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facebookresearch / habitat-lab

A modular high-level library to train embodied AI agents across a variety of tasks and environments.
https://aihabitat.org/
MIT License
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Question of TopDown Map with HSSD dataset #1920

Open wzcai99 opened 2 months ago

wzcai99 commented 2 months ago

❓ Questions and Help

Hi, I am running ObjectNav benchmark with HSSD dataset. But when I wants to output the topdown map as one of the metrics, which is ok with the HM3D dataset, I got the error in /habitat-lab/habitat/tasks/nav/nav.py line 772 assert int(sem_scene.objects[object_id].id.split("_")[-1]. And when I check the line 769, sem_scene = self._sim.semantic_annotations() I found sem_scene.levels = [], sem_scene.objects=[], sem_scene.regions=[]. To get the topdown map, I add the following lines in the config file: habitat_config.habitat.task.measurements.update( { "top_down_map": TopDownMapMeasurementConfig( map_padding=3, map_resolution=1024, draw_source=True, draw_border=True, draw_shortest_path=False, draw_view_points=True, draw_goal_positions=True, draw_goal_aabbs=True, fog_of_war=FogOfWarConfig( draw=True, visibility_dist=5.0, fov=79, ), ), "collisions": CollisionsMeasurementConfig(), })

Reventh-Sharma commented 1 month ago

Same error for me, were you able to do something about it?