def create_sim_config(
self, _sensor_suite: SensorSuite) -> habitat_sim.Configuration:
sim_config = habitat_sim.SimulatorConfiguration()
overwrite_config(config_from=self.config.HABITAT_SIM_V0,
config_to=sim_config)
sim_config.scene.id = self.config.SCENE
agent_config = habitat_sim.AgentConfiguration()
overwrite_config(config_from=self._get_agent_config(),
config_to=agent_config)
sensor_specifications = []
for sensor in _sensor_suite.sensors.values():
sim_sensor_cfg = habitat_sim.SensorSpec()
overwrite_config(config_from=sensor.config,
config_to=sim_sensor_cfg)
sim_sensor_cfg.uuid = sensor.uuid
sim_sensor_cfg.resolution = list(
sensor.observation_space.shape[:2])
sim_sensor_cfg.parameters["hfov"] = str(sensor.config.HFOV)
# TODO(maksymets): Add configure method to Sensor API to avoid
# accessing child attributes through parent interface
sim_sensor_cfg.sensor_type = sensor.sim_sensor_type # type: ignore
sim_sensor_cfg.gpu2gpu_transfer = (
self.config.HABITAT_SIM_V0.GPU_GPU)
sensor_specifications.append(sim_sensor_cfg)
agent_config.sensor_specifications = sensor_specifications
agent_config.action_space = registry.get_action_space_configuration(
self.config.ACTION_SPACE_CONFIG)(self.config).get()
return habitat_sim.Configuration(sim_config, [agent_config])
def create_sim_config(
self, _sensor_suite: SensorSuite) -> habitat_sim.Configuration:
sim_config = habitat_sim.SimulatorConfiguration()
# sim_config.scene.id = '/private/home/medhini/navigation-analysis-habitat/habitat-api/' + self.config.SCENE
sim_config.scene.id = self.config.SCENE
sim_config.gpu_device_id = self.config.HABITAT_SIM_V0.GPU_DEVICE_ID
agent_config = habitat_sim.AgentConfiguration()
overwrite_config(config_from=self._get_agent_config(),
config_to=agent_config)
sensor_specifications = []
for sensor in _sensor_suite.sensors.values():
sim_sensor_cfg = habitat_sim.SensorSpec()
sim_sensor_cfg.uuid = sensor.uuid
sim_sensor_cfg.resolution = list(
sensor.observation_space.shape[:2])
sim_sensor_cfg.parameters["hfov"] = str(sensor.config.HFOV)
sim_sensor_cfg.position = sensor.config.POSITION
# TODO(maksymets): Add configure method to Sensor API to avoid
# accessing child attributes through parent interface
sim_sensor_cfg.sensor_type = sensor.sim_sensor_type # type: ignore
sensor_specifications.append(sim_sensor_cfg)
# If there is no sensors specified create a dummy sensor so simulator
# won't throw an error
if not _sensor_suite.sensors.values():
sim_sensor_cfg = habitat_sim.SensorSpec()
sim_sensor_cfg.resolution = [1, 1]
sensor_specifications.append(sim_sensor_cfg)
agent_config.sensor_specifications = sensor_specifications
agent_config.action_space = registry.get_action_space_configuration(
self.config.ACTION_SPACE_CONFIG)(self.config).get()
return habitat_sim.Configuration(sim_config, [agent_config])
def create_sim_config(
self, _sensor_suite: SensorSuite) -> habitat_sim.Configuration:
sim_config = habitat_sim.SimulatorConfiguration()
sim_config.scene.id = self.config.SCENE
sim_config.gpu_device_id = self.config.HABITAT_SIM_V0.GPU_DEVICE_ID
sim_config.allow_sliding = self.config.HABITAT_SIM_V0.ALLOW_SLIDING
sim_config.enable_physics = self.config.HABITAT_SIM_V0.ENABLE_PHYSICS
sim_config.physics_config_file = (
self.config.HABITAT_SIM_V0.PHYSICS_CONFIG_FILE)
agent_config = habitat_sim.AgentConfiguration()
overwrite_config(config_from=self._get_agent_config(),
config_to=agent_config)
sensor_specifications = []
for sensor in _sensor_suite.sensors.values():
sim_sensor_cfg = habitat_sim.SensorSpec()
sim_sensor_cfg.uuid = sensor.uuid
sim_sensor_cfg.resolution = list(
sensor.observation_space.shape[:2])
sim_sensor_cfg.parameters["hfov"] = str(sensor.config.HFOV)
sim_sensor_cfg.position = sensor.config.POSITION
# TODO(maksymets): Add configure method to Sensor API to avoid
# accessing child attributes through parent interface
sim_sensor_cfg.sensor_type = sensor.sim_sensor_type # type: ignore
sim_sensor_cfg.gpu2gpu_transfer = (
self.config.HABITAT_SIM_V0.GPU_GPU)
sensor_specifications.append(sim_sensor_cfg)
agent_config.sensor_specifications = sensor_specifications
agent_config.action_space = registry.get_action_space_configuration(
self.config.ACTION_SPACE_CONFIG)(self.config).get()
return habitat_sim.Configuration(sim_config, [agent_config])
def create_sim_config(
self, _sensor_suite: SensorSuite
) -> habitat_sim.Configuration:
sim_config = habitat_sim.SimulatorConfiguration()
