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Utility functions for grabbing user inputs
"""
import numpy as np
import robosuite as suite
import robosuite.utils.transform_utils as T
# from robosuite.devices import *
from robosuite.models.robots import *
from robosuite.robots import *
def choose_environment():
"""
Prints out environment options, and returns the selected env_name choice
Returns:
str: Chosen environment name
"""
# get the list of all environments
envs = sorted(suite.ALL_ENVIRONMENTS)
# Select environment to run
print("Here is a list of environments in the suite:\n")
for k, env in enumerate(envs):
print("[{}] {}".format(k, env))
print()
try:
s = input("Choose an environment to run " + "(enter a number from 0 to {}): ".format(len(envs) - 1))
# parse input into a number within range
k = min(max(int(s), 0), len(envs))
except:
k = 0
print("Input is not valid. Use {} by default.\n".format(envs[k]))
# Return the chosen environment name
return envs[k]
def choose_controller(part_controllers=False):
"""
Prints out controller options, and returns the requested controller name
Returns:
str: Chosen controller name
"""
# get the list of all controllers
controllers = list(suite.ALL_PART_CONTROLLERS) if part_controllers else list(suite.ALL_COMPOSITE_CONTROLLERS)
# Select controller to use
print("Here is a list of controllers in the suite:\n")
for k, controller in enumerate(controllers):
print("[{}] {}".format(k, controller))
print()
try:
s = input("Choose a controller for the robot " + "(enter a number from 0 to {}): ".format(len(controllers) - 1))
# parse input into a number within range
k = min(max(int(s), 0), len(controllers) - 1)
except:
k = 0
print("Input is not valid. Use {} by default.".format(controllers)[k])
# Return chosen controller
return controllers[k]
def choose_multi_arm_config():
"""
Prints out multi-arm environment configuration options, and returns the requested config name
Returns:
str: Requested multi-arm configuration name
"""
# Get the list of all multi arm configs
env_configs = {
"Opposed": "opposed",
"Parallel": "parallel",
"Single-Robot": "single-robot",
}
# Select environment configuration
print("A multi-arm environment was chosen. Here is a list of multi-arm environment configurations:\n")
for k, env_config in enumerate(list(env_configs)):
print("[{}] {}".format(k, env_config))
print()
try:
s = input(
"Choose a configuration for this environment "
+ "(enter a number from 0 to {}): ".format(len(env_configs) - 1)
)
# parse input into a number within range
k = min(max(int(s), 0), len(env_configs))
except:
k = 0
print("Input is not valid. Use {} by default.".format(list(env_configs)[k]))
# Return requested configuration
return list(env_configs.values())[k]
def choose_robots(exclude_bimanual=False, use_humanoids=False, exclude_single_arm=False):
"""
Prints out robot options, and returns the requested robot. Restricts options to single-armed robots if
@exclude_bimanual is set to True (False by default). Restrict options to humanoids if @use_humanoids is set to True (Flase by default).
Args:
exclude_bimanual (bool): If set, excludes bimanual robots from the robot options
use_humanoids (bool): If set, use humanoid robots
Returns:
str: Requested robot name
"""
# Get the list of robots
if exclude_single_arm:
robots = set()
else:
robots = {"Sawyer", "Panda", "Jaco", "Kinova3", "IIWA", "UR5e", "SpotWithArmFloating", "XArm7"}
# Add Baxter if bimanual robots are not excluded
if not exclude_bimanual:
robots.add("Baxter")
robots.add("GR1ArmsOnly")
robots.add("Tiago")
if use_humanoids:
robots.add("GR1ArmsOnly")
# Make sure set is deterministically sorted
robots = sorted(robots)
# Select robot
print("Here is a list of available robots:\n")
for k, robot in enumerate(robots):
print("[{}] {}".format(k, robot))
print()
try:
s = input("Choose a robot " + "(enter a number from 0 to {}): ".format(len(robots) - 1))
# parse input into a number within range
k = min(max(int(s), 0), len(robots))
except:
k = 0
print("Input is not valid. Use {} by default.".format(list(robots)[k]))
# Return requested robot
return list(robots)[k]
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