Update to 4.26

docs/conf.py

@@ -25,9 +25,9 @@
 author = "Joshua Greaves, Max Robinson, Nick Walton, Jayden Milne"
 
 # The short X.Y version
-version = "0.3.2.dev0"
+version = "0.3.2.dev1"
 # The full version, including alpha/beta/rc tags
-release = "0.3.2.dev0"
+release = "0.3.2.dev1"
 
 
 # -- General configuration ---------------------------------------------------

setup.py

@@ -5,7 +5,7 @@
 
 setup(
     name="holodeck",
-    version="0.3.2.dev0",
+    version="0.3.2.dev1",
     description="High fidelity simulated environments for reinforcement learning",
     long_description=readme,
     long_description_content_type="text/markdown",

src/holodeck/__init__.py

@@ -1,6 +1,6 @@
 """Holodeck is a high fidelity simulator for reinforcement learning.
 """
-__version__ = "0.3.2.dev0"
+__version__ = "0.3.2.dev1"
 
 from holodeck.holodeck import make
 from holodeck.packagemanager import *

src/holodeck/environments.py

@@ -131,7 +131,9 @@ def __init__(
                     show_viewport=show_viewport,
                 )
             elif os.name == "nt":
-                self.__windows_start_process__(binary_path, world_key, verbose=verbose)
+                self.__windows_start_process__(
+                    binary_path, world_key, verbose=verbose, show_viewport=show_viewport
+                )
             else:
                 raise HolodeckException("Unknown platform: " + os.name)
 
@@ -698,27 +700,23 @@ def __linux_start_process__(
             os.O_CREAT | os.O_EXCL,
             initial_value=0,
         )
-        # Copy the environment variables and remove the DISPLAY variable to hide viewport
-        # https://answers.unrealengine.com/questions/815764/in-the-release-notes-it-says-the-engine-can-now-cr.html?sort=oldest
-        environment = dict(os.environ.copy())
-        if not show_viewport and "DISPLAY" in environment:
-            del environment["DISPLAY"]
+        arguments = [
+            binary_path,
+            task_key,
+            "-HolodeckOn",
+            "-LOG=HolodeckLog.txt",
+            "-ForceRes",
+            "-ResX=" + str(self._window_size[1]),
+            "-ResY=" + str(self._window_size[0]),
+            "--HolodeckUUID=" + self._uuid,
+            "-TicksPerSec=" + str(self._ticks_per_sec),
+        ]
+
+        if not show_viewport:
+            arguments.append("-RenderOffScreen")
+
         self._world_process = subprocess.Popen(
-            [
-                binary_path,
-                task_key,
-                "-HolodeckOn",
-                "-opengl" + str(gl_version),
-                "-LOG=HolodeckLog.txt",
-                "-ForceRes",
-                "-ResX=" + str(self._window_size[1]),
-                "-ResY=" + str(self._window_size[0]),
-                "--HolodeckUUID=" + self._uuid,
-                "-TicksPerSec=" + str(self._ticks_per_sec),
-            ],
-            stdout=out_stream,
-            stderr=out_stream,
-            env=environment,
+            arguments, stdout=out_stream, stderr=out_stream
         )
 
         atexit.register(self.__on_exit__)
@@ -733,27 +731,32 @@ def __linux_start_process__(
         loading_semaphore.unlink()
         loading_semaphore.close()
 
