From 22b482c4b021cfd59d8d7b97d291b16e4cd14c06 Mon Sep 17 00:00:00 2001 From: hang-yin Date: Thu, 3 Oct 2024 17:43:12 -0700 Subject: [PATCH] Refactor sensor test --- tests/test_sensors.py | 80 +++++++++++++++++-------------------------- 1 file changed, 31 insertions(+), 49 deletions(-) diff --git a/tests/test_sensors.py b/tests/test_sensors.py index bc5e3a4f2..b7d0ff32d 100644 --- a/tests/test_sensors.py +++ b/tests/test_sensors.py @@ -16,14 +16,12 @@ def test_segmentation_modalities(env): robot = env.scene.robots[0] place_obj_on_floor_plane(breakfast_table) dishtowel.set_position_orientation(position=[-0.4, 0.0, 0.55], orientation=[0, 0, 0, 1]) - robot.set_position_orientation( - position=[0.0, 0.8, 0.0], orientation=T.euler2quat(th.tensor([0, 0, -math.pi / 2], dtype=th.float32)) - ) - robot.reset() + + og.sim.viewer_camera.set_position_orientation(position=[-0.0017, -0.1072, 1.4969], orientation=[0.0, 0.0, 0.0, 1.0]) modalities_required = ["seg_semantic", "seg_instance", "seg_instance_id"] for modality in modalities_required: - robot.add_obs_modality(modality) + og.sim.viewer_camera.add_modality(modality) systems = [env.scene.get_system(system_name) for system_name in SYSTEM_EXAMPLES.keys()] for i, system in enumerate(systems): @@ -37,17 +35,14 @@ def test_segmentation_modalities(env): system.generate_group_particles( group=system.get_group_name(breakfast_table), positions=[pos, pos + th.tensor([0.1, 0.0, 0.0])], - link_prim_paths=[breakfast_table.root_link.prim_path], + link_prim_paths=[breakfast_table.root_link.prim_path] * 2, ) og.sim.step() for _ in range(3): og.sim.render() - sensors = [s for s in robot.sensors.values() if isinstance(s, VisionSensor)] - assert len(sensors) > 0 - vision_sensor = sensors[0] - all_observation, all_info = vision_sensor.get_obs() + all_observation, all_info = og.sim.viewer_camera.get_obs() seg_semantic = all_observation["seg_semantic"] seg_semantic_info = all_info["seg_semantic"] @@ -57,7 +52,6 @@ def test_segmentation_modalities(env): 825831922: "floors", 884110082: "stain", 1949122937: "breakfast_table", - 2814990211: "agent", 3051938632: "white_rice", 3330677804: "water", 4207839377: "dishtowel", @@ -68,15 +62,13 @@ def test_segmentation_modalities(env): seg_instance_info = all_info["seg_instance"] assert set(int(x.item()) for x in th.unique(seg_instance)) == set(seg_instance_info.keys()) expected_dict = { - 1: "unlabelled", - 2: env.robots[0].name, - 3: "groundPlane", - 4: "dishtowel", - 5: "breakfast_table", - 6: "stain", - # 7: "water", - # 8: "white_rice", - 9: "diced__apple", + 2: "groundPlane", + 3: "water", + 4: "diced__apple", + 5: "stain", + 6: "white_rice", + 7: "breakfast_table", + 8: "dishtowel", } assert set(seg_instance_info.values()) == set(expected_dict.values()) @@ -84,22 +76,17 @@ def test_segmentation_modalities(env): seg_instance_id_info = all_info["seg_instance_id"] assert set(int(x.item()) for x in th.unique(seg_instance_id)) == set(seg_instance_id_info.keys()) expected_dict = { - 3: f"/World/{env.robots[0].name}/gripper_link/visuals", - 4: f"/World/{env.robots[0].name}/wrist_roll_link/visuals", - 5: f"/World/{env.robots[0].name}/forearm_roll_link/visuals", - 6: f"/World/{env.robots[0].name}/wrist_flex_link/visuals", - 8: "/World/groundPlane/geom", - 9: "/World/dishtowel/base_link_cloth", - 10: f"/World/{env.robots[0].name}/r_gripper_finger_link/visuals", - 11: f"/World/{env.robots[0].name}/l_gripper_finger_link/visuals", - 12: "/World/breakfast_table/base_link/visuals", - 13: "stain", - 14: "white_rice", - 15: "diced__apple", - 16: "water", + 1: "/World/ground_plane/geom", + 2: "/World/scene_0/breakfast_table/base_link/visuals", + 3: "/World/scene_0/dishtowel/base_link_cloth", + 4: "/World/scene_0/water/waterInstancer0/prototype0", + 5: "/World/scene_0/white_rice/white_riceInstancer0/prototype0", + 6: "/World/scene_0/diced__apple/particles/diced__appleParticle1", + 7: "/World/scene_0/breakfast_table/base_link/stainParticle1", + 8: "/World/scene_0/breakfast_table/base_link/stainParticle0", + 9: "/World/scene_0/diced__apple/particles/diced__appleParticle0", } - # Temporarily disable this test because og_assets are outdated on CI machines - # assert set(seg_instance_id_info.values()) == set(expected_dict.values()) + assert set(seg_instance_id_info.values()) == set(expected_dict.values()) for system in systems: env.scene.clear_system(system.name) @@ -112,34 +99,29 @@ def test_bbox_modalities(env): robot = env.scene.robots[0] place_obj_on_floor_plane(breakfast_table) dishtowel.set_position_orientation(position=[-0.4, 0.0, 0.55], orientation=[0, 0, 0, 1]) - robot.set_position_orientation( - position=[0, 0.8, 0.0], orientation=T.euler2quat(th.tensor([0, 0, -math.pi / 2], dtype=th.float32)) - ) - robot.reset() + + og.sim.viewer_camera.set_position_orientation(position=[-0.0017, -0.1072, 1.4969], orientation=[0.0, 0.0, 0.0, 1.0]) modalities_required = ["bbox_2d_tight", "bbox_2d_loose", "bbox_3d"] for modality in modalities_required: - robot.add_obs_modality(modality) + og.sim.viewer_camera.add_modality(modality) og.sim.step() for _ in range(3): og.sim.render() - sensors = [s for s in robot.sensors.values() if isinstance(s, VisionSensor)] - assert len(sensors) > 0 - vision_sensor = sensors[0] - all_observation, all_info = vision_sensor.get_obs() + all_observation, all_info = og.sim.viewer_camera.get_obs() bbox_2d_tight = all_observation["bbox_2d_tight"] bbox_2d_loose = all_observation["bbox_2d_loose"] bbox_3d = all_observation["bbox_3d"] - assert len(bbox_2d_tight) == 4 - assert len(bbox_2d_loose) == 4 - assert len(bbox_3d) == 3 + assert len(bbox_2d_tight) == 3 + assert len(bbox_2d_loose) == 3 + assert len(bbox_3d) == 2 - bbox_2d_expected_objs = set(["floors", "agent", "breakfast_table", "dishtowel"]) - bbox_3d_expected_objs = set(["agent", "breakfast_table", "dishtowel"]) + bbox_2d_expected_objs = set(["floors", "breakfast_table", "dishtowel"]) + bbox_3d_expected_objs = set(["breakfast_table", "dishtowel"]) bbox_2d_objs = set([semantic_class_id_to_name()[bbox[0]] for bbox in bbox_2d_tight]) bbox_3d_objs = set([semantic_class_id_to_name()[bbox[0]] for bbox in bbox_3d])