# Check if Habitat-Sim is post Scene Config Update
if not hasattr(sim_config, "scene_id"):
raise RuntimeError(
"Incompatible version of Habitat-Sim detected, please upgrade habitat_sim"
)
overwrite_config(
config_from=self.habitat_config.HABITAT_SIM_V0,
config_to=sim_config,
)
sim_config.scene_id = self.habitat_config.SCENE
agent_config = habitat_sim.AgentConfiguration()
overwrite_config(
config_from=self._get_agent_config(), config_to=agent_config
)
sensor_specifications = []
for sensor in _sensor_suite.sensors.values():
sim_sensor_cfg = habitat_sim.SensorSpec()
overwrite_config(
config_from=sensor.config, config_to=sim_sensor_cfg
)
sim_sensor_cfg.uuid = sensor.uuid
sim_sensor_cfg.resolution = list(
sensor.observation_space.shape[:2]
)
sim_sensor_cfg.parameters["hfov"] = str(sensor.config.HFOV)
# TODO(maksymets): Add configure method to Sensor API to avoid
# accessing child attributes through parent interface
# We know that the Sensor has to be one of these Sensors
sensor = cast(HabitatSimVizSensors, sensor)
sim_sensor_cfg.sensor_type = sensor.sim_sensor_type
sim_sensor_cfg.gpu2gpu_transfer = (
self.habitat_config.HABITAT_SIM_V0.GPU_GPU
)
sensor_specifications.append(sim_sensor_cfg)
agent_config.sensor_specifications = sensor_specifications
agent_config.action_space = registry.get_action_space_configuration(
self.habitat_config.ACTION_SPACE_CONFIG
)(self.habitat_config).get()
return habitat_sim.Configuration(sim_config, [agent_config])
def create_sim_config(
self, _sensor_suite: SensorSuite) -> habitat_sim.Configuration:
sim_config = habitat_sim.SimulatorConfiguration()
# Check if Habitat-Sim is post Scene Config Update
if not hasattr(sim_config, "scene_id"):
raise RuntimeError(
"Incompatible version of Habitat-Sim detected, please upgrade habitat_sim"
)
overwrite_config(
config_from=self.habitat_config.HABITAT_SIM_V0,
config_to=sim_config,
# Ignore key as it gets propogated to sensor below
ignore_keys={"gpu_gpu"},
)
sim_config.scene_id = self.habitat_config.SCENE
agent_config = habitat_sim.AgentConfiguration()
overwrite_config(
config_from=self._get_agent_config(),
config_to=agent_config,
# These keys are only used by Hab-Lab
ignore_keys={
"is_set_start_state",
# This is the Sensor Config. Unpacked below
"sensors",
"start_position",
"start_rotation",
},
)
sensor_specifications = []
VisualSensorTypeSet = {
habitat_sim.SensorType.COLOR,
habitat_sim.SensorType.DEPTH,
habitat_sim.SensorType.SEMANTIC,
}
CameraSensorSubTypeSet = {
habitat_sim.SensorSubType.PINHOLE,
habitat_sim.SensorSubType.ORTHOGRAPHIC,
}
for sensor in _sensor_suite.sensors.values():
# Check if type VisualSensorSpec, we know that Sensor is one of HabitatSimRGBSensor, HabitatSimDepthSensor, HabitatSimSemanticSensor
if (getattr(sensor, "sim_sensor_type", [])
not in VisualSensorTypeSet):
raise ValueError(
f"""{getattr(sensor, "sim_sensor_type", [])} is an illegal sensorType that is not implemented yet"""
)
# Check if type CameraSensorSpec
if (getattr(sensor, "sim_sensor_subtype", [])
not in CameraSensorSubTypeSet):
raise ValueError(
f"""{getattr(sensor, "sim_sensor_subtype", [])} is an illegal sensorSubType for a VisualSensor"""
)
# TODO: Implement checks for other types of SensorSpecs
sim_sensor_cfg = habitat_sim.CameraSensorSpec()
# TODO Handle configs for custom VisualSensors that might need
# their own ignore_keys. Maybe with special key / checking
# SensorType
overwrite_config(
config_from=sensor.config,
config_to=sim_sensor_cfg,
# These keys are only used by Hab-Lab
# or translated into the sensor config manually
ignore_keys={
"height",
"hfov",
"max_depth",
"min_depth",
"normalize_depth",
"type",
"width",
},
)
sim_sensor_cfg.uuid = sensor.uuid
sim_sensor_cfg.resolution = list(
sensor.observation_space.shape[:2])
# TODO(maksymets): Add configure method to Sensor API to avoid
# accessing child attributes through parent interface
# We know that the Sensor has to be one of these Sensors
sensor = cast(HabitatSimVizSensors, sensor)
sim_sensor_cfg.sensor_type = sensor.sim_sensor_type
sim_sensor_cfg.sensor_subtype = sensor.sim_sensor_subtype
sim_sensor_cfg.gpu2gpu_transfer = (
self.habitat_config.HABITAT_SIM_V0.GPU_GPU)
sensor_specifications.append(sim_sensor_cfg)
agent_config.sensor_specifications = sensor_specifications
agent_config.action_space = registry.get_action_space_configuration(
self.habitat_config.ACTION_SPACE_CONFIG)(
self.habitat_config).get()
return habitat_sim.Configuration(sim_config, [agent_config])
