def init_common(self):
# self._cfg = make_cfg(self._sim_settings)
scene_file = self._sim_settings["scene"]
if (not os.path.exists(scene_file)
and scene_file == default_sim_settings["test_scene"]):
print(
"Test scenes not downloaded locally, downloading and extracting now..."
)
utils.download_and_unzip(
default_sim_settings["test_scene_data_url"], ".")
print("Downloaded and extracted test scenes data.")
# self._sim = habitat_sim.Simulator(self._cfg)
self._sim.reset()
random.seed(self._sim_settings["seed"])
self._sim.seed(self._sim_settings["seed"])
# initialize the agent at a random start state
start_state = self.init_agent_state(
self._sim_settings["default_agent"])
self.initial_dist_to_goal = np.linalg.norm(start_state.position -
self.end_position)
self.dist_to_goal = np.linalg.norm(start_state.position -
self.end_position)
self.previous_position = start_state.position
self.agent_episode_distance = 0
return start_state
def init_common(self):
self._cfg = make_cfg(self._sim_settings)
scene_file = self._sim_settings["scene"]
if (not os.path.exists(scene_file)
and scene_file == default_sim_settings["test_scene"]):
print(
"Test scenes not downloaded locally, downloading and extracting now..."
)
utils.download_and_unzip(
default_sim_settings["test_scene_data_url"], ".")
print("Downloaded and extracted test scenes data.")
self._sim = habitat_sim.Simulator(self._cfg)
random.seed(self._sim_settings["seed"])
self._sim.seed(self._sim_settings["seed"])
# initialize the agent at a random start state
start_state = self.init_agent_state(
self._sim_settings["default_agent"])
return start_state