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Extended python robot interfaces #36

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merged 19 commits into from
Sep 19, 2019

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diegoferigo
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@diegoferigo diegoferigo commented Sep 16, 2019

This PR mainly splits and extends the former base.Robot interface 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 a valid() 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 FactoryRobot have 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 the gympp package. 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.
  • The Task has a new _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.
  • Registered wrapped environments have no spec openai/gym#1554 broke the former logic of our runtime wrapper. A temporary workaround has been implemented in 97661ef. I'm currently testing a polished method, but let's merge this as it is right now.

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 devel branch 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.

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@traversaro traversaro left a comment

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I only commented a bit the interfaces.

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@diegoferigo diegoferigo mentioned this pull request Sep 17, 2019
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@diegoferigo diegoferigo force-pushed the feature/new_robot_interfaces branch 3 times, most recently from a4422ba to 1c54427 Compare September 18, 2019 13:16
@diegoferigo diegoferigo force-pushed the feature/new_robot_interfaces branch 2 times, most recently from 1657020 to ccd50bc Compare September 19, 2019 10:15
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Merging as soon as CI goes green

@diegoferigo diegoferigo merged commit 7e6ddef into robotology:devel Sep 19, 2019
@diegoferigo diegoferigo deleted the feature/new_robot_interfaces branch September 19, 2019 12:07
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