Merge branch 'naive-scale' into nanna

allenai · Oct 11, 2022 · 95df853 · 95df853
2 parents b760177 + 50f40ca
commit 95df853
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Showing 383 changed files with 52,875 additions and 59,848 deletions.
diff --git a/README.md b/README.md
@@ -308,4 +308,3 @@ AI2 is a non-profit institute with the mission to contribute to humanity through
 <a href="//prior.allenai.org">
 <p align="center"><img width="100%" src="https://raw.githubusercontent.com/allenai/ai2thor/main/doc/static/ai2-prior.svg" /></p>
 </a>
-
diff --git a/ai2thor/tests/data/floorplan28-fixed-obj-poses.json b/ai2thor/tests/data/floorplan28-fixed-obj-poses.json
diff --git a/ai2thor/tests/test_unity_procedural.py b/ai2thor/tests/test_unity_procedural.py
@@ -1,12 +1,15 @@
 # import pytest
+import json
 import os
-import pytest
+
+import cv2
 import numpy as np
-from ai2thor.wsgi_server import WsgiServer
+import pytest
+
 from ai2thor.fifo_server import FifoServer
-from .test_unity import build_controller, images_near, depth_images_near
-import cv2
-import json
+from ai2thor.wsgi_server import WsgiServer
+
+from .test_unity import build_controller, depth_images_near, images_near
 
 DATA_PATH = "ai2thor/tests/data/"
 IMAGE_FOLDER_PATH = os.path.join(DATA_PATH, "procedural")
@@ -19,7 +22,7 @@
     width=300,
     height=300,
     fieldOfView=45,
-    agentCount=1
+    agentCount=1,
 )
 
 _wsgi_controller = dict(server_class=WsgiServer, **shared_args)
@@ -29,12 +32,14 @@
 wsgi = [_wsgi_controller]
 fifo = [_fifo_controller]
 
+
 def create_pixel_diff_image(img, g_truth):
     dx = np.where(~np.all(g_truth == img, axis=-1))
     copy = img.copy()
     copy[dx] = (255, 0, 255)
     return copy
 
+
 house_template = {
     "id": "house_0",
     "layout": """
@@ -60,104 +65,92 @@ def create_pixel_diff_image(img, g_truth):
             "wallTemplate": {
                 "material": {
                     "unlit": False,
-                    "color": {
-                        "r": 1.0,
-                        "g": 0.0,
-                        "b": 0.0,
-                        "a": 1.0
-                    }
+                    "color": {"r": 1.0, "g": 0.0, "b": 0.0, "a": 1.0},
                 }
             },
             "floorTemplate": {
                 "roomType": "Bedroom",
-                "floorMaterial": { "name": "DarkWoodFloors" },
+                "floorMaterial": {"name": "DarkWoodFloors"},
             },
             "floorYPosition": 0.0,
-            "wallHeight": 3.0
+            "wallHeight": 3.0,
         },
         "2": {
             "wallTemplate": {
                 "material": {
                     "unlit": False,
-                    "color": {
-                        "r": 0.0,
-                        "g": 0.0,
-                        "b": 1.0,
-                        "a": 1.0
-                    }
+                    "color": {"r": 0.0, "g": 0.0, "b": 1.0, "a": 1.0},
                 }
             },
             "floorTemplate": {
                 "roomType": "LivingRoom",
-                "floorMaterial": { "name": "RedBrick"}
+                "floorMaterial": {"name": "RedBrick"},
             },
             "floorYPosition": 0.0,
-            "wallHeight": 3.0
-        }
-    },
-    "holes": {
-        "=": {
-            "room0": "1",
-            "openness": 1.0,
-            "assetId": "Doorway_1"
-        }
-    },
-    "objects": {
-        "+": {
-            "kinematic": True,
-            "assetId": "Chair_007_1"
-        }
+            "wallHeight": 3.0,
+        },
     },
+    "holes": {"=": {"room0": "1", "openness": 1.0, "assetId": "Doorway_1"}},
+    "objects": {"+": {"kinematic": True, "assetId": "Chair_007_1"}},
     "proceduralParameters": {
         "floorColliderThickness": 1.0,
         "receptacleHeight": 0.7,
         "skyboxId": "Sky1",
-        "ceilingMaterial": { "name":  "ps_mat" }
+        "ceilingMaterial": {"name": "ps_mat"},
     },
-    "schema": "1.0.0"
+    "metadata": {"schema": "1.0.0"},
 }
 
