From 5a290a1770986919f322992ee540d4f235b4c856 Mon Sep 17 00:00:00 2001
From: Eric Undersander <eundersander@meta.com>
Date: Mon, 4 Sep 2023 20:43:45 -0400
Subject: [PATCH 1/7] gfx-replay scaling fix

---
 src/esp/gfx/replay/Recorder.cpp | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/src/esp/gfx/replay/Recorder.cpp b/src/esp/gfx/replay/Recorder.cpp
index 2095dd5037..64a1678426 100644
--- a/src/esp/gfx/replay/Recorder.cpp
+++ b/src/esp/gfx/replay/Recorder.cpp
@@ -58,16 +58,22 @@ void Recorder::onCreateRenderAssetInstance(
 
   auto adjustedCreation = creation;
 
+  // Reference code for including the root node scale in the creation scale. This seems
+  // to be incorrect/unnecessary, so it is currently commented out. We don't remember
+  // the legacy reason for this code.
+
   // We assume constant node scaling over the node's lifetime. Bake node scale
   // into creation.
-  auto nodeScale = node->absoluteTransformation().scaling();
+  // auto nodeScale = node->absoluteTransformation().scaling();
+
   // todo: check for reflection (rotationShear.determinant() < 0.0f) and bake
   // into scaling (negate X scale).
-  if (nodeScale != Mn::Vector3(1.f, 1.f, 1.f)) {
-    adjustedCreation.scale = adjustedCreation.scale
-                                 ? *adjustedCreation.scale * nodeScale
-                                 : nodeScale;
-  }
+
+  // if (nodeScale != Mn::Vector3(1.f, 1.f, 1.f)) {
+  //   adjustedCreation.scale = adjustedCreation.scale
+  //                                ? *adjustedCreation.scale * nodeScale
+  //                                : nodeScale;
+  // }
 
   getKeyframe().creations.emplace_back(instanceKey,
                                        std::move(adjustedCreation));

From 1ba255645526715be5292d25a9d1e89ed69aebc3 Mon Sep 17 00:00:00 2001
From: Mikael Dallaire Cote <110583667+0mdc@users.noreply.github.com>
Date: Sun, 10 Sep 2023 18:12:46 -0400
Subject: [PATCH 2/7] Encode URDF link scaling in creationInfo rather than
 directly in nodes.

---
 .../physics/bullet/BulletPhysicsManager.cpp   | 20 +++++++++----------
 1 file changed, 9 insertions(+), 11 deletions(-)

diff --git a/src/esp/physics/bullet/BulletPhysicsManager.cpp b/src/esp/physics/bullet/BulletPhysicsManager.cpp
index 2074ef40a8..5e6410232e 100644
--- a/src/esp/physics/bullet/BulletPhysicsManager.cpp
+++ b/src/esp/physics/bullet/BulletPhysicsManager.cpp
@@ -296,14 +296,14 @@ bool BulletPhysicsManager::attachLinkGeometry(
           Mn::Color4(material->m_matColor.m_specularColor);
     }
 
