diff --git a/README.md b/README.md
index 8921308d19ae19d0d2d1aff9730dbb0925b5a721..143012e771c5ad01ffb094774a286e93b32515f0 100644
--- a/README.md
+++ b/README.md
@@ -73,7 +73,7 @@ import habitat
# Load embodied AI task (PointNav) and a pre-specified virtual robot
env = habitat.Env(
- config=habitat.get_config(config_file="tasks/pointnav.yaml")
+ config=habitat.get_config("configs/tasks/pointnav.yaml")
)
observations = env.reset()
diff --git a/baselines/README.md b/baselines/README.md
index 42d1ccad68a9b14cd89ccfd6320e3de5b4513db2..9829d12c0df1c9e09189688462c7f36cb8d48bb8 100644
--- a/baselines/README.md
+++ b/baselines/README.md
@@ -35,7 +35,7 @@ python -u baselines/train_ppo.py \
--log-interval 5 \
--checkpoint-folder "data/checkpoints" \
--checkpoint-interval 50 \
- --task-config "tasks/pointnav.yaml" \
+ --task-config "configs/tasks/pointnav.yaml" \
```
@@ -48,7 +48,7 @@ python -u baselines/evaluate_ppo.py \
--pth-gpu-id 0 \
--num-processes 4 \
--count-test-episodes 100 \
- --task-config "tasks/pointnav.yaml" \
+ --task-config "configs/tasks/pointnav.yaml" \
```
diff --git a/baselines/agents/ppo_agents.py b/baselines/agents/ppo_agents.py
index 0656eed499e21c5139807d1992afd61292ad8f9a..355dc9de7fffca70187f8941a4bcd4f8e2c0e1d8 100644
--- a/baselines/agents/ppo_agents.py
+++ b/baselines/agents/ppo_agents.py
@@ -131,7 +131,7 @@ def main():
)
parser.add_argument("--model-path", default="", type=str)
parser.add_argument(
- "--task-config", type=str, default="tasks/pointnav.yaml"
+ "--task-config", type=str, default="configs/tasks/pointnav.yaml"
)
args = parser.parse_args()
diff --git a/baselines/agents/simple_agents.py b/baselines/agents/simple_agents.py
index 8010a8b4b06241379a5065958b6c50718d182634..e91b605b1d899aaffea680963eb3e1656b742466 100644
--- a/baselines/agents/simple_agents.py
+++ b/baselines/agents/simple_agents.py
@@ -122,7 +122,7 @@ def main():
parser = argparse.ArgumentParser()
parser.add_argument("--success-distance", type=float, default=0.2)
parser.add_argument(
- "--task-config", type=str, default="tasks/pointnav.yaml"
+ "--task-config", type=str, default="configs/tasks/pointnav.yaml"
)
parser.add_argument("--agent-class", type=str, default="GoalFollower")
args = parser.parse_args()
diff --git a/baselines/agents/slam_agents.py b/baselines/agents/slam_agents.py
index 0f6648847843e5b4ebacc13bc7b8769ec895e4f9..2ec49302745d2f41b0ee77adaaf4f9dffa85553c 100644
--- a/baselines/agents/slam_agents.py
+++ b/baselines/agents/slam_agents.py
@@ -26,7 +26,7 @@ from habitat.sims.habitat_simulator import SimulatorActions
from baselines.slambased.mappers import DirectDepthMapper
from baselines.slambased.path_planners import DifferentiableStarPlanner
-from baselines.config.default import cfg
+from baselines.config.default import get_config as cfg_baseline
from habitat.config.default import get_config
from baselines.slambased.monodepth import MonoDepthEstimator
@@ -600,7 +600,7 @@ def main():
args = parser.parse_args()
config = get_config()
- agent_config = cfg()
+ agent_config = cfg_baseline()
config.defrost()
config.BASELINE = agent_config.BASELINE
make_good_config_for_orbslam2(config)
diff --git a/baselines/config/default.py b/baselines/config/default.py
index 809691008174fbea2d9bf9545e2e08a06cd5d9f8..57b034158ce12d8d477e2e7277d713e8b89d4055 100644
--- a/baselines/config/default.py
+++ b/baselines/config/default.py
@@ -4,14 +4,13 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
-import os
import numpy as np
-from typing import Optional
+from typing import List, Optional, Union
from habitat import get_config
from habitat.config import Config as CN
DEFAULT_CONFIG_DIR = "configs/"
-
+CONFIG_FILE_SEPARATOR = ","
# -----------------------------------------------------------------------------
# Config definition
# -----------------------------------------------------------------------------
@@ -60,10 +59,33 @@ _C.BASELINE.ORBSLAM2.DEPTH_DENORM = (
)
-def cfg(
- config_file: Optional[str] = None, config_dir: str = DEFAULT_CONFIG_DIR
+def get_config(
+ config_paths: Optional[Union[List[str], str]] = None,
+ opts: Optional[list] = None,
) -> CN:
+ """
+ Create a unified config with default values overwritten by values from
+ `config_paths` and overwritten by options from `opts`.
