Nanna release api

ai2thor/_quality_settings.py

@@ -1,13 +1,11 @@
 # GENERATED FILE - DO NOT EDIT
-DEFAULT_QUALITY = "Ultra"
-QUALITY_SETTINGS = {
-    "DONOTUSE": 0,
-    "High": 5,
-    "High WebGL": 8,
-    "Low": 2,
-    "Medium": 3,
-    "MediumCloseFitShadows": 4,
-    "Ultra": 7,
-    "Very High": 6,
-    "Very Low": 1,
-}
+DEFAULT_QUALITY = 'Ultra'
+QUALITY_SETTINGS = {'DONOTUSE': 0,
+ 'High': 5,
+ 'High WebGL': 8,
+ 'Low': 2,
+ 'Medium': 3,
+ 'MediumCloseFitShadows': 4,
+ 'Ultra': 7,
+ 'Very High': 6,
+ 'Very Low': 1}

ai2thor/tests/test_unity.py

@@ -189,7 +189,7 @@ def depth_images_near(depth1, depth2, epsilon=1e-5, debug_save=False, filepath="
         max = np.max(diff)
         norm_diff = diff / max
         dx = np.where(np.abs(depth1 - depth2) >= epsilon)
-        depth_copy[dx] = norm_diff[dx] * (255, 0, 255)
+        depth_copy[dx] =  (norm_diff[dx]*255, norm_diff[dx] * 0, norm_diff[dx] *255)
         test_name = os.environ.get('PYTEST_CURRENT_TEST').split(':')[-1].split(' ')[0]
         debug_directory = os.path.join(os.path.join(os.getcwd(), TEST_OUTPUT_DIRECTORY))
         # if os.path.exists(debug_directory):

ai2thor/tests/test_unity_procedural.py

@@ -6,6 +6,7 @@
 from ai2thor.fifo_server import FifoServer
 from .test_unity import build_controller, images_near, depth_images_near
 import cv2
+import json
 
 DATA_PATH = "ai2thor/tests/data/"
 IMAGE_FOLDER_PATH = os.path.join(DATA_PATH, "procedural")
@@ -57,34 +58,38 @@ def create_pixel_diff_image(img, g_truth):
     "rooms": {
         "1": {
             "wallTemplate": {
-                "unlit": False,
-                "color": {
-                    "r": 1.0,
-                    "g": 0.0,
-                    "b": 0.0,
-                    "a": 1.0
+                "material": {
+                    "unlit": False,
+                    "color": {
+                        "r": 1.0,
+                        "g": 0.0,
+                        "b": 0.0,
+                        "a": 1.0
+                    }
                 }
             },
             "floorTemplate": {
                 "roomType": "Bedroom",
-                "floorMaterial": "DarkWoodFloors",
+                "floorMaterial": { "name": "DarkWoodFloors" },
             },
             "floorYPosition": 0.0,
             "wallHeight": 3.0
         },
         "2": {
             "wallTemplate": {
-                "unlit": False,
-                "color": {
-                    "r": 0.0,
-                    "g": 0.0,
-                    "b": 1.0,
-                    "a": 1.0
+                "material": {
+                    "unlit": False,
+                    "color": {
+                        "r": 0.0,
+                        "g": 0.0,
+                        "b": 1.0,
+                        "a": 1.0
+                    }
                 }
             },
             "floorTemplate": {
                 "roomType": "LivingRoom",
-                "floorMaterial": "RedBrick"
+                "floorMaterial": { "name": "RedBrick"}
             },
             "floorYPosition": 0.0,
             "wallHeight": 3.0
@@ -107,9 +112,9 @@ def create_pixel_diff_image(img, g_truth):
         "floorColliderThickness": 1.0,
         "receptacleHeight": 0.7,
         "skyboxId": "Sky1",
-        "ceilingMaterial": "ps_mat"
-    }
-
+        "ceilingMaterial": { "name":  "ps_mat" }
+    },
+    "schema": "1.0.0"
 }
 