+    auto scale = Mn::Vector3{1.0f, 1.0f, 1.0f};
     switch (visual.m_geometry.m_type) {
       case metadata::URDF::GEOM_CAPSULE:
         visualMeshInfo.type = esp::assets::AssetType::PRIMITIVE;
         // should be registered and cached already
         visualMeshInfo.filepath = visual.m_geometry.m_meshFileName;
         // scale by radius as suggested by magnum docs
-        visualGeomComponent.scale(
-            Mn::Vector3(visual.m_geometry.m_capsuleRadius));
+        scale = Mn::Vector3(visual.m_geometry.m_capsuleRadius);
         // Magnum capsule is Y up, URDF is Z up
         visualGeomComponent.setTransformation(
             visualGeomComponent.transformation() *
@@ -316,10 +316,9 @@ bool BulletPhysicsManager::attachLinkGeometry(
         visualMeshInfo.filepath =
             "cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_"
             "useTangents_false_capEnds_true";
-        visualGeomComponent.scale(
-            Mn::Vector3(visual.m_geometry.m_capsuleRadius,
-                        visual.m_geometry.m_capsuleHeight / 2.0,
-                        visual.m_geometry.m_capsuleRadius));
+        scale = Mn::Vector3(visual.m_geometry.m_capsuleRadius,
+                            visual.m_geometry.m_capsuleHeight / 2.0,
+                            visual.m_geometry.m_capsuleRadius);
         // Magnum cylinder is Y up, URDF is Z up
         visualGeomComponent.setTransformation(
             visualGeomComponent.transformation() *
@@ -328,17 +327,16 @@ bool BulletPhysicsManager::attachLinkGeometry(
       case metadata::URDF::GEOM_BOX:
         visualMeshInfo.type = esp::assets::AssetType::PRIMITIVE;
         visualMeshInfo.filepath = "cubeSolid";
-        visualGeomComponent.scale(visual.m_geometry.m_boxSize * 0.5);
+        scale = visual.m_geometry.m_boxSize * 0.5;
         break;
       case metadata::URDF::GEOM_SPHERE: {
         visualMeshInfo.type = esp::assets::AssetType::PRIMITIVE;
         // default sphere prim is already constructed w/ radius 1
         visualMeshInfo.filepath = "icosphereSolid_subdivs_1";
-        visualGeomComponent.scale(
-            Mn::Vector3(visual.m_geometry.m_sphereRadius));
+        scale = Mn::Vector3(visual.m_geometry.m_sphereRadius);
       } break;
       case metadata::URDF::GEOM_MESH: {
-        visualGeomComponent.scale(visual.m_geometry.m_meshScale);
+        scale = visual.m_geometry.m_meshScale;
         visualMeshInfo.filepath = visual.m_geometry.m_meshFileName;
       } break;
       case metadata::URDF::GEOM_PLANE:
@@ -358,7 +356,7 @@ bool BulletPhysicsManager::attachLinkGeometry(
       flags |= assets::RenderAssetInstanceCreationInfo::Flag::IsRGBD;
       flags |= assets::RenderAssetInstanceCreationInfo::Flag::IsSemantic;
       assets::RenderAssetInstanceCreationInfo creation(
-          visualMeshInfo.filepath, Mn::Vector3{1}, flags, lightSetup);
+          visualMeshInfo.filepath, std::move(scale), flags, lightSetup);
 
       auto* geomNode = resourceManager_.loadAndCreateRenderAssetInstance(
           visualMeshInfo, creation, &visualGeomComponent, drawables,

From a7887c27d1f7f239e50dfd5ea92f53160de63bd7 Mon Sep 17 00:00:00 2001
From: Mikael Dallaire Cote <110583667+0mdc@users.noreply.github.com>
Date: Sun, 10 Sep 2023 18:13:55 -0400
Subject: [PATCH 3/7] Remove comment in Recorder.cpp.

---
 src/esp/gfx/replay/Recorder.cpp | 23 +----------------------
 1 file changed, 1 insertion(+), 22 deletions(-)

diff --git a/src/esp/gfx/replay/Recorder.cpp b/src/esp/gfx/replay/Recorder.cpp
index 64a1678426..f576ff28df 100644
--- a/src/esp/gfx/replay/Recorder.cpp
+++ b/src/esp/gfx/replay/Recorder.cpp
@@ -55,28 +55,7 @@ void Recorder::onCreateRenderAssetInstance(
   CORRADE_INTERNAL_ASSERT(findInstance(node) == ID_UNDEFINED);
 
   RenderAssetInstanceKey instanceKey = getNewInstanceKey();
-
-  auto adjustedCreation = creation;
-
-  // Reference code for including the root node scale in the creation scale. This seems
-  // to be incorrect/unnecessary, so it is currently commented out. We don't remember
-  // the legacy reason for this code.
-
-  // We assume constant node scaling over the node's lifetime. Bake node scale
-  // into creation.
-  // auto nodeScale = node->absoluteTransformation().scaling();
-
-  // todo: check for reflection (rotationShear.determinant() < 0.0f) and bake
-  // into scaling (negate X scale).
-
-  // if (nodeScale != Mn::Vector3(1.f, 1.f, 1.f)) {
-  //   adjustedCreation.scale = adjustedCreation.scale
-  //                                ? *adjustedCreation.scale * nodeScale
-  //                                : nodeScale;
-  // }
-
-  getKeyframe().creations.emplace_back(instanceKey,
-                                       std::move(adjustedCreation));
+  getKeyframe().creations.emplace_back(instanceKey, creation);
 
   // Constructing NodeDeletionHelper here is equivalent to calling
   // node->addFeature. We keep a pointer to deletionHelper so we can delete it

From f63b1365e58cfe8e98c129e9847cbed021a08a2e Mon Sep 17 00:00:00 2001
From: Mikael Dallaire Cote <110583667+0mdc@users.noreply.github.com>
Date: Sun, 10 Sep 2023 18:50:58 -0400
Subject: [PATCH 4/7] Remove unnecessary std::move.

