def make_cfg(settings):
sim_cfg = hsim.SimulatorConfiguration()
sim_cfg.gpu_device_id = 0
sim_cfg.scene.id = settings["scene"]
# define default sensor parameters (see src/esp/Sensor/Sensor.h)
sensors = {
"color_sensor": { # active if sim_settings["color_sensor"]
"sensor_type": hsim.SensorType.COLOR,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"depth_sensor": { # active if sim_settings["depth_sensor"]
"sensor_type": hsim.SensorType.DEPTH,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"semantic_sensor": { # active if sim_settings["semantic_sensor"]
"sensor_type": hsim.SensorType.SEMANTIC,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
}
# create sensor specifications
sensor_specs = []
for sensor_uuid, sensor_params in sensors.items():
if settings[sensor_uuid]:
sensor_spec = hsim.SensorSpec()
sensor_spec.uuid = sensor_uuid
sensor_spec.sensor_type = sensor_params["sensor_type"]
sensor_spec.resolution = sensor_params["resolution"]
sensor_spec.position = sensor_params["position"]
if not settings["silent"]:
print("==== Initialized Sensor Spec: =====")
print("Sensor uuid: ", sensor_spec.uuid)
print("Sensor type: ", sensor_spec.sensor_type)
print("Sensor position: ", sensor_spec.position)
print("===================================")
sensor_specs.append(sensor_spec)
# create agent specifications
agent_cfg = habitat_sim.agent.AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
agent_cfg.action_space = {
"move_forward":
habitat_sim.agent.ActionSpec(
"move_forward", habitat_sim.agent.ActuationSpec(amount=0.25)),
"turn_left":
habitat_sim.agent.ActionSpec(
"turn_left", habitat_sim.agent.ActuationSpec(amount=10.0)),
"turn_right":
habitat_sim.agent.ActionSpec(
"turn_right", habitat_sim.agent.ActuationSpec(amount=10.0)),
}
return habitat_sim.Configuration(sim_cfg, [agent_cfg])
def _config_sim(self, scene_filepath, img_size):
settings = {
"width": img_size[1], # Spatial resolution of the observations
"height": img_size[0],
"scene": scene_filepath, # Scene path
"default_agent": 0,
"sensor_height": 1.5, # Height of sensors in meters
"color_sensor": True, # RGBA sensor
"semantic_sensor": True, # Semantic sensor
"depth_sensor": True, # Depth sensor
"silent": True,
}
sim_cfg = hsim.SimulatorConfiguration()
sim_cfg.enable_physics = False
sim_cfg.gpu_device_id = 0
sim_cfg.scene.id = settings["scene"]
# define default sensor parameters (see src/esp/Sensor/Sensor.h)
sensors = {
"color_sensor": { # active if sim_settings["color_sensor"]
"sensor_type": hsim.SensorType.COLOR,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"depth_sensor": { # active if sim_settings["depth_sensor"]
"sensor_type": hsim.SensorType.DEPTH,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"semantic_sensor": { # active if sim_settings["semantic_sensor"]
"sensor_type": hsim.SensorType.SEMANTIC,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
}
# create sensor specifications
sensor_specs = []
for sensor_uuid, sensor_params in sensors.items():
if settings[sensor_uuid]:
sensor_spec = hsim.SensorSpec()
sensor_spec.uuid = sensor_uuid
sensor_spec.sensor_type = sensor_params["sensor_type"]
sensor_spec.resolution = sensor_params["resolution"]
sensor_spec.position = sensor_params["position"]
sensor_spec.gpu2gpu_transfer = False
sensor_specs.append(sensor_spec)
# create agent specifications
agent_cfg = AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
return habitat_sim.Configuration(sim_cfg, [agent_cfg])
class AgentConfiguration(object):
height: float = 1.5
radius: float = 0.1
mass: float = 32.0
linear_acceleration: float = 20.0
angular_acceleration: float = 4 * np.pi
