def get(self):
return {
HabitatSimActions.STOP:
habitat_sim.ActionSpec("stop"),
HabitatSimActions.MOVE_FORWARD:
habitat_sim.ActionSpec(
"pyrobot_noisy_move_forward",
habitat_sim.PyRobotNoisyActuationSpec(
amount=self.config.FORWARD_STEP_SIZE,
robot=self.config.NOISE_MODEL.ROBOT,
controller=self.config.NOISE_MODEL.CONTROLLER,
noise_multiplier=self.config.NOISE_MODEL.NOISE_MULTIPLIER,
),
),
HabitatSimActions.TURN_LEFT:
habitat_sim.ActionSpec(
"pyrobot_noisy_turn_left",
habitat_sim.PyRobotNoisyActuationSpec(
amount=self.config.TURN_ANGLE,
robot=self.config.NOISE_MODEL.ROBOT,
controller=self.config.NOISE_MODEL.CONTROLLER,
noise_multiplier=self.config.NOISE_MODEL.NOISE_MULTIPLIER,
),
),
HabitatSimActions.TURN_RIGHT:
habitat_sim.ActionSpec(
"pyrobot_noisy_turn_right",
habitat_sim.PyRobotNoisyActuationSpec(
amount=self.config.TURN_ANGLE,
robot=self.config.NOISE_MODEL.ROBOT,
controller=self.config.NOISE_MODEL.CONTROLLER,
noise_multiplier=self.config.NOISE_MODEL.NOISE_MULTIPLIER,
),
),
HabitatSimActions.LOOK_UP:
habitat_sim.ActionSpec(
"look_up",
habitat_sim.ActuationSpec(amount=self.config.TILT_ANGLE),
),
HabitatSimActions.LOOK_DOWN:
habitat_sim.ActionSpec(
"look_down",
habitat_sim.ActuationSpec(amount=self.config.TILT_ANGLE),
),
# The perfect actions are needed for the oracle planner
"_forward":
habitat_sim.ActionSpec(
"move_forward",
habitat_sim.ActuationSpec(
amount=self.config.FORWARD_STEP_SIZE),
),
"_left":
habitat_sim.ActionSpec(
"turn_left",
habitat_sim.ActuationSpec(amount=self.config.TURN_ANGLE),
),
"_right":
habitat_sim.ActionSpec(
"turn_right",
habitat_sim.ActuationSpec(amount=self.config.TURN_ANGLE),
),
}
def test_pyrobot_noisy_actions(noise_multiplier, robot, controller):
np.random.seed(0)
scene_graph = hsim.SceneGraph()
agent_config = habitat_sim.AgentConfiguration()
agent_config.action_space = dict(
noisy_move_backward=habitat_sim.ActionSpec(
"pyrobot_noisy_move_backward",
habitat_sim.PyRobotNoisyActuationSpec(
amount=1.0,
robot=robot,
controller=controller,
noise_multiplier=noise_multiplier,
),
),
noisy_move_forward=habitat_sim.ActionSpec(
"pyrobot_noisy_move_forward",
habitat_sim.PyRobotNoisyActuationSpec(
amount=1.0,
robot=robot,
controller=controller,
noise_multiplier=noise_multiplier,
),
),
noisy_turn_left=habitat_sim.ActionSpec(
"pyrobot_noisy_turn_left",
habitat_sim.PyRobotNoisyActuationSpec(
amount=90.0,
robot=robot,
controller=controller,
noise_multiplier=noise_multiplier,
),
),
noisy_turn_right=habitat_sim.ActionSpec(
"pyrobot_noisy_turn_right",
habitat_sim.PyRobotNoisyActuationSpec(
amount=90.0,
robot=robot,
controller=controller,
noise_multiplier=noise_multiplier,
),
),
move_backward=habitat_sim.ActionSpec(
"move_backward", habitat_sim.ActuationSpec(amount=1.0)),
move_forward=habitat_sim.ActionSpec(
"move_forward", habitat_sim.ActuationSpec(amount=1.0)),
turn_left=habitat_sim.ActionSpec(
"turn_left", habitat_sim.ActuationSpec(amount=90.0)),
turn_right=habitat_sim.ActionSpec(
"turn_right", habitat_sim.ActuationSpec(amount=90.0)),
)
agent = habitat_sim.Agent(scene_graph.get_root_node().create_child(),
agent_config)
for base_action in {
act.replace("noisy_", "")
for act in agent_config.action_space
}:
state = agent.state
state.rotation = np.quaternion(1, 0, 0, 0)
agent.state = state
agent.act(base_action)
base_state = agent.state
delta_translations = []
delta_rotations = []
for _ in range(300):
agent.state = state
agent.act(f"noisy_{base_action}")
noisy_state = agent.state
delta_translations.append(
_delta_translation(base_state, noisy_state))
delta_rotations.append(_delta_rotation(base_state, noisy_state))
delta_translations_arr = np.stack(delta_translations)
delta_rotations_arr = np.stack(delta_rotations)
if "move" in base_action:
noise_model = pyrobot_noise_models[robot][controller].linear_motion
else:
noise_model = pyrobot_noise_models[robot][
controller].rotational_motion
EPS = 5e-2
assert (np.linalg.norm(noise_model.linear.mean * noise_multiplier -
np.abs(delta_translations_arr.mean(0))) < EPS)
