Simple NavigationEnv

habitat/config/default.py

@@ -170,6 +170,7 @@ _C.PYROBOT.ROBOTS = ["locobot"]  # types of robots supported
 _C.PYROBOT.ROBOT = "locobot"
 _C.PYROBOT.SENSORS = ["RGB_SENSOR", "DEPTH_SENSOR"]
 _C.PYROBOT.BASE_CONTROLLER = "proportional"
+_C.PYROBOT.BASE_PLANNER = "none"
 # -----------------------------------------------------------------------------
 # SENSORS
 # -----------------------------------------------------------------------------

navigation.py

+import numpy as np
+
+import habitat
+from habitat.sims import make_sim
+
+
+class NavEnv:
+    def __init__(self, forward_step, angle_step, base_controller):
+        config = habitat.get_config()
+
+        config.defrost()
+        config.PYROBOT.BASE_CONTROLLER = base_controller
+        config.freeze()
+
+        self._reality = make_sim(id_sim="PyRobot-v0", config=config.PYROBOT)
+
+        self._angle = (angle_step / 180) * np.pi
+
+        self._actions = {
+            "forward": [forward_step, 0, 0],
+            "left": [0, 0, self._angle],
+            "right": [0, 0, -self._angle],
+            "stop": [0, 0, 0],
+        }
+
+    def reset(self):
+        return self._reality.reset()
+
+    @property
+    def reality(self):
+        return self._reality
+
+    def step(self, action):
+        if action not in self._actions:
+            raise ValueError("Invalid action type {}".format(action))
+        if action == "stop":
+            raise NotImplementedError("stop action not implemented")
+
+        observations = self._reality.step(
+            "go_to_relative",
+            {
+                "xyt_position": self._actions[action],
+                "use_map": False,
+                "close_loop": True,
+                "smooth": False
+            }
+        )
+
+        return observations
+
+
+def main():
+    env = NavEnv()
+
+
+if __name__ == "__main__":
+    main()