[Bug Fix] Fixing rotational bug in tasks.rearrange.utils.get_camera_transform

.circleci/config.yml

@@ -235,7 +235,6 @@ jobs:
               while [ ! -f ~/miniconda/pytorch_installed ]; do sleep 2; done # wait for Pytorch
               pip install -e habitat-lab
               pip install -e habitat-baselines
-              pip install -e habitat-hitl
       - save_cache:
           key: conda-{{ checksum "habitat-lab/.circleci/config.yml" }}-{{ checksum "./date" }}
           background: true
@@ -271,18 +270,8 @@ jobs:
               . activate habitat; cd habitat-lab
               export PYTHONPATH=.:$PYTHONPATH
               export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
-              python -m pytest test/ --cov-report=xml --cov-report term  --cov=./
+              python -m pytest --cov-report=xml --cov-report term  --cov=./
       - codecov/upload
-      - run:
-          name: Run HITL tests
-          no_output_timeout: 60m
-          command: |
-              export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
-              . activate habitat; cd habitat-lab
-              export PYTHONPATH=.:$PYTHONPATH
-              export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
-              python -m habitat_sim.utils.datasets_download --uids hab3-episodes hab3_bench_assets habitat_humanoids hab_spot_arm ycb --data-path data/ --no-replace --no-prune
-              python -m pytest habitat-hitl/test
       - run:
           name: Run baseline training tests
           no_output_timeout: 30m
@@ -291,9 +280,9 @@ jobs:
               . activate habitat; cd habitat-lab
               export PYTHONPATH=.:$PYTHONPATH
               export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
-              # This is a flag that enables test_baseline_training to work
+              # This is a flag that enables test_test_baseline_training to work
               export TEST_BASELINE_SMALL=1
-              python -m pytest test/test_baseline_training.py -s
+              python -m pytest  test/test_baseline_training.py -s
       - run:
           name: Run Hab2.0 benchmark
           no_output_timeout: 30m
@@ -335,8 +324,6 @@ jobs:
               python -c 'import habitat; print("habitat version:", habitat.__version__)'
               pip install habitat-baselines/
               python -c 'import habitat_baselines; print("habitat_baselines version:", habitat_baselines.__version__)'
-              pip install habitat-hitl/
-              python -c 'import habitat_hitl; print("habitat_hitl version:", habitat_hitl.__version__)'
       - run: &build_sdist_and_bdist
           name: Build sdist and bdist
           command: |

docs/conf.py

@@ -103,7 +103,6 @@
     "pages/habitat-lab-tdmap-viz.rst",
     "pages/habitat2.rst",
     "pages/view-transform-warp.rst",
-    "pages/metadata-taxonomy.rst",
 ]
 
 PLUGINS = [
@@ -138,7 +137,6 @@
             ("Habitat Lab TopdownMap Visualization", "habitat-lab-tdmap-viz"),
             ("Habitat 2.0 Overview", "habitat2"),
             ("View, Transform and Warp", "view-transform-warp"),
-            ("'user_defined' Metadata Taxonomy", "metadata-taxonomy"),
         ],
     ),
     ("Classes", "classes", []),

examples/hitl/basic_viewer/basic_viewer.py

@@ -73,6 +73,7 @@ def _update_lookat_pos(self):
             self._get_camera_lookat_pos(),
             radius,
             mn.Color3(255 / 255, 0 / 255, 0 / 255),
+            24,
         )
 
     @property

examples/hitl/pick_throw_vr/pick_throw_vr.py

@@ -79,9 +79,7 @@ def __init__(self, app_service: AppService):
         assert not self._app_service.hitl_config.camera.first_person_mode
 
         self._nav_helper = GuiNavigationHelper(
-            self._app_service,
-            self.get_gui_controlled_agent_index(),
-            user_index=0,
+            self._app_service, self.get_gui_controlled_agent_index()
         )
         self._throw_helper = GuiThrowHelper(
             self._app_service, self.get_gui_controlled_agent_index()
@@ -485,10 +483,12 @@ def _get_target_object_positions(self):
         )
 
     def _draw_circle(self, pos, color, radius):
+        num_segments = 24
         self._app_service.gui_drawer.draw_circle(
             pos,
             radius,
             color,
+            num_segments,
         )
 
     def _add_target_object_highlight_ring(

examples/hitl/rearrange/rearrange.py

@@ -84,9 +84,7 @@ def __init__(
         )
 
         self._nav_helper = GuiNavigationHelper(
-            self._app_service,
-            self.get_gui_controlled_agent_index(),
-            user_index=0,
+            self._app_service, self.get_gui_controlled_agent_index()
         )
         self._episode_helper = self._app_service.episode_helper
 
@@ -123,7 +121,7 @@ def _update_grasping_and_set_act_hints(self):
             color = mn.Color3(0, 255 / 255, 0)  # green
             goal_position = self._goal_positions[self._held_target_obj_idx]
             self._app_service.gui_drawer.draw_circle(
-                goal_position, end_radius, color
+                goal_position, end_radius, color, 24
             )
 
             self._nav_helper.draw_nav_hint_from_agent(
@@ -140,6 +138,7 @@ def _update_grasping_and_set_act_hints(self):
                 can_place_position,
                 self._can_grasp_place_threshold,
                 mn.Color3(255 / 255, 255 / 255, 0),
+                24,
             )
 
             if self._app_service.gui_input.get_key_down(GuiInput.KeyNS.SPACE):
@@ -273,6 +272,7 @@ def _update_task(self):
                     can_grasp_position,
                     self._can_grasp_place_threshold,
                     mn.Color3(255 / 255, 255 / 255, 0),
+                    24,
                 )
 
     def get_gui_controlled_agent_index(self):

examples/hitl/rearrange_v2/README.md

@@ -12,15 +12,6 @@ git clone --branch articulated-scenes --single-branch --depth 1 https://huggingf
 mv fphab fpss
 ```
 
-To test the Habitat-LLM episodes in `rearrange_v2` you'll need to download and unzip the following [episode dataset](https://drive.google.com/file/d/1zFCBiWE_XFY0Ry9CZOV_NF_rfxBw1y-F/view?usp=sharing) in Habitat-Lab root directory. In addition, you'll need YCB, GSO, AI2THOR, and ABO object assets. To download these assets use the following commands:
-
-```
-cd data
-git clone https://huggingface.co/datasets/ai-habitat/OVMM_objects objects --recursive
-cd objects
-git checkout 3893a735352b92d46505f35d759553f5fc82a39b
-```
-
 ## Data directory
 
 Run `rearrange_v2` from the Habitat-lab root directory. It will expect `data/` for Habitat-lab data, and it will also look for `examples/hitl/rearrange_v2/app_data/demo.json.gz` (included alongside source files in our git repo).
@@ -42,11 +33,6 @@ Headless server:
 python examples/hitl/rearrange_v2/rearrange_v2.py +experiment=headless_server
 ```
 
-To test Habitat-LLM episodes using a user-controlled humanoid use:
-```bash
-python examples/hitl/rearrange_v2/rearrange_v2.py --config-name lang_rearrange_humanoid_only
-```
-
 ## Controls
 See on-screen help text. In addition, press `1` or `2` to select an episode.