add scale variable to the add_instance binding. (#2566)

* add scale variable to the add_instance binding. Necessary to support scaling of render assets from isaac integration

Author: aclegg3

src/esp/bindings/SimBindings.cpp

@@ -181,6 +181,7 @@ void initRenderInstanceHelperBindings(py::module& m) {
            "use_xyzw_orientations=False, we assume wxyz.)")
       .def("add_instance", &RenderInstanceHelper::AddInstance,
            py::arg("asset_filepath"), py::arg("semantic_id"),
+           py::arg("scale") = Mn::Vector3(1.0, 1.0, 1.0),
            "R(Add an instance of a render asset to the scene. The asset can be "
            "for example a .glb or .obj 3D model file. The instance gets an "
            "identity pose; change it later using set_world_poses.)")

src/esp/sim/RenderInstanceHelper.cpp

@@ -19,7 +19,8 @@ RenderInstanceHelper::RenderInstanceHelper(Simulator& sim,
 }
 
 int RenderInstanceHelper::AddInstance(const std::string& assetFilepath,
-                                      int semanticId) {
+                                      int semanticId,
+                                      const Magnum::Vector3& scale) {
   esp::assets::AssetInfo assetInfo;
   assetInfo.filepath = assetFilepath;
   assetInfo.forceFlatShading = false;
@@ -28,8 +29,6 @@ int RenderInstanceHelper::AddInstance(const std::string& assetFilepath,
   // flags |= RenderAssetInstanceCreationInfo::Flag::IsStatic;
   flags |= esp::assets::RenderAssetInstanceCreationInfo::Flag::IsRGBD;
   flags |= esp::assets::RenderAssetInstanceCreationInfo::Flag::IsSemantic;
-  const Corrade::Containers::Optional<Magnum::Vector3> scale =
-      Cr::Containers::NullOpt;
 
   assets::RenderAssetInstanceCreationInfo creation(assetFilepath, scale, flags,
                                                    DEFAULT_LIGHTING_KEY);

src/esp/sim/RenderInstanceHelper.h

@@ -5,6 +5,7 @@
 #ifndef ESP_SIM_RENDERINSTANCEHELPER_H_
 #define ESP_SIM_RENDERINSTANCEHELPER_H_
 
+#include <Magnum/Math/Vector3.h>
 #include <string>
 #include <vector>
 
@@ -50,7 +51,11 @@ class RenderInstanceHelper {
    * @param assetFilepath can be for example a .glb or .obj 3D model file
    * @param semanticId used for semantic rendering
    */
-  int AddInstance(const std::string& assetFilepath, int semanticId);
+  int AddInstance(const std::string& assetFilepath,
+                  int semanticId,
+                  const Magnum::Vector3& scale = Magnum::Vector3(1.0,
+                                                                 1.0,
+                                                                 1.0));
 
   /**
    * @brief Remove all instances from the scene.