[WIP] GPS + Compass #1
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habitat/core/batched_env.py
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| # rho, phi = cartesian_to_polar( | ||
| # -direction_vector_agent[2], direction_vector_agent[0] | ||
| # ) | ||
| observations["goal_gps_compass"] [b, 0] = robot_pos[0] |
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Andrew, does this look good to you? Thinking about how you'll invoke this policy for sim2sim.
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Yes, I can provide this info in Hab2.0 as well. We definitely will need joint positions and end-effector position here as well eventually.
| @@ -1,5 +1,5 @@ | |||
| TENSORBOARD_DIR: "/checkpoint/eundersander/gala_kinematic/tb/gala_kinematic_ddppo" | |||
| CHECKPOINT_FOLDER: "/checkpoint/eundersander/gala_kinematic/ckpt/gala_kinematic_ddppo" | |||
| TENSORBOARD_DIR: "data/tb/gala_kinematic_ddppo" | |||
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On the FAIR cluster, I guess we aren't supposed to be writing/checkpointing to our home directory (the disk write IO is kinda slow or something). I wish I knew the correct way to do this.
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I think writing to /checkpoint is correct.
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Ok. Do you wanna revise this line before we merge this PR?
I wish we could do /checkpoint/{username}/gala_kinematic/ckpt/gala_kinematic_ddppo, where Hab-lab auto-inserts your actual username.
| @@ -3,7 +3,7 @@ ENVIRONMENT: | |||
| DATASET: | |||
| TYPE: RearrangeDataset-v0 | |||
| SPLIT: train | |||
| DATA_PATH: data/datasets/rearrange_pick/replica_cad/v0/{split}/{split}_counter_L_analysis_5000_500.json.gz | |||
| DATA_PATH: data/datasets/rearrange_pick/replica_cad/v0/rearrange_pick_replica_cad_v0/{split}/{split}_counter_L_analysis_5000_500.json.gz | |||
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We should use the tidy_house_10k_1k dataset. That is a very old dataset and does not support proper goal placements.
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This file is not used by Galakhtic. Still, we should probably rebase Gala's branch of hab-lab to something near latest (we'll do this in a separate PR).
…se new bsim wait_step_physics_or_reset API
DO NOT MERGE
moved to https://github.com/facebookresearch/habitat-lab/pull/838/files
Motivation and Context
This is an initial sketch of what the GPS+Compass sensor integration in gala_kinematic would look like.
Currently giving absolute position and orientation of the robot but in the future, should give the position of the target relative to the robot and the direction angle to the target.