diff --git a/integration_tests/README.md b/integration_tests/README.md index 935e422c9..bdf48ab98 100644 --- a/integration_tests/README.md +++ b/integration_tests/README.md @@ -34,6 +34,16 @@ TODO MCS-432 python run_tests.py ``` +## Run the Autofixer + +The autofixer will automatically fix any broken test cases and overwrite the test files. This is useful when you make a change to the simulation environment that you know will affect the specific numbers in the test cases. For example, if you were to change the performer agent's standing height, then the direction and distance numbers in the oracle output test cases will need to be adjusted accordingly. + +Please make sure that you know what you're doing when you run the autofixer, so it doesn't "fix" a test case that's actually exposing a bug! You can also use the `--test` and `--metadata` arguments to run the autofixer on only specific test files. Remember to commit the modified files in the git repository. + +``` +python run_tests.py --autofix +``` + ## Adding New Handmade Test Scenes Create the following files (Replace `` with your test name): diff --git a/integration_tests/data/001.empty_room_movement.oracle.outputs.json b/integration_tests/data/001.empty_room_movement.oracle.outputs.json index b124046bc..eb8df0934 100644 --- a/integration_tests/data/001.empty_room_movement.oracle.outputs.json +++ b/integration_tests/data/001.empty_room_movement.oracle.outputs.json @@ -1,1723 +1,2144 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 0, - "structural_objects_count": 6, - "structural_objects": [{ - "id": "ceiling", - "direction_x": 0.0, - "direction_y": 1.0, - "direction_z": 0.0, - "distance": 2.7875, - "held": false, - "position_x": 0.0, - "position_z": 0.0, - "shape": "structural", - "texture_color_list": ["white"], - 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e5d6dad39..bd311d59f 100644 --- a/integration_tests/data/005.ball_close_pickup.scene.json +++ b/integration_tests/data/005.ball_close_pickup.scene.json @@ -26,7 +26,7 @@ "position": { "x": 0, "y": 0.25, - "z": 1.24 + "z": 1.14 }, "scale": { "x": 0.5, diff --git a/integration_tests/data/006.ball_far_pickup.oracle.outputs.json b/integration_tests/data/006.ball_far_pickup.oracle.outputs.json index b96a23d7d..908f7a808 100644 --- a/integration_tests/data/006.ball_far_pickup.oracle.outputs.json +++ b/integration_tests/data/006.ball_far_pickup.oracle.outputs.json @@ -1,97 +1,126 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.166302308, - "direction_z": 0.9860748, - "distance": 1.27779353, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], +[ + { + 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"step_number": 1, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.404, + "direction_z": 0.915, + "distance": 1.268, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 1.26, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 1.26, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 3, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.1, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.376377016, - "direction_z": 0.9264666, - "distance": 0.4317479, - "held": true, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.1, + "return_status": "SUCCESSFUL", + 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["RUBBER"], - "position_x": 1.24, + "return_status": "OUT_OF_REACH", + "rotation_y": 20, + "step_number": 5, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.909, + "direction_y": -0.408, + "direction_z": 0.08, + "distance": 1.254, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 1.14, + "position_z": 0.1, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, + "position_x": 0.0, "position_z": 0.0, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }] -}, { - "step_number": 7, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "OUT_OF_REACH", - "rotation_y": 30, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.9856317, - "direction_y": -0.168908656, - "direction_z": 0.0, - "distance": 1.25807643, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 1.24, + "return_status": "SUCCESSFUL", + "rotation_y": 30, + "step_number": 6, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.909, + "direction_y": -0.408, + "direction_z": 0.08, + "distance": 1.254, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 1.14, + "position_z": 0.1, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, + "position_x": 0.0, "position_z": 0.0, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }] -}, { - "step_number": 8, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 40, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.9856317, - "direction_y": -0.168908656, - "direction_z": 0.0, - "distance": 1.25807643, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 1.24, + "return_status": "OUT_OF_REACH", + "rotation_y": 30, + "step_number": 7, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.909, + "direction_y": -0.408, + "direction_z": 0.08, + "distance": 1.254, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 1.14, + "position_z": 0.1, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, + "position_x": 0.0, "position_z": 0.0, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }] -}, { - "step_number": 9, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "OUT_OF_REACH", - "rotation_y": 40, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.9856317, - "direction_y": -0.168908656, - "direction_z": 0.0, - "distance": 1.25807643, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 1.24, + "return_status": "SUCCESSFUL", + "rotation_y": 40, + "step_number": 8, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.909, + "direction_y": -0.408, + "direction_z": 0.08, + "distance": 1.254, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 1.14, + "position_z": 0.1, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, + "position_x": 0.0, "position_z": 0.0, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }] -}, { - "step_number": 10, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 50, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.9856317, - "direction_y": -0.168908656, - "direction_z": 0.0, - "distance": 1.25807643, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 1.24, + "return_status": "OUT_OF_REACH", + "rotation_y": 40, + "step_number": 9, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.909, + "direction_y": -0.408, + "direction_z": 0.08, + "distance": 1.254, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 1.14, + "position_z": 0.1, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, + "position_x": 0.0, "position_z": 0.0, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 11, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "OUT_OF_REACH", - "rotation_y": 50, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.9856317, - "direction_y": -0.168908656, - "direction_z": 0.0, - "distance": 1.25807643, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 1.24, + "return_status": "SUCCESSFUL", + "rotation_y": 50, + "step_number": 10, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.909, + "direction_y": -0.408, + "direction_z": 0.08, + "distance": 1.254, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 1.14, + "position_z": 0.1, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, + "position_x": 0.0, "position_z": 0.0, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 12, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 60, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.9856317, - "direction_y": -0.168908656, - "direction_z": 0.0, - "distance": 1.25807643, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 1.24, + "return_status": "OUT_OF_REACH", + "rotation_y": 50, + "step_number": 11, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.9856317, + "direction_y": -0.168908656, + "direction_z": 0.0, + "distance": 1.25807643, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 1.24, + "position_z": 0.0, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, + "position_x": 0.0, "position_z": 0.0, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 13, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 60, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.802343547, - "direction_y": -0.376377016, - "direction_z": 0.463233352, - "distance": 0.4317479, - "held": true, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.346410155, - "position_z": 0.2, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}] + "return_status": "SUCCESSFUL", + "rotation_y": 