traversable_scene
TraversableScene
Bases: Scene
Traversable scene class. Contains the functionalities for navigation such as shortest path computation
Source code in omnigibson/scenes/traversable_scene.py
trav_map
property
Returns:
Type | Description |
---|---|
TraversableMap
|
Map for computing connectivity between nodes for this scene |
__init__(scene_model, scene_file=None, trav_map_resolution=0.1, default_erosion_radius=0.0, trav_map_with_objects=True, num_waypoints=10, waypoint_resolution=0.2, use_floor_plane=True)
Parameters:
Name | Type | Description | Default |
---|---|---|---|
scene_model |
str
|
Scene model name, e.g.: Adrian or Rs_int |
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
|
default_erosion_radius |
float
|
default map erosion radius in meters |
0.0
|
trav_map_with_objects |
bool
|
whether to use objects or not when constructing graph |
True
|
num_waypoints |
int
|
number of way points returned |
10
|
waypoint_resolution |
float
|
resolution of adjacent way points |
0.2
|
use_floor_plane |
bool
|
whether to load a flat floor plane into the simulator |
True
|