From 338fb2fea8dd728a8417f2d4651a41a7b384dfb6 Mon Sep 17 00:00:00 2001
From: John Turner <7strbass@gmail.com>
Date: Tue, 17 Dec 2024 16:37:52 -0500
Subject: [PATCH] --[BE] - Miscellaneous minor refactors and cleanup (#2516)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* --This needs to assert; means an expected filetype has no support yet
* --properly instantiate light attr mgr test specialization
Have to put specialization in namespace due to  C++03, §14.7.3/2 standard.
* --clean up docstrings
* --must import quaternion library before habitat_sim for audio compile
If not imported here and sim is compiled with audio support, python tests will abort due to the habitat_sim import causing an invalid free() error
* --due to quaternion library dtypes, numpy must be version 1.26.4
* --add quaternion reference to files missing it.
---
 .../actions/install_ubuntu_deps/action.yml    |   2 +-
 examples/tutorials/async_rendering.py         |   5 +
 examples/tutorials/stereo_agent.py            |   4 +
 .../ManagedFileBasedContainer.h               |  18 +-
 .../objectWrappers/ManagedArticulatedObject.h |   2 -
 .../objectWrappers/ManagedPhysicsObjectBase.h |   2 -
 .../physics/objectWrappers/ManagedRigidBase.h |   4 -
 .../objectWrappers/ManagedRigidObject.h       |   2 -
 src/tests/AttributesManagersTest.cpp          | 268 +++++++++---------
 tests/conftest.py                             |   4 +
 tests/test_compare_profiles.py                |   4 +
 tests/test_examples.py                        |   4 +
 tests/test_greedy_follower.py                 |   5 +
 tests/test_light_setup.py                     |   4 +
 tests/test_navmesh.py                         |   4 +
 tests/test_noise_models.py                    |   4 +
 tests/test_physics_benchmarking.py            |   4 +
 tests/test_profiling_utils.py                 |   4 +
 tests/test_random_seed.py                     |   4 +
 tests/test_snap_point.py                      |   4 +
 tests/test_utils.py                           |   4 +
 21 files changed, 204 insertions(+), 152 deletions(-)

diff --git a/.github/actions/install_ubuntu_deps/action.yml b/.github/actions/install_ubuntu_deps/action.yml
index 089f43236e..f9e5271cf7 100644
--- a/.github/actions/install_ubuntu_deps/action.yml
+++ b/.github/actions/install_ubuntu_deps/action.yml
@@ -50,7 +50,7 @@ runs:
     run: |-
       echo "Install conda and dependencies"
       conda install -y pytorch==1.12.1 torchvision==0.13.1 -c pytorch -c nvidia
-      conda install -y -c conda-forge ninja numpy pytest pytest-cov ccache hypothesis pytest-mock
+      conda install -y -c conda-forge ninja numpy=1.26.4 pytest pytest-cov ccache hypothesis pytest-mock
       pip install pytest-sugar pytest-xdist pytest-benchmark opencv-python cython mock
     shell: bash -el {0}
   - name: Validate Pytorch Installation
diff --git a/examples/tutorials/async_rendering.py b/examples/tutorials/async_rendering.py
index 392053f1a8..36c6f0c261 100644
--- a/examples/tutorials/async_rendering.py
+++ b/examples/tutorials/async_rendering.py
@@ -32,6 +32,11 @@
     back to the main thread by calling sim.get_sensor_observations_async_finish() by default.
 """
 
+
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 
 
diff --git a/examples/tutorials/stereo_agent.py b/examples/tutorials/stereo_agent.py
index 32aa9a54ab..e32d7144b1 100644
--- a/examples/tutorials/stereo_agent.py
+++ b/examples/tutorials/stereo_agent.py
@@ -5,6 +5,10 @@
 
 import numpy as np
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 
 cv2 = None
diff --git a/src/esp/core/managedContainers/ManagedFileBasedContainer.h b/src/esp/core/managedContainers/ManagedFileBasedContainer.h
index d1bb7e701b..4e5abe804f 100644
--- a/src/esp/core/managedContainers/ManagedFileBasedContainer.h
+++ b/src/esp/core/managedContainers/ManagedFileBasedContainer.h
@@ -120,7 +120,7 @@ class ManagedFileBasedContainer : public ManagedContainer<T, Access> {
   }  // ManagedFileBasedContainer::createObjectFromJSONString
 
