refactor(simulator): extract habitat simulator and visualization modules

mini-nav/tests/test_habitat_simulator.py

@@ -0,0 +1,124 @@
+from types import SimpleNamespace
+
+import pytest
+
+from simulator import HabitatSimulatorConfig, create_habitat_simulator
+
+
+class _FakeSimulatorConfiguration:
+    def __init__(self):
+        self.scene_id = ""
+        self.enable_physics = True
+
+
+class _FakeAgentConfiguration:
+    def __init__(self):
+        self.sensor_specifications = []
+        self.action_space = {}
+
+
+class _FakeCameraSensorSpec:
+    def __init__(self):
+        self.uuid = ""
+        self.sensor_type = None
+        self.resolution = []
+        self.position = []
+
+
+class _FakeActuationSpec:
+    def __init__(self, amount):
+        self.amount = amount
+
+
+class _FakeActionSpec:
+    def __init__(self, name, actuation):
+        self.name = name
+        self.actuation = actuation
+
+
+class _FakeConfiguration:
+    def __init__(self, sim_cfg, agent_cfgs):
+        self.sim_cfg = sim_cfg
+        self.agent_cfgs = agent_cfgs
+
+
+class _FakeSimulator:
+    def __init__(self, cfg):
+        self.cfg = cfg
+        self.initialized_agent_id = None
+
+    def initialize_agent(self, agent_id):
+        self.initialized_agent_id = agent_id
+        return {"agent_id": agent_id}
+
+
+def _create_fake_habitat_module():
+    return SimpleNamespace(
+        SimulatorConfiguration=_FakeSimulatorConfiguration,
+        CameraSensorSpec=_FakeCameraSensorSpec,
+        SensorType=SimpleNamespace(COLOR="color"),
+        Configuration=_FakeConfiguration,
+        Simulator=_FakeSimulator,
+        agent=SimpleNamespace(
+            AgentConfiguration=_FakeAgentConfiguration,
+            ActionSpec=_FakeActionSpec,
+            ActuationSpec=_FakeActuationSpec,
+        ),
+    )
+
+
+def test_create_habitat_simulator_builds_expected_configuration():
+    fake_habitat = _create_fake_habitat_module()
+    config = HabitatSimulatorConfig(
+        scene_path="scene.glb",
+        views_per_room=8,
+        image_size=128,
+        sensor_height=1.25,
+        move_forward_step=0.5,
+        enable_physics=False,
+        sensor_uuid="rgb",
+        agent_id=2,
+    )
+
+    simulator, agent = create_habitat_simulator(config, habitat_sim_module=fake_habitat)
+
+    assert simulator.cfg.sim_cfg.scene_id == "scene.glb"
+    assert simulator.cfg.sim_cfg.enable_physics is False
+
+    created_agent_cfg = simulator.cfg.agent_cfgs[0]
+    sensor = created_agent_cfg.sensor_specifications[0]
+    assert sensor.uuid == "rgb"
+    assert sensor.sensor_type == "color"
+    assert sensor.resolution == [128, 128]
+    assert sensor.position == [0.0, 1.25, 0.0]
+
+    assert created_agent_cfg.action_space["move_forward"].actuation.amount == 0.5
+    assert created_agent_cfg.action_space["turn_left"].actuation.amount == 45.0
+    assert created_agent_cfg.action_space["turn_right"].actuation.amount == 45.0
+
+    assert simulator.initialized_agent_id == 2
+    assert agent == {"agent_id": 2}
+
+
+def test_create_habitat_simulator_validates_views_per_room():
+    fake_habitat = _create_fake_habitat_module()
+    config = HabitatSimulatorConfig(scene_path="scene.glb", views_per_room=0)
+
+    with pytest.raises(ValueError, match="views_per_room"):
+        create_habitat_simulator(config, habitat_sim_module=fake_habitat)
+
+
+def test_create_habitat_simulator_validates_image_size():
+    fake_habitat = _create_fake_habitat_module()
+    config = HabitatSimulatorConfig(scene_path="scene.glb", image_size=0)
+
+    with pytest.raises(ValueError, match="image_size"):
+        create_habitat_simulator(config, habitat_sim_module=fake_habitat)
+
+
+def test_create_habitat_simulator_validates_move_forward_step():
+    fake_habitat = _create_fake_habitat_module()
+    config = HabitatSimulatorConfig(scene_path="scene.glb", move_forward_step=0)
+
+    with pytest.raises(ValueError, match="move_forward_step"):
+        create_habitat_simulator(config, habitat_sim_module=fake_habitat)