| # Utilities functions for working with robots | |
| from robosuite.models.robots.robot_model import REGISTERED_ROBOTS | |
| def check_bimanual(robot_name): | |
| """ | |
| Utility function that returns whether the inputted robot_name is a bimanual robot or not | |
| Args: | |
| robot_name (str): Name of the robot to check | |
| Returns: | |
| bool: True if the inputted robot is a bimanual robot | |
| """ | |
| robot = REGISTERED_ROBOTS[robot_name]() | |
| return robot.arm_type == "bimanual" | |