From bbc64a688d3be07115374c3841e2830d609b3fdc Mon Sep 17 00:00:00 2001 From: Santhosh Date: Fri, 17 Mar 2023 00:19:37 -0500 Subject: [PATCH] restrict navigation to a single floor * Refer to https://github.com/facebookresearch/habitat-sim/pull/2033 --- src_python/habitat_sim/agent/agent.py | 2 ++ src_python/habitat_sim/simulator.py | 8 ++++++-- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/src_python/habitat_sim/agent/agent.py b/src_python/habitat_sim/agent/agent.py index 5f78d525c7..34ed8c1139 100755 --- a/src_python/habitat_sim/agent/agent.py +++ b/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" diff --git a/src_python/habitat_sim/simulator.py b/src_python/habitat_sim/simulator.py index b3f919f75b..89ce7140cb 100755 --- a/src_python/habitat_sim/simulator.py +++ b/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)