| from .composite_controller import CompositeController, HybridMobileBase, WholeBodyIK | |
| from .composite_controller import REGISTERED_COMPOSITE_CONTROLLERS_DICT | |
| ALL_COMPOSITE_CONTROLLERS = REGISTERED_COMPOSITE_CONTROLLERS_DICT.keys() | |
| def composite_controller_factory(type, sim, robot_model, grippers): | |
| assert type in REGISTERED_COMPOSITE_CONTROLLERS_DICT, f"{type} controller is specified, but not imported or loaded" | |
| # Note: Currently we assume that the init arguments are same for all composite controllers. The situation might change given new controllers in the future, and we will adjust accodingly. | |
| # The default composite controllers are explicitly initialized without using the COMPOSITE_CONTORLLERS | |
| if type == "BASIC": | |
| return CompositeController(sim, robot_model, grippers) | |
| elif type == "HYBRID_MOBILE_BASE": | |
| return HybridMobileBase(sim, robot_model, grippers) | |
| elif type == "WHOLE_BODY_IK": | |
| return WholeBodyIK(sim, robot_model, grippers) | |
| else: | |
| return REGISTERED_COMPOSITE_CONTROLLERS_DICT[type](sim, robot_model, grippers) | |