File size: 592 Bytes
a9e0685 58418ff a9e0685 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 | from __future__ import annotations
from rlbench.backend.utils import task_file_to_task_class
def is_bimanual_task_name(task_name: str) -> bool:
return task_name.startswith("bimanual_")
def resolve_task_class(task_name: str):
if task_name == "open_drawer":
# The dual-panda RLBench fork provides dedicated bimanual drawer tasks.
# Route the generic smoke/rollout task name to the compatible variant.
return task_file_to_task_class("right_open_drawer", bimanual=True)
return task_file_to_task_class(task_name, bimanual=is_bimanual_task_name(task_name))
|