def get_all_scenedataset_receptacles()

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

• 32 lines of code
• 14 McCabe index (conditional complexity)

def get_all_scenedataset_receptacles(sim) -> Dict[str, Dict[str, List[str]]]:
    """
    Scrapes the active SceneDataset from a Simulator for all receptacle names defined in rigid/articulated object and stage templates for investigation and preview purposes.
    Note this will not include scene-specific overrides defined in scene_config.json files. Only receptacles defined in object_config.json, ao_config.json, and stage_config.json files or added programmatically to associated Attributes objects will be found.

    Returns a dict with keys {"stage", "rigid", "articulated"} mapping object template handles to lists of receptacle names.
    """
    # cache the rigid and articulated receptacles seperately
    receptacles: Dict[str, Dict[str, List[str]]] = {
        "stage": {},
        "rigid": {},
        "articulated": {},
    }

    # scrape stage configs:
    stm = sim.get_stage_template_manager()
    for template_handle in stm.get_template_handles(""):
        stage_template = stm.get_template_by_handle(template_handle)
        for item in stage_template.get_user_config().get_subconfig_keys():
            if item.startswith("receptacle_"):
                if template_handle not in receptacles["stage"]:
                    receptacles["stage"][template_handle] = []
                receptacles["stage"][template_handle].append(item)

    # scrape the rigid object configs:
    rotm = sim.get_object_template_manager()
    for template_handle in rotm.get_template_handles(""):
        obj_template = rotm.get_template_by_handle(template_handle)
        for item in obj_template.get_user_config().get_subconfig_keys():
            if item.startswith("receptacle_"):
                if template_handle not in receptacles["rigid"]:
                    receptacles["rigid"][template_handle] = []
                receptacles["rigid"][template_handle].append(item)

    # TODO: we currently need to load every URDF to get at the configs. This should change once AO templates are better managed.
    aom = sim.get_articulated_object_manager()
    for urdf_handle, urdf_path in sim.metadata_mediator.urdf_paths.items():
        ao = aom.add_articulated_object_from_urdf(urdf_path)
        for item in ao.user_attributes.get_subconfig_keys():
            if item.startswith("receptacle_"):
                if urdf_handle not in receptacles["articulated"]:
                    receptacles["articulated"][urdf_handle] = []
                receptacles["articulated"][urdf_handle].append(item)
        aom.remove_object_by_handle(ao.handle)

    return receptacles