Introduce RobotDef protocol and robot registry#268
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Introduce a runtime-checkable RobotDef protocol that defines the contract for robot definitions in EmbodiChain. The protocol specifies required properties (name, urdf_cfg, control_parts, solver_cfg, drive_pros, attrs) and a build_cfg method that converts a RobotDef into a RobotCfg with support for property copying and merge overrides. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Adds a global robot registry (register_robot, get_robot_def, build_robot_cfg) so callers can reference robots by string name without knowing import paths. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Refactor CobotMagic to implement the RobotDef protocol and register it
in the global robot registry under the name "CobotMagic". All existing
configuration values (URDF paths, transforms, control parts, solver
configs, drive properties, rigid-body attributes) are preserved exactly.
CobotMagicCfg.from_dict() continues to work as a backward-compatible
wrapper that delegates to CobotMagicDef().build_cfg(). The __init__.py
exports both CobotMagicDef and CobotMagicCfg.
Tests added:
- test_cobotmagic_def_builds_valid_cfg: verifies uid, urdf_cfg,
control_parts, solver_cfg
- test_cobotmagic_def_registry: verifies get_robot_def("CobotMagic")
works and produces correct cfg
- test_cobotmagic_backward_compat_from_dict: verifies the legacy
CobotMagicCfg.from_dict({}) path still works
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Add DexforceW1Def implementing the RobotDef protocol, registered as "DexforceW1" in the global robot registry. The existing DexforceW1Cfg class retains backward compatibility by delegating from_dict to DexforceW1Def. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
yuecideng
added
enhancement
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Description
This PR introduces a RobotDef protocol and registry-driven robot definition flow for simulation robots, and migrates existing robot definitions to the new interface.
Motivation and context:
Dependencies: None.
Related issue: N/A (no linked issue)
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