habitat.datasets.rearrange.samplers.receptacle.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 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 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.datasets.rearrange.samplers.receptacle.AABBReceptacle.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.

Parameters
sim	Simulator must be provided.
color	Optionally provide wireframe color, otherwise magenta.

def habitat.datasets.rearrange.samplers.receptacle.AABBReceptacle.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.

Parameters
sim
sample_region_scale	defines a XZ scaling of the sample region around its center.

def habitat.datasets.rearrange.samplers.receptacle.AABBReceptacle.sample_uniform_local(self, sample_region_scale: float = 1.0) -> _magnum.Vector3

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.