Make_cfg refactoring in examples/tutorial/

examples/demo_runner.py

@@ -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()
@@ -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)
@@ -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()

examples/example.py

@@ -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
 
 

examples/tutorials/colabs/ECCV_2020_Advanced_Features.ipynb

@@ -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",
@@ -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",
@@ -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)"
    ]
@@ -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",
@@ -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",