sim_utilities module
Functions
- def above(sim: habitat_sim.simulator.Simulator, object_a: typing.Union[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject]) -> typing.List[int]
- Get a list of all objects that a particular object_a is ‘above’. Concretely, ‘above’ is defined as: a downward raycast of any object keypoint hits the object below.
- def add_transformed_wire_box(sim: habitat_sim.simulator.Simulator, size: _magnum.Vector3, transform: typing.Optional[_magnum.Matrix4] = None) -> habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject
- Generate a transformed wire box in world space. Returns the new object.
- def add_viz_sphere(sim: habitat_sim.simulator.Simulator, radius: float, pos: _magnum.Vector3) -> habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject
- Add a visualization-only sphere to the world at a global position. Returns the new object.
- def add_wire_box(sim: habitat_sim.simulator.Simulator, size: _magnum.Vector3, center: _magnum.Vector3, attach_to: typing.Optional[habitat_sim._ext.habitat_sim_bindings.SceneNode] = None, orientation: typing.Optional[_magnum.Quaternion] = None) -> habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject
- Generate a wire box object and optionally attach it to another existing object (automatically applies object scale). Returns the new object.
- def bb_next_to(bb_a: _magnum.Range3D, bb_b: _magnum.Range3D, transform_a: typing.Optional[_magnum.Matrix4] = None, transform_b: typing.Optional[_magnum.Matrix4] = None, hor_l2_threshold = 0.3) -> bool
- def bb_ray_prescreen(sim: habitat_sim.simulator.Simulator, obj: habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, support_obj_ids: typing.Optional[typing.List[int]] = None, check_all_corners: bool = False) -> typing.Dict[str, typing.Any]
- Pre-screen a potential placement by casting rays in the gravity direction from the object center of mass (and optionally each corner of its bounding box) checking for interferring objects below.
- def close_link(object_a: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, link_ix: int) -> None
- Set a link to the “closed” state. Sets the joint position to the minimum joint limit.
- def get_all_object_ids(sim: habitat_sim.simulator.Simulator) -> typing.Dict[int, str]
- Generate a dict mapping all active object ids to a descriptive string containing the object instance handle and, for ArticulatedLinks, the link name.
- def get_all_objects(sim: habitat_sim.simulator.Simulator) -> typing.List[typing.Union[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject]]
- Get a list of all ManagedRigidObjects and ManagedArticulatedObjects in the scene.
- def get_ao_default_link(ao: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, compute_if_not_found: bool = False) -> typing.Optional[int]
- def get_ao_global_bb(obj: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject) -> typing.Optional[_magnum.Range3D]
- Compute the cumulative bounding box of an ArticulatedObject by merging all link bounding boxes.
- def get_ao_link_id_map(sim: habitat_sim.simulator.Simulator) -> typing.Dict[int, int]
- Construct a dict mapping ArticulatedLink object_id to parent ArticulatedObject object_id. NOTE: also maps ao’s root object id to itself for ease of use.
- def get_ao_root_bb(ao: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject) -> _magnum.Range3D
- Get the local bounding box of all links of an articulated object in the root frame.
- def get_ao_root_bbs(sim: habitat_sim.simulator.Simulator) -> typing.Dict[int, _magnum.Range3D]
- Computes a dictionary mapping AO handles to a global bounding box of parts. Must be updated when AO state changes to correctly bound the full set of links.
- def get_articulated_link_global_keypoints(object_a: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, link_index: int) -> typing.List[_magnum.Vector3]
- Get global bb keypoints for an ArticulatedLink.
- def get_articulated_object_global_keypoints(object_a: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, ao_aabbs: typing.Optional[typing.Dict[int, _magnum.Range3D]] = None) -> typing.List[_magnum.Vector3]
- Get global bb keypoints for an ArticulatedObject.
- def get_bb_corners(range3d: _magnum.Range3D) -> typing.List[_magnum.Vector3]
- Return a list of AABB (Range3D) corners in object local space.
