Recompute NavMesh with STATIC RigidObjects #538
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…esh joining to include STATIC RigidObjects in navmesh recomputation. Started python test.
facebook-github-bot
added
the
CLA Signed
Codecov Report
@@ Coverage Diff @@
## master #538 +/- ##
==========================================
- Coverage 68.10% 63.80% -4.30%
==========================================
Files 72 162 +90
Lines 3474 7880 +4406
Branches 84 84
==========================================
+ Hits 2366 5028 +2662
- Misses 1108 2852 +1744
Continue to review full report at Codecov.
|
bigbike
reviewed
Mar 25, 2020
bigbike
approved these changes
Mar 26, 2020
Co-Authored-By: Vladimír Vondruš <mosra@centrum.cz>
Looks like we will want to derive our I'll merge this for now as is and we can circle back with refactor PRs. |
|
I think it's flexible enough to fully replace current functionality. In case you're going to tackle this, feel free to ping me on Slack for design / usage questions :) |
Ram81
pushed a commit
to Ram81/habitat-web-sim
that referenced
this pull request
Dec 10, 2020
* Added initialization template storage for RigidObject. * Added recomputeNavmesh with STATIC objects. * Added object template getters to Simulator.
luoj1
pushed a commit
to luoj1/habitat-sim
that referenced
this pull request
Aug 16, 2022
…d sampling (facebookresearch#538) - Collapse PPO and DD-PPO trainers - Faster RNN code -- it is definitely faster and can make a noticeable impact during early training (~20% faster in some cases), but good luck reading it :-) - Rename NUM_PROCESSES to NUM_ENVIRONMENTS. The fact that the simulators are in different processes is an implementation detail. A backwards compatibility check has been added tho. - Support specifying training length both in terms of number of updates and number of frames - Specify the number of checkpoints as the number of checkpoints instead of a checkpoint interval - Introduce a TensorDict class for more cleanly interacting with dictionaries of tensors (potentially recursive). This also makes RolloutStorage about 100x cleaner. - Store RGB observations as their proper dtype in the rollout storage (this can save a lot of memory) - Some refactoring of PPOTrainer.train to be less of a script wrapped in a function - Double buffered sampling. This can improve performance when simulation time is equal or larger than policy inference time
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Motivation and Context
Recast NavMesh is an efficient method for enforcing agent navigation constraints for static environments. However, it must be recomputed when the environment changes to remain valid. This feature enables the
Simulator::recomputeNavMeshfunction to optionally includeMotionType::STATIC RigidObjectsas scene geometry.To support this change:
RigidObjectnow stores its initialization template which can be queried fromPhysicsManager. This allows object parameters (such as render mesh asset key) to be queried after a template may have been changed.RigidObject::visualSceneNode_can be queried.Simulatorfunctions to get object template references.How Has This Been Tested
New C++ unit test.
Example with viewer.cpp modification:
Types of changes
Checklist