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

Draft

jturner65 wants to merge 159 commits intomainfrom hssd_ao_utilities

+9,720-193

Commits on Mar 20, 2024

first draft of collision_shape_automation.py

aclegg3
authored and
jturner65
committed
profiling, refactors, efficiency improvements, stats

aclegg3
authored and
jturner65
committed
add jittered sampling

aclegg3
authored and
jturner65
committed
Implement stateful API class for easier iteration and export of batch results

aclegg3
authored and
jturner65
committed
add check and solution for invalid raycasts (hits outside bounding shape) and some QoL features for viewer

aclegg3
authored and
jturner65
committed
don't use navmesh in object viewer

aclegg3
authored and
jturner65
committed
only evaluate objects with receptacles defined

aclegg3
authored and
jturner65
committed
add debug peek images for ground truth and proxy shapes. Add specified output directory. Import Habitat-lab features.

aclegg3
authored and
jturner65
committed
refactor to better modularize debug image capture suring proxy phase. Validate proxy bounding box is similar to ground truth. Prepare for Recetpacle sampling TODO.

aclegg3
authored and
jturner65
committed
receptacle sampling and caching

aclegg3
authored and
jturner65
committed
magenta/alpha clear color for better object contrast. Add Receptacle debug image draw.

aclegg3
authored and
jturner65
committed
Added: receptacle access metrics v1, receptacle density sampling, hemisphere raycasting, debug draw improvements.

aclegg3
authored and
jturner65
committed
debug visualization of receptacle access metrics and receptacle vertical offset option

aclegg3
authored and
jturner65
committed
implement saving receptacle access metrics to CSV

aclegg3
authored and
jturner65
committed
prototype VHACD optimization loop. Minor bugfixes.

aclegg3
authored and
jturner65
committed
bugfix shape id tracking. VHACD collision shape optimization for select subset of objects

aclegg3
authored and
jturner65
committed
receptacle stability analysis

aclegg3
authored and
jturner65
committed
initial physics metric tests

aclegg3
authored and
jturner65
committed
add receptacle debug_draw in viewer. Limit processed objects to those found in a single scene. Re-organize receptacle metrics caching.

aclegg3
authored and
jturner65
committed
refactor to align data cache protocal with design

aclegg3
authored and
jturner65
committed
minor settle test fix

aclegg3
authored and
jturner65
committed
add viewer snapping util for receptacle debugging

aclegg3
authored and
jturner65
committed
simpler constructed cylinder and receptacle stability test improvements

aclegg3
authored and
jturner65
committed
multi-colored render for different receptacles

aclegg3
authored and
jturner65
committed
re-align API with habitat-lab mesh_data changes. Add object re-orientation feature (note: does not correctly re-orient receptacles yet)

aclegg3
authored and
jturner65
committed
enable running per-scene evaluations

aclegg3
authored and
jturner65
committed
use CollisionProxyOptimizer in viewer tool and remove outdated evaluate_collision_shape func. output_dir is now optional

aclegg3
authored and
jturner65
committed
separate obj_viewer and (scene)viewer. Add scene viewer features to visualize receptacles and collision objects.

aclegg3
authored and
jturner65
committed
add mouse object info in right click for scene viewer

aclegg3
authored and
jturner65
committed
add CPO use in viewer to discplay rec metrics and filter. Add terminal attr setting.

aclegg3
authored and
jturner65
committed
add caching and disply of per-point access and stability metrics

aclegg3
authored and
jturner65
committed
minor fixes and cleanup for obj_viewer

aclegg3
authored and
jturner65
committed
changes supporting collision shape optimization at scene level

aclegg3
authored and
jturner65
committed
viewer.py changes supporting receptacle filtering and loading/saving filter metadata json.

aclegg3
authored and
jturner65
committed
COACD optimization, shape score improvement, viewer documentation.

aclegg3
authored and
jturner65
committed
polish UI and add CLI

aclegg3
authored and
jturner65
committed
save coacd output for each shape_id for later copy instead of additional recomputation

aclegg3
authored and
jturner65
committed
fix coverge of debug image flag

aclegg3
authored and
jturner65
committed
exclude objects with CLI

aclegg3
authored and
jturner65
committed
add ModelCategorizer workflow compatibility

aclegg3
authored and
jturner65
committed
option to override the coacd threshold values from CLI

aclegg3
authored and
jturner65
committed
add a file annotating object ids which cause caocd trouble to use as a general exclusion set

aclegg3
authored and
jturner65
committed
add the option to optimize all objects with receptacles defined in the dataset

aclegg3
authored and
jturner65
committed
start and end index CLI + exception handling and failure tracking output

aclegg3
authored and
jturner65
committed
load rec data when cpo is not initialized

aclegg3
authored and
jturner65
committed
add object sampling logic to the viewer app for scene investigation

aclegg3
authored and
jturner65
committed
minor change to documentation and console output

aclegg3
authored and
jturner65
committed
add CLI additional CLI options for part only and file defined objects

aclegg3
authored and
jturner65
committed
refactor viewer for faster rec drawing and collision optimization for optional coacd import

aclegg3
authored and
jturner65
committed
remove VHACD integration

aclegg3
authored and
jturner65
committed
refactor improve interactive object sampling

aclegg3
authored and
jturner65
committed
Improve clutter generation utility in viewer

aclegg3
authored and
jturner65
committed
add spot_viewer application for evaluating navigability

aclegg3
authored and
jturner65
committed
minor useability fixes for spot_viewer

aclegg3
authored and
jturner65
committed
spot_viewer: move robot strafe to 'qe' keys. Add mouse raycast object select.