 # TODO rendering is different for fifo and wsgi server
@@ -133,11 +138,18 @@ def test_render_lit(controller_args):
     assert evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
     house = evt.metadata["actionReturn"]
 
-    controller.step(
+    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
@@ -189,11 +201,14 @@ def test_depth(controller_args):
     assert evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
     house = evt.metadata["actionReturn"]
 
-    controller.step(
+    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

unity/Assets/Editor/NormalsVisualizer.cs

@@ -0,0 +1,52 @@
+using UnityEditor;
+using UnityEngine;
+
+[CustomEditor(typeof(MeshFilter))]
+public class NormalsVisualizer : Editor {
+
+    private const string     EDITOR_PREF_KEY = "_normals_length";
+    private const string     EDITOR_PREF_KEY_SHOW = "_normals_show";
+    private       Mesh       mesh;
+    private       MeshFilter mf;
+    private       Vector3[]  verts;
+    private       Vector3[]  normals;
+    private       float      normalsLength = 1f;
+
+    private bool showNormals = false;
+
+    private void OnEnable() {
+        mf   = target as MeshFilter;
+        if (mf != null) {
+            mesh = mf.sharedMesh;
+        }
+        normalsLength = EditorPrefs.GetFloat(EDITOR_PREF_KEY);
+        showNormals = EditorPrefs.GetBool(EDITOR_PREF_KEY_SHOW);
+    }
+
+    private void OnSceneGUI() {
+        if (mesh == null || !showNormals) {
+            return;
+        }
+
+        Handles.matrix = mf.transform.localToWorldMatrix;
+        Handles.color = Color.yellow;
+        verts = mesh.vertices;
+        normals = mesh.normals;
+        int len = mesh.vertexCount;
+
+        for (int i = 0; i < len; i++) {
+            Handles.DrawLine(verts[i], verts[i] + normals[i] * normalsLength, 4.0f);
+        }
+    }
+
+    public override void OnInspectorGUI() {
+        base.OnInspectorGUI();
+        EditorGUI.BeginChangeCheck();
+        normalsLength = EditorGUILayout.FloatField("Normals length", normalsLength);
+        showNormals = EditorGUILayout.Toggle("Show normals", showNormals);
+        if (EditorGUI.EndChangeCheck()) {
+            EditorPrefs.SetFloat(EDITOR_PREF_KEY, normalsLength);
+            EditorPrefs.SetBool(EDITOR_PREF_KEY_SHOW, showNormals);
+        }
+    }
+}

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

unity/Assets/Scripts/BaseFPSAgentController.cs

@@ -4543,11 +4543,11 @@ float allowedError
             var materialIds = new HashSet<string>(
                 house.rooms.SelectMany(
                     r => r.ceilings
-                            .Select(c => c.material)
-                            .Concat(new List<string>() { r.floorMaterial })
-                            .Concat(house.walls.Select(w => w.material))
+                            .Select(c => c.material.name)
+                            .Concat(new List<string>() { r.floorMaterial.name })
+                            .Concat(house.walls.Select(w => w.material.name))
                 ).Concat(
-                    new List<string>() { house.proceduralParameters.ceilingMaterial }
+                    new List<string>() { house.proceduralParameters.ceilingMaterial.name }
                 )
             );
             var missingIds = materialIds.Where(id => id != null && !materials.ContainsKey(id));
@@ -4560,9 +4560,17 @@ float allowedError
                     )
                 );
             }
-            Debug.Log("Before Procedural call");
-            var floor = ProceduralTools.CreateHouse(house: house, materialDb: materials);
-
+
+            try {
+                ProceduralTools.CreateHouse(house: house, materialDb: materials);
+            } 
+            catch (Exception e) {
+                Debug.Log(e);
+                var msg = $"Exception creating house.\n'{e.Message}'\n'{e.InnerException}'";
+                Debug.Log(msg);
+                actionFinished(false, actionReturn: null, errorMessage: msg);
+                return;
+            }
             actionFinished(true);
         }