zpf/gazebo_world_manager
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feat: 添加能力列表

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zpff 2025-08-12 15:44:55 +08:00
parent 86929312b8
commit ab024afb30
3 changed files with 6 additions and 11 deletions
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3
model_mgr/model_types.py
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@ -163,7 +163,8 @@ class Model:
self.id = data.get("id", self.id) self.id = data.get("id", self.id)
self.pose.overwrite_from_dict(data.get("pose", {})) self.pose.overwrite_from_dict(data.get("pose", {}))
self.description = data.get("description", self.description) self.description = data.get("description", self.description)
self.ability_code = data.get("ability_code", self.ability_code) if "ability_code" in data:
self.ability_code = data["ability_code"]
self.tag_id = data.get("tag_id", self.tag_id) self.tag_id = data.get("tag_id", self.tag_id)
self.mass = data.get("mass", self.mass) self.mass = data.get("mass", self.mass)
self.size.overwrite_from_dict(data.get("size", {})) self.size.overwrite_from_dict(data.get("size", {}))

3
scene/grasp_box/config.json
View File

@ -5,7 +5,8 @@
"id": 1, "id": 1,
"name": "biped_s42", "name": "biped_s42",
"obj_type": 1, "obj_type": 1,
"description": "a biped robot model" "description": "a biped robot model",
"ability_code": ["move", "both_grab", "both_place", "identify", "turn", "head"]
}, },
{ {
"gen": true, "gen": true,

11
test.py
View File

@ -14,12 +14,5 @@ from model_mgr.manager import ModelManager
from scene_mgr.manager import SceneManager from scene_mgr.manager import SceneManager
scene_mgr = SceneManager() scene_mgr = SceneManager()
model_mgr = ModelManager() pr = scene_mgr.scene_id_dict[1].preload_models
print(f'preload models: {[m.model.to_dict() for m in pr]}')
model_mgr.load_models(scene_mgr.scene_id_dict[1].preload_models)
models = model_mgr.get_all_models()
print([x.to_dict() for x in models])
time.sleep(30)
for model in models:
if model.name != 'biped_s42':
model_mgr.remove_model(model.id)