modular configs - #191
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* Update scene schema, utils and client.cpp to read modular configs * Add example of modular configuration * Add modular configs for legacy example scripts * docs for modular configs * Remove modular config example scripts and clarify documentation --------- Co-authored-by: aurebidart <aure.bidart@gmail.com> Co-authored-by: MarinaGloc <tu-correo-de-github@example.com>
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This pull request introduces support for modular configuration of robot and environment actor settings by allowing multiple JSON files to be combined into a single configuration. The changes update both the schema and implementation to accept arrays of config files, merge them recursively, and update documentation to explain the new modular approach. This enables more flexible, reusable, and maintainable configuration management for robots and environment actors.
Schema and configuration changes:
scene_config_schema.jsoncto allow both a single string or an array of strings forrobot-configandenv-actor-config, enabling modular configuration composition. [1] [2]docs/config.md,docs/config_robot.md, anddocs/config_scene.md, including usage examples and notes on merging behavior. [1] [2] [3] [4]Implementation changes (Python):
load_scene_config_as_dictinutils.pyto support loading and merging multiple config files for both robots and environment actors. Added recursivemerge_dictsandmerge_listshelper functions to handle merging logic. [1] [2]Implementation changes (C++):
Scene::Loader::LoadActorWithJSONandLoadEnvActorWithJSONinscene.cppto support receiving an array of config objects, merging them (with later objects overriding earlier ones), and logging the merge process for debugging. [1] [2]Other:
These changes make it much easier to compose complex robot and environment actor configurations from reusable building blocks, improving maintainability and flexibility for simulation scenarios.
How Has This Been Tested?
Screenshots and videos (if appropriate):