File size: 8,084 Bytes
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Convert task.json actions to Unified Action Space format (v2 - clean format)
Format: Action(param1, param2) without quotes around string params
"""
import json
import os
import re
from pathlib import Path
from collections import Counter
def extract_distance(params_str, default=1.0):
if not params_str:
return default
match = re.search(r'distance=(\d+(?:\.\d+)?)', params_str)
if match:
return float(match.group(1))
match = re.search(r'^(\d+(?:\.\d+)?)$', params_str.strip())
if match:
return float(match.group(1))
return default
def extract_angle(params_str, default=90):
if not params_str:
return default
match = re.search(r'(\d+)', params_str)
if match:
return int(match.group(1))
return default
def parse_action(action_str):
match = re.match(r'^(\w+)\s*(?:\(([^)]*)\))?$', action_str.strip())
if match:
name = match.group(1)
params = match.group(2) if match.group(2) else ''
return name, params
return action_str, ''
def convert_action(action_str):
"""Convert to clean format: Action(param1, param2)"""
name, params = parse_action(action_str)
# Navigation
if name == 'MoveAhead':
return f'Move(forward, {extract_distance(params, 1.0)})'
if name == 'MoveBack':
return f'Move(backward, {extract_distance(params, 1.0)})'
if name == 'MoveLeft':
return f'Move(left, {extract_distance(params, 1.0)})'
if name == 'MoveRight':
return f'Move(right, {extract_distance(params, 1.0)})'
if name == 'WalkForward':
return f'Move(forward, {extract_distance(params, 10)})'
if name == 'FollowLane':
return f'Move(forward, {extract_distance(params, 10)})'
if name == 'Move':
# Already converted - parse and reformat
match = re.match(r'["\']?(\w+)["\']?\s*,\s*(.+)', params)
if match:
direction = match.group(1)
dist = match.group(2).strip().strip('"\'')
return f'Move({direction}, {dist})'
return action_str
# Rotation
if name == 'RotateLeft':
return f'Rotate(left, {extract_angle(params, 90)})'
if name == 'RotateRight':
return f'Rotate(right, {extract_angle(params, 90)})'
if name == 'TurnLeft':
return 'Rotate(left, 90)'
if name == 'TurnRight':
return 'Rotate(right, 90)'
if name == 'TeleportTurnLeft':
return 'Rotate(left, 90)'
if name == 'TeleportTurnRight':
return 'Rotate(right, 90)'
if name == 'Rotate':
# Reformat if needed
match = re.match(r'["\']?(\w+)["\']?\s*,\s*(\d+)', params)
if match:
direction = match.group(1)
angle = match.group(2)
return f'Rotate({direction}, {angle})'
return action_str
# Tilt
if name == 'LookUp':
return f'Tilt(up, {extract_angle(params, 30)})'
if name == 'LookDown':
return f'Tilt(down, {extract_angle(params, 30)})'
if name == 'Tilt':
match = re.match(r'["\']?(\w+)["\']?\s*,\s*(\d+)', params)
if match:
direction = match.group(1)
angle = match.group(2)
return f'Tilt({direction}, {angle})'
return action_str
if name == 'ChangePosture':
match = re.match(r'["\']?([^"\']+)["\']?', params)
if match:
return f'ChangePosture({match.group(1)})'
return action_str
# Interaction - Pick/Place
if name == 'PickupObject':
obj = params.strip().strip('"\'') if params else 'object'
return f'Pick({obj})'
if name == 'PutObject':
obj = params.strip().strip('"\'') if params else 'object'
return f'Place({obj})'
if name == 'DropHandObject':
return 'Place(held_object)'
if name == 'Pick':
match = re.match(r'["\']?([^"\']+)["\']?', params)
if match:
return f'Pick({match.group(1)})'
return action_str
if name == 'Place':
match = re.match(r'["\']?([^"\']+)["\']?', params)
if match:
return f'Place({match.group(1)})'
return action_str
# Interaction - ChangeState
if name == 'ToggleObjectOn':
obj = params.strip().strip('"\'') if params else 'object'
return f'ChangeState({obj}, on)'
if name == 'ToggleObjectOff':
obj = params.strip().strip('"\'') if params else 'object'
return f'ChangeState({obj}, off)'
if name == 'ChangeState':
match = re.match(r'["\']?([^"\']+)["\']?\s*,\s*["\']?([^"\']+)["\']?', params)
if match:
return f'ChangeState({match.group(1)}, {match.group(2)})'
return action_str
# Interaction - Manipulate
if name in ['OpenObject', 'CloseObject', 'CleanObject', 'FillObjectWithLiquid',
'SliceObject', 'BreakObject', 'CookObject', 'EmptyLiquidFromObject']:
obj = params.strip().strip('"\'') if params else 'object'
action_name = name.replace('Object', '').lower()
return f'Manipulate({obj}, {action_name})'
if name == 'Manipulate':
match = re.match(r'["\']?([^"\']+)["\']?\s*,\s*["\']?([^"\']+)["\']?', params)
if match:
return f'Manipulate({match.group(1)}, {match.group(2)})'
return action_str
# Task-Control
if name == 'Done':
return 'EndTask(success)'
if name == 'Stop':
return 'EndTask(stopped)'
if name == 'EndTask':
match = re.match(r'["\']?([^"\']+)["\']?', params)
if match:
return f'EndTask({match.group(1)})'
return action_str
# Communication
if name == 'Communicate':
match = re.match(r'["\']?([^"\']+)["\']?', params)
if match:
return f'Communicate({match.group(1)})'
return action_str
return action_str
def convert_task_file(filepath, stats):
try:
with open(filepath, 'r', encoding='utf-8') as f:
data = json.load(f)
if 'golden_actions' not in data or 'actions' not in data['golden_actions']:
return False, "No golden_actions"
original_actions = data['golden_actions']['actions']
if not original_actions:
return False, "Empty actions"
converted_actions = []
has_changes = False
for a in original_actions:
converted = convert_action(a)
converted_actions.append(converted)
if converted != a:
has_changes = True
old_name, _ = parse_action(a)
new_name, _ = parse_action(converted)
key = f"{old_name} -> {new_name}"
stats[key] += 1
data['golden_actions']['actions'] = converted_actions
with open(filepath, 'w', encoding='utf-8') as f:
json.dump(data, f, indent=2, ensure_ascii=False)
return True, None
except Exception as e:
return False, str(e)
def main():
base_dir = Path(".")
stats = Counter()
converted = 0
unchanged = 0
errors = 0
for task_file in base_dir.rglob("task.json"):
success, msg = convert_task_file(task_file, stats)
if success:
converted += 1
elif msg == "No golden_actions":
pass
elif msg == "Empty actions":
pass
else:
errors += 1
if msg != "No changes needed":
print(f"Warning: {task_file} - {msg}")
print(f"\n{'='*70}")
print(f"Task.json Conversion Summary (v2 - Clean Format)")
print(f"{'='*70}")
print(f"Files modified: {converted}")
print(f"Errors: {errors}")
if stats:
print(f"\nAction conversion statistics:")
for key, count in stats.most_common(30):
print(f" {count:6d} | {key}")
if __name__ == "__main__":
main()
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