29 lines
807 B
Python
29 lines
807 B
Python
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"""Franka composer class."""
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from pathlib import Path
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from typing import Optional, Union
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from dm_control import mjcf
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from gello.dm_control_tasks.arms.manipulator import Manipulator
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from gello.dm_control_tasks.mjcf_utils import MENAGERIE_ROOT
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XML = MENAGERIE_ROOT / "franka_emika_panda" / "panda_nohand.xml"
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GRIPPER_XML = MENAGERIE_ROOT / "robotiq_2f85" / "2f85.xml"
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class Franka(Manipulator):
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"""Franka Robot."""
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def _build(
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self,
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name: str = "franka",
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xml_path: Union[str, Path] = XML,
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gripper_xml_path: Optional[Union[str, Path]] = GRIPPER_XML,
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) -> None:
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super()._build(name="franka", xml_path=XML, gripper_xml_path=GRIPPER_XML)
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@property
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def flange(self) -> mjcf.Element:
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return self._mjcf_root.find("site", "attachment_site")
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