groot_deployment / GR00T-WholeBodyControl /decoupled_wbc /control /envs /robocasa /utils /controller_utils.py
| 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 | |