- def get_bb_for_object_id(sim: habitat_sim.simulator.Simulator, obj_id: int, ao_link_map: typing.Optional[typing.Dict[int, int]] = None, ao_aabbs: typing.Optional[typing.Dict[int, _magnum.Range3D]] = None) -> typing.Tuple[_magnum.Range3D, _magnum.Matrix4]
- Wrapper to get a bb and global transform directly from an object id. Handles RigidObject and ArticulatedLink ids.
- def get_global_keypoints_from_bb(aabb: _magnum.Range3D, local_to_global: _magnum.Matrix4) -> typing.List[_magnum.Vector3]
- Get a list of bounding box keypoints in global space. 0th point is the bounding box center, others are bounding box corners.
- def get_global_keypoints_from_object_id(sim: habitat_sim.simulator.Simulator, object_id: int, ao_link_map: typing.Optional[typing.Dict[int, int]] = None, ao_aabbs: typing.Optional[typing.Dict[int, _magnum.Range3D]] = None) -> typing.List[_magnum.Vector3]
- Get a list of object keypoints in global space given an object id. 0th point is the center of bb, others are bounding box corners.
- def get_link_normalized_joint_position(object_a: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, link_ix: int) -> float
- Normalize the joint limit range [min, max] -> [0,1] and return the current joint state in this range.
- def get_obj_from_handle(sim: habitat_sim.simulator.Simulator, obj_handle: str) -> typing.Union[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject]
- Get a ManagedRigidObject or ManagedArticulatedObject from its instance handle.
- def get_obj_from_id(sim: habitat_sim.simulator.Simulator, obj_id: int, ao_link_map: typing.Optional[typing.Dict[int, int]] = None) -> typing.Union[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject]
- Get a ManagedRigidObject or ManagedArticulatedObject from an object_id.
- def get_obj_size_along(sim: habitat_sim.simulator.Simulator, object_id: int, global_vec: _magnum.Vector3, ao_link_map: typing.Optional[typing.Dict[int, int]] = None, ao_aabbs: typing.Optional[typing.Dict[int, _magnum.Range3D]] = None) -> typing.Tuple[float, _magnum.Vector3]
- Uses object bounding box ellipsoid scale as a heuristic to estimate object size in a particular global direction.
- def get_obj_transform_from_id(sim: habitat_sim.simulator.Simulator, obj_id: int, ao_link_map: typing.Optional[typing.Dict[int, int]] = None) -> _magnum.Matrix4
- Retrieve the local to global transform of the object or link identified by the object_id.
- def get_object_regions(sim: habitat_sim.simulator.Simulator, object_a: typing.Union[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject], ao_link_map: typing.Optional[typing.Dict[int, int]] = None, ao_aabbs: typing.Optional[typing.Dict[int, _magnum.Range3D]] = None) -> typing.List[typing.Tuple[int, float]]
- Get a sorted list of regions containing an object using bounding box keypoints.
- def get_rigid_object_global_keypoints(object_a: habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject) -> typing.List[_magnum.Vector3]
- Get a list of rigid object keypoints in global space. 0th point is the bounding box center, others are bounding box corners.
- def link_is_closed(object_a: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, link_ix: int, threshold: float = 0.1) -> bool
- Check whether a particular AO link is in the “closed” state. We assume that joint limits define the closed state (min) and open state (max).
- def link_is_open(object_a: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, link_ix: int, threshold: float = 0.4) -> bool
- Check whether a particular AO link is in the “open” state. We assume that joint limits define the closed state (min) and open state (max).
- def obj_next_to(sim: habitat_sim.simulator.Simulator, object_id_a: int, object_id_b: int, hor_l2_threshold = 0.5, ao_link_map: typing.Optional[typing.Dict[int, int]] = None, ao_aabbs: typing.Optional[typing.Dict[int, _magnum.Range3D]] = None) -> bool
- def object_in_region(sim: habitat_sim.simulator.Simulator, object_a: typing.Union[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject], region: habitat_sim._ext.habitat_sim_bindings.SemanticRegion, containment_threshold = 0.25, center_only = False, ao_link_map: typing.Optional[typing.Dict[int, int]] = None, ao_aabbs: typing.Optional[typing.Dict[int, _magnum.Range3D]] = None) -> typing.Tuple[bool, float]
- Check if an object is within a region by checking region containment of keypoints.
