From f41187690ac6607dede2bd50cf50f2360f40b223 Mon Sep 17 00:00:00 2001 From: Alexander Clegg Date: Tue, 12 Nov 2024 14:18:26 -1000 Subject: [PATCH] remove outdated use of Simulator based bb drawing API (#2106) --- habitat-lab/habitat/tasks/rearrange/rearrange_sim.py | 9 --------- 1 file changed, 9 deletions(-) diff --git a/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py b/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py index 5fdb1335fd..b8dce76962 100644 --- a/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py +++ b/habitat-lab/habitat/tasks/rearrange/rearrange_sim.py @@ -749,10 +749,6 @@ def _create_obj_viz(self): rom = self.get_rigid_object_manager() obj_attr_mgr = self.get_object_template_manager() - # Enable BB render for the debug render call. - for obj_id in self._draw_bb_objs: - self.set_object_bb_draw(True, obj_id) - if self._debug_render_goal: for target_handle, transform in self._targets.items(): # Visualize the goal of the object @@ -767,7 +763,6 @@ def _create_obj_viz(self): ro = rom.add_object_by_template_handle( list(matching_templates.keys())[0] ) - self.set_object_bb_draw(True, ro.object_id) ro.transformation = transform make_render_only(ro, self) ro_global_bb = habitat_sim.geo.get_transformed_bb( @@ -913,10 +908,6 @@ def step(self, action: Union[str, int]) -> Observations: rom = self.get_rigid_object_manager() self._try_acquire_context() - # Disable BB drawing for observation render - for obj_id in self._draw_bb_objs: - self.set_object_bb_draw(False, obj_id) - # Remove viz objects for obj in self._viz_objs.values(): if obj is not None and rom.get_library_has_id(obj.object_id):