Removing Habitat v1 style actions and move to v2 style

examples/new_actions.py

@@ -12,169 +12,132 @@
 We will use the strafe action outline in the habitat_sim example
 """
 
-import attr
+from dataclasses import dataclass
+
+import magnum as mn
 import numpy as np
 
 import habitat
-import habitat_sim
 from habitat.config.default_structured_configs import ActionConfig
-from habitat.sims.habitat_simulator.actions import (
-    HabitatSimActions,
-    HabitatSimV1ActionSpaceConfiguration,
-)
 from habitat.tasks.nav.nav import SimulatorTaskAction
 
 
-@attr.s(auto_attribs=True, slots=True)
-class NoisyStrafeActuationSpec:
-    move_amount: float
-    # Classic strafing is to move perpendicular (90 deg) to the forward direction
-    strafe_angle: float = 90.0
-    noise_amount: float = 0.05
+# This is the configuration for our action.
+@dataclass
+class StrafeActionConfig(ActionConfig):
+    move_amount: float = 0.0  # We will change this in the configuration
+    noise_amount: float = 0.0
 
 
-def _strafe_impl(
-    scene_node: habitat_sim.SceneNode,
+# This is a helper that implements strafing that we will use in our actions
+def _strafe_body(
+    sim,
     move_amount: float,
-    strafe_angle: float,
+    strafe_angle_degrees: float,
     noise_amount: float,
 ):
-    forward_ax = (
-        np.array(scene_node.absolute_transformation().rotation_scaling())
-        @ habitat_sim.geo.FRONT
+    # Get the state of the agent
+    agent_state = sim.get_agent_state()
+    # Convert from np.quaternion (quaternion.quaternion) to mn.Quaternion
+    normalized_quaternion = agent_state.rotation
+    agent_mn_quat = mn.Quaternion(
+        normalized_quaternion.imag, normalized_quaternion.real
     )
-    strafe_angle = np.deg2rad(strafe_angle)
+    forward = agent_mn_quat.transform_vector(-mn.Vector3.z_axis())
+    strafe_angle = np.deg2rad(strafe_angle_degrees)
     strafe_angle = np.random.uniform(
         (1 - noise_amount) * strafe_angle, (1 + noise_amount) * strafe_angle
     )
-
-    rotation = habitat_sim.utils.quat_from_angle_axis(
-        strafe_angle, habitat_sim.geo.UP
-    )
-    move_ax = habitat_sim.utils.quat_rotate_vector(rotation, forward_ax)
-
+    strafe_angle = mn.Rad(strafe_angle)
+    rotation = mn.Quaternion.rotation(strafe_angle, mn.Vector3.y_axis())
     move_amount = np.random.uniform(
         (1 - noise_amount) * move_amount, (1 + noise_amount) * move_amount
     )
-    scene_node.translate_local(move_ax * move_amount)
-
-
-@habitat_sim.registry.register_move_fn(body_action=True)
-class NoisyStrafeLeft(habitat_sim.SceneNodeControl):
-    def __call__(
-        self,
-        scene_node: habitat_sim.SceneNode,
-        actuation_spec: NoisyStrafeActuationSpec,
-    ):
-        print(f"strafing left with noise_amount={actuation_spec.noise_amount}")
-        _strafe_impl(
-            scene_node,
-            actuation_spec.move_amount,
-            actuation_spec.strafe_angle,
-            actuation_spec.noise_amount,
-        )
-
-
-@habitat_sim.registry.register_move_fn(body_action=True)
-class NoisyStrafeRight(habitat_sim.SceneNodeControl):
-    def __call__(
-        self,
-        scene_node: habitat_sim.SceneNode,
-        actuation_spec: NoisyStrafeActuationSpec,
-    ):
-        print(
-            f"strafing right with noise_amount={actuation_spec.noise_amount}"
-        )
-        _strafe_impl(
-            scene_node,
-            actuation_spec.move_amount,
-            -actuation_spec.strafe_angle,
-            actuation_spec.noise_amount,
-        )
-
-
-@habitat.registry.register_action_space_configuration
-class NoNoiseStrafe(HabitatSimV1ActionSpaceConfiguration):
-    def get(self):
-        config = super().get()
-
-        config[HabitatSimActions.STRAFE_LEFT] = habitat_sim.ActionSpec(
-            "noisy_strafe_left",
-            NoisyStrafeActuationSpec(0.25, noise_amount=0.0),
-        )
-        config[HabitatSimActions.STRAFE_RIGHT] = habitat_sim.ActionSpec(
-            "noisy_strafe_right",
-            NoisyStrafeActuationSpec(0.25, noise_amount=0.0),
-        )
-
-        return config
-
-
-@habitat.registry.register_action_space_configuration
-class NoiseStrafe(HabitatSimV1ActionSpaceConfiguration):
-    def get(self):
-        config = super().get()
-
-        config[HabitatSimActions.STRAFE_LEFT] = habitat_sim.ActionSpec(
-            "noisy_strafe_left",
-            NoisyStrafeActuationSpec(0.25, noise_amount=0.05),
-        )
-        config[HabitatSimActions.STRAFE_RIGHT] = habitat_sim.ActionSpec(
-            "noisy_strafe_right",
-            NoisyStrafeActuationSpec(0.25, noise_amount=0.05),
-        )
-
-        return config
+    delta_position = rotation.transform_vector(forward) * move_amount
+    final_position = sim.pathfinder.try_step(  # type: ignore
+        agent_state.position, agent_state.position + delta_position
+    )
+    sim.set_agent_state(
+        final_position,
+        [*rotation.vector, rotation.scalar],
+        reset_sensors=False,
+    )
 
