ArticulatedObjects: Enable support for secondary json config files. #1458
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facebook-github-bot
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Skylion007
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Aug 30, 2021
src/esp/physics/PhysicsManager.cpp
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| // instance. | ||
| existingArticulatedObjects_.at(aObjID)->setUserAttributes( | ||
| existingArticulatedObjects_.at(aObjID)->mergeUserAttributes( |
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Nit: calling at(aObjId) is not free. The reference should really be cached between these calls, don't you think?
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Every little bit helps, yeah
Skylion007
approved these changes
Aug 30, 2021
src/esp/io/URDFParser.cpp
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| @@ -185,13 +240,13 @@ bool Parser::parseURDF(std::shared_ptr<Model>& urdfModel, | |||
| urdfModel->m_links[link->m_name] = link; | |||
| } | |||
| } else { | |||
| ESP_ERROR() << "E - failed to parse link. Aborting parse/load for" | |||
| ESP_ERROR() << "Failed to parse link. Aborting parse/load for" | |||
| << filename; | |||
| return false; | |||
| } | |||
| } | |||
| if (urdfModel->m_links.size() == 0) { | |||
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Suggested change
| if (urdfModel->m_links.size() == 0) { | |
| if (urdfModel->m_links.empty()) { |
aclegg3
approved these changes
Aug 30, 2021
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Motivation and Context
This PR introduces support of Json config files for URDF-based ArticulatedObject models in the URDFParser, which will hold default user-defined attributes (Such as bounding boxes for placements) that apply to all instances of articulated objects built from these models. This PR also removed extraneous markers from error messages that did not match the format of our current message logging in the URDFParser.
To be compatible with this functionality, the json config file holding the user_defined attributes must meet these criteria :
How Has This Been Tested
Locally c++ and python tests.
Types of changes
Checklist