Examples

We provide a few examples that show how to use AI2-THOR.

Simple example

A simple example that moves the agent ahead by one step and returns the corresponding image and metadata.

import ai2thor.controller
controller = ai2thor.controller.Controller()
controller.start()

# Kitchens: FloorPlan1 - FloorPlan30
# Living rooms: FloorPlan201 - FloorPlan230
# Bedrooms: FloorPlan301 - FloorPlan330
# Bathrooms: FloorPLan401 - FloorPlan430

controller.reset('FloorPlan28')
controller.step(dict(action='Initialize', gridSize=0.25))

event = controller.step(dict(action='MoveAhead'))

# Numpy Array - shape (width, height, channels), channels are in RGB order
event.frame

# Numpy Array in BGR order suitable for use with OpenCV
event.cv2image()

# current metadata dictionary that includes the state of the scene
event.metadata

Example of calling complex actions

Pickup mug, Open microwave, Put mug in microwave sequence

To pickup an object the agent must first navigate to an area where there are pickupable/visible objects. Normally, it should be done through a series of MoveAhead, RotateLeft, RotateRight commands. Here we are teleporting directly to a known location that a mug exists.

import ai2thor.controller
controller = ai2thor.controller.Controller()
controller.start()

controller.reset('FloorPlan28')
controller.step(dict(action='Initialize', gridSize=0.25))

controller.step(dict(action='Teleport', x=-2.5, y=0.900998235, z=-3.0))
controller.step(dict(action='LookDown'))
event = controller.step(dict(action='Rotate', rotation=180))
# In FloorPlan28, the agent should now be looking at a mug
for o in event.metadata['objects']:
    if o['visible'] and o['pickupable'] and o['objectType'] == 'Mug':
        event = controller.step(dict(action='PickupObject', objectId=o['objectId']), raise_for_failure=True)
        mug_object_id = o['objectId']
        break

# the agent now has the Mug in its inventory
# to put it into the Microwave, we need to open the microwave first

event = controller.step(dict(action='LookUp'))
event = controller.step(dict(action='RotateLeft'))

event = controller.step(dict(action='MoveLeft'))
event = controller.step(dict(action='MoveLeft'))
event = controller.step(dict(action='MoveLeft'))
event = controller.step(dict(action='MoveLeft'))

event = controller.step(dict(action='MoveAhead'))
event = controller.step(dict(action='MoveAhead'))
event = controller.step(dict(action='MoveAhead'))
event = controller.step(dict(action='MoveAhead'))
event = controller.step(dict(action='MoveAhead'))
event = controller.step(dict(action='MoveAhead'))

for o in event.metadata['objects']:
    if o['visible'] and o['openable'] and o['objectType'] == 'Microwave':
        event = controller.step(dict(action='OpenObject', objectId=o['objectId']), raise_for_failure=True)
        receptacle_object_id = o['objectId']
        break

event = controller.step(dict(
    action='PutObject',
    receptacleObjectId=receptacle_object_id,
    objectId=mug_object_id), raise_for_failure=True)

# close the microwave
event = controller.step(dict(
    action='CloseObject',
    objectId=receptacle_object_id), raise_for_failure=True)

Multi-agent example

This example shows how to run AI2-THOR in the multi-agent setting.

import ai2thor.controller
controller = ai2thor.controller.Controller()
controller.start()

# agentCount specifies the number of agents in a scene
multi_agent_event = controller.step(dict(action='Initialize', gridSize=0.25, agentCount=2))

# print out agentIds
for e in mult_agent_event.events:
    print(e.metadata['agentId'])

# move the second agent ahead, agents are 0-indexed
multi_agent_event = controller.step(dict(action='MoveAhead', agentId=1)) 

Multi-threaded example

This example shows how to run multiple instances of an agent in a multi-threaded fashion.

import threading
import time
import ai2thor.controller

thread_count = 8

def run():
    controller = ai2thor.controller.Controller()
    controller.start()

    # 100 is an arbritary number
    for _ in range(100):
        t_start = time.time()
        controller.reset('FloorPlan1')
        controller.step({'action' : 'Initialize', 'gridSize' : 0.25})
        print('init time', time.time() - t_start)
        t_start_total = time.time()
        for _ in range(10):
            controller.step({'action' : 'MoveAhead'})
            controller.step({'action' : 'RotateRight'})
        total_time = time.time() - t_start_total
        print('total time', total_time, 20 / total_time, 'fps')

threads = [threading.Thread(target=run) for _ in range(thread_count)]
for t in threads:
    t.daemon = True
    t.start()
    time.sleep(1)

for t in threads:
    # calling join() in a loop/timeout to allow for Python 2.7
    # to be interrupted with SIGINT
    while t.isAlive():
        t.join(1)

print('done')