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leggedrobotics / viplanner

ViPlanner: Visual Semantic Imperative Learning for Local Navigation
https://leggedrobotics.github.io/viplanner.github.io/
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Problem about _add_semantics function for carla environment #34

Closed command-z-z closed 1 month ago

command-z-z commented 1 month ago

hello, thank you for your awesome project and clear framework, i have some confuse in _add_semantics function.

In L137 code, you recursively get mesh prims in self.cfg.prim_path + "/terrain" path. https://github.com/leggedrobotics/viplanner/blob/61016e892366fdebc46640a4784b6c69f7e8a360/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py#L132-L137 However, I found a town_prim: "Town01_Opt" under this path which it has typeName as Xform. Screenshot from 2024-10-22 15-58-23 According to the function get_mesh_prims, only this Xform prim will be appended and pause recursive search. Will the rest of the mesh not update its semantics? https://github.com/leggedrobotics/viplanner/blob/61016e892366fdebc46640a4784b6c69f7e8a360/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py#L361-L380

command-z-z commented 1 month ago

I re-check the code and find the reason. The following code will find Town01_Opt prims' children nodes. https://github.com/leggedrobotics/viplanner/blob/61016e892366fdebc46640a4784b6c69f7e8a360/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py#L175-L185