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--[DO NOT MERGE] : HSSD SIRo AO Scene Work scripts #2338

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--[DO NOT MERGE] : HSSD SIRo AO Scene Work scripts #2338

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Motivation and Context

How Has This Been Tested

Types of changes

  • Docs change / refactoring / dependency upgrade
  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to change)

Checklist

  • My code follows the code style of this project.
  • My change requires a change to the documentation.
  • I have updated the documentation accordingly.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes.
  • All new and existing tests passed.

@jturner65 jturner65 requested a review from aclegg3 March 14, 2024 18:40
@facebook-github-bot facebook-github-bot added the CLA Signed Do not delete this pull request or issue due to inactivity. label Mar 14, 2024
@jturner65 jturner65 force-pushed the hssd_ao_utilities branch 4 times, most recently from d92c406 to 066713a Compare March 19, 2024 14:44
@aclegg3 @jturner65
first draft of collision_shape_automation.py
1e77874
@aclegg3 @jturner65
profiling, refactors, efficiency improvements, stats
32fc619
@aclegg3 @jturner65
add jittered sampling
1b62fa5
@aclegg3 @jturner65
Implement stateful API class for easier iteration and export of batch…
820072e 
… results
@aclegg3 @jturner65
add check and solution for invalid raycasts (hits outside bounding sh…
2e62aa6 
…ape) and some QoL features for viewer
@aclegg3 @jturner65
don't use navmesh in object viewer
93ef8e2
@aclegg3 @jturner65
only evaluate objects with receptacles defined
8a59dfa
@aclegg3 @jturner65
add debug peek images for ground truth and proxy shapes. Add specifie…
df61c68 
…d output directory. Import Habitat-lab features.
@aclegg3 @jturner65
refactor to better modularize debug image capture suring proxy phase.…
e1b0be2 
… Validate proxy bounding box is similar to ground truth. Prepare for Recetpacle sampling TODO.
@aclegg3 @jturner65
receptacle sampling and caching
2fbcb93
@aclegg3 @jturner65
magenta/alpha clear color for better object contrast. Add Receptacle …
ea4e165 
…debug image draw.
@aclegg3 @jturner65
Added: receptacle access metrics v1, receptacle density sampling, hem…
2a82a24 
…isphere raycasting, debug draw improvements.
@aclegg3 @jturner65
debug visualization of receptacle access metrics and receptacle verti…
1c25396 
…cal offset option
@aclegg3 @jturner65
implement saving receptacle access metrics to CSV
f1e009f
@aclegg3 @jturner65
prototype VHACD optimization loop. Minor bugfixes.
1fb3cbe
@aclegg3 @jturner65
bugfix shape id tracking. VHACD collision shape optimization for sele…
5dabf57 
…ct subset of objects
@aclegg3 @jturner65
receptacle stability analysis
c456710
@aclegg3 @jturner65
initial physics metric tests
c4ae110
@aclegg3 @jturner65
add receptacle debug_draw in viewer. Limit processed objects to those…
585269a 
… found in a single scene. Re-organize receptacle metrics caching.
@aclegg3 @jturner65
refactor to align data cache protocal with design
d86da23
@aclegg3 @jturner65
minor settle test fix
1ab696a
@aclegg3 @jturner65
add viewer snapping util for receptacle debugging
18d0750
@aclegg3 @jturner65
simpler constructed cylinder and receptacle stability test improvements
899b2bc
@aclegg3 @jturner65
multi-colored render for different receptacles
77dd58b
aclegg3 and others added 30 commits March 22, 2024 15:13
@aclegg3
recompute navmesh after joint reset
3b5148c
@jturner65
--expand edit capabilities to provide 3 axis rotation
a7152f6 
--Toggle edit mode (displayed in viewer) using G : [move, rotate]
--Cycle through edit amount (displayed in viewer) using B :
        translation : [0.01, 0.02, 0.05, 0.1, 0.5] m
        rotation : [1.0, 15.0, 45.0, 60.0, 90.0] degrees
-- still use arrow keys (+alt) to edit selected object, but they have slightly different effects (listed in help)
@jturner65
--allow for different spot locations; cleanup
559aac7
@jturner65
--enable very small movement amount
f8cd0bf
@jturner65
--clear joint vels along with joint pos
068982b
@aclegg3
add material correction to Blender conversion scripts for Vlad
678a932
@aclegg3
add --no-replace option to batched converter to skip already converte…
f5cee01 
…d assets
@aclegg3
update no-replace to check for expected contents instead of only a di…
d6bb457 
…rectory
@aclegg3
add ao smoke test and correct receptacle check for ao converter valid…
86274ad 
…ation script
@aclegg3
update URDF migration script to be more configurable from CLI
d24fa0d
@jturner65
--increase radius of receptacle view
aeaf155
@jturner65
--temp mechanism to save scene instance and exit.
b9c0504 
just uncomment
@aclegg3
add option to restrict batch processing to one or a set of assets wit…
0bce732 
…h CLI
@aclegg3
make output json human readable
96fe216
@jturner65
--add undo function : Return current selected obj to orig state
e48ec67 
From when first selected
@aclegg3
add AO import to spot_viewer with 'v'. Add ao category sorting and vi…
583b14d 
…sualization to check_siro_aos.py
@aclegg3
cleanup ao script and add joint opener to spot_viewer
2df7771
@aclegg3
minor change to naming of region files
b5f26d6
@aclegg3
add region count to siro scene check script
c858875
@jturner65
Merge branch 'main' into hssd_ao_utilities
b2113f1
@aclegg3
default link logic, receptacle filtering, refactor
2ac033d
@jturner65
Merge branch 'main' into hssd_ao_utilities
75e9470
@aclegg3
Merge remote-tracking branch 'origin/main' into hssd_ao_utilities
8107ac5
@aclegg3
Merge remote-tracking branch 'origin/main' into hssd_ao_utilities
a433158
@aclegg3
add utility for "within_set" computation to the siro scene checker
d56c374
@aclegg3
Merge remote-tracking branch 'origin/main' into hssd_ao_utilities
8d9d54e
@aclegg3
refactor to allow non TriangleMesh receptacles and AnyObjectReceptacles
33e3302
@aclegg3
Merge remote-tracking branch 'origin/main' into hssd_ao_utilities
35fdae4
@aclegg3
refactor check_siro_scenes.py
e795404
@aclegg3
add faucet point visualizer to the check set
799a61a
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