[WIP] Loading Fremont Space

configs/tasks/rearrange/rearrange_fremont.yaml

@@ -0,0 +1,92 @@
+# Config for empty task to explore the scene.
+ENVIRONMENT:
+    MAX_EPISODE_STEPS: 0
+DATASET:
+    TYPE: RearrangeDataset-v0
+    SPLIT: train
+    DATA_PATH: data/datasets/fremont/test.json.gz
+    SCENES_DIR: "data/fremont/"
+TASK:
+    TYPE: RearrangeEmptyTask-v0
+    COUNT_OBJ_COLLISIONS: True
+    COUNT_ROBOT_OBJ_COLLS: False
+
+    # In radians
+    BASE_ANGLE_NOISE: 0.0
+    BASE_NOISE: 0.0
+    CONSTRAINT_VIOLATION_ENDS_EPISODE: False
+
+    # If true, does not care about navigability or collisions with objects when spawning
+    # robot
+    EASY_INIT: False
+    FORCE_REGENERATE: True
+
+    SENSORS: ["JOINT_SENSOR"]
+
+    MEASUREMENTS:
+        # General measure
+        - "ROBOT_FORCE"
+    ACTIONS:
+        ARM_ACTION:
+            TYPE: "ArmAction"
+            ARM_CONTROLLER: "ArmRelPosAction"
+            GRIP_CONTROLLER: "MagicGraspAction"
+            ARM_JOINT_DIMENSIONALITY: 7
+            GRASP_THRESH_DIST: 0.15
+            DISABLE_GRIP: False
+            DELTA_POS_LIMIT: 0.0125
+            EE_CTRL_LIM: 0.015
+        BASE_VELOCITY:
+            TYPE: "BaseVelAction"
+            LIN_SPEED: 10.0
+            ANG_SPEED: 10.0
+            ALLOW_DYN_SLIDE: True
+            END_ON_STOP: False
+            ALLOW_BACK: True
+            MIN_ABS_LIN_SPEED: 1.0
+            MIN_ABS_ANG_SPEED: 1.0
+        EMPTY:
+            TYPE: "EmptyAction"
+    POSSIBLE_ACTIONS:
+        - ARM_ACTION
+        - BASE_VELOCITY
+        - EMPTY
+
+SIMULATOR:
+    ADDITIONAL_OBJECT_PATHS:
+        - "data/objects/ycb/configs/"
+    ACTION_SPACE_CONFIG: v0
+    GRASP_IMPULSE: 1000.0
+    HOLD_THRESH: 0.09
+    AC_FREQ_RATIO: 4
+    DEBUG_RENDER: False
+    DEBUG_RENDER_GOAL: True
+    AGENTS: ['AGENT_0']
+    AGENT_0:
+        HEIGHT: 1.5
+        RADIUS: 0.3
+        SENSORS: ['HEAD_DEPTH_SENSOR']
+        ROBOT_URDF: ./data/robots/hab_fetch/robots/hab_fetch.urdf
+        ROBOT_TYPE: "FetchRobot"
+        IK_ARM_URDF: ./data/robots/hab_fetch/robots/fetch_onlyarm.urdf
+    HEAD_RGB_SENSOR:
+        WIDTH: 128
+        HEIGHT: 128
+    HEAD_DEPTH_SENSOR:
+        WIDTH: 128
+        HEIGHT: 128
+        MIN_DEPTH: 0.0
+        MAX_DEPTH: 10.0
+        NORMALIZE_DEPTH: True
+    ARM_REST: [0.6, 0.0, 0.9]
+    CTRL_FREQ: 120.0
+    DEFAULT_AGENT_ID: 0
+    FORWARD_STEP_SIZE: 0.25
+    HABITAT_SIM_V0:
+        ALLOW_SLIDING: True
+        ENABLE_PHYSICS: True
+        GPU_DEVICE_ID: 0
+        GPU_GPU: False
+        PHYSICS_CONFIG_FILE: ./data/default.physics_config.json
+    SEED: 100
+    TYPE: RearrangeSim-v0

