convert_actions.py

"""
Convert task actions to Unified Action Space format
Based on the table:
- Navigation: Move(direction, [granularity])
- Viewpoint & Posture: Rotate(direction, [angle]), Tilt(direction, [angle]), ChangePosture(pose)
- Interaction: Pick/Place(obj, [target]), ChangeState(obj, state), Manipulate(obj, action)
- Task-Control & Coordination: EndTask(status), Communicate(msg)
"""

import json
import os
import re
from pathlib import Path
from collections import Counter

def extract_distance(params_str, default=1.0):
    """Extract distance value from params string like 'distance=10' or just '1.0'"""
    if not params_str:
        return default
    # Try distance=X pattern
    match = re.search(r'distance=(\d+(?:\.\d+)?)', params_str)
    if match:
        return float(match.group(1))
    # Try direct number
    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):
    """Extract angle value from params string"""
    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):
    """Parse action string like 'MoveAhead(1.0)' -> (name, params)"""
    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 a single action to unified format"""
    name, params = parse_action(action_str)

    # Navigation - Move(direction, granularity)
    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 in new format
        return action_str

    # Viewpoint & Posture - Rotate/Tilt
    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 f'Rotate("left", 90)'
    if name == 'TurnRight':
        return f'Rotate("right", 90)'
    if name == 'TeleportTurnLeft':
        return f'Rotate("left", 90)'
    if name == 'TeleportTurnRight':
        return f'Rotate("right", 90)'
    if name == 'Rotate':
        return action_str  # Already converted

    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':
        return action_str  # Already converted

    if name == 'ChangePosture':
        return action_str

    # Interaction - Pick/Place
    if name == 'PickupObject':
        obj = params.strip() if params else 'object'
        return f'Pick("{obj}")'
    if name == 'PutObject':
        obj = params.strip() if params else 'object'
        return f'Place("{obj}")'
    if name == 'DropHandObject':
        return 'Place("held_object")'

    # Interaction - ChangeState
    if name == 'ToggleObjectOn':
        obj = params.strip() if params else 'object'
        return f'ChangeState("{obj}", "on")'
    if name == 'ToggleObjectOff':
        obj = params.strip() if params else 'object'
        return f'ChangeState("{obj}", "off")'
    if name == 'ChangeState':
        return action_str  # Already converted

    # Interaction - Manipulate (complex actions)
    if name in ['OpenObject', 'CloseObject', 'CleanObject', 'FillObjectWithLiquid',
                'SliceObject', 'BreakObject', 'CookObject', 'EmptyLiquidFromObject']:
        obj = params.strip() if params else 'object'
        action_name = name.replace('Object', '').lower()
        return f'Manipulate("{obj}", "{action_name}")'

    if name == 'Manipulate':
        return action_str  # Already converted

    # Task-Control
    if name == 'Done':
        return 'EndTask("success")'
    if name == 'Stop':
        return 'EndTask("stopped")'
    if name == 'EndTask':
        return action_str  # Already converted

    # Communication
    if name == 'Communicate':
        return action_str  # Already converted

    # Unknown action - return as-is
    return action_str

def convert_task_file(filepath, stats):
    """Convert actions in a single task file"""
    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

        if not has_changes:
            return False, "No changes needed"

        # Update data
        data['golden_actions']['actions'] = converted_actions

        # Write back
        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
    no_actions = 0

    # Find all task.json files
    for task_file in base_dir.rglob("task.json"):
        success, msg = convert_task_file(task_file, stats)
        if success:
            converted += 1
        elif msg == "No changes needed":
            unchanged += 1
        elif msg == "No golden_actions":
            no_actions += 1
        else:
            errors += 1
            print(f"Warning: {task_file} - {msg}")

    print(f"\n{'='*70}")
    print(f"Conversion Summary")
    print(f"{'='*70}")
    print(f"Files modified: {converted}")
    print(f"Files unchanged: {unchanged}")
    print(f"Files without golden_actions: {no_actions}")
    print(f"Errors: {errors}")
    print(f"Total processed: {converted + unchanged + errors + no_actions}")

    print(f"\nAction conversion statistics (top 30):")
    for key, count in stats.most_common(30):
        print(f"  {count:6d} | {key}")

if __name__ == "__main__":
    main()