How are interior_walls treated as mesh obstacles? #692
Description
MacOS Sonoma 14.4 on M1 chip cannot bake interior walls into nav mesh. I was able to run it successfully on my old mac, and before the latest MacOS update. I paid special attention to the order of bake_nav_mesh: first create the walls, then call bake mesh. Here is the code I used, directly from the navigation example, with a little modification. The agent went through the wall directly. I'm wondering how interior/exterior walls are treated as obstacles, since the documentation didn't cover the walls. Thanks!
from typing import Dict
import numpy as np
from tdw.tdw_utils import TDWUtils
from tdw.controller import Controller
from tdw.output_data import OutputData, NavMeshPath
from tdw.add_ons.third_person_camera import ThirdPersonCamera
from tdw.add_ons.image_capture import ImageCapture
from tdw.backend.paths import EXAMPLE_CONTROLLER_OUTPUT_PATH
from tdw.add_ons.replicant import Replicant
from tdw.replicant.action_status import ActionStatus
class Pathfind(Controller):
"""
An example of how to utilize the NavMesh to pathfind.
"""
def __init__(self, port: int = 1071, check_version: bool = True, launch_build: bool = True):
super().__init__(port=port, check_version=check_version, launch_build=launch_build)
self.replicant = Replicant(position={"x": 0.1, "y": 0, "z": -5})
self.camera: ThirdPersonCamera = ThirdPersonCamera(position={"x": 0, "y": 13.8, "z": 0},
look_at={"x": 0, "y": 0, "z": 0},
avatar_id="a")
path = EXAMPLE_CONTROLLER_OUTPUT_PATH.joinpath("replicant_pathfind")
print(f"Images will be saved to: {path}")
# self.capture: ImageCapture = ImageCapture(avatar_ids=["a"], path=path)
self.add_ons.extend([self.replicant, self.camera])
# Set the object IDs.
self.trunk_id = Controller.get_unique_id()
self.chair_id = Controller.get_unique_id()
self.table_id = Controller.get_unique_id()
self.rocking_horse_id = Controller.get_unique_id()
def init_scene(self):
# Load the scene.
# Bake the NavMesh.
# Add objects to the scene and add NavMesh obstacles.
resp = self.communicate([{"$type": "load_scene",
"scene_name": "ProcGenScene"},
TDWUtils.create_empty_room(12, 12),
{
"$type": "create_interior_walls",
"walls": [
{"x": 2, "y": 5},
{"x": 3, "y": 5},
{"x": 4, "y": 5},
{"x": 5, "y": 5},
{"x": 6, "y": 5},
{"x": 7, "y": 5},
{"x": 8, "y": 5},
{"x": 9, "y": 5},
{"x": 10, "y": 5},
]
},
{"$type": "bake_nav_mesh"},
Controller.get_add_object(model_name="trunck",
object_id=self.trunk_id,
position={"x": 1.5, "y": 0, "z": 0}),
{"$type": "make_nav_mesh_obstacle",
"id": self.trunk_id,
"carve_type": "stationary"},
Controller.get_add_object(model_name="chair_billiani_doll",
object_id=self.chair_id,
position={"x": -2.25, "y": 0, "z": 2.5},
rotation={"x": 0, "y": 20, "z": 0}),
{"$type": "make_nav_mesh_obstacle",
"id": self.chair_id,
"carve_type": "stationary"},
Controller.get_add_object(model_name="live_edge_coffee_table",
object_id=self.table_id,
position={"x": 0.2, "y": 0, "z": -2.25},
rotation={"x": 0, "y": 20, "z": 0}),
{"$type": "make_nav_mesh_obstacle",
"id": self.table_id,
"carve_type": "stationary"},
])
for i in range(len(resp)):
r_id = OutputData.get_data_type_id(resp[i])
print(r_id)
def navigate(self, destination: Dict[str, float]) -> bool:
# Don't handle collision detection (it will interfere with NavMesh pathfinding).
self.replicant.collision_detection.avoid = False
self.replicant.collision_detection.objects = False
# The origin of the path is the current position of the Replicant.
origin = TDWUtils.array_to_vector3(self.replicant.dynamic.transform.position)
# Request a NavMeshPath.
resp = self.communicate({"$type": "send_nav_mesh_path",
"origin": origin,
"destination": destination,
"id": self.replicant.replicant_id})
# Parse the output data to get the path.
path: np.ndarray = np.zeros(shape=1)
for i in range(len(resp) - 1):
r_id = OutputData.get_data_type_id(resp[i])
if r_id == "path":
nav_mesh_path = NavMeshPath(resp[i])
# This path belongs to the Replicant (this is useful when there is more than one agent).
if nav_mesh_path.get_id() == self.replicant.replicant_id:
# We failed to get a valid path.
if nav_mesh_path.get_state() != "complete":
self.replicant.collision_detection.avoid = True
self.replicant.collision_detection.objects = True
return False
# Get the path.
path = nav_mesh_path.get_path()
# Break because we have the data we need.
break
# Move to each waypoint. Ignore the first waypoint because it's the position of the Replicant.
for i in range(1, path.shape[0]):
target = TDWUtils.array_to_vector3(path[i])
target["y"] = 0
# Move to the waypoint.
self.replicant.move_to(target=target)
# Do the action.
self.do_action()
# If the Replicant failed to reach the waypoint, end here.
if self.replicant.action.status != ActionStatus.success:
self.replicant.collision_detection.avoid = True
self.replicant.collision_detection.objects = True
return False
# We arrived at the destination. Re-enable obstacle detection and return True.
self.replicant.collision_detection.avoid = True
self.replicant.collision_detection.objects = True
return True
def do_action(self) -> None:
while self.replicant.action.status == ActionStatus.ongoing:
self.communicate([])
self.communicate([])
def end(self) -> None:
self.communicate({"$type": "terminate"})
if __name__ == "__main__":
c = Pathfind()
# Initialize the scene.
c.init_scene()
# Navigate to a destination.
success = c.navigate(destination={"x": 0, "y": 0, "z": 4})
print(success)
# End the simulation.
c.end()