Rationale for separate joints.py file?

[tkevinbest]

Is there a reason to have Joints.py as a separate file instead of just including the joints class inside osl.py? I feel like anything we can do to cut down on files is a good thing.

Is there a use case for manually instantiating a joint? I see where one might want to manually instantiate an actuator, but it seems like you would always just do the osl object and only add one joint if you only wanted to make a joint.

[senthurayyappan]

The rationale behind having a separate module was to separate joint space attributes/methods (like home(), set_joint_impedance(), etc) from actuator attributes/methods. This would be a good setup when we start generalizing our library to support more motor drivers that may or may not have the same functionality as the dephy actuators.

The goal is to also move away from having the OSL class do everything.

[senthurayyappan]

I assigned myself to this issue and I'll close it when we successfully generalize various modules within our library.