- Updated `camera.py` to use consistent float literals for default spawn positions.
- Removed unused import statements and organized imports in `robot.py` and `scene.py`.
- Removed debugging import from `scene.py` to clean up codebase.
- Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings.
- Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files.
- Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup.
- Updated `setup.py` to include `config` directory in package data.
- Changed `rbs_robot.launch.py` to use position control strategy by default.
- Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
- Updated Sphere, Cylinder, Box classes to support random color generation by accepting an optional color parameter and implementing random color assignment if none is provided.
- Improved documentation formatting in the RbsArm class for better readability and consistency.
- Refactored scene management to integrate both Model and Mesh classes, allowing for more flexible object handling. This includes updating object instantiation and adding comments for future color randomization implementation.
- Added `trimesh` as a dependency in the setup configuration to ensure proper functionality for mesh handling.
- Cleaned up node initialization in the runtime launch setup for improved readability.
- Enhanced the default scene configuration by including new ModelData and MeshData objects, with random color generation configured for MeshData.
- Renamed `MeshObjectData` to `ModelData` for clarity and introduced a new `MeshData` class to specifically handle mesh properties.
- Added a `random_color` attribute to `ObjectRandomizerData` and updated `ObjectData` to include a `color` attribute for better object customization.
- Introduced new gripper data classes for better organization and added a `GripperEnum` to categorize different gripper types.
- Implemented a new Mesh class for handling 3D mesh objects in Gazebo simulation, including methods for calculating inertia and generating SDF strings, with error handling for missing mesh files.
feat(robot): add support for handling scalar joint positions
- Updated `RobotData` and `RbsArm` to allow joint positions to be passed
as either a list or a scalar value.
- Refactored logic to dynamically handle scalar values and repeat them
across all joints.
- Added new `initial_arm_joint_positions` and
`initial_gripper_joint_positions` properties in `RbsArm`.
- Improved joint position initialization in the `Scene` class to
retrieve robot description asynchronously if not provided.
- Enhanced the launch script to configure environment variables based on
available CPU cores.
- Minor code cleanups and bug fixes, including terrain naming and
corrected joint defaultsd.
git commit --amend
