Semantic sensor for receptacle #1786
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facebook-github-bot
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aclegg3
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Feb 2, 2024
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| cls_uuid: str = "arm_receptacle_semantic_sensor" | ||
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| def __init__(self, sim, config, *args, **kwargs): |
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Please add type hints. E.g. to clarify that sim:RearrangeSim
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| def _get_rep_text(self, targ_idx): | ||
| # Cache the name of the receptacle |
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Is this looking for the closest of a number of target receptacles?
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| if obj is not None: | ||
| target_receps_id = ( | ||
| obj.object_id + self.habitat_config.object_ids_start | ||
| ) | ||
| elif ao is not None: | ||
| target_receps_id = ao.visual_scene_nodes[0].semantic_id |
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This seems wrong or arcane, can you explain? For objects it looks like the custom instance id for aos it grabs a pre-configured semantic id. 🤔
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Motivation and Context
This introduces a feature that adds semantic sensor for the target receptacleHow Has This Been Tested
Run interactive_play.pyTypes of changes
Checklist