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Make_cfg refactoring in examples/tutorial/ #1924

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Make_cfg refactoring in examples/tutorial/ #1924

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556e8a4
refactor assert_viewer
Nov 1, 2022
14fde13
refactoring replicaCAD
Nov 2, 2022
cbbca98
refactoring advanced features
Nov 2, 2022
413e72d
refactoring navigation
Nov 2, 2022
70c003c
refactoring interactivity
Nov 2, 2022
2fc3540
replicacad scene_dataset fix
Nov 2, 2022
14cf6d7
interactivity fix
Nov 2, 2022
47c8126
fix navigation config_file
Nov 2, 2022
b5dd880
i forgot orientation
Nov 2, 2022
49d9fb8
dict of dicts
Nov 8, 2022
1c1e9e8
dict of dicts
Nov 8, 2022
ced1280
dict of dicts
Nov 8, 2022
71280a7
fix failing tests
Nov 8, 2022
510e980
refactor assert_viewer
Nov 1, 2022
13864fb
refactoring replicaCAD
Nov 2, 2022
3361707
refactoring advanced features
Nov 2, 2022
7c7d599
refactoring navigation
Nov 2, 2022
fadda70
refactoring interactivity
Nov 2, 2022
b1c1700
replicacad scene_dataset fix
Nov 2, 2022
098c976
interactivity fix
Nov 2, 2022
7a47f44
fix navigation config_file
Nov 2, 2022
3aaab21
Merge branch 'refactoring' of https://github.com/facebookresearch/hab…
Nov 8, 2022
5214e49
updating examples
Nov 8, 2022
59ada47
final one
Nov 8, 2022
f6ef200
fixing sensors
Nov 8, 2022
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10 changes: 5 additions & 5 deletions examples/demo_runner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -258,13 +258,12 @@ def do_time_steps(self):
# get simulation step time without sensor observations
total_sim_step_time += self._sim._previous_step_time

sensor_uuids = [sensor["uuid"] for sensor in self._sim_settings["sensors"]]
if self._sim_settings["save_png"]:
if "color_sensor" in sensor_uuids:
if "color_sensor" in self._sim_settings["sensors"]:
self.save_color_observation(observations, total_frames)
if "depth_sensor" in sensor_uuids:
if "depth_sensor" in self._sim_settings["sensors"]:
self.save_depth_observation(observations, total_frames)
if "semantic_sensor" in sensor_uuids:
if "semantic_sensor" in self._sim_settings["sensors"]:
self.save_semantic_observation(observations, total_frames)

state = self._sim.last_state()
Expand All @@ -284,7 +283,7 @@ def do_time_steps(self):
print("len(action_path)", len(self._action_path))

if (
"semantic_sensor" in sensor_uuids
"semantic_sensor" in self._sim_settings["sensors"]
and self._sim_settings["print_semantic_mask_stats"]
):
self.output_semantic_mask_stats(observations, total_frames)
Expand Down Expand Up @@ -410,6 +409,7 @@ def benchmark(self, settings, group_id=ABTestGroup.CONTROL):

def example(self):
start_state = self.init_common()

# initialize and compute shortest path to goal
if self._sim_settings["compute_shortest_path"]:
self._shortest_path = ShortestPath()
Expand Down
27 changes: 9 additions & 18 deletions examples/example.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,26 +57,17 @@ def make_settings():

settings["sensors"] = []
if not args.disable_color_sensor:
settings["sensors"].append(
{
"uuid": "color_sensor",
"position": [0, args.sensor_height, 0],
}
)
settings["sensors"]["color_sensor"] = {
"position": [0, args.sensor_height, 0],
}
if args.semantic_sensor:
settings["sensors"].append(
{
"uuid": "semantic_sensor",
"position": [0, args.sensor_height, 0],
}
)
settings["sensors"]["semantic_sensor"] = {
"position": [0, args.sensor_height, 0],
}
if args.depth_sensor:
settings["sensors"].append(
{
"uuid": "depth_sensor",
"position": [0, args.sensor_height, 0],
}
)
settings["sensors"]["depth_sensor"] = {
"position": [0, args.sensor_height, 0],
}
return settings


