Predicate System Refactor #1855
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* add draft of prepositional logic query utilities and viewer demo * add util to get contact pairs from contact points * add functions: get_obj_from_id, get_obj_from_handle and modifies get_obj_contact_pairs * dbv peek_scene default should be topdown * add "below" preposition util * refactor some prep functions. Add ontop() opterator * refactor viewer to test ontop * refactor objectA typing * regularized_distance, nearby L2 and geodesic drafts, refactors to utils * fix AO sampling and add floor check prototype * minor changes * clean-up on_floor query and add viewer demo * include navmesh cell_height in the error threshold for on_floor * refactor to support region queries * Refactor PDDL predicates * Allow for flexible pddl set and satisfy states * Cleaned up * Merged * More docs * Added another test * Addressed PR comments * Fixed test * Fixed multi-agent test --------- Co-authored-by: aclegg3 <alexanderwclegg@gmail.com>
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* add draft of prepositional logic query utilities and viewer demo * add util to get contact pairs from contact points * add functions: get_obj_from_id, get_obj_from_handle and modifies get_obj_contact_pairs * dbv peek_scene default should be topdown * add "below" preposition util * refactor some prep functions. Add ontop() opterator * refactor viewer to test ontop * refactor objectA typing * regularized_distance, nearby L2 and geodesic drafts, refactors to utils * fix AO sampling and add floor check prototype * minor changes * clean-up on_floor query and add viewer demo * include navmesh cell_height in the error threshold for on_floor * refactor to support region queries * Refactor PDDL predicates * Allow for flexible pddl set and satisfy states * Cleaned up * Merged * More docs * Added another test * Addressed PR comments * Fixed test * Fixed multi-agent test --------- Co-authored-by: aclegg3 <alexanderwclegg@gmail.com>
dannymcy
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Jul 8, 2024
* add draft of prepositional logic query utilities and viewer demo * add util to get contact pairs from contact points * add functions: get_obj_from_id, get_obj_from_handle and modifies get_obj_contact_pairs * dbv peek_scene default should be topdown * add "below" preposition util * refactor some prep functions. Add ontop() opterator * refactor viewer to test ontop * refactor objectA typing * regularized_distance, nearby L2 and geodesic drafts, refactors to utils * fix AO sampling and add floor check prototype * minor changes * clean-up on_floor query and add viewer demo * include navmesh cell_height in the error threshold for on_floor * refactor to support region queries * Refactor PDDL predicates * Allow for flexible pddl set and satisfy states * Cleaned up * Merged * More docs * Added another test * Addressed PR comments * Fixed test * Fixed multi-agent test --------- Co-authored-by: aclegg3 <alexanderwclegg@gmail.com>
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Motivation and Context
Refactored predicate system to allow extending and modifying predicates in downstream projects. Also simplifies how predicates are defined. This adds no new functionality. Hopefully this makes it so we don't need to change the PDDL system anymore since new predicates can be added in downstream projects rather than directly in Habitat-Lab.
How Has This Been Tested
While no new functionality was added, I added new tests for PDDL.
Types of changes