 
+# We define and register our actions as follows.
+# the __init__ method receives a sim and config argument.
 @habitat.registry.register_task_action
 class StrafeLeft(SimulatorTaskAction):
+    def __init__(self, *args, config, sim, **kwargs):
+        super().__init__(*args, config=config, sim=sim, **kwargs)
+        self._sim = sim
+        self._move_amount = config.move_amount
+        self._noise_amount = config.noise_amount
+
     def _get_uuid(self, *args, **kwargs) -> str:
         return "strafe_left"
 
     def step(self, *args, **kwargs):
-        return self._sim.step(HabitatSimActions.STRAFE_LEFT)
+        print(
+            f"Calling {self._get_uuid()} d={self._move_amount}m noise={self._noise_amount}"
+        )
+        # This is where the code for the new action goes. Here we use a
+        # helper method but you could directly modify the simulation here.
+        _strafe_body(self._sim, self._move_amount, 90, self._noise_amount)
 
 
 @habitat.registry.register_task_action
 class StrafeRight(SimulatorTaskAction):
+    def __init__(self, *args, config, sim, **kwargs):
+        super().__init__(*args, config=config, sim=sim, **kwargs)
+        self._sim = sim
+        self._move_amount = config.move_amount
+        self._noise_amount = config.noise_amount
+
     def _get_uuid(self, *args, **kwargs) -> str:
         return "strafe_right"
 
     def step(self, *args, **kwargs):
-        return self._sim.step(HabitatSimActions.STRAFE_RIGHT)
+        print(
+            f"Calling {self._get_uuid()} d={self._move_amount}m noise={self._noise_amount}"
+        )
+        _strafe_body(self._sim, self._move_amount, -90, self._noise_amount)
 