   /**
-   * @brief Method to load a Managed Object's data from a file.  If the file
+   * @brief Method to load a Managed Object's data from a file. If the file
    * type is not supported by specialization of this method, this method
    * executes and an error is thrown.
    * @tparam type of document to load.
@@ -131,15 +131,19 @@ class ManagedFileBasedContainer : public ManagedContainer<T, Access> {
   template <typename U>
   ManagedFileIOPtr buildManagedObjectFromDoc(const std::string& filename,
                                              CORRADE_UNUSED const U& config) {
-    ESP_ERROR(Mn::Debug::Flag::NoSpace)
-        << "<" << this->objectType_
-        << "> : Failure loading attributes from document `" << filename
-        << "` of unknown type `" << typeid(U).name()
-        << "` so unable to build object.";
+    CORRADE_ASSERT(false,
+                   Cr::Utility::formatString(
+                       "<{}> : Failure loading attributes from document `{}` "
+                       "of unsupported file type `{}` so unable to build "
+                       "object. Make sure a specialization of "
+                       "ManagedFileBasedContainer::buildManagedObjectFromDoc() "
+                       "supporting this file type has been implemented.",
+                       this->objectType_, filename, typeid(U).name()),
+                   nullptr);
   }  // ManagedFileBasedContainer::buildManagedObjectFromDoc
 
   /**
-   * @brief Method to load a Managed Object's data from a file.  This is the
+   * @brief Method to load a Managed Object's data from a file. This is the
    * JSON specialization, using type inference.
    * @param filename name of file document to load from
    * @param config JSON document to read for data
diff --git a/src/esp/physics/objectWrappers/ManagedArticulatedObject.h b/src/esp/physics/objectWrappers/ManagedArticulatedObject.h
index 608f577df1..6c7b88c13d 100644
--- a/src/esp/physics/objectWrappers/ManagedArticulatedObject.h
+++ b/src/esp/physics/objectWrappers/ManagedArticulatedObject.h
@@ -346,8 +346,6 @@ class ManagedArticulatedObject
   /**
    * @brief Retrieve a comma-separated string holding the header values for the
    * info returned for this managed object, type-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
 
   std::string getPhyObjInfoHeaderInternal() const override {
diff --git a/src/esp/physics/objectWrappers/ManagedPhysicsObjectBase.h b/src/esp/physics/objectWrappers/ManagedPhysicsObjectBase.h
index dbab2d0196..bee39bf500 100644
--- a/src/esp/physics/objectWrappers/ManagedPhysicsObjectBase.h
+++ b/src/esp/physics/objectWrappers/ManagedPhysicsObjectBase.h
@@ -387,8 +387,6 @@ class AbstractManagedPhysicsObject
   /**
    * @brief Retrieve a comma-separated string holding the header values for
    * the info returned for this managed object, type-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
 
   virtual std::string getPhyObjInfoHeaderInternal() const = 0;
diff --git a/src/esp/physics/objectWrappers/ManagedRigidBase.h b/src/esp/physics/objectWrappers/ManagedRigidBase.h
index 45a8e1afcd..d84106b7c0 100644
--- a/src/esp/physics/objectWrappers/ManagedRigidBase.h
+++ b/src/esp/physics/objectWrappers/ManagedRigidBase.h
@@ -248,8 +248,6 @@ class AbstractManagedRigidBase
   /**
    * @brief Retrieve a comma-separated string holding the header values for the
    * info returned for this managed object, type-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
 
   std::string getPhyObjInfoHeaderInternal() const override {
@@ -263,8 +261,6 @@ class AbstractManagedRigidBase
   /**
    * @brief Retrieve a comma-separated string holding the header values for
    * the info returned for this managed object, rigid-base-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
   virtual std::string getRigidBaseInfoHeaderInternal() const = 0;
   /**
diff --git a/src/esp/physics/objectWrappers/ManagedRigidObject.h b/src/esp/physics/objectWrappers/ManagedRigidObject.h
index b260907f58..b98d30748f 100644
--- a/src/esp/physics/objectWrappers/ManagedRigidObject.h
+++ b/src/esp/physics/objectWrappers/ManagedRigidObject.h
@@ -61,8 +61,6 @@ class ManagedRigidObject
   /**
    * @brief Retrieve a comma-separated string holding the header values for
    * the info returned for this managed object, rigid-base-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
   std::string getRigidBaseInfoHeaderInternal() const override {
     return "Creation Attributes Name";
diff --git a/src/tests/AttributesManagersTest.cpp b/src/tests/AttributesManagersTest.cpp
index 726860b95e..677009e97b 100644
--- a/src/tests/AttributesManagersTest.cpp
+++ b/src/tests/AttributesManagersTest.cpp
@@ -46,6 +46,136 @@ using Attrs::UVSpherePrimitiveAttributes;
 