+ Args:
+ config_paths: List of config paths or string that contains comma
+ separated list of config paths.
+ opts: Config options (keys, values) in a list (e.g., passed from
+ command line into the config. For example, `opts = ['FOO.BAR',
+ 0.5]`. Argument can be used for parameter sweeping or quick tests.
+ """
config = _C.clone()
- if config_file:
- config.merge_from_file(os.path.join(config_dir, config_file))
+ if config_paths:
+ if isinstance(config_paths, str):
+ if CONFIG_FILE_SEPARATOR in config_paths:
+ config_paths = config_paths.split(CONFIG_FILE_SEPARATOR)
+ else:
+ config_paths = [config_paths]
+
+ for config_path in config_paths:
+ config.merge_from_file(config_path)
+
+ if opts:
+ config.merge_from_list(opts)
+
+ config.freeze()
return config
diff --git a/baselines/evaluate_ppo.py b/baselines/evaluate_ppo.py
index b7277b8b3df368a0d0db38c98e40943e407135ae..43f340797fab36e9f5d0ccebbf398bf221ecef2f 100644
--- a/baselines/evaluate_ppo.py
+++ b/baselines/evaluate_ppo.py
@@ -10,7 +10,7 @@ import torch
import habitat
from habitat.config.default import get_config
-from config.default import cfg as cfg_baseline
+from config.default import get_config as cfg_baseline
from train_ppo import make_env_fn
from rl.ppo import PPO, Policy
@@ -36,7 +36,7 @@ def main():
parser.add_argument(
"--task-config",
type=str,
- default="tasks/pointnav.yaml",
+ default="configs/tasks/pointnav.yaml",
help="path to config yaml containing information about task",
)
args = parser.parse_args()
@@ -47,7 +47,7 @@ def main():
baseline_configs = []
for _ in range(args.num_processes):
- config_env = get_config(config_file=args.task_config)
+ config_env = get_config(config_paths=args.task_config)
config_env.defrost()
config_env.DATASET.SPLIT = "val"
diff --git a/baselines/rl/ppo/utils.py b/baselines/rl/ppo/utils.py
index db132eb318d8c81d3392aad482e3f8e7a7827d0a..ad29e04482acd2a8171c6461f53b9e94a40e4a8e 100644
--- a/baselines/rl/ppo/utils.py
+++ b/baselines/rl/ppo/utils.py
@@ -411,7 +411,7 @@ def ppo_args():
parser.add_argument(
"--task-config",
type=str,
- default="tasks/pointnav.yaml",
+ default="configs/tasks/pointnav.yaml",
help="path to config yaml containing information about task",
)
parser.add_argument("--seed", type=int, default=100)
diff --git a/baselines/train_ppo.py b/baselines/train_ppo.py
index 2f396eed054c55ea71c8d67b27c5ae8f148e6721..b71238263630cbee285c20b15f9f36e3afe4092a 100644
--- a/baselines/train_ppo.py
+++ b/baselines/train_ppo.py
@@ -15,7 +15,7 @@ import habitat
from habitat import logger
from habitat.sims.habitat_simulator import SimulatorActions
from habitat.config.default import get_config as cfg_env
-from config.default import cfg as cfg_baseline
+from config.default import get_config as cfg_baseline
from habitat.datasets.pointnav.pointnav_dataset import PointNavDatasetV1
from rl.ppo import PPO, Policy, RolloutStorage
from rl.ppo.utils import update_linear_schedule, ppo_args, batch_obs
@@ -109,7 +109,7 @@ def construct_envs(args):
env_configs = []
baseline_configs = []
- basic_config = cfg_env(config_file=args.task_config)
+ basic_config = cfg_env(config_paths=args.task_config)
scenes = PointNavDatasetV1.get_scenes_to_load(basic_config.DATASET)
@@ -123,7 +123,7 @@ def construct_envs(args):
scene_split_size = int(np.floor(len(scenes) / args.num_processes))
