def reconfigure(self, config) -> None:
dataset = config.SCENE.split('/')[2]
scene_name = config.SCENE.split('/')[3]
is_same_scene = config.SCENE == self._current_scene
self.config = config
self.sim_config = self.create_sim_config(self._sensor_suite)
if not is_same_scene:
self._current_scene = config.SCENE
self._sim.close()
del self._sim
# HabitatSim is a wrapper class of habitat_sim, which is the backend renderer
self._sim = habitat_sim.Simulator(self.sim_config)
logging.info('Loaded scene {}'.format(scene_name))
if not is_same_scene or self.points is None or self.graph is None:
# can happen during initialization or reconfiguration
metadata_dir = os.path.join('data/metadata', dataset, scene_name)
self.points, self.graph = load_metadata(metadata_dir)
# after env calls reconfigure to update the config with current episode,
# simulation needs to update the agent position, rotation in accordance with the new config file
self._update_agents_state()
# set agent positions
self._receiver_position_index = self._position_to_index(self.config.AGENT_0.START_POSITION)
self._source_position_index = self._position_to_index(self.config.AGENT_0.GOAL_POSITION)
self._rotation = int(np.around(np.rad2deg(quat_to_angle_axis(quat_from_coeffs(
self.config.AGENT_0.START_ROTATION))[0]))) % 360
self.set_agent_state(list(self.graph.nodes[self._receiver_position_index]['point']),
self.config.AGENT_0.START_ROTATION)
logging.debug("Initial source, agent at: {}, {}, orientation: {}".
format(self._source_position_index, self._receiver_position_index,
self._rotation))
def to_angle(rot):
agent_rot = hutil.quat_to_angle_axis(rot)
# sometimes? reports 2pi rotation around x axis if no rotation
if agent_rot[1][1] == 0:
return 0
else:
return (agent_rot[0] * agent_rot[1][1]) % (2 * np.pi)
def reconfigure(self, config: Config) -> None:
self.config = config
is_same_sound = config.AGENT_0.SOUND_ID == self._current_sound
if not is_same_sound:
self._current_sound = self.config.AGENT_0.SOUND_ID
is_same_scene = config.SCENE == self._current_scene
if not is_same_scene:
self._current_scene = config.SCENE
logging.debug('Current scene: {} and sound: {}'.format(self.current_scene_name, self._current_sound))
if not self.config.USE_RENDERED_OBSERVATIONS:
self._sim.close()
del self._sim
self.sim_config = self.create_sim_config(self._sensor_suite)
self._sim = habitat_sim.Simulator(self.sim_config)
self._update_agents_state()
self._frame_cache = dict()
else:
with open(self.current_scene_observation_file, 'rb') as fo:
self._frame_cache = pickle.load(fo)
logging.debug('Loaded scene {}'.format(self.current_scene_name))
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 not is_same_scene or not is_same_sound:
self._audiogoal_cache = dict()
self._spectrogram_cache = dict()
self._episode_step_count = 0
# set agent positions
self._receiver_position_index = self._position_to_index(self.config.AGENT_0.START_POSITION)
self._source_position_index = self._position_to_index(self.config.AGENT_0.GOAL_POSITION)
# the agent rotates about +Y starting from -Z counterclockwise,
# so rotation angle 90 means the agent rotate about +Y 90 degrees
self._rotation_angle = int(np.around(np.rad2deg(quat_to_angle_axis(quat_from_coeffs(
self.config.AGENT_0.START_ROTATION))[0]))) % 360
if not self.config.USE_RENDERED_OBSERVATIONS:
self.set_agent_state(list(self.graph.nodes[self._receiver_position_index]['point']),
self.config.AGENT_0.START_ROTATION)
else:
self._sim.set_agent_state(list(self.graph.nodes[self._receiver_position_index]['point']),
quat_from_coeffs(self.config.AGENT_0.START_ROTATION))
logging.debug("Initial source, agent at: {}, {}, orientation: {}".
format(self._source_position_index, self._receiver_position_index, self.get_orientation()))
def reconfigure(self, config: Config) -> None:
self.config = config
if hasattr(self.config.AGENT_0, 'OFFSET'):
self._offset = int(self.config.AGENT_0.OFFSET)
else:
self._offset = 0
if self.config.AUDIO.EVERLASTING:
self._duration = 500
else:
assert hasattr(self.config.AGENT_0, 'DURATION')
self._duration = int(self.config.AGENT_0.DURATION)
self._audio_index = 0
is_same_sound = config.AGENT_0.SOUND_ID == self._current_sound
if not is_same_sound:
self._current_sound = self.config.AGENT_0.SOUND_ID
self._load_single_source_sound()
logging.debug("Switch to sound {} with duration {} seconds".format(self._current_sound, self._duration))
is_same_scene = config.SCENE == self._current_scene
if not is_same_scene:
self._current_scene = config.SCENE
logging.debug('Current scene: {} and sound: {}'.format(self.current_scene_name, self._current_sound))
if self.config.USE_RENDERED_OBSERVATIONS:
with open(self.current_scene_observation_file, 'rb') as fo:
self._frame_cache = pickle.load(fo)
else:
self._sim.close()
del self._sim
self.sim_config = self.create_sim_config(self._sensor_suite)
self._sim = habitat_sim.Simulator(self.sim_config)
self._update_agents_state()
self._frame_cache = dict()
logging.debug('Loaded scene {}'.format(self.current_scene_name))
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._instance2label_mapping = None
if not is_same_scene or not is_same_sound:
self._audiogoal_cache = dict()
self._spectrogram_cache = dict()
self._episode_step_count = 0
# set agent positions
self._receiver_position_index = self._position_to_index(self.config.AGENT_0.START_POSITION)
self._source_position_index = self._position_to_index(self.config.AGENT_0.GOAL_POSITION)
# the agent rotates about +Y starting from -Z counterclockwise,
# so rotation angle 90 means the agent rotate about +Y 90 degrees
self._rotation_angle = int(np.around(np.rad2deg(quat_to_angle_axis(quat_from_coeffs(
self.config.AGENT_0.START_ROTATION))[0]))) % 360
if self.config.USE_RENDERED_OBSERVATIONS:
self._sim.set_agent_state(list(self.graph.nodes[self._receiver_position_index]['point']),
quat_from_coeffs(self.config.AGENT_0.START_ROTATION))
else:
self.set_agent_state(list(self.graph.nodes[self._receiver_position_index]['point']),
self.config.AGENT_0.START_ROTATION)
if self.config.AUDIO.HAS_DISTRACTOR_SOUND:
self._distractor_position_index = self.config.AGENT_0.DISTRACTOR_POSITION_INDEX
self._current_distractor_sound = self.config.AGENT_0.DISTRACTOR_SOUND_ID
self._load_single_distractor_sound()
if self._use_oracle_planner:
self._oracle_actions = self.compute_oracle_actions()
logging.debug("Initial source, agent at: {}, {}, orientation: {}".
format(self._source_position_index, self._receiver_position_index, self.get_orientation()))