Implement IRobotControl python bindings

[GiulioRomualdi]

The PR introduces the python bindings for the IRobotControl and the YARP implementation.

This is a usage example

import bipedal_locomotion_framework.bindings as blf
import time

if __name__ == "__main__":
    handler = blf.StdParametersHandler()
    handler.set_parameter_vector_string("joints_list", ["r_hip_pitch", "r_hip_roll", "r_hip_yaw", "r_knee", "r_ankle_pitch", "r_ankle_roll"])
    handler.set_parameter_vector_string("remote_control_boards", ["right_leg"])
    handler.set_parameter_string("robot_name", "icubSim")
    handler.set_parameter_string("local_prefix", "test_local")
    handler.set_parameter_float("positioning_duration", 3.0)
    handler.set_parameter_float("positioning_tolerance", 0.05)
    handler.set_parameter_float("position_direct_max_admissible_error", 0.1)

    # Create the control board
    control_board = blf.construct_remote_control_board_remapper(handler)
    time.sleep(1)

    # Create the robot control 
    robot_control = blf.YarpRobotControl()
    robot_control.initialize(handler)
    robot_control.set_driver(control_board.poly)

    # Move the robot
    robot_control.set_references([0.8, 0.5, 0.0, 0.0, 0.5, 0.0], \
                                 blf.IRobotControl.ControlMode.Position)
    
    while(1):
        time.sleep(2.0)
        print("I'm alive.")

[traversaro]

In the future it could make sense to ensure that we can compile the blf bindings even if YARP is disabled, but we can see how to do that later.

[diegoferigo]

Great! 🚀

[diegoferigo]

Is intended here to have both read and write capabilities?

[GiulioRomualdi]

I tried to replicate the c++ implementation. There they are members of a struct

[diegoferigo]

Ok. Then, it's up to you if you want to allow and it makes sense from python to override the values. Structs in python are typically mapped as NamedTuple if they are immutable, or dataclass if they are mutable (but they can be made immutable as well, they are more recent that NamedTuples).

I think that pybind creates a full class from a struct, but as said you can decide to make it read-only if it doesn't make sense to update the field after creation.

[diegoferigo]

This seems a complex output, did you double check in particular that info is mapped to native Python types?

[GiulioRomualdi]

Just checked if I print info it contains data of the form

[('r_hip_pitch', 0.5426321143221097), ('r_ankle_roll', 0.05311822268293803)]

[diegoferigo]

Ok great!