Better stable rearrange sampling #1301
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…ort for filter files configured in scene instance config user_defined fields.
…nsistency of support surface from bb corners projected in gravity direction
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habitat-lab/habitat/datasets/rearrange/run_episode_generator.py
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Co-authored-by: Aaron Gokaslan <[email protected]>
…esearch/habitat-lab into better-stable-sampling
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| @@ -39,6 +39,7 @@ def __init__( | |||
| sample_region_ratio: Optional[Dict[str, float]] = None, | |||
| nav_to_min_distance: float = -1.0, | |||
| recep_set_sample_probs: Optional[Dict[str, float]] = None, | |||
| translation_up_offset=0.08, | |||
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| translation_up_offset=0.08, | |
| translation_up_offset : float =0.08, |
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* refactor snapping functionality to improve stability by buffering vertical COM placement height * fix margin issues --------- Co-authored-by: Aaron Gokaslan <[email protected]>
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* refactor snapping functionality to improve stability by buffering vertical COM placement height * fix margin issues --------- Co-authored-by: Aaron Gokaslan <[email protected]>
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Motivation and Context
This PR adjusts some generator parameters for object placement sampling to enable more robust performance and faster generation times on HSSD.
Primarily this: 1. samples object COM placements about the Receptacle such that raycasts don't begin inside of convex shapes and miss surfaces. 2. better accounts for object margins causing similar issues.
How Has This Been Tested
Tested with rearrange generator on HSSD scenes. MUCH better performance that
main. Episodes generated in 1-2 attempts instead of 10-20 attempts.Locally with habitat-sim 2078.
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