--ao binding expansion; tighter restrictions on enum setting.

facebookresearch · Aug 16, 2023 · c4609d0 · c4609d0
1 parent 81cc117
commit c4609d0
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Showing 2 changed files with 85 additions and 24 deletions.
diff --git a/src/esp/bindings/AttributesBindings.cpp b/src/esp/bindings/AttributesBindings.cpp
@@ -186,9  186,43 @@ void initAttributesBindings(py::module& m) {
           R"(This method is inherited from Configuration, but should not be used with Attributes due
           to the possibility of changing the type of a required variable. Use the provided Attributes
           instead, to change values for this object.)",
-          "key"_a, "value"_a)
           "key"_a, "value"_a);
   // ======== Enums ================
 
   // ==== ArticulatedObjectBaseType enum ====
   // Describes the type of base joint used to connect the Articulated Object to
   // the world
   py::enum_<metadata::attributes::ArticulatedObjectBaseType>(
       m, "ArticulatedObjectBaseType")
       .value("UNSPECIFIED",
              metadata::attributes::ArticulatedObjectBaseType::Unspecified)
       .value("FREE", metadata::attributes::ArticulatedObjectBaseType::Free)
       .value("FIXED", metadata::attributes::ArticulatedObjectBaseType::Fixed);
 
   // ==== ArticulatedObjectInertiaSource enum ====
   // Describes the source of the interia values to use for the Articulated
   // Object.
   py::enum_<metadata::attributes::ArticulatedObjectInertiaSource>(
       m, "ArticulatedObjectInertiaSource")
       .value("UNSPECIFIED",
              metadata::attributes::ArticulatedObjectInertiaSource::Unspecified)
       .value("COMPUTED",
              metadata::attributes::ArticulatedObjectInertiaSource::Computed)
       .value("URDF",
              metadata::attributes::ArticulatedObjectInertiaSource::URDF);
 
   //
   // ==== ArticulatedObjectLinkOrder enum ====
   // Describes how the links in the Articulated Object should be ordered.
   py::enum_<metadata::attributes::ArticulatedObjectLinkOrder>(
       m, "ArticulatedObjectLinkOrder")
       .value("UNSPECIFIED",
              metadata::attributes::ArticulatedObjectLinkOrder::Unspecified)
       .value("URDF_ORDER",
              metadata::attributes::ArticulatedObjectLinkOrder::URDFOrder)
       .value("TREE_TRAVERSAL",
              metadata::attributes::ArticulatedObjectLinkOrder::TreeTraversal);
 
-      ;
   // ==== ArticulatedObjectAttributes ====
   py::class_<ArticulatedObjectAttributes, AbstractAttributes,
              ArticulatedObjectAttributes::ptr>(
@@ -221,7  255,22 @@ void initAttributesBindings(py::module& m) {
           "render_mode", &ArticulatedObjectAttributes::getRenderMode,
           &ArticulatedObjectAttributes::setRenderMode,
           R"(Whether we should render using the articulated object, its skin,
-          primitives representing each link, both or none.)");
           primitives representing each link, both or none.)")
       .def_property(
           "base_type", &ArticulatedObjectAttributes::getBaseType,
           &ArticulatedObjectAttributes::setBaseType,
           R"(The type of base/root joint to use to add this Articulated Object to the world.
           Possible values are "FREE" and "FIXED".)")
       .def_property(
           "inertia_source", &ArticulatedObjectAttributes::getInertiaSource,
           &ArticulatedObjectAttributes::setInertiaSource,
           R"(Tthe source of the inertia tensors to use for this Articulated Object.
           Possible values are "COMPUTED" and "URDF".)")
       .def_property(
           "link_order", &ArticulatedObjectAttributes::getLinkOrder,
           &ArticulatedObjectAttributes::setLinkOrder,
           R"(The link order to use for the linkages of this Articulated Object.
           Possible values are "URDF_ORDER" and "TREE_TRAVERSAL".)");
 
