(Habitat)基本功能代码实现

Episode

• 以一个导航任务为例 一个episode包含场景信息 agent起始位置和角度 目标信息等信息

完成一个episode的循环步骤

1 env = habitat.Env(config=habitat.get_config("configs/tasks/pointnav.yaml"))  #初始化环境
2 observations = env.reset()      #获取环境的观察对象并重置环境
3 #create an agent
4 while not env.episode_over: #有无达到最大步骤数
    action = agent.act()              # plan规划路径
    observations = env.step(action)   #通过action更新环境的观察对象 通过measure更新action 
    
5 if (action == HabitatSimActions.STOP						#如果收到停止动作或者到达目标点
    and observations["pointgoal_with_gps_compass"][0] < 0.2
    ):

Config.yaml

• 配置文件的default都写在habitat/config/default.py

• 以pointnav.yaml为例

ENVIRONMENT:
  MAX_EPISODE_STEPS: 500             #设置最大的可执行的episode数 一般一个action执行后算一个step
SIMULATOR:							 #配置simulator
  AGENT_0:
    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR']	#设置需要用到sensor 这里是rgb图像和深度图像
  HABITAT_SIM_V0:
    GPU_DEVICE_ID: 0						#设置GPU
  RGB_SENSOR:								#设置rgb图像的大小
    WIDTH: 256
    HEIGHT: 256
  DEPTH_SENSOR:
    WIDTH: 256
    HEIGHT: 256

TASK:							# 配置Task
  TYPE: Nav-v0					# 配置为 Naigation-Task
  SUCCESS_DISTANCE: 0.2			# 判断到达goal的距离为小于等于0.2m
  SENSORS: ['POINTGOAL_WITH_GPS_COMPASS_SENSOR','POINTGOAL_SENSOR'] #设置需要用到的传感器 同上
  POINTGOAL_WITH_GPS_COMPASS_SENSOR:	#单独配置‘POINTGOAL_WITH_GPS_COMPASS_SENSOR’传感器
    GOAL_FORMAT: "POLAR"			
    DIMENSIONALITY: 2
  GOAL_SENSOR_UUID: pointgoal_with_gps_compass		#全局id 用来返回这个传感器的值
  POINTGOAL_SENSOR:
    GOAL_FORMAT: "POLAR"
    DIMENSIONALITY: 2

  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SUCCESS', 'SPL', 'TOP_DOWN_MAP'] #设置需要的measurement
  SUCCESS:
    SUCCESS_DISTANCE: 0.2

DATASET:                  #设置用到的数据集的路径
  DATA_PATH: habitat-lab/data/datasets/pointnav/habitat-test-scenes/v1/train/train.json.gz
  SCENES_DIR: habitat-lab/data/scene_datasets

自定义Measure和Sensor

• 可以参考官方提供的habitat-lab/example/register_new_sensors_and_measures.py
• 简介：采用官方接口自定义sensor（例子为返回当前agent位置）和meatures

sensor和measure的区别：

• observations：
  

  在执行下面两个语句的时候会返回变量observations,这个变量会包含config文件里面需要的sensors的输入值
  

  _env = Env(config)
  observations = _env.reset()
  observations = _env.step(action)
  

• metrics：

在执行下面语句的时候会返回一个metrics变量，里面包含config文件需要的measurements

```
metrics = _env.get_metrics()
```

具体方法：

• 继承 habitat.Measure/Sensor 类

• 重写类成员函数

  • Measure：

    # Define the measure and register it with habitatALL
    # By default, the things are registered with the class name
    @habitat.registry.register_measure   #@表示装饰器 是必要的 下同
    class EpisodeInfoExample(habitat.Measure):
        def __init__(self, sim, config, **kwargs: Any):
            # This measure only needs the config
            self._config = config
            super().__init__()
    	def _get_uuid(self, *args: Any, **kwargs: Any) -> str:
            return "episode_info"
       	# This is called whenver the environment is reset
    	def reset_metric(self, *args: Any, episode, **kwargs: Any):
        # This is called whenver an action is taken in the environment
        def update_metric(self, *args: Any, episode, action, **kwargs: Any):
    

  •     @classmethod
        def register_measure(cls, to_register=None, *, name: Optional[str] = None):
            r"""Register a measure to registry with key 'name'
    
            Args:
                name: Key with which the measure will be registered.
                    If None will use the name of the class
    
            """
            #import父类Measure
            from habitat.core.embodied_task import Measure
    		# EpisodeInfoExample（```）== cls._register_impl（```）
            return cls._register_impl(
                "measure", to_register, name, assert_type=Measure
            )
    

  • Sensor:

    # Define the sensor and register it with habitatALL
    # For the sensor, we will register it with a custom name
    @habitat.registry.register_sensor(name="my_supercool_sensor")
    class AgentPositionSensor(habitat.Sensor):
        def __init__(self, sim, config, **kwargs: Any):
            super().__init__(config=config)
            self._sim = sim
       	def _get_uuid(self, *args: Any, **kwargs: Any) -> str:
            return "agent_position"
       	def _get_sensor_type(self, *args: Any, **kwargs: Any):
            return habitat.SensorTypes.POSITION
        # Defines the size and range of the observations of the sensor
        def _get_observation_space(self, *args: Any, **kwargs: Any):
            return spaces.Box(
                low=np.finfo(np.float32).min,
                high=np.finfo(np.float32).max,
                shape=(3,),
                dtype=np.float32,
            )
        # This is called whenver reset is called or an action is taken
        def get_observation(
            self, observations, *args: Any, episode, **kwargs: Any
        ):
            # 返回agent当前pos
            return self._sim.get_agent_state().position
    

配置config变量：(可通过程序添加config内容 也可以通过直接改写config.yaml)

    # Get the default config node 读取config.yaml
    config = habitat.get_config(config_paths="habitat-lab/configs/tasks/pointnav.yaml")
    # Make this CfgNode and all of its children mutable.(使config可变)
    config.defrost()
	
    # 添加的内容都要为CfgNode
    # Add things to the config to for the measure
    config.TASK.EPISODE_INFO_EXAMPLE = habitat.Config()
    # The type field is used to look-up the measure in the registry.
    # By default, the things are registered with the class name
    config.TASK.EPISODE_INFO_EXAMPLE.TYPE = "EpisodeInfoExample"
    config.TASK.EPISODE_INFO_EXAMPLE.VALUE = 5
    # Add the measure to the list of measures in use
    config.TASK.MEASUREMENTS.append("EPISODE_INFO_EXAMPLE")

    # Now define the config for the sensor
    config.TASK.AGENT_POSITION_SENSOR = habitat.Config()
    # Use the custom name
    config.TASK.AGENT_POSITION_SENSOR.TYPE = "my_supercool_sensor"
    config.TASK.AGENT_POSITION_SENSOR.ANSWER_TO_LIFE = 42
    # Add the sensor to the list of sensors in use
    config.TASK.SENSORS.append("AGENT_POSITION_SENSOR")
    #冻结config 防止篡改
    config.freeze()

读取data

• Measure：

  •     metric = env.get_metrics()
        print(metric["episode_info"]) #vvid
    

• Sensor：

  • 	ovservation["agent_position"] #vvid