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["scene"]): print( "Test scenes not downloaded locally, downloading and extracting now..." ) download_and_unzip(default_sim_settings["test_scene_data_url"], ".") print("Downloaded and extracted test scenes data.") # create a simulator (Simulator python class object, not the backend simulator) self._sim = habitat_sim.Simulator(self._cfg) random.seed(self._sim_settings["seed"]) self._sim.seed(self._sim_settings["seed"]) recompute_navmesh = self._sim_settings.get("recompute_navmesh") if recompute_navmesh or not self._sim.pathfinder.is_loaded: if not self._sim_settings["silent"]: print("Recomputing navmesh") navmesh_settings = habitat_sim.NavMeshSettings() navmesh_settings.set_defaults() self._sim.recompute_navmesh(self._sim.pathfinder, navmesh_settings) # initialize the agent at a random start state return self.init_agent_state(self._sim_settings["default_agent"])
def init_common(self): self._cfg = make_cfg(self._sim_settings) 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
def __init__(self, folder, init_state, depth_type): scene_glb = folder + "/" + os.path.basename( folder).capitalize() + ".glb" self._cfg = make_cfg(scene_glb) self.init_common(init_state) self.depth_type = depth_type agent_node = self._sim.agents[0].scene_node self.agent_object_id = self._sim.add_object(1, agent_node) self._sim.set_object_motion_type( habitat_sim.physics.MotionType.KINEMATIC, self.agent_object_id) assert (self._sim.get_object_motion_type( self.agent_object_id) == habitat_sim.physics.MotionType.KINEMATIC) # Saving Start Frame observations = self._sim.get_sensor_observations() self.save_color_observation(observations, 0, 0, folder) self.save_depth_observation(observations, 0, 0, folder)
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
def __init__(self, folder, init_state, depth_type): scene_glb = folder + "/" + os.path.basename( folder).capitalize() + ".glb" self._cfg = make_cfg(scene_glb) self.init_common(init_state) self.depth_type = depth_type agent_node = self._sim.agents[0].scene_node self.agent_object_id = self._sim.add_object(1, agent_node) self._sim.set_object_motion_type( habitat_sim.physics.MotionType.KINEMATIC, self.agent_object_id) assert (self._sim.get_object_motion_type( self.agent_object_id) == habitat_sim.physics.MotionType.KINEMATIC) # Saving Start Frame observations = self._sim.get_sensor_observations() self.save_color_observation(observations, 0, 0, folder) self.save_depth_observation(observations, 0, 0, folder) self.noise = False self.translation_noise = pickle.load( open("actuation_noise_fwd.pkl", 'rb')) self.rotation_left_noise = pickle.load( open("actuation_noise_left.pkl", 'rb')) self.rotation_right_noise = pickle.load( open("actuation_noise_right.pkl", 'rb'))