 # TODO rendering is different for fifo and wsgi server
 @pytest.mark.parametrize("controller_args", fifo)
 def test_render_lit(controller_args):
     print("Args")
     print(controller_args)
-    controller = build_controller(
-        **controller_args
-    )
+    controller = build_controller(**controller_args)
 
     rgb_filename = "proc_rgb_lit_fifo.png"
     ground_truth = cv2.imread(os.path.join(IMAGE_FOLDER_PATH, rgb_filename))
 
-    evt = controller.step(
-        action="GetHouseFromTemplate",
-        template=house_template
-    )
+    evt = controller.step(action="GetHouseFromTemplate", template=house_template)
 
-    print("Action success {0}, message {1}".format(evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]))
+    print(
+        "Action success {0}, message {1}".format(
+            evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
+        )
+    )
     assert evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
     house = evt.metadata["actionReturn"]
 
     with open("test_render_lit.json", "w") as f:
         print(house)
         json.dump(house, f)
 
-    evt = controller.step(
-        action="CreateHouse",
-        house=house
-    )
+    evt = controller.step(action="CreateHouse", house=house)
 
-    print("Action success {0}, message {1}".format(evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]))
-    assert evt.metadata['lastActionSuccess']
+    print(
+        "Action success {0}, message {1}".format(
+            evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
+        )
+    )
+    assert evt.metadata["lastActionSuccess"]
 
     evt = controller.step(
-        action="TeleportFull", x=3.0, y=0.9010001, z=1.0, rotation=dict(x=0, y=0, z=0),
-        horizon=0, standing=True, forceAction=True
+        action="TeleportFull",
+        x=3.0,
+        y=0.9010001,
+        z=1.0,
+        rotation=dict(x=0, y=0, z=0),
+        horizon=0,
+        standing=True,
+        forceAction=True,
     )
 
     controller.stop()
 
-    assert images_near(evt.cv2img, ground_truth, max_mean_pixel_diff=52, debug_save=True)
+    assert images_near(
+        evt.cv2img, ground_truth, max_mean_pixel_diff=52, debug_save=True
+    )
+
 
 #
 # @pytest.mark.parametrize("controller_args", wsgi)
@@ -179,39 +172,40 @@ def test_render_lit(controller_args):
 #     assert depth_images_near(server_image, raw_depth, epsilon=2e-1, debug_save=True)
 
 
-
 @pytest.mark.parametrize("controller_args", fifo)
 def test_depth(controller_args):
     controller_args.update(
         renderDepthImage=True,
     )
 
-    controller = build_controller(
-        **controller_args
-    )
+    controller = build_controller(**controller_args)
 
     depth_filename = "proc_depth.npy"
     raw_depth = np.load(os.path.join(IMAGE_FOLDER_PATH, depth_filename))
 
-    evt = controller.step(
-        action="GetHouseFromTemplate",
-        template=house_template
-    )
+    evt = controller.step(action="GetHouseFromTemplate", template=house_template)
 
     assert evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
     house = evt.metadata["actionReturn"]
 
-    evt = controller.step(
-        action="CreateHouse",
-        house=house
-    )
+    evt = controller.step(action="CreateHouse", house=house)
 
-    print("Action success {0}, message {1}".format(evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]))
-    assert evt.metadata['lastActionSuccess']
+    print(
+        "Action success {0}, message {1}".format(
+            evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
+        )
+    )
+    assert evt.metadata["lastActionSuccess"]
 
     evt = controller.step(
-        action="TeleportFull", x=3.0, y=0.9010001, z=1.0, rotation=dict(x=0, y=0, z=0),
-        horizon=0, standing=True, forceAction=True
+        action="TeleportFull",
+        x=3.0,
+        y=0.9010001,
+        z=1.0,
+        rotation=dict(x=0, y=0, z=0),
+        horizon=0,
+        standing=True,
+        forceAction=True,
     )
 
     controller.stop()

diff --git a/unity/Assets/Editor/ExpRoomEditor.cs b/unity/Assets/Editor/ExpRoomEditor.cs
@@ -46,7 +46,7 @@ public class ExpRoomEditor : EditorWindow {
     [MenuItem("ExpRoom/Add all pickupable receptacle prefabs to AvailableContainers", true)]
     [MenuItem("ExpRoom/Interactively add all pickupable prefabs to AvailableObjects", true)]
     static bool HideMenuIfNotInExpRoom() {
-        Debug.Log(UnityEngine.SceneManagement.SceneManager.GetActiveScene().name);
+        //Debug.Log(UnityEngine.SceneManagement.SceneManager.GetActiveScene().name);
         return UnityEngine.SceneManagement.SceneManager.GetActiveScene().name == "FloorPlan_ExpRoom";
     }
 

diff --git a/unity/Assets/Editor/NormalsVisualizer.cs.meta b/unity/Assets/Editor/NormalsVisualizer.cs.meta