60, + "step_number": 12, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.836000144, + "direction_y": -0.261033058, + "direction_z": 0.482665, + "distance": 0.5075985, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.424352437, + "position_z": 0.245000035, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 60, + "step_number": 13, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/data/007.ball_rotate_pickup.scene.json b/integration_tests/data/007.ball_rotate_pickup.scene.json index 53f7d7106..d4ba4733b 100644 --- a/integration_tests/data/007.ball_rotate_pickup.scene.json +++ b/integration_tests/data/007.ball_rotate_pickup.scene.json @@ -24,9 +24,9 @@ "shows": [{ "stepBegin": 0, "position": { - "x": 1.24, + "x": 1.14, "y": 0.25, - "z": 0 + "z": 0.1 }, "scale": { "x": 0.5, diff --git a/integration_tests/data/008.ball_look_pickup.level1.outputs.json b/integration_tests/data/008.ball_look_pickup.level1.outputs.json index 61054d913..93ffc9f6e 100644 --- a/integration_tests/data/008.ball_look_pickup.level1.outputs.json +++ b/integration_tests/data/008.ball_look_pickup.level1.outputs.json @@ -12,7 +12,7 @@ "head_tilt": 0, "position_x": null, "position_z": null, - "return_status": "OBSTRUCTED", + "return_status": "OUT_OF_REACH", "rotation_y": null, "objects_count": 0, "structural_objects_count": 0 @@ -30,7 +30,7 @@ "head_tilt": 10, "position_x": null, "position_z": null, - "return_status": "OBSTRUCTED", + "return_status": "OUT_OF_REACH", "rotation_y": null, "objects_count": 0, "structural_objects_count": 0 diff --git a/integration_tests/data/008.ball_look_pickup.level2.outputs.json b/integration_tests/data/008.ball_look_pickup.level2.outputs.json index 61054d913..93ffc9f6e 100644 --- a/integration_tests/data/008.ball_look_pickup.level2.outputs.json +++ b/integration_tests/data/008.ball_look_pickup.level2.outputs.json @@ -12,7 +12,7 @@ "head_tilt": 0, "position_x": null, "position_z": null, - "return_status": "OBSTRUCTED", + "return_status": "OUT_OF_REACH", "rotation_y": null, "objects_count": 0, "structural_objects_count": 0 @@ -30,7 +30,7 @@ "head_tilt": 10, "position_x": null, "position_z": null, - "return_status": "OBSTRUCTED", + "return_status": "OUT_OF_REACH", "rotation_y": null, "objects_count": 0, "structural_objects_count": 0 diff --git a/integration_tests/data/008.ball_look_pickup.oracle.outputs.json b/integration_tests/data/008.ball_look_pickup.oracle.outputs.json index 2400bcc01..0ac05a672 100644 --- a/integration_tests/data/008.ball_look_pickup.oracle.outputs.json +++ b/integration_tests/data/008.ball_look_pickup.oracle.outputs.json @@ -1,145 +1,188 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.636382937, - "direction_z": 0.7713733, - "distance": 0.6481946, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], +[ + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.665, + "direction_z": 0.747, + "distance": 1.071, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.8, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.5, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }] -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "OBSTRUCTED", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.636382937, - "direction_z": 0.7713733, - "distance": 0.6481946, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 0, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.665, + "direction_z": 0.747, + "distance": 1.071, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.8, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.5, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }] -}, { - "step_number": 2, - "head_tilt": 10, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.636382937, - "direction_z": 0.7713733, - "distance": 0.6481946, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "OUT_OF_REACH", + "rotation_y": 0.0, + "step_number": 1, + "structural_objects_count": 6 + }, + { + "head_tilt": 10, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.665, + "direction_z": 0.747, + "distance": 1.071, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.8, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.5, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }] -}, { - "step_number": 3, - "head_tilt": 10, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "OBSTRUCTED", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.636382937, - "direction_z": 0.7713733, - "distance": 0.6481946, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 2, + "structural_objects_count": 6 + }, + { + "head_tilt": 10, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.665, + "direction_z": 0.747, + "distance": 1.071, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.8, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.5, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }] -}, { - "step_number": 4, - "head_tilt": 20, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.636382937, - "direction_z": 0.7713733, - "distance": 0.6481946, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "OUT_OF_REACH", + "rotation_y": 0.0, + "step_number": 3, + "structural_objects_count": 6 + }, + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.665, + "direction_z": 0.747, + "distance": 1.071, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.8, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.5, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 5, - "head_tilt": 20, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.44721356, - "direction_z": 0.89442724, - "distance": 0.2236068, - "held": true, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 4, + "structural_objects_count": 6 + }, + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.409055859, + "direction_z": 0.9125093, + "distance": 0.317805, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.290000021, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.2, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}] + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 5, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/data/008.ball_look_pickup.scene.json b/integration_tests/data/008.ball_look_pickup.scene.json index aaaba92f7..2db4aa953 100644 --- a/integration_tests/data/008.ball_look_pickup.scene.json +++ b/integration_tests/data/008.ball_look_pickup.scene.json @@ -26,7 +26,7 @@ "position": { "x": 0, "y": 0.05, - "z": 0.5 + "z": 0.8 }, "scale": { "x": 0.1, diff --git a/integration_tests/data/009.ball_obstructing_ball.actions.txt b/integration_tests/data/009.ball_obstructing_ball.actions.txt index 751ca2ea3..e22fbaa2a 100644 --- a/integration_tests/data/009.ball_obstructing_ball.actions.txt +++ b/integration_tests/data/009.ball_obstructing_ball.actions.txt @@ -3,5 +3,3 @@ MoveAhead PickupObject,objectId=testBall MoveAhead PickupObject,objectId=testBall -MoveAhead -PickupObject,objectId=testBall diff --git a/integration_tests/data/009.ball_obstructing_ball.level1.outputs.json b/integration_tests/data/009.ball_obstructing_ball.level1.outputs.json index 480b42fa9..998be06cf 100644 --- a/integration_tests/data/009.ball_obstructing_ball.level1.outputs.json +++ b/integration_tests/data/009.ball_obstructing_ball.level1.outputs.json @@ -1,73 +1,62 @@ -[{ - "step_number": 0, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "OBSTRUCTED", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 3, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "OBSTRUCTED", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 4, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 5, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "OBSTRUCTED", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 6, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 7, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}] +[ + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 0, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "OBSTRUCTED", + "rotation_y": null, + "step_number": 1, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 2, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "OBSTRUCTED", + "rotation_y": null, + "step_number": 3, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 4, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 5, + "structural_objects_count": 0 + } +] \ No newline at end of file diff --git a/integration_tests/data/009.ball_obstructing_ball.level2.outputs.json b/integration_tests/data/009.ball_obstructing_ball.level2.outputs.json index 480b42fa9..998be06cf 100644 --- a/integration_tests/data/009.ball_obstructing_ball.level2.outputs.json +++ b/integration_tests/data/009.ball_obstructing_ball.level2.outputs.json @@ -1,73 +1,62 @@ -[{ - "step_number": 0, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "OBSTRUCTED", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 3, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "OBSTRUCTED", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 4, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 5, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "OBSTRUCTED", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 6, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 7, - "head_tilt": 30, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}] +[ + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 0, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "OBSTRUCTED", + "rotation_y": null, + "step_number": 1, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 2, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "OBSTRUCTED", + "rotation_y": null, + "step_number": 3, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 4, + "structural_objects_count": 0 + }, + { + "head_tilt": 40, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 5, + "structural_objects_count": 0 + } +] \ No newline at end of file diff --git a/integration_tests/data/009.ball_obstructing_ball.oracle.outputs.json b/integration_tests/data/009.ball_obstructing_ball.oracle.outputs.json index 02c55cc13..d7c22f976 100644 --- a/integration_tests/data/009.ball_obstructing_ball.oracle.outputs.json +++ b/integration_tests/data/009.ball_obstructing_ball.oracle.outputs.json @@ -1,305 +1,302 @@ -[{ - "step_number": 0, - "head_tilt": 30, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.3982847, - "direction_z": 0.9172618, - "distance": 1.03569126, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], +[ + { + "head_tilt": 40, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.725, + "direction_z": 0.689, + "distance": 1.016, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.7, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + }, + { + "direction_x": 0.0, + "direction_y": -0.769, + "direction_z": 0.639, + "distance": 0.861, + "held": false, + "id": "testObstructor", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.55, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 2, "position_x": 0.0, - "position_z": 0.95, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }, { - "id": "testObstructor", - "direction_x": 0.0, - "direction_y": -0.435168654, - "direction_z": 0.9003489, - "distance": 0.8330104, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 0, + "structural_objects_count": 6 + }, + { + "head_tilt": 40, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.725, + "direction_z": 0.689, + "distance": 1.016, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.7, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + }, + { + "direction_x": 0.0, + "direction_y": -0.769, + "direction_z": 0.639, + "distance": 0.861, + "held": false, + "id": "testObstructor", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.55, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 2, "position_x": 0.0, - "position_z": 0.75, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 1, - "head_tilt": 30, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "OBSTRUCTED", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.3982847, - "direction_z": 0.9172618, - "distance": 1.03569126, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "OBSTRUCTED", + "rotation_y": 0.0, + "step_number": 1, + "structural_objects_count": 6 + }, + { + "head_tilt": 40, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.776, + "direction_z": 0.631, + "distance": 0.95, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.7, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + }, + { + "direction_x": 0.0, + "direction_y": -0.827, + "direction_z": 0.562, + "distance": 0.8, + "held": false, + "id": "testObstructor", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.55, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 2, "position_x": 0.0, - "position_z": 0.95, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }, { - "id": "testObstructor", - "direction_x": 0.0, - "direction_y": -0.435168654, - "direction_z": 0.9003489, - "distance": 0.8330104, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.1, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 2, + "structural_objects_count": 6 + }, + { + "head_tilt": 40, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.776, + "direction_z": 0.631, + "distance": 0.95, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.7, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + }, + { + "direction_x": 0.0, + "direction_y": -0.827, + "direction_z": 0.562, + "distance": 0.8, + "held": false, + "id": "testObstructor", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.55, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 2, "position_x": 0.0, - "position_z": 0.75, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 2, - "head_tilt": 30, - "position_x": 0.0, - "position_z": 0.1, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.4365981, - "direction_z": 0.899656653, - "distance": 0.944804847, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.1, + "return_status": "OBSTRUCTED", + "rotation_y": 0.0, + "step_number": 3, + "structural_objects_count": 6 + }, + { + "head_tilt": 40, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.828, + "direction_z": 0.561, + "distance": 0.891, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.7, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + }, + { + "direction_x": 0.0, + "direction_y": -0.884, + "direction_z": 0.467, + "distance": 0.749, + "held": false, + "id": "testObstructor", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.55, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 2, "position_x": 0.0, - "position_z": 0.95, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }, { - "id": "testObstructor", - "direction_x": 0.0, - "direction_y": -0.487068355, - "direction_z": 0.8733639, - "distance": 0.744248748, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.2, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 4, + "structural_objects_count": 6 + }, + { + "head_tilt": 40, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.368, + "direction_z": 0.93, + "distance": 0.285, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.465, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + }, + { + "direction_x": 0.0, + "direction_y": -0.884, + "direction_z": 0.467, + "distance": 0.749, + "held": false, + "id": "testObstructor", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.55, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 2, "position_x": 0.0, - "position_z": 0.75, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 3, - "head_tilt": 30, - "position_x": 0.0, - "position_z": 0.1, - "return_status": "OBSTRUCTED", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.4365981, - "direction_z": 0.899656653, - "distance": 0.944804847, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.95, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }, { - "id": "testObstructor", - "direction_x": 0.0, - "direction_y": -0.487068355, - "direction_z": 0.8733639, - "distance": 0.744248748, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.75, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 4, - "head_tilt": 30, - "position_x": 0.0, - "position_z": 0.2, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.481918782, - "direction_z": 0.876215935, - "distance": 0.8559534, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.95, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }, { - "id": "testObstructor", - "direction_x": 0.0, - "direction_y": -0.550313354, - "direction_z": 0.8349582, - "distance": 0.6587156, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.75, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 5, - "head_tilt": 30, - "position_x": 0.0, - "position_z": 0.2, - "return_status": "OBSTRUCTED", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.481918782, - "direction_z": 0.876215935, - "distance": 0.8559534, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.95, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": false - }, { - "id": "testObstructor", - "direction_x": 0.0, - "direction_y": -0.550313354, - "direction_z": 0.8349582, - "distance": 0.6587156, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.75, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 