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[0.2.3][Hydra Migration] Made agents to be of type Dict[str, AgentConfig] and added migration readme #1007

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merged 14 commits into from
Nov 29, 2022
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[0.2.3][Hydra Migration] Made agents to be of type Dict[str, AgentConfig] and added migration readme #1007

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af48d72
made habitat.simulator.agents be a Dict[str, AgentConfig]
rpartsey Nov 19, 2022
c82cdb4
addressed comments
rpartsey Nov 23, 2022
b56447e
refactored sim agents configuration
rpartsey Nov 26, 2022
bf44e6d
moved rearrange agents declarations to agents folder; finised agents …
rpartsey Nov 26, 2022
5eb9ef2
updated get_config import
rpartsey Nov 27, 2022
cf0100e
Cfg sys migration readme (#2)
rpartsey Nov 28, 2022
d05b5b9
addressed most of the comments
rpartsey Nov 29, 2022
b8d32dd
added main_agent alias
rpartsey Nov 29, 2022
87fdd95
renamed habitat config reagme and added baselines config readme
rpartsey Nov 29, 2022
fcffeb3
Merge branch 'hydra_migration_3_v2' into hydra_migration_3_v2_agents_upd
rpartsey Nov 29, 2022
de5150e
Update habitat-lab/habitat/config/default.py
rpartsey Nov 29, 2022
da80fd3
added desctiption for the agents_order field
rpartsey Nov 29, 2022
66cbd8c
Merge branch 'hydra_migration_3_v2_agents_upd' of github.com:rpartsey…
rpartsey Nov 29, 2022
ce2ec58
added a dot :)
rpartsey Nov 29, 2022
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2 changes: 1 addition & 1 deletion docs/pages/habitat-lab-demo.rst
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Expand Up @@ -128,7 +128,7 @@ the config object.
config = habitat.get_config(config_paths="benchmark/nav/pointnav/pointnav_mp3d.yaml")
with read_write(config):
config.habitat.dataset.split = "val"
config.habitat.simulator.agent_0.sim_sensors.update(
config.habitat.simulator.agents.agent_0.sim_sensors.update(
{"semantic_sensor": HabitatSimSemanticSensorConfig(height=256, width=256)}
)
config.habitat.simulator.turn_angle = 30
Expand Down
8 changes: 4 additions & 4 deletions docs/pages/view-transform-warp.rst
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Expand Up @@ -31,14 +31,14 @@ validate that transformation comparing projected and original views.
config = habitat.get_config(config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml")
with read_write(config):
config.habitat.dataset.split = "val"
config.habitat.simulator.agent_0.sim_sensors.depth_sensor.normalize_depth = False
config.habitat.simulator.agents.agent_0.sim_sensors.depth_sensor.normalize_depth = False

# Intrinsic parameters, assuming width matches height. Requires a simple refactor otherwise
W = config.habitat.simulator.agent_0.sim_sensors.depth_sensor.width
H = config.habitat.simulator.agent_0.sim_sensors.depth_sensor.height
W = config.habitat.simulator.agents.agent_0.sim_sensors.depth_sensor.width
H = config.habitat.simulator.agents.agent_0.sim_sensors.depth_sensor.height

assert(W == H)
hfov = float(config.habitat.simulator.agent_0.sim_sensors.depth_sensor.hfov) * np.pi / 180.
hfov = float(config.habitat.simulator.agents.agent_0.sim_sensors.depth_sensor.hfov) * np.pi / 180.


env = habitat.Env(config=config)
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2 changes: 1 addition & 1 deletion examples/interactive_play.py
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Expand Up @@ -593,7 +593,7 @@ def has_pygame():

