habitat_sim.attributes.ObjectAttributes class

A metadata template for rigid objects pre-instantiation. Defines asset paths, physical properties, scale, semantic ids, shader type overrides, and user defined metadata. ManagedRigidObjects are instantiated from these blueprints. Can be imported from .object_config.json files.

Methods

def find_value_location(self, key: str) -> typing.List[str]: Returns a list of keys, in order, for the traversal of the nested subconfigurations in this Configuration to get the requested key’s value or subconfig. Key is not found if list is empty.
def get(self, arg0: str, /) -> object: Retrieve the requested value referenced by key argument, if it exists
def get_as_string(self, arg0: str, /) -> str: Retrieves a string representation of the value referred to by the passed key.
def get_keys_and_types(self, /) -> typing.Dict[str, habitat_sim._ext.habitat_sim_bindings.ConfigStoredType]: Returns a dictionary where the keys are the names of the values this configuration holds and the values are the types of these values.
def get_keys_by_type(self, value_type: habitat_sim._ext.habitat_sim_bindings.ConfigStoredType) -> typing.List[str]: Retrieves a list of all the keys of values of the specified types. Takes ConfigStoredType enum value as argument.
def get_subconfig(self, name: str) -> habitat_sim._ext.habitat_sim_bindings.Configuration: Get the subconfiguration with the given name.
def get_subconfig_copy(self, name: str) -> habitat_sim._ext.habitat_sim_bindings.Configuration: Get a copy of the subconfiguration with the given name.
def get_subconfig_keys(self, /) -> typing.List[str]: Retrieves a list of the keys of this configuration’s subconfigurations
def get_type(self, arg0: str, /) -> habitat_sim._ext.habitat_sim_bindings.ConfigStoredType: Retrieves the ConfigStoredType of the value referred to by the passed key.
def get_user_config(self, /) -> habitat_sim._ext.habitat_sim_bindings.Configuration: Returns a reference to the User Config object for this attributes, so that it can be viewed or modified. Any changes to the user_config will require the owning attributes to be re-registered.
def has_key_to_type(self, key: str, value_type: habitat_sim._ext.habitat_sim_bindings.ConfigStoredType) -> bool: Returns whether passed key points to a value of specified ConfigStoredType
def has_subconfig(self, arg0: str, /) -> bool: Returns true if specified key references an existing subconfiguration within this configuration.
def has_value(self, key: str) -> bool: Returns whether or not this Configuration has the passed key. Does not check subconfigurations.
def remove(self, arg0: str, /) -> object: Retrieve and remove the requested value, if it exists
def remove_subconfig(self, arg0: str, /) -> habitat_sim._ext.habitat_sim_bindings.Configuration: Removes and returns subconfiguration corresponding to passed key, if found. Gives warning otherwise.
def save_subconfig(self, name: str, subconfig: habitat_sim._ext.habitat_sim_bindings.Configuration) -> None: Save a subconfiguration with the given name.
def set(self, key: str, value: str) -> None: This method is inherited from Configuration, but should not be used with Attributes due to the possibility of changing the type of a required variable. Use the provided Attributes instead, to change values for this object.
def set(self, key: str, value: str) -> None: This method is inherited from Configuration, but should not be used with Attributes due to the possibility of changing the type of a required variable. Use the provided Attributes instead, to change values for this object.
def set(self, key: str, value: int) -> None: This method is inherited from Configuration, but should not be used with Attributes due to the possibility of changing the type of a required variable. Use the provided Attributes instead, to change values for this object.
def set(self, key: str, value: float) -> None: This method is inherited from Configuration, but should not be used with Attributes due to the possibility of changing the type of a required variable. Use the provided Attributes instead, to change values for this object.
def set(self, key: str, value: bool) -> None: This method is inherited from Configuration, but should not be used with Attributes due to the possibility of changing the type of a required variable. Use the provided Attributes instead, to change values for this object.
def set(self, key: str, value: magnum.Quaternion) -> None: This method is inherited from Configuration, but should not be used with Attributes due to the possibility of changing the type of a required variable. Use the provided Attributes instead, to change values for this object.
def set(self, key: str, value: magnum.Vector3) -> None: This method is inherited from Configuration, but should not be used with Attributes due to the possibility of changing the type of a required variable. Use the provided Attributes instead, to change values for this object.

