habitat.sims.habitat_simulator.kinematic_relationship_manager.KinematicRelationshipManager class

Manages the kinematic relationships between objects such that object states can be manipulated while maintaining said relationships.

Methods

def _apply_relations_recursive(self, parent_id: int, snapshot: typing.Dict[int, typing.Dict[int, _magnum.Matrix4]], applied_to: typing.Dict[int, bool]) -> None: Apply the snapshot transform relations recursively to the subtree with parent_id as root.
def _get_relations_recursive(self, parent_id: int, wip_snapshot: typing.Dict[int, typing.Dict[int, _magnum.Matrix4]]) -> None: Gather the relative transforms for the “work in progress” snapshot relations recursively to all children of the parent_id.
def apply_relations(self) -> typing.List[int]: Apply the previous relationship snapshot. Call this in the kinematic sim loop when objects are updated.
def apply_relationships_snapshot(self, snapshot: typing.Dict[int, typing.Dict[int, _magnum.Matrix4]], apply_all: bool = True) -> typing.List[int]: Apply all transformations cached in the provided snapshot.
def get_relations_snapshot(self, root_parent_subset: typing.Optional[typing.List[int]] = None) -> typing.Dict[int, typing.Dict[int, _magnum.Matrix4]]: Get the current parent to child transforms for all registered relationships.
def get_root_parents_snapshot(self, root_parent_subset: typing.Optional[typing.List[int]] = None) -> typing.Dict[int, _magnum.Matrix4]: Get the global transformations for all root parents: those without any parent.
def initialize_from_dynamic_ontop(self) -> None: Scrape current scene contents to initialize the relationship graph via the “ontop” util, requiring that objects are dynamically simulated such that contact can be used as a heuristic for support relationships.
def initialize_from_obj_to_rec_pairs(self, obj_to_rec: typing.Dict[str, str], receptacles: typing.List[datasets.rearrange.samplers.receptacle.Receptacle]) -> None: Initialize the RelationshipGraph from object to receptacle mappings as found in a RearrangeEpisode.
def update_snapshots(self, root_parent_subset: typing.Optional[typing.List[int]] = None) -> None: Update the internal previous snapshots.

Special methods

def __init__(self, sim: habitat_sim.simulator.Simulator) -> None

Method documentation

def habitat.sims.habitat_simulator.kinematic_relationship_manager.KinematicRelationshipManager._apply_relations_recursive(self, parent_id: int, snapshot: typing.Dict[int, typing.Dict[int, _magnum.Matrix4]], applied_to: typing.Dict[int, bool]) -> None

Apply the snapshot transform relations recursively to the subtree with parent_id as root.

Parameters
parent_id	The parent of the subtree on which to recurse.
snapshot	The snapshot being consumed by this recursive process. Contains both parent->child mapping and transforms.
applied_to	Tracks wether an object has already had a transform applied previously. Prevents infinite recursion in edge cases with cyclic relationships.

def habitat.sims.habitat_simulator.kinematic_relationship_manager.KinematicRelationshipManager._get_relations_recursive(self, parent_id: int, wip_snapshot: typing.Dict[int, typing.Dict[int, _magnum.Matrix4]]) -> None

Gather the relative transforms for the “work in progress” snapshot relations recursively to all children of the parent_id.

Parameters
parent_id	The parent of the subtree on which to recurse.
wip_snapshot	The work-in-progress snapshot being constructed by this recursive process. default_dict(lambda: {})

def habitat.sims.habitat_simulator.kinematic_relationship_manager.KinematicRelationshipManager.apply_relations(self) -> typing.List[int]

Apply the previous relationship snapshot. Call this in the kinematic sim loop when objects are updated.

Returns	The list of root parents for which the subtree transforms were updated.

def habitat.sims.habitat_simulator.kinematic_relationship_manager.KinematicRelationshipManager.apply_relationships_snapshot(self, snapshot: typing.Dict[int, typing.Dict[int, _magnum.Matrix4]], apply_all: bool = True) -> typing.List[int]

Apply all transformations cached in the provided snapshot.

Parameters
snapshot	The snapshot with parent to child transformations which should be applied.
apply_all	If set, apply all transforms without checking for root parent transform deltas. Use “False” to limit application to dirty transforms.

def habitat.sims.habitat_simulator.kinematic_relationship_manager.KinematicRelationshipManager.get_relations_snapshot(self, root_parent_subset: typing.Optional[typing.List[int]] = None) -> typing.Dict[int, typing.Dict[int, _magnum.Matrix4]]

Get the current parent to child transforms for all registered relationships.

#NOTE: Some objects may have multiple parents.

param root_parent_subset:: Optionally, only compute the relations snapshot for a subset of root parents. Default is all root parents.
return:: A dictionary mapping parent object_id to dictionaries mapping each child object_id to the relative transformation matrix between parent and child.

def habitat.sims.habitat_simulator.kinematic_relationship_manager.KinematicRelationshipManager.get_root_parents_snapshot(self, root_parent_subset: typing.Optional[typing.List[int]] = None) -> typing.Dict[int, _magnum.Matrix4]

Get the global transformations for all root parents: those without any parent.

Parameters
root_parent_subset	Optionally, only compute the snapshot for a subset of root parents. Default is all root parents.

def habitat.sims.habitat_simulator.kinematic_relationship_manager.KinematicRelationshipManager.initialize_from_obj_to_rec_pairs(self, obj_to_rec: typing.Dict[str, str], receptacles: typing.List[datasets.rearrange.samplers.receptacle.Receptacle]) -> None

Initialize the RelationshipGraph from object to receptacle mappings as found in a RearrangeEpisode.

Parameters
obj_to_rec	Map from object instance names to Receptacle unique names.
receptacles	A list of active Receptacle objects.

def habitat.sims.habitat_simulator.kinematic_relationship_manager.KinematicRelationshipManager.update_snapshots(self, root_parent_subset: typing.Optional[typing.List[int]] = None) -> None

Update the internal previous snapshots.

Parameters
root_parent_subset	If provided, limit the updates to particular root parents. This is an efficiency option to avoid wasting time in sparse delta situations. For example, when an update is needed after a single state change such as opening or closing a link.