AnyObjectReceptacle class
The AnyObjectReceptacle enables any rigid or articulated object or link to be used as a Receptacle without metadata annotation. It uses the top surface of an object’s global space bounding box as a heuristic for the sampling area. The sample efficiency is likely to be poor (especially for concave objects like L-shaped sofas), TODO: this could be mitigated by the option to pre-compute a discrete set of candidate points via raycast upon initialization. Also, this heuristic will not support use of interior surfaces such as cubby and cabinet shelves since volumetric occupancy is not considered.
Note the caveats above and consider that the ideal application of the AnyObjectReceptacle is to support placement of objects onto other simple objects such as open face crates, bins, baskets, trays, plates, bowls, etc… for which receptacle annotation would be overkill.
Methods
- def _get_global_bb(self, sim: habitat_sim.simulator.Simulator) -> _magnum.Range3D
- Get the global AABB of the Receptacle parent object.
- def debug_draw(self, sim: habitat_sim.simulator.Simulator, color: typing.Optional[_magnum.Color4] = None) -> None
- Render the Receptacle 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.
- 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 on the top surface of the global bounding box of the object. TODO: If a pre-computed candidate point set was cached, simply sample from those points instead.
- def sample_uniform_local(self, sample_region_scale: float = 1.0) -> _magnum.Vector3
- Sample a uniform random point within Receptacle in local space. NOTE: This only works if a pointset cache was pre-computed. Otherwise raises an exception.
Special methods
- def __init__(self, name: str, parent_object_handle: typing.Optional[str] = None, parent_link: typing.Optional[int] = None)
- Initialize the object as a Receptacle.
Properties
- bounds: _magnum.Range3D get
- AABB of the Receptacle in local space. NOTE: this is an effortful query, not a getter. TODO: This needs a sim instance to compute the global bounding box
- is_parent_object_articulated get
- Convenience query for articulated vs. rigid object check.
Method documentation
def habitat.
Render the Receptacle 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 on the top surface of the global bounding box of the object. TODO: If a pre-computed candidate point set was cached, simply sample from those points instead.
| Parameters | |
|---|---|
| sim | |
| sample_region_scale | defines a XZ scaling of the sample region around its center. No-op for cached points. |
def habitat.
Sample a uniform random point within Receptacle in local space. NOTE: This only works if a pointset cache was pre-computed. Otherwise raises an exception.
| 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. |