diff --git a/habitat/core/dataset.py b/habitat/core/dataset.py
index 535f0b55b9928686b4ff58145741af6c86a665fe..200c98afc9dcb24a2308dc6d305718929d8946ea 100644
--- a/habitat/core/dataset.py
+++ b/habitat/core/dataset.py
@@ -4,13 +4,17 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
+import attr
import copy
import json
from typing import Dict, List, Type, TypeVar, Generic, Optional, Callable
+from habitat.core.utils import not_none_validator
+
import numpy as np
+@attr.s(auto_attribs=True, kw_only=True)
class Episode:
"""Base class for episode specification that includes initial position and
rotation of agent, scene id, episode. This information is provided by
@@ -28,29 +32,16 @@ class Episode:
axes.
"""
- episode_id: str
- scene_id: str
- start_position: List[float]
- start_rotation: List[float]
+ episode_id: str = attr.ib(default=None, validator=not_none_validator)
+ scene_id: str = attr.ib(default=None, validator=not_none_validator)
+ start_position: List[float] = attr.ib(
+ default=None, validator=not_none_validator
+ )
+ start_rotation: List[float] = attr.ib(
+ default=None, validator=not_none_validator
+ )
info: Optional[Dict[str, str]] = None
- def __init__(
- self,
- episode_id: str,
- scene_id: str,
- start_position: List[float],
- start_rotation: List[float],
- info: Optional[Dict[str, str]] = None,
- ) -> None:
- self.episode_id = episode_id
- self.scene_id = scene_id
- self.start_position = start_position
- self.start_rotation = start_rotation
- self.info = info
-
- def __str__(self):
- return str(self.__dict__)
-
T = TypeVar("T", Episode, Type[Episode])
diff --git a/habitat/core/utils.py b/habitat/core/utils.py
index 2ea9785bd92fc3d5045497cf5f15aaab6f398a48..286aab16b38a359bc4c2072562cfd5ec70ee3c6f 100644
--- a/habitat/core/utils.py
+++ b/habitat/core/utils.py
@@ -40,3 +40,8 @@ def tile_images(images: List[np.ndarray]) -> np.ndarray:
new_height * height, new_width * width, n_channels
)
return out_image
+
+
+def not_none_validator(self, attribute, value):
+ if value is None:
+ raise ValueError(f"Argument '{attribute.name}' must be set")
diff --git a/habitat/tasks/eqa/eqa_task.py b/habitat/tasks/eqa/eqa_task.py
index 983687ed58c28405f4668491e6ab0113d6d35713..66d67e47e24ea3746e5b4e11316c0285499182f4 100644
--- a/habitat/tasks/eqa/eqa_task.py
+++ b/habitat/tasks/eqa/eqa_task.py
@@ -6,6 +6,8 @@
from typing import Dict, Optional
+import attr
+
import numpy as np
from gym import spaces
from habitat.core.simulator import (
@@ -14,25 +16,18 @@ from habitat.core.simulator import (
SensorSuite,
Observations,
)
+from habitat.core.utils import not_none_validator
from habitat.tasks.nav.nav_task import NavigationEpisode, NavigationTask
+@attr.s(auto_attribs=True)
class QuestionData:
question_text: str
- answer_text: Optional[str]
- question_type: Optional[str]
-
- def __init__(
- self,
- question_text: str,
- question_type: str,
- answer_text: Optional[str] = None,
- ) -> None:
- self.question_text = question_text
- self.answer_text = answer_text
- self.question_type = question_type
+ answer_text: str
+ question_type: Optional[str] = None
+@attr.s(auto_attribs=True, kw_only=True)
class EQAEpisode(NavigationEpisode):
"""Specification of episode that includes initial position and rotation of
agent, goal, question specifications and optional shortest paths.
@@ -47,11 +42,9 @@ class EQAEpisode(NavigationEpisode):
question: question related to goal object.
