From c928734ff2c035fad4c37163aacacd4370da0af5 Mon Sep 17 00:00:00 2001
From: Oleksandr Maksymets <maksymets@gmail.com>
Date: Wed, 5 Feb 2020 20:32:39 -0800
Subject: [PATCH] Fixed for sensors test
---
habitat/sims/habitat_simulator/habitat_simulator.py | 8 --------
habitat/tasks/nav/nav.py | 11 +++--------
test/test_sensors.py | 4 ++--
3 files changed, 5 insertions(+), 18 deletions(-)
diff --git a/habitat/sims/habitat_simulator/habitat_simulator.py b/habitat/sims/habitat_simulator/habitat_simulator.py
index cb7ca7761..244258270 100644
--- a/habitat/sims/habitat_simulator/habitat_simulator.py
+++ b/habitat/sims/habitat_simulator/habitat_simulator.py
@@ -288,14 +288,6 @@ class HabitatSim(Simulator):
position_b[0], np.ndarray
):
path.requested_ends = np.array(position_b, dtype=np.float32)
- # TODO(erikwijmans) Remove next line as soon as multi goal shortest
- # path passes the tests.
- return np.min(
- [
- self.geodesic_distance(position_a, position)
- for position in position_b
- ]
- )
else:
path.requested_ends = np.array(
[np.array(position_b, dtype=np.float32)]
diff --git a/habitat/tasks/nav/nav.py b/habitat/tasks/nav/nav.py
index 007ecbc06..49d835d2d 100644
--- a/habitat/tasks/nav/nav.py
+++ b/habitat/tasks/nav/nav.py
@@ -272,7 +272,7 @@ class HeadingSensor(Sensor):
heading_vector = quaternion_rotate_vector(quat, direction_vector)
phi = cartesian_to_polar(-heading_vector[2], heading_vector[0])[1]
- return np.array(phi)
+ return np.array([phi], dtype=np.float32)
def get_observation(
self, observations, episode, *args: Any, **kwargs: Any
@@ -299,13 +299,8 @@ class EpisodicCompassSensor(HeadingSensor):
rotation_world_agent = agent_state.rotation
rotation_world_start = quaternion_from_coeff(episode.start_rotation)
- return np.array(
- [
- self._quat_to_xy_heading(
- rotation_world_agent.inverse() * rotation_world_start
- )
- ],
- dtype=np.float32,
+ return self._quat_to_xy_heading(
+ rotation_world_agent.inverse() * rotation_world_start
)
diff --git a/test/test_sensors.py b/test/test_sensors.py
index 6f68d4e35..205aa7e37 100644
--- a/test/test_sensors.py
+++ b/test/test_sensors.py
@@ -241,14 +241,14 @@ def test_pointgoal_with_gps_compass_sensor():
obs = env.step(sample_non_stop_action(env.action_space))
pointgoal = obs["pointgoal"]
pointgoal_with_gps_compass = obs["pointgoal_with_gps_compass"]
- comapss = obs["compass"]
+ compass = obs["compass"]
gps = obs["gps"]
# check to see if taking non-stop actions will affect static point_goal
assert np.allclose(
pointgoal_with_gps_compass,
quaternion_rotate_vector(
quaternion.from_rotation_vector(
- comapss * np.array([0, 1, 0])
+ compass * np.array([0, 1, 0])
).inverse(),
pointgoal - gps,
),
--
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