-    def __windows_start_process__(self, binary_path, task_key, verbose):
+    def __windows_start_process__(
+        self, binary_path, task_key, verbose, show_viewport=True
+    ):
         import win32event
 
         out_stream = sys.stdout if verbose else open(os.devnull, "w")
         loading_semaphore = win32event.CreateSemaphore(
             None, 0, 1, "Global\\HOLODECK_LOADING_SEM" + self._uuid
         )
+        arguments = [
+            binary_path,
+            task_key,
+            "-HolodeckOn",
+            "-LOG=HolodeckLog.txt",
+            "-ForceRes",
+            "-ResX=" + str(self._window_size[1]),
+            "-ResY=" + str(self._window_size[0]),
+            "-TicksPerSec=" + str(self._ticks_per_sec),
+            "--HolodeckUUID=" + self._uuid,
+        ]
+
+        if not show_viewport:
+            arguments.append("-RenderOffScreen")
+
         self._world_process = subprocess.Popen(
-            [
-                binary_path,
-                task_key,
-                "-HolodeckOn",
-                "-LOG=HolodeckLog.txt",
-                "-ForceRes",
-                "-ResX=" + str(self._window_size[1]),
-                "-ResY=" + str(self._window_size[0]),
-                "-TicksPerSec=" + str(self._ticks_per_sec),
-                "--HolodeckUUID=" + self._uuid,
-            ],
-            stdout=out_stream,
-            stderr=out_stream,
+            arguments, stdout=out_stream, stderr=out_stream
         )
 
         atexit.register(self.__on_exit__)

tests/agents/handagent/test_handagent_floating.py

@@ -13,30 +13,32 @@ def validate_movement(env, amount_to_move, expected_movement):
     # X Axis
     action[23] = amount_to_move
     env.step(action)
+    action[23] = 0
+    env.step(action)
     new_location = env.tick()["LocationSensor"]
     d_x = abs(new_location[0] - last_location[0])
 
     assert abs(d_x - expected_movement) < 0.001
 
     last_location = new_location
 
-    action[23] = 0
-
     # Y axis
     action[24] = amount_to_move
     env.step(action)
+    action[24] = 0
+    env.step(action)
     new_location = env.tick()["LocationSensor"]
     d_y = abs(new_location[1] - last_location[1])
 
     assert (d_y - expected_movement) < 0.001
 
     last_location = new_location
 
-    action[24] = 0
-
     # Z Axis
     action[25] = amount_to_move
     env.step(action)
+    action[25] = 0
+    env.step(action)
     new_location = env.tick()["LocationSensor"]
     d_z = abs(new_location[2] - last_location[2])
 

tests/sensors/test_imu_sensor.py

@@ -3,6 +3,7 @@
 import holodeck
 import numpy as np
 import pytest
+import uuid
 from tests.utils.equality import almost_equal
 
 turtle_config = {
@@ -41,10 +42,9 @@ def imu_sensor_env():
 
         SHARED_IMU_SENSOR_ENV = holodeck.environments.HolodeckEnvironment(
             scenario=turtle_config,
-            # binary_path=binary_path,
+            binary_path=binary_path,
             show_viewport=False,
-            start_world=False,
-            # uuid=str(uuid.uuid4()),
+            uuid=str(uuid.uuid4()),
         )
 
     with SHARED_IMU_SENSOR_ENV:
@@ -58,7 +58,7 @@ def test_imu_sensor_at_rest(imu_sensor_env):
     imu_sensor_env.tick()
     at_rest_sensor_reading = np.array([[0, 0, 9.8], [0, 0, 0]])
 
-    new_state = imu_sensor_env.tick(20)
+    new_state = imu_sensor_env.tick(40)
     sensed_imu_data = new_state["IMUSensor"]
     assert almost_equal(
         at_rest_sensor_reading, sensed_imu_data, 0.5, 0.5

tests/sensors/test_orientation_sensor.py

@@ -48,7 +48,7 @@ def test_orientation_sensor_after_teleport():
 
         accurate_or = np.zeros((3, 3))
         accurate_or[0, 2] = 1
-        accurate_or[1, 1] = -1
+        accurate_or[1, 1] = 1
         accurate_or[2, 0] = -1
 
         assert almost_equal(

tests/utils/captures.py

@@ -1,7 +1,7 @@
 import os
 from typing import List, Tuple, Optional
 
-import cv2
+from cv2 import cv2
 
 from tests.utils.equality import mean_square_err