def _get_resource_sets()

in habitat/datasets/rearrange/rearrange_generator.py [0:0]

• 69 lines of code
• 8 McCabe index (conditional complexity)

    def _get_resource_sets(self) -> None:
        """
        Extracts and validates scene, object, and receptacle sets from the config and fills internal datastructures for later reference.
        Assumes the Simulator (self.sim) is already initialized.
        """
        # {scene set name -> [scene handles]}
        self._scene_sets: Dict[str, List[str]] = {}

        # {object set name -> [object handles]}
        self._obj_sets: Dict[str, List[str]] = {}

        # {receptacle set name -> ([included object handles], [excluded object handles], [included receptacle name substrings], [excluded receptacle name substrings])}
        self._receptacle_sets: Dict[
            str, Tuple[List[str], List[str], List[str], List[str]]
        ] = {}

        expected_list_keys = ["included_substrings", "excluded_substrings"]
        # scene sets
        for scene_set in self.cfg.scene_sets:
            assert "name" in scene_set
            assert (
                scene_set["name"] not in self._scene_sets
            ), f"cfg.scene_sets - Duplicate name ('{scene_set['name']}') detected."
            for list_key in expected_list_keys:
                assert (
                    list_key in scene_set
                ), f"Expected list key '{list_key}'."
                assert (
                    type(scene_set[list_key]) is list
                ), f"cfg.scene_sets - '{scene_set['name']}' '{list_key}' must be a list of strings."
            self._scene_sets[
                scene_set["name"]
            ] = cull_string_list_by_substrings(
                self.sim.metadata_mediator.get_scene_handles(),
                scene_set["included_substrings"],
                scene_set["excluded_substrings"],
            )

        # object sets
        for object_set in self.cfg.object_sets:
            assert "name" in object_set
            assert (
                object_set["name"] not in self._obj_sets
            ), f"cfg.object_sets - Duplicate name ('{object_set['name']}') detected."
            for list_key in expected_list_keys:
                assert (
                    list_key in object_set
                ), f"Expected list key '{list_key}'."
                assert (
                    type(object_set[list_key]) is list
                ), f"cfg.object_sets - '{object_set['name']}' '{list_key}' must be a list of strings."
            self._obj_sets[
                object_set["name"]
            ] = cull_string_list_by_substrings(
                self.sim.get_object_template_manager().get_template_handles(),
                object_set["included_substrings"],
                object_set["excluded_substrings"],
            )

        # receptacle sets
        expected_list_keys = [
            "included_object_substrings",
            "excluded_object_substrings",
            "included_receptacle_substrings",
            "excluded_receptacle_substrings",
        ]
        for receptacle_set in self.cfg.receptacle_sets:
            assert "name" in receptacle_set
            assert (
                receptacle_set["name"] not in self._receptacle_sets
            ), f"cfg.receptacle_sets - Duplicate name ('{receptacle_set['name']}') detected."
            for list_key in expected_list_keys:
                assert (
                    list_key in receptacle_set
                ), f"Expected list key '{list_key}'."
                assert (
                    type(receptacle_set[list_key]) is list
                ), f"cfg.receptacle_sets - '{receptacle_set['name']}' '{list_key}' must be a list of strings."

            # NOTE: we can't finalize this list until sampling time when objects are instanced and receptacle metadata is scraped from the scene
            self._receptacle_sets[receptacle_set["name"]] = (
                receptacle_set["included_object_substrings"],
                receptacle_set["excluded_object_substrings"],
                receptacle_set["included_receptacle_substrings"],
                receptacle_set["excluded_receptacle_substrings"],
            )