- def object_keypoint_cast(sim: habitat_sim.simulator.Simulator, object_a: habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, direction: typing.Optional[_magnum.Vector3] = None) -> typing.List[habitat_sim._ext.habitat_sim_bindings.RaycastResults]
- Computes object global keypoints, casts rays from each in the specified direction and returns the resulting RaycastResults.
- def object_shortname_from_handle(object_handle: str) -> str
- Splits any path directory and instance increment from the handle.
- def on_floor(sim: habitat_sim.simulator.Simulator, object_a: habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, distance_threshold: float = 0.04, alt_pathfinder: typing.Optional[habitat_sim._ext.habitat_sim_bindings.PathFinder] = None, island_index: int = -1, ao_link_map: typing.Optional[typing.Dict[int, int]] = None, ao_aabbs: typing.Optional[typing.Dict[int, _magnum.Range3D]] = None) -> bool
- def ontop(sim: habitat_sim.simulator.Simulator, object_a: typing.Union[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, int], do_collision_detection: bool, vertical_normal_error_threshold: float = 0.75) -> typing.List[int]
- Get a list of all object ids or objects that are “ontop” of a particular object_a. Concretely, ‘ontop’ is defined as: contact points between object_a and object_b have vertical normals “upward” relative to object_a. This function uses collision points to determine which objects are resting on or contacting the surface of object_a.
- def open_link(object_a: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, link_ix: int) -> None
- Set a link to the “open” state. Sets the joint position to the maximum joint limit.
- def register_custom_wireframe_box_template(sim: habitat_sim.simulator.Simulator, size: _magnum.Vector3, template_name: str = 'custom_wireframe_box') -> str
- Generate and register a custom template for a wireframe box of given size. Return the new template’s handle.
- def set_link_normalized_joint_position(object_a: habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject, link_ix: int, normalized_pos: float) -> None
- Set the joint’s state within its limits from a normalized range [0,1] -> [min, max]
- def size_regularized_bb_distance(bb_a: _magnum.Range3D, bb_b: _magnum.Range3D, transform_a: typing.Optional[_magnum.Matrix4] = None, transform_b: typing.Optional[_magnum.Matrix4] = None, flatten_axis: typing.Optional[int] = None) -> float
- Get the heuristic surface-to-surface distance between two bounding boxes (regularized by their individual heuristic sizes). Estimate the distance from center to boundary along the line between bb centers. These sizes are then subtracted from the center-to-center distance as a heuristic for surface-to-surface distance.
- def size_regularized_object_distance(sim: habitat_sim.simulator.Simulator, object_id_a: int, object_id_b: int, ao_link_map: typing.Optional[typing.Dict[int, int]] = None, ao_aabbs: typing.Optional[typing.Dict[int, _magnum.Range3D]] = None) -> float
- Get the heuristic surface-to-surface distance between two objects (regularized by their individual heuristic sizes). Uses each object’s bounding box to estimate the distance from center to boundary along the line between object centers. These object sizes are then subtracted from the center-to-center distance as a heuristic for surface-to-surface distance.
- def snap_down(sim: habitat_sim.simulator.Simulator, obj: habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, support_obj_ids: typing.Optional[typing.List[int]] = None, dbv: typing.Optional[debug_visualizer.DebugVisualizer] = None, max_collision_depth: float = 0.01) -> bool
- Attempt to project an object in the gravity direction onto the surface below it.
- def within(sim: habitat_sim.simulator.Simulator, object_a: typing.Union[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject], max_distance: float = 1.0, keypoint_vote_threshold: int = 2, center_ensures_containment: bool = True) -> typing.List[int]
- Get a list of all objects that a particular object_a is ‘within’. Concretely, ‘within’ is defined as: a threshold number of opposing keypoint raycasts hit the same object. This function computes raycasts along all global axes from all keypoints and checks opposing rays for collision with the same object.
Function documentation
def habitat.