for i in range(args.num_processes):
- config_env = cfg_env(config_file=args.task_config)
+ config_env = cfg_env(config_paths=args.task_config)
config_env.defrost()
if len(scenes) > 0:
diff --git a/examples/benchmark.py b/examples/benchmark.py
index 470abddf37724b89a385b2c26dde9918cbf93b1b..9a680ec3bcc4bca9c2ce731656c1d0cc305ccd9b 100644
--- a/examples/benchmark.py
+++ b/examples/benchmark.py
@@ -22,7 +22,7 @@ class ForwardOnlyAgent(habitat.Agent):
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
- "--task-config", type=str, default="tasks/pointnav.yaml"
+ "--task-config", type=str, default="configs/tasks/pointnav.yaml"
)
args = parser.parse_args()
diff --git a/examples/example.py b/examples/example.py
index cc1fb3687a0e65da725a414445a356da1a315263..6d627d07099c0c5b61cb271b6467c79bce7ddf45 100644
--- a/examples/example.py
+++ b/examples/example.py
@@ -9,7 +9,7 @@ import habitat
def example():
env = habitat.Env(
- config=habitat.get_config(config_file="tasks/pointnav.yaml")
+ config=habitat.get_config("configs/tasks/pointnav.yaml")
)
print("Environment creation successful")
diff --git a/examples/shortest_path_follower_example.py b/examples/shortest_path_follower_example.py
index b3f8ca7b9d2636514e4d1b4f29942a501fab9422..2cd170f36a19b036d3624375c5b85ec034eb867c 100644
--- a/examples/shortest_path_follower_example.py
+++ b/examples/shortest_path_follower_example.py
@@ -57,7 +57,7 @@ def draw_top_down_map(info, heading, output_size):
def shortest_path_example(mode):
- config = habitat.get_config(config_file="tasks/pointnav.yaml")
+ config = habitat.get_config(config_paths="configs/tasks/pointnav.yaml")
config.TASK.MEASUREMENTS.append("TOP_DOWN_MAP")
config.TASK.SENSORS.append("HEADING_SENSOR")
env = SimpleRLEnv(config=config)
diff --git a/examples/visualization_examples.py b/examples/visualization_examples.py
index e5be1bd296b7095c75f6ab4db8df19545d5f4d2f..2a02fe9309ac8b9ec7f3f28d452e18ba79b22141 100644
--- a/examples/visualization_examples.py
+++ b/examples/visualization_examples.py
@@ -80,7 +80,7 @@ def example_pointnav_draw_target_birdseye_view_agent_on_border():
def example_get_topdown_map():
- config = habitat.get_config(config_file="tasks/pointnav.yaml")
+ config = habitat.get_config(config_paths="configs/tasks/pointnav.yaml")
dataset = habitat.make_dataset(
id_dataset=config.DATASET.TYPE, config=config.DATASET
)
diff --git a/habitat/config/default.py b/habitat/config/default.py
index a4e191734720f50ccc2ca550baa19038985f51e9..3a165ceca2487976daa5b72e16c6bf6b0d6482aa 100644
--- a/habitat/config/default.py
+++ b/habitat/config/default.py
@@ -4,12 +4,12 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
-import os
-from typing import Optional
+from typing import List, Optional, Union
from habitat.config import Config as CN # type: ignore
DEFAULT_CONFIG_DIR = "configs/"
+CONFIG_FILE_SEPARATOR = ","
# -----------------------------------------------------------------------------
# Config definition
@@ -135,6 +135,7 @@ _C.SIMULATOR.HABITAT_SIM_V0.GPU_DEVICE_ID = 0
_C.DATASET = CN()
_C.DATASET.TYPE = "PointNav-v1"
_C.DATASET.SPLIT = "train"
+_C.DATASET.SCENES_DIR = "data/scene_datasets"
# -----------------------------------------------------------------------------
# MP3DEQAV1 DATASET
# -----------------------------------------------------------------------------
@@ -156,10 +157,32 @@ _C.DATASET.POINTNAVV1.CONTENT_SCENES = ["*"]
