From 2e123320f66d485c99b5745e0ee2547671f227e5 Mon Sep 17 00:00:00 2001
From: Abhishek Kadian <abhishekkadiyan@gmail.com>
Date: Thu, 19 Sep 2019 15:08:47 -0700
Subject: [PATCH] Simple NavigationEnv
---
habitat/config/default.py | 1 +
navigation.py | 57 +++++++++++++++++++++++++++++++++++++++
2 files changed, 58 insertions(+)
create mode 100644 navigation.py
diff --git a/habitat/config/default.py b/habitat/config/default.py
index 4352f26b1..2150f23ac 100644
--- a/habitat/config/default.py
+++ b/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
# -----------------------------------------------------------------------------
diff --git a/navigation.py b/navigation.py
new file mode 100644
index 000000000..aba2f5ddf
--- /dev/null
+++ b/navigation.py
@@ -0,0 +1,57 @@
+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()
--
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