网站管理制度建设的必要性,网站的文件夹结构,济南网站优化收费,品牌网站制作价格搭建了rearrangement-challenge-2022的环境#xff1a; https://github.com/facebookresearch/habitat-challenge/tree/rearrangement-challenge-2022 habitat最大的缺点是对不同的版本非常的敏感。本文只是针对rearrangement-challenge-2022的学习。
文档一开始会很不完善 https://github.com/facebookresearch/habitat-challenge/tree/rearrangement-challenge-2022 habitat最大的缺点是对不同的版本非常的敏感。本文只是针对rearrangement-challenge-2022的学习。
文档一开始会很不完善会慢慢的补齐。
1、如何使用配置文件初始化环境
主要使用 habitat.Env类进行初始化。传一个config参数该参数可以通过habitat.get_config()得到该函数需要指定一个配置文件的路径举例如下
import habitat
env habitat.Env(confighabitat.get_config(/home/yons/LK/habitat-challenge/habitat-lab/configs/datasets/pointnav/habitat_test.yaml) 配置环境的过程会打印很多信息如下
# 2024-03-04 21:17:09,546 Initializing dataset PointNav-v1
# 2024-03-04 21:17:09,708 initializing sim Sim-v0
# [21:17:09:715104]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : Dataset: Proposing JSON name : default.scene_dataset_config.json from original name : default| This file does not exist.
# [21:17:09:715197]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DSolid:capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
# [21:17:09:715224]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DWireframe:capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
# [21:17:09:715242]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneSolid:coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
# [21:17:09:715258]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneWireframe:coneWireframe_segments_32_halfLen_1.25) created and registered.
# [21:17:09:715270]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeSolid:cubeSolid) created and registered.
# [21:17:09:715282]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeWireframe:cubeWireframe) created and registered.
# [21:17:09:715299]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderSolid:cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
# [21:17:09:715314]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderWireframe:cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
# [21:17:09:715326]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereSolid:icosphereSolid_subdivs_1) created and registered.
# [21:17:09:715369]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereWireframe:icosphereWireframe_subdivs_1) created and registered.
# [21:17:09:715397]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereSolid:uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
# [21:17:09:715429]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereWireframe:uvSphereWireframe_rings_16_segments_32) created and registered.
# [21:17:09:715438]:[Metadata] AssetAttributesManager.cpp(110)::AssetAttributesManager : Built default primitive asset templates : 12
# [21:17:09:715778]:[Metadata] SceneDatasetAttributesManager.cpp(35)::createObject : File (default) not found, so new default dataset attributes created and registered.
# [21:17:09:715787]:[Metadata] MetadataMediator.cpp(120)::createSceneDataset : Dataset default successfully created.
# [21:17:09:715798]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : Physics Manager: Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json| This file exists.
# [21:17:09:715881]:[Metadata] PhysicsAttributesManager.cpp(26)::createObject : JSON Configuration File (./data/default.physics_config.json) based physics manager attributes created and registered.
# [21:17:09:715890]:[Metadata] MetadataMediator.cpp(203)::setActiveSceneDatasetName : Previous active dataset changed to default successfully.
# [21:17:09:715896]:[Metadata] MetadataMediator.cpp(175)::setCurrPhysicsAttributesHandle : Old physics manager attributes changed to ./data/default.physics_config.json successfully.
# [21:17:09:715902]:[Metadata] MetadataMediator.cpp(66)::setSimulatorConfiguration : Set new simulator config for scene/stage : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb and dataset : default which is currently active dataset.
# Renderer: NVIDIA GeForce RTX 2080 Ti/PCIe/SSE2 by NVIDIA Corporation
# OpenGL version: 4.6.0 NVIDIA 510.108.03
# Using optional features:
# GL_ARB_vertex_array_object
# GL_ARB_ES2_compatibility
# GL_ARB_separate_shader_objects
# GL_ARB_robustness
# GL_ARB_texture_storage
# GL_ARB_invalidate_subdata
# GL_ARB_texture_storage_multisample
# GL_ARB_multi_bind
# GL_ARB_direct_state_access
# GL_ARB_get_texture_sub_image
# GL_ARB_texture_filter_anisotropic
# GL_KHR_debug
# Using driver workarounds:
# no-forward-compatible-core-context
# no-layout-qualifiers-on-old-glsl
# nv-zero-context-profile-mask
# nv-implementation-color-read-format-dsa-broken
# nv-cubemap-inconsistent-compressed-image-size
# nv-cubemap-broken-full-compressed-image-query
# nv-compressed-block-size-in-bits
# [21:17:09:817318]:[Metadata] MetadataMediator.cpp(297)::getSceneInstanceAttributesByName : Dataset : default has no preloaded SceneInstanceAttributes or StageAttributes named : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb so loading/creating a new StageAttributes with this name, and then creating a SceneInstanceAttributes with the same name that references this stage.
