From 37fc4de0216fd3287cb08f9f7b6e7349c1f286b6 Mon Sep 17 00:00:00 2001
From: Oleksandr <maksymets.o@gmail.com>
Date: Tue, 30 Apr 2019 11:20:02 -0700
Subject: [PATCH] Config system improvements: compositional config, added
scenes_dir, removed config_dir, fixed eqa test (#77)
* Added scenes_dir parameter to Config to have no requirement of data symlink or data directory in working directory. scenes_dir will be used as prefix for scene_id during episodes dataset loading.
* Added overwriting options argument to get_config that unblocks parameter sweeping and experimentation capabilities from command line
* config_file path can be comma separated list of configs that will be merged in exact order. That will help to use separate configs for dataset specification and sensors setups. String with commas was chosen because that make it easy to pass list of configs as script argument.
* To make habitat-api easier to as package we decided to get rid of forcing loading of configs from config_dir param
* fixed unit test caused by latest habitat-sim update
* Added support of config list, corrected scene_path, added overwriting options, added EQA dataset changes, adopted quaternion suggestion
* Fixed headers
---
README.md | 2 +-
baselines/README.md | 4 +-
baselines/agents/ppo_agents.py | 2 +-
baselines/agents/simple_agents.py | 2 +-
baselines/agents/slam_agents.py | 4 +-
baselines/config/default.py | 36 ++++++++++++++----
baselines/evaluate_ppo.py | 6 +--
baselines/rl/ppo/utils.py | 2 +-
baselines/train_ppo.py | 6 +--
examples/benchmark.py | 2 +-
examples/example.py | 2 +-
examples/shortest_path_follower_example.py | 2 +-
examples/visualization_examples.py | 2 +-
habitat/config/default.py | 33 ++++++++++++++---
habitat/core/benchmark.py | 12 ++----
habitat/core/challenge.py | 4 +-
habitat/core/dataset.py | 13 ++++++-
habitat/datasets/eqa/mp3d_eqa_dataset.py | 14 +++++--
habitat/datasets/pointnav/pointnav_dataset.py | 22 ++++++++---
habitat/tasks/nav/shortest_path_follower.py | 7 +++-
habitat/utils/geometry_utils.py | 6 +++
test/test_baseline_agents.py | 10 ++---
test/test_config.py | 33 +++++++++++++++++
test/test_habitat_env.py | 2 +-
test/test_mp3d_eqa.py | 7 +++-
test/test_pointnav_dataset.py | 37 ++++++++++++++++++-
test/test_sensors.py | 2 +-
27 files changed, 212 insertions(+), 62 deletions(-)
create mode 100644 test/test_config.py
diff --git a/README.md b/README.md
index 8921308d1..143012e77 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 42d1ccad6..9829d12c0 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 0656eed49..355dc9de7 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 8010a8b4b..e91b605b1 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 0f6648847..2ec493027 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 809691008..57b034158 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 b7277b8b3..43f340797 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 db132eb31..ad29e0448 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 2f396eed0..b71238263 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 470abddf3..9a680ec3b 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 cc1fb3687..6d627d070 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 b3f8ca7b9..2cd170f36 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 e5be1bd29..2a02fe930 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 a4e191734..3a165ceca 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 cb49a6b81..a3dd090ed 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 5094333e5..7dcbd7878 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 a7841dc07..535f0b55b 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 d709b6ec5..1dcd4195d 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 256ed5fff..2795b2ebf 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 4084b0416..66a53b64f 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 e290f1d14..9bbf53e0c 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 81dad3b99..b8d1cfed6 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 000000000..a113e82e9
--- /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 bed5f6f76..3229c9d98 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 08f762d4a..eef9cda3c 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 8271b3250..8778204f0 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 dbdaa208d..15343f3ae 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):
--
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