habitat.core.embodied_task.EmbodiedTask class

Base class for embodied tasks. EmbodiedTask holds definition of a task that agent needs to solve: action space, observation space, measures, simulator usage. EmbodiedTask has reset() and step() methods that are called by Env. EmbodiedTask is the one of main dimensions for the framework extension. Once new embodied task is introduced implementation of EmbodiedTask is a formal definition of the task that opens opportunity for others to propose solutions and include it into benchmark results.

Contents

Args:
config: config for the task. sim: reference to the simulator for calculating task observations. dataset: reference to dataset for task instance level information.
data measurements
set of task measures.
data sensor_suite
suite of task sensors.

Methods

def get_action_name(self, action_index: int)
def overwrite_sim_config(self, sim_config: habitat.config.default.Config, episode: dataset.Episode) -> habitat.config.default.Config
Update config merging information from sim_config and episode.
def reset(self, episode: dataset.Episode)
def seed(self, seed: int) -> None
def step(self, action: typing.Dict[str, typing.Any], episode: dataset.Episode)

Special methods

def __init__(self, config: habitat.config.default.Config, sim: simulator.Simulator, dataset: typing.Optional[dataset.Dataset] = None) -> None

Properties

action_space: gym.spaces.space.Space get
is_episode_active get

Data

measurements: Measurements = None
sensor_suite: simulator.SensorSuite = None

Method documentation

def habitat.core.embodied_task.EmbodiedTask.overwrite_sim_config(self, sim_config: habitat.config.default.Config, episode: dataset.Episode) -> habitat.config.default.Config

Update config merging information from sim_config and episode.

Parameters
sim_config config for simulator.
episode current episode.