From 69d6a7460ddda2b7b9d5469d00af39fadb6f797d Mon Sep 17 00:00:00 2001
From: Steven Morad <stevenmorad@gmail.com>
Date: Mon, 3 Feb 2020 21:50:16 +0000
Subject: [PATCH] Pass physics option to sim (#289)
This new feature allows for habitat-api to start a physics-enabled sim
---
habitat/config/default.py | 4 ++++
habitat/sims/habitat_simulator/habitat_simulator.py | 4 ++++
2 files changed, 8 insertions(+)
diff --git a/habitat/config/default.py b/habitat/config/default.py
index 8a8136855..044c49dcd 100644
--- a/habitat/config/default.py
+++ b/habitat/config/default.py
@@ -249,6 +249,10 @@ _C.SIMULATOR.HABITAT_SIM_V0.GPU_DEVICE_ID = 0
_C.SIMULATOR.HABITAT_SIM_V0.GPU_GPU = False
# Whether or not the agent slides on collisions
_C.SIMULATOR.HABITAT_SIM_V0.ALLOW_SLIDING = True
+_C.SIMULATOR.HABITAT_SIM_V0.ENABLE_PHYSICS = False
+_C.SIMULATOR.HABITAT_SIM_V0.PHYSICS_CONFIG_FILE = (
+ "./data/default.phys_scene_config.json"
+)
# -----------------------------------------------------------------------------
# PYROBOT
# -----------------------------------------------------------------------------
diff --git a/habitat/sims/habitat_simulator/habitat_simulator.py b/habitat/sims/habitat_simulator/habitat_simulator.py
index 2487c97f6..ba3b82067 100644
--- a/habitat/sims/habitat_simulator/habitat_simulator.py
+++ b/habitat/sims/habitat_simulator/habitat_simulator.py
@@ -178,6 +178,10 @@ class HabitatSim(Simulator):
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
+ sim_config.enable_physics = self.config.HABITAT_SIM_V0.ENABLE_PHYSICS
+ sim_config.physics_config_file = (
+ self.config.HABITAT_SIM_V0.PHYSICS_CONFIG_FILE
+ )
agent_config = habitat_sim.AgentConfiguration()
overwrite_config(
config_from=self._get_agent_config(), config_to=agent_config
--
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