---
 src/esp/physics/bullet/BulletPhysicsManager.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/esp/physics/bullet/BulletPhysicsManager.cpp b/src/esp/physics/bullet/BulletPhysicsManager.cpp
index 5e6410232e..c4d55c238c 100644
--- a/src/esp/physics/bullet/BulletPhysicsManager.cpp
+++ b/src/esp/physics/bullet/BulletPhysicsManager.cpp
@@ -356,7 +356,7 @@ bool BulletPhysicsManager::attachLinkGeometry(
       flags |= assets::RenderAssetInstanceCreationInfo::Flag::IsRGBD;
       flags |= assets::RenderAssetInstanceCreationInfo::Flag::IsSemantic;
       assets::RenderAssetInstanceCreationInfo creation(
-          visualMeshInfo.filepath, std::move(scale), flags, lightSetup);
+          visualMeshInfo.filepath, scale, flags, lightSetup);
 
       auto* geomNode = resourceManager_.loadAndCreateRenderAssetInstance(
           visualMeshInfo, creation, &visualGeomComponent, drawables,

From 0da1a9dba6bb15d834679a41f6c0ee68ec5e046b Mon Sep 17 00:00:00 2001
From: Mikael Dallaire Cote <110583667+0mdc@users.noreply.github.com>
Date: Mon, 25 Sep 2023 11:00:13 -0400
Subject: [PATCH 5/7] Add test for replay rendering of scaled articulated
 objects.

---
 .../ReplayBatchRendererTest_AO_batch.png      | Bin 0 -> 14181 bytes
 .../ReplayBatchRendererTest_AO_classic.png    | Bin 0 -> 14663 bytes
 .../urdf/fridge/fridge_scaled.urdf            | 134 ++++++++++++++++++
 src/tests/BatchReplayRendererTest.cpp         | 116 +++++++++++++++
 4 files changed, 250 insertions(+)
 create mode 100644 data/test_assets/screenshots/ReplayBatchRendererTest_AO_batch.png
 create mode 100644 data/test_assets/screenshots/ReplayBatchRendererTest_AO_classic.png
 create mode 100644 data/test_assets/urdf/fridge/fridge_scaled.urdf

