Bill Finger
fbddca1b8b
- **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.
40 lines
1.2 KiB
Python
40 lines
1.2 KiB
Python
from pathlib import Path
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import yaml
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from dacite import from_dict
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from env_manager.models.configs import SceneData
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from typing import Dict, Any
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from env_manager.models.configs import (
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BoxObjectData, CylinderObjectData, MeshData, ModelData, ObjectData
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)
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def object_factory(obj_data: Dict[str, Any]) -> ObjectData:
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obj_type = obj_data.get('type', '')
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if obj_type == 'box':
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return BoxObjectData(**obj_data)
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elif obj_type == 'cylinder':
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return CylinderObjectData(**obj_data)
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elif obj_type == 'mesh':
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return MeshData(**obj_data)
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elif obj_type == 'model':
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return ModelData(**obj_data)
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else:
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return ObjectData(**obj_data)
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def scene_config_loader(file: str | Path) -> SceneData:
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def tuple_constructor(loader, node):
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return tuple(loader.construct_sequence(node))
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with open(file, "r") as yaml_file:
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yaml.SafeLoader.add_constructor("!tuple", tuple_constructor)
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scene_cfg = yaml.load(yaml_file, Loader=yaml.SafeLoader)
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scene_data = from_dict(data_class=SceneData, data=scene_cfg)
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scene_data.objects = [object_factory(obj) for obj in scene_cfg.get('objects', [])]
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print(scene_data)
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return scene_data
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