Moving agent to particular gps and compass
yrraadi-io opened this issue · comments
Hi, I was wondering if this feature already exists. I'm currently collecting the observations.gps and observations.compass values in the evaluator.py file. I want to be able to spawn my agent at a particular gps and compass I collected during one of the episodes.
How can I do that? Does the feature exist?
No, the feature doesn't exist currently.
But happy to help with the changes you will need to make.
Firstly, the gps and compass values recorded here are relative to the episode's start pose. I think it may be much easier to
directly record the absolute pose with new sensors (look at how the current relative pose sensors are implemented) and then collect them in evaluator.py. You can set the absolute pose to the desired values in the episode reset function (similar to this where we read the pose from episodes) and optionally create a config param for passing them in.
Thank you for sharing this. Basically our goal is to directly have the agent spawn facing a candidate object (for that episode and scene) and we want to experiment on a few things with respect to detection.
What's the best way you recommend we do that? Do we read the absolute pos of candidate objects from the val episode files or do we run the simulation till we find a candidate object, log its absolute pos and then save it?
Got it! We already have this implemented. You can just pass in these parameters: habitat.task.pick_init=True habitat.environment.max_episode_steps=1 habitat.task.base_angle_noise=0.0 to your command.
Closing this. Let us know if you have any more questions.