merge nanna-release-api to naive-scale

allenai · Sep 29, 2022 · c9833a5 · c9833a5
2 parents 281b26a + 51871f8
commit c9833a5
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Showing 10 changed files with 122 additions and 110 deletions.
diff --git a/ai2thor/tests/data/procedural/proc_rgb_lit_fifo.png b/ai2thor/tests/data/procedural/proc_rgb_lit_fifo.png
diff --git a/ai2thor/tests/test_unity_procedural.py b/ai2thor/tests/test_unity_procedural.py
@@ -1,11 +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
+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")
@@ -18,7 +22,7 @@
     width=300,
     height=300,
     fieldOfView=45,
-    agentCount=1
+    agentCount=1,
 )
 
 _wsgi_controller = dict(server_class=WsgiServer, **shared_args)
@@ -28,12 +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": """
@@ -59,98 +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",
 }
 
 # TODO rendering is different for fifo and wsgi server
 @pytest.mark.parametrize("controller_args", fifo)
-@pytest.mark.skip(reason="blocking current work")
 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"]
 
-    controller.step(
-        action="CreateHouse",
-        house=house
+    with open("test_render_lit.json", "w") as f:
+        print(house)
+        json.dump(house, f)
+
+    evt = controller.step(action="CreateHouse", house=house)
+
+    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)
@@ -172,36 +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"]
 
-    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"]
 
     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/Scenes/Procedural/Procedural.unity b/unity/Assets/Scenes/Procedural/Procedural.unity
@@ -38,7 +38,7 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.4975387, g: 0.5876736, b: 0.7671069, a: 1}
+  m_IndirectSpecularColor: {r: 0.49752694, g: 0.5876213, b: 0.76683104, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
@@ -1105,7 +1105,6 @@ GameObject:
   serializedVersion: 6
   m_Component:
   - component: {fileID: 2102304081}
-  - component: {fileID: 2102304080}
   - component: {fileID: 2102304082}
   - component: {fileID: 2102304083}
   m_Layer: 0
@@ -1115,20 +1114,6 @@ GameObject:
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
   m_IsActive: 1
---- !u!114 &2102304080
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 2102304079}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: d2f52a53641cf447b8e93cd67654976c, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  floorMesh: {fileID: 0}
-  floorMaterial: {fileID: 2100000, guid: 9554c30067d9e4b40a657e538d755129, type: 2}
 --- !u!4 &2102304081
 Transform:
   m_ObjectHideFlags: 0

diff --git a/unity/Assets/Scripts/BaseFPSAgentController.cs b/unity/Assets/Scripts/BaseFPSAgentController.cs
@@ -4793,7 +4793,8 @@ public void CreateHouse(ProceduralHouse house) {
                 ProceduralTools.CreateHouse(house: house, materialDb: materials);
             } 
             catch (Exception e) {
-                var msg = $"Exception creating house.\n'{e.Message}'\n'{e.InnerException.Message}'";
+                Debug.Log(e);
+                var msg = $"Exception creating house.\n'{e.Message}'\n'{e.InnerException}'";
                 Debug.Log(msg);
                 actionFinished(false, actionReturn: null, errorMessage: msg);
                 return;

diff --git a/unity/Assets/Scripts/ProceduralData.cs b/unity/Assets/Scripts/ProceduralData.cs
@@ -117,7 +117,7 @@ public class Door : WallRectangularHole {
         public bool openable { get; set; }
         public float openness { get; set; } = 0.0f;
         public string assetId { get; set; }
-
+        public MaterialProperties material { get; set; }
         public Vector3? scale { get; set; } = null;
         public SerializableColor color { get; set; } = null;
     }
@@ -208,7 +208,7 @@ public class PolygonWall {
         public string roomId { get; set; }
         public float thickness { get; set; }
         public string layer { get; set; }
-        public MaterialProperties material;
+        public MaterialProperties material { get; set; }
         public bool empty { get; set; } = false;
         public bool unlit;
     }
@@ -258,7 +258,7 @@ public class Window : WallRectangularHole {
         public List<VectorXZ> axesXZ { get; set; }
         public string type { get; set; }
         public string assetId { get; set; }
-
+        public MaterialProperties material { get; set; }
         public Vector3? scale { get; set; } = null;
         public SerializableColor color { get; set; } = null;
     }
@@ -359,7 +359,6 @@ public class HouseObject {
         public bool? isDirty { get; set; } = null;
 
         public bool unlit;
-        public SerializableColor color { get; set; } = null;
         public MaterialProperties material;
     }
 
@@ -427,7 +426,7 @@ public interface WallRectangularHole {
         float openness { get; set; }
 
         Vector3? scale { get; set; }
-        SerializableColor color { get; set; }
+        MaterialProperties material { get; set; }
     }
 
     [Serializable]

diff --git a/unity/Assets/Scripts/ProceduralTemplates.cs b/unity/Assets/Scripts/ProceduralTemplates.cs
@@ -422,7 +422,7 @@ public static ProceduralHouse createHouseFromTemplate(
             };
 
             return new ProceduralHouse() {
-                metadata = metadata,
+                metadata = new HouseMetadata() { schema=houseTemplate.schema },
                 proceduralParameters = houseTemplate.proceduralParameters.DeepClone(),
                 id = !string.IsNullOrEmpty(houseTemplate.id) ? houseTemplate.id : houseId(),
                 rooms = roomsWithWalls.Select(p => p.room).ToList(),