bugfix - correctly pass constrain_to_largest_nav_island into ObjectSa…

…mpler and TargetObjectSampler constructors (#1481)
facebookresearch · Aug 2, 2023 · 17ec6b3 · 17ec6b3
1 parent 5dee9a7
commit 17ec6b3
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Showing 2 changed files with 38 additions and 15 deletions.
diff --git a/habitat-lab/habitat/datasets/rearrange/rearrange_generator.py b/habitat-lab/habitat/datasets/rearrange/rearrange_generator.py
@@ -214,21 +214,29 @@ def _get_obj_samplers(self) -> None:
                 self._obj_samplers[
                     obj_sampler_info["name"]
                 ] = samplers.ObjectSampler(
-                    object_handles,
-                    obj_sampler_info["params"]["receptacle_sets"],
-                    (
+                    object_set=object_handles,
+                    allowed_recep_set_names=obj_sampler_info["params"][
+                        "receptacle_sets"
+                    ],
+                    num_objects=(
                         obj_sampler_info["params"]["num_samples"][0],
                         obj_sampler_info["params"]["num_samples"][1],
                     ),
-                    obj_sampler_info["params"]["orientation_sampling"],
-                    get_sample_region_ratios(obj_sampler_info),
-                    obj_sampler_info["params"].get(
+                    orientation_sample=obj_sampler_info["params"][
+                        "orientation_sampling"
+                    ],
+                    sample_region_ratio=get_sample_region_ratios(
+                        obj_sampler_info
+                    ),
+                    nav_to_min_distance=obj_sampler_info["params"].get(
                         "nav_to_min_distance", -1.0
                     ),
-                    obj_sampler_info["params"].get("sample_probs", None),
-                    obj_sampler_info["params"].get(
-                        "constrain_to_largest_nav_island", False
+                    recep_set_sample_probs=obj_sampler_info["params"].get(
+                        "sample_probs", None
                     ),
+                    constrain_to_largest_nav_island=obj_sampler_info[
+                        "params"
+                    ].get("constrain_to_largest_nav_island", False),
                 )
             else:
                 logger.info(
@@ -256,17 +264,29 @@ def _get_object_target_samplers(self) -> None:
                     target_sampler_info["name"]
                 ] = samplers.ObjectTargetSampler(
                     # Add object set later
-                    [],
-                    target_sampler_info["params"]["receptacle_sets"],
-                    (
+                    object_instance_set=[],
+                    allowed_recep_set_names=target_sampler_info["params"][
+                        "receptacle_sets"
+                    ],
+                    num_objects=(
                         target_sampler_info["params"]["num_samples"][0],
                         target_sampler_info["params"]["num_samples"][1],
                     ),
-                    target_sampler_info["params"]["orientation_sampling"],
-                    get_sample_region_ratios(target_sampler_info),
-                    target_sampler_info["params"].get(
+                    orientation_sample=target_sampler_info["params"][
+                        "orientation_sampling"
+                    ],
+                    sample_region_ratio=get_sample_region_ratios(
+                        target_sampler_info
+                    ),
+                    nav_to_min_distance=target_sampler_info["params"].get(
                         "nav_to_min_distance", -1.0
                     ),
+                    recep_set_sample_probs=target_sampler_info["params"].get(
+                        "sample_probs", None
+                    ),
+                    constrain_to_largest_nav_island=target_sampler_info[
+                        "params"
+                    ].get("constrain_to_largest_nav_island", False),
                 )
             else:
                 logger.info(

diff --git a/habitat-lab/habitat/datasets/rearrange/run_episode_generator.py b/habitat-lab/habitat/datasets/rearrange/run_episode_generator.py
@@ -159,6 +159,9 @@ class RearrangeEpisodeGeneratorConfig:
     # {"object_samplers":[str], "receptacle_sets":[str], "num_samples":[min, max], "orientation_sampling":str)
     # NOTE: random instances are chosen from the specified, previously excecuted object sampler up to the maximum number specified in params.
     # NOTE: previous samplers referenced must have: combined minimum samples >= minimum requested targets
+    # NOTE: "orientation_sampling" options: "none", "up", "all"
+    # NOTE: (optional) "constrain_to_largest_nav_island" (default False): if True, valid placements must snap to the largest navmesh island
+    # NOTE: (optional) "nav_to_min_distance" (default -1): if not -1, valid placements must snap to the navmesh with horizontal distance less than this value
     # {
     #     "name": "any_one_target",
     #     "type": "uniform",