Habitat Sim Orientation Different From Habitat Lab Env Orientation

[arjung128]

In the habitat viewer, we stood at position [-12.6393,-2.90739,9.42184] and orientation [0,-0.707098,0,0.707116]. We then plugged the same position into the API with 'obs = env._sim.get_observations_at(position=position, rotation=rotation, keep_agent_at_new_pose=True)' and got a different view. Here is what we got:

[aclegg3]

Hey @arjung128,

Some clarification:

• I assume you exported the position and orientation from the viewer with 'q' keybind. This will set the agent state (translation + orientation around Y) but will not include camera pitch, so the lack of tilt in the left image is expected.

I'm hopeful that this is the only issue here as both images appear to be a bathroom. If so, you could record and set the camera sensor position instead of the agent position to capture these additional degrees of freedom. The "Motion Tracking Camera" section of the "Habitat-Sim Advanced Topics" from our ECCV tutorial series could serve as a reference here. Also you could use the example/viewer.py instead of the viewer.cpp to avoid recompiling modified code.

Beyond that I'd need more information. To start:

• the scene id and source dataset
• any configuration used to construct the Habitat-lab env.