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# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from gr00t.data.embodiment_tags import EmbodimentTag
# Mapping from gym-registered env_name prefix to EmbodimentTag.
# The prefix is the part before "/" in env_name (e.g. "libero_sim" from "libero_sim/task").
# Add new entries here when supporting a new benchmark.
ENV_PREFIX_TO_EMBODIMENT_TAG: dict[str, EmbodimentTag] = {
# Locomanipulation
"gr00tlocomanip_g1": EmbodimentTag.UNITREE_G1,
"gr00tlocomanip_g1_sim": EmbodimentTag.UNITREE_G1,
"gr00tlocomanip_g1_new": EmbodimentTag.UNITREE_G1,
# Posttrain benchmarks
"simpler_env_google": EmbodimentTag.SIMPLER_ENV_GOOGLE,
"simpler_env_widowx": EmbodimentTag.SIMPLER_ENV_WIDOWX,
"libero_sim": EmbodimentTag.LIBERO_PANDA,
"robocasa_panda_omron": EmbodimentTag.ROBOCASA_PANDA_OMRON,
"robocasa365_panda_omron": EmbodimentTag.ROBOCASA_PANDA_OMRON,
"gr1_unified": EmbodimentTag.ROBOCASA_GR1_TABLETOP,
}
def get_embodiment_tag_from_env_name(env_name: str) -> EmbodimentTag:
"""Get the EmbodimentTag for a gym-registered environment name.
Looks up the env_name prefix (before "/") in ENV_PREFIX_TO_EMBODIMENT_TAG.
Falls back to using the prefix directly as an EmbodimentTag value (most
prefixes are deliberately equal to their tag's value; the dict above only
patches the prefixes that diverge).
Raises:
ValueError: If the prefix is neither a key in
ENV_PREFIX_TO_EMBODIMENT_TAG nor a valid EmbodimentTag value. This
is the expected failure when a new benchmark is registered under a
new prefix but no mapping entry was added — the message points at
the exact fix so the failure is actionable at the call boundary
instead of surfacing as a cryptic enum error deeper in eval.
"""
prefix = env_name.split("/")[0]
if prefix in ENV_PREFIX_TO_EMBODIMENT_TAG:
return ENV_PREFIX_TO_EMBODIMENT_TAG[prefix]
try:
return EmbodimentTag(prefix)
except ValueError:
known_prefixes = sorted(ENV_PREFIX_TO_EMBODIMENT_TAG)
valid_tag_values = [tag.value for tag in EmbodimentTag]
raise ValueError(
f"env_name prefix {prefix!r} (from env_name {env_name!r}) maps to no "
f"EmbodimentTag. A gym environment is registered under this prefix, but "
f"it is neither a key in ENV_PREFIX_TO_EMBODIMENT_TAG nor a valid "
f"EmbodimentTag value. Add an entry to ENV_PREFIX_TO_EMBODIMENT_TAG in "
f"gr00t/eval/sim/env_utils.py.\n"
f" known prefixes: {known_prefixes}\n"
f" valid tag values: {valid_tag_values}"
) from None
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