You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
15 lines
598 B
15 lines
598 B
from .g1 import instantiate_g1_robot_model
|
|
|
|
|
|
def get_robot_type_and_model(robot: str, enable_waist_ik: bool = False):
|
|
"""Get the robot type from the robot name."""
|
|
if robot.lower().startswith("g1"):
|
|
if "FixedLowerBody" in robot or "FloatingBody" in robot:
|
|
waist_location = "upper_body"
|
|
elif enable_waist_ik:
|
|
waist_location = "lower_and_upper_body"
|
|
else:
|
|
waist_location = "lower_body"
|
|
return "g1", instantiate_g1_robot_model(waist_location=waist_location)
|
|
else:
|
|
raise ValueError(f"Invalid robot name: {robot}")
|