From 6d593577ce077216701f094e450ee776286c7bb0 Mon Sep 17 00:00:00 2001
From: Erik Wijmans <etw@gatech.edu>
Date: Wed, 5 Jun 2019 17:32:55 -0700
Subject: [PATCH] Fix the broken tests by attr pr (#105)
* Fix the broken tests by attr pr
---
examples/visualization_examples.py | 8 ++++----
habitat_baselines/agents/simple_agents.py | 5 ++++-
habitat_baselines/agents/slam_agents.py | 5 ++++-
test/test_habitat_env.py | 8 ++++++--
test/test_sensors.py | 2 +-
5 files changed, 19 insertions(+), 9 deletions(-)
diff --git a/examples/visualization_examples.py b/examples/visualization_examples.py
index 2a02fe930..863294f10 100644
--- a/examples/visualization_examples.py
+++ b/examples/visualization_examples.py
@@ -21,12 +21,12 @@ if not os.path.exists(IMAGE_DIR):
def example_pointnav_draw_target_birdseye_view():
goal_radius = 0.5
- goal = NavigationGoal([10, 0.25, 10], goal_radius)
+ goal = NavigationGoal(position=[10, 0.25, 10], radius=goal_radius)
agent_position = np.array([0, 0.25, 0])
agent_rotation = -np.pi / 4
dummy_episode = NavigationEpisode(
- [goal],
+ goals=[goal],
episode_id="dummy_id",
scene_id="dummy_scene",
start_position=agent_position,
@@ -47,7 +47,7 @@ def example_pointnav_draw_target_birdseye_view():
def example_pointnav_draw_target_birdseye_view_agent_on_border():
goal_radius = 0.5
- goal = NavigationGoal([0, 0.25, 0], goal_radius)
+ goal = NavigationGoal(position=[0, 0.25, 0], radius=goal_radius)
ii = 0
for x_edge in [-1, 0, 1]:
for y_edge in [-1, 0, 1]:
@@ -58,7 +58,7 @@ def example_pointnav_draw_target_birdseye_view_agent_on_border():
agent_rotation = np.pi / 2
dummy_episode = NavigationEpisode(
- [goal],
+ goals=[goal],
episode_id="dummy_id",
scene_id="dummy_scene",
start_position=agent_position,
diff --git a/habitat_baselines/agents/simple_agents.py b/habitat_baselines/agents/simple_agents.py
index cc979840b..5524eaeda 100644
--- a/habitat_baselines/agents/simple_agents.py
+++ b/habitat_baselines/agents/simple_agents.py
@@ -59,7 +59,10 @@ class RandomForwardAgent(RandomAgent):
action = SimulatorActions.MOVE_FORWARD.value
else:
action = np.random.choice(
- [SimulatorActions.TURN_LEFT.value, SimulatorActions.TURN_RIGHT.value]
+ [
+ SimulatorActions.TURN_LEFT.value,
+ SimulatorActions.TURN_RIGHT.value,
+ ]
)
return action
diff --git a/habitat_baselines/agents/slam_agents.py b/habitat_baselines/agents/slam_agents.py
index 8afdf6e81..c90ecb5f2 100644
--- a/habitat_baselines/agents/slam_agents.py
+++ b/habitat_baselines/agents/slam_agents.py
@@ -265,7 +265,10 @@ class ORBSLAM2Agent(RandomAgent):
.view(4, 4)
.to(self.device),
)
- if self.action_history[-1] == SimulatorActions.MOVE_FORWARD.value:
+ if (
+ self.action_history[-1]
+ == SimulatorActions.MOVE_FORWARD.value
+ ):
self.unseen_obstacle = (
previous_step.item() <= 0.001
) # hardcoded threshold for not moving
diff --git a/test/test_habitat_env.py b/test/test_habitat_env.py
index 274b5c0e0..e96a34c8e 100644
--- a/test/test_habitat_env.py
+++ b/test/test_habitat_env.py
@@ -158,7 +158,9 @@ def test_env():
scene_id=config.SIMULATOR.SCENE,
start_position=[-3.0133917, 0.04623024, 7.3064547],
start_rotation=[0, 0.163276, 0, 0.98658],
- goals=[NavigationGoal([-3.0133917, 0.04623024, 7.3064547])],
+ goals=[
+ NavigationGoal(position=[-3.0133917, 0.04623024, 7.3064547])
+ ],
info={"geodesic_distance": 0.001},
)
]
@@ -250,7 +252,9 @@ def test_rl_env():
scene_id=config.SIMULATOR.SCENE,
start_position=[-3.0133917, 0.04623024, 7.3064547],
start_rotation=[0, 0.163276, 0, 0.98658],
- goals=[NavigationGoal([-3.0133917, 0.04623024, 7.3064547])],
+ goals=[
+ NavigationGoal(position=[-3.0133917, 0.04623024, 7.3064547])
+ ],
info={"geodesic_distance": 0.001},
)
]
diff --git a/test/test_sensors.py b/test/test_sensors.py
index 04488a62a..6b6cc3868 100644
--- a/test/test_sensors.py
+++ b/test/test_sensors.py
@@ -182,7 +182,7 @@ def test_static_pointgoal_sensor():
scene_id=config.SIMULATOR.SCENE,
start_position=valid_start_position,
start_rotation=start_rotation,
- goals=[NavigationGoal(goal_position)],
+ goals=[NavigationGoal(position=goal_position)],
)
]
--
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