Extended python robot interfaces #36
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to clarify that they are class objects
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Merging as soon as CI goes green |
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This PR mainly splits and extends the former
base.Robotinterface as previously discussed in #33.In particular, these are the new interfaces introduced in 3302e17:
RobotABC: common abstract base class shared by all implementations. It only provides avalid()method.RobotBaseFrame: set and get data related to the robot base, which can be either fixed or floating.RobotContacts: get data related to the active contacts with the environment. It is quite simple for simulated robots, more challenging for real ones.RobotJoints: set and get joint-related data. It is a small extension of what was already implemented in the previous unified interface.RobotLinks: get link-related data.At the moment the robots simulated in Gazebo and loaded through
FactoryRobothave not been update with the new methods. A dummy implementation is used instead 6fc9a09. A full implementation would require some work in C++, porting the same interfaces into thegympppackage. I will do it in a future PR.Few other new features have been included in this PR:
robot_features: decorator that add a class method to unify the verification that a robot object inherits from all the interfaces required for the computation. It can be used for example for the Tasks which might not require all the interfaces from a robot implementation. You can see a typical usage in 056702e._create_spaces()method. It is useful for readability to divide this logic and store it in a separated method. Depending on the runtime, its execution can be deferred to a later stage than class initialization.To conclude, I have a lot of new features pending (nice ones!). Since I took advantage to refactor many components of the project, I temporarily created a
develbranch and will push everything there. As soon as tests and functionality will be fully restored, I plan to merge to master and create the first release.