ArticulatedObjects: Enable support for secondary json config files.#1458
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jturner65 merged 7 commits intofacebookresearch:masterfrom Aug 30, 2021
Merged
ArticulatedObjects: Enable support for secondary json config files.#1458jturner65 merged 7 commits intofacebookresearch:masterfrom
jturner65 merged 7 commits intofacebookresearch:masterfrom
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| // merge articulated object's user-defined attributes, if any exist in scene | ||
| // 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
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Aug 30, 2021
| 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
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Looks great, thanks for cleaning up. 👍
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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