Get a list of all objects that a particular object_a is ‘above’. Concretely, ‘above’ is defined as: a downward raycast of any object keypoint hits the object below.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_a | The ManagedRigidObject for which to query the ‘above’ set. |
def habitat.
| Parameters | |
|---|---|
| bb_a | local bounding box of one object |
| bb_b | local bounding box of another object |
| transform_a | local to global transform for the first object. Default is identity. |
| transform_b | local to global transform for the second object. Default is identity. |
| hor_l2_threshold | regularized horizontal L2 distance allowed between the objects’ centers. |
def habitat.
Pre-screen a potential placement by casting rays in the gravity direction from the object center of mass (and optionally each corner of its bounding box) checking for interferring objects below.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| obj | The RigidObject instance. |
| support_obj_ids | A list of object ids designated as valid support surfaces for object placement. Contact with other objects is a criteria for placement rejection. |
| check_all_corners | Optionally cast rays from all bounding box corners instead of only casting a ray from the center of mass. |
def habitat.
Set a link to the “closed” state. Sets the joint position to the minimum joint limit.
TODO: does not do any collision checking to validate the state or move any other objects which may be contained in or supported by this link.
- param object_a:
- The parent ArticulatedObject of the link to check.
- param link_ix:
- The index of the link within the parent object. Not the link's object_id.
def habitat.
Generate a dict mapping all active object ids to a descriptive string containing the object instance handle and, for ArticulatedLinks, the link name.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
def habitat.
Get a list of all ManagedRigidObjects and ManagedArticulatedObjects in the scene.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
def habitat.
Default link heuristic: the link with the lowest Y value in the bounding box with appropriate joint type.
- param compute_if_not_found:
- If true, try to compute the default link if it isn't found.
- return:
- The default link index or None if not found. Cannot be base link (-1).
def habitat.
Construct a dict mapping ArticulatedLink object_id to parent ArticulatedObject object_id. NOTE: also maps ao’s root object id to itself for ease of use.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
def habitat.
Get the local bounding box of all links of an articulated object in the root frame.
| Parameters | |
|---|---|
| ao | The ArticulatedObject instance. |
def habitat.
Computes a dictionary mapping AO handles to a global bounding box of parts. Must be updated when AO state changes to correctly bound the full set of links.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
def habitat.
Get global bb keypoints for an ArticulatedLink.
| Parameters | |
|---|---|
| object_a | The parent ManagedArticulatedObject for the link. |
| link_index | The local index of the link within the parent ArticulatedObject. Not the object_id of the link. |
def habitat.
Get global bb keypoints for an ArticulatedObject.
| Parameters | |
|---|---|
| object_a | The ManagedArticulatedObject from which to extract keypoints. |
| ao_aabbs | A pre-computed map from ArticulatedObject object_ids to their local bounding boxes. If not provided, recomputed as necessary. Must contain the subjects of the query. |
def habitat.
Wrapper to get a bb and global transform directly from an object id. Handles RigidObject and ArticulatedLink ids.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| obj_id | The integer id of the object or link. |
| ao_link_map | A pre-computed map from link object ids to their parent ArticulatedObject’s object id. |
| ao_aabbs | A pre-computed map from ArticulatedObject object_ids to their local bounding boxes. If not provided, recomputed as necessary. |
def habitat.
Get a list of bounding box keypoints in global space. 0th point is the bounding box center, others are bounding box corners.
| Parameters | |
|---|---|
| aabb | The local bounding box. |
| local_to_global | The local to global transformation matrix. |
def habitat.
Get a list of object keypoints in global space given an object id. 0th point is the center of bb, others are bounding box corners.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_id | The integer id for the object from which to extract keypoints. |
| ao_link_map | A pre-computed map from link object ids to their parent ArticulatedObject’s object id. If not provided, recomputed as necessary. |
| ao_aabbs | A pre-computed map from ArticulatedObject object_ids to their local bounding boxes. If not provided, recomputed as necessary. |
def habitat.
Normalize the joint limit range [min, max] -> [0,1] and return the current joint state in this range.
| Parameters | |
|---|---|
| object_a | The parent ArticulatedObject of the link. |
| link_ix | The index of the link within the parent object. Not the link’s object_id. |
def habitat.
Get a ManagedRigidObject or ManagedArticulatedObject from its instance handle.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| obj_handle | object instance handle for which ManagedObject is desired. |
def habitat.
