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:
Name | Type | Description |
---|---|---|
TraversableMap | Map for computing connectivity between nodes for this scene |
__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, use_floor_plane=True, floor_plane_visible=True, floor_plane_color=(1.0, 1.0, 1.0))
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
|
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
|
use_floor_plane |
bool
|
whether to load a flat floor plane into the simulator |
True
|
floor_plane_visible |
bool
|
whether to render the additionally added floor plane |
True
|
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)
|