Render
rpad.partnet_mobility_utils.render.PartialPC
Bases: TypedDict
A Partial PointCloud
Attributes:
| Name | Type | Description |
|---|---|---|
pos |
npt.NDArray[np.float32]
|
Position |
seg |
npt.NDArray[np.uint]
|
segmentation |
rpad.partnet_mobility_utils.render.FullPCData
Bases: TypedDict
rpad.partnet_mobility_utils.render.pybullet.PybulletRenderer
Bases: PMRenderer
render(pm_obj, joints=None, camera_xyz=None, seed=None)
Sample a partial pointcloud using the Pybullet GL renderer. Currently only supports randomized parameters.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
randomize_joints |
Decide whether and how to randomize joints. Defaults to False. False -> no randomization "all" -> Randomize all joints on the object [list] -> Randomize just these joints |
required | |
randomize_camera |
bool
|
Randomize the camera position. Defaults to False. Only occurs in a window. |
required |
set_joints |
Decide whether and how to set the joints. Can't also randomize the joints. |
required |
Returns:
| Name | Type | Description |
|---|---|---|
PartialPC |
PartialPC
|
A big dictionary of things. See PartialPC above for what you get. |
rpad.partnet_mobility_utils.render.pybullet.PartialPC
Bases: TypedDict
A Partial PointCloud
Attributes:
| Name | Type | Description |
|---|---|---|
pos |
npt.NDArray[np.float32]
|
Position |
seg |
npt.NDArray[np.uint]
|
segmentation |