"""
- question: QuestionData
-
- def __init__(self, question: QuestionData, **kwargs) -> None:
- super().__init__(**kwargs)
- self.question = question
+ question: QuestionData = attr.ib(
+ default=None, validator=not_none_validator
+ )
class QuestionSensor(Sensor):
diff --git a/habitat/tasks/nav/nav_task.py b/habitat/tasks/nav/nav_task.py
index 4f5d8f823aeb166ad9ad7d1ef6a38d4c7fa0cd26..c0c03b8d1bba512d589f1de4ec8dfe9fa9d96f05 100644
--- a/habitat/tasks/nav/nav_task.py
+++ b/habitat/tasks/nav/nav_task.py
@@ -7,6 +7,7 @@
from typing import Any, List, Optional, Type
import cv2
+import attr
import numpy as np
from gym import spaces
@@ -20,6 +21,7 @@ from habitat.core.simulator import (
SensorTypes,
SensorSuite,
)
+from habitat.core.utils import not_none_validator
from habitat.tasks.utils import cartesian_to_polar, quaternion_rotate_vector
from habitat.utils.visualizations import maps
@@ -47,63 +49,38 @@ def merge_sim_episode_config(
return sim_config
+@attr.s(auto_attribs=True, kw_only=True)
class NavigationGoal:
"""Base class for a goal specification hierarchy.
"""
- position: List[float]
- radius: Optional[float]
-
- def __init__(
- self, position: List[float], radius: Optional[float] = None, **kwargs
- ) -> None:
- self.position = position
- self.radius = radius
+ position: List[float] = attr.ib(default=None, validator=not_none_validator)
+ radius: Optional[float] = None
+@attr.s(auto_attribs=True, kw_only=True)
class ObjectGoal(NavigationGoal):
"""Object goal that can be specified by object_id or position or object
category.
"""
- object_id: str
- object_name: Optional[str]
- object_category: Optional[str]
- room_id: Optional[str]
- room_name: Optional[str]
-
- def __init__(
- self,
- object_id: str,
- room_id: Optional[str] = None,
- object_name: Optional[str] = None,
- object_category: Optional[str] = None,
- room_name: Optional[str] = None,
- **kwargs
- ) -> None:
- super().__init__(**kwargs)
- self.object_id = object_id
- self.object_name = object_name
- self.object_category = object_category
- self.room_id = room_id
- self.room_name = room_name
+ object_id: str = attr.ib(default=None, validator=not_none_validator)
+ object_name: Optional[str] = None
+ object_category: Optional[str] = None
+ room_id: Optional[str] = None
+ room_name: Optional[str] = None
+@attr.s(auto_attribs=True, kw_only=True)
class RoomGoal(NavigationGoal):
"""Room goal that can be specified by room_id or position with radius.
"""
- room_id: str
- room_name: Optional[str]
-
- def __init__(
- self, room_id: str, room_name: Optional[str] = None, **kwargs
- ) -> None:
- super().__init__(**kwargs) # type: ignore
- self.room_id = room_id
- self.room_name = room_name
+ room_id: str = attr.ib(default=None, validator=not_none_validator)
+ room_name: Optional[str] = None
+@attr.s(auto_attribs=True, kw_only=True)
class NavigationEpisode(Episode):
"""Class for episode specification that includes initial position and
rotation of agent, scene name, goal and optional shortest paths. An
@@ -121,21 +98,11 @@ class NavigationEpisode(Episode):
shortest_paths: list containing shortest paths to goals
"""
- goals: List[NavigationGoal]
- start_room: Optional[str]
- shortest_paths: Optional[List[ShortestPathPoint]]
-
- def __init__(
- self,
- goals: List[NavigationGoal],
- start_room: Optional[str] = None,
- shortest_paths: Optional[List[ShortestPathPoint]] = None,
- **kwargs
- ) -> None:
- super().__init__(**kwargs)
- self.goals = goals
- self.shortest_paths = shortest_paths
- self.start_room = start_room
+ goals: List[NavigationGoal] = attr.ib(
+ default=None, validator=not_none_validator
+ )
+ start_room: Optional[str] = None
+ shortest_paths: Optional[List[ShortestPathPoint]] = None
class PointGoalSensor(habitat.Sensor):
diff --git a/requirements.txt b/requirements.txt
index 404248b3c68f2f8a0f9c6f73013371140eb839bb..d4aedf5cbe3934572e3919889be8648b663f266e 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -2,6 +2,7 @@ gym==0.10.9
numpy>=1.16.1
yacs>=0.1.5
numpy-quaternion>=2019.3.18.14.33.20
+attrs>=19.1.0
opencv-python>=3.3.0
# visualization optional dependencies
imageio>=2.2.0