Decouples rigid object and articulation asset classes #644
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Mayankm96
commented
Jul 5, 2024
source/extensions/omni.isaac.lab/test/assets/test_articulation.py
Outdated
Show resolved
Hide resolved
jtigue-bdai
approved these changes
Jul 8, 2024
source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
Outdated
Show resolved
Hide resolved
jsmith-bdai
reviewed
Jul 9, 2024
source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
Show resolved
Hide resolved
|
This seems like a big change, do you mind outlining the pros / cons of this approach? It looks like we're not getting much benefit at first glance, but are now having a lot of repeated code that will be difficult to maintain |
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Dhoeller19
approved these changes
Aug 2, 2024
jsmith-bdai
approved these changes
Aug 2, 2024
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
iamdrfly
pushed a commit
to iamdrfly/IsaacLab
that referenced
this pull request
Nov 21, 2024
# Description Since we override a lot of the functions from RigidObject inside the Articulation class, we don't need to rely on inheritance anymore. Duplicacy in the code makes it easier to understand the two classes' functionalities without severely added overhead from the maintenance side. Moreover, conceptually, it can be motivated that the two are independent concepts. This MR decouples the rigid object and articulation concepts in the framework. ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Since we override a lot of the functions from RigidObject inside the Articulation class, we don't need to rely on inheritance anymore. Duplicacy in the code makes it easier to understand the two classes' functionalities without severely added overhead from the maintenance side. Moreover, conceptually, it can be motivated that the two are independent concepts.
This MR decouples the rigid object and articulation concepts in the framework.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there