Python Viewer Navmesh Visualization via Key Press Toggle

examples/motion_viewer.py

@@ -313,6 +313,8 @@ def print_help_text(self) -> None:
     SPACE:      Toggle physics simulation on/off.
     '.':        Take a single simulation step if not simulating continuously.
     'v':        (physics) Invert gravity.
+    'n':        Show/hide NavMesh wireframe.
+                (+SHIFT) Recompute NavMesh with default settings.
 
     Fairmotion Interface:
     'f':        Load model with current motion data.

examples/viewer.py

@@ -33,6 +33,9 @@ def __init__(self, sim_settings: Dict[str, Any]) -> None:
         self.sim_settings["width"] = self.viewport_size[0]
         self.sim_settings["height"] = self.viewport_size[1]
 
+        # navmesh
+        self.navmesh_success = False
+
         # set up our movement map
         key = Application.KeyEvent.Key
         self.pressed = {
@@ -80,6 +83,9 @@ def __init__(self, sim_settings: Dict[str, Any]) -> None:
         self.sim: habitat_sim.simulator.Simulator = None
         self.reconfigure_sim()
 
+        # compute NavMesh
+        self.navmesh_config_and_recompute()
+
         self.time_since_last_simulation = 0.0
         LoggingContext.reinitialize_from_env()
         logger.setLevel("INFO")
@@ -193,6 +199,7 @@ def reconfigure_sim(self) -> None:
         self.active_scene_graph = self.sim.get_active_scene_graph()
         self.default_agent = self.sim.get_agent(self.agent_id)
         self.agent_body_node = self.default_agent.scene_node
+        self.agent_body_node.translation = [2.65, 0.5, 4.5]
         self.render_camera = self.agent_body_node.node_sensor_suite.get("color_sensor")
 
         Timer.start()
@@ -239,6 +246,7 @@ def key_press_event(self, event: Application.KeyEvent) -> None:
         """
         key = event.key
         pressed = Application.KeyEvent.Key
+        mod = Application.InputEvent.Modifier
 
         if key == pressed.ESC:
             event.accepted = True
@@ -274,6 +282,17 @@ def key_press_event(self, event: Application.KeyEvent) -> None:
             self.invert_gravity()
             logger.info("Command: gravity inverted")
 
+        elif key == pressed.N:
+            if event.modifiers == mod.SHIFT:
+                logger.info("Command: recompute navmesh")
+                self.navmesh_config_and_recompute()
+            else:
+                if self.navmesh_success:
+                    self.sim.navmesh_visualization = not self.sim.navmesh_visualization
+                    logger.info("Command: toggle navmesh")
+                else:
+                    logger.warn("Warning: recompute navmesh first")
+
         # update map of moving/looking keys which are currently pressed
         if key in self.pressed:
             self.pressed[key] = True
@@ -504,6 +523,19 @@ def cycle_mouse_mode(self) -> None:
         elif self.mouse_interaction == MouseMode.GRAB:
             self.mouse_interaction = MouseMode.LOOK
 
+    def navmesh_config_and_recompute(self) -> habitat_sim.NavMeshSettings:
+        """
+        This method is setup to be overridden in for setting config accessibility
+        in inherited classes.
+        """
+        self.navmesh_settings = habitat_sim.NavMeshSettings()
+        self.navmesh_settings.set_defaults()
+        self.navmesh_success = self.sim.recompute_navmesh(
+            self.sim.pathfinder,
+            self.navmesh_settings,
+            include_static_objects=False,
+        )
+
     def exit_event(self, event: Application.ExitEvent):
         """
         Overrides exit_event to properly close the Simulator before exiting the
@@ -551,6 +583,8 @@ def print_help_text(self) -> None:
 
     Utilities:
     'r':        Reset the simulator with the most recently loaded scene.
+    'n':        Show/hide NavMesh wireframe.
+                (+SHIFT) Recompute NavMesh with default settings.
 
     Object Interactions:
     SPACE:      Toggle physics simulation on/off.