From f1c6922df77a3224107c7f27bb0b40e34e9f253e Mon Sep 17 00:00:00 2001
From: JasonJiazhiZhang <21229070+JasonJiazhiZhang@users.noreply.github.com>
Date: Wed, 29 May 2019 14:12:42 -0700
Subject: [PATCH] Static PointGoal Sensor test (#93)
* Add `test_static_pointgoal_senosr()` in `test/test_sensor.py`
* Fix overriden configs in `test_sensors.py` (now using default config)
* Change default config to include static pointgoal sensor
* Fix `StaticPointGoalSensor._get_sensor_type()` to return `PATH`
---
habitat/config/default.py | 6 ++++
habitat/tasks/nav/nav_task.py | 2 +-
test/test_sensors.py | 52 ++++++++++++++++++++++++++++++-----
3 files changed, 52 insertions(+), 8 deletions(-)
diff --git a/habitat/config/default.py b/habitat/config/default.py
index 3a165ceca..18020b970 100644
--- a/habitat/config/default.py
+++ b/habitat/config/default.py
@@ -37,6 +37,12 @@ _C.TASK.POINTGOAL_SENSOR = CN()
_C.TASK.POINTGOAL_SENSOR.TYPE = "PointGoalSensor"
_C.TASK.POINTGOAL_SENSOR.GOAL_FORMAT = "POLAR"
# -----------------------------------------------------------------------------
+# # STATIC POINTGOAL SENSOR
+# -----------------------------------------------------------------------------
+_C.TASK.STATIC_POINTGOAL_SENSOR = CN()
+_C.TASK.STATIC_POINTGOAL_SENSOR.TYPE = "StaticPointGoalSensor"
+_C.TASK.STATIC_POINTGOAL_SENSOR.GOAL_FORMAT = "CARTESIAN"
+# -----------------------------------------------------------------------------
# # HEADING SENSOR
# -----------------------------------------------------------------------------
_C.TASK.HEADING_SENSOR = CN()
diff --git a/habitat/tasks/nav/nav_task.py b/habitat/tasks/nav/nav_task.py
index d6c8382cb..4f5d8f823 100644
--- a/habitat/tasks/nav/nav_task.py
+++ b/habitat/tasks/nav/nav_task.py
@@ -233,7 +233,7 @@ class StaticPointGoalSensor(habitat.Sensor):
return "static_pointgoal"
def _get_sensor_type(self, *args: Any, **kwargs: Any):
- return SensorTypes.STATIC_GOAL_VECTOR
+ return SensorTypes.PATH
def _get_observation_space(self, *args: Any, **kwargs: Any):
if self._goal_format == "CARTESIAN":
diff --git a/test/test_sensors.py b/test/test_sensors.py
index 3dc5e5afb..a24c978e5 100644
--- a/test/test_sensors.py
+++ b/test/test_sensors.py
@@ -14,10 +14,13 @@ from habitat.config.default import get_config
from habitat.tasks.nav.nav_task import (
NavigationEpisode,
COLLISION_PROXIMITY_TOLERANCE,
+ NavigationGoal,
)
from habitat.sims.habitat_simulator import SimulatorActions
-CFG_TEST = "configs/test/habitat_all_sensors_test.yaml"
+NON_STOP_ACTIONS = [
+ v for v in range(len(SimulatorActions)) if v != SimulatorActions.STOP.value
+]
def _random_episode(env, config):
@@ -41,10 +44,9 @@ def _random_episode(env, config):
def test_heading_sensor():
- config = get_config(CFG_TEST)
+ config = get_config()
if not os.path.exists(config.SIMULATOR.SCENE):
pytest.skip("Please download Habitat test data to data folder.")
- config = get_config()
config.defrost()
config.TASK.SENSORS = ["HEADING_SENSOR"]
config.freeze()
@@ -79,10 +81,9 @@ def test_heading_sensor():
def test_tactile():
- config = get_config(CFG_TEST)
+ config = get_config()
if not os.path.exists(config.SIMULATOR.SCENE):
pytest.skip("Please download Habitat test data to data folder.")
- config = get_config()
config.defrost()
config.TASK.SENSORS = ["PROXIMITY_SENSOR"]
config.TASK.MEASUREMENTS = ["COLLISIONS"]
@@ -111,10 +112,9 @@ def test_tactile():
def test_collisions():
- config = get_config(CFG_TEST)
+ config = get_config()
if not os.path.exists(config.SIMULATOR.SCENE):
pytest.skip("Please download Habitat test data to data folder.")
- config = get_config()
config.defrost()
config.TASK.MEASUREMENTS = ["COLLISIONS"]
config.freeze()
@@ -156,3 +156,41 @@ def test_collisions():
prev_collisions = collisions
env.close()
+
+
+def test_static_pointgoal_sensor():
+ config = get_config()
+ if not os.path.exists(config.SIMULATOR.SCENE):
+ pytest.skip("Please download Habitat test data to data folder.")
+ config.defrost()
+ config.TASK.SENSORS = ["STATIC_POINTGOAL_SENSOR"]
+ config.freeze()
+ env = habitat.Env(config=config, dataset=None)
+
+ # start position is checked for validity for the specific test scene
+ valid_start_position = [-1.3731, 0.08431, 8.60692]
+ expected_static_pointgoal = [0.1, 0.2, 0.3]
+ goal_position = np.add(valid_start_position, expected_static_pointgoal)
+
+ # starting quaternion is rotated 180 degree along z-axis, which
+ # corresponds to simulator using z-negative as forward action
+ start_rotation = [0, 0, 0, 1]
+
+ env.episodes = [
+ NavigationEpisode(
+ episode_id="0",
+ scene_id=config.SIMULATOR.SCENE,
+ start_position=valid_start_position,
+ start_rotation=start_rotation,
+ goals=[NavigationGoal(goal_position)],
+ )
+ ]
+
+ obs = env.reset()
+ for _ in range(5):
+ env.step(np.random.choice(NON_STOP_ACTIONS))
+ static_pointgoal = obs["static_pointgoal"]
+
+ # check to see if taking non-stop actions will affect static point_goal
+ assert np.allclose(static_pointgoal, expected_static_pointgoal)
+ env.close()
--
GitLab