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Restrict navigation to a single floor for 2023 challenge [DO NOT MERGE] #2033

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Restrict navigation to a single floor for 2023 challenge [DO NOT MERGE] #2033

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2 changes: 2 additions & 0 deletions src_python/habitat_sim/agent/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,8 @@ class AgentState:
class AgentConfiguration:
height: float = 1.5
radius: float = 0.1
cell_height: float = 0.2
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This has bad code smell. There are a lot of navmesh settings and it would be difficult to keep track of them if we add them all here. Perhaps if we add a dictionary of custom NavMesh settings?

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Or why don't we just attach a Navmesh settings object here on the extreme case

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This is fine for a short term thing, but longterm we should consider doing this.

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@Skylion007 - refer to conversation here. TL; DR - these changes are only to support the current iteration of the challenge.

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"
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8 changes: 6 additions & 2 deletions src_python/habitat_sim/simulator.py
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Expand Up @@ -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
Expand All @@ -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)

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