Ask about .py and .cpp 's function.

[L-SY]

Ask about .py and .cpp 's function.

[adamheins]

At the moment a lot of the parsing of configuration options, which notably includes parsing the configuration of the balanced objects, is done purely in Python, even when using the C++ controllers in upright_ros_interface. Therefore both Python and C++ components are currently required.

[L-SY]

Thank you for your answer！
I would also like to ask why it's not like ocs2_robot_example, which only uses C++ to complete all the content. Using pybing to connect C++ and Python seems to make the code more complex.

[adamheins]

Ideally, all the machinery would be written in C++ with bindings only to support simulation. However, prototyping in Python is faster than C++, so some of the code (the parsing in particular) was written in Python and it would take a fair bit of time and effort to translate it.

[adamheins]

I'll go ahead and close this; feel free to re-open if you have more questions.