def get_config(
- config_file: Optional[str] = None, config_dir: str = DEFAULT_CONFIG_DIR
+ config_paths: Optional[Union[List[str], str]] = None,
+ opts: Optional[list] = None,
) -> CN:
+ """
+ Create a unified config with default values overwritten by values from
+ `config_paths` and overwritten by options from `opts`.
+ Args:
+ config_paths: List of config paths or string that contains comma
+ separated list of config paths.
+ opts: Config options (keys, values) in a list (e.g., passed from
+ command line into the config. For example, `opts = ['FOO.BAR',
+ 0.5]`. Argument can be used for parameter sweeping or quick tests.
+ """
config = _C.clone()
- if config_file:
- config.merge_from_file(os.path.join(config_dir, config_file))
+ if config_paths:
+ if isinstance(config_paths, str):
+ if CONFIG_FILE_SEPARATOR in config_paths:
+ config_paths = config_paths.split(CONFIG_FILE_SEPARATOR)
+ else:
+ config_paths = [config_paths]
+
+ for config_path in config_paths:
+ config.merge_from_file(config_path)
+
+ if opts:
+ config.merge_from_list(opts)
+
config.freeze()
return config
diff --git a/habitat/core/benchmark.py b/habitat/core/benchmark.py
index cb49a6b8142df6e0405b24405c060da6f8984f22..a3dd090ede0f78a651bbea87e9aa673a027d5bd1 100644
--- a/habitat/core/benchmark.py
+++ b/habitat/core/benchmark.py
@@ -17,16 +17,12 @@ class Benchmark:
Args:
- config_file: file to be used for creating the environment.
- config_dir: directory where config_file is located.
+ config_paths: file to be used for creating the environment.
+ config_dir: directory where config_paths is located.
"""
- def __init__(
- self,
- config_file: Optional[str] = None,
- config_dir: str = DEFAULT_CONFIG_DIR,
- ) -> None:
- config_env = get_config(config_file=config_file, config_dir=config_dir)
+ def __init__(self, config_paths: Optional[str] = None) -> None:
+ config_env = get_config(config_paths)
self._env = Env(config=config_env)
def evaluate(
diff --git a/habitat/core/challenge.py b/habitat/core/challenge.py
index 5094333e5514cea7347e4116e400bfaeb8e4b43e..7dcbd7878c2bc48ab877d0860b3aa955936d00f9 100644
--- a/habitat/core/challenge.py
+++ b/habitat/core/challenge.py
@@ -12,8 +12,8 @@ from habitat.core.logging import logger
class Challenge(Benchmark):
def __init__(self):
- config_file = os.environ["CHALLENGE_CONFIG_FILE"]
- super().__init__(config_file)
+ config_paths = os.environ["CHALLENGE_CONFIG_FILE"]
+ super().__init__(config_paths)
def submit(self, agent):
metrics = super().evaluate(agent)
diff --git a/habitat/core/dataset.py b/habitat/core/dataset.py
index a7841dc07dddb3af2b23566e412853278ee79b9f..535f0b55b9928686b4ff58145741af6c86a665fe 100644
--- a/habitat/core/dataset.py
+++ b/habitat/core/dataset.py
@@ -6,7 +6,6 @@
import copy
import json
-import random
from typing import Dict, List, Type, TypeVar, Generic, Optional, Callable
import numpy as np
@@ -103,7 +102,17 @@ class Dataset(Generic[T]):
result = DatasetJSONEncoder().encode(self)
return result
- def from_json(self, json_str: str) -> None:
+ def from_json(
+ self, json_str: str, scenes_dir: Optional[str] = None
+ ) -> None:
+ """
+ Parses passed JSON string and creates dataset based on that.