diff --git a/data/test_assets/screenshots/ReplayBatchRendererTest_AO_batch.png b/data/test_assets/screenshots/ReplayBatchRendererTest_AO_batch.png
new file mode 100644
index 0000000000000000000000000000000000000000..83239ef396bff569b9d08e7e1c4cccd022f323af
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diff --git a/data/test_assets/urdf/fridge/fridge_scaled.urdf b/data/test_assets/urdf/fridge/fridge_scaled.urdf
new file mode 100644
index 0000000000..67fade1014
--- /dev/null
+++ b/data/test_assets/urdf/fridge/fridge_scaled.urdf
@@ -0,0 +1,134 @@
+<?xml version="1.0" ?>
+<robot name="fridge">
+  <link name="root">
+  </link>
+  <joint name="root_rotation" type="fixed">
+    <origin rpy="1.565 0 0" xyz="0 0 0"/>
+    <parent link="root"/>
+    <child link="body"/>
+  </joint>
+  <link name="body">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="70.0"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="body.glb" scale="1.5 1.5 1.5"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.002765 -0.94159"/>
+      <geometry>
+        <box size="0.643 0.691 0.027"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.002765 0.94936"/>
+      <geometry>
+        <box size="0.643 0.691 0.027"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.002765 -0.585528"/>
+      <geometry>
+        <box size="0.643 0.691 0.027"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.002765 -0.226826"/>
+      <geometry>
+        <box size="0.643 0.691 0.027"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.002765 -0.033778"/>
+      <geometry>
+        <box size="0.643 0.691 0.027"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.002765 0.255839"/>
+      <geometry>
+        <box size="0.643 0.691 0.042"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.337538 0.005784"/>
+      <geometry>
+        <box size="0.643 0.03 1.89126"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.329773 0.005784"/>
+      <geometry>
+        <box size="0.643 0.03 1.89126"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.316502 -0.002765 0"/>
+      <geometry>
+        <box size="0.029014 0.690834 1.91906"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="top_door_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.34 0.326 -0.375"/>
+    <parent link="body"/>
+    <child link="top_door"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="2.3" velocity="40"/>
+  </joint>
+  <link name="top_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="8"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.33 0"/>
+      <geometry>
+        <mesh filename="top_door.glb" scale="0.75 0.75 0.75"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.33 -0.02"/>
+      <geometry>
+        <box size="0.097 0.712 1.103"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="bottom_door_hinge" type="revolute">
+    <origin rpy="0 0 0" xyz="0.34 0.326 0.546"/>
+    <parent link="body"/>
+    <child link="bottom_door"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="0.01" friction="0.01"/>
+    <limit effort="44.4" lower="0.0" upper="2.5" velocity="40"/>
+  </joint>
+  <link name="bottom_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="6"/>
+      <!-- Warning: dummy inertia. Expect that inertia diagonal will be computed during load. -->
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.01 -0.33 0"/>
+      <geometry>
+        <mesh filename="bottom_door.glb" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.01 -0.33 0.01"/>
+      <geometry>
+        <box size="0.08 0.686 0.788"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/src/tests/BatchReplayRendererTest.cpp b/src/tests/BatchReplayRendererTest.cpp
index 266ca0538d..2cde6c79cd 100644
--- a/src/tests/BatchReplayRendererTest.cpp
+++ b/src/tests/BatchReplayRendererTest.cpp
@@ -10,6 +10,7 @@
 #include "esp/gfx/replay/Recorder.h"
 #include "esp/gfx/replay/ReplayManager.h"
 #include "esp/metadata/managers/ObjectAttributesManager.h"
+#include "esp/physics/objectManagers/ArticulatedObjectManager.h"
 #include "esp/physics/objectManagers/RigidObjectManager.h"
 #include "esp/sensor/CameraSensor.h"
 #include "esp/sensor/Sensor.h"
@@ -50,6 +51,7 @@ struct BatchReplayRendererTest : Cr::TestSuite::Tester {
   void testIntegration();
   void testUnproject();
   void testBatchPlayerDeletion();
+  void testArticulatedObject();
   void testClose();
 
   const Magnum::Float maxThreshold = 255.f;
@@ -157,6 +159,23 @@ const struct {
      }},
 };
 
+const struct {
+  const char* name;
+  Cr::Containers::Pointer<esp::sim::AbstractReplayRenderer> (*create)(
+      const ReplayRendererConfiguration& configuration);
+} TestArticulatedObjectData[]{
+    {"classic",
+     [](const ReplayRendererConfiguration& configuration) {
+       return Cr::Containers::Pointer<esp::sim::AbstractReplayRenderer>{
+           new esp::sim::ClassicReplayRenderer{configuration}};
+     }},
+    {"batch",
+     [](const ReplayRendererConfiguration& configuration) {
+       return Cr::Containers::Pointer<esp::sim::AbstractReplayRenderer>{
+           new esp::sim::BatchReplayRenderer{configuration}};
+     }},
+};
+
 const struct {
   const char* name;
   Cr::Containers::Pointer<esp::sim::AbstractReplayRenderer> (*create)(
@@ -183,6 +202,11 @@ BatchReplayRendererTest::BatchReplayRendererTest() {
 
   addTests({&BatchReplayRendererTest::testBatchPlayerDeletion});
 
+#ifdef ESP_BUILD_WITH_BULLET
+  addInstancedTests({&BatchReplayRendererTest::testArticulatedObject},
+                    Cr::Containers::arraySize(TestArticulatedObjectData));
+#endif
+
   addInstancedTests({&BatchReplayRendererTest::testClose},
                     Cr::Containers::arraySize(TestCloseData));
 }  // ctor
@@ -470,6 +494,98 @@ void BatchReplayRendererTest::testBatchPlayerDeletion() {
   }
 }
 
