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ASzoterikwijmans
ASzot
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erikwijmans
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Habitat 2.0 Bug Fixes (#862)
* Fixed input to monolithic policy * Added gps for all objects * Fixed rendering issue and config key test passing * Fixed new bug in TP-SRL * Addressed PR comments * Updated install path in colab scripts * Refactored nav_to skill. * Updated control limits and kinematic setting object to grasp while moving * Removed include visual key * Made types for HRL policy more clear. Fixed cases when termination is not necessarily bad * Fix nav policy end condition * Sliding off for all skills. Removed oracle information from open/close skills * Fixed dataset splits * Fixed dataset splits * Not using any task information in the navigation policy input in TP-SRL * Fixed bug with robot holding object already on place skill reset. Added missing object in success condition. * Fixed sliding inconsistency * Start fridge closed in set_table * Added test for composite task * Removed old visual keys * Fixed styling * Trying to fix gym tests * Added guard for trying to get inferred node action when impossible * Fixed stop action in monolithic * Fixed test for Gym wrapper to never use concurrent rendering * Fixed small issues in tutorial * Refactored skills. Fixed bugs * Recalculate nav_to info after checking cache is correct * Made gym observation keys explicit. Co-authored-by: erikwijmans <[email protected]>
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‎configs/tasks/rearrange/close_cab.yaml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
GYM:
22
AUTO_NAME: "CloseCab"
3-
OBS_KEYS: ['joint', 'ee_pos', 'is_holding', 'marker_rel_pos', 'marker_js', 'relative_resting_position']
3+
OBS_KEYS: ['robot_head_depth', 'joint', 'ee_pos', 'is_holding', 'marker_rel_pos', 'marker_js', 'relative_resting_position']
44
CLASS_NAME: "RearrangeRLEnv"
55
ENVIRONMENT:
66
MAX_EPISODE_STEPS: 200
@@ -129,7 +129,7 @@ TASK:
129129
ARM_JOINT_DIMENSIONALITY: 7
130130
GRASP_THRESH_DIST: 0.15
131131
DISABLE_GRIP: True
132-
DELTA_POS_LIMIT: 0.025
132+
DELTA_POS_LIMIT: 0.0125
133133
EE_CTRL_LIM: 0.015
134134
POSSIBLE_ACTIONS:
135135
- ARM_ACTION
@@ -182,7 +182,7 @@ SIMULATOR:
182182

183183
DEFAULT_AGENT_ID: 0
184184
HABITAT_SIM_V0:
185-
ALLOW_SLIDING: True
185+
ALLOW_SLIDING: False
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ENABLE_PHYSICS: True
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GPU_DEVICE_ID: 0
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GPU_GPU: False

‎configs/tasks/rearrange/close_fridge.yaml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
GYM:
22
AUTO_NAME: "CloseFridge"
3-
OBS_KEYS: ['joint', 'ee_pos', 'is_holding', 'marker_rel_pos', 'marker_js', 'relative_resting_position']
3+
OBS_KEYS: ['robot_head_depth', 'joint', 'ee_pos', 'is_holding', 'marker_rel_pos', 'marker_js', 'relative_resting_position']
44
CLASS_NAME: "RearrangeRLEnv"
55
ENVIRONMENT:
66
MAX_EPISODE_STEPS: 200
@@ -129,7 +129,7 @@ TASK:
129129
ARM_JOINT_DIMENSIONALITY: 7
130130
GRASP_THRESH_DIST: 0.15
131131
DISABLE_GRIP: True
132-
DELTA_POS_LIMIT: 0.025
132+
DELTA_POS_LIMIT: 0.0125
133133
EE_CTRL_LIM: 0.015
134134
BASE_VELOCITY:
135135
TYPE: "BaseVelAction"
@@ -192,7 +192,7 @@ SIMULATOR:
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193193
DEFAULT_AGENT_ID: 0
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HABITAT_SIM_V0:
195-
ALLOW_SLIDING: True
195+
ALLOW_SLIDING: False
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ENABLE_PHYSICS: True
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GPU_DEVICE_ID: 0
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GPU_GPU: False

