| | from typing import List, Optional, Tuple, Union |
| |
|
| | 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] |
| |
|
| | |
| | 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 |
| |
|
