Merge nanna

allenai · Aug 18, 2022 · d63f276 · d63f276
2 parents 7c7741c + 7f79e43
commit d63f276
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Showing 310 changed files with 30,103 additions and 19,068 deletions.
diff --git a/ai2thor/controller.py b/ai2thor/controller.py
@@ -550,6 +550,12 @@ def __init__(
                     DeprecationWarning,
                 )
 
+            if "agentControllerType" in self.initialization_parameters:
+                raise ValueError(
+                    "`agentControllerType` is no longer an allowed initialization parameter."
+                    " Use `agentMode` instead."
+                )
+
             # Let's set the scene for them!
             if scene is None:
                 scenes_in_build = self.scenes_in_build

diff --git a/ai2thor/tests/test_unity.py b/ai2thor/tests/test_unity.py
@@ -1,17 +1,20 @@
 # import pytest
+import copy
+import glob
+import json
 import os
-import string
 import random
 import re
-import copy
-import json
+import string
 import time
 import shutil
-
-import pytest
 import warnings
+
 import jsonschema
 import numpy as np
+import pytest
+from PIL import ImageChops, ImageFilter, Image
+
 from ai2thor.controller import Controller
 from ai2thor.build import TEST_OUTPUT_DIRECTORY
 from ai2thor.tests.constants import TESTS_DATA_DIR, TEST_SCENE
@@ -65,7 +68,6 @@ def build_controller(**args):
 
 _wsgi_controller = build_controller(server_class=WsgiServer)
 _fifo_controller = build_controller(server_class=FifoServer)
-_stochastic_controller = build_controller(agentControllerType="stochastic", agentMode="stochastic")
 
 
 def skip_reset(controller):
@@ -101,10 +103,6 @@ def wsgi_controller():
     return reset_controller(_wsgi_controller)
 
 
-@pytest.fixture
-def stochastic_controller():
-    return reset_controller(_stochastic_controller)
-
 
 @pytest.fixture
 def fifo_controller():
@@ -113,7 +111,6 @@ def fifo_controller():
 
 fifo_wsgi = [_fifo_controller, _wsgi_controller]
 fifo = [_fifo_controller]
-fifo_wsgi_stoch = [_fifo_controller, _wsgi_controller, _stochastic_controller]
 
 BASE_FP28_POSITION = dict(x=-1.5, z=-1.5, y=0.901,)
 BASE_FP28_LOCATION = dict(
@@ -129,12 +126,12 @@ def teleport_to_base_location(controller: Controller):
 
 
 def setup_function(function):
-    for c in fifo_wsgi_stoch:
+    for c in fifo_wsgi:
         reset_controller(c)
 
 
 def teardown_module(module):
-    for c in fifo_wsgi_stoch:
+    for c in fifo_wsgi:
         c.stop()
 
 
@@ -212,16 +209,18 @@ def images_far(image1, image2, min_mean_pixel_diff=10):
     return np.mean(np.abs(image1 - image2).flatten()) >= min_mean_pixel_diff
 
 
-def test_stochastic_controller(stochastic_controller):
-    stochastic_controller.reset(TEST_SCENE)
-    assert stochastic_controller.last_event.metadata["lastActionSuccess"]
+def test_agent_controller_type_no_longer_accepted(fifo_controller):
+    with pytest.raises(ValueError):
+        build_controller(
+            server_class=FifoServer,
+            agentControllerType="physics",
+            agentMode="default",
+        )
 
-def test_stochastic_mismatch(fifo_controller):
-    try:
-        c = fifo_controller.reset(agentControllerType="stochastic", agentMode="default")
-    except RuntimeError as e:
-        error_message = str(e)
-    assert error_message and error_message.startswith("Invalid combination of agentControllerType=stochastic and agentMode=default")
+    # TODO: We should make ServerAction type actions fail when passed
+    #   invalid arguments.
+    # with pytest.raises(Exception):
+    #     fifo_controller.reset(agentControllerType="physics", agentMode="default")
 
 
 # Issue #514 found that the thirdPartyCamera image code was causing multi-agents to end
@@ -414,7 +413,7 @@ def test_target_invocation_exception(controller):
     ], "errorMessage should not be empty when OpenObject(x > 1)."
 
