Merge pull request #150 from ARISE-Initiative/composite-utils

Composite Robot Utilities and Tests

robosuite/demos/demo_composite_robot.py

@@ -0,0 +1,25 @@
+import argparse
+
+import numpy as np
+
+import robosuite as suite
+import robosuite.utils.test_utils as tu
+from robosuite.controllers import load_composite_controller_config
+from robosuite.utils.robot_composition_utils import create_composite_robot
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument("--robot", type=str, required=True)
+    parser.add_argument("--base", type=str, default=None)
+    parser.add_argument("--grippers", nargs="+", type=str, default=["PandaGripper"])
+    parser.add_argument("--env", type=str, default="Lift")
+
+    args = parser.parse_args()
+
+    name = f"Custom{args.robot}"
+    create_composite_robot(name, base=args.base, robot=args.robot, grippers=args.grippers)
+    controller_config = load_composite_controller_config(controller="BASIC", robot=name)
+
+    tu.create_and_test_env(env="Lift", robots=name, controller_config=controller_config)