+ Function is used as deserialization method for Dataset.
+ Args:
+ json_str: JSON dump of Dataset instance.
+ scenes_dir: Path to directory with scenes assets such as *.glb
+ files.
+ """
raise NotImplementedError
def filter_episodes(
diff --git a/habitat/datasets/eqa/mp3d_eqa_dataset.py b/habitat/datasets/eqa/mp3d_eqa_dataset.py
index d709b6ec518630a24fdd5b6774bbb310ebd83347..1dcd4195d77b345e41ff946a54160b8b142204cf 100644
--- a/habitat/datasets/eqa/mp3d_eqa_dataset.py
+++ b/habitat/datasets/eqa/mp3d_eqa_dataset.py
@@ -7,7 +7,7 @@
import gzip
import json
import os
-from typing import List
+from typing import List, Optional
from habitat.config import Config
from habitat.core.dataset import Dataset
@@ -15,13 +15,13 @@ from habitat.tasks.eqa.eqa_task import EQAEpisode, QuestionData
from habitat.tasks.nav.nav_task import ObjectGoal, ShortestPathPoint
EQA_MP3D_V1_VAL_EPISODE_COUNT = 1950
+DEFAULT_SCENE_PATH_PREFIX = "data/scene_datasets/"
def get_default_mp3d_v1_config(split: str = "val"):
config = Config()
config.name = "MP3DEQA-v1"
config.DATA_PATH = "data/datasets/eqa/mp3d/v1/{split}.json.gz"
- config.DATA_PATH = "data/scene_datasets/mp3d"
config.SPLIT = split
return config
@@ -54,11 +54,19 @@ class Matterport3dDatasetV1(Dataset):
) as f:
self.from_json(f.read())
- def from_json(self, json_str: str) -> None:
+ def from_json(
+ self, json_str: str, scenes_dir: Optional[str] = None
+ ) -> None:
deserialized = json.loads(json_str)
self.__dict__.update(deserialized)
for ep_index, episode in enumerate(deserialized["episodes"]):
episode = EQAEpisode(**episode)
+ if scenes_dir is not None:
+ if episode.scene_id.startswith(DEFAULT_SCENE_PATH_PREFIX):
+ episode.scene_id = episode.scene_id[
+ len(DEFAULT_SCENE_PATH_PREFIX) :
+ ]
+ episode.scene_id = os.path.join(scenes_dir, episode.scene_id)
episode.question = QuestionData(**episode.question)
for g_index, goal in enumerate(episode.goals):
episode.goals[g_index] = ObjectGoal(**goal)
diff --git a/habitat/datasets/pointnav/pointnav_dataset.py b/habitat/datasets/pointnav/pointnav_dataset.py
index 256ed5fffca53b0508ce91d8c599c9b658b1863f..2795b2ebff4b28bef75eee20983f0ca344f63fdc 100644
--- a/habitat/datasets/pointnav/pointnav_dataset.py
+++ b/habitat/datasets/pointnav/pointnav_dataset.py
@@ -7,7 +7,7 @@
import gzip
import json
import os
-from typing import List
+from typing import List, Optional
from habitat.config import Config
from habitat.core.dataset import Dataset
@@ -19,6 +19,7 @@ from habitat.tasks.nav.nav_task import (
ALL_SCENES_MASK = "*"
CONTENT_SCENES_PATH_FIELD = "content_scenes_path"
+DEFAULT_SCENE_PATH_PREFIX = "data/scene_datasets/"
class PointNavDatasetV1(Dataset):
@@ -70,7 +71,7 @@ class PointNavDatasetV1(Dataset):
scenes.sort()
return scenes
- def __init__(self, config: Config = None) -> None:
+ def __init__(self, config: Optional[Config] = None) -> None:
self.episodes = []
if config is None:
@@ -80,7 +81,7 @@ class PointNavDatasetV1(Dataset):
split=config.SPLIT
)
