Set node object IDs for articulated object links. - Githubissues

facebookresearch / habitat-sim

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

https://aihabitat.org/

MIT License

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Set node object IDs for articulated object links. #2376

Closed 0mdc closed 5 months ago

0mdc commented 5 months ago

Motivation and Context

This change sets the OBJECT_ID fields for articulated object nodes.

Notes:

For gfx-replay use cases, the articulated object link IDs are important. They are used to match gfx-replay instances with real objects.
For semantic rendering cases, we might want to have a separate field for the root object ID.
Tests are missing.

How Has This Been Tested

Tested using gfx-replay (habitat-sim -> habitat-lab -> Unity).

Types of changes

[ ] 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.
[ ] 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)
[ ] I have added tests to cover my changes.
[x] All new and existing tests passed.