HITL - Refactor RearrangeV2 configs. (facebookresearch#2047)

* Refactor rearrange_v2 configs.

* Move out server config from top-level configs.

* Add comments and remove unused configs.

* Change data path to a placeholder.

examples/hitl/rearrange_v2/config/dataset.yaml

@@ -0,0 +1,30 @@
+# This config is derived from habitat-lab/habitat/config/benchmark/multi_agent/hssd_spot_human.yaml
+# @package _global_
+
+defaults:
+  - _self_
+
+habitat:
+  dataset:
+    type: "CollaborationDataset-v0"
+    data_path: "placeholder.json.gz"
+    scenes_dir: "data/fpss"
+    metadata:
+      metadata_folder: "data/fpss/metadata"
+      obj_metadata: object_categories_filtered.csv
+      staticobj_metadata: fpmodels-with-decomposed.csv
+  simulator:
+    additional_object_paths:
+      - "data/objects/ycb/configs/"
+      - "data/objects_ovmm/train_val/ai2thorhab/configs/objects/"
+      - "data/objects_ovmm/train_val/amazon_berkeley/configs/"
+      - "data/objects_ovmm/train_val/google_scanned/configs/"
+      - "data/objects_ovmm/train_val/hssd/configs/objects/"
+  environment:
+    max_episode_steps: 0
+    # Ensure that the episode iterator can be controlled by specifying episode IDs.
+    iterator_options:
+      max_scene_repeat_steps: -1
+      max_scene_repeat_episodes: -1
+      shuffle: False
+      group_by_scene: False

examples/hitl/rearrange_v2/config/experiment/habitat_llm_base.yaml

@@ -0,0 +1,15 @@
+# @package _global_
+
+defaults:
+  - /agent/@evaluation.agents.agent_0.config: oracle_rearrange_object_states_agent
+
+habitat_llm:
+  enable: False
+
+evaluation:
+  do_print: True
+  save_video: False
+  log_data: False
+  agents:
+    agent_0:
+      uid: 0

examples/hitl/rearrange_v2/config/experiment/habitat_llm_multi.yaml

@@ -0,0 +1,18 @@
+# @package _global_
+
+defaults:
+  - /agent/@evaluation.agents.agent_0.config: oracle_rearrange_object_states_agent
+  - /agent/@evaluation.agents.agent_1.config: oracle_rearrange_object_states_agent
+
+habitat_llm:
+  enable: False
+
+evaluation:
+  do_print: True
+  save_video: False
+  log_data: False
+  agents:
+    agent_0:
+      uid: 0
+    agent_1:
+      uid: 1

examples/hitl/rearrange_v2/config/hitl_multi.yaml

@@ -0,0 +1,12 @@
+# @package _global_
+
+# Top-level configuration for running a headless HITL server in multi-user mode.
+
+defaults:
+  - lang_rearrange_spot_humanoid.yaml
+  - server.yaml
+  - _self_
+
+habitat_hitl:
+  networking:
+    max_client_count: 2

examples/hitl/rearrange_v2/config/hitl_single.yaml

@@ -0,0 +1,8 @@
+# @package _global_
+
+# Top-level configuration for running a headless HITL server in single-user mode.
+
+defaults:
+  - lang_rearrange_humanoid_only.yaml
+  - server.yaml
+  - _self_

examples/hitl/rearrange_v2/config/lang_rearrange_humanoid_only.yaml

@@ -3,19 +3,9 @@
 defaults:
   - language_rearrange
   - hitl_defaults
+  - dataset
   - _self_
 
-habitat:
-  # various config args to ensure the episode never ends
-  environment:
-    max_episode_steps: 0
-    # Ensure that the episode iterator can be controlled by specifying episode IDs.
-    iterator_options:
-      max_scene_repeat_steps: -1
-      max_scene_repeat_episodes: -1
-      shuffle: False
-      group_by_scene: False
-
 habitat_baselines:
   # todo: document these choices
   eval:
@@ -25,7 +15,6 @@ habitat_baselines:
       num_pool_agents_per_type: [1, 1]
     policy:
 
