ObjectTargetSampler class
Base sampler for object targets. Instead of sampling from an object template set, sample from an instance set.
Methods
- def reset(self) -> None
- Reset any per-scene variables.
- def sample(self, sim: habitat_sim.simulator.Simulator, recep_tracker: receptacle.ReceptacleTracker, snap_down: bool = False, dbv: typing.Optional[sims.habitat_simulator.debug_visualizer.DebugVisualizer] = None, target_receptacles = None, goal_receptacles = None, object_to_containing_receptacle = None) -> typing.Optional[typing.Dict[str, typing.Tuple[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, receptacle.Receptacle]]]
- Overridden sampler maps to instances without replacement.
- def sample_object(self) -> str
- Sample an object handle from the object_set and return it.
- def sample_placement(self, sim: habitat_sim.simulator.Simulator, object_handle: str, receptacle: receptacle.Receptacle, snap_down: bool = False, dbv: typing.Optional[sims.habitat_simulator.debug_visualizer.DebugVisualizer] = None) -> typing.Optional[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject]
- Attempt to sample a valid placement of the object in/on a receptacle given an object handle and receptacle information.
- def sample_receptacle(self, sim: habitat_sim.simulator.Simulator, recep_tracker: receptacle.ReceptacleTracker, cull_tilted_receptacles: bool = True, tilt_tolerance: float = 0.9) -> receptacle.Receptacle
- Sample a receptacle from the receptacle_set and return relevant information.
- def set_num_samples(self) -> None
- Choose a target number of objects to sample from the configured range.
- def single_sample(self, sim: habitat_sim.simulator.Simulator, recep_tracker: receptacle.ReceptacleTracker, snap_down: bool = False, dbv: typing.Optional[sims.habitat_simulator.debug_visualizer.DebugVisualizer] = None, fixed_target_receptacle = None, fixed_obj_handle: typing.Optional[str] = None) -> typing.Optional[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject]
- Sample a single object placement by first sampling a Receptacle candidate, then an object, then attempting to place that object on the Receptacle.
Special methods
- def __init__(self, object_instance_set: typing.List[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject], *args, **kwargs) -> None
- Initialize a standard ObjectSampler but construct the object_set to correspond with specific object instances provided.
Method documentation
def habitat.
Overridden sampler maps to instances without replacement.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| recep_tracker | The ReceptacleTracker containing ReceptacleSet and use information. |
| snap_down | Whether or not to use the snapdown utility for placement. |
| dbv | An optional DebugVisualizer (dbv) to gather placement debug images. |
| target_receptacles | Specify precise Receptacles to use instead of sampling. |
| goal_receptacles | Provide the list of Receptacles pre-selected for goal placement. |
| object_to_containing_receptacle | Dictionary mapping object handles to receptacles containing them. |
def habitat.
Attempt to sample a valid placement of the object in/on a receptacle given an object handle and receptacle information.
| Parameters | |
|---|---|
| sim | The active Simulator instance. |
| object_handle | The handle of the object template for instantiation and attempted placement. |
| receptacle | The Receptacle instance on which to sample a placement position. |
| snap_down | Whether or not to use the snap_down utility to place the object. |
| dbv | Optionally provide a DebugVisualizer(dbv) |
def habitat.
Sample a receptacle from the receptacle_set and return relevant information.
| Parameters | |
|---|---|
| sim | The active Simulator instance. |
| recep_tracker | The pre-initialized ReceptacleTracker object defining available ReceptacleSets. |
| cull_tilted_receptacles | Whether or not to remove tilted Receptacles from the candidate set. |
| tilt_tolerance | If cull_tilted_receptacles is True, receptacles are culled for objects with local “down” (-Y), not aligned with gravity (unit dot product compared to tilt_tolerance). |
def habitat.
Sample a single object placement by first sampling a Receptacle candidate, then an object, then attempting to place that object on the Receptacle.
| Parameters | |
|---|---|
| sim | The active Simulator instance. |
| recep_tracker | The pre-initialized ReceptacleTracker instace containg active ReceptacleSets. |
| snap_down | Whether or not to use the snap_down utility to place the objects. |
| dbv | Optionally provide a DebugVisualizer (dbv) |
| fixed_target_receptacle | Optionally provide a pre-selected Receptacle instead of sampling. For example, when a target object’s receptacle is selected in advance. |
| fixed_obj_handle | Optionally provide a pre-selected object instead of sampling. For example, when sampling the goal position for a known target object. |