linear_friction: float = 0.5
angular_friction: float = 1.0
coefficient_of_restitution: float = 0.0
sensor_specifications: List[hsim.SensorSpec] = attr.Factory(
lambda: [hsim.SensorSpec()])
action_space: Dict[Any, ActionSpec] = attr.Factory(_default_action_space)
body_type: str = "cylinder"
def make_cfg(scene):
default_sim_settings["scene"] = scene
settings = default_sim_settings
sim_cfg = hsim.SimulatorConfiguration()
if "enable_physics" in settings.keys():
sim_cfg.enable_physics = settings["enable_physics"]
else:
sim_cfg.enable_physics = False
if "physics_config_file" in settings.keys():
sim_cfg.physics_config_file = settings["physics_config_file"]
print("sim_cfg.physics_config_file = " + sim_cfg.physics_config_file)
sim_cfg.gpu_device_id = 1
#print(settings["scene"])
sim_cfg.scene.id = settings["scene"]
# define default sensor parameters (see src/esp/Sensor/Sensor.h)
sensors = {
"color_sensor": { # active if sim_settings["color_sensor"]
"sensor_type": hsim.SensorType.COLOR,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"depth_sensor": { # active if sim_settings["depth_sensor"]
"sensor_type": hsim.SensorType.DEPTH,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"semantic_sensor": { # active if sim_settings["semantic_sensor"]
"sensor_type": hsim.SensorType.SEMANTIC,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
}
# create sensor specifications
sensor_specs = []
for sensor_uuid, sensor_params in sensors.items():
if settings[sensor_uuid]:
sensor_spec = hsim.SensorSpec()
sensor_spec.uuid = sensor_uuid
sensor_spec.sensor_type = sensor_params["sensor_type"]
sensor_spec.resolution = sensor_params["resolution"]
sensor_spec.position = sensor_params["position"]
sensor_spec.gpu2gpu_transfer = False
if not settings["silent"]:
print("==== Initialized Sensor Spec: =====")
print("Sensor uuid: ", sensor_spec.uuid)
print("Sensor type: ", sensor_spec.sensor_type)
print("Sensor position: ", sensor_spec.position)
print("===================================")
sensor_specs.append(sensor_spec)
# create agent specifications
agent_cfg = habitat_sim.agent.AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
agent_cfg.action_space = {
"PositiveSurge": habitat_sim.agent.ActionSpec(
"Surge", MoveSpec(forward_amount=0.1)
),
"NegativeSurge": habitat_sim.ActionSpec(
"Surge", MoveSpec(forward_amount=-0.1)
),
"PositiveSway": habitat_sim.agent.ActionSpec(
"Sway", MoveSpec(forward_amount=0.1)
),
"NegativeSway": habitat_sim.ActionSpec(
"Sway", MoveSpec(forward_amount=-0.1)
),
"PositiveHeave": habitat_sim.agent.ActionSpec(
"Heave", MoveSpec(forward_amount=0.1)
),
"NegativeHeave": habitat_sim.ActionSpec(
"Heave", MoveSpec(forward_amount=-0.1)
),
"PositiveRoll": habitat_sim.ActionSpec(
"Roll", SpinSpec(0.1)
),
"NegativeRoll": habitat_sim.ActionSpec(
"Roll", SpinSpec(-0.1)
),
"PositivePitch": habitat_sim.ActionSpec(
"Pitch", SpinSpec(5)
),
"NegativePitch": habitat_sim.ActionSpec(
"Pitch", SpinSpec(-5)
),
"PositiveYaw": habitat_sim.ActionSpec(
"Yaw", SpinSpec(5)
),
"NegativeYaw": habitat_sim.ActionSpec(
"Yaw", SpinSpec(-5)
)
}
# override action space to no-op to test physics
if sim_cfg.enable_physics:
agent_cfg.action_space = {
"move_forward": habitat_sim.agent.ActionSpec(
"move_forward", habitat_sim.agent.ActuationSpec(amount=0.0)
)
}
return habitat_sim.Configuration(sim_cfg, [agent_cfg])
def make_cfg(settings):
sim_cfg = hsim.SimulatorConfiguration()
if "frustum_culling" in settings:
sim_cfg.frustum_culling = settings["frustum_culling"]
else:
sim_cfg.frustum_culling = False
if "enable_physics" in settings:
sim_cfg.enable_physics = settings["enable_physics"]
if "physics_config_file" in settings:
sim_cfg.physics_config_file = settings["physics_config_file"]
if not settings["silent"]:
print("sim_cfg.physics_config_file = " + sim_cfg.physics_config_file)
if "scene_light_setup" in settings:
sim_cfg.scene_light_setup = settings["scene_light_setup"]
sim_cfg.gpu_device_id = 0
sim_cfg.scene_id = settings["scene"]
# define default sensor parameters (see src/esp/Sensor/Sensor.h)
sensors = {
"color_sensor": { # active if sim_settings["color_sensor"]
"sensor_type": hsim.SensorType.COLOR,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"depth_sensor": { # active if sim_settings["depth_sensor"]
"sensor_type": hsim.SensorType.DEPTH,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"semantic_sensor": { # active if sim_settings["semantic_sensor"]
"sensor_type": hsim.SensorType.SEMANTIC,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
}
# create sensor specifications
sensor_specs = []
for sensor_uuid, sensor_params in sensors.items():
if settings[sensor_uuid]:
sensor_spec = hsim.SensorSpec()
sensor_spec.uuid = sensor_uuid
sensor_spec.sensor_type = sensor_params["sensor_type"]
sensor_spec.resolution = sensor_params["resolution"]
sensor_spec.position = sensor_params["position"]
sensor_spec.gpu2gpu_transfer = False
if not settings["silent"]:
print("==== Initialized Sensor Spec: =====")
print("Sensor uuid: ", sensor_spec.uuid)
print("Sensor type: ", sensor_spec.sensor_type)
print("Sensor position: ", sensor_spec.position)
print("===================================")
sensor_specs.append(sensor_spec)
# create agent specifications
agent_cfg = habitat_sim.agent.AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
agent_cfg.action_space = {
"move_forward":
habitat_sim.agent.ActionSpec(
"move_forward", habitat_sim.agent.ActuationSpec(amount=0.25)),
"turn_left":
habitat_sim.agent.ActionSpec(
"turn_left", habitat_sim.agent.ActuationSpec(amount=10.0)),
"turn_right":
habitat_sim.agent.ActionSpec(
"turn_right", habitat_sim.agent.ActuationSpec(amount=10.0)),
}
# override action space to no-op to test physics
if sim_cfg.enable_physics:
agent_cfg.action_space = {
"move_forward":
habitat_sim.agent.ActionSpec(
"move_forward", habitat_sim.agent.ActuationSpec(amount=0.0))
}
return habitat_sim.Configuration(sim_cfg, [agent_cfg])
def make_cfg(self, settings, Vx, Vy, Vz, Wx, Wy, Wz):
sim_cfg = hsim.SimulatorConfiguration()
sim_cfg.gpu_device_id = 0
sim_cfg.scene.id = settings["scene"]
# define default sensor parameters (see src/esp/Sensor/Sensor.h)
sensors = {
"color_sensor": { # active if sim_settings["color_sensor"]
"sensor_type": hsim.SensorType.COLOR,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"depth_sensor": { # active if sim_settings["depth_sensor"]
"sensor_type": hsim.SensorType.DEPTH,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"semantic_sensor": { # active if sim_settings["semantic_sensor"]
"sensor_type": hsim.SensorType.SEMANTIC,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
}
# create sensor specifications
sensor_specs = []
for sensor_uuid, sensor_params in sensors.items():
if settings[sensor_uuid]:
sensor_spec = hsim.SensorSpec()
sensor_spec.uuid = sensor_uuid
sensor_spec.sensor_type = sensor_params["sensor_type"]
sensor_spec.resolution = sensor_params["resolution"]
sensor_spec.position = sensor_params["position"]
if not self._sim_settings["silent"]:
print("==== Initialized Sensor Spec: =====")
print("Sensor uuid: ", sensor_spec.uuid)
print("Sensor type: ", sensor_spec.sensor_type)
print("Sensor position: ", sensor_spec.position)
