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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
Merged

[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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4 changes: 3 additions & 1 deletion docs/pages/habitat-lab-demo.rst
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Expand Up @@ -102,6 +102,7 @@ the config object.
import numpy as np
from PIL import Image
from habitat_sim.utils.common import d3_40_colors_rgb
from habitat.config.default import get_agent_config
from habitat.config.default_structured_configs import HabitatSimSemanticSensorConfig

def display_sample(rgb_obs, semantic_obs, depth_obs):
Expand All @@ -128,7 +129,8 @@ 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(
agent_config = get_agent_config(sim_config=config.habitat.simulator)
agent_config.sim_sensors.update(
{"semantic_sensor": HabitatSimSemanticSensorConfig(height=256, width=256)}
)
config.habitat.simulator.turn_angle = 30
Expand Down
10 changes: 6 additions & 4 deletions docs/pages/view-transform-warp.rst
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Expand Up @@ -22,6 +22,7 @@ validate that transformation comparing projected and original views.

import habitat
from habitat.config import read_write
from habitat.config.default import get_agent_config

import torch.nn.functional as F
import torch
Expand All @@ -31,14 +32,15 @@ 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
agent_config = get_agent_config(sim_config=config.habitat.simulator)
agent_config.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 = agent_config.sim_sensors.depth_sensor.width
H = agent_config.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(agent_config.sim_sensors.depth_sensor.hfov) * np.pi / 180.


env = habitat.Env(config=config)
Expand Down
4 changes: 3 additions & 1 deletion examples/interactive_play.py
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Expand Up @@ -55,6 +55,7 @@

import habitat
import habitat.tasks.rearrange.rearrange_task
from habitat.config.default import get_agent_config
from habitat.config.default_structured_configs import (
GfxReplayMeasureMeasurementConfig,
ThirdRGBSensorConfig,
Expand Down Expand Up @@ -593,7 +594,8 @@ def has_pygame():

if not args.same_task:
sim_config.debug_render = True
sim_config.agent_0.sim_sensors.update(
agent_config = get_agent_config(sim_config=sim_config)
agent_config.sim_sensors.update(
{
"third_rgb_sensor": ThirdRGBSensorConfig(
height=args.play_cam_res, width=args.play_cam_res
Expand Down
2 changes: 1 addition & 1 deletion examples/new_actions.py
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Expand Up @@ -150,7 +150,7 @@ def main():
HabitatSimActions.extend_action_space("STRAFE_RIGHT")

config = habitat.get_config(
config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
config_path="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
)
with habitat.config.read_write(config):
# Add a simple action config to the config.habitat.task.actions dictionary
Expand Down
2 changes: 1 addition & 1 deletion examples/register_new_sensors_and_measures.py
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Expand Up @@ -100,7 +100,7 @@ class AgentPositionSensorConfig(LabSensorConfig):
def main():
# Get the default config node
config = habitat.get_config(
config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
config_path="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
)
with habitat.config.read_write(config):
my_value = 5
Expand Down
2 changes: 1 addition & 1 deletion examples/shortest_path_follower_example.py
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Expand Up @@ -44,7 +44,7 @@ def draw_top_down_map(info, output_size):

def shortest_path_example():
config = habitat.get_config(
config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml",
config_path="benchmark/nav/pointnav/pointnav_habitat_test.yaml",
overrides=[
"+habitat/task/measurements@habitat.task.measurements.top_down_map=top_down_map"
],
Expand Down
34 changes: 18 additions & 16 deletions examples/tutorials/colabs/Habitat2_Quickstart.ipynb
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Expand Up @@ -19,6 +19,7 @@
"# Play a teaser video\n",
"from dataclasses import dataclass\n",
"\n",
"from habitat.config.default import get_agent_config\n",
"from habitat.config.default_structured_configs import (\n",
" MeasurementConfig,\n",
" ThirdRGBSensorConfig,\n",
Expand Down Expand Up @@ -99,7 +100,8 @@
" # 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",
" agent_config = get_agent_config(sim_config=config.habitat.simulator)\n",
" agent_config.sim_sensors.update(\n",
" {\"third_rgb_sensor\": ThirdRGBSensorConfig(height=512, width=512)}\n",
" )\n",
" return config\n",
Expand Down Expand Up @@ -413,9 +415,8 @@
"\n",
"defaults:\n",
" - /habitat: habitat_config_base\n",
" - /agent@habitat.simulator.agent_0: agent_base\n",
" - /habitat/simulator/sim_sensors:\n",
" - head_rgb_sensor\n",
" - /habitat/simulator/agents@habitat.simulator.agents.main_agent: agent_base\n",
" - /habitat/simulator/sim_sensors@habitat.simulator.agents.main_agent.sim_sensors.head_rgb_sensor: head_rgb_sensor\n",
" - /habitat/task: task_config_base\n",
" - /habitat/task/actions:\n",
" - arm_action\n",
Expand Down Expand Up @@ -486,18 +487,19 @@
" 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",
" main_agent:\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",
Expand Down
6 changes: 3 additions & 3 deletions examples/tutorials/colabs/Habitat_Lab.ipynb
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Expand Up @@ -136,7 +136,7 @@
"source": [
"if __name__ == \"__main__\":\n",
" config = habitat.get_config(\n",
" config_paths=\"./test/habitat_all_sensors_test.yaml\"\n",
" config_path=\"./test/habitat_all_sensors_test.yaml\"\n",
" )\n",
"\n",
" try:\n",
Expand Down Expand Up @@ -321,7 +321,7 @@
"source": [
"if __name__ == \"__main__\":\n",
" config = habitat.get_config(\n",
" config_paths=\"./test/habitat_all_sensors_test.yaml\"\n",
" config_path=\"./test/habitat_all_sensors_test.yaml\"\n",
" )\n",
"\n",
"\n",
Expand Down Expand Up @@ -434,7 +434,7 @@
"source": [
"if __name__ == \"__main__\":\n",
" config = habitat.get_config(\n",
" config_paths=\"./test/habitat_all_sensors_test.yaml\"\n",
" config_path=\"./test/habitat_all_sensors_test.yaml\"\n",
" )\n",
"\n",
" from habitat.config.default_structured_configs import LabSensorConfig\n",
Expand Down
34 changes: 18 additions & 16 deletions examples/tutorials/nb_python/Habitat2_Quickstart.py
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Expand Up @@ -29,6 +29,7 @@
# Play a teaser video
from dataclasses import dataclass

