def test_traversal_reward_with_missing_target(self):
goal = MCS_Goal()
goal.metadata['target'] = {'id': '111'} # missing target
obj_list = []
for i in range(10):
obj = {"objectId":str(i), "distanceXZ": 0.3 * i}
agent = {'position': {'x':-0.9, 'y': 0.5, 'z':0.0}}
reward = MCS_Reward._calc_traversal_reward(goal, obj_list, agent)
self.assertEqual(reward, 0)
self.assertIsInstance(reward, int)
def test_traversal_reward_outside_agent_reach(self):
goal = MCS_Goal()
goal.metadata['target'] = {'id': '0'}
obj_list = []
for i in range(10):
obj = {"objectId":str(i), "distanceXZ": 1.1}
agent = {'position': {'x':-0.9, 'y': 0.5, 'z':-1.0}}
reward = MCS_Reward._calc_traversal_reward(goal, obj_list, agent)
self.assertEqual(reward, 0)
self.assertIsInstance(reward, int)
def test_retrieval_reward_nothing_pickedup(self):
goal = MCS_Goal()
goal.metadata['target'] = {'id': '0'}
obj_list = []
for i in range(10):
obj = {"objectId": str(i), 'isPickedUp': False}
obj_list.append(obj)
reward = MCS_Reward._calc_retrieval_reward(goal, obj_list, agent={})
self.assertEqual(reward, 0)
self.assertIsInstance(reward, int)
def test_retrieve_action_list(self):
self.assertEqual(self.controller.retrieve_action_list(MCS_Goal(), 0),
self.controller.ACTION_LIST)
self.assertEqual(self.controller.retrieve_action_list(MCS_Goal(action_list=[]), 0), \
self.controller.ACTION_LIST)
self.assertEqual(self.controller.retrieve_action_list(MCS_Goal(action_list=[[]]), 0), \
self.controller.ACTION_LIST)
self.assertEqual(self.controller.retrieve_action_list(MCS_Goal(action_list=[['MoveAhead',\
'RotateLook,rotation=180']]), 0), ['MoveAhead', 'RotateLook,rotation=180'])
self.assertEqual(self.controller.retrieve_action_list(MCS_Goal(action_list=[['MoveAhead',\
'RotateLook,rotation=180']]), 1), self.controller.ACTION_LIST)
self.assertEqual(self.controller.retrieve_action_list(MCS_Goal(action_list=[['MoveAhead',\
'RotateLook,rotation=180'], []]), 1), self.controller.ACTION_LIST)
self.assertEqual(self.controller.retrieve_action_list(MCS_Goal(action_list=[[],['MoveAhead',\
'RotateLook,rotation=180']]), 0), self.controller.ACTION_LIST)
self.assertEqual(self.controller.retrieve_action_list(MCS_Goal(action_list=[[],['MoveAhead',\
'RotateLook,rotation=180']]), 1), ['MoveAhead', 'RotateLook,rotation=180'])
def test_transferral_reward_on_top_of_with_pickedup_object(self):
goal = MCS_Goal()
goal.metadata['target_1'] = {'id': '0'}
goal.metadata['target_2'] = {'id': '1'}
goal.metadata['relationship'] = ['target_1', 'on top of', 'target_2']
obj_list = []
for i in range(10):
obj = {"objectId":str(i), "objectBounds": {"objectBoundsCorners": []}, "isPickedUp": True}
# create lower plane (y = 0)
obj['objectBounds']['objectBoundsCorners'].append({'x':0.0, 'y': 0.0 + i, 'z': 0.0})
obj['objectBounds']['objectBoundsCorners'].append({'x':1.0, 'y': 0.0 + i, 'z': 0.0})
obj['objectBounds']['objectBoundsCorners'].append({'x':1.0, 'y': 0.0 + i, 'z': 1.0})
obj['objectBounds']['objectBoundsCorners'].append({'x':0.0, 'y': 0.0 + i, 'z': 1.0})
# create upper plane (y = 1) + i
obj['objectBounds']['objectBoundsCorners'].append({'x':0.0, 'y': 1.0 + i, 'z': 0.0})
obj['objectBounds']['objectBoundsCorners'].append({'x':1.0, 'y': 1.0 + i, 'z': 0.0})
obj['objectBounds']['objectBoundsCorners'].append({'x':1.0, 'y': 1.0 + i, 'z': 1.0})
obj['objectBounds']['objectBoundsCorners'].append({'x':0.0, 'y': 1.0 + i, 'z': 1.0})
obj['position'] = {'x': 0.5, 'y': 0.0 + i, 'z': 0.5}
obj_list.append(obj)
agent = {'position': {'x':-0.9, 'y': 0.5, 'z':0.0}}
reward = MCS_Reward._calc_transferral_reward(goal, obj_list, agent)
self.assertEqual(reward, 0)
self.assertIsInstance(reward, int)
def retrieve_goal(self, current_scene):
goal_config = current_scene['goal'] if 'goal' in current_scene else {}
return MCS_Goal(action_list=(goal_config['action_list'] if
'action_list' in goal_config else None),
info_list=(goal_config['info_list']
if 'type_list' in goal_config else []),
last_step=(goal_config['last_step']
if 'last_step' in goal_config else None),
task_list=(goal_config['task_list']
if 'type_list' in goal_config else []),
type_list=(goal_config['type_list']
if 'type_list' in goal_config else []),
metadata=(goal_config['metadata']
if 'metadata' in goal_config else {}))
def __init__(self,
action_list=[],
depth_mask_list=[],
goal=MCS_Goal(),
head_tilt=0,
image_list=[],
object_list=[],
object_mask_list=[],
pose=MCS_Pose.UNDEFINED,
return_status=MCS_Return_Status.UNDEFINED,
step_number=0):
self.action_list = action_list
self.depth_mask_list = depth_mask_list
self.goal = goal
self.head_tilt = head_tilt
self.image_list = image_list
self.object_list = object_list
self.object_mask_list = object_mask_list
self.pose = pose
self.return_status = return_status
self.step_number = step_number
def test_default_reward(self):
goal = MCS_Goal()
reward = MCS_Reward.calculate_reward(goal, objects={}, agent={})
self.assertEqual(reward, 0)
self.assertIsInstance(reward, int)