rearrange_sim no navmesh caching (#2088)

* clean up and rename the _load_navmesh function now that we have changed the behavior to recompute every time

Author: aclegg3

habitat-lab/habitat/tasks/rearrange/rearrange_sim.py

@@ -4,8 +4,6 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
-import os
-import os.path as osp
 import time
 from collections import defaultdict
 from typing import (
@@ -373,7 +371,7 @@ def reconfigure(self, config: "DictConfig", ep_info: RearrangeEpisode):
         }
 
         if new_scene:
-            self._load_navmesh(ep_info)
+            self._recompute_navmesh()
 
         # Get the starting positions of the target objects.
         scene_pos = self.get_scene_pos()
@@ -476,37 +474,29 @@ def _setup_targets(self, ep_info: RearrangeEpisode):
             )
 
     @add_perf_timing_func()
-    def _load_navmesh(self, ep_info: RearrangeEpisode):
-        scene_name = ep_info.scene_id.split("/")[-1].split(".")[0]
-        base_dir = osp.join(*ep_info.scene_id.split("/")[:2])
+    def _recompute_navmesh(self) -> None:
+        """
+        Recompute the navmesh including STATIC objects and using agent parameters.
+        """
 
-        navmesh_path = osp.join(base_dir, "navmeshes", scene_name + ".navmesh")
+        navmesh_settings = NavMeshSettings()
+        navmesh_settings.set_defaults()
 
-        if osp.exists(navmesh_path):
-            self.pathfinder.load_nav_mesh(navmesh_path)
-            logger.info(f"Loaded navmesh from {navmesh_path}")
+        agent_config = None
+        if hasattr(self.habitat_config.agents, "agent_0"):
+            agent_config = self.habitat_config.agents.agent_0
+        elif hasattr(self.habitat_config.agents, "main_agent"):
+            agent_config = self.habitat_config.agents.main_agent
         else:
-            logger.warning(
-                f"Requested navmesh to load from {navmesh_path} does not exist. Recomputing from configured values and caching."
-            )
-            navmesh_settings = NavMeshSettings()
-            navmesh_settings.set_defaults()
-
-            agent_config = None
-            if hasattr(self.habitat_config.agents, "agent_0"):
-                agent_config = self.habitat_config.agents.agent_0
-            elif hasattr(self.habitat_config.agents, "main_agent"):
-                agent_config = self.habitat_config.agents.main_agent
-            else:
-                raise ValueError("Cannot find agent parameters.")
-            navmesh_settings.agent_radius = agent_config.radius
-            navmesh_settings.agent_height = agent_config.height
-            navmesh_settings.agent_max_climb = agent_config.max_climb
-            navmesh_settings.agent_max_slope = agent_config.max_slope
-            navmesh_settings.include_static_objects = True
-            self.recompute_navmesh(self.pathfinder, navmesh_settings)
-            os.makedirs(osp.dirname(navmesh_path), exist_ok=True)
-            self.pathfinder.save_nav_mesh(navmesh_path)
+            raise ValueError("Cannot find agent parameters.")
+        navmesh_settings.agent_radius = agent_config.radius
+        navmesh_settings.agent_height = agent_config.height
+        navmesh_settings.agent_max_climb = agent_config.max_climb
+        navmesh_settings.agent_max_slope = agent_config.max_slope
+        navmesh_settings.include_static_objects = True
+
+        # recompute the navmesh
+        self.recompute_navmesh(self.pathfinder, navmesh_settings)
 
         # NOTE: allowing indoor islands only
         self._largest_indoor_island_idx = get_largest_island_index(