from habitat.config.default import get_agent_config
from habitat.config.default_structured_configs import (
MeasurementConfig,
ThirdRGBSensorConfig,
Expand Down Expand Up @@ -92,7 +93,8 @@ 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(
agent_config = get_agent_config(sim_config=config.habitat.simulator)
agent_config.sim_sensors.update(
{"third_rgb_sensor": ThirdRGBSensorConfig(height=512, width=512)}
)
return config
Expand Down Expand Up @@ -362,9 +364,8 @@ class NavPickSuccessMeasurementConfig(MeasurementConfig):

defaults:
- /habitat: habitat_config_base
- /agent@habitat.simulator.agent_0: agent_base
- /habitat/simulator/sim_sensors:
- head_rgb_sensor
- /habitat/simulator/agents@habitat.simulator.agents.main_agent: agent_base
- /habitat/simulator/sim_sensors@habitat.simulator.agents.main_agent.sim_sensors.head_rgb_sensor: head_rgb_sensor
- /habitat/task: task_config_base
- /habitat/task/actions:
- arm_action
Expand Down Expand Up @@ -435,18 +436,19 @@ 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:
main_agent:
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Okay, so why are we naming the agent with dictionary keys instead of just introducing a harmless name object to the AgentConfig? Seems like we are just complicating multiagent support. Is there a good reason to do this? Is it due to limitations in YAML? That dictionaries are easier to merge together? Can we preserve the ordering of the dictionary somehow to specify agent order?

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@Skylion007 Skylion007 Nov 29, 2022 •
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Better yet can we copy the way defaults is defined at the top fo the yaml

    agents:
        - main_agent: ...
        - agent_1: ...

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
6 changes: 3 additions & 3 deletions examples/tutorials/nb_python/Habitat_Lab.py
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Expand Up @@ -117,7 +117,7 @@ def display_sample(
# %%
if __name__ == "__main__":
config = habitat.get_config(
config_paths="./test/habitat_all_sensors_test.yaml"
config_path="./test/habitat_all_sensors_test.yaml"
)

try:
Expand Down Expand Up @@ -245,7 +245,7 @@ def display_sample(
# %%
if __name__ == "__main__":
config = habitat.get_config(
config_paths="./test/habitat_all_sensors_test.yaml"
config_path="./test/habitat_all_sensors_test.yaml"
)


Expand Down Expand Up @@ -338,7 +338,7 @@ def get_observation(self, observations, *args, episode, **kwargs):
# %%
if __name__ == "__main__":
config = habitat.get_config(
config_paths="./test/habitat_all_sensors_test.yaml"
config_path="./test/habitat_all_sensors_test.yaml"
)

from habitat.config.default_structured_configs import LabSensorConfig
Expand Down
2 changes: 1 addition & 1 deletion examples/visualization_examples.py
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Expand Up @@ -81,7 +81,7 @@ def example_pointnav_draw_target_birdseye_view_agent_on_border():