 
 def main():
-    HabitatSimActions.extend_action_space("STRAFE_LEFT")
-    HabitatSimActions.extend_action_space("STRAFE_RIGHT")
-
     config = habitat.get_config(
         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
-        config.habitat.task.actions["STRAFE_LEFT"] = ActionConfig(
-            type="StrafeLeft"
+        # Here we do it via code, but you can easily add them to a yaml config as well
+        config.habitat.task.actions["STRAFE_LEFT"] = StrafeActionConfig(
+            type="StrafeLeft",
+            move_amount=0.25,
+            noise_amount=0.0,
         )
-        config.habitat.task.actions["STRAFE_RIGHT"] = ActionConfig(
-            type="StrafeRight"
+        config.habitat.task.actions["STRAFE_RIGHT"] = StrafeActionConfig(
+            type="StrafeRight",
+            move_amount=0.25,
+            noise_amount=0.0,
+        )
+        config.habitat.task.actions["NOISY_STRAFE_LEFT"] = StrafeActionConfig(
+            type="StrafeLeft",
+            move_amount=0.25,
+            noise_amount=0.05,  # We add some noise to the configuration here
+        )
+        config.habitat.task.actions["NOISY_STRAFE_RIGHT"] = StrafeActionConfig(
+            type="StrafeRight",
+            move_amount=0.25,
+            noise_amount=0.05,  # We add some noise to the configuration here
         )
-
-        config.habitat.simulator.action_space_config = "NoNoiseStrafe"
-
-    with habitat.Env(config=config) as env:
-        env.reset()
-        env.step("STRAFE_LEFT")
-        env.step("STRAFE_RIGHT")
-
-    with habitat.config.read_write(config):
-        config.habitat.simulator.action_space_config = "NoiseStrafe"
 
     with habitat.Env(config=config) as env:
         env.reset()
         env.step("STRAFE_LEFT")
         env.step("STRAFE_RIGHT")
+        env.step("NOISY_STRAFE_LEFT")
+        env.step("NOISY_STRAFE_RIGHT")
 
 
 if __name__ == "__main__":

examples/tutorials/colabs/Habitat2_Quickstart.ipynb

@@ -489,7 +489,6 @@
     "    additional_object_paths:\n",
     "      - \"data/objects/ycb/configs/\"\n",
     "    debug_render: False\n",
-    "    action_space_config: v0\n",
     "    concur_render: False\n",
     "    auto_sleep: False\n",
     "    agents:\n",
@@ -510,7 +509,6 @@
     "    # ARM_REST: [0.6, 0.0, 0.9]\n",
     "    ctrl_freq: 120.0\n",
     "    ac_freq_ratio: 4\n",
-    "    forward_step_size: 0.25\n",
     "\n",
     "    # Grasping\n",
     "    hold_thresh: 0.09\n",

examples/tutorials/nb_python/Habitat2_Quickstart.py

@@ -435,7 +435,6 @@ class NavPickSuccessMeasurementConfig(MeasurementConfig):
     additional_object_paths:
       - "data/objects/ycb/configs/"
     debug_render: False
-    action_space_config: v0
     concur_render: False
     auto_sleep: False
     agents:
@@ -456,7 +455,6 @@ class NavPickSuccessMeasurementConfig(MeasurementConfig):
     # ARM_REST: [0.6, 0.0, 0.9]
     ctrl_freq: 120.0
     ac_freq_ratio: 4
-    forward_step_size: 0.25
 
     # Grasping
     hold_thresh: 0.09

habitat-lab/habitat/config/CONFIG_KEYS.md

@@ -84,8 +84,8 @@ defaults:
 | habitat.task.actions.move_forward |     In Navigation tasks only, this discrete action will move the robot forward by a fixed amount determined by the `habitat.simulator.forward_step_size` amount. |
 | habitat.task.actions.turn_left |     In Navigation tasks only, this discrete action will rotate the robot to the left  by a fixed amount determined by the `habitat.simulator.turn_angle` amount. |
 | habitat.task.actions.turn_right |     In Navigation tasks only, this discrete action will rotate the robot to the right by a fixed amount determined by the `habitat.simulator.turn_angle` amount. |
-| habitat.task.actions.look_up |      In Navigation tasks only, this discrete action will rotate the robot's camera up by a fixed amount determined by the `habitat.simulator.tilt_angle` amount. |
-| habitat.task.actions.look_down |      In Navigation tasks only, this discrete action will rotate the robot's camera down by a fixed amount determined by the `habitat.simulator.tilt_angle` amount. |
+| habitat.task.actions.look_up |      In Navigation tasks only, this discrete action will rotate the robot's camera up by a fixed amount determined by the `tilt_angle` amount of the look_up action. |
+| habitat.task.actions.look_down |      In Navigation tasks only, this discrete action will rotate the robot's camera down by a fixed amount determined by the `tilt_angle` amount  of the look_down action. |
 