print("===================================")
sensor_specs.append(sensor_spec)
# create agent specifications
agent_cfg = habitat_sim.agent.AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
agent_cfg.action_space = {
"move_right":
habitat_sim.agent.ActionSpec("moveRight", {"amount": -0.1 * Vx}),
"move_left":
habitat_sim.agent.ActionSpec("moveLeft", {"amount": 0}),
"move_up":
habitat_sim.agent.ActionSpec("moveUp",
{"amount": -0.09883337089 * Vy}),
"move_down":
habitat_sim.agent.ActionSpec("moveDown", {"amount": 0}),
"move_forward":
habitat_sim.agent.ActionSpec("moveForward", {"amount": 0}),
"move_backward":
habitat_sim.agent.ActionSpec("moveBackward",
{"amount": -0.09 * Vz}),
"look_left":
habitat_sim.agent.ActionSpec("lookLeft", {"amount": 1 * Wy}),
"look_right":
habitat_sim.agent.ActionSpec("lookRight", {"amount": 0}),
"look_up":
habitat_sim.agent.ActionSpec("lookUp", {"amount": -1 * Wx}),
"look_down":
habitat_sim.agent.ActionSpec("lookDown", {"amount": 0}),
"look_anti":
habitat_sim.agent.ActionSpec("lookAnti", {"amount": 1 * Wz}),
"look_clock":
habitat_sim.agent.ActionSpec("lookClock", {"amount": 0}),
}
return habitat_sim.Configuration(sim_cfg, [agent_cfg])
def make_cfg(SIM):
sim_cfg = hsim.SimulatorConfiguration()
if SIM.SCENE_ID == "none":
SIM.SCENE_ID = "data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
sim_cfg.scene.id = SIM.SCENE_ID
sim_cfg.enable_physics = SIM.PHYSICS
if SIM.PHYSICS:
sim_cfg.physics_config_file = SIM.PHYSICS_CONFIG_FILE
# sim_cfg.gpu_device_id = 0
# sim_cfg.scene.id = settings["scene"]
# define default sensor parameters (see src/esp/Sensor/Sensor.h)
sensors = dict()
for i in range(len(SIM.AGENT.SENSORS.NAMES)):
sensors[SIM.AGENT.SENSORS.NAMES[i]] = {
"sensor_type":
getattr(hsim.SensorType, SIM.AGENT.SENSORS.TYPES[i]),
"resolution": [
SIM.AGENT.SENSORS.RESOLUTIONS[i][0],
SIM.AGENT.SENSORS.RESOLUTIONS[i][1],
],
"position": [
SIM.AGENT.SENSORS.POSES[i][0],
SIM.AGENT.SENSORS.POSES[i][1],
SIM.AGENT.SENSORS.POSES[i][2],
],
"orientation": [
SIM.AGENT.SENSORS.POSES[i][3],
SIM.AGENT.SENSORS.POSES[i][4],
SIM.AGENT.SENSORS.POSES[i][5],
],
}
# create sensor specifications
sensor_specs = []
for sensor_uuid, sensor_params in sensors.items():
sensor_spec = hsim.SensorSpec()
sensor_spec.uuid = sensor_uuid
sensor_spec.sensor_type = sensor_params["sensor_type"]
sensor_spec.resolution = sensor_params["resolution"]
sensor_spec.position = sensor_params["position"]
sensor_spec.gpu2gpu_transfer = False # Todo: Move this to config
print("==== Initialized Sensor Spec: =====")
print("Sensor uuid: ", sensor_spec.uuid)
print("Sensor type: ", sensor_spec.sensor_type)
print("Sensor position: ", sensor_spec.position)
print("===================================")
sensor_specs.append(sensor_spec)
# create agent specifications
# TODO: Accomodate more agents
agent_cfg = habitat_sim.agent.AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
# TODO: Move agent actions to config
agent_cfg.action_space = {
"move_forward":
habitat_sim.agent.ActionSpec(
"move_forward", habitat_sim.agent.ActuationSpec(amount=1.0)),
"turn_left":
habitat_sim.agent.ActionSpec(
"turn_left", habitat_sim.agent.ActuationSpec(amount=10.0)),
"turn_right":
habitat_sim.agent.ActionSpec(
"turn_right", habitat_sim.agent.ActuationSpec(amount=10.0)),
}
sim_cfg.default_agent_id = SIM.DEFAULT_AGENT_ID
# # override action space to no-op to test physics
# if sim_cfg.enable_physics:
# agent_cfg.action_space = {
# "move_forward": habitat_sim.agent.ActionSpec(
# "move_forward", habitat_sim.agent.ActuationSpec(amount=0.0)
# )
# }
return habitat_sim.Configuration(sim_cfg, [agent_cfg])
