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8cf4ead | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | def get_body_ik_solver_settings_type(robot: str):
robot2body_ik_solver_settings_type = {
"G1FixedLowerBody": "sim_optimized",
"G1FixedBase": "sim_optimized",
"G1FloatingBody": "sim_optimized",
"G1ArmsOnly": "sim_optimized",
"G1ArmsOnlyFloating": "sim_optimized",
"G1": "default",
"GR1ArmsAndWaistFourierHands": "default",
"GR1FixedLowerBody": "default",
"GR1ArmsOnlyFourierHands": "default",
"GR1ArmsOnly": "default",
}
return robot2body_ik_solver_settings_type[robot]
def update_robosuite_controller_configs(
robot: str,
wbc_version: str = None,
enable_gravity_compensation: bool = False,
):
"""
Update the robosuite controller configs based on the robot type and wbc version.
"""
body_ik_solver_settings_type = get_body_ik_solver_settings_type(robot)
if robot.startswith("G1"):
if wbc_version == "gear_wbc":
if enable_gravity_compensation:
robosuite_controller_configs = (
"robocasa/examples/third_party_controller/default_mink_ik_g1_gear_wbc_gc.json"
)
else:
robosuite_controller_configs = (
"robocasa/examples/third_party_controller/default_mink_ik_g1_gear_wbc.json"
)
else:
if body_ik_solver_settings_type == "default":
robosuite_controller_configs = (
"robocasa/examples/third_party_controller/default_mink_ik_g1_wbc.json"
)
elif body_ik_solver_settings_type == "sim_optimized":
robosuite_controller_configs = (
"robocasa/examples/third_party_controller/"
"default_mink_ik_g1_wbc_sim_optimized.json"
)
else:
raise ValueError(
f"Invalid body_ik_solver_settings_type: {body_ik_solver_settings_type}"
)
elif robot.startswith("GR1"):
return "robocasa/examples/third_party_controller/default_mink_ik_gr1_smallkd.json"
else:
raise ValueError(f"Invalid robot: {robot}")
return robosuite_controller_configs
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