 namespace {
 
+namespace detail {
+
+/**
+ * @brief Test creation, copying and removal of templates for Object,
+ * Physics and Stage Attributes Managers
+ * @tparam Class of attributes manager
+ * @param mgr the Attributes Manager being tested,
+ * @param handle the handle of the desired attributes template to work with
+ */
+template <typename T>
+void testCreateAndRemove(std::shared_ptr<T> mgr, const std::string& handle) {
+  // get starting number of templates
+  int orignNumTemplates = mgr->getNumObjects();
+  // verify template is not present - should not be
+  bool isPresentAlready = mgr->getObjectLibHasHandle(handle);
+  CORRADE_VERIFY(!isPresentAlready);
+
+  // create template from source handle, register it and retrieve it
+  // Note: registration of template means this is a copy of registered
+  // template
+  auto attrTemplate1 = mgr->createObject(handle, true);
+  // verify it exists
+  CORRADE_VERIFY(attrTemplate1);
+  // verify ID exists
+  bool idIsPresent = mgr->getObjectLibHasID(attrTemplate1->getID());
+  CORRADE_VERIFY(idIsPresent);
+  // retrieve a copy of the named attributes template
+  auto attrTemplate2 = mgr->getObjectOrCopyByHandle(handle);
+  // verify copy has same quantities and values as original
+  CORRADE_COMPARE(attrTemplate1->getHandle(), attrTemplate2->getHandle());
+
+  // test changing a user-defined field in each template, verify the templates
+  // are not now the same
+  attrTemplate1->setFileDirectory("temp_dir_1");
+  attrTemplate2->setFileDirectory("temp_dir_2");
+  CORRADE_COMPARE_AS(attrTemplate1->getFileDirectory(),
+                     attrTemplate2->getFileDirectory(),
+                     Cr::TestSuite::Compare::NotEqual);
+  // get original template ID
+  int oldID = attrTemplate1->getID();
+
+  // register modified template and verify that this is the template now
+  // stored
+  int newID = mgr->registerObject(attrTemplate2, handle);
+  // verify IDs are the same
+  CORRADE_COMPARE(oldID, newID);
+
+  // get another copy
+  auto attrTemplate3 = mgr->getObjectOrCopyByHandle(handle);
+  // verify added field is present and the same
+  CORRADE_COMPARE(attrTemplate3->getFileDirectory(),
+                  attrTemplate2->getFileDirectory());
+  // change field in new copy
+  attrTemplate3->setFileDirectory("temp_dir_3");
+  // verify that now they are different
+  CORRADE_COMPARE_AS(attrTemplate3->getFileDirectory(),
+                     attrTemplate2->getFileDirectory(),
+                     Cr::TestSuite::Compare::NotEqual);
+
+  // test removal
+  int removeID = attrTemplate2->getID();
+  // remove template by ID, acquire copy of removed template
+  auto oldTemplate = mgr->removeObjectByID(removeID);
+  // verify it exists
+  CORRADE_VERIFY(oldTemplate);
+  // verify there are same number of templates as when we started
+  CORRADE_COMPARE(orignNumTemplates, mgr->getNumObjects());
+  // re-add template copy via registration
+  int newAddID = mgr->registerObject(attrTemplate2, handle);
+  // verify IDs are the same
+  CORRADE_COMPARE(removeID, newAddID);
+
+  // lock template referenced by handle
