def __init__(
self,
task_config: Config,
sim: Simulator,
dataset: Optional[Dataset] = None,
) -> None:
task_measurements = []
for measurement_name in task_config.MEASUREMENTS:
measurement_cfg = getattr(task_config, measurement_name)
measure_type = registry.get_measure(measurement_cfg.TYPE)
assert (measure_type
is not None), "invalid measurement type {}".format(
measurement_cfg.TYPE)
task_measurements.append(measure_type(sim, measurement_cfg))
self.measurements = Measurements(task_measurements)
task_sensors = []
for sensor_name in task_config.SENSORS:
sensor_cfg = getattr(task_config, sensor_name)
sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE)
task_sensors.append(sensor_type(sim, sensor_cfg))
self.sensor_suite = SensorSuite(task_sensors)
super().__init__(config=task_config, sim=sim, dataset=dataset)
def __init__(self, config: Config) -> None:
self.habitat_config = config
agent_config = self._get_agent_config()
sim_sensors = []
for sensor_name in agent_config.SENSORS:
#print("AGENT CONFIG SENSORS : {}".format(agent_config.SENSORS), flush=True)
sensor_cfg = getattr(self.habitat_config, sensor_name)
sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE)
sim_sensors.append(sensor_type(sensor_cfg))
self._sensor_suite = SensorSuite(sim_sensors)
self.sim_config = self.create_sim_config(self._sensor_suite)
self._current_scene = self.sim_config.sim_cfg.scene_id
super().__init__(self.sim_config)
self._action_space = spaces.Discrete(
len(self.sim_config.agents[0].action_space))
self._prev_sim_obs: Optional[Observations] = None
# NavMesh related settings :
self.navmesh_settings = NavMeshSettings()
self.navmesh_settings.set_defaults()
self.navmesh_settings.agent_radius = agent_config.RADIUS
self.navmesh_settings.agent_height = agent_config.HEIGHT
def __init__(self, config: Config) -> None:
self._config = config
robot_sensors = []
for sensor_name in self._config.SENSORS:
sensor_cfg = getattr(self._config, sensor_name)
sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE)
robot_sensors.append(sensor_type(sensor_cfg))
self._sensor_suite = SensorSuite(robot_sensors)
config_pyrobot = {
"base_controller": self._config.BASE_CONTROLLER,
"base_planner": self._config.BASE_PLANNER,
}
assert (self._config.ROBOT
in self._config.ROBOTS), "Invalid robot type {}".format(
self._config.ROBOT)
self._robot_config = getattr(self._config, self._config.ROBOT.upper())
action_spaces_dict = {}
self._action_space = self._robot_action_space(self._config.ROBOT,
self._robot_config)
self._robot = pyrobot.Robot(self._config.ROBOT,
base_config=config_pyrobot)
def __init__(self, config: Config) -> None:
self.config = config
agent_config = self._get_agent_config()
#print("AGENT_CONFIGS")
#print(agent_config)
#print(self.config.AGENTS)
#print("END_AGENT_CONFIGS")
sim_sensors = []
for sensor_name in agent_config.SENSORS:
sensor_cfg = getattr(self.config, sensor_name)
sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE)
sim_sensors.append(sensor_type(sensor_cfg))
self._sensor_suite = SensorSuite(sim_sensors)
self.sim_config = self.create_sim_config(self._sensor_suite)
self._current_scene = self.sim_config.sim_cfg.scene.id
self._sim = habitat_sim.Simulator(self.sim_config)
self._action_space = spaces.Discrete(
len(self.sim_config.agents[0].action_space))
self._is_episode_active = False
def __init__(self, config: Config) -> None:
self.config = config
agent_config = self._get_agent_config()
sim_sensors = []
for sensor_name in agent_config.SENSORS:
sensor_cfg = getattr(self.config, sensor_name)
sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE
)
sim_sensors.append(sensor_type(sensor_cfg))
self._sensor_suite = SensorSuite(sim_sensors)
self.sim_config = self.create_sim_config(self._sensor_suite)
self._current_scene = self.sim_config.sim_cfg.scene_id
self._action_space = spaces.Discrete(
len(self.sim_config.agents[0].action_space)
)
self._prev_sim_obs = None
self._source_position_index = None
self._receiver_position_index = None
self._rotation_angle = None
self._current_sound = None
self._offset = None
self._duration = None
self._audio_index = None
self._audio_length = None
self._source_sound_dict = dict()
self._sampling_rate = None
self._node2index = None
self._frame_cache = dict()
self._audiogoal_cache = dict()
self._spectrogram_cache = dict()
self._egomap_cache = defaultdict(dict)
self._scene_observations = None
self._episode_step_count = None
self._is_episode_active = None
self._position_to_index_mapping = dict()
