--Test fixes to support semantic sensor updates (#1801)

* --fix test_sim_utils
Hardcoded values referring to the stage needed to be changed.
* --remove magic numbers for test_robot_wrapper ids
* --modify reference to stage ID from magic number to habitat_sim.stage_id constant.
* --further references

habitat-lab/habitat/datasets/rearrange/samplers/art_sampler.py

@@ -107,7 +107,7 @@ def sample(
         On failure, return None.
         """
         ids_to_names = sutils.get_all_object_ids(sim)
-        ids_to_names[-1] = "_stage"
+        ids_to_names[habitat_sim.stage_id] = "_stage"
         logger.info(ids_to_names)
         # first collect all instances associated with requested samplers
         aom = sim.get_articulated_object_manager()

habitat-lab/habitat/datasets/rearrange/samplers/object_sampler.py

@@ -300,7 +300,7 @@ def sample_placement(
             if isinstance(receptacle, OnTopOfReceptacle):
                 snap_down = False
             if snap_down:
-                support_object_ids = [-1]
+                support_object_ids = [habitat_sim.stage_id]
                 # add support object ids for non-stage receptacles
                 if receptacle.is_parent_object_articulated:
                     ao_instance = sim.get_articulated_object_manager().get_object_by_handle(

habitat-lab/habitat/sims/habitat_simulator/sim_utilities.py

@@ -155,7 +155,8 @@ def bb_ray_prescreen(
     """
     if support_obj_ids is None:
         # set default support surface to stage/ground mesh
-        support_obj_ids = [-1]
+        # STAGE ID IS habitat_sim.stage_id
+        support_obj_ids = [habitat_sim.stage_id]
     lowest_key_point: mn.Vector3 = None
     lowest_key_point_height = None
     highest_support_impact: Optional[mn.Vector3] = None
@@ -217,7 +218,7 @@ def bb_ray_prescreen(
     margin_offset = 0
     if highest_support_impact_id is None:
         pass
-    elif highest_support_impact_id == -1:
+    elif highest_support_impact_id == habitat_sim.stage_id:
         margin_offset = sim.get_stage_initialization_template().margin
 
     surface_snap_point = (
@@ -246,7 +247,7 @@ def snap_down(
 
     :param sim: The Simulator instance.
     :param obj: The RigidObject instance.
-    :param support_obj_ids: A list of object ids designated as valid support surfaces for object placement. Contact with other objects is a criteria for placement rejection. If none provided, default support surface is the stage/ground mesh (-1).
+    :param support_obj_ids: A list of object ids designated as valid support surfaces for object placement. Contact with other objects is a criteria for placement rejection. If none provided, default support surface is the stage/ground mesh (0).
     :param dbv: Optionally provide a DebugVisualizer (dbv) to render debug images of each object's computed snap position before collision culling.
 
     Reject invalid placements by checking for penetration with other existing objects.
@@ -260,7 +261,7 @@ def snap_down(
 
     if support_obj_ids is None:
         # set default support surface to stage/ground mesh
-        support_obj_ids = [-1]
+        support_obj_ids = [habitat_sim.stage_id]
 
     bb_ray_prescreen_results = bb_ray_prescreen(
         sim, obj, support_obj_ids, check_all_corners=False

test/test_robot_wrapper.py

@@ -319,7 +319,7 @@ def test_fetch_robot_wrapper(fixed_base):
         )
         fetch.reconfigure()
         fetch.update()
-        assert fetch.get_robot_sim_id() == 1  # 0 is the ground plane
+        assert fetch.get_robot_sim_id() == ground_plane.object_id + 1
         print(fetch.get_link_and_joint_names())
         observations += simulate(sim, 1.0, produce_debug_video)
 
@@ -484,7 +484,7 @@ def test_franka_robot_wrapper():
         franka = franka_robot.FrankaRobot(urdf_path=robot_path, sim=sim)
         franka.reconfigure()
         franka.update()
-        assert franka.get_robot_sim_id() == 1  # 0 is the ground plane
+        assert franka.get_robot_sim_id() == ground_plane.object_id + 1
         print(franka.get_link_and_joint_names())
         observations += simulate(sim, 1.0, produce_debug_video)
 
@@ -606,7 +606,7 @@ def test_spot_robot_wrapper(fixed_base):
         spot = spot_robot.SpotRobot(agent_config, sim, fixed_base=fixed_base)
         spot.reconfigure()
         spot.update()
-        assert spot.get_robot_sim_id() == 1  # 0 is the ground plane
+        assert spot.get_robot_sim_id() == ground_plane.object_id + 1
         print(spot.get_link_and_joint_names())
 
         # set the motor angles
@@ -757,7 +757,7 @@ def test_stretch_robot_wrapper(fixed_base):
         )
         stretch.reconfigure()
         stretch.update()
-        assert stretch.get_robot_sim_id() == 1  # 0 is the ground plane
+        assert stretch.get_robot_sim_id() == ground_plane.object_id + 1
 
         # set base ground position using object transformation approach
         target_base_pos = sim.pathfinder.snap_point(

test/test_sim_utils.py

@@ -23,7 +23,7 @@
     snap_down,
     within,
 )
-from habitat_sim import Simulator, built_with_bullet
+from habitat_sim import Simulator, built_with_bullet, stage_id
 from habitat_sim.metadata import MetadataMediator
 from habitat_sim.physics import MotionType
 from habitat_sim.utils.settings import default_sim_settings, make_cfg
@@ -104,7 +104,8 @@ def test_snap_down(support_margin, obj_margin, stage_support):
 
         # add the cube objects
         cube_stage_obj = None
-        support_obj_ids = [-1]
+        # stage defaults to ID specified as constant in habitat_sim.stage_id
+        support_obj_ids = [stage_id]
         if not stage_support:
             cube_stage_obj = rom.add_object_by_template_handle(
                 cube_stage_template_handle