habitat-sim和habitat-lab环境搭建

说明

承接上文搭建斯坦福大学GibsonEnv环境失败，在本文中重新基于habitat-sim开始搭建环境。

habitat-sim环境搭建

conda create -n habitat python=3.9 cmake=3.14.0
conda activate habitat
conda install habitat-sim withbullet -c conda-forge -c aihabitat

habitat-lab环境搭建

git clone --branch stable https://github.com/facebookresearch/habitat-lab.git
cd habitat-lab
pip install -e habitat-lab  # install habitat_lab
pip install -e habitat-baselines  # install habitat_baselines

在完成环境安装后，可以使用python examples/example.py来测试环境是否安装成功。一定会报错：

ValueError: Requested RearrangeDataset config paths 'data/datasets/replica_cad/rearrange/v2/train/rearrange_easy.json.gz' or 'data/replica_cad/' are not downloaded locally. Aborting.

这需要我们下载数据集，下载的是replicaCAD数据集，但是下载方式需要特别注意，需要参考这个地方链接去分开下载数据集，否则数据集不全，需要执行命令：

python -m habitat_sim.utils.datasets_download --uids <replica_datasets> --data-path data/

replica_dataset为:

"replica_cad_dataset",
"hab_fetch",
"ycb",
"rearrange_pick_dataset_v0",
"rearrange_dataset_v2",

但是，在下载的时候还有坑。直接运行命令在下载完解压的时候会出现：

Error: unknown shorthand flag: 'f' in -f

这是关于git-lfs的报错，可能与当时的版本有关系，因此完整命令为：

python -m habitat_sim.utils.datasets_download --uids <replica_datasets> --data-path data/ --no-prune

安装完成后，可以使用python examples/example.py来测试环境是否安装成功。

相机渲染测试

可运行以下代码，通过WSAD控制相机移动。

import habitat
from habitat.sims.habitat_simulator.actions import HabitatSimActions
import cv2


FORWARD_KEY="w"
LEFT_KEY="a"
RIGHT_KEY="d"
FINISH="f"


def transform_rgb_bgr(image):
    return image[:, :, [2, 1, 0]]


def example():
    env = habitat.Env(
        config=habitat.get_config("benchmark/nav/pointnav/pointnav_habitat_test.yaml")
    )

    print("Environment creation successful")
    observations = env.reset()
    print("Destination, distance: {:3f}, theta(radians): {:.2f}".format(
        observations["pointgoal_with_gps_compass"][0],
        observations["pointgoal_with_gps_compass"][1]))
    cv2.imshow("RGB", transform_rgb_bgr(observations["rgb"]))

    print("Agent stepping around inside environment.")

    count_steps = 0
    while not env.episode_over:
        keystroke = cv2.waitKey(0)

        if keystroke == ord(FORWARD_KEY):
            action = HabitatSimActions.move_forward
            print("action: FORWARD")
        elif keystroke == ord(LEFT_KEY):
            action = HabitatSimActions.turn_left
            print("action: LEFT")
        elif keystroke == ord(RIGHT_KEY):
            action = HabitatSimActions.turn_right
            print("action: RIGHT")
        elif keystroke == ord(FINISH):
            action = HabitatSimActions.stop
            print("action: FINISH")
        else:
            print("INVALID KEY")
            continue

        observations = env.step(action)
        count_steps += 1

        print("Destination, distance: {:3f}, theta(radians): {:.2f}".format(
            observations["pointgoal_with_gps_compass"][0],
            observations["pointgoal_with_gps_compass"][1]))
        cv2.imshow("RGB", transform_rgb_bgr(observations["rgb"]))

    print("Episode finished after {} steps.".format(count_steps))

    if (
        action == HabitatSimActions.stop
        and observations["pointgoal_with_gps_compass"][0] < 0.2
    ):
        print("you successfully navigated to destination point")
    else:
        print("your navigation was unsuccessful")


if __name__ == "__main__":
    example()

gibson数据集下载: