File size: 2,386 Bytes
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from robosuite.models.robots.robot_model import REGISTERED_ROBOTS, RobotModel
from robosuite.robots import register_robot_class
from robosuite.utils.log_utils import ROBOSUITE_DEFAULT_LOGGER
from robosuite.utils.robot_utils import check_bimanual
BASE_TARGET_MAPPING = {
"RethinkMount": "FixedBaseRobot",
"RethinkMinimalMount": "FixedBaseRobot",
"NullMount": "FixedBaseRobot",
"OmronMobileBase": "WheeledRobot",
"NullMobileBase": "WheeledRobot",
"NoActuationBase": "LeggedRobot",
"Spot": "LeggedRobot",
"SpotFloating": "LeggedRobot",
}
def get_target_type(base) -> str:
"""
Returns the target type of the robot
"""
return BASE_TARGET_MAPPING[base]
def create_composite_robot(
name: str, robot: str, base: Optional[str] = None, grippers: Optional[Union[str, List[str], Tuple[str]]] = None
) -> RobotModel:
"""
Factory function to create a composite robot
"""
bimanual_robot = check_bimanual(robot)
grippers = grippers if type(grippers) == list or type(grippers) == tuple else [grippers]
# perform checks and issues warning if necessary
if bimanual_robot and len(grippers) == 1:
grippers = grippers + grippers
if not bimanual_robot and len(grippers) == 2:
ROBOSUITE_DEFAULT_LOGGER.warning(
f"Grippers {grippers} supplied for single gripper robot.\
Using gripper {grippers[0]}."
)
if not base:
base = REGISTERED_ROBOTS[robot]().default_base
if robot in ["Tiago", "GR1"] and base:
ROBOSUITE_DEFAULT_LOGGER.warning(f"Defined custom base when using {robot} robot. Ignoring base.")
if robot in ["Tiago"]:
base = "NullMobileBase"
elif robot == "GR1":
base = "NoActuationBase"
target_type = get_target_type(base)
class_dict = {
"default_base": property(lambda self: base),
"default_arms": property(lambda self: {"right": robot}),
"default_gripper": property(
lambda self: {"right": grippers[0], "left": grippers[1]} if bimanual_robot else {"right": grippers[0]}
),
}
CustomCompositeRobotClass = type(name, (REGISTERED_ROBOTS[robot],), class_dict)
register_robot_class(target_type)(CustomCompositeRobotClass)
return CustomCompositeRobotClass
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