About the script of generating path

[HLinChen]

Hey @vincentcartillier,

I have read #7, the tutorial of Habitat and known how to generate path. But I'm still confused about recording manually.

Do you write function/script to control the agent and record path?

If possible, can you share the script so that I can learn from it and reuse it to generate path from other datasets?

Looking forward to your reply. Thanks.

[vincentcartillier]

Yes, for the manually generated path I just implement very simple keybindings in python to control the agent within the environment. Here's a code snippet to reproduce:

import cv2
import habitat_sim

class ExplorationPath():
    def __init__(self,
                 sim: habitat_sim.Simulator):
        self.sim=sim

    def create_manually():
        positions = []
        rotations = []
        actions = []
        while True:
            observations = self.sim.get_sensor_observations()
            rgb = observations["color_sensor"]
            rgb = cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)
            cv2.imshow("window", rgb)
            key = cv2.waitKey(0)
            if key == 27 or key == ord('q'): #esc
                self.positions = positions
                self.rotations = rotations
                self.actions = actions
                break
            elif key == ord('w'):
                self.sim.step('move_forward')
                action = 0
            elif key == ord('a'):
                self.sim.step('turn_left')
                action = 1
            elif key == ord('d'):
                self.sim.step('turn_right')
                action = 2
            else:
                print("Unknown key:", key)
                continue

            agent_state = self.sim.agents[0].state
            position = agent_state.position
            rotation = agent_state.rotation

            positions.append(position)
            rotations.append(rotation)
            actions.append(action)

[HLinChen]

Thanks for your help!