with gzip.open(datasetfile_path, "rt") as f:
- self.from_json(f.read())
+ self.from_json(f.read(), scenes_dir=config.SCENES_DIR)
# Read separate file for each scene
dataset_dir = os.path.dirname(datasetfile_path)
@@ -96,15 +97,26 @@ class PointNavDatasetV1(Dataset):
data_path=dataset_dir, scene=scene
)
with gzip.open(scene_filename, "rt") as f:
- self.from_json(f.read())
+ self.from_json(f.read(), scenes_dir=config.SCENES_DIR)
- def from_json(self, json_str: str) -> None:
+ def from_json(
+ self, json_str: str, scenes_dir: Optional[str] = None
+ ) -> None:
deserialized = json.loads(json_str)
if CONTENT_SCENES_PATH_FIELD in deserialized:
self.content_scenes_path = deserialized[CONTENT_SCENES_PATH_FIELD]
for episode in deserialized["episodes"]:
episode = NavigationEpisode(**episode)
+
+ if scenes_dir is not None:
+ if episode.scene_id.startswith(DEFAULT_SCENE_PATH_PREFIX):
+ episode.scene_id = episode.scene_id[
+ len(DEFAULT_SCENE_PATH_PREFIX) :
+ ]
+
+ episode.scene_id = os.path.join(scenes_dir, episode.scene_id)
+
for g_index, goal in enumerate(episode.goals):
episode.goals[g_index] = NavigationGoal(**goal)
if episode.shortest_paths is not None:
diff --git a/habitat/tasks/nav/shortest_path_follower.py b/habitat/tasks/nav/shortest_path_follower.py
index 4084b0416466fc2c04b122252f48c475cbb22a4b..66a53b64f9b1bc40df77e020a4aa193532512051 100644
--- a/habitat/tasks/nav/shortest_path_follower.py
+++ b/habitat/tasks/nav/shortest_path_follower.py
@@ -1,3 +1,9 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
from typing import Union
import habitat_sim
@@ -8,7 +14,6 @@ from habitat.sims.habitat_simulator import SimulatorActions
from habitat.utils.geometry_utils import (
angle_between_quaternions,
quaternion_from_two_vectors,
- quaternion_xyzw_to_wxyz,
)
diff --git a/habitat/utils/geometry_utils.py b/habitat/utils/geometry_utils.py
index e290f1d14abc14b4b7284454005272ca9a8e6ef9..9bbf53e0cf82aa7274032a6b5e6f852025ade673 100644
--- a/habitat/utils/geometry_utils.py
+++ b/habitat/utils/geometry_utils.py
@@ -1,3 +1,9 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
import numpy as np
import quaternion
diff --git a/test/test_baseline_agents.py b/test/test_baseline_agents.py
index 81dad3b99bac6b3b1d993f6d575b1e2fd51a568f..b8d1cfed68554232a15ff25d837ef98c729620e3 100644
--- a/test/test_baseline_agents.py
+++ b/test/test_baseline_agents.py
@@ -19,19 +19,19 @@ except ImportError:
if has_torch:
from baselines.agents import ppo_agents
-CFG_TEST = "test/habitat_all_sensors_test.yaml"
+CFG_TEST = "configs/test/habitat_all_sensors_test.yaml"
@pytest.mark.skipif(not has_torch, reason="Test needs torch")
def test_ppo_agents():
config = ppo_agents.get_defaut_config()
config.MODEL_PATH = ""
- config_env = habitat.get_config(config_file=CFG_TEST)
+ config_env = habitat.get_config(config_paths=CFG_TEST)
config_env.defrost()
if not os.path.exists(config_env.SIMULATOR.SCENE):
pytest.skip("Please download Habitat test data to data folder.")
