Robot Definitions

How robots are defined as follows. This class will dynamically inherit the actual robot implementations.

class RobotDefBase:
    def define(self, *args, **kwargs):
        """Definitions of the robot space"""
        self.inpt = DefDict(input_space_definition)
        self.state = DefDict(state_space_definition)
        self.outpt = DefDict(output_space_definition)
        self.info = DefDict(definitions_of_additional_info_to_save)

        self.joint_space = DefDict(joint_space_definition)
        self.task_space = DefDict(task_space_definition)
        self.jacobian = DefDict(jacobian_space_definition)

    def fk(self, jointspace: DefDict, *args, **kwargs):
        raise NotImplementedError

    def ik(self, taskspace: DefDict, *args, **kwargs):
        raise NotImplementedError

    def jb(self, jointspace: DefDict, *args, **kwargs):
        raise NotImplementedError