| from abc import abstractmethod |
|
|
| from decoupled_wbc.control.base.env import Env |
| from decoupled_wbc.control.base.sensor import Sensor |
| from decoupled_wbc.control.robot_model.robot_model import RobotModel |
|
|
|
|
| class Hands: |
| """Container class for left and right hand environments. |
| |
| Attributes: |
| left: Environment for the left hand |
| right: Environment for the right hand |
| """ |
|
|
| left: Env |
| right: Env |
|
|
|
|
| class HumanoidEnv(Env): |
| """Base class for humanoid robot environments. |
| |
| This class provides the interface for accessing the robot's body, hands, and sensors. |
| """ |
|
|
| def body(self) -> Env: |
| """Get the robot's body environment. |
| |
| Returns: |
| Env: The body environment |
| """ |
| pass |
|
|
| def hands(self) -> Hands: |
| """Get the robot's hands. |
| |
| Returns: |
| Hands: Container with left and right hand environments |
| """ |
| pass |
|
|
| def sensors(self) -> dict[str, Sensor]: |
| """Get the sensors of this environment |
| |
| Returns: |
| dict: A dictionary of sensors |
| """ |
| pass |
|
|
| @abstractmethod |
| def robot_model(self) -> RobotModel: |
| """Get the robot model of this environment |
| This robot model is used to dispatch whole body actions to body |
| and hand actuators and to reconstruct proprioceptive |
| observations from body and hands. |
| |
| Returns: |
| RobotModel: The robot model |
| """ |
| pass |
|
|
