habitat.datasets.rearrange.samplers.receptacle module

Classes

class AABBReceptacle

Defines an AABB Receptacle volume above a surface for sampling object placements within a scene.

class AnyObjectReceptacle

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.

class OnTopOfReceptacle

class Receptacle

class ReceptacleSet

ReceptacleSet(name: str, included_object_substrings: List[str], excluded_object_substrings: List[str], included_receptacle_substrings: List[str], excluded_receptacle_substrings: List[str], is_on_top_of_sampler: bool = False, comment: str = ”)

class ReceptacleTracker

class TriangleMeshReceptacle

Defines a Receptacle surface as a triangle mesh. TODO: configurable maximum height.

Functions

def assert_triangles(indices: typing.List[int]) -> None

Assert that an index array is divisible by 3 as a heuristic for triangle-only faces.

def cull_filtered_receptacles(receptacles: typing.List[Receptacle], exclude_filter_strings: typing.List[str]) -> typing.List[Receptacle]

Filter a list of Receptacles to exclude any which are matched to the provided exclude_filter_strings. Each string in filter strings is checked against each receptacle’s unique_name. If the unique_name contains any filter string as a substring, that Receptacle is filtered.

def filter_interleave_mesh(mesh: _magnum.trade.MeshData) -> _magnum.trade.MeshData

Filter all but position data and interleave a mesh to reduce overall memory footprint. Convert triangle like primitives into triangles and assert only triangles remain.

def find_receptacles(sim: habitat_sim.simulator.Simulator, ignore_handles: typing.Optional[typing.List[str]] = None, exclude_filter_strings: typing.Optional[typing.List[str]] = None) -> typing.List[typing.Union[Receptacle, AABBReceptacle, TriangleMeshReceptacle]]

Scrape and return a list of all Receptacles defined in the metadata belonging to the scene’s currently instanced objects.

def get_all_scenedataset_receptacles(sim: habitat_sim.simulator.Simulator) -> typing.Dict[str, typing.Dict[str, typing.List[str]]]

Scrapes the active SceneDataset from a Simulator for all receptacle names defined in rigid/articulated object and stage templates for investigation and preview purposes. Note this will not include scene-specific overrides defined in scene_config.json files. Only receptacles defined in object_config.json, ao_config.json, and stage_config.json files or added programmatically to associated Attributes objects will be found.

def get_excluded_recs_from_filter_file(rec_filter_filepath: str, filter_types: typing.Optional[typing.List[str]] = None) -> typing.List[str]

Load and digest a Receptacle filter file to generate a list of Receptacle.unique_names strings which should be excluded from the active ReceptacleSet.

def get_navigable_receptacles(sim: habitat_sim.simulator.Simulator, receptacles: typing.List[Receptacle], nav_island: int, nav_to_min_distance: float = 1.5) -> typing.List[Receptacle]

Given a list of receptacles, return the ones that are heuristically navigable from the largest indoor navmesh island.

def get_obj_manager_for_receptacle(sim: habitat_sim.simulator.Simulator, receptacle: Receptacle) -> typing.Union[habitat_sim._ext.habitat_sim_bindings.RigidObjectManager, habitat_sim._ext.habitat_sim_bindings.ArticulatedObjectManager]

Get the correct object manager for the Receptacle.

def get_recs_from_filter_file(rec_filter_filepath: str, filter_types: typing.List[str]) -> typing.List[str]

Load and digest a Receptacle filter file to generate a list of Receptacle.unique_names which belong to a particular filter subset.

def get_scene_rec_filter_filepath(mm: habitat_sim._ext.habitat_sim_bindings.MetadataMediator, scene_handle: str) -> str

Look in the user_defined metadata for a scene to find the configured filepath for the scene’s Receptacle filter file.

def import_tri_mesh(mesh_file: str) -> typing.List[_magnum.trade.MeshData]

Returns a list of MeshData objects from a mesh asset using magnum trade importer.

def parse_receptacles_from_user_config(user_subconfig: habitat_sim._ext.habitat_sim_bindings.Configuration, parent_object_handle: typing.Optional[str] = None, parent_template_directory: str = '', valid_link_names: typing.Optional[typing.List[str]] = None, ao_uniform_scaling: float = 1.0) -> typing.List[typing.Union[Receptacle, AABBReceptacle, TriangleMeshReceptacle]]

Parse receptacle metadata from the provided user subconfig object.

Function documentation