Vk/consolidate robot#174
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…e base class. So there is no need to deviate away from the get_sensor() signature
- robohive/robot/hardware_base.py — new HARDWARE_REGISTRY/SENSOR_POSTPROCESS dicts and @register_hardware(type_name, sensor_postprocess=None) decorator (works on classes or factory functions). - robohive/robot/hardware_franka.py, hardware_robotiq.py, hardware_optitrack.py, hardware_realsense.py, hardware_realsense_single.py, hardware_dynamixel.py — each now conforms to hardwareBase (adds recover(), fixes get_sensors() naming/keys to the neutral pos/vel/effort contract) and self-registers via @register_hardware(...). - hardware_optitrack.py also had a pre-existing broken import (darwin.darwin_robot...) fixed to robohive.robot.hardware_base. - hardware_dynamixel.py's Dynamixels was previously non-functional. Added a real adapter. It will need a consolidation effort to reconsile all dynamixel based robots
- hardware_init, hardware_get_sensors, hardware_apply_controls, hardware_close collapsed from hardcoded if/elif chains on interface['type'] into uniform registry-driven loops. - New Robot.hardware_reset(reset_pos): a dedicated blocking/large-displacement reset path (each hardware class runs its own min-jerk trajectory), replacing the old hardware_apply_controls(..., is_reset=True) overload. - Fixes a real bug where reset indexed by hdr_id (counts all actuators) while the ctrl vector it built only counted qpos-type actuators — silently misaligned on any device mixing qpos and tendon actuators (e.g. arm+gripper). - get_visual_sensors() now duck-types hasattr(device['robot'], 'get_frame') instead of asserting interface['type'] == 'realsense', so UVC/webcam-style cameras (rgb-only, no depth) no longer crash it. - adr renamed to hdr_adr throughout (configure_robot(), camera calibration) — now consistently documented as a physical hardware address (motor ID, RTDE join- adr renamed to hdr_adr throughout (confe raise NotImplemented → raise NotImplementedError(...) with descriptive messages.
- Added robot_cls = kwargs.pop('robot_cls', Robot) extension point so downstream repos never need to subclass/swap Robot.
- Added optional init_qpos param — if provided, used directly as self.init_qpos; otherwise falls back to today's auto-computed mid-actuator-range behavior. Warns if hardware-backed with no explicit init_qpos (homing to an implicit pose is likely unintended on real hardware).
- Swapped the startup call from self.step(np.zeros(...)) to self.reset() + self.forward(), so hardware now goes through Robot.reset()'s min-jerk hardware_reset() on env construction instead of jumping straight to a raw zero-ctrl command from wherever the robot currently is.
… internally (to route hardware envs through min-jerk reset) instead of self.step(zeros). Since reset() is often overridden by subclasses, this exposed a latent ordering bug across ~20 env files: they computed a task-specific self.init_qpos after calling super()._setup(), but by then super()._setup() had already triggered the first reset() using a stale/default init_qpos. In relocate_v0.py this stale pose left the hand and object permanently in collision, and the env's collision-retry logic in reset() recursed forever (RecursionError).
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