# [21:17:09:817339]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : Stage Template: Proposing JSON name : data/scene_datasets/habitat-test-scenes/skokloster-castle.stage_config.json from original name : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb| This file does not exist.
# [21:17:09:817384]:[Metadata] AbstractObjectAttributesManagerBase.h(184)::createObject : File (data/scene_datasets/habitat-test-scenes/skokloster-castle.glb) exists but is not a recognized config filename extension, so new default Stage Template attributes created and registered.
# [21:17:09:817412]:[Metadata] SceneDatasetAttributes.cpp(47)::addNewSceneInstanceToDataset : Dataset : default : Stage Attributes data/scene_datasets/habitat-test-scenes/skokloster-castle.glb specified in Scene Attributes exists in dataset library.
# [21:17:09:817418]:[Metadata] SceneDatasetAttributes.cpp(84)::addNewSceneInstanceToDataset : Dataset : default : Lighting Layout Attributes no_lights specified in Scene Attributes but does not exist in dataset, so creating.
# [21:17:09:817426]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : Lighting Layout: Proposing JSON name : no_lights.lighting_config.json from original name : no_lights| This file does not exist.
# [21:17:09:817437]:[Metadata] LightLayoutAttributesManager.cpp(36)::createObject : File (no_lights) not found, so new default light layout attributes created and registered.
# [21:17:09:817445]:[Sim] Simulator.cpp(237)::createSceneInstance : Navmesh file location in scene instance : data/scene_datasets/habitat-test-scenes/skokloster-castle.navmesh
# [21:17:09:817455]:[Sim] Simulator.cpp(242)::createSceneInstance : Loading navmesh from data/scene_datasets/habitat-test-scenes/skokloster-castle.navmesh
# [21:17:09:817468]:[Nav] PathFinder.cpp(852)::loadNavMesh : NavMeshSettings arent present, guessing that they are the default
# [21:17:09:817532]:[Sim] Simulator.cpp(244)::createSceneInstance : Navmesh Loaded.
# [21:17:09:817545]:[Scene] SceneGraph.h(85)::createDrawableGroup : Created DrawableGroup:
# [21:17:09:817552]:[Assets] ResourceManager.cpp(297)::loadSemanticSceneDescriptor : SceneInstance : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb proposed Semantic Scene Descriptor filename : data/scene_datasets/habitat-test-scenes/skokloster-castle.scn
# [21:17:09:817560]:[Assets] ResourceManager.cpp(344)::loadSemanticSceneDescriptor : SSD File Naming Issue! Neither SceneInstanceAttributes-provided name : data/scene_datasets/habitat-test-scenes/skokloster-castle.scn nor constructed filename : data/scene_datasets/habitat-test-scenes/info_semantic.json exist on disk.
# [21:17:09:817579]:[Assets] ResourceManager.cpp(1652)::ConfigureImporterManagerGLExtensions : Importing Basis files as BC7.
# [21:17:09:817696]:[Sim] Simulator.cpp(302)::createSceneInstance : Using scene instance-specified Light key : - no_lights -
# [21:17:09:817708]:[Metadata] MetadataMediator.cpp(66)::setSimulatorConfiguration : Set new simulator config for scene/stage : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb and dataset : default which is currently active dataset.
# [21:17:09:817723]:[Sim] Simulator.cpp(412)::instanceStageForSceneAttributes : Start to load stage named : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb with render asset : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb and collision asset : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb
# [21:17:09:817752]:[Assets] ResourceManager.cpp(691)::createStageAssetInfosFromAttributes : Frame :{up:[0,0,1],front:[0,1,0],origin:[0,0,0]} for render mesh named : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb|{up:[0,0,1],front:[0,1,0],origin:[0,0,0]} for semantic mesh named : with type specified as semantic|Semantic Txtrs : False
# [21:17:09:817760]:[Assets] ResourceManager.cpp(507)::loadStage : Start load render asset data/scene_datasets/habitat-test-scenes/skokloster-castle.glb .
