Port polish items from old HITL study branch

examples/siro_sandbox/app_states/app_state_free_camera.py

@@ -134,7 +134,7 @@ def _update_help_text(self):
             self._episode_helper.num_iter_episodes
             - self._episode_helper.num_episodes_done
         )
-        progress_str = f"{num_episodes_remaining} episodes remaining"
+        progress_str = f"{num_episodes_remaining} episodes left"
         self._sandbox_service.text_drawer.add_text(
             progress_str,
             TextOnScreenAlignment.TOP_RIGHT,

examples/siro_sandbox/app_states/app_state_rearrange.py

@@ -360,7 +360,7 @@ def _update_help_text(self):
             self._episode_helper.num_iter_episodes
             - self._episode_helper.num_episodes_done
         )
-        progress_str = f"{num_episodes_remaining} episodes remaining"
+        progress_str = f"{num_episodes_remaining} episodes left"
         self._sandbox_service.text_drawer.add_text(
             progress_str,
             TextOnScreenAlignment.TOP_RIGHT,

examples/siro_sandbox/app_states/app_state_socialnav_study.py

@@ -367,7 +367,7 @@ def _update_help_text(self):
             self._episode_helper.num_iter_episodes
             - self._episode_helper.num_episodes_done
         )
-        progress_str = f"{num_episodes_remaining} episodes remaining"
+        progress_str = f"{num_episodes_remaining} episodes left"
         self._sandbox_service.text_drawer.add_text(
             progress_str,
             TextOnScreenAlignment.TOP_RIGHT,

examples/siro_sandbox/app_states/app_state_tutorial.py

@@ -63,6 +63,10 @@ def _sim_update_tutorial(self, dt: float):
         if self._sandbox_service.gui_input.get_key_down(GuiInput.KeyNS.SPACE):
             self._tutorial.skip_stage()
 
+        if self._sandbox_service.gui_input.get_key_down(GuiInput.KeyNS.Q):
+            while not self._tutorial.is_completed():
+                self._tutorial.skip_stage()
+
         if self._tutorial.is_completed():
             self._tutorial.stop_animations()
         else:

examples/siro_sandbox/hitl_tutorial.py

@@ -30,8 +30,8 @@
 TEXT_ROBOT_FOCUS: str = (
     "This is your robot assistant.\nIt will help you accomplish your tasks.\n"
 )
-TEXT_AVATAR_FOCUS: str = "This is your avatar.\nYou will now gain control."
-TEXT_HELP: str = "Spacebar: Skip"
+TEXT_AVATAR_FOCUS: str = "You will now gain control of your avatar."
+TEXT_HELP: str = "Q: Skip \nSpacebar: Skip to the next stage of the tutorial"
 
 
 class ObjectAnimation:

examples/siro_sandbox/sandbox_app.py

@@ -216,6 +216,14 @@ def local_end_episode(do_reset=False):
                     self.ctrl_helper.get_policy_driven_agent_controller(),
                 )
             ]
+            if args.show_tutorial:
+                self._app_states.insert(
+                    0,
+                    AppStateTutorial(
+                        self._sandbox_service,
+                        self.ctrl_helper.get_gui_agent_controller(),
+                    ),
+                )
         elif args.app_state == "free_camera":
             self._app_states = [AppStateFreeCamera(self._sandbox_service)]
         else:
@@ -381,6 +389,13 @@ def _reset_environment(self):
         self._app_state_index = (
             0  # start from the first app state for each episode
         )
+        # if show_tutorial enabled we show the tutorial once - before the first episode
+        if (
+            self._args.show_tutorial
+            and self._episode_helper.num_episodes_done > 0
+        ):
+            self._app_state_index += 1
+
         self._app_state = self._app_states[self._app_state_index]
         self._app_state.on_enter(
             prev_state=self._get_prev_app_state(),
@@ -728,7 +743,7 @@ def _parse_debug_third_person(args, framebuffer_size):
         "--show-tutorial",
         action="store_true",
         default=False,
-        help="Shows an intro sequence that helps familiarize the user to the scene and task in a HITL context.",
+        help="Shows an intro sequence before the first episode that helps familiarize the user to task in a HITL context.",
     )
     parser.add_argument(
         "--hide-humanoid-in-gui",
@@ -776,9 +791,12 @@ def _parse_debug_third_person(args, framebuffer_size):
             "but --save-filepath-base argument is not set. Specify filepath base for the session episode data to be saved."
         )
 
-    if args.show_tutorial and args.app_state != "rearrange":
+    if args.show_tutorial and args.app_state not in {
+        "rearrange",
+        "socialnav_study",
+    }:
         raise ValueError(
-            "--show-tutorial is only supported for --app-state=rearrange"
+            "--show-tutorial is only supported for --app-state=rearrange and --app-state=socialnav_study"
         )
 
     if args.remote_gui_mode and args.app_state != "fetch":

habitat-lab/habitat/tasks/rearrange/actions/actions.py

@@ -409,9 +409,12 @@ def update_base(self, fix_leg=False):
         end_pos = self._sim.step_filter(
             rigid_state.translation, target_rigid_state.translation
         )
-        # Offset the base if the base height is different between end_pos
-        # and the current state
-        if end_pos[1] != rigid_state.translation[1]:
+
+        # try_step may fail, in which case it simply returns the start argument
+        did_try_step_fail = end_pos == rigid_state.translation
+        if not did_try_step_fail:
+            # If try_step succeeded, it snapped our start position to the navmesh
+            # We should apply the base offset
             end_pos -= self.cur_articulated_agent.params.base_offset
 
         target_trans = mn.Matrix4.from_(