‎configs/tasks/rearrange/nav_pick.yaml‎

Lines changed: 30 additions & 42 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
GYM:
22
AUTO_NAME: "NavPick"
3-
OBS_KEYS: ['robot_head_depth', 'obj_start_sensor', 'joint', 'is_holding', 'relative_resting_position']
3+
OBS_KEYS: ['robot_head_depth', 'obj_start_sensor', 'obj_start_gps_compass', 'joint', 'is_holding']
44
CLASS_NAME: "RearrangeRLEnv"
55
ENVIRONMENT:
66
MAX_EPISODE_STEPS: 500
@@ -16,6 +16,7 @@ TASK:
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SUCCESS_MEASURE: "composite_success"
1717
SUCCESS_REWARD: 100.0
1818
SLACK_REWARD: -0.01
19+
END_ON_SUCCESS: True
1920

2021
MAX_COLLISIONS: -1.0
2122
COUNT_OBJ_COLLISIONS: true
@@ -38,8 +39,6 @@ TASK:
3839
DEBUG_SKIP_TO_NODE: -1
3940
SKIP_NODES:
4041
- move_obj
41-
TARGET_START_POINT_GOAL_SENSOR:
42-
TYPE: "TargetOrGoalStartPointGoalSensor"
4342
TARGET_START_SENSOR:
4443
TYPE: TargetStartSensor
4544
GOAL_FORMAT: CARTESIAN
@@ -55,39 +54,24 @@ TASK:
5554
TYPE: EEPositionSensor
5655
IS_HOLDING_SENSOR:
5756
TYPE: IsHoldingSensor
58-
RELATIVE_RESTING_POS_SENSOR:
59-
TYPE: RelativeRestingPositionSensor
60-
MARKER_REL_POS_SENSOR:
61-
TYPE: "MarkerRelPosSensor"
57+
TARGET_START_GPS_COMPASS_SENSOR:
58+
TYPE: TargetStartGpsCompassSensor
59+
TARGET_GOAL_GPS_COMPASS_SENSOR:
60+
TYPE: TargetGoalGpsCompassSensor
6261
SENSORS:
6362
- TARGET_START_SENSOR
6463
- GOAL_SENSOR
6564
- JOINT_SENSOR
6665
- IS_HOLDING_SENSOR
6766
- END_EFFECTOR_SENSOR
68-
- RELATIVE_RESTING_POS_SENSOR
69-
- TARGET_START_POINT_GOAL_SENSOR
70-
- MARKER_REL_POS_SENSOR
67+
- TARGET_START_GPS_COMPASS_SENSOR
68+
- TARGET_GOAL_GPS_COMPASS_SENSOR
7169
FORCE_TERMINATE:
7270
TYPE: ForceTerminate
7371
MAX_ACCUM_FORCE: -1.0
7472
ROBOT_FORCE:
7573
TYPE: RobotForce
7674
MIN_FORCE: 20.0
77-
END_EFFECTOR_TO_REST_DISTANCE:
78-
TYPE: EndEffectorToRestDistance
79-
ROBOT_COLLS:
80-
TYPE: RobotCollisions
81-
OBJECT_TO_GOAL_DISTANCE:
82-
TYPE: ObjectToGoalDistance
83-
END_EFFECTOR_TO_OBJECT_DISTANCE:
84-
TYPE: EndEffectorToObjectDistance
85-
COMPOSITE_SUCCESS:
86-
TYPE: CompositeSuccess
87-
NUM_STEPS:
88-
TYPE: NumStepsMeasure
89-
DID_VIOLATE_HOLD_CONSTRAINT:
90-
TYPE: DidViolateHoldConstraintMeasure
9175
MOVE_OBJECTS_REWARD:
9276
TYPE: MoveObjectsReward
9377
PICK_REWARD: 1.0
@@ -96,18 +80,37 @@ TASK:
9680
DIST_REWARD: 1.0
9781
# General Rearrange Reward config
9882
CONSTRAINT_VIOLATE_PEN: 10.0
99-
FORCE_PEN: 0.001
83+
FORCE_PEN: 0.0
10084
MAX_FORCE_PEN: 1.0
10185
FORCE_END_PEN: 10.0
10286