   // ==== AbstractObjectAttributes ====
   py::class_<AbstractObjectAttributes, AbstractAttributes,

diff --git a/src/esp/metadata/attributes/ArticulatedObjectAttributes.h b/src/esp/metadata/attributes/ArticulatedObjectAttributes.h
@@ -63,17  63,21 @@ class ArticulatedObjectAttributes : public AbstractAttributes {
 
   /**
    * @brief Set the type of base/root joint to use to add this Articulated
-   * Object to the world.
    * Object to the world. Cannot be "UNSPECIFIED"
    */
   void setBaseType(const std::string& baseType) {
-    // force to lowercase before setting
     // force to lowercase to check if present
     const std::string baseTypeLC = Cr::Utility::String::lowercase(baseType);
     auto mapIter = AOBaseTypeMap.find(baseTypeLC);
-    ESP_CHECK(mapIter != AOBaseTypeMap.end(),
-              "Illegal base type value"
-                  << baseType
-                  << "attempted to be set in ArticulatedObjectAttributes:"
-                  << getHandle() << ". Aborting.");
     if ((mapIter == AOBaseTypeMap.end()) ||
         (mapIter->second == ArticulatedObjectBaseType::Unspecified)) {
       ESP_ERROR(Mn::Debug::Flag::NoSpace)
           << "'" << baseType
           << "' is an illegal value for "
              "ArticulatedObjectAttributes::setBaseType, so default value "
           << get<std::string>("base_type") << " not changed.";
       return;
     }
     set("base_type", baseType);
   }
 
@@ -99,13  103,17 @@ class ArticulatedObjectAttributes : public AbstractAttributes {
    */
   void setInertiaSource(const std::string& inertiaSrc) {
     // force to lowercase before setting
-    const std::string renderModeLC = Cr::Utility::String::lowercase(inertiaSrc);
-    auto mapIter = AOInertiaSourceMap.find(renderModeLC);
-    ESP_CHECK(mapIter != AOInertiaSourceMap.end(),
-              "Illegal inertia source value"
-                  << inertiaSrc
-                  << "attempted to be set in ArticulatedObjectAttributes:"
-                  << getHandle() << ". Aborting.");
     const std::string inertiaSrcLC = Cr::Utility::String::lowercase(inertiaSrc);
     auto mapIter = AOInertiaSourceMap.find(inertiaSrcLC);
     if ((mapIter == AOInertiaSourceMap.end()) ||
         (mapIter->second == ArticulatedObjectInertiaSource::Unspecified)) {
       ESP_ERROR(Mn::Debug::Flag::NoSpace)
           << "'" << inertiaSrc
           << "' is an illegal value for "
              "ArticulatedObjectAttributes::setInertiaSource, so default value '"
           << get<std::string>("inertia_source") << "' not changed.";
       return;
     }
     set("inertia_source", inertiaSrc);
   }
 
@@ -131,13  139,17 @@ class ArticulatedObjectAttributes : public AbstractAttributes {
    */
   void setLinkOrder(const std::string& linkOrder) {
     // force to lowercase before setting
-    const std::string renderModeLC = Cr::Utility::String::lowercase(linkOrder);
-    auto mapIter = AOLinkOrderMap.find(renderModeLC);
-    ESP_CHECK(mapIter != AOLinkOrderMap.end(),
-              "Illegal link order value"
-                  << linkOrder
-                  << "attempted to be set in ArticulatedObjectAttributes:"
-                  << getHandle() << ". Aborting.");
     const std::string linkOrderLC = Cr::Utility::String::lowercase(linkOrder);
     auto mapIter = AOLinkOrderMap.find(linkOrderLC);
     if ((mapIter == AOLinkOrderMap.end()) ||
         (mapIter->second == ArticulatedObjectLinkOrder::Unspecified)) {
       ESP_ERROR(Mn::Debug::Flag::NoSpace)
           << "'" << linkOrder
           << "' is an illegal value for "
              "ArticulatedObjectAttributes::setLinkOrder, so default value '"
           << get<std::string>("link_order") << "' not changed.";
       return;
     }
     set("link_order", linkOrder);
   }