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'))