if not args.same_task:
sim_config.debug_render = True
sim_config.agent_0.sim_sensors.update(
sim_config.agents.agent_0.sim_sensors.update(
{
"third_rgb_sensor": ThirdRGBSensorConfig(
height=args.play_cam_res, width=args.play_cam_res
Expand Down
29 changes: 15 additions & 14 deletions examples/tutorials/colabs/Habitat2_Quickstart.ipynb
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Expand Up @@ -99,7 +99,7 @@
" # Added settings to make rendering higher resolution for better visualization\n",
" with habitat.config.read_write(config):\n",
" config.habitat.simulator.concur_render = False\n",
" config.habitat.simulator.agent_0.sim_sensors.update(\n",
" config.habitat.simulator.agents.agent_0.sim_sensors.update(\n",
" {\"third_rgb_sensor\": ThirdRGBSensorConfig(height=512, width=512)}\n",
" )\n",
" return config\n",
Expand Down Expand Up @@ -413,7 +413,7 @@
"\n",
"defaults:\n",
" - /habitat: habitat_config_base\n",
" - /agent@habitat.simulator.agent_0: agent_base\n",
" - /agent@habitat.simulator.agents.agent_0: agent_base\n",
" - /habitat/simulator/sim_sensors:\n",
" - head_rgb_sensor\n",
" - /habitat/task: task_config_base\n",
Expand Down Expand Up @@ -486,18 +486,19 @@
" action_space_config: v0\n",
" concur_render: False\n",
" auto_sleep: False\n",
" agent_0:\n",
" height: 1.5\n",
" is_set_start_state: False\n",
" radius: 0.1\n",
" sim_sensors:\n",
" head_rgb_sensor:\n",
" height: 128\n",
" width: 128\n",
" start_position: [0, 0, 0]\n",
" start_rotation: [0, 0, 0, 1]\n",
" robot_urdf: ./data/robots/hab_fetch/robots/hab_fetch.urdf\n",
" robot_type: \"FetchRobot\"\n",
" agents:\n",
" agent_0:\n",
" height: 1.5\n",
" is_set_start_state: False\n",
" radius: 0.1\n",
" sim_sensors:\n",
" head_rgb_sensor:\n",
" height: 128\n",
" width: 128\n",
" start_position: [0, 0, 0]\n",
" start_rotation: [0, 0, 0, 1]\n",
" robot_urdf: ./data/robots/hab_fetch/robots/hab_fetch.urdf\n",
" robot_type: \"FetchRobot\"\n",
"\n",
" # Agent setup\n",
" # ARM_REST: [0.6, 0.0, 0.9]\n",
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29 changes: 15 additions & 14 deletions examples/tutorials/nb_python/Habitat2_Quickstart.py
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Expand Up @@ -92,7 +92,7 @@ def insert_render_options(config):
# Added settings to make rendering higher resolution for better visualization
with habitat.config.read_write(config):
config.habitat.simulator.concur_render = False
config.habitat.simulator.agent_0.sim_sensors.update(
config.habitat.simulator.agents.agent_0.sim_sensors.update(
{"third_rgb_sensor": ThirdRGBSensorConfig(height=512, width=512)}
)
return config
Expand Down Expand Up @@ -362,7 +362,7 @@ class NavPickSuccessMeasurementConfig(MeasurementConfig):

defaults:
- /habitat: habitat_config_base
- /agent@habitat.simulator.agent_0: agent_base
- /agent@habitat.simulator.agents.agent_0: agent_base
- /habitat/simulator/sim_sensors:
- head_rgb_sensor
- /habitat/task: task_config_base
Expand Down Expand Up @@ -435,18 +435,19 @@ class NavPickSuccessMeasurementConfig(MeasurementConfig):
action_space_config: v0
concur_render: False
auto_sleep: False
agent_0:
height: 1.5
is_set_start_state: False
radius: 0.1
sim_sensors:
head_rgb_sensor:
height: 128
width: 128
start_position: [0, 0, 0]
start_rotation: [0, 0, 0, 1]
robot_urdf: ./data/robots/hab_fetch/robots/hab_fetch.urdf
robot_type: "FetchRobot"
agents:
agent_0:
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Suggested change
agent_0:
main_agent:

height: 1.5
is_set_start_state: False
radius: 0.1
sim_sensors:
head_rgb_sensor:
height: 128
width: 128
start_position: [0, 0, 0]
start_rotation: [0, 0, 0, 1]
robot_urdf: ./data/robots/hab_fetch/robots/hab_fetch.urdf
robot_type: "FetchRobot"

# Agent setup
# ARM_REST: [0.6, 0.0, 0.9]
Expand Down
5 changes: 4 additions & 1 deletion habitat-baselines/habitat_baselines/agents/slam_agents.py
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Expand Up @@ -71,7 +71,10 @@ def ResizePIL2(np_img, size=256):


def make_good_config_for_orbslam2(config):
config.habitat.simulator.agent_0.sensors = ["rgb_sensor", "depth_sensor"]
config.habitat.simulator.agents.agent_0.sensors = [
"rgb_sensor",
"depth_sensor",
]
config.habitat.simulator.rgb_sensor.width = 256
config.habitat.simulator.rgb_sensor.height = 256
config.habitat.simulator.depth_sensor.width = 256
Expand Down
2 changes: 1 addition & 1 deletion habitat-baselines/habitat_baselines/rl/ddppo/data_generation/create_gibson_large_dataset.py
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Expand Up @@ -42,7 +42,7 @@ def _generate_fn(scene):
)
with habitat.config.read_write(cfg):
cfg.habitat.simulator.scene = scene
cfg.habitat.simulator.agent_0.sensors = []
cfg.habitat.simulator.agents.agent_0.sensors = []

sim = habitat.sims.make_sim("Sim-v0", config=cfg.habitat.simulator)

