iterate through all the columns headed by a substance, in no particular order since their ultimate location is a dict
         for dirtiness_substance_synset in [key for key in record if re.match(OBJECT_CAT_AND_INST_RE, key) is not None]:
             conditions = parse_conditions_entry(record[dirtiness_substance_synset])
-            if conditions is not None: 
-                remover_kwargs["conditions"][dirtiness_substance_synset] = conditions
-
+            remover_kwargs["conditions"][dirtiness_substance_synset] = conditions
+
         synset_cleaning_mapping[synset] = remover_kwargs
 
     return synset_cleaning_mapping
@@ -155,6 +156,8 @@ def create_get_save_propagated_annots_params(syns_to_props):
                         elif prop == "particleSink":
                             if param_name == "conditions": 
                                 formatted_param_value = {}
+                            elif param_name == "default_fluid_conditions":
+                                formatted_param_value = []
                             elif param_name == "default_physical_conditions": 
                                 formatted_param_value = []
                             elif param_name == "default_visual_conditions":

bddl/data_generation/sanity_check.py

@@ -22,9 +22,11 @@ def sanity_check_object_hierarchy(object_taxonomy):
                 ability_params = abilities[ability]
                 for substance_synset in ability_params["conditions"]:
                     assert substance_synset in leaf_substance_synsets, f"In ParticleModifier annotation, {substance_synset} is not a leaf substance synset."
-                    for condition in ability_params["conditions"][substance_synset]:
-                        if condition[0] == "saturated":
-                            assert condition[1] in leaf_substance_synsets, f"In ParticleModifier annotation, {condition[1]} is not a leaf substance synset."
+                    conditions = ability_params["conditions"][substance_synset]
+                    if conditions is not None:
+                        for condition in conditions:
+                            if condition[0] == "saturated":
+                                assert condition[1] in leaf_substance_synsets, f"In ParticleModifier annotation, {condition[1]} is not a leaf substance synset."
 
 def sanity_check_transition_rules(object_taxonomy):
     leaf_synsets = object_taxonomy.get_leaf_descendants("entity.n.01")
@@ -50,12 +52,23 @@ def sanity_check_transition_rules(object_taxonomy):
                         for s in val:
                             assert object_taxonomy.has_ability(s, "fillable"), f"In transition rule file {json_file}, rule {rule}, {val} is not a fillable container."
 
+def sanity_check_transition_rules_washer(object_taxonomy):
+    leaf_synsets = object_taxonomy.get_leaf_descendants("entity.n.01")
+    with open(TRANSITION_RULE_FOLDER / "washer.json", "r") as f:
+        transition_rule = json.load(f)
+    for system_synset, conditions in transition_rule["conditions"].items():
+        assert system_synset in leaf_synsets, f"In washer transition rule, {system_synset} is not a leaf synset."
+        if conditions is not None:
+            for cleanser_synset in conditions:
+                assert cleanser_synset in leaf_synsets, f"In washer transition rule, {cleanser_synset} is not a leaf synset."
+
 def sanity_check():
     # Lazy import so that it can use the latest version of output_hierarchy_properties.json
     from bddl.object_taxonomy import ObjectTaxonomy
     object_taxonomy = ObjectTaxonomy()
     sanity_check_object_hierarchy(object_taxonomy)
     sanity_check_transition_rules(object_taxonomy)
+    sanity_check_transition_rules_washer(object_taxonomy)
 
 if __name__ == '__main__':
     sanity_check()