*******************
The SimFinger Class
*******************

The :class:`~trifinger_simulation.SimFinger` class provides a simulation
environment for the different finger robots.  Note that for this challenge, only
the finger type "trifingerpro" is used.

For the challenge, :class:`~trifinger_simulation.SimFinger` should not be used
directly but instead the wrapper class
:class:`~trifinger_simulation.TriFingerPlatform` should be used.  Therefore the
documentation here is limited to the relevant methods which are exposed through
:class:`~trifinger_simulation.TriFingerPlatform`.

.. The interface for controlling the robot in the simulation is equivalent to the
.. one of ``robot_interfaces::RobotFrontend`` that is used for the real robots.
.. Note, however, that there are some differences in behaviour between simulation
.. and real robot, see :ref:`sec-simulation-vs-real-robot`.

.. .. _simfinger-usage-example:
.. 
.. Usage Example
.. =============
.. 
.. ``demo_plain_torque_control.py`` shows a minimal example of how to control the
.. robot in simulation.
.. 
.. .. literalinclude:: ../examples/demo_plain_torque_control.py
..    :lines: 2-
.. 
.. The ``SimFinger`` class is a wrapper around pyBullet that sets up the
.. environment and provides an API to control the robot equivalent to the
.. ``RobotFrontend`` from the ``robot_interfaces`` package.  In fact, it should be
.. possible to simply replace the ``SimFinger`` instance with with an
.. ``RobotFrontend`` instance to execute the same code on the real robot (in
.. practice, there are a few things to consider, see
.. :ref:`sec-simulation-vs-real-robot`).
.. 
.. Note that the next simulation step is computed in the
.. ``append_desired_action()`` method.  So the state of the simulation only
.. changes when calling this method.



API Documentation
=================


.. autoclass:: trifinger_simulation.SimFinger

   .. automethod:: Action

   .. automethod:: append_desired_action

   .. automethod:: get_current_timeindex

   .. automethod:: get_timestamp_ms

   .. automethod:: get_desired_action

   .. automethod:: get_applied_action

   .. automethod:: get_observation

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.. autoclass:: trifinger_simulation.Action

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.. autoclass:: trifinger_simulation.Observation