Expand Down
23 changes: 12 additions & 11 deletions habitat-lab/habitat/config/benchmark/nav/eqa_mp3d.yaml
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Expand Up @@ -17,16 +17,17 @@ habitat:
max_episode_steps: 500

simulator:
agent_0:
sim_sensors:
rgb_sensor:
width: 256
height: 256
depth_sensor:
width: 256
height: 256
semantic_sensor:
width: 256
height: 256
agents:
agent_0:
sim_sensors:
rgb_sensor:
width: 256
height: 256
depth_sensor:
width: 256
height: 256
semantic_sensor:
width: 256
height: 256
habitat_sim_v0:
gpu_device_id: 0
11 changes: 6 additions & 5 deletions habitat-lab/habitat/config/benchmark/nav/eqa_rgbonly_mp3d.yaml
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Expand Up @@ -15,10 +15,11 @@ habitat:
max_episode_steps: 500

simulator:
agent_0:
sim_sensors:
rgb_sensor:
width: 256
height: 256
agents:
agent_0:
sim_sensors:
rgb_sensor:
width: 256
height: 256
habitat_sim_v0:
gpu_device_id: 0
17 changes: 9 additions & 8 deletions habitat-lab/habitat/config/benchmark/nav/imagenav/imagenav_base.yaml
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Expand Up @@ -12,11 +12,12 @@ habitat:
environment:
max_episode_steps: 1000
simulator:
agent_0:
sim_sensors:
rgb_sensor:
width: 256
height: 256
depth_sensor:
width: 256
height: 256
agents:
agent_0:
sim_sensors:
rgb_sensor:
width: 256
height: 256
depth_sensor:
width: 256
height: 256
33 changes: 17 additions & 16 deletions habitat-lab/habitat/config/benchmark/nav/instance_imagenav/instance_imagenav_hm3d.yaml
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Expand Up @@ -16,22 +16,23 @@ habitat:
turn_angle: 30
tilt_angle: 30
action_space_config: v1
agent_0:
sim_sensors:
rgb_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
depth_sensor:
width: 640
height: 480
hfov: 79
min_depth: 0.5
max_depth: 5.0
position: [0, 0.88, 0]
height: 0.88
radius: 0.18
agents:
agent_0:
sim_sensors:
rgb_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
depth_sensor:
width: 640
height: 480
hfov: 79
min_depth: 0.5
max_depth: 5.0
position: [0, 0.88, 0]
height: 0.88
radius: 0.18
habitat_sim_v0:
gpu_device_id: 0
allow_sliding: False
33 changes: 17 additions & 16 deletions habitat-lab/habitat/config/benchmark/nav/objectnav/objectnav_hm3d.yaml
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Expand Up @@ -19,22 +19,23 @@
turn_angle: 30
tilt_angle: 30
action_space_config: "v1"
agent_0:
sim_sensors:
rgb_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
depth_sensor:
width: 640
height: 480
hfov: 79
min_depth: 0.5
max_depth: 5.0
position: [0, 0.88, 0]
height: 0.88
radius: 0.18
agents:
agent_0:
sim_sensors:
rgb_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
depth_sensor:
width: 640
height: 480
hfov: 79
min_depth: 0.5
max_depth: 5.0
position: [0, 0.88, 0]
height: 0.88
radius: 0.18
habitat_sim_v0:
gpu_device_id: 0
allow_sliding: False
15 changes: 8 additions & 7 deletions habitat-lab/habitat/config/benchmark/nav/objectnav/objectnav_hm3d_with_semantic.yaml
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Expand Up @@ -10,10 +10,11 @@

habitat:
simulator:
agent_0:
sim_sensors:
semantic_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
agents:
agent_0:
sim_sensors:
semantic_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
33 changes: 17 additions & 16 deletions habitat-lab/habitat/config/benchmark/nav/objectnav/objectnav_mp3d.yaml
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Expand Up @@ -17,22 +17,23 @@
turn_angle: 30
tilt_angle: 30
action_space_config: "v1"
agent_0:
sim_sensors:
rgb_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
depth_sensor:
width: 640
height: 480
hfov: 79
min_depth: 0.5
max_depth: 5.0
position: [0, 0.88, 0]
height: 0.88
radius: 0.18
agents:
agent_0:
sim_sensors:
rgb_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
depth_sensor:
width: 640
height: 480
hfov: 79
min_depth: 0.5
max_depth: 5.0
position: [0, 0.88, 0]
height: 0.88
radius: 0.18
habitat_sim_v0:
gpu_device_id: 0
allow_sliding: False
15 changes: 8 additions & 7 deletions habitat-lab/habitat/config/benchmark/nav/objectnav/objectnav_mp3d_with_semantic.yaml
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Expand Up @@ -10,10 +10,11 @@

habitat:
simulator:
agent_0:
sim_sensors:
semantic_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
agents:
agent_0:
sim_sensors:
semantic_sensor:
width: 640
height: 480
hfov: 79
position: [0, 0.88, 0]
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