Better Receptacle filtering refactor

[aclegg3]

Motivation and Context

We want to use the scene Receptacle filtering earlier in the process. Currently, filters are only taken into account during sampling which is too late. This means our generic lists of Receptacles in the scene contains many un-usable entries to sift through.

This PR refactors the functionality to load and leverage the filter files into a set of util functions which can be used at other stages. It also adds the option to provide filter strings directly to the find_receptacles function to get a pre-filtered list of Receptacle instances.

How Has This Been Tested

Added a CI test to validate the functionality.

Example of using the new utils to get a pre-filtered list of Receptacles from the active scene:

import habitat.datasets.rearrange.samplers.receptacle as hab_receptacle
...
with habitat_sim.Simulator(cfg) as sim:
   scene_filter_filepath = hab_receptacle.get_scene_rec_filter_filepath(sim.metadata_mediator, sim.curr_scene_name)
   if scene_filter_filepath is not None:
      exclude_filter_strings = hab_receptacle.get_excluded_recs_from_filter_file(scene_filter_filepath)
      filtered_receptacles = hab_receptacle.find_receptacles(
         sim, 
        ignore_handles=None, #this is a list of object handles for parent objects to exclude
         exclude_filter_strings=exclude_filter_strings #this is a list of unique_name substrings to exclude.
      )

Types of changes

• [Refactoring] Large changes to the code that improve its functionality or performance
• [Development] A pull request that add new features to the habitat-lab task and environment codebase. Development Pull Requests must be small (less that 500 lines of code change), have unit testing, very extensive documentation and examples. These are typically new tasks, environments, sensors, etc... The review process for these Pull Request is longer because these changes will be maintained by our core team of developers, so make sure your changes are easy to understand!

Checklist

• My code follows the code style of this project.
• I have updated the documentation if required.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes if required.

[akshararai]

can you provide some examples of what these strings can be?

[aclegg3]

Sure, these are exactly the strings found in the receptacle_filter_files here: https://huggingface.co/datasets/hssd/hssd-hab/tree/main/scene_filter_files

In that file, they are exact matches for the Receptacle.unique_name attribute.

They can also be any substring you want. For example, an object hash like 033ec086c23a6d39fb37df87e6748c413bf80e29 or if the receptacles have semantic names, something like "top_drawer".

[akshararai]

looks great, thank you!