(1) Fixed error when using config habitat_hitl.episodes_filter='4' (2) Fixed episodes_filter episode order not respected (3) added check for data folder in current working directory

examples/hitl/basic_viewer/README.md

@@ -7,6 +7,9 @@ Inspect Habitat environments, episodes, and agent policy evaluation in real time
 ## Installing and using HITL apps
 See [habitat-hitl/README.md](../../../habitat-hitl/README.md)
 
+## To run
+cd path/to/habitat-lab # Or wherever data/ is symlinked
+
 ## Example launch command
 
 ```bash

examples/hitl/minimal/README.md

@@ -1,3 +1,7 @@
 # Minimal HITL application
 
 A minimal HITL app that loads and steps a Habitat environment, with a fixed overhead camera. See [`habitat_hitl/README.md`](../../../habitat-hitl/README.md#minimal-hitl-application)
+
+# To run
+
+cd path/to/habitat-lab # Or wherever data/ is symlinked

habitat-hitl/README.md

@@ -36,13 +36,20 @@ Example HITL apps are configured to run at 30 steps per second (SPS). If your sy
         * Be sure to include Bullet physics, e.g. `python setup.py install --bullet`.
 4. Install the `habitat-hitl` package.
     * From the `habitat-lab` root directory, run `pip install -e habitat-hitl`.
-5. Download required assets for our example HITL applications:
+5. Download required assets for our example HITL applications (Note that the dataset downloader should be run from habitat-lab/.):
     ```bash
     python -m habitat_sim.utils.datasets_download \
     --uids hab3-episodes habitat_humanoids hab_spot_arm ycb hssd-hab \
     --data-path data/
     ```
 
+## Data directory and running location
+
+HITL apps (and Habitat libraries in general) expect a `data/` directory in the running location (aka current working directory). Notice the `--data-path` argument in our installation steps above. Here are two options to consider:
+
+1. Download data to `habitat-lab/data` as shown in our installation steps above. This is the default location for many Habitat tutorials and utilities. Run your HITL app from this location, e.g. `habitat-lab/$ python /path/to/my_hitl_app/my_hitl_app.py`.
+2. Download (or symlink) data to your HITL app's root directory, e.g. `/path/to/my_hitl_app/data`. Run your HITL app from this location, e.g. `/path/to/my_hitl_app/$ python my_hitl_app.py`."
+
 ## Example HITL applications
 
 Check out our example HITL apps [here](../examples/hitl/).

habitat-hitl/habitat_hitl/_internal/hitl_driver.py

@@ -12,7 +12,7 @@
 import json
 from datetime import datetime
 from functools import wraps
-from typing import TYPE_CHECKING, Any, Dict, List, Set
+from typing import TYPE_CHECKING, Any, Dict, List
 
 import numpy as np
 
@@ -236,34 +236,45 @@ def _make_dataset(self, config):
         dataset = make_dataset(
             id_dataset=dataset_config.type, config=dataset_config
         )
-
         if self._play_episodes_filter_str is not None:
+            self._play_episodes_filter_str = str(
+                self._play_episodes_filter_str
+            )
             max_num_digits: int = len(str(len(dataset.episodes)))
 
             def get_play_episodes_ids(play_episodes_filter_str):
-                play_episodes_ids: Set[str] = set()
+                play_episodes_ids: List[str] = []
                 for ep_filter_str in play_episodes_filter_str.split(" "):
                     if ":" in ep_filter_str:
                         range_params = map(int, ep_filter_str.split(":"))
-                        play_episodes_ids.update(
+                        play_episodes_ids.extend(
                             episode_id.zfill(max_num_digits)
                             for episode_id in map(str, range(*range_params))
                         )
                     else:
                         episode_id = ep_filter_str
-                        play_episodes_ids.add(episode_id.zfill(max_num_digits))
+                        play_episodes_ids.append(
+                            episode_id.zfill(max_num_digits)
+                        )
 
                 return play_episodes_ids
 
-            play_episodes_ids_set: Set[str] = get_play_episodes_ids(
+            play_episodes_ids_list = get_play_episodes_ids(
                 self._play_episodes_filter_str
             )
             dataset.episodes = [
                 ep
                 for ep in dataset.episodes
-                if ep.episode_id.zfill(max_num_digits) in play_episodes_ids_set
+                if ep.episode_id.zfill(max_num_digits)
+                in play_episodes_ids_list
             ]
 
+            dataset.episodes.sort(
+                key=lambda x: play_episodes_ids_list.index(
+                    x.episode_id.zfill(max_num_digits)
+                )
+            )
+
         return dataset
 
     def _get_recent_metrics(self):

habitat-hitl/habitat_hitl/core/hitl_main.py

@@ -4,6 +4,8 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
+import os
+
 import magnum as mn
 
 from habitat_hitl._internal.config_helper import update_config
@@ -42,6 +44,14 @@ def _parse_debug_third_person(hitl_config, viewport_multiplier=(1, 1)):
 
 
 def hitl_main(app_config, create_app_state_lambda=None):
+    # Add check for data/
+    if not os.path.exists("data/"):
+        raise FileNotFoundError(
+            "Could not find /data in current directory. "
+            "HITL apps expect 'data/' directory to exist. "
+            "Either run from habitat-lab directory or symlink data/ folder to your HITL app working directory"
+        )
+
     hitl_config = omegaconf_to_object(app_config.habitat_hitl)
 
     if hitl_config.experimental.headless.do_headless: