Make human_low_level_control approach work across all pybullet envs#32
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The approach previously assumed (a) simulator_state is always the dict PyBulletEnv builds, (b) the robot type exposes x/y/z + tilt/wrist features, and (c) only fan/blocks/coffee/circuit exist. This crashed on pybullet_blocks (list-shaped simulator_state, pose_x/pose_y/pose_z features) and silently fell back to fan's robot for any other env, so IK ran against the wrong base pose. - Tolerate raw-list simulator_state; defer physics_client_id/robot_id lookup into the mobile-base branch where they are actually used. - Read the current EE pose via shadow_robot.forward_kinematics() so the policy is independent of env state-feature names (fixes blocks and cover, the latter being a 2D env with no y feature). Tilt/wrist deltas now apply on top of the FK orientation, preserving roll. - Look up the active PyBulletEnv subclass via the registry and build the shadow robot from a fresh DIRECT client + plane + the env's own _create_pybullet_robot, skipping each subclass's body-loading override (tables/blocks/fans/etc. are not needed for IK). Smoke-tested across all 14 pybullet envs (ants, balance, barrier, blocks, boil, circuit, coffee, cover, fan, float, grow, laser, magic_bin, switch).
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Summary
simulator_stateis always the dict thatPyBulletEnvbuilds, (b) the robot type exposesx/y/z(+ optionallytilt/wrist), and (c) only fan/blocks/coffee/circuit exist. Result: it crashed onpybullet_blocks(list-shapedsimulator_state,pose_x/pose_y/pose_zfeatures) and silently ran IK against fan's base pose for every other env.simulator_state; defer thephysics_client_id/robot_idlookup into the mobile-base branch where they're the only consumer.shadow_robot.forward_kinematics(joint_positions)so the policy is independent of env-specific state feature names. Tilt/wrist deltas now apply on top of the FK orientation, preserving roll. (Fixes blocks and cover — the latter being a 2D env with noyfeature at all.)PyBulletEnvsubclass via theBaseEnvregistry and build the shadow robot from a freshconnect(DIRECT)+ plane + the env's own_create_pybullet_robot. Skips each subclass'sinitialize_pybulletoverride (no need to load tables/blocks/fans/etc. for IK), and avoids the previous fan-only fallback that gave wrong base poses.