Expand Down
122 changes: 16 additions & 106 deletions examples/tutorials/colabs/ECCV_2020_Advanced_Features.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,7 @@
"import habitat_sim\n",
"from habitat_sim.utils import common as ut\n",
"from habitat_sim.utils import viz_utils as vut\n",
"from habitat_sim.utils.settings import default_sim_settings, make_cfg\n",
"\n",
"try:\n",
" import ipywidgets as widgets\n",
Expand Down Expand Up @@ -413,117 +414,27 @@
"# @markdown (double click to show code)\n",
"\n",
"# @markdown This cell defines a number of utility functions used throughout the tutorial to make simulator reconstruction easy:\n",
"# @markdown - make_cfg\n",
"# @markdown - make_default_settings\n",
"# @markdown - make_custom_settings\n",
"# @markdown - make_simulator_from_settings\n",
"\n",
"\n",
"def make_cfg(settings):\n",
" sim_cfg = habitat_sim.SimulatorConfiguration()\n",
" sim_cfg.gpu_device_id = 0\n",
" sim_cfg.scene_id = settings[\"scene\"]\n",
" sim_cfg.enable_physics = settings[\"enable_physics\"]\n",
" # Optional; Specify the location of an existing scene dataset configuration\n",
" # that describes the locations and configurations of all the assets to be used\n",
" if \"scene_dataset_config\" in settings:\n",
" sim_cfg.scene_dataset_config_file = settings[\"scene_dataset_config\"]\n",
"\n",
" # Note: all sensors must have the same resolution\n",
" sensor_specs = []\n",
" if settings[\"color_sensor_1st_person\"]:\n",
" color_sensor_1st_person_spec = habitat_sim.CameraSensorSpec()\n",
" color_sensor_1st_person_spec.uuid = \"color_sensor_1st_person\"\n",
" color_sensor_1st_person_spec.sensor_type = habitat_sim.SensorType.COLOR\n",
" color_sensor_1st_person_spec.resolution = [\n",
" settings[\"height\"],\n",
" settings[\"width\"],\n",
" ]\n",
" color_sensor_1st_person_spec.position = [0.0, settings[\"sensor_height\"], 0.0]\n",
" color_sensor_1st_person_spec.orientation = [\n",
" settings[\"sensor_pitch\"],\n",
" 0.0,\n",
" 0.0,\n",
" ]\n",
" color_sensor_1st_person_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE\n",
" sensor_specs.append(color_sensor_1st_person_spec)\n",
" if settings[\"depth_sensor_1st_person\"]:\n",
" depth_sensor_1st_person_spec = habitat_sim.CameraSensorSpec()\n",
" depth_sensor_1st_person_spec.uuid = \"depth_sensor_1st_person\"\n",
" depth_sensor_1st_person_spec.sensor_type = habitat_sim.SensorType.DEPTH\n",
" depth_sensor_1st_person_spec.resolution = [\n",
" settings[\"height\"],\n",
" settings[\"width\"],\n",
" ]\n",
" depth_sensor_1st_person_spec.position = [0.0, settings[\"sensor_height\"], 0.0]\n",
" depth_sensor_1st_person_spec.orientation = [\n",
" settings[\"sensor_pitch\"],\n",
" 0.0,\n",
" 0.0,\n",
" ]\n",
" depth_sensor_1st_person_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE\n",
" sensor_specs.append(depth_sensor_1st_person_spec)\n",
" if settings[\"semantic_sensor_1st_person\"]:\n",
" semantic_sensor_1st_person_spec = habitat_sim.CameraSensorSpec()\n",
" semantic_sensor_1st_person_spec.uuid = \"semantic_sensor_1st_person\"\n",
" semantic_sensor_1st_person_spec.sensor_type = habitat_sim.SensorType.SEMANTIC\n",
" semantic_sensor_1st_person_spec.resolution = [\n",
" settings[\"height\"],\n",
" settings[\"width\"],\n",
" ]\n",
" semantic_sensor_1st_person_spec.position = [\n",
" 0.0,\n",
" settings[\"sensor_height\"],\n",
" 0.0,\n",
" ]\n",
" semantic_sensor_1st_person_spec.orientation = [\n",
" settings[\"sensor_pitch\"],\n",
" 0.0,\n",
" 0.0,\n",
" ]\n",
" semantic_sensor_1st_person_spec.sensor_subtype = (\n",
" habitat_sim.SensorSubType.PINHOLE\n",
" )\n",
" sensor_specs.append(semantic_sensor_1st_person_spec)\n",
" if settings[\"color_sensor_3rd_person\"]:\n",
