habitat.datasets.rearrange.samplers.receptacle.Receptacle class

Methods

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 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 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 within Receptacle in local space.

def __init__(self, name: str, parent_object_handle: typing.Optional[str] = None, parent_link: typing.Optional[int] = None, up: typing.Optional[_magnum.Vector3] = None)

bounds: _magnum.Range3D get: AABB of the Receptacle in local space. Default is empty Range3D.
is_parent_object_articulated get: Convenience query for articulated vs. rigid object check.

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.

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.

Sample a uniform random point within Receptacle in local space.

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.