+  bool success = mgr->setLock(handle, true);
+  // attempt to remove attributes via handle
+  auto oldTemplate2 = mgr->removeObjectByHandle(handle);
+  // verify no template was deleted
+  CORRADE_VERIFY(!oldTemplate2);
+  // unlock template
+  success = mgr->setLock(handle, false);
+
+  // remove  attributes via handle
+  auto oldTemplate3 = mgr->removeObjectByHandle(handle);
+  // verify deleted template exists
+  CORRADE_VERIFY(oldTemplate3);
+  // verify ID does not exist in library now
+  idIsPresent = mgr->getObjectLibHasID(oldTemplate3->getID());
+  CORRADE_VERIFY(!idIsPresent);
+  // verify there are same number of templates as when we started
+  CORRADE_COMPARE(orignNumTemplates, mgr->getNumObjects());
+}  // AttributesManagersTest::testCreateAndRemove
+
+/**
+ * @brief Specialization : Test creation, copying and removal of templates for
+ * lights attributes managers.
+ * @param mgr the Attributes Manager being tested,
+ * @param handle the handle of the desired attributes template to work with
+ */
+template <>
+void testCreateAndRemove(AttrMgrs::LightLayoutAttributesManager::ptr mgr,
+                         const std::string& handle) {
+  // get starting number of templates
+  int origNumTemplates = mgr->getNumObjects();
+
+  // Source config for lights holds multiple light configurations.
+  // Create a single template for each defined light in configuration and
+  // register it.
+  mgr->createObject(handle, true);
+  // get number of templates loaded
+  int numLoadedLights = mgr->getNumObjects();
+
+  // verify lights were added
+  CORRADE_COMPARE_AS(numLoadedLights, origNumTemplates,
+                     Cr::TestSuite::Compare::NotEqual);
+
+  // get handles of all lights added
+  auto lightHandles = mgr->getObjectHandlesBySubstring();
+  CORRADE_COMPARE(lightHandles.size(), numLoadedLights);
+
+  // remove all added handles
+  for (auto handle : lightHandles) {
+    mgr->removeObjectByHandle(handle);
+  }
+  // verify there are same number of templates as when we started
+  CORRADE_COMPARE(mgr->getNumObjects(), origNumTemplates);
+
+}  // AttributesManagersTest::testCreateAndRemove lighting specialization
+
+}  // namespace detail
+
 /**
  * @brief Test attributesManagers' functionality via loading, creating, copying
  * and deleting Attributes.
@@ -61,17 +191,9 @@ struct AttributesManagersTest : Cr::TestSuite::Tester {
    * @param handle the handle of the desired attributes template to work with
    */
   template <typename T>
-  void testCreateAndRemove(std::shared_ptr<T> mgr, const std::string& handle);
-
-  /**
-   * @brief Test creation, copying and removal of templates for lights
-   * attributes managers.
-   * @param mgr the Attributes Manager being tested,
-   * @param handle the handle of the desired attributes template to work with
-   */
-  void testCreateAndRemoveLights(
-      AttrMgrs::LightLayoutAttributesManager::ptr mgr,
-      const std::string& handle);
+  void testCreateAndRemove(std::shared_ptr<T> mgr, const std::string& handle) {
+    detail::testCreateAndRemove<T>(mgr, handle);
+  }
 
