def test_merged_configs():
test_config = get_config(CFG_TEST)
eqa_config = get_config(CFG_EQA)
merged_config = get_config("{},{}".format(CFG_TEST, CFG_EQA))
assert merged_config.TASK.TYPE == eqa_config.TASK.TYPE
assert (merged_config.ENVIRONMENT.MAX_EPISODE_STEPS ==
test_config.ENVIRONMENT.MAX_EPISODE_STEPS)
def test_new_keys_merged_configs():
test_config = get_config(CFG_TEST)
new_keys_config = get_config(CFG_NEW_KEYS)
merged_config = get_config("{},{}".format(CFG_TEST, CFG_NEW_KEYS))
assert (merged_config.TASK.MY_NEW_TASK_PARAM ==
new_keys_config.TASK.MY_NEW_TASK_PARAM)
assert (merged_config.ENVIRONMENT.MAX_EPISODE_STEPS ==
test_config.ENVIRONMENT.MAX_EPISODE_STEPS)
def get_test_config(name: str):
# use test dataset for lighter testing
datapath = (
"data/datasets/pointnav/habitat-test-scenes/v1/{split}/{split}.json.gz"
)
cfg = get_config(name)
if not os.path.exists(cfg.SIMULATOR.SCENE):
pytest.skip("Please download Habitat test data to data folder.")
if len(cfg.MULTI_TASK.TASKS) < 2:
pytest.skip(
"Please use a configuration with at least 2 tasks for testing."
)
cfg.defrost()
cfg.DATASET.DATA_PATH = datapath
cfg.DATASET.SPLIT = "test"
# also make sure tasks config are overriden
for task in cfg.MULTI_TASK.TASKS:
task.DATASET.DATA_PATH = datapath
task.DATASET.SPLIT = "test"
# and work with small observations for testing
if "RGB_SENSOR" in cfg:
cfg.RGB_SENSOR.WIDTH = 64
cfg.RGB_SENSOR.HEIGHT = 64
if "DEPTH_SENSOR" in cfg:
cfg.DEPTH_SENSOR.WIDTH = 64
cfg.DEPTH_SENSOR.HEIGHT = 64
cfg.freeze()
return cfg
def test_overwrite_options():
for steps_limit in range(MAX_TEST_STEPS_LIMIT):
config = get_config(
config_paths=CFG_TEST,
opts=["ENVIRONMENT.MAX_EPISODE_STEPS", steps_limit],
)
assert (config.ENVIRONMENT.MAX_EPISODE_STEPS == steps_limit
), "Overwriting of config options failed."
def test_standard_config_compatibility():
cfg = get_config("configs/tasks/pointnav.yaml")
with MultiTaskEnv(config=cfg) as env:
env.reset()
actions = 0
while not env.episode_over:
# execute random action
env.step(env.action_space.sample())
actions += 1
assert (
actions >= 1
), "You should have performed at least one step with no interruptions"
def test_tasks_keep_defaults():
defaults = _C.TASK.clone()
cfg = get_config(MULITASK_TEST_FILENAME)
cfg.defrost()
cfg.MULTI_TASK.TASKS[0].TYPE = "MyCustomTestTask"
cfg.freeze()
assert (cfg.MULTI_TASK.TASKS[0].TYPE !=
cfg.TASK.TYPE), "Each tasks property should be overridable"
for k in defaults.keys():
for task in cfg.MULTI_TASK.TASKS:
assert (
k
in task), "Default property should be inherithed by each task"
def test_global_dataset_config():
datatype = "MyDatasetType"
config = open_yaml(MULITASK_TEST_FILENAME)
for task in config["MULTI_TASK"]["TASKS"]:
if "DATASET" in task:
del task["DATASET"]
config["DATASET"]["TYPE"] = datatype
save_yaml("habitat_config_test.yaml", config)
# load test config
cfg = get_config("/tmp/habitat_config_test.yaml")
# make sure each tasks has global dataset config
for task in cfg.MULTI_TASK.TASKS:
assert (
task.DATASET.TYPE == cfg.DATASET.TYPE == datatype
), "Each task should inherit global dataset when dataset is not specified"
def test_global_dataset_config_override():
datatype = "MyDatasetType"
datapath = "/some/path/"
config = open_yaml(MULITASK_TEST_FILENAME)
for task in config["MULTI_TASK"]["TASKS"]:
if "DATASET" in task:
del task["DATASET"]
# one tasks needs a different dataset
config["MULTI_TASK"]["TASKS"][0]["DATASET"] = {
"TYPE": datatype,
"DATA_PATH": datapath,
}
save_yaml("habitat_config_test.yaml", config)
# load test config
cfg = get_config("/tmp/habitat_config_test.yaml")
# make sure each tasks has global dataset config but the first one
for i, task in enumerate(cfg.MULTI_TASK.TASKS):
if i == 0:
assert (task.DATASET.TYPE == datatype != cfg.DATASET.TYPE
), "First task should have a different dataset"
else:
assert (
task.DATASET.TYPE == cfg.DATASET.TYPE
), "Each task should inherit global dataset when dataset is not specified"
if flag:
cv2.imshow("RGB", rgb2bgr(obs["rgb"]))
if __name__ == "__main__":
args = ArgumentParser()
args.add_argument(
"-i",
"--interactive",
help="Run demo interactively",
action="store_true",
)
args = args.parse_args()
### One Env, many tasks ###
# cfg = get_config('pointnav.yaml')
cfg = get_config("configs/test/habitat_multitask_example.yaml")
# cfg.defrost()
# cfg.TASKS[0].SENSORS = ["PROXIMITY_SENSOR"]
# cfg.freeze()
with MultiTaskEnv(config=cfg) as env:
print("{} episodes created from config file".format(len(
env._episodes)))
scene_sort_keys = {}
for e in env.episodes:
if e.scene_id not in scene_sort_keys:
scene_sort_keys[e.scene_id] = len(scene_sort_keys)
print("Number of scenes", scene_sort_keys)
# usual OpenAI Gym-like env-agent loop
n_episodes = 2
print(env._tasks)
taks_id = 0