Get a ManagedRigidObject or ManagedArticulatedObject from an object_id.
ArticulatedLink object_ids will return the ManagedArticulatedObject. If you want link id, use ManagedArticulatedObject.link_object_ids[obj_id].
- param sim:
- The Simulator instance.
- param obj_id:
- object id for which ManagedObject is desired.
- param ao_link_map:
- A pre-computed map from link object ids to their parent ArticulatedObject's object id.
- return:
- a ManagedObject or None
def habitat.
Uses object bounding box ellipsoid scale as a heuristic to estimate object size in a particular global direction.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_id | The integer id of the object or link. |
| global_vec | Vector in global space indicating the direction to approximate object size. |
| ao_link_map | A pre-computed map from link object ids to their parent ArticulatedObject’s object id. |
| ao_aabbs | A pre-computed map from ArticulatedObject object_ids to their local bounding boxes. If not provided, recomputed as necessary. |
def habitat.
Retrieve the local to global transform of the object or link identified by the object_id.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| obj_id | object id for which ManagedObject is desired. |
| ao_link_map | A pre-computed map from link object ids to their parent ArticulatedObject’s object id. |
def habitat.
Get a sorted list of regions containing an object using bounding box keypoints.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_a | The object instance. |
| ao_link_map | A pre-computed map from link object ids to their parent ArticulatedObject’s object id. |
| ao_aabbs | A pre-computed map from ArticulatedObject object_ids to their local bounding boxes. If not provided, recomputed as necessary. |
def habitat.
Get a list of rigid object keypoints in global space. 0th point is the bounding box center, others are bounding box corners.
| Parameters | |
|---|---|
| object_a | The ManagedRigidObject from which to extract keypoints. |
def habitat.
Check whether a particular AO link is in the “closed” state. We assume that joint limits define the closed state (min) and open state (max).
| Parameters | |
|---|---|
| object_a | The parent ArticulatedObject of the link to check. |
| link_ix | The index of the link within the parent object. Not the link’s object_id. |
| threshold | The normalized threshold ratio of joint ranges which are considered “closed”. E.g. 0.1 = 10% |
def habitat.
Check whether a particular AO link is in the “open” state. We assume that joint limits define the closed state (min) and open state (max).
| Parameters | |
|---|---|
| object_a | The parent ArticulatedObject of the link to check. |
| link_ix | The index of the link within the parent object. Not the link’s object_id. |
| threshold | The normalized threshold ratio of joint ranges which are considered “open”. E.g. 0.8 = 80% |
def habitat.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_id_a | object_id of the first ManagedObject or link. |
| object_id_b | object_id of the second ManagedObject or link. |
| hor_l2_threshold | regularized horizontal L2 distance allow between the objects’ centers. This should be tailored to the scenario. |
| ao_link_map | A pre-computed map from link object ids to their parent ArticulatedObject’s object id. |
| ao_aabbs | A pre-computed map from ArticulatedObject object_ids to their local bounding boxes. If not provided, recomputed as necessary. |
def habitat.
Check if an object is within a region by checking region containment of keypoints.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_a | The object instance. |
| region | The SemanticRegion to check. |
| containment_threshold | threshold ratio of keypoints which need to be in a region to count as containment. |
| center_only | If True, only use the BB center keypoint, all or nothing. |
| ao_link_map | A pre-computed map from link object ids to their parent ArticulatedObject’s object id. |
| ao_aabbs | A pre-computed map from ArticulatedObject object_ids to their local bounding boxes. If not provided, recomputed as necessary. |
def habitat.
Computes object global keypoints, casts rays from each in the specified direction and returns the resulting RaycastResults.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_a | The ManagedRigidObject from which to extract keypoints and raycast. |
| direction | Optionally provide a unit length global direction vector for the raycast. If None, default to -Y. |
def habitat.
Splits any path directory and instance increment from the handle.
| Parameters | |
|---|---|
| object_handle | The raw object template or instance handle. |
def habitat.
