def _config_pathfinder(self, config: Configuration):
if "navmesh" in config.sim_cfg.scene.filepaths:
navmesh_filenname = config.sim_cfg.scene.filepaths["navmesh"]
else:
scene_basename = osp.basename(config.sim_cfg.scene.id)
# "mesh.ply" is identified as a replica model, whose navmesh
# is named as "mesh_semantic.navmesh" and is placed in the
# subfolder called "habitat" (a level deeper than the "mesh.ply")
if scene_basename == "mesh.ply":
scene_dir = osp.dirname(config.sim_cfg.scene.id)
navmesh_filenname = osp.join(
scene_dir, "habitat", "mesh_semantic.navmesh"
)
else:
navmesh_filenname = (
osp.splitext(config.sim_cfg.scene.id)[0] + ".navmesh"
)
self.pathfinder = hsim.PathFinder()
if osp.exists(navmesh_filenname):
self.pathfinder.load_nav_mesh(navmesh_filenname)
logger.info(f"Loaded navmesh {navmesh_filenname}")
else:
logger.warning(
f"Could not find navmesh {navmesh_filenname}, no collision checking will be done"
)
def _config_pathfinder(self, config: Configuration):
if "navmesh" in config.sim_cfg.scene.filepaths:
navmesh_filenname = config.sim_cfg.scene.filepaths["navmesh"]
else:
navmesh_filenname = osp.splitext(
config.sim_cfg.scene.id)[0] + ".navmesh"
self.pathfinder = hsim.PathFinder()
if osp.exists(navmesh_filenname):
self.pathfinder.load_nav_mesh(navmesh_filenname)
logger.info(f"Loaded navmesh {navmesh_filenname}")
else:
logger.warning(
f"Could not find navmesh {navmesh_filenname}, no collision checking will be done"
)
def _config_pathfinder(self, config: Configuration) -> None:
if "navmesh" in config.sim_cfg.scene.filepaths:
navmesh_filenname = config.sim_cfg.scene.filepaths["navmesh"]
else:
scene_basename = osp.basename(config.sim_cfg.scene.id)
# "mesh.ply" is identified as a replica model, whose navmesh
# is named as "mesh_semantic.navmesh" and is placed in the
# subfolder called "habitat" (a level deeper than the "mesh.ply")
if scene_basename == "mesh.ply":
scene_dir = osp.dirname(config.sim_cfg.scene.id)
navmesh_filenname = osp.join(
scene_dir, "habitat", "mesh_semantic.navmesh"
)
else:
navmesh_filenname = (
osp.splitext(config.sim_cfg.scene.id)[0] + ".navmesh"
)
self.pathfinder = PathFinder()
if osp.exists(navmesh_filenname):
self.pathfinder.load_nav_mesh(navmesh_filenname)
logger.info(f"Loaded navmesh {navmesh_filenname}")
else:
logger.warning(
f"Could not find navmesh {navmesh_filenname}, no collision checking will be done"
)
agent_legacy_config = AgentConfiguration()
default_agent_config = config.agents[config.sim_cfg.default_agent_id]
if not np.isclose(
agent_legacy_config.radius, default_agent_config.radius
) or not np.isclose(agent_legacy_config.height, default_agent_config.height):
logger.info(
f"Recomputing navmesh for agent's height {default_agent_config.height} and radius"
f" {default_agent_config.radius}."
)
navmesh_settings = NavMeshSettings()
navmesh_settings.set_defaults()
navmesh_settings.agent_radius = default_agent_config.radius
navmesh_settings.agent_height = default_agent_config.height
self.recompute_navmesh(self.pathfinder, navmesh_settings)
self.pathfinder.seed(config.sim_cfg.random_seed)
Example of capturing an Nsight Systems profile:
apt-get install nvidia-nsight
export HABITAT_PROFILING=1
path/to/nvidia/nsight-systems/bin/nsys profile --sample=none --trace=cuda,nvtx
--trace-fork-before-exec=true --output=my_profile python my_program.py
# look for my_profile.qdrep in working directory
"""
import os
from contextlib import ContextDecorator
from habitat_sim.logging import logger
env_var = os.environ.get("HABITAT_PROFILING", "0")
enable_profiling = env_var != "0"
if enable_profiling:
logger.info("HABITAT_PROFILING={}".format(env_var))
logger.info(
"profiling_utils.py range_push/range_pop annotation is enabled")
from torch.cuda import nvtx
def range_push(msg: str) -> None:
r"""Annotates the start of a range for profiling. Requires HABITAT_PROFILING
environment variable to be set, otherwise the function is a no-op. Pushes a
range onto a stack of nested ranges. Every range_push should have a
corresponding range_pop. Attached profilers can capture the time spent in
ranges."
"""
if enable_profiling:
nvtx.range_push(msg)