-
 habitat_hitl:
   window:
     title: "Rearrange"
@@ -36,6 +25,7 @@ habitat_hitl:
       lin_speed: 10.0
       ang_speed: 300
   hide_humanoid_in_gui: False
+  can_grasp_place_threshold: 2.0
   camera:
     first_person_mode: True
   networking:

examples/hitl/rearrange_v2/config/lang_rearrange_spot_humanoid.yaml

@@ -3,19 +3,9 @@
 defaults:
   - language_rearrange_multi_agent
   - hitl_defaults
+  - dataset
   - _self_
 
-habitat:
-  # various config args to ensure the episode never ends
-  environment:
-    max_episode_steps: 0
-    # Ensure that the episode iterator can be controlled by specifying episode IDs.
-    iterator_options:
-      max_scene_repeat_steps: -1
-      max_scene_repeat_episodes: -1
-      shuffle: False
-      group_by_scene: False
-
 habitat_baselines:
   # todo: document these choices
   eval:
@@ -38,6 +28,7 @@ habitat_hitl:
       lin_speed: 10.0
       ang_speed: 300
   hide_humanoid_in_gui: False
+  can_grasp_place_threshold: 2.0
   camera:
     first_person_mode: True
   networking:

examples/hitl/rearrange_v2/config/language_rearrange.yaml

@@ -12,6 +12,7 @@ defaults:
 
   - /habitat/task/[email protected]_0_base_velocity: base_velocity
   - /habitat/task/[email protected]_0_rearrange_stop: rearrange_stop
+  - /habitat/task/[email protected]_0_humanoidjoint_action: humanoidjoint_action
 
   - /habitat/task/measurements:
     - num_steps
@@ -38,7 +39,7 @@ habitat:
     slack_reward: -0.0005
     end_on_success: True
     constraint_violation_ends_episode: False
-    constraint_violation_drops_object: True
+    constraint_violation_drops_object: False
     task_spec_base_path: benchmark/multi_agent/
     task_spec: pddl/multi_agent_tidy_house
     pddl_domain_def: fp
@@ -53,17 +54,9 @@ habitat:
       - is_holding
       - ee_pos
       - localization_sensor
-  environment:
-    max_episode_steps: 750
   simulator:
-    type: RearrangeSim-v0
+    type: CollaborationSim-v0
     seed: 100
-    additional_object_paths:
-      - "data/objects/ycb/configs/"
-      - "data/objects_ovmm/train_val/ai2thorhab/configs/objects/"
-      - "data/objects_ovmm/train_val/amazon_berkeley/configs/"
-      - "data/objects_ovmm/train_val/google_scanned/configs/"
-      - "data/objects_ovmm/train_val/hssd/configs/objects/"
     concur_render: True
     auto_sleep: True
     agents_order:
@@ -76,11 +69,3 @@ habitat:
     habitat_sim_v0:
       allow_sliding: True
       enable_physics: True
-  dataset:
-    type: "CollaborationDataset-v0"
-    data_path: data/datasets/hssd/llm_rearrange/v2/60scenes_dataset_776eps_with_eval.json.gz
-
-rearrange_v2:
-  data_collection:
-    s3_path: "Placeholder/"
-    output_file_name: "session"

examples/hitl/rearrange_v2/config/language_rearrange_multi_agent.yaml

@@ -3,11 +3,14 @@
 
 defaults:
   - language_rearrange
+
   - /habitat/simulator/[email protected]_1: spot
   - /habitat/simulator/[email protected]_1: rgbd_head_rgbd_arm_agent
   - /habitat/task/[email protected]_1_arm_action: arm_action
   - /habitat/task/[email protected]_1_base_velocity: base_velocity
   - /habitat/task/[email protected]_1_rearrange_stop: rearrange_stop
+  - /habitat/task/[email protected]_1_humanoidjoint_action: humanoidjoint_action
+
   - _self_
 
 habitat:

examples/hitl/rearrange_v2/config/experiment/headless_server.yaml → examples/hitl/rearrange_v2/config/server.yaml

@@ -1,9 +1,13 @@
 # @package _global_
 
+defaults:
+  - _self_
+
 habitat_hitl:
   window: ~
   networking:
     enable: True
+    max_client_count: 1
     http_availability_server:
       enable: True
     client_max_idle_duration: 180.0