Get a list of all object ids or objects that are “ontop” of a particular object_a. Concretely, ‘ontop’ is defined as: contact points between object_a and object_b have vertical normals “upward” relative to object_a. This function uses collision points to determine which objects are resting on or contacting the surface of object_a.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_a | The ManagedRigidObject or object id for which to query the ‘ontop’ set. |
| do_collision_detection | If True, a fresh discrete collision detection is run before the contact point query. Pass False to skip if a recent sim step or pre-process has run a collision detection pass on the current state. |
| vertical_normal_error_threshold | The allowed error in normal alignment for a contact point to be considered “vertical” for this check. Functionally, if dot(contact normal, Y) <= threshold, the contact is ignored. |
def habitat.
Set a link to the “open” state. Sets the joint position to the maximum joint limit.
TODO: does not do any collision checking to validate the state or move any other objects which may be contained in or supported by this link.
- param object_a:
- The parent ArticulatedObject of the link to check.
- param link_ix:
- The index of the link within the parent object. Not the link's object_id.
def habitat.
Set the joint’s state within its limits from a normalized range [0,1] -> [min, max]
Assumes the joint has valid joint limits.
- param object_a:
- The parent ArticulatedObject of the link.
- param link_ix:
- The index of the link within the parent object. Not the link's object_id.
- param normalized_pos:
- The normalized position [0,1] to set.
def habitat.
Get the heuristic surface-to-surface distance between two bounding boxes (regularized by their individual heuristic sizes). Estimate the distance from center to boundary along the line between bb centers. These sizes are then subtracted from the center-to-center distance as a heuristic for surface-to-surface distance.
| Parameters | |
|---|---|
| bb_a | local bounding box of one object |
| bb_b | local bounding box of another object |
| transform_a | local to global transform for the first object. Default is identity. |
| transform_b | local to global transform for the second object. Default is identity. |
| flatten_axis | Optionally flatten one axis of the displacement vector. This effectively projects the displacement. For example, index “1” would result in horizontal (xz) distance. |
def habitat.
Get the heuristic surface-to-surface distance between two objects (regularized by their individual heuristic sizes). Uses each object’s bounding box to estimate the distance from center to boundary along the line between object centers. These object sizes are then subtracted from the center-to-center distance as a heuristic for surface-to-surface distance.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_id_a | integer id of the first object |
| object_id_b | integer id of the second object |
| ao_link_map | A pre-computed map from link object ids to their parent ArticulatedObject’s object id. |
| ao_aabbs | A pre-computed map from ArticulatedObject object_ids to their local bounding boxes. If not provided, recomputed as necessary. |
def habitat.
Attempt to project an object in the gravity direction onto the surface below it.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| obj | The RigidObject instance. |
| support_obj_ids | A list of object ids designated as valid support surfaces for object placement. Contact with other objects is a criteria for placement rejection. If none provided, default support surface is the stage/ground mesh (0). |
| dbv | Optionally provide a DebugVisualizer (dbv) to render debug images of each object’s computed snap position before collision culling. |
| max_collision_depth | The maximum contact penetration depth between the object and the support surface. Higher values are easier to sample, but result in less dynamically stabile states. |
Reject invalid placements by checking for penetration with other existing objects. If placement is successful, the object state is updated to the snapped location. If placement is rejected, object position is not modified and False is returned.
To use this utility, generate an initial placement for any object above any of the designated support surfaces and call this function to attempt to snap it onto the nearest surface in the gravity direction.
def habitat.
Get a list of all objects that a particular object_a is ‘within’. Concretely, ‘within’ is defined as: a threshold number of opposing keypoint raycasts hit the same object. This function computes raycasts along all global axes from all keypoints and checks opposing rays for collision with the same object.
| Parameters | |
|---|---|
| sim | The Simulator instance. |
| object_a | The ManagedRigidObject for which to query the ‘within’ set. |
| max_distance | The maximum ray distance to check in each opposing direction (this is half the “wingspan” of the check). Makes the raycast more efficienct and realistically containing objects will have a limited size. |
| keypoint_vote_threshold | The minimum number of keypoints which must indicate containment to qualify object_a as “within” another object. |
| center_ensures_containment | If True, positive test of object_a’s center keypoint alone qualifies object_a as “within” another object. |