def _generate_fn(scene):
cfg = habitat.get_config()
cfg.defrost()
cfg.SIMULATOR.SCENE = scene
cfg.SIMULATOR.AGENT_0.SENSORS = []
cfg.freeze()
sim = habitat.sims.make_sim("Sim-v0", config=cfg.SIMULATOR)
dset = habitat.datasets.make_dataset("PointNav-v1")
dset.episodes = list(
generate_pointnav_episode(
sim, NUM_EPISODES_PER_SCENE, is_gen_shortest_path=False
)
)
for ep in dset.episodes:
ep.scene_id = ep.scene_id[len("./data/scene_datasets/") :]
scene_key = scene.split("/")[-1].split(".")[0]
out_file = (
f"./data/datasets/pointnav/gibson/v2/train_large/content/"
f"{scene_key}.json.gz"
)
os.makedirs(osp.dirname(out_file), exist_ok=True)
with gzip.open(out_file, "wt") as f:
f.write(dset.to_json())
def test_pointnav_episode_generator():
config = get_config(CFG_TEST)
config.defrost()
config.DATASET.SPLIT = "val"
config.ENVIRONMENT.MAX_EPISODE_STEPS = 500
config.freeze()
if not PointNavDatasetV1.check_config_paths_exist(config.DATASET):
pytest.skip("Test skipped as dataset files are missing.")
with habitat.Env(config) as env:
env.seed(config.SEED)
random.seed(config.SEED)
generator = pointnav_generator.generate_pointnav_episode(
sim=env.sim,
shortest_path_success_distance=config.TASK.SUCCESS_DISTANCE,
shortest_path_max_steps=config.ENVIRONMENT.MAX_EPISODE_STEPS,
)
episodes = []
for i in range(NUM_EPISODES):
episode = next(generator)
episodes.append(episode)
for episode in pointnav_generator.generate_pointnav_episode(
sim=env.sim,
num_episodes=NUM_EPISODES,
shortest_path_success_distance=config.TASK.SUCCESS_DISTANCE,
shortest_path_max_steps=config.ENVIRONMENT.MAX_EPISODE_STEPS,
geodesic_to_euclid_min_ratio=0,
):
episodes.append(episode)
assert len(episodes) == 2 * NUM_EPISODES
env.episode_iterator = iter(episodes)
for episode in episodes:
check_shortest_path(env, episode)
dataset = habitat.Dataset()
dataset.episodes = episodes
assert (
dataset.to_json()
), "Generated episodes aren't json serializable."
def generate_pointnav_dataset(config, num_episodes):
sim = make_sim(id_sim=config.SIMULATOR.TYPE, config=config.SIMULATOR)
sim.seed(config.SEED)
random.seed(config.SEED)
generator = pointnav_generator.generate_pointnav_episode(
sim=sim,
shortest_path_success_distance=config.TASK.SUCCESS_DISTANCE,
shortest_path_max_steps=config.ENVIRONMENT.MAX_EPISODE_STEPS,
)
episodes = []
for i in range(num_episodes):
print(f"Generating episode {i+1}/{num_episodes}")
episode = next(generator)
episodes.append(episode)
dataset = habitat.Dataset()
dataset.episodes = episodes
return dataset
def _generate_fn(scene):
cfg = habitat.get_config()
cfg.defrost()
cfg.SIMULATOR.SCENE = scene
cfg.SIMULATOR.AGENT_0.SENSORS = []
cfg.freeze()
sim = habitat.sims.make_sim("Sim-v0", config=cfg.SIMULATOR)
dset = habitat.datasets.make_dataset("PointNav-v1")
print(vars(dset))
dset.episodes = list(
generate_pointnav_episode(sim,
num_episodes_per_scene,
is_gen_shortest_path=False))
for ep in dset.episodes:
ep.scene_id = ep.scene_id[len("./data/scene_datasets/"):]
scene_key = osp.basename(osp.dirname(osp.dirname(scene)))
out_file = f"./data/datasets/pointnav/gibson/v1/all/content/{scene_key}.json.gz"
os.makedirs(osp.dirname(out_file), exist_ok=True)
with gzip.open(out_file, "wt") as f:
f.write(dset.to_json())