   /**
    * @brief Test creation many templates and removing all but defaults.
@@ -279,128 +401,6 @@ AttributesManagersTest::AttributesManagersTest() {
   });
 }
 
-/**
- * @brief Test creation, copying and removal of templates for Object, Physics
- * and Stage Attributes Managers
- * @tparam Class of attributes manager
- * @param mgr the Attributes Manager being tested,
- * @param handle the handle of the desired attributes template to work with.
- */
-template <typename T>
-void AttributesManagersTest::testCreateAndRemove(std::shared_ptr<T> mgr,
-                                                 const std::string& handle) {
-  // get starting number of templates
-  int orignNumTemplates = mgr->getNumObjects();
-  // verify template is not present - should not be
-  bool isPresentAlready = mgr->getObjectLibHasHandle(handle);
-  CORRADE_VERIFY(!isPresentAlready);
-
-  // create template from source handle, register it and retrieve it
-  // Note: registration of template means this is a copy of registered
-  // template
-  auto attrTemplate1 = mgr->createObject(handle, true);
-  // verify it exists
-  CORRADE_VERIFY(attrTemplate1);
-  // verify ID exists
-  bool idIsPresent = mgr->getObjectLibHasID(attrTemplate1->getID());
-  CORRADE_VERIFY(idIsPresent);
-  // retrieve a copy of the named attributes template
-  auto attrTemplate2 = mgr->getObjectOrCopyByHandle(handle);
-  // verify copy has same quantities and values as original
-  CORRADE_COMPARE(attrTemplate1->getHandle(), attrTemplate2->getHandle());
-
-  // test changing a user-defined field in each template, verify the templates
-  // are not now the same
-  attrTemplate1->setFileDirectory("temp_dir_1");
-  attrTemplate2->setFileDirectory("temp_dir_2");
-  CORRADE_COMPARE_AS(attrTemplate1->getFileDirectory(),
-                     attrTemplate2->getFileDirectory(),
-                     Cr::TestSuite::Compare::NotEqual);
-  // get original template ID
-  int oldID = attrTemplate1->getID();
-
-  // register modified template and verify that this is the template now
-  // stored
-  int newID = mgr->registerObject(attrTemplate2, handle);
-  // verify IDs are the same
-  CORRADE_COMPARE(oldID, newID);
-
-  // get another copy
-  auto attrTemplate3 = mgr->getObjectOrCopyByHandle(handle);
-  // verify added field is present and the same
-  CORRADE_COMPARE(attrTemplate3->getFileDirectory(),
-                  attrTemplate2->getFileDirectory());
-  // change field in new copy
-  attrTemplate3->setFileDirectory("temp_dir_3");
-  // verify that now they are different
-  CORRADE_COMPARE_AS(attrTemplate3->getFileDirectory(),
-                     attrTemplate2->getFileDirectory(),
-                     Cr::TestSuite::Compare::NotEqual);
-
-  // test removal
-  int removeID = attrTemplate2->getID();
-  // remove template by ID, acquire copy of removed template
-  auto oldTemplate = mgr->removeObjectByID(removeID);
-  // verify it exists
-  CORRADE_VERIFY(oldTemplate);
-  // verify there are same number of templates as when we started
-  CORRADE_COMPARE(orignNumTemplates, mgr->getNumObjects());
-  // re-add template copy via registration
-  int newAddID = mgr->registerObject(attrTemplate2, handle);
-  // verify IDs are the same
-  CORRADE_COMPARE(removeID, newAddID);
-
-  // lock template referenced by handle
-  bool success = mgr->setLock(handle, true);
-  // attempt to remove attributes via handle
-  auto oldTemplate2 = mgr->removeObjectByHandle(handle);
-  // verify no template was deleted
-  CORRADE_VERIFY(!oldTemplate2);
-  // unlock template
-  success = mgr->setLock(handle, false);
-
-  // remove  attributes via handle
-  auto oldTemplate3 = mgr->removeObjectByHandle(handle);
-  // verify deleted template exists
-  CORRADE_VERIFY(oldTemplate3);
-  // verify ID does not exist in library now
-  idIsPresent = mgr->getObjectLibHasID(oldTemplate3->getID());
-  CORRADE_VERIFY(!idIsPresent);
-  // verify there are same number of templates as when we started
-  CORRADE_COMPARE(orignNumTemplates, mgr->getNumObjects());
-
-}  // AttributesManagersTest::testCreateAndRemove
-
-void AttributesManagersTest::testCreateAndRemoveLights(
-    AttrMgrs::LightLayoutAttributesManager::ptr mgr,
-    const std::string& handle) {
-  // get starting number of templates
-  int origNumTemplates = mgr->getNumObjects();
-
-  // Source config for lights holds multiple light configurations.
-  // Create a single template for each defined light in configuration and
-  // register it.
-  mgr->createObject(handle, true);
-  // get number of templates loaded
-  int numLoadedLights = mgr->getNumObjects();
-
-  // verify lights were added
-  CORRADE_COMPARE_AS(numLoadedLights, origNumTemplates,
-                     Cr::TestSuite::Compare::NotEqual);
-
-  // get handles of all lights added
-  auto lightHandles = mgr->getObjectHandlesBySubstring();
-  CORRADE_COMPARE(lightHandles.size(), numLoadedLights);
-
-  // remove all added handles
-  for (auto handle : lightHandles) {
-    mgr->removeObjectByHandle(handle);
-  }
-  // verify there are same number of templates as when we started
-  CORRADE_COMPARE(mgr->getNumObjects(), origNumTemplates);
-
-}  // AttributesManagersTest::testCreateAndRemove
-
 /**
  * @brief Test creation many templates and removing all but defaults.
  * @tparam Class of attributes manager
@@ -778,7 +778,7 @@ void AttributesManagersTest::testLightLayoutAttributesManager() {
       "LightLayoutAttributesManager @"
       << lightConfigFile);
   // LightAttributesManager config-loaded attributes processing verification
-  testCreateAndRemoveLights(lightLayoutAttributesManager_, lightConfigFile);
+  testCreateAndRemove(lightLayoutAttributesManager_, lightConfigFile);
 