- benchmark = habitat.Benchmark(config_file=CFG_TEST, config_dir="configs")
+ benchmark = habitat.Benchmark(config_paths=CFG_TEST)
for input_type in ["blind", "rgb", "depth", "rgbd"]:
config_env.defrost()
@@ -50,12 +50,12 @@ def test_ppo_agents():
def test_simple_agents():
- config_env = habitat.get_config(config_file=CFG_TEST)
+ config_env = habitat.get_config(config_paths=CFG_TEST)
if not os.path.exists(config_env.SIMULATOR.SCENE):
pytest.skip("Please download Habitat test data to data folder.")
- benchmark = habitat.Benchmark(config_file=CFG_TEST, config_dir="configs")
+ benchmark = habitat.Benchmark(config_paths=CFG_TEST)
for agent_class in [
simple_agents.ForwardOnlyAgent,
diff --git a/test/test_config.py b/test/test_config.py
new file mode 100644
index 0000000000000000000000000000000000000000..a113e82e91354f6d501c103db46bfdcb73edb91f
--- /dev/null
+++ b/test/test_config.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
+from habitat.config.default import get_config
+
+CFG_TEST = "configs/test/habitat_all_sensors_test.yaml"
+CFG_EQA = "configs/test/habitat_mp3d_eqa_test.yaml"
+MAX_TEST_STEPS_LIMIT = 3
+
+
+def test_merged_configs():
+ test_config = get_config(CFG_TEST)
+ eqa_config = get_config(CFG_EQA)
+ merged_config = get_config("{},{}".format(CFG_TEST, CFG_EQA))
+ assert merged_config.TASK.TYPE == eqa_config.TASK.TYPE
+ assert (
+ merged_config.ENVIRONMENT.MAX_EPISODE_STEPS
+ == test_config.ENVIRONMENT.MAX_EPISODE_STEPS
+ )
+
+
+def test_overwrite_options():
+ for steps_limit in range(MAX_TEST_STEPS_LIMIT):
+ config = get_config(
+ config_paths=CFG_TEST,
+ opts=["ENVIRONMENT.MAX_EPISODE_STEPS", steps_limit],
+ )
+ assert (
+ config.ENVIRONMENT.MAX_EPISODE_STEPS == steps_limit
+ ), "Overwriting of config options failed."
diff --git a/test/test_habitat_env.py b/test/test_habitat_env.py
index bed5f6f764d47baedbcd04e738b940082bb28294..3229c9d989993ecaf8c44fc8463d12798b2ab87e 100644
--- a/test/test_habitat_env.py
+++ b/test/test_habitat_env.py
@@ -17,7 +17,7 @@ from habitat.datasets.pointnav.pointnav_dataset import PointNavDatasetV1
from habitat.sims.habitat_simulator import SimulatorActions
from habitat.tasks.nav.nav_task import NavigationEpisode, NavigationGoal
-CFG_TEST = "test/habitat_all_sensors_test.yaml"
+CFG_TEST = "configs/test/habitat_all_sensors_test.yaml"
NUM_ENVS = 4
diff --git a/test/test_mp3d_eqa.py b/test/test_mp3d_eqa.py
index 08f762d4afb8eff098877538d12675d82461811a..eef9cda3cac84a59f1142b7fffb6e274a50a16fd 100644
--- a/test/test_mp3d_eqa.py
+++ b/test/test_mp3d_eqa.py
@@ -16,7 +16,7 @@ from habitat.core.embodied_task import Episode
from habitat.core.logging import logger
from habitat.datasets import make_dataset
-CFG_TEST = "test/habitat_mp3d_eqa_test.yaml"
+CFG_TEST = "configs/test/habitat_mp3d_eqa_test.yaml"
CLOSE_STEP_THRESHOLD = 0.028
# List of episodes each from unique house
@@ -193,7 +193,10 @@ def test_mp3d_eqa_sim_correspondence():