 
-@pytest.mark.parametrize("controller", fifo_wsgi_stoch)
+@pytest.mark.parametrize("controller", fifo_wsgi)
 def test_lookup(controller):
 
     e = controller.step(dict(action="RotateLook", rotation=0, horizon=0))

diff --git a/unity/Assets/Physics/SimObjsPhysics/Bathroom Objects/Toilet/Prefabs/Toilet_2.prefab b/unity/Assets/Physics/SimObjsPhysics/Bathroom Objects/Toilet/Prefabs/Toilet_2.prefab
@@ -430,13 +430,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1535580852871982}
-  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalRotation: {x: 0, y: 0.5, z: 0, w: 0.8660254}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 4813235644591848}
   m_RootOrder: 0
-  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+  m_LocalEulerAnglesHint: {x: 0, y: 60, z: 0}
 --- !u!33 &33239305448877584
 MeshFilter:
   m_ObjectHideFlags: 0
@@ -460,6 +460,7 @@ MeshRenderer:
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
+  m_RayTraceProcedural: 0
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -484,6 +485,7 @@ MeshRenderer:
   m_SortingLayerID: 0
   m_SortingLayer: 0
   m_SortingOrder: 0
+  m_AdditionalVertexStreams: {fileID: 0}
 --- !u!1 &1541778761531560
 GameObject:
   m_ObjectHideFlags: 0
@@ -1179,14 +1181,14 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1929500409171200}
-  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalRotation: {x: 0, y: 0.5, z: 0, w: 0.8660254}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 3872635461632317640}
   m_Father: {fileID: 4053384041885298}
   m_RootOrder: 1
-  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+  m_LocalEulerAnglesHint: {x: 0, y: 60, z: 0}
 --- !u!33 &33705040564637236
 MeshFilter:
   m_ObjectHideFlags: 0
@@ -1210,6 +1212,7 @@ MeshRenderer:
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
+  m_RayTraceProcedural: 0
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1234,6 +1237,7 @@ MeshRenderer:
   m_SortingLayerID: 0
   m_SortingLayer: 0
   m_SortingOrder: 0
+  m_AdditionalVertexStreams: {fileID: 0}
 --- !u!64 &64223658091179340
 MeshCollider:
   m_ObjectHideFlags: 0
@@ -1278,17 +1282,17 @@ PrefabInstance:
     - target: {fileID: 7854311495974567868, guid: 441e6140366414031a8350c12f99deb9,
         type: 3}
       propertyPath: m_LocalPosition.x
-      value: -0.026725737
+      value: -0.023
       objectReference: {fileID: 0}
     - target: {fileID: 7854311495974567868, guid: 441e6140366414031a8350c12f99deb9,
         type: 3}
       propertyPath: m_LocalPosition.y
-      value: 0.2879
+      value: 0.333
       objectReference: {fileID: 0}
     - target: {fileID: 7854311495974567868, guid: 441e6140366414031a8350c12f99deb9,
         type: 3}
       propertyPath: m_LocalPosition.z
-      value: -0.0018902691
+      value: 0.005
       objectReference: {fileID: 0}
     - target: {fileID: 7854311495974567868, guid: 441e6140366414031a8350c12f99deb9,
         type: 3}

