Update to 4.26

src/holodeck/environments.py

@@ -125,7 +125,9 @@ def __init__(
                     show_viewport=show_viewport,
                 )
             elif os.name == "nt":
-                self.__windows_start_process__(binary_path, world_key, verbose=verbose)
+                self.__windows_start_process__(
+                    binary_path, world_key, verbose=verbose, show_viewport=show_viewport
+                )
             else:
                 raise HolodeckException("Unknown platform: " + os.name)
 
@@ -669,27 +671,23 @@ def __linux_start_process__(
             os.O_CREAT | os.O_EXCL,
             initial_value=0,
         )
-        # Copy the environment variables and remove the DISPLAY variable to hide viewport
-        # https://answers.unrealengine.com/questions/815764/in-the-release-notes-it-says-the-engine-can-now-cr.html?sort=oldest
-        environment = dict(os.environ.copy())
-        if not show_viewport and "DISPLAY" in environment:
-            del environment["DISPLAY"]
+        arguments = [
+            binary_path,
+            task_key,
+            "-HolodeckOn",
+            "-LOG=HolodeckLog.txt",
+            "-ForceRes",
+            "-ResX=" + str(self._window_size[1]),
+            "-ResY=" + str(self._window_size[0]),
+            "--HolodeckUUID=" + self._uuid,
+            "-TicksPerSec=" + str(self._ticks_per_sec),
+        ]
+
+        if not show_viewport:
+            arguments.append("-RenderOffScreen")
+
         self._world_process = subprocess.Popen(
-            [
-                binary_path,
-                task_key,
-                "-HolodeckOn",
-                "-opengl" + str(gl_version),
-                "-LOG=HolodeckLog.txt",
-                "-ForceRes",
-                "-ResX=" + str(self._window_size[1]),
-                "-ResY=" + str(self._window_size[0]),
-                "--HolodeckUUID=" + self._uuid,
-                "-TicksPerSec=" + str(self._ticks_per_sec),
-            ],
-            stdout=out_stream,
-            stderr=out_stream,
-            env=environment,
+            arguments, stdout=out_stream, stderr=out_stream
         )
 
         atexit.register(self.__on_exit__)
@@ -704,27 +702,32 @@ def __linux_start_process__(
         loading_semaphore.unlink()
         loading_semaphore.close()
 
-    def __windows_start_process__(self, binary_path, task_key, verbose):
+    def __windows_start_process__(
+        self, binary_path, task_key, verbose, show_viewport=True
+    ):
         import win32event
 
         out_stream = sys.stdout if verbose else open(os.devnull, "w")
         loading_semaphore = win32event.CreateSemaphore(
             None, 0, 1, "Global\\HOLODECK_LOADING_SEM" + self._uuid
         )
+        arguments = [
+            binary_path,
+            task_key,
+            "-HolodeckOn",
+            "-LOG=HolodeckLog.txt",
+            "-ForceRes",
+            "-ResX=" + str(self._window_size[1]),
+            "-ResY=" + str(self._window_size[0]),
+            "-TicksPerSec=" + str(self._ticks_per_sec),
+            "--HolodeckUUID=" + self._uuid,
+        ]
+
+        if not show_viewport:
+            arguments.append("-RenderOffScreen")
+
         self._world_process = subprocess.Popen(
-            [
-                binary_path,
-                task_key,
-                "-HolodeckOn",
-                "-LOG=HolodeckLog.txt",
-                "-ForceRes",
-                "-ResX=" + str(self._window_size[1]),
-                "-ResY=" + str(self._window_size[0]),
-                "-TicksPerSec=" + str(self._ticks_per_sec),
-                "--HolodeckUUID=" + self._uuid,
-            ],
-            stdout=out_stream,
-            stderr=out_stream,
+            arguments, stdout=out_stream, stderr=out_stream
         )
 
         atexit.register(self.__on_exit__)

tests/agents/handagent/test_handagent_floating.py

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

tests/sensors/test_orientation_sensor.py

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

tests/utils/captures.py

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