6, - "head_tilt": 30, - "position_x": 0.0, - "position_z": 0.3, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.5358245, - "direction_z": 0.8443294, - "distance": 0.7698417, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.95, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }, { - "id": "testObstructor", - "direction_x": 0.0, - "direction_y": -0.6273295, - "direction_z": 0.7787539, - "distance": 0.5778462, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.75, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 7, - "head_tilt": 30, - "position_x": 0.0, - "position_z": 0.3, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.4472136, - "direction_z": 0.8944272, - "distance": 0.22360678, - "held": true, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.5, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }, { - "id": "testObstructor", - "direction_x": 0.0, - "direction_y": -0.6273295, - "direction_z": 0.7787539, - "distance": 0.5778462, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], - "position_x": 0.0, - "position_z": 0.75, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}] + "position_z": 0.2, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 5, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/data/009.ball_obstructing_ball.scene.json b/integration_tests/data/009.ball_obstructing_ball.scene.json index 42a819808..b5af67f15 100644 --- a/integration_tests/data/009.ball_obstructing_ball.scene.json +++ b/integration_tests/data/009.ball_obstructing_ball.scene.json @@ -10,7 +10,7 @@ "z": 0 }, "rotation": { - "x": 30, + "x": 40, "y": 0 } }, @@ -25,13 +25,13 @@ "stepBegin": 0, "position": { "x": 0, - "y": 0.05, - "z": 0.95 + "y": 0.025, + "z": 0.7 }, "scale": { - "x": 0.1, - "y": 0.1, - "z": 0.1 + "x": 0.05, + "y": 0.05, + "z": 0.05 } }] }, { @@ -46,7 +46,7 @@ "position": { "x": 0, "y": 0.1, - "z": 0.75 + "z": 0.55 }, "scale": { "x": 0.2, diff --git a/integration_tests/data/010.wall_obstructing_wall.actions.txt b/integration_tests/data/010.wall_obstructing_ball.actions.txt similarity index 100% rename from integration_tests/data/010.wall_obstructing_wall.actions.txt rename to integration_tests/data/010.wall_obstructing_ball.actions.txt diff --git a/integration_tests/data/010.wall_obstructing_wall.level1.outputs.json b/integration_tests/data/010.wall_obstructing_ball.level1.outputs.json similarity index 100% rename from integration_tests/data/010.wall_obstructing_wall.level1.outputs.json rename to integration_tests/data/010.wall_obstructing_ball.level1.outputs.json diff --git a/integration_tests/data/010.wall_obstructing_wall.level2.outputs.json b/integration_tests/data/010.wall_obstructing_ball.level2.outputs.json similarity index 100% rename from integration_tests/data/010.wall_obstructing_wall.level2.outputs.json rename to integration_tests/data/010.wall_obstructing_ball.level2.outputs.json diff --git a/integration_tests/data/010.wall_obstructing_ball.oracle.outputs.json b/integration_tests/data/010.wall_obstructing_ball.oracle.outputs.json new file mode 100644 index 000000000..4d94d77c6 --- /dev/null +++ b/integration_tests/data/010.wall_obstructing_ball.oracle.outputs.json @@ -0,0 +1,106 @@ +[ + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.474, + "direction_z": 0.88, + "distance": 1.079, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.95, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 0, + "structural_objects": [ + { + "direction_x": 0.0, + "direction_y": 0.631, + "direction_z": 0.776, + "distance": 0.773, + "held": false, + "id": "testWall", + "mass": 100, + "material_list": [ + "WOOD" + ], + "position_x": 0.0, + "position_z": 0.6, + "shape": "structural", + "texture_color_list": [ + "brown" + ], + "visible": true + } + ], + "structural_objects_count": 7 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.474, + "direction_z": 0.88, + "distance": 1.079, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.95, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": false + } + ], + "objects_count": 1, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "OBSTRUCTED", + "rotation_y": 0.0, + "step_number": 1, + "structural_objects": [ + { + "direction_x": 0.0, + "direction_y": 0.631, + "direction_z": 0.776, + "distance": 0.773, + "held": false, + "id": "testWall", + "mass": 100, + "material_list": [ + "WOOD" + ], + "position_x": 0.0, + "position_z": 0.6, + "shape": "structural", + "texture_color_list": [ + "brown" + ], + "visible": true + } + ], + "structural_objects_count": 7 + } +] \ No newline at end of file diff --git a/integration_tests/data/010.wall_obstructing_wall.scene.json b/integration_tests/data/010.wall_obstructing_ball.scene.json similarity index 91% rename from integration_tests/data/010.wall_obstructing_wall.scene.json rename to integration_tests/data/010.wall_obstructing_ball.scene.json index e5bf183ff..4c62bc6d7 100644 --- a/integration_tests/data/010.wall_obstructing_wall.scene.json +++ b/integration_tests/data/010.wall_obstructing_ball.scene.json @@ -25,13 +25,13 @@ "stepBegin": 0, "position": { "x": 0, - "y": 0.05, + "y": 0.25, "z": 0.95 }, "scale": { - "x": 0.1, - "y": 0.1, - "z": 0.1 + "x": 0.5, + "y": 0.5, + "z": 0.5 } }] }, { @@ -46,12 +46,12 @@ "stepBegin": 0, "position": { "x": 0, - "y": 0.25, - "z": 0.85 + "y": 1.25, + "z": 0.6 }, "scale": { "x": 0.5, - "y": 0.5, + "y": 2.5, "z": 0.1 } }] diff --git a/integration_tests/data/010.wall_obstructing_wall.oracle.outputs.json b/integration_tests/data/010.wall_obstructing_wall.oracle.outputs.json deleted file mode 100644 index 5d232d15d..000000000 --- a/integration_tests/data/010.wall_obstructing_wall.oracle.outputs.json +++ /dev/null @@ -1,79 +0,0 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 7, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": 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} +] \ No newline at end of file diff --git a/integration_tests/data/018.drop_large_object.oracle.outputs.json b/integration_tests/data/018.drop_large_object.oracle.outputs.json index 24d5a071e..9f111c0ca 100644 --- a/integration_tests/data/018.drop_large_object.oracle.outputs.json +++ b/integration_tests/data/018.drop_large_object.oracle.outputs.json @@ -1,103 +1,139 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testSuitcase", - "direction_x": 0.0, - "direction_y": -0.3463501, - "direction_z": 0.9381053, - "distance": 1.33246768, - "held": false, - "mass": 2, - "material_list": ["PLASTIC"], +[ + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.52, + "direction_z": 0.854, + "distance": 1.463, + "held": false, + "id": "testSuitcase", + "mass": 2, + "material_list": [ + "PLASTIC" + 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b/integration_tests/data/035.stacking_blocks_side_to_top_v1.scene.json @@ -10,7 +10,7 @@ "z": 0 }, "rotation": { - "x": 10, + "x": 20, "y": 0 } }, diff --git a/integration_tests/data/036.stacking_blocks_side_to_top_v2.level1.outputs.json b/integration_tests/data/036.stacking_blocks_side_to_top_v2.level1.outputs.json index 704c3dd44..4723d592c 100644 --- a/integration_tests/data/036.stacking_blocks_side_to_top_v2.level1.outputs.json +++ b/integration_tests/data/036.stacking_blocks_side_to_top_v2.level1.outputs.json @@ -1,37 +1,42 @@ -[{ - "step_number": 0, - "head_tilt": 10, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 10, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 10, - "position_x": null, - 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b/integration_tests/data/039.stacking_blocks_many.scene.json index 59dd0e908..d301fd749 100644 --- a/integration_tests/data/039.stacking_blocks_many.scene.json +++ b/integration_tests/data/039.stacking_blocks_many.scene.json @@ -10,7 +10,7 @@ "z": 0 }, "rotation": { - "x": 10, + "x": 20, "y": 0 } }, diff --git a/integration_tests/data/040.stacking_blocks_too_far.level1.outputs.json b/integration_tests/data/040.stacking_blocks_too_far.level1.outputs.json index e2c4af8f1..1ac566bb9 100644 --- a/integration_tests/data/040.stacking_blocks_too_far.level1.outputs.json +++ b/integration_tests/data/040.stacking_blocks_too_far.level1.outputs.json @@ -1,28 +1,32 @@ -[{ - "step_number": 0, - "head_tilt": 10, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 10, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": 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b/integration_tests/data/040.stacking_blocks_too_far.level2.outputs.json index e2c4af8f1..1ac566bb9 100644 --- a/integration_tests/data/040.stacking_blocks_too_far.level2.outputs.json +++ b/integration_tests/data/040.stacking_blocks_too_far.level2.outputs.json @@ -1,28 +1,32 @@ -[{ - "step_number": 0, - "head_tilt": 10, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 10, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 10, - "position_x": null, - "position_z": null, - "return_status": "OBSTRUCTED", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}] +[ + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", 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+ } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 1, + "structural_objects_count": 6 + }, + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0, + "direction_y": -0.6945945, + "direction_z": 0.719401538, + "distance": 0.4031129, + "held": true, + "id": "testBlock1", + "mass": 1, + "material_list": [ + "WOOD" + ], + "position_x": 0, + "position_z": 0.290000021, + "shape": "blank block cube", + "texture_color_list": [ + "red" + ], + "visible": true + }, + { + "direction_x": -0.232, + "direction_y": -0.59, + "direction_z": 0.774, + "distance": 1.293, + "held": false, + "id": "testBlock2", + "mass": 1, + "material_list": [ + "WOOD" + ], + "position_x": -0.3, + "position_z": 1, + "shape": "blank block cube", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "OBSTRUCTED", + "rotation_y": 0.0, + "step_number": 2, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/data/040.stacking_blocks_too_far.scene.json b/integration_tests/data/040.stacking_blocks_too_far.scene.json index b9c04bd1a..2be340e64 100644 --- a/integration_tests/data/040.stacking_blocks_too_far.scene.json +++ b/integration_tests/data/040.stacking_blocks_too_far.scene.json @@ -10,7 +10,7 @@ "z": 0 }, "rotation": { - "x": 10, + "x": 20, "y": 0 } }, diff --git a/integration_tests/data/042.put_onto_floor.oracle.outputs.json b/integration_tests/data/042.put_onto_floor.oracle.outputs.json index 61908485f..24a36a25d 100644 --- a/integration_tests/data/042.put_onto_floor.oracle.outputs.json +++ b/integration_tests/data/042.put_onto_floor.oracle.outputs.json @@ -1,73 +1,95 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.168908656, - "direction_z": 0.9856317, - "distance": 1.25807643, - "held": false, - "mass": 1, - "material_list": ["RUBBER"], +[ + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.494, + "direction_z": 0.869, + "distance": 1.035, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.9, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 1.24, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.376377016, - "direction_z": 0.9264666, - "distance": 0.4317479, - "held": true, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 0, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.559, + "direction_z": 0.829, + "distance": 0.591, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.49, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.4, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 2, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "NOT_RECEPTACLE", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.376377016, - "direction_z": 0.9264666, - "distance": 0.4317479, - "held": true, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 1, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.559, + "direction_z": 0.829, + "distance": 0.591, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.49, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.4, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}] + "position_z": 0.0, + "return_status": "NOT_RECEPTACLE", + "rotation_y": 0.0, + "step_number": 2, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/data/042.put_onto_floor.scene.json b/integration_tests/data/042.put_onto_floor.scene.json index f3d20df34..eefaae66b 100644 --- a/integration_tests/data/042.put_onto_floor.scene.json +++ b/integration_tests/data/042.put_onto_floor.scene.json @@ -26,7 +26,7 @@ "position": { "x": 0, "y": 0.25, - "z": 1.24 + "z": 0.9 }, "scale": { "x": 0.5, diff --git a/integration_tests/data/045.pickup_and_put_with_image_coord.actions.txt b/integration_tests/data/045.pickup_and_put_with_image_coord.actions.txt index 86c272c4d..dfe54b219 100644 --- a/integration_tests/data/045.pickup_and_put_with_image_coord.actions.txt +++ b/integration_tests/data/045.pickup_and_put_with_image_coord.actions.txt @@ -3,4 +3,4 @@ MoveAhead MoveAhead PutObject,receptacleObjectImageCoordsX=5,receptacleObjectImageCoordsY=200 PickupObject,objectImageCoordsX=5,objectImageCoordsY=200 -PickupObject,objectImageCoordsX=250,objectImageCoordsY=50 +PickupObject,objectImageCoordsX=245,objectImageCoordsY=20 diff --git a/integration_tests/data/045.pickup_and_put_with_image_coord.level1.outputs.json b/integration_tests/data/045.pickup_and_put_with_image_coord.level1.outputs.json index 49d441d4b..2d8016256 100644 --- a/integration_tests/data/045.pickup_and_put_with_image_coord.level1.outputs.json +++ b/integration_tests/data/045.pickup_and_put_with_image_coord.level1.outputs.json @@ -1,64 +1,72 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 3, - 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"head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 6, + "structural_objects_count": 0 + } +] \ No newline at end of file diff --git a/integration_tests/data/045.pickup_and_put_with_image_coord.level2.outputs.json b/integration_tests/data/045.pickup_and_put_with_image_coord.level2.outputs.json index 49d441d4b..2d8016256 100644 --- a/integration_tests/data/045.pickup_and_put_with_image_coord.level2.outputs.json +++ b/integration_tests/data/045.pickup_and_put_with_image_coord.level2.outputs.json @@ -1,64 +1,72 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 3, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 4, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 5, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "NOT_PICKUPABLE", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 6, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}] +[ + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 0, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 1, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 2, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 3, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + 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"position_x": 0.0, + "position_z": 0.1, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 2, + "structural_objects_count": 6 + }, + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0, + "direction_y": -0.46788764, + "direction_z": 0.883788, + "distance": 0.3847077, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0, + "position_z": 0.54, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + }, + { + "direction_x": 0, + "direction_y": -0.48, + "direction_z": 0.877, + "distance": 1.482, + "held": false, + "id": "testSofa", + "mass": 50, + "material_list": [ + "FABRIC" + ], + "position_x": 0, + "position_z": 1.5, + "shape": "sofa", + "texture_color_list": [ + "grey" + ], + "visible": true + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.2, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 3, + "structural_objects_count": 6 + }, + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0, + "direction_y": 0.03, + "direction_z": 1.0, + "distance": 0.942, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0, + "position_z": 1.14166665, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + }, + { + "direction_x": 0, + "direction_y": -0.48, + "direction_z": 0.877, + "distance": 1.482, + "held": false, + "id": "testSofa", + "mass": 50, + "material_list": [ + "FABRIC" + ], + "position_x": 0, + "position_z": 1.5, + "shape": "sofa", + "texture_color_list": [ + "grey" + ], + "visible": true + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.2, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 4, + "structural_objects_count": 6 + }, + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0, + "direction_y": -0.012, + "direction_z": 1.0, + "distance": 0.942, + "held": false, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0, + "position_z": 1.14166665, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + }, + { + "direction_x": 0, + "direction_y": -0.48, + "direction_z": 0.877, + "distance": 1.482, + "held": false, + "id": "testSofa", + "mass": 50, + "material_list": [ + "FABRIC" + ], + "position_x": 0, + "position_z": 1.5, + "shape": "sofa", + "texture_color_list": [ + "grey" + ], + "visible": true + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.2, + "return_status": "NOT_PICKUPABLE", + "rotation_y": 