fix(env): environment setup correctly and pass habitat test

mini-nav/habitat/test.py

@@ -1,21 +1,57 @@
 import habitat_sim
+import numpy as np
+import plotly.express as px
+
+# 配置场景
+scene_path = "data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
 
 sim_cfg = habitat_sim.SimulatorConfiguration()
-sim_cfg.scene_id = "data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
+sim_cfg.scene_id = scene_path
+sim_cfg.enable_physics = False
 
-color_sensor = habitat_sim.CameraSensorSpec()
-color_sensor.uuid = "color_sensor"
-color_sensor.sensor_type = habitat_sim.SensorType.COLOR
-color_sensor.resolution = [480, 640]
-color_sensor.position = [0.0, 1.5, 0.0]
+# 配置 agent
+agent_cfg = habitat_sim.agent.AgentConfiguration()
+rgb_sensor_spec = habitat_sim.CameraSensorSpec()
+rgb_sensor_spec.uuid = "color_sensor"
+rgb_sensor_spec.sensor_type = habitat_sim.SensorType.COLOR
+rgb_sensor_spec.resolution = [256, 256]
+rgb_sensor_spec.position = [0.0, 1.5, 0.0]
 
-agent_cfg = habitat_sim.AgentConfiguration()
-agent_cfg.sensor_specifications = [color_sensor]
+agent_cfg.sensor_specifications = [rgb_sensor_spec]
 
+# 创建 simulator 实例
 cfg = habitat_sim.Configuration(sim_cfg, [agent_cfg])
 sim = habitat_sim.Simulator(cfg)
 
-obs = sim.get_sensor_observations()
-print("obs keys:", obs.keys())
-rgb = obs["color_sensor"]
-print(rgb.shape)
+# 初始化 agent
+agent = sim.initialize_agent(0)
+
+# 设置 agent 初始位置
+agent_state = habitat_sim.AgentState()
+agent_state.position = np.array([0.0, 0.0, 0.0])
+agent.set_state(agent_state)
+
+state = agent.get_state()
+print("位置:", state.position)
+print("旋转四元数:", state.rotation)
+
+observations = sim.get_sensor_observations()
+rgb_image = observations["color_sensor"]  # numpy array
+print("RGB shape:", rgb_image.shape)
+
+
+# 假设 rgb_image 已经被定义（例如一个 numpy array 或 PIL Image）
+fig = px.imshow(rgb_image)
+
+# 隐藏坐标轴（等同于 plt.axis("off")）
+fig.update_xaxes(visible=False)
+fig.update_yaxes(visible=False)
+
+# 去除多余的边距，使图片填满画布
+fig.update_layout(
+    margin=dict(l=0, r=0, t=0, b=0),
+    coloraxis_showscale=False,  # 如果是灰度图或带colorbar，这行可以隐藏色条
+)
+
+# 输出成 PNG 图片
+fig.write_html("outputs/output.html")