The accessibility and unoccluded snap functions rely on raycasting to determine if a target object is the first hit (and thus unoccluded) from a particular navmesh point.
This PR adds additional ignore object ids which won't trigger the success condition, but also won't result in false-positive occlusions for complex cases. For example, if the robot is already standing at a position, checking accessibility of a furniture object, the robot's own links should be ignored in the check.
How Has This Been Tested
TODO: this API is only integration tested and needs unit tests
Types of changes
[Development] A pull request that add new features to the habitat-lab task and environment codebase. Development Pull Requests must be small (less that 500 lines of code change), have unit testing, very extensive documentation and examples. These are typically new tasks, environments, sensors, etc... The review process for these Pull Request is longer because these changes will be maintained by our core team of developers, so make sure your changes are easy to understand!
Checklist
[x] My code follows the code style of this project.
Motivation and Context
The accessibility and unoccluded snap functions rely on raycasting to determine if a target object is the first hit (and thus unoccluded) from a particular navmesh point.
This PR adds additional ignore object ids which won't trigger the success condition, but also won't result in false-positive occlusions for complex cases. For example, if the robot is already standing at a position, checking accessibility of a furniture object, the robot's own links should be ignored in the check.
How Has This Been Tested
TODO: this API is only integration tested and needs unit tests
Types of changes
Checklist