[Bugfix] Copy mesh before scaling if it was passed in as a parameter #80
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AndrejOrsula
approved these changes
Nov 28, 2024
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Description
#67 allowed users to pass in a preloaded mesh as a parameter, to avoid needing to keep reloading a mesh. That PR correctly realized that if the mesh is passed in as a parameter, we should copy it before scaling, to avoid destructively modifying the mesh that the user passed in. However, that PR had a bug in its implementation of that feature, resulting in it copying the mesh before scaling if the mesh was not passed in as a parameter. This PR addresses that.
Testing
I tested this PR on my local robot setup, where we pre-load a mesh and then add it multiple times with different scale values. Before the change, the mesh would keep scaling down until near-zero (because the pre-loaded mesh is what gets scaled). After the change, it properly applies the scale (because the pre-loaded mesh remains unmodified).
Let me know if you'd like me to create a test case within this repo / the simulated panda example for this PR. I figured since it is a one-word change, the above should be fine :)