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heat_source_or_sink

HeatSourceOrSink

Bases: AbsoluteObjectState, LinkBasedStateMixin

This state indicates the heat source or heat sink state of the object.

Currently, if the object is not an active heat source/sink, this returns (False, None). Otherwise, it returns True and the position of the heat source element, or (True, None) if the heat source has no heating element / only checks for Inside. E.g. on a stove object, True and the coordinates of the heating element will be returned. on a microwave object, True and None will be returned.

Source code in omnigibson/object_states/heat_source_or_sink.py 
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class HeatSourceOrSink(AbsoluteObjectState, LinkBasedStateMixin):
    """
    This state indicates the heat source or heat sink state of the object.

    Currently, if the object is not an active heat source/sink, this returns (False, None).
    Otherwise, it returns True and the position of the heat source element, or (True, None) if the heat source has no
    heating element / only checks for Inside.
    E.g. on a stove object, True and the coordinates of the heating element will be returned.
    on a microwave object, True and None will be returned.
    """

    def __init__(
        self,
        obj,
        temperature=m.DEFAULT_TEMPERATURE,
        heating_rate=m.DEFAULT_HEATING_RATE,
        distance_threshold=m.DEFAULT_DISTANCE_THRESHOLD,
        requires_toggled_on=False,
        requires_closed=False,
        requires_inside=False,
    ):
        """
        Args:
            obj (StatefulObject): The object with the heat source ability.
            temperature (float): The temperature of the heat source.
            heating_rate (float): Fraction in [0, 1] of the temperature difference with the
                heat source temperature should be received every step, per second.
            distance_threshold (float): The distance threshold which an object needs
                to be closer than in order to receive heat from this heat source.
            requires_toggled_on (bool): Whether the heat source object needs to be
                toggled on to emit heat. Requires toggleable ability if set to True.
            requires_closed (bool): Whether the heat source object needs to be
                closed (e.g. in terms of the joints) to emit heat. Requires openable
                ability if set to True.
            requires_inside (bool): Whether an object needs to be `inside` the
                heat source to receive heat. See the Inside state for details. This
                will mean that the "heating element" link for the object will be
                ignored.
        """
        super(HeatSourceOrSink, self).__init__(obj)
        self._temperature = temperature
        self._heating_rate = heating_rate
        self.distance_threshold = distance_threshold

        # If the heat source needs to be toggled on, we assert the presence
        # of that ability.
        if requires_toggled_on:
            assert ToggledOn in self.obj.states
        self.requires_toggled_on = requires_toggled_on

        # If the heat source needs to be closed, we assert the presence
        # of that ability.
        if requires_closed:
            assert Open in self.obj.states
        self.requires_closed = requires_closed

        # If the heat source needs to contain an object inside to heat it,
        # we record that for use in the heat transfer process.
        self.requires_inside = requires_inside

    @classproperty
    def metalink_prefix(cls):
        return m.HEATSOURCE_LINK_PREFIX

    @property
    def _default_link(self):
        # Only supported if we require inside
        return self.obj.root_link if self.requires_inside else super()._default_link

    @property
    def heating_rate(self):
        """
        Returns:
            float: Temperature changing rate of this heat source / sink
        """
        return self._heating_rate

    @property
    def temperature(self):
        """
        Returns:
            float: Temperature of this heat source / sink
        """
        return self._temperature

    @staticmethod
    def get_dependencies():
        return AbsoluteObjectState.get_dependencies() + [AABB, Inside]

    @staticmethod
    def get_optional_dependencies():
        return AbsoluteObjectState.get_optional_dependencies() + [ToggledOn, Open]

    def _initialize(self):
        # Run super first
        super()._initialize()
        self.initialize_link_mixin()

    def _get_value(self):
        # Check the toggle state.
        if self.requires_toggled_on and not self.obj.states[ToggledOn].get_value():
            return False

        # Check the open state.
        if self.requires_closed and self.obj.states[Open].get_value():
            return False

        return True

    def _set_value(self, new_value):
        raise NotImplementedError("Setting heat source capability is not supported.")

    def affects_obj(self, obj):
        """
        Computes whether this heat source or sink object is affecting object @obj
        Computes the temperature delta that may be applied to object @obj. NOTE: This value is agnostic to simulation
        stepping speed, and should be scaled accordingly

        Args:
            obj (StatefulObject): Object whose temperature delta should be computed

        Returns:
            bool: Whether this heat source or sink is currently affecting @obj's temperature
        """
        # No change if we're not on
        if not self.get_value():
            return False

        # Otherwise, check for other edge cases
        # If we require the object to be inside, make sure the object is inside, otherwise, we return 0
        # Otherwise, make sure the object is within close proximity of this heat source
        if self.requires_inside:
            if not obj.states[Inside].get_value(self.obj):
                return False
        else:
            aabb_lower, aabb_upper = obj.states[AABB].get_value()
            obj_pos = (aabb_lower + aabb_upper) / 2.0
            # Position is either the AABB center of the default link or the metalink position itself
            heat_source_pos = self.link.aabb_center if self.link == self._default_link else self.link.get_position()
            if T.l2_distance(heat_source_pos, obj_pos) > self.distance_threshold:
                return False

        # If all checks pass, we're actively influencing the object!
        return True

    # Nothing needs to be done to save/load HeatSource

heating_rate property

Returns:

Name Type Description
float

Temperature changing rate of this heat source / sink

temperature property

Returns:

Name Type Description
float

Temperature of this heat source / sink

__init__(obj, temperature=m.DEFAULT_TEMPERATURE, heating_rate=m.DEFAULT_HEATING_RATE, distance_threshold=m.DEFAULT_DISTANCE_THRESHOLD, requires_toggled_on=False, requires_closed=False, requires_inside=False)

Parameters:

Name Type Description Default
obj StatefulObject

The object with the heat source ability.

 required
temperature float

The temperature of the heat source.

 m.DEFAULT_TEMPERATURE
heating_rate float

Fraction in [0, 1] of the temperature difference with the heat source temperature should be received every step, per second.

 m.DEFAULT_HEATING_RATE
distance_threshold float

The distance threshold which an object needs to be closer than in order to receive heat from this heat source.

 m.DEFAULT_DISTANCE_THRESHOLD
requires_toggled_on bool

Whether the heat source object needs to be toggled on to emit heat. Requires toggleable ability if set to True.

 False
requires_closed bool

Whether the heat source object needs to be closed (e.g. in terms of the joints) to emit heat. Requires openable ability if set to True.

 False
requires_inside bool

Whether an object needs to be inside the heat source to receive heat. See the Inside state for details. This will mean that the "heating element" link for the object will be ignored.

 False
Source code in omnigibson/object_states/heat_source_or_sink.py 
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def __init__(
    self,
    obj,
    temperature=m.DEFAULT_TEMPERATURE,
    heating_rate=m.DEFAULT_HEATING_RATE,
    distance_threshold=m.DEFAULT_DISTANCE_THRESHOLD,
    requires_toggled_on=False,
    requires_closed=False,
    requires_inside=False,
):
    """
    Args:
        obj (StatefulObject): The object with the heat source ability.
        temperature (float): The temperature of the heat source.
        heating_rate (float): Fraction in [0, 1] of the temperature difference with the
            heat source temperature should be received every step, per second.
        distance_threshold (float): The distance threshold which an object needs
            to be closer than in order to receive heat from this heat source.
        requires_toggled_on (bool): Whether the heat source object needs to be
            toggled on to emit heat. Requires toggleable ability if set to True.
        requires_closed (bool): Whether the heat source object needs to be
            closed (e.g. in terms of the joints) to emit heat. Requires openable
            ability if set to True.
        requires_inside (bool): Whether an object needs to be `inside` the
            heat source to receive heat. See the Inside state for details. This
            will mean that the "heating element" link for the object will be
            ignored.
    """
    super(HeatSourceOrSink, self).__init__(obj)
    self._temperature = temperature
    self._heating_rate = heating_rate
    self.distance_threshold = distance_threshold

    # If the heat source needs to be toggled on, we assert the presence
    # of that ability.
    if requires_toggled_on:
        assert ToggledOn in self.obj.states
    self.requires_toggled_on = requires_toggled_on

    # If the heat source needs to be closed, we assert the presence
    # of that ability.
    if requires_closed:
        assert Open in self.obj.states
    self.requires_closed = requires_closed

    # If the heat source needs to contain an object inside to heat it,
    # we record that for use in the heat transfer process.
    self.requires_inside = requires_inside

affects_obj(obj)

Computes whether this heat source or sink object is affecting object @obj Computes the temperature delta that may be applied to object @obj. NOTE: This value is agnostic to simulation stepping speed, and should be scaled accordingly

Parameters:

Name Type Description Default
obj StatefulObject

Object whose temperature delta should be computed

 required

Returns:

Name Type Description
bool

Whether this heat source or sink is currently affecting @obj's temperature
Source code in omnigibson/object_states/heat_source_or_sink.py 
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def affects_obj(self, obj):
    """
    Computes whether this heat source or sink object is affecting object @obj
    Computes the temperature delta that may be applied to object @obj. NOTE: This value is agnostic to simulation
    stepping speed, and should be scaled accordingly

    Args:
        obj (StatefulObject): Object whose temperature delta should be computed

    Returns:
        bool: Whether this heat source or sink is currently affecting @obj's temperature
    """
    # No change if we're not on
    if not self.get_value():
        return False

    # Otherwise, check for other edge cases
    # If we require the object to be inside, make sure the object is inside, otherwise, we return 0
    # Otherwise, make sure the object is within close proximity of this heat source
    if self.requires_inside:
        if not obj.states[Inside].get_value(self.obj):
            return False
    else:
        aabb_lower, aabb_upper = obj.states[AABB].get_value()
        obj_pos = (aabb_lower + aabb_upper) / 2.0
        # Position is either the AABB center of the default link or the metalink position itself
        heat_source_pos = self.link.aabb_center if self.link == self._default_link else self.link.get_position()
        if T.l2_distance(heat_source_pos, obj_pos) > self.distance_threshold:
            return False

    # If all checks pass, we're actively influencing the object!
    return True

# Nothing needs to be done to save/load HeatSource