AABBReceptacle class
Defines an AABB Receptacle volume above a surface for sampling object placements within a scene.
Methods
- def debug_draw(self, sim: habitat_sim.simulator.Simulator, color: typing.Optional[_magnum.Color4] = None) -> None
- Render the AABBReceptacle with DebugLineRender utility at the current frame. Must be called after each frame is rendered, before querying the image data.
- def dist_to_rec(self, sim: habitat_sim.simulator.Simulator, point: numpy.ndarray) -> float
- Compute and return the distance from a 3D global point to the Receptacle.
- def get_global_transform(self, sim: habitat_sim.simulator.Simulator) -> _magnum.Matrix4
- Isolates boilerplate necessary to extract receptacle global transform of the Receptacle at the current state. This specialization adds override rotation handling for global bounding box Receptacles.
- def get_support_object_ids(self, sim: habitat_sim.simulator.Simulator) -> typing.List[int]
- Get a list of object ids representing the set of acceptable support surfaces for this receptacle.
- def sample_uniform_global(self, sim: habitat_sim.simulator.Simulator, sample_region_scale: float) -> _magnum.Vector3
- Sample a uniform random point in the local Receptacle volume and then transform it into global space.
- def sample_uniform_local(self, sample_region_scale: float = 1.0) -> _magnum.Vector3
- Sample a uniform random point in the local AABB.
Special methods
- def __init__(self, name: str, bounds: _magnum.Range3D, parent_object_handle: typing.Optional[str] = None, parent_link: typing.Optional[int] = None, up: typing.Optional[_magnum.Vector3] = None, rotation: typing.Optional[_magnum.Quaternion] = None) -> None
Properties
- bounds: _magnum.Range3D get
- AABB of the Receptacle in local space.
- is_parent_object_articulated get
- Convenience query for articulated vs. rigid object check.
Method documentation
def habitat.
Render the AABBReceptacle with DebugLineRender utility at the current frame. Must be called after each frame is rendered, before querying the image data.
| Parameters | |
|---|---|
| sim | Simulator must be provided. |
| color | Optionally provide wireframe color, otherwise magenta. |
def habitat.
Compute and return the distance from a 3D global point to the Receptacle.
| Parameters | |
|---|---|
| sim | The Simulator instance for querying global transforms. |
| point | A 3D point in global space. E.g. the bottom center point of a placed object. |
| Returns | Point to Receptacle distance. |
def habitat.
Get a list of object ids representing the set of acceptable support surfaces for this receptacle.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| Returns | A list of object id integers for this Receptacle’s set of valid support surfaces. |
def habitat.
Sample a uniform random point in the local Receptacle volume and then transform it into global space.
| Parameters | |
|---|---|
| sim | |
| sample_region_scale | defines a XZ scaling of the sample region around its center. |
def habitat.
Sample a uniform random point in the local AABB.
| Parameters | |
|---|---|
| sample_region_scale | defines a XZ scaling of the sample region around its center. For example to constrain object spawning toward the center of a receptacle. |