From 1ff893a75f0623a4b0cf93a8d3cee1e122c0a623 Mon Sep 17 00:00:00 2001
From: Erik Wijmans <etw@gatech.edu>
Date: Mon, 27 Jan 2020 20:32:40 -0500
Subject: [PATCH] Interface with habitat-sim no sliding (#283)
Habitat sim can now disable sliding. This PR wires up habitat-api with that.
---
habitat/config/default.py | 2 ++
habitat/sims/habitat_simulator/habitat_simulator.py | 1 +
2 files changed, 3 insertions(+)
diff --git a/habitat/config/default.py b/habitat/config/default.py
index 559e2c466..8a8136855 100644
--- a/habitat/config/default.py
+++ b/habitat/config/default.py
@@ -247,6 +247,8 @@ _C.SIMULATOR.HABITAT_SIM_V0.GPU_DEVICE_ID = 0
# Read here: https://pytorch.org/docs/stable/multiprocessing.html#sharing-cuda-tensors
# for the caveats that results in
_C.SIMULATOR.HABITAT_SIM_V0.GPU_GPU = False
+# Whether or not the agent slides on collisions
+_C.SIMULATOR.HABITAT_SIM_V0.ALLOW_SLIDING = True
# -----------------------------------------------------------------------------
# PYROBOT
# -----------------------------------------------------------------------------
diff --git a/habitat/sims/habitat_simulator/habitat_simulator.py b/habitat/sims/habitat_simulator/habitat_simulator.py
index 4c2c0eab2..3dff4ffdc 100644
--- a/habitat/sims/habitat_simulator/habitat_simulator.py
+++ b/habitat/sims/habitat_simulator/habitat_simulator.py
@@ -177,6 +177,7 @@ class HabitatSim(Simulator):
sim_config = habitat_sim.SimulatorConfiguration()
sim_config.scene.id = self.config.SCENE
sim_config.gpu_device_id = self.config.HABITAT_SIM_V0.GPU_DEVICE_ID
+ sim_config.allow_sliding = self.config.HABITAT_SIM_V0.ALLOW_SLIDING
agent_config = habitat_sim.AgentConfiguration()
overwrite_config(
config_from=self._get_agent_config(), config_to=agent_config
--
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