static_traversable_scene
StaticTraversableScene
Bases: TraversableScene
Static traversable scene class for OmniGibson, where scene is defined by a singular mesh (no intereactable objects)
Source code in omnigibson/scenes/static_traversable_scene.py
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__init__(scene_model, scene_file=None, trav_map_resolution=0.1, trav_map_erosion=2, trav_map_with_objects=True, build_graph=True, num_waypoints=10, waypoint_resolution=0.2, floor_plane_visible=False, floor_plane_color=(1.0, 1.0, 1.0))
Parameters:
Name | Type | Description | Default |
---|---|---|---|
scene_model |
str
|
Scene model name, e.g.: Adrian |
required |
scene_file |
None or str
|
If specified, full path of JSON file to load (with .json). None results in no additional objects being loaded into the scene |
None
|
trav_map_resolution |
float
|
traversability map resolution |
0.1
|
trav_map_erosion |
float
|
erosion radius of traversability areas, should be robot footprint radius |
2
|
trav_map_with_objects |
bool
|
whether to use objects or not when constructing graph |
True
|
build_graph |
bool
|
build connectivity graph |
True
|
num_waypoints |
int
|
number of way points returned |
10
|
waypoint_resolution |
float
|
resolution of adjacent way points |
0.2
|
floor_plane_visible |
bool
|
whether to render the additionally added floor plane |
False
|
floor_plane_color |
3-array
|
if @floor_plane_visible is True, this determines the (R,G,B) color assigned to the generated floor plane |
(1.0, 1.0, 1.0)
|
Source code in omnigibson/scenes/static_traversable_scene.py
get_floor_height(floor=0)
Return the current floor height (in meter)
Returns:
Name | Type | Description |
---|---|---|
int | current floor height |
move_floor_plane(floor=0, additional_elevation=0.02, height=None)
Resets the floor plane to a new floor
Parameters:
Name | Type | Description | Default |
---|---|---|---|
floor |
int
|
Integer identifying the floor to move the floor plane to |
0
|
additional_elevation |
float
|
Additional elevation with respect to the height of the floor |
0.02
|
height |
None or float
|
If specified, alternative parameter to directly control the height of the ground plane. Note that this will override @additional_elevation and @floor! |
None
|