Special methods

def __init__(self, /) -> None
def __init__(self, arg0: str, /) -> None

Properties

angular_damping: float get set: The damping of angular velocity for objects constructed from this template.
bounding_box_collisions: bool get set: Whether objects constructed from this template should use bounding box for collisions or designated mesh.
collision_asset_handle: str get set: Handle of the asset used to calculate collsions for constructions built from this template.
collision_asset_is_primitive: bool get: Whether collisions involving constructions built from this template should be solved using an internally sourced primitive.
collision_asset_size: magnum.Vector3 get set: Size of collsion assets for constructions built from this template in x,y,z. Default is [1.0,1.0,1.0]. This is used to resize a collision asset to match a render asset if necessary, such as when using a primitive.
collision_asset_type: int get set: Type of the mesh asset used for collision calculations for constructions built from this template.
com: magnum.Vector3 get set: The Center of Mass for objects built from this template.
compute_COM_from_shape: bool get set: Whether the COM should be calculated when an object is created based on its bounding box
csv_info: str get: Comma-separated informational string describing this Attributes template
file_directory: str get: Directory where file-based templates were loaded from.
force_flat_shading: bool get set: If true, this object will be rendered flat, ignoring shader type settings.
friction_coefficient: float get set: Friction coefficient for constructions built from this template.
handle: str get set: Name of attributes template.
inertia: magnum.Vector3 get set: The diagonal of the Intertia matrix for objects constructed from this template.
is_collidable: bool get set: Whether constructions built from this template are collidable upon initialization.
is_dirty: bool get: Whether values in this attributes have been changed requiring re-registration before they can be used an object can be created.
is_visibile: bool get set: Whether objects constructed from this template are visible.
join_collision_meshes: bool get set: Whether collision meshes for objects constructed from this template should be joined into a convex hull or kept separate.
linear_damping: float get set: The damping of the linear velocity for objects constructed from this template.
margin: float get set: Collision margin for constructions built from this template.
mass: float get set: The mass of objects constructed from this template.
num_user_configs: int get: The number of currently specified user-defined configuration values.
orient_front: magnum.Vector3 get set: Forward direction for constructions built from this template.
orient_up: magnum.Vector3 get set: Up direction for constructions built from this template.
render_asset_handle: str get set: Handle of the asset used to render constructions built from this template.
render_asset_is_primitive: bool get: Whether constructions built from this template should be rendered using an internally sourced primitive.
render_asset_type: int get set: Type of the mesh asset used to render constructions built from this template.
restitution_coefficient: float get set: Coefficient of restitution for constructions built from this template.
rolling_friction_coefficient: float get set: Rolling friction coefficient for constructions built from this template. Damps angular velocity about axis orthogonal to the contact normal to prevent rounded shapes from rolling forever.
scale: magnum.Vector3 get set: Scale multiplier for constructions built from this template in x,y,z
semantic_id: int get set: The semantic ID for objects constructed from this template.
shader_type get set: The shader type [0=material, 1=flat, 2=phong, 3=pbr] to use for this construction
spinning_friction_coefficient: float get set: Spinning friction coefficient for constructions built from this template. Damps angular velocity about the contact normal.
template_class: str get: Class name of Attributes template.
template_id: int get: System-generated ID for template. Will be unique among templates of same type.
units_to_meters: float get set: Conversion ratio for given units to meters.
use_mesh_for_collision: bool get: Whether collisions involving constructions built from this template should be solved using the collision mesh or a primitive.