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Add UUID config to simulator visual sensors #472

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merged 5 commits into from
Sep 4, 2020
Merged

Add UUID config to simulator visual sensors #472

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8cc6cf7
Add UUID config to simulator visual sensors
Skylion007 Sep 1, 2020
66c88af
Add comments about UUID and add to BumpSensor
Skylion007 Sep 2, 2020
989d287
Incorporate suggestions
Skylion007 Sep 2, 2020
2507424
Remove unused code
Skylion007 Sep 2, 2020
10f19e1
Make base sensor have overidable UUID
Skylion007 Sep 3, 2020
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21 changes: 18 additions & 3 deletions habitat/core/simulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -105,10 +105,15 @@ def __init__(

class RGBSensor(Sensor):
def __init__(self, *args: Any, **kwargs: Any) -> None:
self.uuid = "rgb"
super().__init__(*args, **kwargs)
if "config" in kwargs:
config = kwargs["config"]
if hasattr(config, "UUID"):
self.uuid = config.UUID

def _get_uuid(self, *args: Any, **kwargs: Any) -> str:
return "rgb"
return self.uuid
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This all can be done with:

Suggested change
return self.uuid
return self.uuid
if hasattr(self.config, "UUID"):
return config.UUID
else:
return "rgb"


def _get_sensor_type(self, *args: Any, **kwargs: Any) -> SensorTypes:
return SensorTypes.COLOR
Expand All @@ -122,10 +127,15 @@ def get_observation(self, *args: Any, **kwargs: Any) -> Any:

class DepthSensor(Sensor):
def __init__(self, *args: Any, **kwargs: Any) -> None:
self.uuid = "depth"
super().__init__(*args, **kwargs)
if "config" in kwargs:
config = kwargs["config"]
if hasattr(config, "UUID"):
self.uuid = config.UUID

def _get_uuid(self, *args: Any, **kwargs: Any) -> str:
return "depth"
return self.uuid

def _get_sensor_type(self, *args: Any, **kwargs: Any) -> SensorTypes:
return SensorTypes.DEPTH
Expand All @@ -139,10 +149,15 @@ def get_observation(self, *args: Any, **kwargs: Any):

class SemanticSensor(Sensor):
def __init__(self, *args: Any, **kwargs: Any) -> None:
self.uuid = "semantic"
super().__init__(*args, **kwargs)
if "config" in kwargs:
config = kwargs["config"]
if hasattr(config, "UUID"):
self.uuid = config.UUID

def _get_uuid(self, *args: Any, **kwargs: Any) -> str:
return "semantic"
return self.uuid

def _get_sensor_type(self, *args: Any, **kwargs: Any) -> SensorTypes:
return SensorTypes.SEMANTIC
Expand Down