ManagedObject to Receptacle matching #2074
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…ered by triangle mesh to point distance util
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aclegg3
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Sep 6, 2024
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| # TODO: This hack is the solution to the Bullet physics raycast margin bug. It should be migrated into every raycast from habitat-sim and then removed here. | ||
| y_buffer = 0.08 | ||
| raycast_results = sim.cast_ray( | ||
| habitat_sim.geo.Ray( | ||
| center + mn.Vector3(0, y_buffer, 0), grav_vector | ||
| ) | ||
| ) | ||
| if raycast_results.has_hits(): | ||
| for hit in raycast_results.hits: | ||
| if hit.object_id != obj.object_id: | ||
| support_surface_id = hit.object_id | ||
| # print(f"first_hit true dist = {hit.ray_distance - y_buffer}") | ||
| if hit.ray_distance >= y_buffer: | ||
| break |
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FYI, this is the fix/hack which impacts the "above" check. Not integrated there yet, but be on the lookout for a habitat-sim PR.
@jacobkrantz @akshararai
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0mdc
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Sep 9, 2024
0mdc
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Sep 9, 2024
|
This one is ready, thanks for the suggestions. |
done |
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Motivation and Context
This PR adds a set of utils targeting the application of matching an object or candidate object placement location to nearby Receptacles.
The util involves a few primary components:
point_to_tri_dist- a vectorized 3D point to triangle mesh distance computation utildist_to_rec- a function for Receptacles (only implemented forTriangleMeshReceptaclecurrently) to get distance to the receptacle from a pointget_obj_receptacle_and_confidence- a utility function for matching objects to receptacles. Includes logic for "floor" receptacles and region matching. Returns matches, a distance based confidence score, and a info_text string with a message explaining failure if applicable.The util is then integrated with HitL ui to constraint object placements to active Receptacles for better alignment with oracle skills.
How Has This Been Tested
Initially tested in HitL app.
This version tested in episode validation work.
TODO: no unit tests for this functionality yet.
Types of changes
Checklist