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[Prototype] - Rearrange Scene Evaluation and Collision Proxy Optimizer (CPO) #2078

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[Prototype] - Rearrange Scene Evaluation and Collision Proxy Optimizer (CPO) #2078

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Commits on Mar 5, 2024

  1. first draft of collision_shape_automation.py

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  2. profiling, refactors, efficiency improvements, stats

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  3. add jittered sampling

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  4. Implement stateful API class for easier iteration and export of batch… 

    … results
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  5. add check and solution for invalid raycasts (hits outside bounding sh… 

    …ape) and some QoL features for viewer
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  6. don't use navmesh in object viewer

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  7. only evaluate objects with receptacles defined

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  8. add debug peek images for ground truth and proxy shapes. Add specifie… 

    …d output directory. Import Habitat-lab features.
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  9. refactor to better modularize debug image capture suring proxy phase.… 

    … Validate proxy bounding box is similar to ground truth. Prepare for Recetpacle sampling TODO.
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  10. receptacle sampling and caching

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  11. magenta/alpha clear color for better object contrast. Add Receptacle … 

    …debug image draw.
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  12. Added: receptacle access metrics v1, receptacle density sampling, hem… 

    …isphere raycasting, debug draw improvements.
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  13. debug visualization of receptacle access metrics and receptacle verti… 

    …cal offset option
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  14. implement saving receptacle access metrics to CSV

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  15. prototype VHACD optimization loop. Minor bugfixes.

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  16. bugfix shape id tracking. VHACD collision shape optimization for sele… 

    …ct subset of objects
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  17. receptacle stability analysis

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  18. initial physics metric tests

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  19. add receptacle debug_draw in viewer. Limit processed objects to those… 

    … found in a single scene. Re-organize receptacle metrics caching.
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  20. refactor to align data cache protocal with design

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  21. minor settle test fix

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  22. add viewer snapping util for receptacle debugging

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  23. simpler constructed cylinder and receptacle stability test improvements

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  24. multi-colored render for different receptacles

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  25. re-align API with habitat-lab mesh_data changes. Add object re-orient… 

    …ation feature (note: does not correctly re-orient receptacles yet)
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  26. enable running per-scene evaluations

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  27. use CollisionProxyOptimizer in viewer tool and remove outdated evalua… 

    …te_collision_shape func. output_dir is now optional
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  28. separate obj_viewer and (scene)viewer. Add scene viewer features to v… 

    …isualize receptacles and collision objects.
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  29. add mouse object info in right click for scene viewer

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  30. add CPO use in viewer to discplay rec metrics and filter. Add termina… 

    …l attr setting.
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  31. add caching and disply of per-point access and stability metrics

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  32. minor fixes and cleanup for obj_viewer

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  33. changes supporting collision shape optimization at scene level

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  34. viewer.py changes supporting receptacle filtering and loading/saving … 

    …filter metadata json.
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  35. COACD optimization, shape score improvement, viewer documentation.

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  36. polish UI and add CLI

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  37. save coacd output for each shape_id for later copy instead of additio… 

    …nal recomputation
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  38. fix coverge of debug image flag

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  39. exclude objects with CLI

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  40. add ModelCategorizer workflow compatibility

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  41. option to override the coacd threshold values from CLI

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  42. add a file annotating object ids which cause caocd trouble to use as … 

    …a general exclusion set
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  43. add the option to optimize all objects with receptacles defined in th… 

    …e dataset
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  44. start and end index CLI + exception handling and failure tracking output

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  45. load rec data when cpo is not initialized

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  46. add object sampling logic to the viewer app for scene investigation

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  47. minor change to documentation and console output

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  48. add CLI additional CLI options for part only and file defined objects

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  49. refactor viewer for faster rec drawing and collision optimization for… 

    … optional coacd import
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  50. remove VHACD integration

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  51. refactor improve interactive object sampling

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  52. Improve clutter generation utility in viewer

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  53. add spot_viewer application for evaluating navigability

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  54. minor useability fixes for spot_viewer

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  55. spot_viewer: move robot strafe to 'qe' keys. Add mouse raycast object… 

    … select.
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  56. spot_viewer: Add object modification interface features.

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  57. add clutter removal with 'c' + tracking in removed_clutter.txt

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  58. obj_viewer compares can with cylinder

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  59. UI improvements for viewer app

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  60. useability improvements for spot_viewer.py

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  61. add ssd removal script for post-processing scene_instance.json files … 

    …after exporting them from spot_viewer
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  62. protect from crash when raycast hits nothing

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  63. viewer.py receptacle filter view no longer requires cpo

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  64. additional changes to support navmesh refactor

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  65. remove navmesh recompute from cpo settings in viewer.py

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  66. minor utility updates for GUI

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  67. add slick hit visualization to easier identify roof hits

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  68. update message

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  69. refactor to support new requirement in robot API init

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  70. add automated outdoor object removal

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  71. minor updates

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  72. add automated filter file loading to viewer tool

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  73. snap to largest island in viewer app

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  74. largest navmesh snapping and magnum API update

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  75. object getter util

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  76. fixes for aos

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  77. enable AO receptacle selection

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  78. update to support selecting and transforming ArticulatedObjects

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  79. rebase apps on habitat-lab main

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  80. missed in merge

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  81. --missed stuff in rebase

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  82. --rebase issue

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Commits on Mar 12, 2024

  1. --minor cleanup; add scene ID to screen text

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  2. --fix for embedded paths

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Commits on Mar 13, 2024

  1. --add command line to not build navmesh 

    For free-look-like behavior
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