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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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161d329
first draft of collision_shape_automation.py
aclegg3 Mar 1, 2023
952fcdc
profiling, refactors, efficiency improvements, stats
aclegg3 Mar 6, 2023
cf9e4ff
add jittered sampling
aclegg3 Mar 7, 2023
e98aea5
Implement stateful API class for easier iteration and export of batch…
aclegg3 Mar 7, 2023
80a0127
add check and solution for invalid raycasts (hits outside bounding sh…
aclegg3 Mar 7, 2023
85d7419
don't use navmesh in object viewer
aclegg3 Mar 8, 2023
fcb6a84
only evaluate objects with receptacles defined
aclegg3 Mar 8, 2023
c573436
add debug peek images for ground truth and proxy shapes. Add specifie…
aclegg3 Mar 8, 2023
b9be3a6
refactor to better modularize debug image capture suring proxy phase.…
aclegg3 Mar 9, 2023
6874149
receptacle sampling and caching
aclegg3 Mar 9, 2023
0cb4404
magenta/alpha clear color for better object contrast. Add Receptacle …
aclegg3 Mar 10, 2023
a6cad22
Added: receptacle access metrics v1, receptacle density sampling, hem…
aclegg3 Mar 11, 2023
80b6f35
debug visualization of receptacle access metrics and receptacle verti…
aclegg3 Mar 13, 2023
3d73bcf
implement saving receptacle access metrics to CSV
aclegg3 Mar 13, 2023
cbd62cb
prototype VHACD optimization loop. Minor bugfixes.
aclegg3 Mar 14, 2023
f9f9d52
bugfix shape id tracking. VHACD collision shape optimization for sele…
aclegg3 Mar 14, 2023
f0d65f7
receptacle stability analysis
aclegg3 Mar 15, 2023
62124e6
initial physics metric tests
aclegg3 Mar 24, 2023
698f393
add receptacle debug_draw in viewer. Limit processed objects to those…
aclegg3 Apr 3, 2023
a68174b
refactor to align data cache protocal with design
aclegg3 Apr 4, 2023
56e7633
minor settle test fix
aclegg3 Apr 5, 2023
663e0f6
add viewer snapping util for receptacle debugging
aclegg3 Apr 5, 2023
97965b2
simpler constructed cylinder and receptacle stability test improvements
aclegg3 Apr 7, 2023
00d7633
multi-colored render for different receptacles
aclegg3 Apr 12, 2023
43c739b
re-align API with habitat-lab mesh_data changes. Add object re-orient…
aclegg3 Apr 14, 2023
08dffd9
enable running per-scene evaluations
aclegg3 Apr 14, 2023
cc49241
use CollisionProxyOptimizer in viewer tool and remove outdated evalua…
aclegg3 Apr 14, 2023
076174f
separate obj_viewer and (scene)viewer. Add scene viewer features to v…
aclegg3 Apr 14, 2023
35b2d25
add mouse object info in right click for scene viewer
aclegg3 Apr 15, 2023
2b8437d
add CPO use in viewer to discplay rec metrics and filter. Add termina…
aclegg3 Apr 15, 2023
737bbe3
add caching and disply of per-point access and stability metrics
aclegg3 Apr 15, 2023
3e98513
minor fixes and cleanup for obj_viewer
aclegg3 Apr 18, 2023
3a643b2
changes supporting collision shape optimization at scene level
aclegg3 Apr 18, 2023
099836f
viewer.py changes supporting receptacle filtering and loading/saving …
aclegg3 Apr 18, 2023
19ef74e
COACD optimization, shape score improvement, viewer documentation.
aclegg3 Apr 19, 2023
001ff5f
polish UI and add CLI
aclegg3 Apr 19, 2023
ac85824
save coacd output for each shape_id for later copy instead of additio…
aclegg3 Apr 19, 2023
dd1ba07
fix coverge of debug image flag
aclegg3 Apr 19, 2023
d3f2666
exclude objects with CLI
aclegg3 Apr 20, 2023
ac66512
add ModelCategorizer workflow compatibility
aclegg3 Apr 20, 2023
76728da
option to override the coacd threshold values from CLI
aclegg3 Apr 21, 2023
50447b5
add a file annotating object ids which cause caocd trouble to use as …
aclegg3 Apr 21, 2023
c37ca96
add the option to optimize all objects with receptacles defined in th…
aclegg3 Apr 21, 2023
3ad11e4
start and end index CLI + exception handling and failure tracking output
aclegg3 Apr 24, 2023
0d76f7b
load rec data when cpo is not initialized
aclegg3 Apr 24, 2023
f01b4ba
add object sampling logic to the viewer app for scene investigation
aclegg3 Apr 25, 2023
da99ffa
minor change to documentation and console output
aclegg3 Apr 25, 2023
0e33794
add CLI additional CLI options for part only and file defined objects
aclegg3 Apr 26, 2023
1835e83
refactor viewer for faster rec drawing and collision optimization for…
aclegg3 Apr 27, 2023
c8c505b
remove VHACD integration
aclegg3 Apr 27, 2023
de39b83
refactor improve interactive object sampling
aclegg3 Apr 27, 2023
b0857d3
Improve clutter generation utility in viewer
aclegg3 Apr 28, 2023
7b1ccd9
add spot_viewer application for evaluating navigability
aclegg3 Apr 29, 2023
4ccf72a
minor useability fixes for spot_viewer
aclegg3 Apr 29, 2023
ec225da
spot_viewer: move robot strafe to 'qe' keys. Add mouse raycast object…
aclegg3 May 1, 2023
cad76e2
spot_viewer: Add object modification interface features.
aclegg3 May 1, 2023
88adc36
add clutter removal with 'c' + tracking in removed_clutter.txt
aclegg3 May 1, 2023
df64564
obj_viewer compares can with cylinder
aclegg3 May 1, 2023
7b51824
UI improvements for viewer app
aclegg3 May 1, 2023
a527a0d
useability improvements for spot_viewer.py
aclegg3 May 16, 2023
19fc3e4
add ssd removal script for post-processing scene_instance.json files …
aclegg3 May 16, 2023
fd48adf
protect from crash when raycast hits nothing
aclegg3 May 19, 2023
dfd88fb
viewer.py receptacle filter view no longer requires cpo
aclegg3 Jun 1, 2023
ab5f9fa
additional changes to support navmesh refactor
aclegg3 Jun 1, 2023
b00d76d
remove navmesh recompute from cpo settings in viewer.py
aclegg3 Jun 1, 2023
a7cfe3e
minor utility updates for GUI
aclegg3 Jun 14, 2023
90a43ea
add slick hit visualization to easier identify roof hits
aclegg3 Aug 7, 2023
2538621
update message
aclegg3 Sep 6, 2023
6318cbd
refactor to support new requirement in robot API init
aclegg3 Oct 2, 2023
cbd8d06
add automated outdoor object removal
aclegg3 Oct 2, 2023
7250b24
minor updates
aclegg3 Oct 3, 2023
dc1b166
add automated filter file loading to viewer tool
aclegg3 Oct 3, 2023
6d938ac
snap to largest island in viewer app
aclegg3 Oct 3, 2023
5234551
largest navmesh snapping and magnum API update
aclegg3 Nov 18, 2023
e569127
object getter util
aclegg3 Feb 9, 2024
b781f33
fixes for aos
aclegg3 Feb 9, 2024
7b412c5
enable AO receptacle selection
aclegg3 Feb 9, 2024
1bc19a7
update to support selecting and transforming ArticulatedObjects
aclegg3 Feb 23, 2024
cf5fd5e
rebase apps on habitat-lab main
aclegg3 Feb 28, 2024
1313442
missed in merge
aclegg3 Feb 28, 2024
9f14281
--missed stuff in rebase
jturner65 Mar 5, 2024
43a4310
--rebase issue
jturner65 Mar 5, 2024
22c66ce
--minor cleanup; add scene ID to screen text
jturner65 Mar 12, 2024
34c0209
--fix for embedded paths
jturner65 Mar 12, 2024
942825e
--add command line to not build navmesh
jturner65 Mar 13, 2024
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