def test_dataset_splitting(split):
dataset_config = get_config(CFG_TEST).DATASET
dataset_config.defrost()
dataset_config.SPLIT = split
if not ObjectNavDatasetV1.check_config_paths_exist(dataset_config):
pytest.skip("Test skipped as dataset files are missing.")
scenes = ObjectNavDatasetV1.get_scenes_to_load(config=dataset_config)
assert (len(scenes) >
0), "Expected dataset contains separate episode file per scene."
dataset_config.CONTENT_SCENES = scenes[:PARTIAL_LOAD_SCENES]
full_dataset = make_dataset(id_dataset=dataset_config.TYPE,
config=dataset_config)
full_episodes = {(ep.scene_id, ep.episode_id)
for ep in full_dataset.episodes}
dataset_config.CONTENT_SCENES = scenes[:PARTIAL_LOAD_SCENES // 2]
split1_dataset = make_dataset(id_dataset=dataset_config.TYPE,
config=dataset_config)
split1_episodes = {(ep.scene_id, ep.episode_id)
for ep in split1_dataset.episodes}
dataset_config.CONTENT_SCENES = scenes[PARTIAL_LOAD_SCENES //
2:PARTIAL_LOAD_SCENES]
split2_dataset = make_dataset(id_dataset=dataset_config.TYPE,
config=dataset_config)
split2_episodes = {(ep.scene_id, ep.episode_id)
for ep in split2_dataset.episodes}
assert full_episodes == split1_episodes.union(
split2_episodes), "Split dataset is not equal to full dataset"
assert (len(split1_episodes.intersection(split2_episodes)) == 0
), "Intersection of split datasets is not the empty set"
def test_object_nav_task():
config = get_config(CFG_TEST)
if not ObjectNavDatasetV1.check_config_paths_exist(config.DATASET):
pytest.skip(
"Please download Matterport3D scene and ObjectNav Datasets to data folder."
)
dataset = make_dataset(id_dataset=config.DATASET.TYPE,
config=config.DATASET)
with habitat.Env(config=config, dataset=dataset) as env:
for i in range(10):
env.reset()
while not env.episode_over:
action = env.action_space.sample()
habitat.logger.info(f"Action : "
f"{action['action']}, "
f"args: {action['action_args']}.")
env.step(action)
metrics = env.get_metrics()
logger.info(metrics)
with pytest.raises(AssertionError):
env.step({"action": MoveForwardAction.name})
def test_mp3d_object_nav_dataset():
dataset_config = get_config(CFG_TEST).DATASET
if not ObjectNavDatasetV1.check_config_paths_exist(dataset_config):
pytest.skip(
"Please download Matterport3D ObjectNav Dataset to data folder."
)
dataset = habitat.make_dataset(
id_dataset=dataset_config.TYPE, config=dataset_config
)
assert dataset
check_json_serializaiton(dataset)
def check_json_serializaiton(dataset: habitat.Dataset):
start_time = time.time()
json_str = dataset.to_json()
logger.info("JSON conversion finished. {} sec".format(
(time.time() - start_time)))
decoded_dataset = ObjectNavDatasetV1()
decoded_dataset.from_json(json_str)
assert len(decoded_dataset.episodes) == len(dataset.episodes)
episode = decoded_dataset.episodes[0]
assert isinstance(episode, Episode)
# The strings won't match exactly as dictionaries don't have an order for the keys
# Thus we need to parse the json strings and compare the serialized forms
assert json.loads(decoded_dataset.to_json()) == json.loads(
json_str), "JSON dataset encoding/decoding isn't consistent"
def test_mp3d_object_nav_dataset():
dataset_config = get_config(CFG_TEST).DATASET
if not ObjectNavDatasetV1.check_config_paths_exist(dataset_config):
pytest.skip(
"Please download Matterport3D ObjectNav Dataset to data folder.")
dataset = habitat.make_dataset(id_dataset=dataset_config.TYPE,
config=dataset_config)
assert dataset
dataset.episodes = dataset.episodes[0:EPISODES_LIMIT]
dataset.goals_by_category = {
k: v
for k, v in dataset.goals_by_category.items()
if k in (ep.goals_key for ep in dataset.episodes)
}
check_json_serializaiton(dataset)