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facebookresearch / Replica-Dataset

The Replica Dataset v1 as published in https://arxiv.org/abs/1906.05797 .
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Problem with habitat/navmesh? #20

Open dhruvbatra opened 5 years ago

dhruvbatra commented 5 years ago

When apartment0 is viewed with habitat-sim/build/viewer, the agent cannot cross a particular point on the stairs.

See attached videos -- apartment0_floor1: where the agent is spawned on floor1 and gets stuck trying to go up the stairs, and apartment0_floor2: where the agent is spawned on floor2 and gets stuck trying to go down.

Printout on the screen says "distance to closest obstacle = 0". I suspect the navmesh is off?

apartment0_floor1 apartment0_floor2

jstraub commented 5 years ago

@erikwijmans can you take a look please?

erikwijmans commented 5 years ago

Yep. We probably just need to change the max-step height of the agent (that is/was just set heuristically)

jstraub commented 5 years ago

@erikwijmans on export? Or in in the habitat sim?

erikwijmans commented 5 years ago

On export

aclegg3 commented 5 years ago

This was fixed by setting agentHeight = 1.4 for navmesh generation. This is either a very low ceiling in the staircase or there are some approximations being made with the geometry or its navmesh treatment which made this spot an edge case.