--[BE Week] Articulated Object Loading refactors and cleanup - Githubissues

facebookresearch / habitat-sim

A flexible, high-performance 3D simulator for Embodied AI research.

https://aihabitat.org/

MIT License

2.54k stars 414 forks source link

--[BE Week] Articulated Object Loading refactors and cleanup #2291

Closed jturner65 closed 8 months ago

jturner65 commented 8 months ago

Motivation and Context

This PR introduces some cleanup and essential prerequisite work for the upcoming support for Non-uniform scaling for Articulated Objects.

A scene instance boolean is introduced to specify whether or not to apply the product of the geometric scale vector to the mass for objects and articulated objects.
A few functions were refactored to get rid of unconventional or non-descriptive function prototypes
A few unused functions were removed.

How Has This Been Tested

All c++ and python tests passed locally

Types of changes

[x] Docs change / refactoring / dependency upgrade
[ ] Bug fix (non-breaking change which fixes an issue)
[x] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to change)

Checklist

[x] My code follows the code style of this project.
[x] My change requires a change to the documentation.
[x] I have updated the documentation accordingly.
[x] I have read the CONTRIBUTING document.
[x] I have completed my CLA (see CONTRIBUTING)
[x] I have added tests to cover my changes.
[x] All new and existing tests passed.