Bill Finger fbddca1b8b refactor and extend runtime configuration handling ... - **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.		2024-11-22 02:15:09 +03:00
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default-scene-config.yaml	refactor and extend runtime configuration handling	2024-11-22 02:15:09 +03:00