[WIP][HitL] - add query for mapping between object placement point and Receptacle. #2051
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…Integrated with hitl UI to prevent invalid placements
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…ements and add info_text return for use in UI tooltips
| print( | ||
| f"Placed object on Receptacle '{_placement_receptacle}', confidence[0,1]={_confidence}. Info text: {_info_text}" | ||
| ) |
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Replace this with necessary event logic to cache the new object->Receptacle parenting
| point, receptacle_object_id | ||
| ) | ||
| if recepacle_name is None: | ||
| # TODO: display the _info_text with failure message |
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TODO: UI hook needed here to tell the user why thir placement point isn't valid
| @@ -720,6 +721,7 @@ def _create_recep_info( | |||
| self, scene_id: str, ignore_handles: List[str] | |||
| ) -> Dict[str, Receptacle]: | |||
| if scene_id not in self._receptacles_cache: | |||
| # TODO: consume the filter file to limit loaded receptacle to the "active" set? | |||
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Doing this in a separate PR in case it breaks other parts of the codebase. Will link here when ready.
| def get_place_obj_receptacle_and_confidence( | ||
| self, | ||
| bottom_point: np.ndarray, | ||
| support_surface_id: int, | ||
| max_dist_to_rec: float = 0.25, | ||
| ) -> Tuple[Optional[str], float, str]: |
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This utility should probably be moved somewhere like sim_utilities,py so it can be consumed elsewhere in the stack.
| def point_to_tri_dist( | ||
| self, point: np.ndarray, triangles: np.ndarray | ||
| ) -> Tuple[float, np.ndarray]: |
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This utility probably belongs in habitat-sim geometry utils.
| local_point = t_form.inverted().transform_point(point) | ||
| # iterate over the triangles, getting point to edge distances | ||
| # NOTE: list of lists, each with 3 numpy arrays, one for each vertex | ||
| # TODO: these could be cached since it doesn't require local->global transform |
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This could be done in receptacle.py
| raise NotImplementedError( | ||
| "TODO: add handling for other Receptacle types." | ||
| ) |
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Note the limitation. This will only be a problem for use with ReplicaCAD and other older AABBReceptacle types.
|
Looks good so far. Let me know when you're ready for another review pass. |
Motivation and Context
Also integrated with hitl UI to prevent invalid placements.
TODO: more details and some refactoring
How Has This Been Tested
locally in HitL deployment
Types of changes
Checklist