def example_get_topdown_map():
config = habitat.get_config(
config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
config_path="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
)
dataset = habitat.make_dataset(
id_dataset=config.habitat.dataset.type, config=config.habitat.dataset
Expand Down
2 changes: 1 addition & 1 deletion examples/vln_reference_path_follower_example.py
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Expand Up @@ -48,7 +48,7 @@ def reference_path_example(mode):
Args:
mode: 'geodesic_path' or 'greedy'
"""
config = habitat.get_config(config_paths="test/habitat_r2r_vln_test.yaml")
config = habitat.get_config(config_path="test/habitat_r2r_vln_test.yaml")
with habitat.config.read_write(config):
config.habitat.task.measurements.update(
{"top_down_map": TopDownMapMeasurementConfig()}
Expand Down
14 changes: 7 additions & 7 deletions habitat-baselines/habitat_baselines/agents/slam_agents.py
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Expand Up @@ -21,7 +21,7 @@
from torch.nn import functional as F

import habitat
from habitat.config.default import get_config
from habitat.config.default import get_agent_config, get_config
from habitat.sims.habitat_simulator.actions import HabitatSimActions
from habitat_baselines.config.default import get_config as cfg_baseline
from habitat_baselines.slambased.mappers import DirectDepthMapper
Expand Down Expand Up @@ -71,11 +71,11 @@ 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.rgb_sensor.width = 256
config.habitat.simulator.rgb_sensor.height = 256
config.habitat.simulator.depth_sensor.width = 256
config.habitat.simulator.depth_sensor.height = 256
agent_config = get_agent_config(config.habitat.simulator)
agent_config.sim_sensors.rgb_sensor.width = 256
agent_config.sim_sensors.rgb_sensor.height = 256
agent_config.sim_sensors.depth_sensor.width = 256
agent_config.sim_sensors.depth_sensor.height = 256
config.TRAINER.orbslam2.camera_height = (
config.habitat.simulator.depth_sensor.position[1]
)
Expand Down Expand Up @@ -614,7 +614,7 @@ def main():
agent_config = cfg_baseline()
with habitat.config.read_write(config):
config.BASELINE = agent_config.BASELINE
make_good_config_for_orbslam2(config)
make_good_config_for_orbslam2(config)

if args.agent_type == "blind":
agent = BlindAgent(config.TRAINER.orbslam2)
Expand Down
8 changes: 8 additions & 0 deletions habitat-baselines/habitat_baselines/config/README.md
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@@ -0,0 +1,8 @@
Habitat-Lab Configuration System
================================
![Habitat with Hydra](/res/img/habitat_with_hydra.png)

Habitat-Lab's and Habitat-Baselines' configuration system has been changed from [YACS](https://github.com/rbgirshick/yacs)
to [Hydra](https://hydra.cc). Please, see [habitat-lab/habitat/config/README.md](/habitat-lab/habitat/config/README.md)
to find out more about what was changed, what new functionality is enabled and explore typical examples of
how to work with configs.
46 changes: 17 additions & 29 deletions habitat-baselines/habitat_baselines/config/default.py
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Expand Up @@ -6,50 +6,38 @@

import inspect
import os.path as osp
import threading
from typing import Optional

from hydra import compose, initialize_config_dir
from omegaconf import DictConfig, OmegaConf
from omegaconf import DictConfig

from habitat.config.default import get_full_config_path
from habitat.config.default_structured_configs import (
HabitatConfigPlugin,
register_hydra_plugin,
)
from habitat.config.default import get_config as _habitat_get_config
from habitat.config.default_structured_configs import register_hydra_plugin
from habitat_baselines.config.default_structured_configs import (
HabitatBaselinesConfigPlugin,
)

_BASELINES_CFG_DIR = osp.dirname(inspect.getabsfile(inspect.currentframe()))
# Habitat baselines config directory inside the installed package.
# Used to access default predefined configs.
# This is equivalent to doing osp.dirname(osp.abspath(__file__))
DEFAULT_CONFIG_DIR = "habitat-lab/habitat/config/"
CONFIG_FILE_SEPARATOR = ","
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lock = threading.Lock()


def get_config(
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config_paths: str,
config_path: str,
overrides: Optional[list] = None,
configs_dir: str = _BASELINES_CFG_DIR,
) -> DictConfig:
register_hydra_plugin(HabitatConfigPlugin)
"""
Returns habitat_baselines config object composed of configs from yaml file (config_path) and overrides.

:param config_path: path to the yaml config file.
:param overrides: list of config overrides. For example, :py:`overrides=["habitat_baselines.trainer_name=ddppo"]`.
:param configs_dir: path to the config files root directory (defaults to :ref:`_BASELINES_CFG_DIR`).
:return: composed config object.
"""
register_hydra_plugin(HabitatBaselinesConfigPlugin)

config_path = get_full_config_path(
config_paths, default_configs_dir=_BASELINES_CFG_DIR
)
# If get_config is called from different threads, Hydra might
# get initialized twice leading to issues. This lock fixes it.
with lock, initialize_config_dir(
version_base=None,
config_dir=osp.dirname(config_path),
):
cfg = compose(
config_name=osp.basename(config_path),
overrides=overrides if overrides is not None else [],
)

OmegaConf.set_readonly(cfg, True)
cfg = _habitat_get_config(config_path, overrides, configs_dir)

return cfg
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