" color_sensor_3rd_person_spec = habitat_sim.CameraSensorSpec()\n",
" color_sensor_3rd_person_spec.uuid = \"color_sensor_3rd_person\"\n",
" color_sensor_3rd_person_spec.sensor_type = habitat_sim.SensorType.COLOR\n",
" color_sensor_3rd_person_spec.resolution = [\n",
" settings[\"height\"],\n",
" settings[\"width\"],\n",
" ]\n",
" color_sensor_3rd_person_spec.position = [\n",
" 0.0,\n",
" settings[\"sensor_height\"] + 0.2,\n",
" 0.2,\n",
" ]\n",
" color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0, 0]\n",
" color_sensor_3rd_person_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE\n",
" sensor_specs.append(color_sensor_3rd_person_spec)\n",
"\n",
" # Here you can specify the amount of displacement in a forward action and the turn angle\n",
" agent_cfg = habitat_sim.agent.AgentConfiguration()\n",
" agent_cfg.sensor_specifications = sensor_specs\n",
"\n",
" return habitat_sim.Configuration(sim_cfg, [agent_cfg])\n",
"\n",
"\n",
"def make_default_settings():\n",
"def make_custom_settings():\n",
" settings = {\n",
" \"width\": 720, # Spatial resolution of the observations\n",
" \"height\": 544,\n",
" \"scene\": \"./data/scene_datasets/mp3d_example/17DRP5sb8fy/17DRP5sb8fy.glb\", # Scene path\n",
" \"scene_dataset\": \"./data/scene_datasets/mp3d_example/mp3d.scene_dataset_config.json\", # mp3d scene dataset\n",
" \"default_agent\": 0,\n",
" \"sensor_height\": 1.5, # Height of sensors in meters\n",
" \"sensor_pitch\": -math.pi / 8.0, # sensor pitch (x rotation in rads)\n",
" \"color_sensor_1st_person\": True, # RGB sensor\n",
" \"color_sensor_3rd_person\": False, # RGB sensor 3rd person\n",
" \"depth_sensor_1st_person\": False, # Depth sensor\n",
" \"semantic_sensor_1st_person\": False, # Semantic sensor\n",
" \"sensors\": {\n",
" \"color_sensor_1st_person\": {\n",
" \"position\": [0, 1.5, 0],\n",
" \"orientation\": [-math.pi / 8.0, 0, 0],\n",
" },\n",
" },\n",
" \"seed\": 1,\n",
" \"enable_physics\": True, # enable dynamics simulation\n",
" }\n",
" settings = {**default_sim_settings, **settings}\n",
" return settings\n",
"\n",
"\n",
Expand Down Expand Up @@ -885,9 +796,8 @@
"outputs": [],
"source": [
"# @title Initialize Simulator and Load Scene { display-mode: \"form\" }\n",
"sim_settings = make_default_settings()\n",
"sim_settings = make_custom_settings()\n",
"sim_settings[\"scene\"] = \"./data/scene_datasets/mp3d_example/17DRP5sb8fy/17DRP5sb8fy.glb\"\n",
"sim_settings[\"sensor_pitch\"] = 0\n",
"\n",
"make_simulator_from_settings(sim_settings)"
]
Expand Down Expand Up @@ -1074,10 +984,11 @@
"source": [
"# @markdown ###Configuring Object Semantic IDs:\n",
"\n",
"sim_settings = make_default_settings()\n",
"sim_settings = make_custom_settings()\n",
"sim_settings[\"scene\"] = \"./data/scene_datasets/mp3d_example/17DRP5sb8fy/17DRP5sb8fy.glb\"\n",
"sim_settings[\"sensor_pitch\"] = 0\n",
"sim_settings[\"semantic_sensor_1st_person\"] = True\n",
"sim_settings[\"sensors\"][\"semantic_sensor_1st_person\"] = {\n",
" \"sensor_type\": habitat_sim.SensorType.SEMANTIC\n",
"}\n",
"\n",
"make_simulator_from_settings(sim_settings)\n",
"\n",
Expand Down Expand Up @@ -1177,9 +1088,8 @@
"source": [
"# @title Initialize Simulator and Load Scene { display-mode: \"form\" }\n",
"# @markdown (load the apartment_1 scene for object and primitive asset customization in an open space)\n",
"sim_settings = make_default_settings()\n",
"sim_settings = make_custom_settings()\n",
"sim_settings[\"scene\"] = \"./data/scene_datasets/habitat-test-scenes/apartment_1.glb\"\n",
"sim_settings[\"sensor_pitch\"] = 0\n",
"\n",
"make_simulator_from_settings(sim_settings)\n",
"\n",
Expand Down
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