Merge pull request #705 from NextCenturyCorporation/development

Merge dev to master
NextCenturyCorporation · Oct 13, 2023 · e16aec7 · e16aec7
2 parents 33dfe78 + a8a11a1
commit e16aec7
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Showing 25 changed files with 287 additions and 103 deletions.
diff --git a/CPU_Container.dockerfile b/CPU_Container.dockerfile
@@ -9,7 +9,7 @@ ARG DEBIAN_FRONTEND=noninteractive
 ENV TZ=America/New_York
 
 # --build-arg mcsversion=x.y.z to override default in docker build command
-ARG mcsversion=0.7.2
+ARG mcsversion=0.7.3
 ARG mcs_library_version=master
 
 WORKDIR /mcs

diff --git a/Dockerfile b/Dockerfile
@@ -19,7 +19,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES},display
 # ENV LANG C.UTF-8
 
 # --build-arg mcsversion=x.y.z to override default in docker build command
-ARG mcsversion=0.7.2
+ARG mcsversion=0.7.3
 ARG mcs_library_version=master
 
 WORKDIR /mcs

diff --git a/README.md b/README.md
@@ -16,7 +16,7 @@ Publish to PyPI: [![Publish PyPI](https://github.com/NextCenturyCorporation/MCS/
 
 # MCS Python Package
 
-Python interface for interacting with MCS AI2Thor environment and running scenes. The latest release of the MCS Python library is `0.7.2`. You can find the latest documentation [here](https://nextcenturycorporation.github.io/MCS).
+Python interface for interacting with MCS AI2Thor environment and running scenes. The latest release of the MCS Python library is `0.7.3`. You can find the latest documentation [here](https://nextcenturycorporation.github.io/MCS).
 
 - [Quickstart Installation](#quickstart-installation)
 - [Usage](#usage)

diff --git a/docs/source/install.rst b/docs/source/install.rst
@@ -2,8 +2,8 @@
 Installation and Setup
 =======================
 
-.. _Download and unzip the Mac ZIP: https://github.com/NextCenturyCorporation/MCS/releases/download/0.7.2/MCS-AI2-THOR-Unity-App-v0.7.2-mac.zip
-.. _Download and unzip the Linux ZIP: https://github.com/NextCenturyCorporation/MCS/releases/download/0.7.2/MCS-AI2-THOR-Unity-App-v0.7.2-linux.zip
+.. _Download and unzip the Mac ZIP: https://github.com/NextCenturyCorporation/MCS/releases/download/0.7.3/MCS-AI2-THOR-Unity-App-v0.7.3-mac.zip
+.. _Download and unzip the Linux ZIP: https://github.com/NextCenturyCorporation/MCS/releases/download/0.7.3/MCS-AI2-THOR-Unity-App-v0.7.3-linux.zip
 
 Virtual Environments
 ------------------------
@@ -240,7 +240,7 @@ controller_timeout
 
 (int, optional)
 
-Sets the time (in seconds) to allow on controller initialization before timing out. Default 180
+Sets the time (in seconds) to allow on controller initialization before timing out. Default 600
 
 terminal_output
 ^^^^^^^^^^^^^^^

diff --git a/integration_tests/additional_integration_tests.py b/integration_tests/additional_integration_tests.py
@@ -86,13 +86,12 @@ def run_depth_and_segmentation_test(controller, metadata_tier):
     for row_idx, pixel_row in enumerate(
             output_depth_data[0]["depth_map_list"][0]):
         for col_idx, pixel_col in enumerate(pixel_row):
-
             # Need to account for hardware differences
             if (not math.isclose(
                 pixel_col,
                 step_metadata_0.depth_map_list[0][row_idx][col_idx],
-                rel_tol=0.00009,
-                abs_tol=0.00009
+                rel_tol=0.0009,
+                abs_tol=0.0009
             )):
                 return (
                     False,
@@ -150,8 +149,8 @@ def run_depth_and_segmentation_test(controller, metadata_tier):
             if (not math.isclose(
                 pixel_col,
                 step_metadata_1.depth_map_list[0][row_idx][col_idx],
-                rel_tol=0.00009,
-                abs_tol=0.00009
+                rel_tol=0.0009,
+                abs_tol=0.0009
             )):
                 return (
                     False,

diff --git a/integration_tests/data/081.move_into_light_object_intuitive_reset.oracle.outputs.json b/integration_tests/data/081.move_into_light_object_intuitive_reset.oracle.outputs.json
@@ -323,7 +323,7 @@
             {
                 "direction_x": 0.0,
                 "direction_y": -0.734,
-                "direction_z": 0.69,
+                "direction_z": 0.68,
                 "distance": 0.697,
                 "held": false,
                 "id": "testBall",
@@ -353,7 +353,7 @@
         "objects": [
             {
                 "direction_x": 0.0,
-                "direction_y": -0.72,
+                "direction_y": -0.73,
                 "direction_z": 0.69,
                 "distance": 0.71,
                 "held": false,

diff --git a/integration_tests/data/110.tool_cannot_walk_into.oracle.outputs.json b/integration_tests/data/110.tool_cannot_walk_into.oracle.outputs.json
@@ -17,7 +17,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -48,7 +49,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -79,7 +81,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -110,7 +113,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -141,7 +145,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }

diff --git a/integration_tests/data/111.tool_push.oracle.outputs.json b/integration_tests/data/111.tool_push.oracle.outputs.json
@@ -17,7 +17,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -48,7 +49,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -79,7 +81,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -110,7 +113,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -141,7 +145,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -172,7 +177,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -203,7 +209,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -234,7 +241,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -265,7 +273,8 @@
                 "rotation_y": 0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -296,7 +305,8 @@
                 "rotation_y": 0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -327,7 +337,8 @@
                 "rotation_y": 0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }

diff --git a/integration_tests/data/112.tool_move.oracle.outputs.json b/integration_tests/data/112.tool_move.oracle.outputs.json
@@ -17,7 +17,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -48,7 +49,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -79,7 +81,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -110,7 +113,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -141,7 +145,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -172,7 +177,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }
@@ -203,7 +209,8 @@
                 "rotation_y": 0.0,
                 "shape": "tool",
                 "texture_color_list": [
-                    "grey"
+                    "grey",
+                    "black"
                 ],
                 "visible": true
             }