enable recompute_navmesh when creating sim with create_renderer==false #2097
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facebook-github-bot
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0mdc
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May 4, 2023
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Merging this now as SIRo has an urgent need, but @aclegg3 I'd still like your thoughts when you get a chance! |
ykarmesh
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* skip unsupported 3D primitives (#2054) * bugfix for setArticulatedObjectModelFilename causing garbage log output (#2053) * Gfx-replay polish: workaround for material-overrides; new keyframe getter (#2035) * gfx-replay polish: workaround for material-overrides; new keyframe getter API needed for a python application * --Have pre-commit use node version compatible with Ubuntu 18.04 (#2058) * --use system node install if present * --change to hook-specific node version specification * --change to nearest official release version * Fix viewer.py framebuffer size mismatch. (#2055) * Fix viewer.py framebuffer size mismatch. * Change int tuples to mn.Vector2. * Minor simplifications. * Replay renderer: add line-rendering and unproject() (#2057) * integrate DebugLineRender into replay renderers * add ClassicReplayRenderer.unproject * stub implementation for BatchReplayRenderer.unproject * lighting hack in ClassicReplayRenderer to get ReplicaCAD stages to render correctly * bugfix: cylinder proimitive collsion shape did not use halflength (#2060) * --have disabled renderer test only execute 1 time (#2065) * --(Bugfix) Fix normal transformation calc and address backface culling in case of negative scaling/reflections (#2062) * --don't use co-factor matrix for transforming pre-calculated normals * --address backface winding in Generic and Phong drawables TODO : Still need to set this up in batch renderer. * --revert change in batch renderer The normal matrix derivation will be changed in magnum to be appropriate, so we will keep the original verbiage for clarity. We keep the changes in the default and PBR renderer calls since we need the determinant to determine if winding order must be reversed for backface culling. * --test negative scaling along 3 axis * --make copy of observation buffer for ground truth observation The buffer is shared, so without a copy subsequent observations would overwrite the gt observation buffer. * Update Magnum submodules to latest. (#2066) * Update magnum submodules. (#2073) * Add runtime perf stats for troubleshooting perf problems (#2070) * add ResourceManager::getDrawableCountAndNumVertices, Sim.get_runtime_perf_stat_values, and related helpers * --Refactor Semantic Mesh loading/flattening to remove deprecated functionality and improve efficiency (#2079) * --refactor to remove deprecated functionality * --reviewer suggestions; * --fixed inappropriate alloc * Articulated object skinning (#2076) * Add rig property to RenderAssetInstanceCreationInfo. * Add render_asset to ao_config.json. * Create render asset from ao_config.json when creating an articulated object. * Store bone names into MeshTransformNode. * Add skinning asset loading and phong rendering. * Assorted minor fixes. * Add flag to render articulated object primitives while having a skinned mesh for debugging. * Add skinned articulated object test. * Fix MetadataMediatorTest * Cache joint transformations in drawables, other minor fixes. * Fix test asset path + other minor fixes. * Fix skinned mesh caching. Make ao_config.json render_asset path relative to the file. Code clean-up. * --Add access to Scene Instance-level user defined attributes. (#2081) * --add access to user defined in scene instance configs. * --If SceneDataset or SceneInstance do not exist, return nullptr. --------- Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com> * --Don't make needless copy of scene instance attributes when retrieving user defined values (#2082) * --don't make needless copy of scene instance attributes * --add a test * gfx-replay: fix to remove reflection when converting node transform matrix to rotation/translation (#2085) * Articulated object semantics (#2086) * Parse semantic_id from ao_config.json. * Propagate semantic_id to skinned mesh. * Add skinned mesh semantics test. * Propagate semantics for non-skinned articulated object. * --Convert materials to use magnum materials. (#2083) * --add Mn::MaterialTools; WIP * --address test issue; * --convert materials to magnum materials * --address fallback material not having defaults * --fix many attribute accessor bugs. * --appropriately make new attribute name with lowercase letter * --Flat/Phong and Semantic textures work. Have to fix building PBR layers * --improve ptr attribute naming; organize custom attribute assignment Still need to build texture pointer attribute array with layers if they exist in base material * --use owning material constructors * --cleanup; clang-tidy; fix flat vs phong ambient txtr map in phong shader Flat now has ambient Texture mapped directly from source material, so no need to check baseColorTexture anymore. * --get layers working properly * --support noneRoughnessMetallic texture; handle per-vert objectID for PBR drawables * --cache all material quantities in drawable to speed up draw access * --prepopulate normal texture * --address inappropriate bitflag check; add vertexID flag to PBR shader (#2090) * enable frustum-culling for classic replay renderer (#2096) * enable recompute_navmesh when creating sim with create_renderer==false (#2097) * --[BUGFIX] Reverse directional lights before sending to uniform; (#2094) * --reverse directional lights before sending to uniform; Also correct existing light setups * --fix lighting tutorial lights * --correct orientations of sample and default light with names * Update Magnum submodules. (#2100) * --[BUGFIX] Single channel texture support (#2102) * --Address uncompressed single and double channel textures by modifying swizzles to be rrr1 and rrrg respectively. * add intertiaFromURDF option to URDF loading API (#2098) * add additional magnum importer plugins to python build dependencies * refactor to reduce redundancy --------- Co-authored-by: Eric Undersander <eundersander@fb.com> Co-authored-by: John Turner <7strbass@gmail.com> Co-authored-by: Mikaël Dallaire Côté <110583667+0mdc@users.noreply.github.com> Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com> Co-authored-by: Vladimír Vondruš <mosra@centrum.cz>
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Motivation and Context
The navmesh is needed for blind agents, batch rendering, and other use cases where the sim is created with
create_renderer==false.Note a potential source of confusion: when
create_renderer==false, we don't load textures, upload mesh vertices to the GPU, or create "GL meshes". However, we still load mesh data from disk, so we can still generate a navmesh on the CPU.How Has This Been Tested
Local testing on 2019 Macbook Pro
Types of changes
Checklist