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Identify the current region of the agent/ pointers for room navigation

See original GitHub issue

Hi, Is there an easy way to identify the current region/room the agent is in.? env.sim.get_agent_state() would only give the agent’s position and rotation.
I understand that this should be doable with matterport3d dataset as this dataset contains semantic segmentations. This information is needed to implement a room sensor for a room navigation task.

TIA.

Issue Analytics

State:
Created 4 years ago
Reactions:2
Comments:8

Top GitHub Comments

1reaction

erikwijmanscommented, Jul 22, 2019

sim.semantic_annotations().regions() returns a list of regions. Each region has an aabb field, which returns an axis aligned bounding box. You can check to see if the agent is within that bounding box or not.

0reactions

Mayer123commented, Mar 31, 2021

Hi,

When I tried to print out the aabb of the regions, the aabb.center looks reasonable, but the aabb.sizes are all 0 (e.g. all regions in D7N2EKCX4Sj). I’m wondering if this is expected? This is how I check it scene= self.env.sim.semantic_annotations() regions = scene.regions for region in regions: print (region.id, region.category.name(), region.aabb.center, region.aabb.sizes) Thanks!

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