diff --git a/unity/Assets/Resources/QuickMaterials/Ceramics/KitchenWalls.mat b/unity/Assets/Resources/QuickMaterials/Ceramics/KitchenWalls.mat
@@ -37,11 +37,11 @@ Material:
         m_Offset: {x: 0, y: 0}
     - _EmissionMap:
         m_Texture: {fileID: 0}
-        m_Scale: {x: 0.75, y: 1.25}
+        m_Scale: {x: 1.5, y: 2.5}
         m_Offset: {x: 0, y: 0}
     - _MainTex:
         m_Texture: {fileID: 2800000, guid: 7dc937f9ade8842b7925339b306c1b3c, type: 3}
-        m_Scale: {x: 0.75, y: 1.25}
+        m_Scale: {x: 1.5, y: 2.5}
         m_Offset: {x: 0, y: 0}
     - _MetallicGlossMap:
         m_Texture: {fileID: 0}
@@ -75,3 +75,4 @@ Material:
     m_Colors:
     - _Color: {r: 0.8897059, g: 0.8897059, b: 0.8897059, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+  m_BuildTextureStacks: []
diff --git a/unity/Assets/Resources/QuickMaterials/Ceramics/bathroomTilesPattern.mat b/unity/Assets/Resources/QuickMaterials/Ceramics/bathroomTilesPattern.mat
@@ -4,124 +4,75 @@
 Material:
   serializedVersion: 6
   m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
   m_Name: bathroomTilesPattern
   m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
   m_ShaderKeywords: _EMISSION
   m_LightmapFlags: 1
+  m_EnableInstancingVariants: 0
+  m_DoubleSidedGI: 0
   m_CustomRenderQueue: -1
   stringTagMap: {}
+  disabledShaderPasses: []
   m_SavedProperties:
-    serializedVersion: 2
+    serializedVersion: 3
     m_TexEnvs:
-    - first:
-        name: _BumpMap
-      second:
+    - _BumpMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
-    - first:
-        name: _DetailAlbedoMap
-      second:
+    - _DetailAlbedoMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
-    - first:
-        name: _DetailMask
-      second:
+    - _DetailMask:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
-    - first:
-        name: _DetailNormalMap
-      second:
+    - _DetailNormalMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
-    - first:
-        name: _EmissionMap
-      second:
+    - _EmissionMap:
         m_Texture: {fileID: 0}
-        m_Scale: {x: 1, y: 1}
-        m_Offset: {x: 0, y: 0}
-    - first:
-        name: _MainTex
-      second:
+        m_Scale: {x: 7, y: 13}
+        m_Offset: {x: -0.02, y: 0.7}
+    - _MainTex:
         m_Texture: {fileID: 2800000, guid: 0a15556ffcdc94bdf9caf9a1ae534385, type: 3}
-        m_Scale: {x: 1, y: 1}
-        m_Offset: {x: 0, y: 0}
-    - first:
-        name: _MetallicGlossMap
-      second:
+        m_Scale: {x: 7, y: 13}
+        m_Offset: {x: -0.02, y: 0.7}
+    - _MetallicGlossMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
-    - first:
-        name: _OcclusionMap
-      second:
+    - _OcclusionMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
-    - first:
-        name: _ParallaxMap
-      second:
+    - _ParallaxMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
     m_Floats:
-    - first:
-        name: _BumpScale
-      second: 1
-    - first:
-        name: _Cutoff
-      second: 0.5
-    - first:
-        name: _DetailNormalMapScale
-      second: 1
-    - first:
-        name: _DstBlend
-      second: 0
-    - first:
-        name: _GlossMapScale
-      second: 1
-    - first:
-        name: _Glossiness
-      second: 0.774
-    - first:
-        name: _GlossyReflections
-      second: 1
-    - first:
-        name: _Metallic
-      second: 0
-    - first:
-        name: _Mode
-      second: 0
-    - first:
-        name: _OcclusionStrength
-      second: 1
-    - first:
-        name: _Parallax
-      second: 0.02
-    - first:
-        name: _SmoothnessTextureChannel
-      second: 0
-    - first:
-        name: _SpecularHighlights
-      second: 1
-    - first:
-        name: _SrcBlend
-      second: 1
-    - first:
-        name: _UVSec
-      second: 0
-    - first:
-        name: _ZWrite
-      second: 1
+    - _BumpScale: 1
+    - _Cutoff: 0.5
+    - _DetailNormalMapScale: 1
+    - _DstBlend: 0
+    - _GlossMapScale: 1
+    - _Glossiness: 0.774
+    - _GlossyReflections: 1
+    - _Metallic: 0
+    - _Mode: 0
+    - _OcclusionStrength: 1
+    - _Parallax: 0.02
+    - _SmoothnessTextureChannel: 0
+    - _SpecularHighlights: 1
+    - _SrcBlend: 1
+    - _UVSec: 0
+    - _ZWrite: 1
     m_Colors:
-    - first:
-        name: _Color
-      second: {r: 1, g: 1, b: 1, a: 1}
-    - first:
-        name: _EmissionColor
-      second: {r: 0, g: 0, b: 0, a: 1}
+    - _Color: {r: 1, g: 1, b: 1, a: 1}
+    - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+  m_BuildTextureStacks: []