# [21:17:09:817765]:[Assets] ResourceManager.cpp(973)::loadStageInternal : Attempting to load stage data/scene_datasets/habitat-test-scenes/skokloster-castle.glb
# [21:17:09:817779]:[Assets] ResourceManager.cpp(855)::loadRenderAsset : Loading general asset named: data/scene_datasets/habitat-test-scenes/skokloster-castle.glb
# [21:17:09:817785]:[Assets] ResourceManager.cpp(1652)::ConfigureImporterManagerGLExtensions : Importing Basis files as BC7.
# [21:17:10:458713]:[Assets] ResourceManager.cpp(2089)::loadMaterials : Building 2 materials for asset named skokloster-castle.glb :
# [21:17:10:458752]:[Assets] ResourceManager.cpp(2194)::loadMaterials : Idx 00:Flat.
# [21:17:10:458766]:[Assets] ResourceManager.cpp(2194)::loadMaterials : Idx 01:Flat.
# [21:17:10:516568]:[Sim] Simulator.cpp(439)::instanceStageForSceneAttributes : Successfully loaded stage named : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb
# [21:17:10:516599]:[Sim] Simulator.cpp(471)::instanceStageForSceneAttributes :
# ---
# The active scene does not contain semantic annotations : activeSemanticSceneID_ 0
# ---
# [21:17:10:516615]:[Sim] Simulator.cpp(205)::reconfigure : CreateSceneInstance success true for active scene name : data/scene_datasets/habitat-test-scenes/skokloster-castle.glb with renderer.
# 2024-03-04 21:17:10,517 Initializing task Nav-v0 这其中有很多子问题如下
1.1 如何设置配置文件中要配置的参数
办法一直接在yaml配置文件中修改
该方法简单直接不需要举例
办法二在代码中修改
通过habitat.get_config()获取到config变量后通过config.defrost()之后便可以在代码中设置一些变量设置完后通过config.freeze()冻结配置参数
confighabitat.get_config(/home/yons/LK/habitat-challenge/habitat-lab/configs/datasets/pointnav/habitat_test.yaml
config.defrost()
config.DATASET.SPLIT val
config.freeze()1.2 habitat.get_config在哪里定义
在…/habitat-challenge/habitat-lab/habitat/config/default.py中定义。该文件中定义了: 1 get_config()方法 2所有配置变量的默认值
2 关于动作
…/habitat-lab/habitat/sims/habitat_simulator/actions.py中定义了默认的动作
class _DefaultHabitatSimActions(Enum):STOP 0MOVE_FORWARD 1TURN_LEFT 2TURN_RIGHT 3LOOK_UP 4LOOK_DOWN 5要执行动作需要初始化环境然后通过HabitatSimActions获取动作然后通过env.step执行动作
from habitat.sims.habitat_simulator.actions import HabitatSimActions
env habitat.Env( confighabitat.get_config(/home/yons/LK/habitat-challenge/habitat-lab/configs/datasets/pointnav/habitat_test.yaml)
observations env.reset()
action HabitatSimActions.MOVE_FORWARD
observations env.step(action)一个通过键盘与环境交互的示例代码quick_start3.py文件如下
import habitat
from habitat.sims.habitat_simulator.actions import HabitatSimActions
import cv2FORWARD_KEYw
LEFT_KEYa
RIGHT_KEYd
FINISHf
####下面是向上看和向下看的动作并不是所有的agent都可以向上看和向下看
###一个问题是为什么没有后退的动作
# LOOKUP_KEYu
# LOOKDOWN_KEYjdef transform_rgb_bgr(image):return image[:, :, [2, 1, 0]]def example():#选择一个配置文件初始化环境配置文件需要有什么参数env habitat.Env(confighabitat.get_config(/home/yons/LK/habitat-challenge/habitat-lab/configs/datasets/pointnav/habitat_test.yaml))print(Environment creation successful)observations env.reset() #print(type(observations):,type(observations)) #type(observations): class habitat.core.simulator.Observationsprint(observations[rgb].shape:,observations[rgb].shape) #observations[rgb].shape: (480, 640, 3)# cv2.imshow(RGB, transform_rgb_bgr(observations[rgb]))cv2.imshow(RGB, observations[rgb]) ####不知道为啥要转化rgb信号的顺序经过测试不转换的确看着不自然。print(Agent stepping around inside environment.)count_steps 0while not env.episode_over:keystroke cv2.waitKey(0) #等待用户输入操纵agent左右转和前进与环境进行交互if keystroke ord(FORWARD_KEY): #如果是敲击的我们在最上面定义的某个键做对应的事情并打印action HabitatSimActions.MOVE_FORWARDprint(action: FORWARD)elif keystroke ord(LEFT_KEY):action HabitatSimActions.TURN_LEFTprint(action: LEFT)elif keystroke ord(RIGHT_KEY):action HabitatSimActions.TURN_RIGHTprint(action: RIGHT)elif keystroke ord(FINISH):action HabitatSimActions.STOPprint(action: FINISH)else:print(INVALID KEY)continueobservations env.step(action)####env.step(action)里面的action是HabitatSimActions中定义的动作count_steps 1# cv2.imshow(RGB, transform_rgb_bgr(observations[rgb]))cv2.imshow(RGB, observations[rgb])print(Episode finished after {} steps..format(count_steps))if (action HabitatSimActions.STOP# and observations[pointgoal_with_gps_compass][0] 0.2):print(you successfully navigated to destination point)else:print(your navigation was unsuccessful)if __name__ __main__:example()3获取habitat-lab路径
通过habitat.utils.gym_definitions.base_dir获取
import habitat.utils.gym_definitions as habitat_gym
print(habitat_gym.base_dir:,habitat_gym.base_dir)下面是一个例子
import habitat.utils.gym_definitions as habitat_gym
print(habitat_gym.base_dir:,habitat_gym.base_dir)
import osimport gym
import gym.spaces as spaces
import numpy as npimport habitat
import habitat.utils.gym_definitions as habitat_gym
from habitat.core.embodied_task import Measure
from habitat.core.registry import registry
from habitat.core.simulator import Sensor, SensorTypes
from habitat.tasks.rearrange.rearrange_sensors import RearrangeReward
from habitat.tasks.rearrange.rearrange_task import RearrangeTask
from habitat.utils.render_wrapper import overlay_frame
from habitat.utils.visualizations.utils import observations_to_image
from habitat_sim.utils import viz_utils as vut# Quiet the Habitat simulator logging
os.environ[MAGNUM_LOG] quiet
os.environ[HABITAT_SIM_LOG] quietdef insert_render_options(config):# Added settings to make rendering higher resolution for better visualizationconfig.defrost()config.SIMULATOR.THIRD_RGB_SENSOR.WIDTH 512config.SIMULATOR.THIRD_RGB_SENSOR.HEIGHT 512config.SIMULATOR.CONCUR_RENDER Falseconfig.SIMULATOR.AGENT_0.SENSORS.append(THIRD_RGB_SENSOR)config.freeze()return configimport importlib# If the import block fails due to an error like PIL.TiffTags has no attribute
# IFD, then restart the Colab runtime instance and rerun this cell and the previous cell.
import PILimportlib.reload(PIL.TiffTags) # To potentially avoid PIL problemprint(habitat_gym.base_dir:,habitat_gym.base_dir)##################用habitat自己的方式###########################
with habitat.Env(configinsert_render_options(habitat.get_config(os.path.join(habitat_gym.base_dir,configs/tasks/rearrange/pick.yaml,)))
) as env:observations env.reset() # noqa: F841print(Agent acting inside environment.)count_steps 0# To save the videovideo_file_path data/example_interact.mp4video_writer vut.get_fast_video_writer(video_file_path, fps30)while not env.episode_over:observations env.step(env.action_space.sample()) # noqa: F841,随机动作info env.get_metrics()render_obs observations_to_image(observations, info)render_obs overlay_frame(render_obs, info)video_writer.append_data(render_obs)count_steps 1print(Episode finished after {} steps..format(count_steps))video_writer.close()if vut.is_notebook():#此处并没有播放vut.display_video(video_file_path)
