def _config_sim(self, scene_filepath, img_size):
settings = {
"width": img_size[1], # Spatial resolution of the observations
"height": img_size[0],
"scene": scene_filepath, # Scene path
"default_agent": 0,
"sensor_height": 1.5, # Height of sensors in meters
"color_sensor": True, # RGBA sensor
"semantic_sensor": True, # Semantic sensor
"depth_sensor": True, # Depth sensor
"silent": True,
}
sim_cfg = hsim.SimulatorConfiguration()
sim_cfg.enable_physics = False
sim_cfg.gpu_device_id = 0
sim_cfg.scene_id = settings["scene"]
# define default sensor parameters (see src/esp/Sensor/Sensor.h)
sensor_specs = []
if settings["color_sensor"]:
color_sensor_spec = habitat_sim.CameraSensorSpec()
color_sensor_spec.uuid = "color_sensor"
color_sensor_spec.sensor_type = habitat_sim.SensorType.COLOR
color_sensor_spec.resolution = [
settings["height"], settings["width"]
]
color_sensor_spec.postition = [0.0, settings["sensor_height"], 0.0]
color_sensor_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
sensor_specs.append(color_sensor_spec)
if settings["depth_sensor"]:
depth_sensor_spec = habitat_sim.CameraSensorSpec()
depth_sensor_spec.uuid = "depth_sensor"
depth_sensor_spec.sensor_type = habitat_sim.SensorType.DEPTH
depth_sensor_spec.resolution = [
settings["height"], settings["width"]
]
depth_sensor_spec.postition = [0.0, settings["sensor_height"], 0.0]
depth_sensor_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
sensor_specs.append(depth_sensor_spec)
if settings["semantic_sensor"]:
semantic_sensor_spec = habitat_sim.CameraSensorSpec()
semantic_sensor_spec.uuid = "semantic_sensor"
semantic_sensor_spec.sensor_type = habitat_sim.SensorType.SEMANTIC
semantic_sensor_spec.resolution = [
settings["height"], settings["width"]
]
semantic_sensor_spec.postition = [
0.0, settings["sensor_height"], 0.0
]
semantic_sensor_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
sensor_specs.append(semantic_sensor_spec)
# create agent specifications
agent_cfg = AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
return habitat_sim.Configuration(sim_cfg, [agent_cfg])
def _config_sim(self, scene_filepath, img_size):
settings = {
"width": img_size[1], # Spatial resolution of the observations
"height": img_size[0],
"scene": scene_filepath, # Scene path
"default_agent": 0,
"sensor_height": 1.5, # Height of sensors in meters
"color_sensor": True, # RGBA sensor
"semantic_sensor": True, # Semantic sensor
"depth_sensor": True, # Depth sensor
"silent": True,
}
sim_cfg = hsim.SimulatorConfiguration()
sim_cfg.enable_physics = False
sim_cfg.gpu_device_id = 0
sim_cfg.scene.id = settings["scene"]
# define default sensor parameters (see src/esp/Sensor/Sensor.h)
sensors = {
"color_sensor": { # active if sim_settings["color_sensor"]
"sensor_type": hsim.SensorType.COLOR,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"depth_sensor": { # active if sim_settings["depth_sensor"]
"sensor_type": hsim.SensorType.DEPTH,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
"semantic_sensor": { # active if sim_settings["semantic_sensor"]
"sensor_type": hsim.SensorType.SEMANTIC,
"resolution": [settings["height"], settings["width"]],
"position": [0.0, settings["sensor_height"], 0.0],
},
}
# create sensor specifications
sensor_specs = []
for sensor_uuid, sensor_params in sensors.items():
if settings[sensor_uuid]:
sensor_spec = hsim.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_spec.gpu2gpu_transfer = False
sensor_specs.append(sensor_spec)
# create agent specifications
agent_cfg = AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
return habitat_sim.Configuration(sim_cfg, [agent_cfg])
def _config_pathfinder(self, config: Configuration) -> None:
if "navmesh" in config.sim_cfg.scene.filepaths:
navmesh_filenname = config.sim_cfg.scene.filepaths["navmesh"]
else:
scene_basename = osp.basename(config.sim_cfg.scene.id)
# "mesh.ply" is identified as a replica model, whose navmesh
# is named as "mesh_semantic.navmesh" and is placed in the
# subfolder called "habitat" (a level deeper than the "mesh.ply")
if scene_basename == "mesh.ply":
scene_dir = osp.dirname(config.sim_cfg.scene.id)
navmesh_filenname = osp.join(
scene_dir, "habitat", "mesh_semantic.navmesh"
)
else:
navmesh_filenname = (
osp.splitext(config.sim_cfg.scene.id)[0] + ".navmesh"
)
self.pathfinder = PathFinder()
if osp.exists(navmesh_filenname):
self.pathfinder.load_nav_mesh(navmesh_filenname)
logger.info(f"Loaded navmesh {navmesh_filenname}")
else:
logger.warning(
f"Could not find navmesh {navmesh_filenname}, no collision checking will be done"
)
agent_legacy_config = AgentConfiguration()
default_agent_config = config.agents[config.sim_cfg.default_agent_id]
if not np.isclose(
agent_legacy_config.radius, default_agent_config.radius
) or not np.isclose(agent_legacy_config.height, default_agent_config.height):
logger.info(
f"Recomputing navmesh for agent's height {default_agent_config.height} and radius"
f" {default_agent_config.radius}."
)
navmesh_settings = NavMeshSettings()
navmesh_settings.set_defaults()
navmesh_settings.agent_radius = default_agent_config.radius
navmesh_settings.agent_height = default_agent_config.height
self.recompute_navmesh(self.pathfinder, navmesh_settings)
self.pathfinder.seed(config.sim_cfg.random_seed)