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--use appropriate object duplication process
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@jturner65
jturner65 committed Jul 1, 2024
1 parent 8c670e4 commit 73870bd
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Showing 2 changed files with 42 additions and 56 deletions.
9 changes: 5 additions & 4 deletions examples/spot_viewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -700,19 +700,20 @@ def key_press_event(self, event: Application.KeyEvent) -> None:
self.obj_editor.undo_sel_edits()

elif key == pressed.V:
# inject a new object by handle substring in front of the agent
# or else using the currently selected object
# Duplicate all the selected objects and place them in the scene
# or inject a new object by queried handle substring in front of
# the agent if no objects selected

# press shift if we want to load if no object selected
new_obj_list, self.navmesh_dirty = self.obj_editor.build_objects(
self.navmesh_dirty,
load_by_name=shift_pressed,
build_loc=self.spot_agent.get_point_in_front(
disp_in_front=[1.5, 0.0, 0.0]
),
)
if len(new_obj_list) == 0:
print("Failed to add any new objects.")
else:
print(f"Finished adding {len(new_obj_list)} object(s).")

# update map of moving/looking keys which are currently pressed
if key in self.pressed:
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89 changes: 37 additions & 52 deletions src_python/habitat_sim/utils/sim_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1200,36 +1200,7 @@ def recompute_ao_bbs(self, ao: HSim_Phys.ManagedArticulatedObject) -> None:
link_node = ao.get_link_scene_node(link_ix)
link_node.compute_cumulative_bb()

def _build_object_from_handle(
self, obj_temp_handle: str, build_ao: bool, attr_mgr, obj_mgr
):
"""
Given a specific handle and location, build a new rigid or articulated object
"""
# Build an object using obj_temp_handle, getting template from attr_mgr and object manager obj_mgr
temp = attr_mgr.get_template_by_handle(obj_temp_handle)

if build_ao:
obj_type = "Articulated"
temp.base_type = "FIXED"
attr_mgr.register_template(temp)
new_obj = obj_mgr.add_articulated_object_by_template_handle(obj_temp_handle)
if new_obj is not None:
self.recompute_ao_bbs(new_obj)
else:
# If any changes to template, put them here and re-register template
# attr_mgr.register_template(temp)
obj_type = "Rigid"
new_obj = obj_mgr.add_object_by_template_handle(obj_temp_handle)
if new_obj is None:
print(
f"Failed to load/create {obj_type} Object from template named {obj_temp_handle}."
)
return new_obj

def build_objects(
self, navmesh_dirty: bool, load_by_name: bool, build_loc: mn.Vector3
):
def build_objects(self, navmesh_dirty: bool, build_loc: mn.Vector3):
"""
Make a copy of the selected object(s), or load a named item at some distance away
"""
Expand All @@ -1239,19 +1210,18 @@ def build_objects(
# Copy all selected objects
res_objs = []
for obj in self.sel_objs.values():
# if selected, build object at location of new
obj_temp_handle = obj.creation_attributes.handle
# Duplicate object via object ID
if obj.is_articulated:
# build an ao via template
attr_mgr = mm.ao_template_manager
obj_mgr = sim.get_articulated_object_manager()
# duplicate articulated object
new_obj = sim.get_articulated_object_manager().duplicate_articulated_object_by_id(
obj.object_id
)
else:
# build a rigid via template
attr_mgr = mm.object_template_manager
obj_mgr = sim.get_rigid_object_manager()
new_obj = self._build_object_from_handle(
obj_temp_handle, obj.is_articulated, attr_mgr, obj_mgr
)
# duplicate rigid object
new_obj = sim.get_rigid_object_manager().duplicate_object_by_id(
obj.object_id
)

if new_obj is not None:
# set new object location to be above location of selected object
new_obj_translation = obj.translation + mn.Vector3(0.0, 1.0, 0.0)
Expand All @@ -1271,8 +1241,8 @@ def build_objects(
self.modify_sel_objs(new_obj)
return res_objs, navmesh_dirty

elif load_by_name:
# get user input to load a single object
else:
# No objects selected, get user input to load a single object
obj_substring = input(
"Load Object or AO. Enter a Rigid Object or AO handle substring, first match will be added:"
).strip()
Expand All @@ -1283,10 +1253,12 @@ def build_objects(

template_mgr = mm.ao_template_manager
template_handles = template_mgr.get_template_handles(obj_substring)
build_ao = False
if len(template_handles) == 1:
# Specific AO template found
obj_mgr = sim.get_articulated_object_manager()
base_motion_type = HSim_MT.DYNAMIC
build_ao = True
else:
template_mgr = mm.object_template_manager
template_handles = template_mgr.get_template_handles(obj_substring)
Expand All @@ -1299,9 +1271,25 @@ def build_objects(
obj_mgr = sim.get_rigid_object_manager()
base_motion_type = HSim_MT.STATIC

new_obj = self._build_object_from_handle(
template_handles[0], False, template_mgr, obj_mgr
)
obj_temp_handle = template_handles[0]
# Build an object using obj_temp_handle, getting template from attr_mgr and object manager obj_mgr
temp = template_mgr.get_template_by_handle(obj_temp_handle)

if build_ao:
obj_type = "Articulated"
temp.base_type = "FIXED"
template_mgr.register_template(temp)
new_obj = obj_mgr.add_articulated_object_by_template_handle(
obj_temp_handle
)
if new_obj is not None:
self.recompute_ao_bbs(new_obj)
else:
# If any changes to template, put them here and re-register template
# template_mgr.register_template(temp)
obj_type = "Rigid"
new_obj = obj_mgr.add_object_by_template_handle(obj_temp_handle)

if new_obj is not None:
# set new object location to be above location of selected object
new_obj.motion_type = base_motion_type
Expand All @@ -1312,16 +1300,13 @@ def build_objects(
)
navmesh_dirty = new_navmesh_dirty or navmesh_dirty
else:
print(
f"Failed to load/create {obj_type} Object from template named {obj_temp_handle}."
)
# creation failing would have its own message
return [], navmesh_dirty
return [new_obj], navmesh_dirty

# no object selected and no name input
print(
"No object was selected to copy and load_by_name was not specifieed so no known object handle was input. Aborting"
)
return [], navmesh_dirty

def change_edit_mode(self, toggle: bool):
# toggle edit mode
mod_val = -1 if toggle else 1
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