aclegg3
authored and
jturner65
committed
spot_viewer: Add object modification interface features.

aclegg3
authored and
jturner65
committed
add clutter removal with 'c' + tracking in removed_clutter.txt

aclegg3
authored and
jturner65
committed
obj_viewer compares can with cylinder

aclegg3
authored and
jturner65
committed
UI improvements for viewer app

aclegg3
authored and
jturner65
committed
useability improvements for spot_viewer.py

aclegg3
authored and
jturner65
committed
add ssd removal script for post-processing scene_instance.json files after exporting them from spot_viewer

aclegg3
authored and
jturner65
committed
protect from crash when raycast hits nothing

aclegg3
authored and
jturner65
committed
viewer.py receptacle filter view no longer requires cpo

aclegg3
authored and
jturner65
committed
additional changes to support navmesh refactor

aclegg3
authored and
jturner65
committed
remove navmesh recompute from cpo settings in viewer.py

aclegg3
authored and
jturner65
committed
minor utility updates for GUI

aclegg3
authored and
jturner65
committed
add slick hit visualization to easier identify roof hits

aclegg3
authored and
jturner65
committed
update message

aclegg3
authored and
jturner65
committed
refactor to support new requirement in robot API init

aclegg3
authored and
jturner65
committed
add automated outdoor object removal

aclegg3
authored and
jturner65
committed
minor updates

aclegg3
authored and
jturner65
committed
add automated filter file loading to viewer tool

aclegg3
authored and
jturner65
committed
snap to largest island in viewer app

aclegg3
authored and
jturner65
committed
largest navmesh snapping and magnum API update

aclegg3
authored and
jturner65
committed
object getter util

aclegg3
authored and
jturner65
committed
fixes for aos

aclegg3
authored and
jturner65
committed
enable AO receptacle selection

aclegg3
authored and
jturner65
committed
update to support selecting and transforming ArticulatedObjects

aclegg3
authored and
jturner65
committed
rebase apps on habitat-lab main

aclegg3
authored and
jturner65
committed
missed in merge

aclegg3
authored and
jturner65
committed
--missed stuff in rebase
jturner65
committed
--rebase issue
jturner65
committed
--minor cleanup; add scene ID to screen text
jturner65
committed
--fix for embedded paths
jturner65
committed
--add command line to not build navmesh
jturner65
committed
add blender armature to urdf converter tool

aclegg3
authored and
jturner65
committed
turn off debug vis flags

aclegg3
authored and
jturner65
committed
fix bugs introduced by flaker :(

aclegg3
authored and
jturner65
committed
refactor to correct for rest pose and corrdinate change in prismatic joint axis also

aclegg3
authored and
jturner65
committed
export urdf with armature name

aclegg3
authored and
jturner65
committed
add commandline arguements and instructions for the script

aclegg3
authored and
jturner65
committed
add receptacle classification for meshes

aclegg3
authored and
jturner65
committed
exporting receptacle meshes

aclegg3
authored and
jturner65
committed
add batched converter script

aclegg3
authored and
jturner65
committed
use epsilon error instead of equality comparison for scale floats

aclegg3
authored and
jturner65
committed
add support for collision spheres

aclegg3
authored and
jturner65
committed
add ao_config export and scne limited batching

aclegg3
authored and
jturner65
committed
export full receptacle information with config

aclegg3
authored and
jturner65
committed
first draft of scene-level script to replace rigid objects with articulated objects

aclegg3
authored and
jturner65
committed
add root rotation correction to converter

aclegg3
authored and
jturner65
committed
expose ArticulatedObject creation_attributes

aclegg3
authored and
jturner65
committed
bugfixes

aclegg3
authored and
jturner65
committed
bugfix

aclegg3
authored and
jturner65
committed
adds a report generator for checking the output of a converted batch of files

aclegg3
authored and
jturner65
committed
force OBJECT context to avoid context errors with API

aclegg3
authored and
jturner65
committed
add option to export receptacles meshes as visual shapes in URDF

aclegg3
authored and
jturner65
committed
add option to round collision scales to 4 decimal places

aclegg3
authored and
jturner65
committed
add option to flip negative scales for collision shapes

aclegg3
authored and
jturner65
committed
minor update to output and valid urdf migration

aclegg3
authored and
jturner65
committed
better error message

aclegg3
authored and
jturner65
committed
try z up

aclegg3
authored and
jturner65
committed
support export of multi-mesh receptacles

aclegg3
authored and
jturner65
committed
--remove erroneous ArticulatedObject's local initializationAttributes_
jturner65
committed
--remove early exit; conditionally build urdf; fix ao config json save.
jturner65
committed
--add ability to just see kitchen regions
jturner65
committed
--reorganize ctor code to collect per-scene init code
jturner65
committed
clear joint states on spot_viewer save with 'i'
aclegg3
committed
add a keybind 'j' for clearing joint states manually
aclegg3
committed
include AOs on the navmesh for spot_viewer
aclegg3
committed
add script to automatically check siro scenes with initial joint popping check
aclegg3
committed

Commits on Mar 22, 2024

Commits on Mar 24, 2024

--expand edit capabilities to provide 3 axis rotation
jturner65
committed

Commits on Mar 26, 2024

Commits on Mar 27, 2024

Commits on Mar 28, 2024

Commits on Mar 29, 2024

Commits on Apr 1, 2024

Commits

Commits on Mar 20, 2024

Commits on Mar 21, 2024

Commits on Mar 22, 2024

Commits on Mar 24, 2024

Commits on Mar 25, 2024

Commits on Mar 26, 2024