refactor(envs)!: base environment is now platform based#274
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juelg
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Apr 11, 2026
juelg
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- base environment is no longer the robot but for hardware an empty environment and for simulation the simulator
- greenlet implementation: MultiRobotWrapper steps the simulation only once for environment wraps
- new CoverWrapper needs to be added at the top of the stack, ensuring that the sim is correctly reset before the wrappers assume a clean sim state. Its only strictly necessary for simulator environments but also works for hardware environments.
- adapted initialization of the environments wraps
- added tests to test sim greenlet implementation
- base environment is no longer the robot but for hardware an empty environment and for simulation the simulator - greenlet implementation: MultiRobotWrapper steps the simulation only once for environment wraps - adapted initialization of the environments wraps - added tests to test sim greenlet implementation
There is now a CoverWrapper which needs to be added at the top of the stack. It ensures that the sim is correctly reset before the wrappers assume a clean sim state. Its only strictly necessary for simulator environments but also works for hardware environments.
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