- **Scene configuration:**
- Replaced `bishop` object with `hole` and added a new `peg` object.
- Enhanced object properties with new attributes like `randomize`, `relative_to`, `static`, and `texture`.
- Updated `robot` joint positions in the default scene configuration.
- **Launch file updates:**
- Added handling for MoveIt SRDF file processing, including semantic descriptions.
- Refactored unused parameters (`gripper_name`, `hardware`) and streamlined arguments.
- Extended `robot_type` choices in the `generate_launch_description` method.
- **Runtime initialization:**
- Introduced `object_factory` to handle dynamic object instantiation based on type (`box`, `cylinder`, `mesh`, or `model`).
- Enhanced `scene_config_loader` to process and instantiate objects using the factory function.
Bill Finger
fbddca1b8b