self._previous_step_collided = False
self._instance2label_mapping = None
self._house_readers = dict()
self._use_oracle_planner = True
self._oracle_actions = list()
self.points, self.graph = load_metadata(self.metadata_dir)
for node in self.graph.nodes():
self._position_to_index_mapping[self.position_encoding(self.graph.nodes()[node]['point'])] = node
if self.config.AUDIO.HAS_DISTRACTOR_SOUND:
self._distractor_position_index = None
self._current_distractor_sound = None
if self.config.USE_RENDERED_OBSERVATIONS:
self._sim = DummySimulator()
with open(self.current_scene_observation_file, 'rb') as fo:
self._frame_cache = pickle.load(fo)
else:
self._sim = habitat_sim.Simulator(config=self.sim_config)
def __init__(self, config: Config) -> None:
self.config = config
agent_config = self._get_agent_config()
sim_sensors = []
for sensor_name in agent_config.SENSORS:
sensor_cfg = getattr(self.config, sensor_name)
sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE)
sim_sensors.append(sensor_type(sensor_cfg))
self._sensor_suite = SensorSuite(sim_sensors)
# self.sim_config = self.create_sim_config(self._sensor_suite)
# self._current_scene = self.sim_config.sim_cfg.scene.id
self._current_scene = '../habitat-api/data/scene_datasets/gibson/Pablo.glb'
self._action_space = spaces.Discrete(
4) # 0 stop, 1 fwd, 2 turn left, 3 turn right, 4 do nothing
self._last_obs = None
self.origin_xy_yaw = np.array([0., 0., 0.], np.float32)
# Supports navigation in 80x80m area, goal at most 40m away.
self._coord_min = -40.
self._coord_max = 40.
self.socket = None
atexit.register(
self.cleanup
) # this is to close connection when the object is cleaned up
# self.origin_agent_state = self.xy_yaw_to_agent_state(0., 0., 0.)
ans = ""
while ans != "ping":
try:
ans = self.reconnect_and_send("ping")
except Exception as e:
# pdb.set_trace()
print("Failed to connect, retry.")
time.sleep(2.0)
continue
if ans == "ping":
print("Server is alive")
msg = self.reconnect_and_send("obs")
# obs = json.loads(msg)
# print (obs.keys())
# pdb.set_trace()
obs = self.decode_spot_message(msg)
self.show_robot_obs(obs)
else:
print(
"Server sent an unexpected response to ping. Response: " +
str(ans))
pdb.set_trace()
def __init__(self, config: Config) -> None:
self.config = config
agent_config = self.get_agent_config()
sim_sensors = []
for sensor_name in agent_config.SENSORS:
sensor_cfg = getattr(self.config, sensor_name)
sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE
)
sim_sensors.append(sensor_type(sensor_cfg))
self._sensor_suite = SensorSuite(sim_sensors)
self.sim_config = self.create_sim_config(self._sensor_suite)
self._current_scene = self.sim_config.sim_cfg.scene.id
self._sim = habitat_sim.Simulator(self.sim_config)
self._action_space = spaces.Discrete(
len(self.sim_config.agents[0].action_space)
)
self._prev_sim_obs = None
self._source_position_index = None
self._receiver_position_index = None
self._rotation_angle = None
self._current_sound = None
self._source_sound_dict = dict()
self._sampling_rate = None
self._node2index = None
self._frame_cache = dict()
self._audiogoal_cache = dict()
self._spectrogram_cache = dict()
self._egomap_cache = defaultdict(dict)
self._scene_observations = None
self._episode_step_count = None
self._is_episode_active = None
self._position_to_index_mapping = dict()
self._previous_step_collided = False
self.points, self.graph = load_metadata(self.metadata_dir)
for node in self.graph.nodes():
self._position_to_index_mapping[self.position_encoding(self.graph.nodes()[node]['point'])] = node
self._load_source_sounds()
logging.info('Current scene: {} and sound: {}'.format(self.current_scene_name, self._current_sound))
if self.config.USE_RENDERED_OBSERVATIONS:
self._sim.close()
del self._sim
self._sim = DummySimulator()
with open(self.current_scene_observation_file, 'rb') as fo:
self._frame_cache = pickle.load(fo)
def __init__(self, config: Config) -> None:
self.habitat_config = config
agent_config = self._get_agent_config()
sim_sensors = []
for sensor_name in agent_config.SENSORS:
sensor_cfg = getattr(self.habitat_config, sensor_name)
sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE)
sim_sensors.append(sensor_type(sensor_cfg))
self._sensor_suite = SensorSuite(sim_sensors)
self.sim_config = self.create_sim_config(self._sensor_suite)
self._current_scene = self.sim_config.sim_cfg.scene.id
super().__init__(self.sim_config)
self._action_space = spaces.Discrete(
len(self.sim_config.agents[0].action_space))
self._prev_sim_obs = None