87+
# Overrides for measurements that are not used in monolithic RL but are
88+
# used in TP-SRL
89+
REARRANGE_NAV_TO_OBJ_SUCCESS:
90+
TYPE: NavToObjSuccess
91+
SUCCESS_ANGLE_DIST: 0.7
92+
MUST_LOOK_AT_TARG: True
93+
HEURISTIC_STOP: False
94+
MUST_CALL_STOP: False
95+
NAV_TO_POS_SUCC:
96+
TYPE: NavToPosSucc
97+
SUCCESS_DISTANCE: 0.2
98+
PLACE_SUCCESS:
99+
TYPE: PlaceSuccess
100+
EE_RESTING_SUCCESS_THRESHOLD: 0.3
101+
PICK_SUCCESS:
102+
TYPE: RearrangePickSuccess
103+
EE_RESTING_SUCCESS_THRESHOLD: 0.3
104+
103105
MEASUREMENTS:
104106
- OBJECT_TO_GOAL_DISTANCE
105107
- ROBOT_FORCE
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- FORCE_TERMINATE
107109
- ROBOT_COLLS
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- END_EFFECTOR_TO_REST_DISTANCE
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- END_EFFECTOR_TO_OBJECT_DISTANCE
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- DOES_WANT_TERMINATE
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- COMPOSITE_SUCCESS
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- COMPOSITE_BAD_CALLED_TERMINATE
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- NUM_STEPS
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- DID_VIOLATE_HOLD_CONSTRAINT
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- MOVE_OBJECTS_REWARD
@@ -137,21 +140,6 @@ TASK:
137140
- ARM_ACTION
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- BASE_VELOCITY
139142
- REARRANGE_STOP
140-
PLACE_REWARD:
141-
TYPE: PlaceReward
142-
DIST_REWARD: 20.0
143-
SUCC_REWARD: 10.0
144-
PLACE_REWARD: 20.0
145-
DROP_PEN: 0.0
146-
USE_DIFF: true
147-
WRONG_DROP_SHOULD_END: false
148-
CONSTRAINT_VIOLATE_PEN: 10.0
149-
FORCE_PEN: 0.001
150-
MAX_FORCE_PEN: 1.0
151-
FORCE_END_PEN: 10.0
152-
PLACE_SUCCESS:
153-
TYPE: PlaceSuccess
154-
SUCC_THRESH: 0.15
155143
SIMULATOR:
156144
ACTION_SPACE_CONFIG: v0
157145
GRASP_IMPULSE: 1000.0
@@ -204,7 +192,7 @@ SIMULATOR:
204192
DEFAULT_AGENT_ID: 0
205193
FORWARD_STEP_SIZE: 0.25
206194
HABITAT_SIM_V0:
207-
ALLOW_SLIDING: true
195+
ALLOW_SLIDING: false
208196
ENABLE_PHYSICS: true
209197
GPU_DEVICE_ID: 0
210198
GPU_GPU: false