0.0, + "step_number": 5, + "structural_objects_count": 6 + }, + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0, + "direction_y": -0.46788764, + "direction_z": 0.883788, + "distance": 0.3847077, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0, + "position_z": 0.54, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + }, + { + "direction_x": 0, + "direction_y": -0.48, + "direction_z": 0.877, + "distance": 1.482, + "held": false, + "id": "testSofa", + "mass": 50, + "material_list": [ + "FABRIC" + ], + "position_x": 0, + "position_z": 1.5, + "shape": "sofa", + "texture_color_list": [ + "grey" + ], + "visible": true + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.2, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 6, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/data/045.pickup_and_put_with_image_coord.scene.json b/integration_tests/data/045.pickup_and_put_with_image_coord.scene.json index 74124ec88..f86aa5a8d 100644 --- a/integration_tests/data/045.pickup_and_put_with_image_coord.scene.json +++ b/integration_tests/data/045.pickup_and_put_with_image_coord.scene.json @@ -10,7 +10,7 @@ "z": 0 }, "rotation": { - "x": 0, + "x": 20, "y": 0 } }, diff --git a/integration_tests/data/046.pickup_trophy_with_image_coord.actions.txt b/integration_tests/data/046.pickup_trophy_with_image_coord.actions.txt index cb376493a..b954614c1 100644 --- a/integration_tests/data/046.pickup_trophy_with_image_coord.actions.txt +++ b/integration_tests/data/046.pickup_trophy_with_image_coord.actions.txt @@ -1 +1 @@ -PickupObject,objectImageCoordsX=255,objectImageCoordsY=310 +PickupObject,objectImageCoordsX=260,objectImageCoordsY=260 diff --git a/integration_tests/data/046.pickup_trophy_with_image_coord.level1.outputs.json b/integration_tests/data/046.pickup_trophy_with_image_coord.level1.outputs.json index 92164d3be..c83760994 100644 --- a/integration_tests/data/046.pickup_trophy_with_image_coord.level1.outputs.json +++ b/integration_tests/data/046.pickup_trophy_with_image_coord.level1.outputs.json @@ -1,19 +1,22 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}] +[ + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 0, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 1, + "structural_objects_count": 0 + } +] \ No newline at end of file diff --git a/integration_tests/data/046.pickup_trophy_with_image_coord.level2.outputs.json b/integration_tests/data/046.pickup_trophy_with_image_coord.level2.outputs.json index 92164d3be..c83760994 100644 --- a/integration_tests/data/046.pickup_trophy_with_image_coord.level2.outputs.json +++ b/integration_tests/data/046.pickup_trophy_with_image_coord.level2.outputs.json @@ -1,19 +1,22 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}] +[ + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 0, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 1, + "structural_objects_count": 0 + } +] \ No newline at end of file diff --git a/integration_tests/data/046.pickup_trophy_with_image_coord.oracle.outputs.json b/integration_tests/data/046.pickup_trophy_with_image_coord.oracle.outputs.json index 8ff7991ac..0eed7194d 100644 --- a/integration_tests/data/046.pickup_trophy_with_image_coord.oracle.outputs.json +++ b/integration_tests/data/046.pickup_trophy_with_image_coord.oracle.outputs.json @@ -1,49 +1,64 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testTrophy", - "direction_x": 0.0, - "direction_y": -0.423505276, - "direction_z": 0.9058936, - "distance": 1.10388231, - "held": false, - "mass": 1, - "material_list": ["METAL"], +[ + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.609, + "direction_z": 0.793, + "distance": 1.26, + "held": false, + "id": "testTrophy", + "mass": 1, + "material_list": [ + "METAL" + ], + "position_x": 0.0, + "position_z": 1, + "shape": "trophy", + "texture_color_list": [ + "silver" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 1, - "shape": "trophy", - "texture_color_list": ["silver"], - "visible": true - }] -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testTrophy", - "direction_x": 0.0, - "direction_y": -0.8500099, - "direction_z": 0.526766658, - "distance": 0.4176422, - "held": true, - "mass": 1, - "material_list": ["METAL"], + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 0, + "structural_objects_count": 6 + }, + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.778891146, + "direction_z": 0.6271592, + "distance": 0.494292438, + "held": true, + "id": "testTrophy", + "mass": 1, + "material_list": [ + "METAL" + ], + "position_x": 0.0, + "position_z": 0.310000032, + "shape": "trophy", + "texture_color_list": [ + "silver" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.22, - "shape": "trophy", - "texture_color_list": ["silver"], - "visible": true - }] -}] + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 1, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/data/046.pickup_trophy_with_image_coord.scene.json b/integration_tests/data/046.pickup_trophy_with_image_coord.scene.json index 6d4f2911e..2d5bda18d 100644 --- a/integration_tests/data/046.pickup_trophy_with_image_coord.scene.json +++ b/integration_tests/data/046.pickup_trophy_with_image_coord.scene.json @@ -10,7 +10,7 @@ "z": 0 }, "rotation": { - "x": 0, + "x": 20, "y": 0 } }, diff --git a/integration_tests/data/047.open_and_close_with_image_coord.actions.txt b/integration_tests/data/047.open_and_close_with_image_coord.actions.txt index 210bd6251..03c466ea3 100644 --- a/integration_tests/data/047.open_and_close_with_image_coord.actions.txt +++ b/integration_tests/data/047.open_and_close_with_image_coord.actions.txt @@ -1,4 +1,4 @@ -OpenObject,objectImageCoordsX=5,objectImageCoordsY=300 -OpenObject,objectImageCoordsX=280,objectImageCoordsY=21 -OpenObject,objectImageCoordsX=300,objectImageCoordsY=231 -CloseObject,objectImageCoordsX=280,objectImageCoordsY=21 +OpenObject,objectImageCoordsX=1,objectImageCoordsY=300 +OpenObject,objectImageCoordsX=300,objectImageCoordsY=1 +OpenObject,objectImageCoordsX=300,objectImageCoordsY=230 +CloseObject,objectImageCoordsX=300,objectImageCoordsY=1 diff --git a/integration_tests/data/047.open_and_close_with_image_coord.level1.outputs.json b/integration_tests/data/047.open_and_close_with_image_coord.level1.outputs.json index 5cc449514..b7905b5fb 100644 --- a/integration_tests/data/047.open_and_close_with_image_coord.level1.outputs.json +++ b/integration_tests/data/047.open_and_close_with_image_coord.level1.outputs.json @@ -1,46 +1,52 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "NOT_RECEPTACLE", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "NOT_RECEPTACLE", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 3, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 4, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}] +[ + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 0, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "NOT_RECEPTACLE", + "rotation_y": null, + "step_number": 1, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "NOT_RECEPTACLE", + "rotation_y": null, + "step_number": 2, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 3, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 4, + "structural_objects_count": 0 + } +] \ No newline at end of file diff --git a/integration_tests/data/047.open_and_close_with_image_coord.level2.outputs.json b/integration_tests/data/047.open_and_close_with_image_coord.level2.outputs.json index 5cc449514..b7905b5fb 100644 --- a/integration_tests/data/047.open_and_close_with_image_coord.level2.outputs.json +++ b/integration_tests/data/047.open_and_close_with_image_coord.level2.outputs.json @@ -1,46 +1,52 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "NOT_RECEPTACLE", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "NOT_RECEPTACLE", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 3, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 4, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}] +[ + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 0, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "NOT_RECEPTACLE", + "rotation_y": null, + "step_number": 1, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "NOT_RECEPTACLE", + "rotation_y": null, + "step_number": 2, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 3, + "structural_objects_count": 0 + }, + { + "head_tilt": 20, + "objects_count": 0, + "position_x": null, + "position_z": null, + "return_status": "SUCCESSFUL", + "rotation_y": null, + "step_number": 