Source code for embodichain_benchmarks.motion_generation.robots.franka

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"""Built-in Franka robot providers."""

from __future__ import annotations

from embodichain.lab.sim.cfg import RobotCfg
from embodichain_robots import FrankaPandaCfg
from .._atomic_fixtures import _create_franka_pgi_cfg

from ..registry import register_robot_provider
from .base import RobotProvider

__all__ = ["FrankaPandaProvider", "FrankaPgiProvider"]




class FrankaPandaProvider(RobotProvider):
    """Build the stock Franka Panda used by the free-space track."""



    def build_cfg(self) -> RobotCfg:
        """Build a stock Panda while applying optional suite overrides."""
        values = {
            "uid": "benchmark_franka_panda",
            "robot_type": "panda",
            **dict(self.spec.config),
        }
        return FrankaPandaCfg.from_dict(values)






class FrankaPgiProvider(RobotProvider):
    """Build the benchmark-owned Franka + PGI assembly used by the Atomic Skill suites.

    The suites were authored with the base rotated 180 degrees, as in the
    atomic-action tutorial scenes, so the provider keeps that rotation; suite
    overrides apply on top.
    """



    def build_cfg(self) -> RobotCfg:
        """Build the Franka + PGI benchmark configuration."""
        return _create_franka_pgi_cfg(
            {
                "uid": "benchmark_franka_pgi",
                "init_rot": [0.0, 0.0, 180.0],
                **dict(self.spec.config),
            }
        )




register_robot_provider("franka_panda", FrankaPandaProvider)
register_robot_provider("franka_pgi", FrankaPgiProvider)