def test_default_body_contorls(action, expected):
scene_graph = hsim.SceneGraph()
agent_config = habitat_sim.AgentConfiguration()
agent_config.action_space = dict(
move_backward=habitat_sim.ActionSpec(
"move_backward", habitat_sim.ActuationSpec(amount=0.25)),
move_forward=habitat_sim.ActionSpec(
"move_forward", habitat_sim.ActuationSpec(amount=0.25)),
move_left=habitat_sim.ActionSpec(
"move_left", habitat_sim.ActuationSpec(amount=0.25)),
move_right=habitat_sim.ActionSpec(
"move_right", habitat_sim.ActuationSpec(amount=0.25)),
turn_left=habitat_sim.ActionSpec(
"turn_left", habitat_sim.ActuationSpec(amount=10.0)),
turn_right=habitat_sim.ActionSpec(
"turn_right", habitat_sim.ActuationSpec(amount=10.0)),
)
agent = habitat_sim.Agent(scene_graph.get_root_node().create_child(),
agent_config)
state = agent.state
agent.act(action)
new_state = agent.state
_check_state_expected(state, new_state, expected)
for k, v in state.sensor_states.items():
assert k in new_state.sensor_states
_check_state_expected(v, new_state.sensor_states[k], expected)
def test_default_sensor_contorls(action, expected):
scene_graph = hsim.SceneGraph()
agent_config = habitat_sim.AgentConfiguration()
agent_config.action_space = dict(
move_up=habitat_sim.ActionSpec("move_up",
habitat_sim.ActuationSpec(amount=0.25)),
move_down=habitat_sim.ActionSpec(
"move_down", habitat_sim.ActuationSpec(amount=0.25)),
look_left=habitat_sim.ActionSpec(
"look_left", habitat_sim.ActuationSpec(amount=10.0)),
look_right=habitat_sim.ActionSpec(
"look_right", habitat_sim.ActuationSpec(amount=10.0)),
look_up=habitat_sim.ActionSpec("look_up",
habitat_sim.ActuationSpec(amount=10.0)),
look_down=habitat_sim.ActionSpec(
"look_down", habitat_sim.ActuationSpec(amount=10.0)),
)
agent = habitat_sim.Agent(agent_config)
agent.attach(scene_graph.get_root_node().create_child())
state = agent.state
agent.act(action)
new_state = agent.state
_check_state_same(state, new_state)
for k, v in state.sensor_states.items():
assert k in new_state.sensor_states
_check_state_expected(v, new_state.sensor_states[k], expected)
def test_no_move_fun():
scene_graph = hsim.SceneGraph()
agent_config = habitat_sim.AgentConfiguration()
agent_config.action_space = dict(move_forward=habitat_sim.ActionSpec(
"DNF", habitat_sim.ActuationSpec(amount=0.25)))
agent = habitat_sim.Agent(scene_graph.get_root_node().create_child(),
agent_config)
with pytest.raises(AssertionError):
agent.act("move_forward")
def test_set_state():
scene_graph = hsim.SceneGraph()
agent = habitat_sim.Agent(scene_graph.get_root_node().create_child())
state = agent.state
agent.state = state
new_state = agent.state
_check_state_same(state, new_state)
for k, v in state.sensor_states.items():
assert k in new_state.sensor_states
_check_state_same(v, new_state.sensor_states[k])
def test_attach_detach():
scene_graph = hsim.SceneGraph()
agent = habitat_sim.Agent()
agent.attach(scene_graph.get_root_node().create_child())
habitat_sim.errors.assert_obj_valid(agent.body)
for _, v in agent.sensors.items():
habitat_sim.errors.assert_obj_valid(v)
with pytest.raises(habitat_sim.errors.InvalidAttachedObject):
habitat_sim.errors.assert_obj_valid(agent.body)
for _, v in agent.sensors.items():
with pytest.raises(habitat_sim.errors.InvalidAttachedObject):
habitat_sim.errors.assert_obj_valid(v)
def test_reconfigure():
scene_graph = hsim.SceneGraph()
agent = habitat_sim.Agent(scene_graph.get_root_node().create_child())
habitat_sim.errors.assert_obj_valid(agent.body)
for _, v in agent.sensors.items():
habitat_sim.errors.assert_obj_valid(v)
agent.reconfigure(agent.agent_config)
for _, v in agent.sensors.items():