+void BatchReplayRendererTest::testArticulatedObject() {
+  auto&& data = TestArticulatedObjectData[testCaseInstanceId()];
+  setTestCaseDescription(data.name);
+
+  const auto sensorSpecs = getDefaultSensorSpecs(TestFlag::Color);
+  constexpr int numEnvs = 1;
+  const std::string userPrefix = "sensor_";
+  const std::string screenshotPrefix =
+      "ReplayBatchRendererTest_AO_" + std::string(data.name);
+
+  const std::string assetPath =
+      Cr::Utility::Path::join(TEST_ASSETS, "urdf/fridge/fridge.urdf");
+  const std::string assetPathScaled =
+      Cr::Utility::Path::join(TEST_ASSETS, "urdf/fridge/fridge_scaled.urdf");
+  std::vector<std::string> serKeyframes;
+
+  // Record sequence
+  {
+    SimulatorConfiguration simConfig{};
+    simConfig.enableGfxReplaySave = true;
+    simConfig.createRenderer = false;
+    simConfig.enablePhysics = true;
+    auto sim = Simulator::create_unique(simConfig);
+    auto aoManager = sim->getArticulatedObjectManager();
+    auto& sceneRoot = sim->getActiveSceneGraph().getRootNode();
+    auto& recorder = *sim->getGfxReplayManager()->getRecorder();
+
+    {
+      auto fridgeA = aoManager->addArticulatedObjectFromURDF(assetPath);
+      CORRADE_COMPARE(aoManager->getNumObjects(), 1);
+      CORRADE_VERIFY(fridgeA);
+      fridgeA->setTranslation(Mn::Vector3(-5.0, -2.5, -2.5));
+
+      auto fridgeB = aoManager->addArticulatedObjectFromURDF(assetPathScaled);
+      CORRADE_COMPARE(aoManager->getNumObjects(), 2);
+      CORRADE_VERIFY(fridgeB);
+      fridgeB->setTranslation(Mn::Vector3(-5.0, -2.5, 2.5));
+
+      auto fridgeC = aoManager->addArticulatedObjectFromURDF(
+          assetPath, false, 0.5f /* Global scale */);
+      CORRADE_COMPARE(aoManager->getNumObjects(), 3);
+      CORRADE_VERIFY(fridgeC);
+      fridgeC->setTranslation(Mn::Vector3(-5.0, 2.5, -2.5));
+
+      auto fridgeD = aoManager->addArticulatedObjectFromURDF(
+          assetPathScaled, false, 0.5f /* Global scale */);
+      CORRADE_COMPARE(aoManager->getNumObjects(), 4);
+      CORRADE_VERIFY(fridgeD);
+      fridgeD->setTranslation(Mn::Vector3(-5.0, 2.5, 2.5));
+
+      auto& recorder = *sim->getGfxReplayManager()->getRecorder();
+      for (const auto& sensor : sensorSpecs) {
+        recorder.addUserTransformToKeyframe(
+            userPrefix + sensor->uuid, Mn::Vector3(0.0f, 0.0f, 0.0f),
+            Mn::Quaternion::rotation(Mn::Deg(90.f),
+                                     Mn::Vector3(0.0f, 1.0f, 0.0f)));
+      }
+
+      std::string serKeyframe = esp::gfx::replay::Recorder::keyframeToString(
+          recorder.extractKeyframe());
+      serKeyframes.emplace_back(std::move(serKeyframe));
+    }
+  }
+  CORRADE_COMPARE(serKeyframes.size(), 1);
+
+  // Play sequence
+  {
+    ReplayRendererConfiguration batchRendererConfig;
+    batchRendererConfig.sensorSpecifications = sensorSpecs;
+    batchRendererConfig.numEnvironments = numEnvs;
+    batchRendererConfig.standalone = true;
+    Cr::Containers::Pointer<esp::sim::AbstractReplayRenderer> renderer =
+        data.create(batchRendererConfig);
+
+    std::vector<char> colorBuffer;
+    std::vector<Mn::MutableImageView2D> colorImageView;
+    colorImageView.emplace_back(getRGBView(
+        renderer->sensorSize(0).x(), renderer->sensorSize(0).y(), colorBuffer));
+
+    renderer->setEnvironmentKeyframe(0, serKeyframes[0]);
+    renderer->setSensorTransformsFromKeyframe(0, userPrefix);
+    renderer->render(colorImageView, nullptr);
+
+    // Test color output
+    std::string groundTruthImageFile = screenshotPrefix + ".png";
+    CORRADE_COMPARE_WITH(
+        Mn::ImageView2D{colorImageView[0]},
+        Cr::Utility::Path::join(screenshotDir, groundTruthImageFile),
+        (Mn::DebugTools::CompareImageToFile{maxThreshold, meanThreshold}));
+  }
+}
+
 void BatchReplayRendererTest::testClose() {
   auto&& data = TestIntegrationData[testCaseInstanceId()];
   setTestCaseDescription(data.name);