"cur_state.rotation: {} shortest_path.rotation: {} action: {}"
"".format(
cur_state.position - point.position,
- cur_state.rotation - point.rotation,
+ cur_state.rotation
+ - habitat.utils.geometry_utils.quaternion_wxyz_to_xyzw(
+ point.rotation
+ ),
cur_state.position,
point.position,
cur_state.rotation,
diff --git a/test/test_pointnav_dataset.py b/test/test_pointnav_dataset.py
index 8271b3250e31e1273414ba26ef6aed849c6b66ce..8778204f01e2a836cdfbf668940df8e6e1abebd1 100644
--- a/test/test_pointnav_dataset.py
+++ b/test/test_pointnav_dataset.py
@@ -4,7 +4,9 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
+import os
import time
+
import pytest
import habitat
@@ -12,9 +14,12 @@ from habitat.config.default import get_config
from habitat.core.embodied_task import Episode
from habitat.core.logging import logger
from habitat.datasets import make_dataset
-from habitat.datasets.pointnav.pointnav_dataset import PointNavDatasetV1
+from habitat.datasets.pointnav.pointnav_dataset import (
+ PointNavDatasetV1,
+ DEFAULT_SCENE_PATH_PREFIX,
+)
-CFG_TEST = "datasets/pointnav/gibson.yaml"
+CFG_TEST = "configs/datasets/pointnav/gibson.yaml"
PARTIAL_LOAD_SCENES = 3
@@ -50,6 +55,34 @@ def test_single_pointnav_dataset():
check_json_serializaiton(dataset)
+def test_multiple_files_scene_path():
+ dataset_config = get_config(CFG_TEST).DATASET
+ if not PointNavDatasetV1.check_config_paths_exist(dataset_config):
+ pytest.skip("Test skipped as dataset files are missing.")
+ scenes = PointNavDatasetV1.get_scenes_to_load(config=dataset_config)
+ assert (
+ len(scenes) > 0
+ ), "Expected dataset contains separate episode file per scene."
+ dataset_config.defrost()
+ dataset_config.POINTNAVV1.CONTENT_SCENES = scenes[:PARTIAL_LOAD_SCENES]
+ dataset_config.SCENES_DIR = os.path.join(
+ os.getcwd(), DEFAULT_SCENE_PATH_PREFIX
+ )
+ dataset_config.freeze()
+ partial_dataset = make_dataset(
+ id_dataset=dataset_config.TYPE, config=dataset_config
+ )
+ assert (
+ len(partial_dataset.scene_ids) == PARTIAL_LOAD_SCENES
+ ), "Number of loaded scenes doesn't correspond."
+ print(partial_dataset.episodes[0].scene_id)
+ assert os.path.exists(
+ partial_dataset.episodes[0].scene_id
+ ), "Scene file {} doesn't exist using absolute path".format(
+ partial_dataset.episodes[0].scene_id
+ )
+
+
def test_multiple_files_pointnav_dataset():
dataset_config = get_config(CFG_TEST).DATASET
if not PointNavDatasetV1.check_config_paths_exist(dataset_config):
diff --git a/test/test_sensors.py b/test/test_sensors.py
index dbdaa208d8e598b6c05adec55189cf1982d66d83..15343f3ae521a790941238540aae3fdd259e9600 100644
--- a/test/test_sensors.py
+++ b/test/test_sensors.py
@@ -17,7 +17,7 @@ from habitat.tasks.nav.nav_task import (
)
from habitat.sims.habitat_simulator import SimulatorActions
-CFG_TEST = "test/habitat_all_sensors_test.yaml"
+CFG_TEST = "configs/test/habitat_all_sensors_test.yaml"
def _random_episode(env, config):