Separates sensors from the physics engine to allow integration with mujoco.
Rational: In the aim of integrating mujoco as an alternative physics engine, this PR extracs the physics-engine-specifics from most of the sensor (all except for those relying on ray-casting).
Approach: In a newly created class PhysicsEngineInterface, functions for extracting poses are implemented for the two physics engines. The sensor the use that class instance to query the physics engine for information.
Example: The existing examples are not affected by this change as the default is pybullet. In the mujoco_example, the new functionality can be seen. Note that some sensors may introduces a computational overhead.
Separates sensors from the physics engine to allow integration with mujoco.
Rational: In the aim of integrating mujoco as an alternative physics engine, this PR extracs the physics-engine-specifics from most of the sensor (all except for those relying on ray-casting).
Approach: In a newly created class
PhysicsEngineInterface, functions for extracting poses are implemented for the two physics engines. The sensor the use that class instance to query the physics engine for information.Example: The existing examples are not affected by this change as the default is
pybullet. In themujoco_example, the new functionality can be seen. Note that some sensors may introduces a computational overhead.