‎configs/tasks/rearrange/nav_pick_nav_place.yaml‎

Lines changed: 36 additions & 48 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,12 @@
11
GYM:
2-
CLASS_NAME: "RearrangeRLEnv"
3-
AUTO_NAME: "NavPickNavPlace"
4-
OBS_KEYS: ['robot_head_depth', 'obj_start_sensor', 'joint', 'is_holding', 'relative_resting_position']
2+
CLASS_NAME: RearrangeRLEnv
3+
AUTO_NAME: NavPick
4+
OBS_KEYS:
5+
- robot_head_depth
6+
- obj_start_sensor
7+
- obj_start_gps_compass
8+
- joint
9+
- is_holding
510
ENVIRONMENT:
611
MAX_EPISODE_STEPS: 500
712
DATASET:
@@ -11,12 +16,11 @@ DATASET:
1116
SCENES_DIR: data/replica_cad/
1217
TASK:
1318
TYPE: RearrangeCompositeTask-v0
14-
15-
REWARD_MEASURE: "move_obj_reward"
16-
SUCCESS_MEASURE: "composite_success"
19+
REWARD_MEASURE: move_obj_reward
20+
SUCCESS_MEASURE: composite_success
1721
SUCCESS_REWARD: 100.0
1822
SLACK_REWARD: -0.01
19-
23+
END_ON_SUCCESS: true
2024
MAX_COLLISIONS: -1.0
2125
COUNT_OBJ_COLLISIONS: true
2226
COUNT_ROBOT_OBJ_COLLS: false
@@ -52,43 +56,29 @@ TASK:
5256
TYPE: EEPositionSensor
5357
IS_HOLDING_SENSOR:
5458
TYPE: IsHoldingSensor
55-
RELATIVE_RESTING_POS_SENSOR:
56-
TYPE: RelativeRestingPositionSensor
5759
SENSORS:
5860
- TARGET_START_SENSOR
5961
- GOAL_SENSOR
6062
- JOINT_SENSOR
6163
- IS_HOLDING_SENSOR
6264
- END_EFFECTOR_SENSOR
63-
- RELATIVE_RESTING_POS_SENSOR
64-
- TARGET_START_POINT_GOAL_SENSOR
65-
- MARKER_REL_POS_SENSOR
65+
- TARGET_START_GPS_COMPASS_SENSOR
66+
- TARGET_GOAL_GPS_COMPASS_SENSOR
6667
FORCE_TERMINATE:
6768
TYPE: ForceTerminate
6869
MAX_ACCUM_FORCE: -1.0
6970
ROBOT_FORCE:
7071
TYPE: RobotForce
7172
MIN_FORCE: 20.0
72-
ROBOT_COLLS:
73-
TYPE: RobotCollisions
74-
OBJECT_TO_GOAL_DISTANCE:
75-
TYPE: ObjectToGoalDistance
76-
END_EFFECTOR_TO_OBJECT_DISTANCE:
77-
TYPE: EndEffectorToObjectDistance
78-
END_EFFECTOR_TO_REST_DISTANCE:
79-
TYPE: EndEffectorToRestDistance
80-
COMPOSITE_SUCCESS:
81-
TYPE: CompositeSuccess
82-
NUM_STEPS:
83-
TYPE: NumStepsMeasure
8473
MEASUREMENTS:
8574
- OBJECT_TO_GOAL_DISTANCE
8675
- ROBOT_FORCE
8776
- FORCE_TERMINATE
8877
- ROBOT_COLLS
89-
- END_EFFECTOR_TO_REST_DISTANCE
9078
- END_EFFECTOR_TO_OBJECT_DISTANCE
79+
- DOES_WANT_TERMINATE
9180
- COMPOSITE_SUCCESS
81+
- COMPOSITE_BAD_CALLED_TERMINATE
9282
- NUM_STEPS
9383
- DID_VIOLATE_HOLD_CONSTRAINT
9484
- MOVE_OBJECTS_REWARD
@@ -117,27 +107,6 @@ TASK:
117107
- ARM_ACTION
118108
- BASE_VELOCITY
119109
- REARRANGE_STOP
120-
PLACE_REWARD:
121-
TYPE: PlaceReward
122-
DIST_REWARD: 20.0
123-
SUCC_REWARD: 10.0
124-
PLACE_REWARD: 20.0
125-
DROP_PEN: 0.0
126-
USE_DIFF: true
127-
WRONG_DROP_SHOULD_END: false
128-
CONSTRAINT_VIOLATE_PEN: 10.0
129-
FORCE_PEN: 0.001
130-
MAX_FORCE_PEN: 1.0
131-
FORCE_END_PEN: 10.0
132-
PLACE_SUCCESS:
133-
TYPE: PlaceSuccess
134-
SUCC_THRESH: 0.15
135-
TARGET_START_POINT_GOAL_SENSOR:
136-
TYPE: TargetOrGoalStartPointGoalSensor
137-
MARKER_REL_POS_SENSOR:
138-
TYPE: MarkerRelPosSensor
139-
DID_VIOLATE_HOLD_CONSTRAINT:
140-
TYPE: DidViolateHoldConstraintMeasure
141110
USING_SUBTASKS: false
142111
MOVE_OBJECTS_REWARD:
143112
TYPE: MoveObjectsReward
@@ -146,9 +115,28 @@ TASK:
146115
SINGLE_REARRANGE_REWARD: 1.0
147116
DIST_REWARD: 1.0
148117
CONSTRAINT_VIOLATE_PEN: 10.0
149-
FORCE_PEN: 0.001
118+
FORCE_PEN: 0.0
150119
MAX_FORCE_PEN: 1.0
151120
FORCE_END_PEN: 10.0
121+
TARGET_START_GPS_COMPASS_SENSOR:
122+
TYPE: TargetStartGpsCompassSensor
123+
TARGET_GOAL_GPS_COMPASS_SENSOR:
124+
TYPE: TargetGoalGpsCompassSensor
125+
REARRANGE_NAV_TO_OBJ_SUCCESS:
126+
TYPE: NavToObjSuccess
127+
SUCCESS_ANGLE_DIST: 0.7
128+
MUST_LOOK_AT_TARG: true
129+
HEURISTIC_STOP: false
130+
MUST_CALL_STOP: false
131+
NAV_TO_POS_SUCC:
132+
TYPE: NavToPosSucc
133+
SUCCESS_DISTANCE: 0.2
134+
PLACE_SUCCESS:
135+
TYPE: PlaceSuccess
136+
EE_RESTING_SUCCESS_THRESHOLD: 0.3
137+
PICK_SUCCESS:
138+
TYPE: RearrangePickSuccess
139+
EE_RESTING_SUCCESS_THRESHOLD: 0.3
152140
SIMULATOR:
153141
ACTION_SPACE_CONFIG: v0
154142
GRASP_IMPULSE: 1000.0
@@ -201,7 +189,7 @@ SIMULATOR:
201189
DEFAULT_AGENT_ID: 0
202190
FORWARD_STEP_SIZE: 0.25
203191
HABITAT_SIM_V0:
204-
ALLOW_SLIDING: true
192+
ALLOW_SLIDING: false
205193
ENABLE_PHYSICS: true
206194
GPU_DEVICE_ID: 0
207195
GPU_GPU: false