4, + "structural_objects_count": 0 + } +] \ No newline at end of file diff --git a/integration_tests/data/047.open_and_close_with_image_coord.oracle.outputs.json b/integration_tests/data/047.open_and_close_with_image_coord.oracle.outputs.json index 45a1b7f12..669151d7d 100644 --- a/integration_tests/data/047.open_and_close_with_image_coord.oracle.outputs.json +++ b/integration_tests/data/047.open_and_close_with_image_coord.oracle.outputs.json @@ -1,121 +1,157 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testContainer", - "direction_x": 0.0, - "direction_y": -0.419776082, - "direction_z": 0.9076277, - "distance": 1.10177326, - "held": false, - "mass": 5, - "material_list": ["WOOD"], +[ + { + "head_tilt": 20, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.606, + "direction_z": 0.795, + "distance": 1.257, + "held": false, + "id": "testContainer", + "mass": 5, + "material_list": [ + "WOOD" + ], + "position_x": 0.0, + "position_z": 1, + "shape": "chest", + "texture_color_list": [ + "brown" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 1, - "shape": "chest", - "texture_color_list": ["brown"], - "visible": true - }] -}, { 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1, "position_x": 0.0, - "position_z": 1, - "shape": "chest", - "texture_color_list": ["brown"], - "visible": true - }] -}] + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 4, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/data/047.open_and_close_with_image_coord.scene.json b/integration_tests/data/047.open_and_close_with_image_coord.scene.json index 74930e133..74957c93d 100644 --- a/integration_tests/data/047.open_and_close_with_image_coord.scene.json +++ b/integration_tests/data/047.open_and_close_with_image_coord.scene.json @@ -10,7 +10,7 @@ "z": 0 }, "rotation": { - "x": 0, + "x": 20, "y": 0 } }, diff --git a/integration_tests/data/048.open_and_pickup_with_image_coord.actions.txt b/integration_tests/data/048.open_and_pickup_with_image_coord.actions.txt index 1c83a8b2c..63eaeba69 100644 --- a/integration_tests/data/048.open_and_pickup_with_image_coord.actions.txt +++ b/integration_tests/data/048.open_and_pickup_with_image_coord.actions.txt @@ -1,8 +1,4 @@ -OpenObject,objectImageCoordsX=300,objectImageCoordsY=399 +OpenObject,objectImageCoordsX=300,objectImageCoordsY=235 MoveAhead -MoveAhead -MoveAhead -MoveAhead -LookDown -PickupObject,objectImageCoordsX=255,objectImageCoordsY=345 -CloseObject,objectImageCoordsX=300,objectImageCoordsY=399 +PickupObject,objectImageCoordsX=275,objectImageCoordsY=325 +CloseObject,objectImageCoordsX=300,objectImageCoordsY=105 diff --git a/integration_tests/data/048.open_and_pickup_with_image_coord.level1.outputs.json b/integration_tests/data/048.open_and_pickup_with_image_coord.level1.outputs.json index 0a16465fe..8a0972d9c 100644 --- a/integration_tests/data/048.open_and_pickup_with_image_coord.level1.outputs.json +++ b/integration_tests/data/048.open_and_pickup_with_image_coord.level1.outputs.json @@ -1,82 +1,52 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 3, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 4, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 5, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - 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a/integration_tests/data/048.open_and_pickup_with_image_coord.level2.outputs.json +++ b/integration_tests/data/048.open_and_pickup_with_image_coord.level2.outputs.json @@ -1,82 +1,52 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 2, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 3, - "head_tilt": 0, - "position_x": null, - "position_z": null, - "return_status": "SUCCESSFUL", - "rotation_y": null, - "objects_count": 0, - "structural_objects_count": 0 -}, { - "step_number": 4, - 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a/integration_tests/data/048.open_and_pickup_with_image_coord.scene.json b/integration_tests/data/048.open_and_pickup_with_image_coord.scene.json index 92871e28f..28a86c849 100644 --- a/integration_tests/data/048.open_and_pickup_with_image_coord.scene.json +++ b/integration_tests/data/048.open_and_pickup_with_image_coord.scene.json @@ -10,7 +10,7 @@ "z": 0 }, "rotation": { - "x": 0, + "x": 20, "y": 0 } }, diff --git a/integration_tests/data/049.pickup_then_walk.oracle.outputs.json b/integration_tests/data/049.pickup_then_walk.oracle.outputs.json index b8e08c141..e9cf75605 100644 --- a/integration_tests/data/049.pickup_then_walk.oracle.outputs.json +++ b/integration_tests/data/049.pickup_then_walk.oracle.outputs.json @@ -1,505 +1,653 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - 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"shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 19, - "head_tilt": 80, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.376377016, - "direction_z": 0.9264666, - "distance": 0.4317479, - "held": true, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 16, + "structural_objects_count": 6 + }, + { + "head_tilt": 60, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.559, + "direction_z": 0.829, + "distance": 0.591, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.49, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.4, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}, { - "step_number": 20, - "head_tilt": 90, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 1, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "direction_x": 0.0, - "direction_y": -0.376377016, - "direction_z": 0.9264666, - "distance": 0.4317479, - "held": true, - "mass": 1, - "material_list": ["RUBBER"], + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 17, + "structural_objects_count": 6 + }, + { + "head_tilt": 70, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.559, + "direction_z": 0.829, + "distance": 0.591, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.49, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, "position_x": 0.0, - "position_z": 0.4, - "shape": "ball", - "texture_color_list": ["blue"], - "visible": true - }] -}] + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 18, + "structural_objects_count": 6 + }, + { + "head_tilt": 80, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.559, + "direction_z": 0.829, + "distance": 0.591, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.49, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 19, + "structural_objects_count": 6 + }, + { + "head_tilt": 90, + "objects": [ + { + "direction_x": 0.0, + "direction_y": -0.559, + "direction_z": 0.829, + "distance": 0.591, + "held": true, + "id": "testBall", + "mass": 1, + "material_list": [ + "RUBBER" + ], + "position_x": 0.0, + "position_z": 0.49, + "shape": "ball", + "texture_color_list": [ + "blue" + ], + "visible": true + } + ], + "objects_count": 1, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 20, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/data/049.pickup_then_walk.scene.json b/integration_tests/data/049.pickup_then_walk.scene.json index 9b139e6c4..7cf494052 100644 --- a/integration_tests/data/049.pickup_then_walk.scene.json +++ b/integration_tests/data/049.pickup_then_walk.scene.json @@ -26,7 +26,7 @@ "position": { "x": 0, "y": 0.25, - "z": 1.24 + "z": 0.9 }, "scale": { "x": 0.5, diff --git a/integration_tests/data/050.drop_tall_object.oracle.outputs.json b/integration_tests/data/050.drop_tall_object.oracle.outputs.json index fc01f268c..310fad0f6 100644 --- a/integration_tests/data/050.drop_tall_object.oracle.outputs.json +++ b/integration_tests/data/050.drop_tall_object.oracle.outputs.json @@ -1,366 +1,443 @@ -[{ - "step_number": 0, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "held": false, +[ + { + "head_tilt": 0, + "objects": [ + { + "held": false, + "id": "testBall", + "position_x": 0.0, + "position_z": 1.0, + "visible": true + }, + { + "held": false, + "id": "testTrophy", + "mass": 1, + "position_x": 0.0, + "position_z": -1.0, + "visible": false + } + ], + "objects_count": 2, "position_x": 0.0, - "position_z": 1.0, - "visible": true - }, { - "id": "testTrophy", - "held": false, - "mass": 1, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 0.0, + "step_number": 0, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "held": true, + "id": "testBall", + "visible": true + }, + { + "held": false, + "id": "testTrophy", + "mass": 1, + "visible": false + } + ], + "objects_count": 2, "position_x": 0.0, - "position_z": -1.0, - "visible": false - }] -}, { - "step_number": 1, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "held": true, - "visible": true - }, { - "id": "testTrophy", - "held": false, - "mass": 1, - "visible": false - }] -}, { - "step_number": 2, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 0.0, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "held": false, - "visible": true - }, { - "id": "testTrophy", - "held": false, - "mass": 1, - "visible": false - }] -}, { - "step_number": 3, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 10, - 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"return_status": "SUCCESSFUL", - "rotation_y": 40, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "held": false, - "visible": true - }, { - "id": "testTrophy", - "held": false, - "mass": 1, - "visible": false - }] -}, { - "step_number": 7, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 50, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "held": false, - "visible": true - }, { - "id": "testTrophy", - "held": false, - "mass": 1, - "visible": false - }] -}, { - "step_number": 8, - "head_tilt": 0, - "position_x": 0.0, - "position_z": 0.0, - "return_status": "SUCCESSFUL", - "rotation_y": 60, - "objects_count": 2, - "structural_objects_count": 6, - "objects": [{ - "id": "testBall", - "held": false, - "visible": true - }, { - "id": "testTrophy", - "held": false, - "mass": 1, - "visible": false - }] -}, { - "step_number": 9, - "head_tilt": 0, 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"id": "testBall", + "visible": false + }, + { + "held": false, + "id": "testTrophy", + "mass": 1, + "visible": false + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 120, + "step_number": 14, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "held": false, + "id": "testBall", + "visible": false + }, + { + "held": false, + "id": "testTrophy", + "mass": 1, + "visible": false + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 130, + "step_number": 15, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "held": false, + "id": "testBall", + "visible": false + }, + { + "held": false, + "id": "testTrophy", + "mass": 1, + "visible": true + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 140, + "step_number": 16, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "held": false, + "id": "testBall", + "visible": false + }, + { + "held": true, + "id": "testTrophy", + "mass": 1, + "visible": true + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 140, + "step_number": 17, + "structural_objects_count": 6 + }, + { + "head_tilt": 0, + "objects": [ + { + "held": false, + "id": "testBall", + "visible": false + }, + { + "held": false, + "id": "testTrophy", + "mass": 1, + "visible": true + } + ], + "objects_count": 2, + "position_x": 0.0, + "position_z": 0.0, + "return_status": "SUCCESSFUL", + "rotation_y": 140, + "step_number": 18, + "structural_objects_count": 6 + } +] \ No newline at end of file diff --git a/integration_tests/integration_test_utils.py b/integration_tests/integration_test_utils.py index ca556542a..137b67e13 100644 --- a/integration_tests/integration_test_utils.py +++ b/integration_tests/integration_test_utils.py @@ -40,4 +40,10 @@ def add_test_args(parser: argparse.ArgumentParser, action='store_true', help='Run in dev mode (useful for adding new test scenes)' ) + parser.add_argument( + '--autofix', + default=False, + action='store_true', + help='Automatically fix test failures (only use with care!)' + ) return parser diff --git a/integration_tests/restricted_action_list.scene.json b/integration_tests/restricted_action_list.scene.json index 1b3fdac9f..3e10e50f1 100644 --- a/integration_tests/restricted_action_list.scene.json +++ b/integration_tests/restricted_action_list.scene.json @@ -10,7 +10,7 @@ "z": 0 }, "rotation": { - "x": 0, + "x": 20, "y": 0 } }, diff --git a/integration_tests/run_handmade_tests.py b/integration_tests/run_handmade_tests.py index 05a8ec26f..2a583181f 100644 --- a/integration_tests/run_handmade_tests.py +++ b/integration_tests/run_handmade_tests.py @@ -45,7 +45,7 @@ def create_step_test_case_list(expected, actual): ('structural_objects_count', len(actual.structural_object_list)) ] return [ - create_test_case(case_name, expected[case_name], actual_data) + create_test_case([case_name], expected[case_name], actual_data) for case_name, actual_data in test_case_list if case_name in expected ] @@ -81,7 +81,7 @@ def create_object_test_case_list(object_type, expected, actual): ('visible', actual.visible) ] return [create_test_case( - f'{object_type} {actual.uuid} {case_name}', + [object_type, actual.uuid, case_name], expected[case_name], actual_data ) for case_name, actual_data in test_case_list if case_name in expected] @@ -95,12 +95,12 @@ def validate_single_output(expected, actual): expected_object_dict = {} for expected_object in expected.get('objects', []): expected_object_dict[expected_object.get('id', '')] = ( - 'object', + 'objects', expected_object ) for expected_object in expected.get('structural_objects', []): expected_object_dict[expected_object.get('id', '')] = ( - 'structural object', + 'structural_objects', expected_object ) # For each object in the step output metdata... @@ -128,9 +128,13 @@ def validate_single_output(expected, actual): abs_tol=0.001 )) if failed: - failed_validation_list.append( - f'{test_case}: {actual_data} != {expected_data}' - ) + test_case_string = ' '.join(test_case) + failed_validation_list.append(( + test_case, + actual_data, + expected_data, + f'{test_case_string}: {actual_data} != {expected_data}' + )) return failed_validation_list @@ -166,7 +170,7 @@ def load_output_list(scene_filename, metadata_tier): return output_filename, output_list -def run_single_scene(controller, scene_filename, metadata_tier, dev): +def run_single_scene(controller, scene_filename, metadata_tier, dev, autofix): # Load the test scene's JSON data. scene_data, status = mcs.load_scene_json_file(scene_filename) @@ -197,6 +201,7 @@ def run_single_scene(controller, scene_filename, metadata_tier, dev): time.sleep(1) successful = True + autofix_case_list = [] # Run the specific actions for the test scene. for index, action_data in enumerate(action_list + [None]): @@ -208,13 +213,19 @@ def run_single_scene(controller, scene_filename, metadata_tier, dev): # If the validation failed, return the failed test case info. if len(failed_validation_list) > 0: indent = "\n" + INDENT + INDENT + error_message_list = [item[3] for item in failed_validation_list] status = ( f'Step {index} failed:{indent}' - f'{indent.join(failed_validation_list)}' + f'{indent.join(error_message_list)}' ) successful = False - if dev: + if dev or autofix: print(status) + if autofix: + autofix_case_list = autofix_case_list + [ + (index, item[0], item[1], item[2]) + for item in failed_validation_list + ] else: return False, status if action_data: @@ -223,6 +234,28 @@ def run_single_scene(controller, scene_filename, metadata_tier, dev): **action_data['params'] ) + if autofix and len(autofix_case_list): + for index, test_case, actual, _ in autofix_case_list: + output_dict = expected_output_data_list[index] + dict_property = test_case[0] + if len(test_case) > 1: + nested_list = output_dict[test_case[0]] + for nested_dict in nested_list: + if nested_dict['id'] == test_case[1]: + output_dict = nested_dict + dict_property = test_case[2] + output_dict[dict_property] = ( + round(actual, 3) if isinstance(actual, float) else actual + ) + with open(output_filename, 'w', encoding='utf-8-sig') as output_file: + json.dump( + expected_output_data_list, + output_file, + indent=4, + sort_keys=True + ) + print(f'SAVED {len(autofix_case_list)} FIXES: {output_filename}') + # Stop the test scene. controller.end_scene("", 1) @@ -234,7 +267,8 @@ def start_handmade_tests( mcs_unity_build, only_metadata_tier, only_test_name, - dev + dev, + autofix ): # Find all of the test scene JSON files. scene_filename_list = sorted(glob.glob(TEST_FOLDER + '*' + SCENE_SUFFIX)) @@ -262,7 +296,8 @@ def start_handmade_tests( controller, scene_filename, metadata_tier, - dev + dev, + autofix ) test_name = ( os.path.basename(scene_filename).replace(SCENE_SUFFIX, '') @@ -308,5 +343,6 @@ def start_handmade_tests( args.mcs_unity_build_file_path, args.metadata, args.test, - args.dev + args.dev, + args.autofix ) diff --git a/integration_tests/run_tests.py b/integration_tests/run_tests.py index e48ae9bca..ee3ff2674 100644 --- a/integration_tests/run_tests.py +++ b/integration_tests/run_tests.py @@ -21,5 +21,6 @@ args.mcs_unity_build_file_path, args.metadata, args.test, - args.dev + args.dev, + args.autofix )