def __init__(
self,
task_config: Config,
sim: Simulator,
dataset: Optional[Dataset] = None,
) -> None:
task_measurements = []
for measurement_name in task_config.MEASUREMENTS:
measurement_cfg = getattr(task_config, measurement_name)
measure_type = registry.get_measure(measurement_cfg.TYPE)
assert (measure_type
is not None), "invalid measurement type {}".format(
measurement_cfg.TYPE)
task_measurements.append(measure_type(sim, measurement_cfg))
self.measurements = Measurements(task_measurements)
task_sensors = []
for sensor_name in task_config.SENSORS:
sensor_cfg = getattr(task_config, sensor_name)
sensor_type = registry.get_sensor(sensor_cfg.TYPE)
assert sensor_type is not None, "invalid sensor type {}".format(
sensor_cfg.TYPE)
task_sensors.append(sensor_type(sim, sensor_cfg))
self.sensor_suite = SensorSuite(task_sensors)
super().__init__(config=task_config, sim=sim, dataset=dataset)
def __init__(
self,
task_config: Config,
sim: Simulator,
dataset: Optional[Dataset] = None,
) -> None:
task_measurements = []
for measurement_name in task_config.MEASUREMENTS:
measurement_cfg = getattr(task_config, measurement_name)
is_valid_measurement = hasattr(
habitat.tasks.nav.nav_task, # type: ignore
measurement_cfg.TYPE,
)
assert is_valid_measurement, "invalid measurement type {}".format(
measurement_cfg.TYPE
)
task_measurements.append(
getattr(
habitat.tasks.nav.nav_task, # type: ignore
measurement_cfg.TYPE,
)(sim, measurement_cfg)
)
self.measurements = Measurements(task_measurements)
task_sensors = []
for sensor_name in task_config.SENSORS:
sensor_cfg = getattr(task_config, sensor_name)
is_valid_sensor = hasattr(
habitat.tasks.nav.nav_task, sensor_cfg.TYPE # type: ignore
)
assert is_valid_sensor, "invalid sensor type {}".format(
sensor_cfg.TYPE
)
task_sensors.append(
getattr(
habitat.tasks.nav.nav_task, sensor_cfg.TYPE # type: ignore
)(sim, sensor_cfg)
)
self.sensor_suite = SensorSuite(task_sensors)
super().__init__(config=task_config, sim=sim, dataset=dataset)