restrict navigation to a single floor

* Refer to #2033

src_python/habitat_sim/agent/agent.py

@@ -95,6 +95,8 @@ class AgentState:
 class AgentConfiguration:
     height: float = 1.5
     radius: float = 0.1
+    cell_height: float = 0.2
+    max_climb: float = 0.2
     sensor_specifications: List[hsim.SensorSpec] = attr.Factory(list)
     action_space: Dict[Any, ActionSpec] = attr.Factory(_default_action_space)
     body_type: str = "cylinder"

src_python/habitat_sim/simulator.py

@@ -229,6 +229,8 @@ def _config_pathfinder(self, config: Configuration) -> None:
         default_agent_config = config.agents[config.sim_cfg.default_agent_id]
         needed_settings.agent_radius = default_agent_config.radius
         needed_settings.agent_height = default_agent_config.height
+        needed_settings.agent_max_climb = default_agent_config.max_climb
+        needed_settings.cell_height = default_agent_config.cell_height
         if (
             # If we loaded a navmesh and we need one with different settings,
             # always try and recompute
@@ -246,8 +248,10 @@ def _config_pathfinder(self, config: Configuration) -> None:
             )
         ):
             logger.info(
-                f"Recomputing navmesh for agent's height {default_agent_config.height} and radius"
-                f" {default_agent_config.radius}."
+                f"Recomputing navmesh for agent's height {default_agent_config.height}, "
+                f"agent's radius {default_agent_config.radius}, "
+                f"agent's max climb {default_agent_config.max_climb}, and "
+                f"navmesh cell height {default_agent_config.cell_height}"
             )
             self.recompute_navmesh(self.pathfinder, needed_settings)