mirror of
https://github.com/SikongJueluo/Mini-Nav.git
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74 lines
2.4 KiB
Python
74 lines
2.4 KiB
Python
from __future__ import annotations
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from dataclasses import dataclass
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from importlib import import_module
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from typing import Any
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@dataclass(frozen=True)
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class HabitatSimulatorConfig:
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scene_path: str
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views_per_room: int = 6
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image_size: int = 512
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sensor_height: float = 1.5
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move_forward_step: float = 0.25
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enable_physics: bool = False
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sensor_uuid: str = "color_sensor"
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agent_id: int = 0
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def create_habitat_simulator(
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config: HabitatSimulatorConfig,
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habitat_sim_module: Any | None = None,
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) -> tuple[Any, Any]:
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if config.views_per_room <= 0:
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raise ValueError("views_per_room must be greater than 0")
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if config.image_size <= 0:
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raise ValueError("image_size must be greater than 0")
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if config.move_forward_step <= 0:
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raise ValueError("move_forward_step must be greater than 0")
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if habitat_sim_module is None:
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habitat_sim_module = import_module("habitat_sim")
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sim_cfg = habitat_sim_module.SimulatorConfiguration()
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sim_cfg.scene_id = config.scene_path
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sim_cfg.enable_physics = config.enable_physics
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agent_cfg = habitat_sim_module.agent.AgentConfiguration()
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rgb_sensor_spec = habitat_sim_module.CameraSensorSpec()
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rgb_sensor_spec.uuid = config.sensor_uuid
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rgb_sensor_spec.sensor_type = habitat_sim_module.SensorType.COLOR
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rgb_sensor_spec.resolution = [config.image_size, config.image_size]
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rgb_sensor_spec.position = [0.0, config.sensor_height, 0.0]
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agent_cfg.sensor_specifications = [rgb_sensor_spec]
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turn_angle = 360.0 / config.views_per_room
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agent_cfg.action_space = {
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"move_forward": habitat_sim_module.agent.ActionSpec(
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"move_forward",
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habitat_sim_module.agent.ActuationSpec(amount=config.move_forward_step),
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),
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"turn_left": habitat_sim_module.agent.ActionSpec(
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"turn_left",
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habitat_sim_module.agent.ActuationSpec(amount=turn_angle),
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),
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"turn_right": habitat_sim_module.agent.ActionSpec(
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"turn_right",
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habitat_sim_module.agent.ActuationSpec(amount=turn_angle),
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),
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}
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simulator_cfg = habitat_sim_module.Configuration(sim_cfg, [agent_cfg])
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simulator = habitat_sim_module.Simulator(simulator_cfg)
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agent = simulator.initialize_agent(config.agent_id)
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return simulator, agent
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def close_habitat_simulator(simulator: Any) -> None:
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close = getattr(simulator, "close", None)
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if callable(close):
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close()
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