From 2ce41b837206bdf2609cd00564f7a4bacd5bcfe8 Mon Sep 17 00:00:00 2001 From: zpff Date: Thu, 14 Aug 2025 17:37:20 +0800 Subject: [PATCH] =?UTF-8?q?feat:=20=E5=85=88=E7=94=9F=E6=88=90=E9=9D=99?= =?UTF-8?q?=E7=89=A9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- model_mgr/manager.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/model_mgr/manager.py b/model_mgr/manager.py index 266b0e5..5cbffa7 100644 --- a/model_mgr/manager.py +++ b/model_mgr/manager.py @@ -1,4 +1,5 @@ import threading +import time from typing import List from gazebo_ctrl import GazeboROSController @@ -17,9 +18,16 @@ class ModelManager: self.rlock = threading.RLock() def load_models(self, pmodels: List[PreloadModel]): + static_types = [ModelType.TABLE, ModelType.TAG] with self.rlock: + # 性能平凡的机器上，需要先加载静物，再加载动物 for pmod in pmodels: - self.add_model(pmod.model, pmod.gen) + if pmod.model.obj_type in static_types: + self.add_model(pmod.model, pmod.gen) + time.sleep(5) + for pmod in pmodels: + if pmod.model.obj_type not in static_types: + self.add_model(pmod.model, pmod.gen) def add_model(self, model: Model, add_sim: bool = True): with self.rlock: