--Articulated Object Attributes/Managers support #2178
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As with all JSON configs, the asset filepath is expected to be relative to the config's location on disk.
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--This specifies how to render the AO - using its skin, primitives, both or neither.
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--We want to fail on load of attributes configs if certain criteria are not met.
Retain boolean "fixed base" query for now, but this will be removed in favor of only having the enum-backed value.
Remove confusion with functions that add actual instances of objects.
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There's a couple linking errors in a few of the tests that I have to chase down, but functionally this is complete. Yay! |
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Also python bindings
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Motivation and Context
This PR adds support for articulated object configurations as Attributes, and their management via an AttributeManager, in the same way that Object Attributes, Stage Attributes, etc, are managed.
We allowed for articulated object json files already, to describe habitat-specific fields as well as certain overrides, but they were not integrated into the Metadata system and so were of limited usefulness.
This is currently a WIP.This PR is now ready to go!The handling of configs, either loaded directly if specified with .json extension, or built on the fly if specified filename is the source URDF file, currently works, and these configs are being used explicitly during AO instantiation to reference the URDF file and build the articulated objects.
How Has This Been Tested
All existing c and python tests pass.
More tests will be added to test the AO Attributes and Managers' functionality directly.
Types of changes
Checklist