assert (np.linalg.norm(noise_model.rotation.mean * noise_multiplier -
np.abs(delta_rotations_arr.mean(0))) < EPS)
assert (np.linalg.norm(noise_model.linear.cov * noise_multiplier -
np.diag(delta_translations_arr.std(0)**2)) <
EPS)
assert (np.linalg.norm(noise_model.rotation.cov * noise_multiplier -
(delta_rotations_arr.std(0)**2)) < EPS)
def make_cfg(self, settings):
sim_cfg = habitat_sim.SimulatorConfiguration()
sim_cfg.gpu_device_id = 0
sim_cfg.scene.id = settings["scene"]
# Note: all sensors must have the same resolution
sensors = {
"color_sensor": {
"sensor_type": habitat_sim.SensorType.COLOR,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"depth_sensor": {
"sensor_type": habitat_sim.SensorType.DEPTH,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"semantic_sensor": {
"sensor_type": habitat_sim.SensorType.SEMANTIC,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
}
sensor_specs = []
for sensor_uuid, sensor_params in sensors.items():
if settings[sensor_uuid]:
sensor_spec = habitat_sim.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_specs.append(sensor_spec)
# Here you can specify the amount of displacement in a forward action and the turn angle
agent_cfg = habitat_sim.agent.AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
agent_cfg.action_space = {
"do_nothing":
habitat_sim.agent.ActionSpec(
"move_forward", habitat_sim.agent.ActuationSpec(amount=0.)),
"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=self.rot_interval)),
"turn_right":
habitat_sim.agent.ActionSpec(
"turn_right",
habitat_sim.agent.ActuationSpec(amount=self.rot_interval)),
"look_up":
habitat_sim.ActionSpec(
"look_up",
habitat_sim.ActuationSpec(amount=self.rot_interval)),
"look_down":
habitat_sim.ActionSpec(
"look_down",
habitat_sim.ActuationSpec(amount=self.rot_interval)),
"look_down_init":
habitat_sim.ActionSpec("look_down",
habitat_sim.ActuationSpec(amount=100.0))
}
return habitat_sim.Configuration(sim_cfg, [agent_cfg])
def create_sim_config(
self, _sensor_suite: SensorSuite) -> habitat_sim.Configuration:
sim_config = habitat_sim.SimulatorConfiguration()
sim_config.scene.id = self.config.SCENE
sim_config.gpu_device_id = self.config.HABITAT_SIM_V0.GPU_DEVICE_ID
agent_config = habitat_sim.AgentConfiguration()
overwrite_config(config_from=self._get_agent_config(),
config_to=agent_config)
sensor_specifications = []
for sensor in _sensor_suite.sensors.values():
sim_sensor_cfg = habitat_sim.SensorSpec()
sim_sensor_cfg.uuid = sensor.uuid
sim_sensor_cfg.resolution = list(
sensor.observation_space.shape[:2])
sim_sensor_cfg.parameters["hfov"] = str(sensor.config.HFOV)
sim_sensor_cfg.position = sensor.config.POSITION
# TODO(maksymets): Add configure method to Sensor API to avoid
# accessing child attributes through parent interface
sim_sensor_cfg.sensor_type = sensor.sim_sensor_type # type: ignore
sensor_specifications.append(sim_sensor_cfg)
# If there is no sensors specified create a dummy sensor so simulator
# won't throw an error
if not _sensor_suite.sensors.values():
sim_sensor_cfg = habitat_sim.SensorSpec()
sim_sensor_cfg.resolution = [1, 1]
sensor_specifications.append(sim_sensor_cfg)
agent_config.sensor_specifications = sensor_specifications
agent_config.action_space = {
SimulatorActions.STOP.value:
habitat_sim.ActionSpec("stop"),
SimulatorActions.MOVE_FORWARD.value:
habitat_sim.ActionSpec(
"move_forward",
habitat_sim.ActuationSpec(
amount=self.config.FORWARD_STEP_SIZE),
),
SimulatorActions.TURN_LEFT.value:
habitat_sim.ActionSpec(
"turn_left",
habitat_sim.ActuationSpec(amount=self.config.TURN_ANGLE),
),
SimulatorActions.TURN_RIGHT.value:
habitat_sim.ActionSpec(
"turn_right",
habitat_sim.ActuationSpec(amount=self.config.TURN_ANGLE),
),
SimulatorActions.LOOK_UP.value:
habitat_sim.ActionSpec(
"look_up",
habitat_sim.ActuationSpec(amount=self.config.TILT_ANGLE),
),
SimulatorActions.LOOK_DOWN.value:
habitat_sim.ActionSpec(
"look_down",
habitat_sim.ActuationSpec(amount=self.config.TILT_ANGLE),
),
}
return habitat_sim.Configuration(sim_config, [agent_config])