 ## Navigation Measures
 A measure is a way to collect data about the environment at each step that is not sensor information. Measures can contain privileged information for the user (like a top down map) or for training (like rewards).

habitat-lab/habitat/config/README.md

@@ -119,9 +119,8 @@ habitat:
       step_repetition_range: 0.2
   simulator:
     type: Sim-v0
-    action_space_config: v0
-    action_space_config_arguments: {}
     forward_step_size: 0.25
+    turn_angle: 10
     create_renderer: false
     requires_textures: true
     lag_observations: 0
@@ -134,8 +133,6 @@ habitat:
     scene_dataset: default
     additional_object_paths: []
     seed: ${habitat.seed}
-    turn_angle: 10
-    tilt_angle: 15
     default_agent_id: 0
     debug_render: false
     debug_render_robot: false
@@ -274,8 +271,10 @@ habitat:
         type: MoveForwardAction
       turn_left:
         type: TurnLeftAction
+        turn_angle: 10
       turn_right:
         type: TurnRightAction
+        turn_angle: 10
   dataset:
     type: PointNav-v1
     split: train

habitat-lab/habitat/config/benchmark/nav/instance_imagenav/instance_imagenav_hm3d_v1.yaml

@@ -12,8 +12,6 @@ habitat:
     max_episode_steps: 1000
   simulator:
     turn_angle: 30
-    tilt_angle: 30
-    action_space_config: v1
     agents:
       main_agent:
         sim_sensors:

habitat-lab/habitat/config/benchmark/nav/instance_imagenav/instance_imagenav_hm3d_v2.yaml

@@ -12,8 +12,6 @@ habitat:
     max_episode_steps: 1000
   simulator:
     turn_angle: 30
-    tilt_angle: 30
-    action_space_config: v1
     agents:
       main_agent:
         sim_sensors:

habitat-lab/habitat/config/benchmark/nav/objectnav/objectnav_hm3d.yaml

@@ -10,11 +10,8 @@ defaults:
 habitat:
   environment:
     max_episode_steps: 500
-
   simulator:
     turn_angle: 30
-    tilt_angle: 30
-    action_space_config: "v1"
     agents:
       main_agent:
         sim_sensors:

habitat-lab/habitat/config/benchmark/nav/objectnav/objectnav_hm3d_with_semantic.yaml

@@ -10,11 +10,8 @@ defaults:
 habitat:
   environment:
     max_episode_steps: 500
-
   simulator:
     turn_angle: 30
-    tilt_angle: 30
-    action_space_config: "v1"
     agents:
       main_agent:
         sim_sensors:

habitat-lab/habitat/config/benchmark/nav/objectnav/objectnav_mp3d.yaml

@@ -13,8 +13,6 @@ habitat:
 
   simulator:
     turn_angle: 30
-    tilt_angle: 30
-    action_space_config: "v1"
     agents:
       main_agent:
         sim_sensors:

habitat-lab/habitat/config/benchmark/nav/objectnav/objectnav_mp3d_with_semantic.yaml

@@ -10,11 +10,8 @@ defaults:
 habitat:
   environment:
     max_episode_steps: 500
-
   simulator:
     turn_angle: 30
-    tilt_angle: 30
-    action_space_config: "v1"
     agents:
       main_agent:
         sim_sensors: