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--cleanup functions; add task_set name selector;
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Enable eventually being able to move the functions to a utility
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@jturner65
jturner65 committed May 3, 2024
1 parent 6a7e00d commit 26d1254
Showing 1 changed file with 86 additions and 55 deletions.
141 changes: 86 additions & 55 deletions examples/viewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -244,8 +244,6 @@ def __init__(
# cache most recently loaded URDF file for quick-reload
self.cached_urdf = ""

self.selected_marker_set_index = 0

# Cycle mouse utilities
self.mouse_interaction = MouseMode.LOOK
self.mouse_grabber: Optional[MouseGrabber] = None
Expand Down Expand Up @@ -294,12 +292,7 @@ def __init__(
self.reconfigure_sim(mm)

# load markersets for every object and ao into a cache
self.marker_sets_per_obj = self.get_all_markersets(mm)
self.marker_sets_changed = {}
self.marker_debug_random_colors = {}
for key in self.marker_sets_per_obj:
self.marker_sets_changed[key] = False
self.marker_debug_random_colors[key] = {}
self.marker_sets_per_obj = self.get_all_markersets(mm, self)

# load appropriate filter file for scene
self.load_scene_filter_file()
Expand Down Expand Up @@ -609,9 +602,20 @@ def draw_contact_debug(self, debug_line_render: Any):
normal=camera_position - cp.position_on_b_in_ws,
)

##########################
# Markerset Handling

def get_current_markerset_taskname(self):
return self.markerset_taskset_names[self.current_markerset_taskset_idx]

def get_all_markersets(
self, mm: Optional[habitat_sim.metadata.MetadataMediator] = None
self, mm: habitat_sim.metadata.MetadataMediator, viewer: Application
):
"""
Get all the markersets defined in the currently loaded objects and articulated objects.
Note : any modified/saved markersets may require their owning Configurations
to be reloaded before this function would expose them.
"""
print("Start getting all markersets")
# marker set cache of existing markersets for all objs in scene, keyed by object name
marker_sets_per_obj = {}
Expand All @@ -627,19 +631,34 @@ def get_all_markersets(
marker_sets_per_obj[handle] = obj.marker_sets
print("Done getting all markersets")

task_names_set = set()
task_names_set.add("faucets")
# initialize list of possible taskSet names
for _obj_handle, MarkerSet in marker_sets_per_obj.items():
task_names_set.update(MarkerSet.get_all_taskset_names())

# Necessary class-level variables.
viewer.markerset_taskset_names = list(task_names_set)
viewer.current_markerset_taskset_idx = 0

viewer.marker_sets_changed = {}
viewer.marker_debug_random_colors = {}
for key in marker_sets_per_obj:
viewer.marker_sets_changed[key] = False
viewer.marker_debug_random_colors[key] = {}

return marker_sets_per_obj

def place_marker_at_hit_location(self, is_left_btn):
hit_info = self.mouse_cast_results.hits[0]
self.selected_object = None
def place_marker_at_hit_location(self, viewer: Application, hit_info, add_marker):
viewer.selected_object = None

# object or ao at hit location. If none, hit stage
obj = sutils.get_obj_from_id(self.sim, hit_info.object_id, self.ao_link_map)
obj = sutils.get_obj_from_id(viewer.sim, hit_info.object_id, viewer.ao_link_map)
print(
f"Marker : Mouse click object : {hit_info.object_id} : Point : {hit_info.point} "
)
# TODO these values need to be modifiable
task_set_name = "faucets"
task_set_name = self.get_current_markerset_taskname()
marker_set_name = "faucet_000"
if obj is None:
print(
Expand All @@ -653,7 +672,7 @@ def place_marker_at_hit_location(self, is_left_btn):
# TODO need to support stage properly including root transformation
local_hit_point = hit_info.point
else:
self.selected_object = obj
viewer.selected_object = obj
# get a reference to the object/ao 's markerSets
obj_marker_sets = obj.marker_sets
obj_handle = obj.handle
Expand Down Expand Up @@ -681,7 +700,7 @@ def place_marker_at_hit_location(self, is_left_btn):

if obj_marker_sets is not None:
# add marker if left button clicked
if is_left_btn:
if add_marker:
# if the desired hierarchy does not exist, create it
if not obj_marker_sets.has_task_link_markerset(
task_set_name, link_name, marker_set_name
Expand Down Expand Up @@ -727,9 +746,9 @@ def place_marker_at_hit_location(self, is_left_btn):
print(
f"There are no points in MarkerSet : {marker_set_name}, LinkSet :{link_name}, TaskSet :{task_set_name} so removal aborted."
)
self.marker_sets_per_obj[obj_handle] = obj_marker_sets
self.marker_sets_changed[obj_handle] = True
self.save_markerset_attributes(obj)
viewer.marker_sets_per_obj[obj_handle] = obj_marker_sets
viewer.marker_sets_changed[obj_handle] = True
viewer.save_markerset_attributes(obj)

def draw_marker_sets_debug(self, debug_line_render: Any) -> None:
"""
Expand Down Expand Up @@ -785,6 +804,37 @@ def draw_marker_sets_debug(self, debug_line_render: Any) -> None:
normal=camera_position - global_marker_pos,
)

def save_markerset_attributes(self, obj) -> None:
# get the name of the attrs used to initialize the object
obj_init_attr_handle = obj.creation_attributes.handle
if isinstance(obj, physics.ManagedArticulatedObject):
# save AO config
attrMgr = self.sim.metadata_mediator.ao_template_manager
else:
# save obj config
attrMgr = self.sim.metadata_mediator.object_template_manager
# get copy of initialization attributes as they were in manager,
# unmodified by scene instance values such as scale
init_attrs = attrMgr.get_template_by_handle(obj_init_attr_handle)
# put edited subconfig into initial attributes
markersets = init_attrs.get_marker_sets()
# manually copying because the markersets type is getting lost from markersets
edited_marker_sets = self.marker_sets_per_obj[obj.handle]
for subconfig_key in edited_marker_sets.get_subconfig_keys():
markersets.save_subconfig(
subconfig_key, edited_marker_sets.get_subconfig(subconfig_key)
)

# reregister template
attrMgr.register_template(init_attrs, init_attrs.handle, True)
# save to original location - uses saved location in attributes
attrMgr.save_template_by_handle(init_attrs.handle, True)
# clear out dirty flag
self.marker_sets_changed[obj.handle] = False

##########################
# End Markerset Handling

def draw_region_debug(self, debug_line_render: Any) -> None:
"""
Draw the semantic region wireframes.
Expand Down Expand Up @@ -1418,34 +1468,6 @@ def set_filter_status_for_rec(
self.rec_filter_data[filter_type].remove(filtered_rec_name)
self.rec_filter_data[filter_status].append(filtered_rec_name)

def save_markerset_attributes(self, obj) -> None:
# get the name of the attrs used to initialize the object
obj_init_attr_handle = obj.creation_attributes.handle
if isinstance(obj, physics.ManagedArticulatedObject):
# save AO config
attrMgr = self.sim.metadata_mediator.ao_template_manager
else:
# save obj config
attrMgr = self.sim.metadata_mediator.object_template_manager
# get copy of initialization attributes as they were in manager,
# unmodified by scene instance values such as scale
init_attrs = attrMgr.get_template_by_handle(obj_init_attr_handle)
# put edited subconfig into initial attributes
markersets = init_attrs.get_marker_sets()
# manually copying because the markersets type is getting lost from markersets
edited_marker_sets = self.marker_sets_per_obj[obj.handle]
for subconfig_key in edited_marker_sets.get_subconfig_keys():
markersets.save_subconfig(
subconfig_key, edited_marker_sets.get_subconfig(subconfig_key)
)

# reregister template
attrMgr.register_template(init_attrs, init_attrs.handle, True)
# save to original location - uses saved location in attributes
attrMgr.save_template_by_handle(init_attrs.handle, True)
# clear out dirty flag
self.marker_sets_changed[obj.handle] = False

def key_press_event(self, event: Application.KeyEvent) -> None:
"""
Handles `Application.KeyEvent` on a key press by performing the corresponding functions.
Expand Down Expand Up @@ -2003,7 +2025,10 @@ def mouse_press_event(self, event: Application.MouseEvent) -> None:
and physics_enabled
and self.mouse_cast_has_hits
):
self.place_marker_at_hit_location(event.button == button.LEFT)
# hit_info = self.mouse_cast_results.hits[0]
self.place_marker_at_hit_location(
self, self.mouse_cast_results.hits[0], event.button == button.LEFT
)

self.previous_mouse_point = self.get_mouse_position(event.position)
self.redraw()
Expand Down Expand Up @@ -2060,12 +2085,18 @@ def mouse_scroll_event(self, event: Application.MouseScrollEvent) -> None:
self.mouse_grabber.grip_depth += scroll_delta
self.update_grab_position(self.get_mouse_position(event.position))
elif self.mouse_interaction == MouseMode.MARKER:
if scroll_mod_val > 0:
self.selected_marker_set_index += 1
else:
self.selected_marker_set_index = max(
self.selected_marker_set_index - 1, 0
)
marker_mod = 1 if scroll_mod_val > 0 else -1
self.current_markerset_taskset_idx = (
self.current_markerset_taskset_idx
+ len(self.markerset_taskset_names)
+ marker_mod
) % len(self.markerset_taskset_names)
# if scroll_mod_val > 0:
# self.current_markerset_taskset_idx = (self.current_markerset_taskset_idx + 1) %
# else:
# self.selected_marker_set_index = max(
# self.selected_marker_set_index - 1, 0
# )

self.redraw()
event.accepted = True
Expand Down Expand Up @@ -2175,7 +2206,7 @@ def draw_text(self, sensor_spec):
Sensor Type: {sensor_type_string}
Sensor Subtype: {sensor_subtype_string}
Mouse Interaction Mode: {mouse_mode_string}
Selected marker_set index: {self.selected_marker_set_index}
Selected MarkerSets TaskSet name : {self.get_current_markerset_taskname()}
Unstable Objects: {self.num_unstable_objects} of {len(self.clutter_object_instances)}
"""
)
Expand Down

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