Multi-Object-Navigation-Benchmark/hm3d_config.yaml at master · WeberFU23/Multi-Object-Navigation-Benchmark · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
# Habitat config for HM3D multi-object navigation
habitat:
  seed: 0
  env_task: GymHabitatEnv
  environment:
    max_episode_steps: 1000
    max_episode_seconds: 10000000
  dataset:
    type: ""  # Custom dataset handled separately
  simulator:
    type: Sim-v0
    forward_step_size: 0.25
    turn_angle: 30
    create_renderer: false
    requires_textures: true
    auto_sleep: false
    step_physics: true
    concur_render: false
    needs_markers: true
    update_articulated_agent: true
    scene_dataset: /home/wenbofu/datasets/hm3d/versioned_data/hm3d-0.2/hm3d/val/hm3d_annotated_val_basis.scene_dataset_config.json
    scene: /home/wenbofu/datasets/hm3d/versioned_data/hm3d-0.2/hm3d/val/00800-TEEsavR23oF/TEEsavR23oF.basis.glb
    additional_object_paths: []
    seed: 0
    default_agent_id: 0
    debug_render: false
    debug_render_articulated_agent: false
    kinematic_mode: false
    should_setup_semantic_ids: true
    debug_render_goal: true
    robot_joint_start_noise: 0.0
    ctrl_freq: 120.0
    ac_freq_ratio: 4
    load_objs: true
    hold_thresh: 0.15
    grasp_impulse: 10000.0
    object_ids_start: 100
    default_agent_navmesh: true
    navmesh_include_static_objects: false
    habitat_sim_v0:
      gpu_device_id: 0
      gpu_gpu: false
      allow_sliding: true
      frustum_culling: true
      enable_physics: false
      enable_hbao: false
      physics_config_file: ./data/default.physics_config.json
      leave_context_with_background_renderer: false
      enable_gfx_replay_save: false
    renderer:
      enable_batch_renderer: false
    agents:
      main_agent:
        sim_sensors:
          rgb:
            type: HabitatSimRGBSensor
            width: 640
            height: 480
          depth:
            type: HabitatSimDepthSensor
            width: 640
            height: 480
            min_depth: 0.0
            max_depth: 10.0
            normalize_depth: true
  task:
    type: Nav-v0
    success_distance: 1.0
    goal_sensor_uuid: pointgoal_with_gps_compass