habitat/datasets/rearrange/configs/fremont.yaml

@@ -0,0 +1,107 @@
+---
+dataset_path: "data/fremont/fremont_knuckles.scene_dataset_config.json"
+additional_object_paths:
+  - "data/objects/ycb/configs/"
+scene_sets:
+  -
+    name: "scene_train_split"
+    included_substrings:
+      - ""
+    excluded_substrings: []
+
+
+object_sets:
+  -
+    name: "kitchen"
+    included_substrings:
+      - "024_bowl"
+    excluded_substrings: []
+
+  -
+    name: "clutter"
+    excluded_substrings: []
+    included_substrings:
+      - "002_master_chef_can"
+      - "003_cracker_box"
+      - "004_sugar_box"
+      - "005_tomato_soup_can"
+      - "007_tuna_fish_can"
+      - "008_pudding_box"
+      - "009_gelatin_box"
+      - "010_potted_meat_can"
+      - "011_banana.object_config.json"
+      - "012_strawberry.object_config.json"
+      - "013_apple.object_config.json"
+      - "014_lemon.object_config.json"
+      - "015_peach.object_config.json"
+      - "016_pear.object_config.json"
+      - "017_orange.object_config.json"
+      - "018_plum.object_config.json"
+      - "021_bleach_cleanser.object_config.json"
+      - "024_bowl.object_config.json"
+      - "025_mug.object_config.json"
+      - "026_sponge.object_config.json"
+
+receptacle_sets:
+  -
+    name: "counter"
+    included_object_substrings: [""]
+    included_receptacle_substrings:
+      - "right_top_kitchen_island"
+    excluded_object_substrings: []
+    excluded_receptacle_substrings: []
+  -
+    name: "clutter"
+    included_object_substrings: [""]
+    included_receptacle_substrings:
+      - "top_kitchen_island"
+      - "sink_kitchen_island"
+      - "volume_table"
+      - "volume_dresser"
+      - "livingroom_roundtable"
+    excluded_object_substrings: []
+    excluded_receptacle_substrings: []
+  -
+    name: "table"
+    included_object_substrings: [""]
+    included_receptacle_substrings:
+      - "receptacle_aabb_volume_table"
+    excluded_receptacle_substrings: []
+    excluded_object_substrings: []
+
+scene_sampler:
+  type: "single"
+
+  params:
+    scene_sets: ["scene_train_split"]
+    scene: fremont_dynamic
+
+object_samplers:
+  - name: "target"
+    type: "uniform"
+    params:
+      object_sets: ["kitchen"]
+      receptacle_sets: ["counter"]
+      num_samples: [1, 1]
+      orientation_sampling: "up"
+  - name: "clutter"
+    type: "uniform"
+    params:
+      object_sets: ["clutter"]
+      receptacle_sets: ["clutter"]
+      num_samples: [20, 30]
+      orientation_sampling: "up"
+
+object_target_samplers:
+  -
+    name: "target"
+    type: "uniform"
+    params:
+      object_samplers: ["target"]
+      receptacle_sets: ["table"]
+      num_samples: [1, 1]
+      orientation_sampling: "up"
+
+
+
+markers: []

habitat/datasets/rearrange/rearrange_generator.py

@@ -455,7 +455,6 @@ def generate_single_episode(self) -> Optional[RearrangeEpisode]:
 
         ep_scene_handle = self.generate_scene()
         scene_base_dir = osp.dirname(osp.dirname(ep_scene_handle))
-
         scene_name = ep_scene_handle.split(".")[0]
         navmesh_path = osp.join(
             scene_base_dir, "navmeshes", scene_name + ".navmesh"

habitat/datasets/rearrange/samplers/object_sampler.py

@@ -115,6 +115,7 @@ def sample_receptacle(
         if self.receptacle_candidates is None:
             self.receptacle_candidates = []
             for receptacle in self.receptacle_instances:
+                print(receptacle.name)
                 found_match = False
                 for receptacle_set in match_recep_sets:
                     culled = False

habitat/tasks/rearrange/rearrange_sim.py

@@ -31,7 +31,6 @@
     rearrange_collision,
     rearrange_logger,
 )
-from habitat_sim.nav import NavMeshSettings
 from habitat_sim.physics import CollisionGroups, JointMotorSettings, MotionType
 from habitat_sim.sim import SimulatorBackend
 
@@ -302,9 +301,13 @@ def _setup_targets(self):
 
     def _load_navmesh(self):
         scene_name = self.ep_info["scene_id"].split("/")[-1].split(".")[0]
-        base_dir = osp.join(*self.ep_info["scene_id"].split("/")[:2])
+        base_dir = osp.dirname(self.active_dataset)
 
         navmesh_path = osp.join(base_dir, "navmeshes", scene_name + ".navmesh")
+        if not osp.exists(navmesh_path):
+            rearrange_logger.warning(
+                f"Cannot load navmesh path {navmesh_path}"
+            )
         self.pathfinder.load_nav_mesh(navmesh_path)
 
         self._navmesh_vertices = np.stack(