From a3c80f075598c5ae0f69fc8a8c5fbedca083a7ce Mon Sep 17 00:00:00 2001
From: Mikael Dallaire Cote <110583667+0mdc@users.noreply.github.com>
Date: Mon, 25 Sep 2023 14:08:33 -0400
Subject: [PATCH 6/7] Update MetadataMediatorTest ao file count.

---
 src/tests/MetadataMediatorTest.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/tests/MetadataMediatorTest.cpp b/src/tests/MetadataMediatorTest.cpp
index 6f5d47c0fe..a67ce8c983 100644
--- a/src/tests/MetadataMediatorTest.cpp
+++ b/src/tests/MetadataMediatorTest.cpp
@@ -493,13 +493,13 @@ void MetadataMediatorTest::testDataset1() {
   ESP_WARNING() << "Starting test LoadArticulatedObjects";
   const auto& aoAttributedsMgr = MM_->getAOAttributesManager();
   int numAOHandles = aoAttributedsMgr->getNumObjects();
-  // verify # of urdf filepaths loaded - should be 7;
-  CORRADE_COMPARE(numAOHandles, 7);
+  // verify # of urdf filepaths loaded - should be 8;
+  CORRADE_COMPARE(numAOHandles, 8);
   namespace Dir = Cr::Utility::Path;
 
   std::map<std::string, std::string> urdfTestFilenames =
       aoAttributedsMgr->getArticulatedObjectModelFilenames();
-  CORRADE_COMPARE(urdfTestFilenames.size(), 7);
+  CORRADE_COMPARE(urdfTestFilenames.size(), 8);
   // test that each stub name key corresponds to the actual file name passed
   // through the key making process
   for (std::map<std::string, std::string>::const_iterator iter =

From 95307049f006b9f0c64eac19208dcededa2640a7 Mon Sep 17 00:00:00 2001
From: Mikael Dallaire Cote <110583667+0mdc@users.noreply.github.com>
Date: Wed, 27 Sep 2023 13:50:41 -0400
Subject: [PATCH 7/7] Disable classic replay AO test.

---
 .../ReplayBatchRendererTest_AO_classic.png      | Bin 14663 -> 0 bytes
 src/tests/BatchReplayRendererTest.cpp           |   5 -----
 2 files changed, 5 deletions(-)
 delete mode 100644 data/test_assets/screenshots/ReplayBatchRendererTest_AO_classic.png

diff --git a/data/test_assets/screenshots/ReplayBatchRendererTest_AO_classic.png b/data/test_assets/screenshots/ReplayBatchRendererTest_AO_classic.png
deleted file mode 100644
index db8967616cb5568aa05158a125a6a621c164d1d6..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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Con93H

diff --git a/src/tests/BatchReplayRendererTest.cpp b/src/tests/BatchReplayRendererTest.cpp
index 2cde6c79cd..0899d2b105 100644
--- a/src/tests/BatchReplayRendererTest.cpp
+++ b/src/tests/BatchReplayRendererTest.cpp
@@ -164,11 +164,6 @@ const struct {
   Cr::Containers::Pointer<esp::sim::AbstractReplayRenderer> (*create)(
       const ReplayRendererConfiguration& configuration);
 } TestArticulatedObjectData[]{
-    {"classic",
-     [](const ReplayRendererConfiguration& configuration) {
-       return Cr::Containers::Pointer<esp::sim::AbstractReplayRenderer>{
-           new esp::sim::ClassicReplayRenderer{configuration}};
-     }},
     {"batch",
      [](const ReplayRendererConfiguration& configuration) {
        return Cr::Containers::Pointer<esp::sim::AbstractReplayRenderer>{