habitat_sim.errors.assert_obj_valid(v)
agent.reconfigure(agent.agent_config, True)
for _, v in agent.sensors.items():
habitat_sim.errors.assert_obj_valid(v)
def test_change_state():
scene_graph = hsim.SceneGraph()
agent = habitat_sim.Agent(scene_graph.get_root_node().create_child())
for _ in range(100):
state = agent.state
state.position += np.random.uniform(-1, 1, size=3)
state.rotation *= habitat_sim.utils.quat_from_angle_axis(
np.random.uniform(0, 2 * np.pi), np.array([0.0, 1.0, 0.0]))
for k, v in state.sensor_states.items():
v.position += np.random.uniform(-1, 1, size=3)
v.rotation *= habitat_sim.utils.quat_from_angle_axis(
np.random.uniform(0, 2 * np.pi), np.array([1.0, 1.0, 1.0]))
agent.state = state
new_state = agent.state
_check_state_same(state, new_state)
for k, v in state.sensor_states.items():
assert k in new_state.sensor_states
_check_state_same(v, new_state.sensor_states[k])
def test_pyrobot_noisy_actions(noise_multiplier, robot, controller):
np.random.seed(0)
scene_graph = hsim.SceneGraph()
agent_config = habitat_sim.AgentConfiguration()
agent_config.action_space = dict(
noisy_move_backward=habitat_sim.ActionSpec(
"pyrobot_noisy_move_backward",
habitat_sim.PyRobotNoisyActuationSpec(
amount=1.0,
robot=robot,
controller=controller,
noise_multiplier=noise_multiplier,
),
),
noisy_move_forward=habitat_sim.ActionSpec(
"pyrobot_noisy_move_forward",
habitat_sim.PyRobotNoisyActuationSpec(
amount=1.0,
robot=robot,
controller=controller,
noise_multiplier=noise_multiplier,
),
),
noisy_turn_left=habitat_sim.ActionSpec(
"pyrobot_noisy_turn_left",
habitat_sim.PyRobotNoisyActuationSpec(
amount=90.0,
robot=robot,
controller=controller,
noise_multiplier=noise_multiplier,
),
),
noisy_turn_right=habitat_sim.ActionSpec(
"pyrobot_noisy_turn_right",
habitat_sim.PyRobotNoisyActuationSpec(
amount=90.0,
robot=robot,
controller=controller,
noise_multiplier=noise_multiplier,
),
),
move_backward=habitat_sim.ActionSpec(
"move_backward", habitat_sim.ActuationSpec(amount=1.0)
),
move_forward=habitat_sim.ActionSpec(
"move_forward", habitat_sim.ActuationSpec(amount=1.0)
),
turn_left=habitat_sim.ActionSpec(
"turn_left", habitat_sim.ActuationSpec(amount=90.0)
),
turn_right=habitat_sim.ActionSpec(
"turn_right", habitat_sim.ActuationSpec(amount=90.0)
),
)
agent = habitat_sim.Agent(scene_graph.get_root_node().create_child(), agent_config)
for base_action in set(
act.replace("noisy_", "") for act in agent_config.action_space
):
state = agent.state
state.rotation = np.quaternion(1, 0, 0, 0)
agent.state = state
agent.act(base_action)
base_state = agent.state
delta_translations = []
delta_rotations = []
for _ in range(300):
agent.state = state
agent.act(f"noisy_{base_action}")
noisy_state = agent.state
delta_translations.append(_delta_translation(base_state, noisy_state))
delta_rotations.append(_delta_rotation(base_state, noisy_state))
delta_translations = np.stack(delta_translations)
delta_rotations = np.stack(delta_rotations)
if "move" in base_action:
noise_model = pyrobot_noise_models[robot][controller].linear_motion
else:
noise_model = pyrobot_noise_models[robot][controller].rotational_motion
EPS = 5e-2
assert (
np.linalg.norm(
noise_model.linear.mean * noise_multiplier
- np.abs(delta_translations.mean(0))
)
< EPS
)
assert (
np.linalg.norm(
noise_model.rotation.mean * noise_multiplier
- np.abs(delta_rotations.mean(0))
)
< EPS
)
assert (
np.linalg.norm(
noise_model.linear.cov * noise_multiplier
- np.diag(delta_translations.std(0) ** 2)
)
< EPS
)
assert (
np.linalg.norm(
noise_model.rotation.cov * noise_multiplier
- (delta_rotations.std(0) ** 2)
)
< EPS
)
def scene_graph():
return hsim.SceneGraph()
