def get_observation(self, *args: Any, observations, episode: Episode,
**kwargs: Any):
# TODO - Kind of weird - reset goal when no action sent ...
goal_idx = self._select_goal_idx(episode, "action" not in kwargs)
goal_idx = np.array([goal_idx], dtype=np.int)
episode.goal_idx = goal_idx[0]
return goal_idx
def _construct_dataset(num_episodes):
episodes = []
for ii in range(num_episodes):
episode = Episode(
episode_id=str(ii),
scene_id="scene_id_" + str(ii % 10),
start_position=[0, 0, 0],
start_rotation=[0, 0, 0, 1],
)
episodes.append(episode)
dataset = Dataset()
dataset.episodes = episodes
return dataset
def get_observation(self, *args: Any, observations, episode: Episode,
**kwargs: Any):
goal_idx = getattr(episode, "goal_idx", 0)
camera_state = self._sim.get_agent_state().sensor_states["rgb"]
camera_position = camera_state.position
rotation_world_camera = camera_state.rotation
goal_position = np.array(episode.t_coord[episode.target_idx[goal_idx]],
dtype=np.float32)
stats = self._compute_pointgoal(camera_position, rotation_world_camera,
goal_position)
# TODO bad, but necessary for other sensors of measurements to use :Ds
episode.goal_coord_in_camera = stats
return stats
def get_observation(self, *args: Any, observations, episode: Episode,
**kwargs: Any):
goal_idx = getattr(episode, "goal_idx", 0)
camera_state = self._sim.get_agent_state().sensor_states["rgb"]
camera_position = camera_state.position
rotation_world_camera = camera_state.rotation
goal_position = np.array(episode.t_coord[episode.target_idx[goal_idx]],
dtype=np.float32)
goal_scale = np.array(episode.t_size[episode.target_idx[goal_idx]])
stats = self._compute_pointgoal_and_scale(camera_position,
rotation_world_camera,
goal_position, goal_scale)
crt_ep_stats = stats
all_stats = []
for idx, t_coord in enumerate(episode.t_coord):
goal_position = np.array(t_coord, dtype=np.float32)
goal_scale = np.array(episode.t_size[idx])
stats = self._compute_pointgoal_and_scale(camera_position,
rotation_world_camera,
goal_position,
goal_scale)
all_stats.append(stats)
all_stats = np.concatenate(all_stats)
episode.all_stats = all_stats
return crt_ep_stats