When the MagnebotController calls init_floorplan_scene(scene, layout), it also loads an occupancy map.
Images of each occupancy map can be found here.
from magnebot import MagnebotController
c = MagnebotController()
c.init_floorplan_scene(scene="1a", layout=0, room=0)
print(c.occupancy_map)
c.end()Output:
[[-1 -1 -1 ... -1 -1 -1]
[-1 -1 -1 ... 0 0 1]
[-1 -1 -1 ... 0 0 0]
...
[-1 1 1 ... -1 -1 -1]
[-1 1 1 ... -1 -1 -1]
[-1 1 1 ... -1 -1 -1]]
Occupancy map key:
| Value | Meaning |
|---|---|
| -1 | The cell is out of bounds of the scene or not navigable. |
| 0 | The cell is unoccupied; there is a floor at this position but there are no objects. |
| 1 | The cell is occupied by at least one object or a wall. |
The size of each cell in the occupancy map is 0.49x0.49 meters.
To concert an occupancy map position to worldspace units, call c.get_occupancy_position(x, z):
from magnebot import MagnebotController
c = MagnebotController()
c.init_floorplan_scene(scene="1a", layout=0, room=0)
x = 30
z = 16
print(c.occupancy_map[x][z]) # 0 (free and navigable position)
print(c.get_occupancy_position(x, z)) # (1.1157886505126946, 2.2528389358520506)
c.end()- Occupancy maps aren't generated if you initialize the scene via
c.init_scene()or via a custom scene setup. - Occupancy maps are static; when objects move, the occupancy map won't be updated.