‎configs/tasks/rearrange/nav_to_obj.yaml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
GYM:
22
AUTO_NAME: "NavToObj"
3-
OBS_KEYS: ["object_to_agent_gps_compass", 'joint']
3+
OBS_KEYS: ["robot_head_depth", "object_to_agent_gps_compass", 'joint', 'nav_to_skill']
44
CLASS_NAME: "RearrangeRLEnv"
55
ENVIRONMENT:
66
MAX_EPISODE_STEPS: 400
@@ -160,7 +160,7 @@ SIMULATOR:
160160

161161
DEFAULT_AGENT_ID: 0
162162
HABITAT_SIM_V0:
163-
ALLOW_SLIDING: True
163+
ALLOW_SLIDING: false
164164
ENABLE_PHYSICS: True
165165
GPU_DEVICE_ID: 0
166166
GPU_GPU: False

‎configs/tasks/rearrange/open_cab.yaml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
GYM:
22
AUTO_NAME: "OpenCab"
3-
OBS_KEYS: ['joint', 'ee_pos', 'is_holding', 'marker_rel_pos', 'marker_js', 'relative_resting_position']
3+
OBS_KEYS: ['robot_head_depth', 'joint', 'ee_pos', 'is_holding', 'marker_rel_pos', 'marker_js', 'relative_resting_position']
44
CLASS_NAME: "RearrangeRLEnv"
55
ENVIRONMENT:
66
MAX_EPISODE_STEPS: 200
@@ -128,7 +128,7 @@ TASK:
128128
ARM_JOINT_DIMENSIONALITY: 7
129129
GRASP_THRESH_DIST: 0.15
130130
DISABLE_GRIP: False
131-
DELTA_POS_LIMIT: 0.025
131+
DELTA_POS_LIMIT: 0.0125
132132
EE_CTRL_LIM: 0.015
133133
POSSIBLE_ACTIONS:
134134
- ARM_ACTION
@@ -181,7 +181,7 @@ SIMULATOR:
181181

182182
DEFAULT_AGENT_ID: 0
183183
HABITAT_SIM_V0:
184-
ALLOW_SLIDING: True
184+
ALLOW_SLIDING: False
185185
ENABLE_PHYSICS: True
186186
GPU_DEVICE_ID: 0
187187
GPU_GPU: False

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