--[BE] - Miscellaneous minor refactors and cleanup (#2516)

* --This needs to assert; means an expected filetype has no support yet
* --properly instantiate light attr mgr test specialization
Have to put specialization in namespace due to  C++03, §14.7.3/2 standard.
* --clean up docstrings
* --must import quaternion library before habitat_sim for audio compile
If not imported here and sim is compiled with audio support, python tests will abort due to the habitat_sim import causing an invalid free() error
* --due to quaternion library dtypes, numpy must be version 1.26.4
* --add quaternion reference to files missing it.

.github/actions/install_ubuntu_deps/action.yml

@@ -50,7 +50,7 @@ runs:
     run: |-
       echo "Install conda and dependencies"
       conda install -y pytorch==1.12.1 torchvision==0.13.1 -c pytorch -c nvidia
-      conda install -y -c conda-forge ninja numpy pytest pytest-cov ccache hypothesis pytest-mock
+      conda install -y -c conda-forge ninja numpy=1.26.4 pytest pytest-cov ccache hypothesis pytest-mock
       pip install pytest-sugar pytest-xdist pytest-benchmark opencv-python cython mock
     shell: bash -el {0}
   - name: Validate Pytorch Installation

examples/tutorials/async_rendering.py

@@ -32,6 +32,11 @@
     back to the main thread by calling sim.get_sensor_observations_async_finish() by default.
 """
 
+
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 
 

examples/tutorials/stereo_agent.py

@@ -5,6 +5,10 @@
 
 import numpy as np
 
+# Need to import quaternion library here despite it not being used or else importing
+# habitat_sim below will cause an invalid free() when audio is enabled in sim compilation
+import quaternion  # noqa: F401
+
 import habitat_sim
 
 cv2 = None

src/esp/core/managedContainers/ManagedFileBasedContainer.h

@@ -120,7 +120,7 @@ class ManagedFileBasedContainer : public ManagedContainer<T, Access> {
   }  // ManagedFileBasedContainer::createObjectFromJSONString
 
   /**
-   * @brief Method to load a Managed Object's data from a file.  If the file
+   * @brief Method to load a Managed Object's data from a file. If the file
    * type is not supported by specialization of this method, this method
    * executes and an error is thrown.
    * @tparam type of document to load.
@@ -131,15 +131,19 @@ class ManagedFileBasedContainer : public ManagedContainer<T, Access> {
   template <typename U>
   ManagedFileIOPtr buildManagedObjectFromDoc(const std::string& filename,
                                              CORRADE_UNUSED const U& config) {
-    ESP_ERROR(Mn::Debug::Flag::NoSpace)
-        << "<" << this->objectType_
-        << "> : Failure loading attributes from document `" << filename
-        << "` of unknown type `" << typeid(U).name()
-        << "` so unable to build object.";
+    CORRADE_ASSERT(false,
+                   Cr::Utility::formatString(
+                       "<{}> : Failure loading attributes from document `{}` "
+                       "of unsupported file type `{}` so unable to build "
+                       "object. Make sure a specialization of "
+                       "ManagedFileBasedContainer::buildManagedObjectFromDoc() "
+                       "supporting this file type has been implemented.",
+                       this->objectType_, filename, typeid(U).name()),
+                   nullptr);
   }  // ManagedFileBasedContainer::buildManagedObjectFromDoc
 
   /**
-   * @brief Method to load a Managed Object's data from a file.  This is the
+   * @brief Method to load a Managed Object's data from a file. This is the
    * JSON specialization, using type inference.
    * @param filename name of file document to load from
    * @param config JSON document to read for data

src/esp/physics/objectWrappers/ManagedArticulatedObject.h

@@ -346,8 +346,6 @@ class ManagedArticulatedObject
   /**
    * @brief Retrieve a comma-separated string holding the header values for the
    * info returned for this managed object, type-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
 
   std::string getPhyObjInfoHeaderInternal() const override {

src/esp/physics/objectWrappers/ManagedPhysicsObjectBase.h

@@ -387,8 +387,6 @@ class AbstractManagedPhysicsObject
   /**
    * @brief Retrieve a comma-separated string holding the header values for
    * the info returned for this managed object, type-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
 
   virtual std::string getPhyObjInfoHeaderInternal() const = 0;

src/esp/physics/objectWrappers/ManagedRigidBase.h

@@ -248,8 +248,6 @@ class AbstractManagedRigidBase
   /**
    * @brief Retrieve a comma-separated string holding the header values for the
    * info returned for this managed object, type-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
 
   std::string getPhyObjInfoHeaderInternal() const override {
@@ -263,8 +261,6 @@ class AbstractManagedRigidBase
   /**
    * @brief Retrieve a comma-separated string holding the header values for
    * the info returned for this managed object, rigid-base-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
   virtual std::string getRigidBaseInfoHeaderInternal() const = 0;
   /**

src/esp/physics/objectWrappers/ManagedRigidObject.h

@@ -61,8 +61,6 @@ class ManagedRigidObject
   /**
    * @brief Retrieve a comma-separated string holding the header values for
    * the info returned for this managed object, rigid-base-specific.
-   * TODO : once Magnum supports retrieving key-values of configurations, use
-   * that to build this data.
    */
   std::string getRigidBaseInfoHeaderInternal() const override {
     return "Creation Attributes Name";