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62 lines
2.2 KiB
62 lines
2.2 KiB
"""Factory function to instantiate a configured G1 RobotModel from URDF."""
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import os
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from pathlib import Path
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from typing import Literal
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from gear_sonic.data.robot_model.robot_model import RobotModel
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from gear_sonic.data.robot_model.supplemental_info.g1.g1_supplemental_info import (
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ElbowPose,
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G1SupplementalInfo,
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WaistLocation,
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)
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def instantiate_g1_robot_model(
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waist_location: Literal["lower_body", "upper_body", "lower_and_upper_body"] = "lower_body",
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high_elbow_pose: bool = False,
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):
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"""
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Instantiate a G1 robot model with configurable waist location and pose.
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Args:
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waist_location: Whether to put waist in "lower_body" (default G1 behavior),
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"upper_body" (waist controlled with arms/manipulation via IK),
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or "lower_and_upper_body" (waist reference from arms/manipulation
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via IK then passed to lower body policy)
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high_elbow_pose: Whether to use high elbow pose configuration for default joint positions
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Returns:
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RobotModel: Configured G1 robot model
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"""
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model_data_dir = Path(__file__).resolve().parent.parent / "model_data" / "g1"
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robot_model_config = {
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"asset_path": str(model_data_dir),
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"urdf_path": str(model_data_dir / "g1_29dof_with_hand.urdf"),
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}
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assert waist_location in [
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"lower_body",
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"upper_body",
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"lower_and_upper_body",
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], f"Invalid waist_location: {waist_location}. Must be 'lower_body' or 'upper_body' or 'lower_and_upper_body'"
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# Map string values to enums
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waist_location_enum = {
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"lower_body": WaistLocation.LOWER_BODY,
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"upper_body": WaistLocation.UPPER_BODY,
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"lower_and_upper_body": WaistLocation.LOWER_AND_UPPER_BODY,
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}[waist_location]
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elbow_pose_enum = ElbowPose.HIGH if high_elbow_pose else ElbowPose.LOW
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# Create single configurable supplemental info instance
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robot_model_supplemental_info = G1SupplementalInfo(
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waist_location=waist_location_enum, elbow_pose=elbow_pose_enum
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)
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robot_model = RobotModel(
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robot_model_config["urdf_path"],
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robot_model_config["asset_path"],
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supplemental_info=robot_model_supplemental_info,
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)
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return robot_model
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