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askforalfred / alfred

ALFRED - A Benchmark for Interpreting Grounded Instructions for Everyday Tasks
MIT License
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Question on camera height and field of view #72

Closed soyeonm closed 3 years ago

soyeonm commented 3 years ago

Hello,

I have two questions. I can't find documentation for AI2THOR version 2.1.0 anywhere, so I request for your help.

  1. When I either

    1. change "CAMERA_HEIGHT_OFFSET" of gen/constants.py, or
    2. or teleport to a different "event.metadata['agent']['position']['y']" (so changing the agent height only), then nothing seems to happen. Is there a way to change camera height or agent height?

  2. Is there a way to change the field of view of the camera?

Thank you very much all the time!

thomason-jesse commented 3 years ago

Yes, the 2.1.0 THOR documentation is not cached officially on AI2's website unfortunately. Here are my unofficial answers; YMMV

1) Teleport ~might work if you add forceAction=True. Generally, though, you can't position the agent above the ground, is my understanding. You may be able to use the third party camera functions to achieve what you want (I don't know if they're available in 2.1.0; but in newer versions they are).

2) Based on this old issue response, it's possible that you can specify fieldOfView during Controller initialization still. I have never tried anything other than the default 90 degree FoV, though.

Closing this issue since it isn't directly related to ALFRED.