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[core|python] More intuitive and straightforward control design.
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@duburcqa duburcqa released this 17 Jan 21:20
· 142 commits to master since this release
1.5.2
fe5c02a
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This release aims to make it easier and more intuitive to implement custom robot controllers. It also gets rid of custom file extensions for configuration files for clarity.

New features

  • [core/python] Enable direct inheritence of Python controllers from AbstractController.

Improvements

  • [core] Do not throw exception when calling addCollisionBodies with empty list and no geometry model.
  • [core/python] Add getters for controller's robot model and sensors data.
  • [core/python] Support engine init using callback only. Using single init method with default None args.
  • [python] Replace dedicated '.hdf'/'.config' extensions by '_hardware.toml'/'_options.toml' for clarity.
  • [python/robot] Enable to "fix" (aka override) relative mesh paths is URDF using 'mesh_path'.
  • [python/simulator] Move progress bar management at simulator level instead of controller. No controller by default.

Bug fixes

  • [core] Fix initialization of engine without controller.
  • [python/controller] Fix initialization throwing exception if OK.
  • [python/simulator] Fix 'build' method not fully compatible with derived classes overloading 'init'.
  • [python/simulator] Fix infinite recursive loop at exist if simulator constructor fails.

Miscellaneous

  • [misc] Disable compilation LTO since it is not really improving anything.
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