My primary objective this week was to get the physical visualization and world up and running. In the launcher_world file, the physical dictionary was left blank, causing issues when running the physical world. I added the necessary contents, such as modules like ros2api,etc to resolve these errors.

Next, I encountered errors from Pydantic regarding type annotations for fields like running and threads in the launcher_visualisation file. After researching the Pydantic library, I type-annotated those fields as bool and List[Any], respectively. However, there were still inconsistencies with the data types of the internal and external ports mentioned in the file, which caused further errors. I standardized them as integer data types and made corresponding changes in the launcher_visualisation file.

After implementing these changes, the physical_rae visualization is now in a fully functional state and can be used for the webcam-based exercises.

To Do

  • Add a block of code to the academy.py file that will obtain live frames from HAL.py and render them using the GUI.py. This will be displayed in the exercise, creating a minimal working version of the exercise.