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Add type hinting to pycub, update .gitignore #4

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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -4,3 +4,4 @@
*_build*
*.csv
*docs*
pycub_venv/
28 changes: 20 additions & 8 deletions icub_pybullet/pycub.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
import copy
import glob
import time
from typing import Literal
import numpy as np
import pybullet as p
from pybullet_utils.bullet_client import BulletClient
Expand All @@ -15,6 +16,17 @@
import atexit
import roboticstoolbox as rtb

ROBOT_JOINTS = Literal['l_shoulder_pitch', 'l_shoulder_roll', 'l_shoulder_yaw', 'l_arm_ft_sensor',
'l_elbow', 'l_wrist_prosup', 'l_wrist_pitch', 'l_wrist_yaw',
'r_shoulder_pitch', 'r_shoulder_roll', 'r_shoulder_yaw', 'r_arm_ft_sensor',
'r_elbow', 'r_wrist_prosup', 'r_wrist_pitch', 'r_wrist_yaw',
'r_hip_pitch', 'r_hip_roll', 'r_leg_ft_sensor', 'r_hip_yaw', 'r_knee',
'r_ankle_pitch', 'r_ankle_roll', 'r_foot_ft_sensor', 'r_foot_dh_frame_fixed_joint',
'l_hip_pitch', 'l_hip_roll', 'l_leg_ft_sensor', 'l_hip_yaw', 'l_knee',
'l_ankle_pitch', 'l_ankle_roll', 'l_foot_ft_sensor', 'l_foot_dh_frame_fixed_joint',
'neck_pitch', 'neck_roll', 'neck_yaw',
'torso_pitch', 'torso_roll', 'torso_yaw']


class pyCub(BulletClient):
"""
Expand Down Expand Up @@ -475,7 +487,7 @@ def prepare_log(self):
s += ";" + ",".join([str(_) for _ in activations])
return s

def move_position(self, joints, positions, wait=True, velocity=1, set_col_state=True, check_collision=True):
def move_position(self, joints: ROBOT_JOINTS | int | list[ROBOT_JOINTS] | list[int], positions, wait=True, velocity=1, set_col_state=True, check_collision=True):
"""
Move the specified joints to the given positions

Expand Down Expand Up @@ -513,12 +525,12 @@ def move_position(self, joints, positions, wait=True, velocity=1, set_col_state=
if wait:
self.wait_motion_done(check_collision=check_collision)

def move_velocity(self, joints, velocities):
def move_velocity(self, joints: ROBOT_JOINTS | int | list[ROBOT_JOINTS] | list[int], velocities):
"""
Move the specified joints with the specified velocity

:param joints: joint or list of joints to move
:type joints: int or list
:type joints: int, list, str
:param velocities: velocity or list of velocities to move the joints to
:type velocities: float or list
"""
Expand All @@ -538,12 +550,12 @@ def move_velocity(self, joints, velocities):
maxVelocity=self.joints[joint_id].max_velocity)
self.joints[joint_id].set_point = "vel"

def get_joint_state(self, joints=None, allow_error=False):
def get_joint_state(self, joints: ROBOT_JOINTS | int | list[ROBOT_JOINTS] | list[int] | None = None, allow_error=False):
"""
Get the state of the specified joints

:param joints: joint or list of joints to get the state of
:type joints: int or list, optional, default=None
:type joints: int, list, str, optional, default=None
:return: list of states of the joints
:rtype: list
"""
Expand All @@ -567,12 +579,12 @@ def get_joint_state(self, joints=None, allow_error=False):

return states

def motion_done(self, joints=None, check_collision=True):
def motion_done(self, joints: ROBOT_JOINTS | int | list[ROBOT_JOINTS] | list[int] | None = None, check_collision=True):
"""
Checks whether the motion is done.

:param joints: joint or list of joints to get the state of
:type joints: int or list, optional, default=None
:type joints: int, list, str, optional, default=None
:param check_collision: whether to check for collision during motion
:type check_collision: bool, optional, default=True
:return: True when motion is done, false otherwise
Expand Down Expand Up @@ -653,7 +665,7 @@ def move_cartesian(self, pose, wait=True, velocity=1, check_collision=True):
if wait:
self.wait_motion_done(check_collision=check_collision)

def find_joint_id(self, joint_name):
def find_joint_id(self, joint_name: ROBOT_JOINTS | int):
"""
Help function to get indexes from joint name of joint index in self.joints list

Expand Down