 }  // AttributesManagersTest::LightLayoutAttributesManagerTest
 
diff --git a/tests/conftest.py b/tests/conftest.py
index bdd264f6cf..2b160892c7 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -10,6 +10,10 @@
 
 import pytest
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 
 _test_scene = osp.abspath(
diff --git a/tests/test_compare_profiles.py b/tests/test_compare_profiles.py
index 3fb23729e7..222907206c 100644
--- a/tests/test_compare_profiles.py
+++ b/tests/test_compare_profiles.py
@@ -8,6 +8,10 @@
 from io import StringIO
 from unittest.mock import patch
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 from habitat_sim.utils import compare_profiles
 
 
diff --git a/tests/test_examples.py b/tests/test_examples.py
index c32a9d4007..c33175cb11 100644
--- a/tests/test_examples.py
+++ b/tests/test_examples.py
@@ -7,6 +7,10 @@
 
 import pytest
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim.bindings
 from utils import run_main_subproc
 
diff --git a/tests/test_greedy_follower.py b/tests/test_greedy_follower.py
index 669978a5a2..6e7b22a8fc 100644
--- a/tests/test_greedy_follower.py
+++ b/tests/test_greedy_follower.py
@@ -7,6 +7,10 @@
 
 import numpy as np
 import pytest
+
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
 import tqdm
 
 import habitat_sim
@@ -78,6 +82,7 @@ def test_greedy_follower(test_navmesh, move_filter_fn, action_noise, pbar):
 
     scene_graph = habitat_sim.SceneGraph()
     agent = habitat_sim.Agent(scene_graph.get_root_node().create_child())
+    print(f"move_filter_fn : {move_filter_fn} action noise : {action_noise}")
     agent.controls.move_filter_fn = getattr(pathfinder, move_filter_fn)
 
     agent.agent_config.action_space["turn_left"].actuation.amount = TURN_DEGREE
diff --git a/tests/test_light_setup.py b/tests/test_light_setup.py
index a3a10bd60d..b936e8e871 100644
--- a/tests/test_light_setup.py
+++ b/tests/test_light_setup.py
@@ -2,6 +2,10 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 from habitat_sim.gfx import (
     DEFAULT_LIGHTING_KEY,
diff --git a/tests/test_navmesh.py b/tests/test_navmesh.py
index fb1208e042..818ccf4b36 100644
--- a/tests/test_navmesh.py
+++ b/tests/test_navmesh.py
@@ -9,6 +9,10 @@
 import numpy as np
 import pytest
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 import habitat_sim.utils.settings
 
diff --git a/tests/test_noise_models.py b/tests/test_noise_models.py
index b9678821f0..64964b4541 100644
--- a/tests/test_noise_models.py
+++ b/tests/test_noise_models.py
@@ -9,6 +9,10 @@
 import numpy as np
 import pytest
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 from habitat_sim.sensors.noise_models import redwood_depth_noise_model
 from habitat_sim.sensors.noise_models.redwood_depth_noise_model import (
diff --git a/tests/test_physics_benchmarking.py b/tests/test_physics_benchmarking.py
index c3eb7cdad9..6bb329f767 100644
--- a/tests/test_physics_benchmarking.py
+++ b/tests/test_physics_benchmarking.py
@@ -6,6 +6,10 @@
 
 import pytest
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 import habitat_sim.utils.settings
 
diff --git a/tests/test_profiling_utils.py b/tests/test_profiling_utils.py
index 5d76d65509..01f119b997 100644
--- a/tests/test_profiling_utils.py
+++ b/tests/test_profiling_utils.py
@@ -12,6 +12,10 @@
 
 import pytest
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 from habitat_sim.utils import profiling_utils
 
 _ENV_VAR_NAME = "HABITAT_PROFILING"
diff --git a/tests/test_random_seed.py b/tests/test_random_seed.py
index c77849bc78..849eb4c687 100644
--- a/tests/test_random_seed.py
+++ b/tests/test_random_seed.py
@@ -2,6 +2,10 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 import habitat_sim.utils.settings
 
diff --git a/tests/test_snap_point.py b/tests/test_snap_point.py
index 66dc93ee15..2cec89e37c 100644
--- a/tests/test_snap_point.py
+++ b/tests/test_snap_point.py
@@ -6,6 +6,10 @@
 
 import hypothesis
 import pytest
+
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
 from hypothesis import strategies as st
 
 import habitat_sim
diff --git a/tests/test_utils.py b/tests/test_utils.py
index 5a630a1981..7047eef026 100644
--- a/tests/test_utils.py
+++ b/tests/test_utils.py
@@ -4,6 +4,10 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 from habitat_sim.utils.collect_env import main as collect_env