habitat.datasets.rearrange.navmesh_utils module

Classes

class SimpleVelocityControlEnv

A simple environment to control the velocity of the robot.

Functions

def compute_turn(target: numpy.ndarray, turn_speed: float, robot_forward: numpy.ndarray) -> typing.List[float]

Computes the constant speed angular velocity about the Y axis to turn the 2D robot_forward vector toward the provided 2D target direction in global coordinates.

def get_largest_island_index(pathfinder: habitat_sim._ext.habitat_sim_bindings.PathFinder, sim: habitat_sim.simulator.Simulator, allow_outdoor: bool = True) -> int

Get the index of the largest NavMesh island. Optionally exclude outdoor islands.

def is_accessible(sim: habitat_sim.simulator.Simulator, point: _magnum.Vector3, height: float, nav_to_min_distance: float, nav_island: int = -1, target_object_ids: typing.Optional[typing.List[int]] = None) -> bool

def is_collision(pathfinder: habitat_sim._ext.habitat_sim_bindings.PathFinder, trans: _magnum.Matrix4, navmesh_offset: typing.List[typing.Tuple[float, float]], island_idx: int) -> bool

Checks the given transform and navmesh offset points for navigability on the provided navmesh island. Returns True if any point is non-navigable.

def is_outdoor(pathfinder: habitat_sim._ext.habitat_sim_bindings.PathFinder, sim: habitat_sim.simulator.Simulator, island_ix: int, num_samples: int = 100, indoor_ratio_threshold: float = 0.95, min_sample_dist: typing.Optional[float] = None, max_sample_attempts: int = 200) -> bool

Heuristic to check if the specified NavMesh island is outdoor or indoor.

def path_is_navigable_given_robot(sim: habitat_sim.simulator.Simulator, start_pos: _magnum.Vector3, goal_pos: _magnum.Vector3, robot_navmesh_offsets: typing.List[typing.Tuple[float, float]], collision_rate_threshold: float, selected_island: int = -1, angle_threshold: float = 0.05, angular_speed: float = 1.0, distance_threshold: float = 0.25, linear_speed: float = 1.0, dbv: typing.Optional[sims.habitat_simulator.debug_visualizer.DebugVisualizer] = None, render_debug_video: bool = False) -> bool

Compute the ratio of time-steps for which there were collisions detected while the robot navigated from start_pos to goal_pos given the configuration of the sim navmesh.

def record_robot_nav_debug_image(curr_path_points: typing.List[_magnum.Vector3], robot_transformation: _magnum.Matrix4, robot_navmesh_offsets: typing.List[typing.Tuple[float, float]], robot_navmesh_radius: float, in_collision: bool, dbv: sims.habitat_simulator.debug_visualizer.DebugVisualizer, obs_cache: typing.List[typing.Any]) -> None

Render a single frame 3rd person view of the robot embodiment approximation following a path with DebugVizualizer and cache it in obs_cache.

def snap_point_is_occluded(target: _magnum.Vector3, snap_point: _magnum.Vector3, height: float, sim: habitat_sim.simulator.Simulator, granularity: float = 0.2, target_object_ids: typing.Optional[typing.List[int]] = None) -> bool

def unoccluded_navmesh_snap(pos: _magnum.Vector3, height: float, pathfinder: habitat_sim._ext.habitat_sim_bindings.PathFinder, sim: habitat_sim.simulator.Simulator, target_object_ids: typing.Optional[typing.List[int]] = None, island_id: int = -1, search_offset: float = 1.5, test_batch_size: int = 20, max_samples: int = 200, min_sample_dist: float = 0.5) -> typing.Optional[_magnum.Vector3]

Function documentation