Source code for embodichain_benchmarks.motion_generation.robots.ur5

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# Licensed under the Apache License, Version 2.0 (the "License");
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#     http://www.apache.org/licenses/LICENSE-2.0
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"""UR5 robot provider for motion-generation benchmarks."""

from __future__ import annotations

from embodichain.lab.sim.cfg import RobotCfg
from embodichain_robots import URRobotCfg
from embodichain.lab.sim.utility.cfg_utils import merge_robot_cfg
from .._atomic_fixtures import create_ur5_gripper_robot_cfg

from ..registry import register_robot_provider
from .base import RobotProvider

__all__ = ["UR5Provider", "UR5PgiProvider"]




class UR5Provider(RobotProvider):
    """Build the fixed-base UR5 used by the NMG free-space benchmark."""



    def build_cfg(self) -> RobotCfg:
        """Build a stock UR5 while applying optional suite overrides.

        Returns:
            The configured UR5 robot.
        """
        values = {
            "uid": "benchmark_ur5",
            "robot_type": "ur5",
            **dict(self.spec.config),
        }
        return URRobotCfg.from_dict(values)






class UR5PgiProvider(RobotProvider):
    """Build the UR5 with the tutorial PGI gripper for Atomic Skills."""



    def build_cfg(self) -> RobotCfg:
        """Use the tutorial UR5 arm, gripper, and TCP configuration.

        Returns:
            The configured UR5 with PGI gripper.
        """
        cfg = create_ur5_gripper_robot_cfg()
        return merge_robot_cfg(
            cfg,
            {
                "uid": "benchmark_ur5_pgi",
                **dict(self.spec.config),
            },
        )




register_robot_provider("ur5", UR5Provider)
register_robot_provider("ur5_pgi", UR5PgiProvider)