# Copyright 2019 The dm_control Authors.

#

# Licensed under the Apache License, Version 2.0 (the "License");

# you may not use this file except in compliance with the License.

# You may obtain a copy of the License at

#

# http://www.apache.org/licenses/LICENSE-2.0

#

# Unless required by applicable law or agreed to in writing, software

# distributed under the License is distributed on an "AS IS" BASIS,

# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

# See the License for the specific language governing permissions and

# limitations under the License.

# ============================================================================

"""Custom robot constructors with manipulation-specific defaults."""

from dm_control.entities.manipulators import kinova

from dm_control.manipulation.shared import observations

# The default position of the base of the arm relative to the origin.

ARM_OFFSET = (0., 0.4, 0.)

def make_arm(obs_settings):

"""Constructs a robot arm with manipulation-specific defaults.

Args:

obs_settings: `observations.ObservationSettings` instance.

Returns:

An instance of `manipulators.base.RobotArm`.

"""

return kinova.JacoArm(

observable_options=observations.make_options(

obs_settings, observations.JACO_ARM_OBSERVABLES))

def make_hand(obs_settings):

"""Constructs a robot hand with manipulation-specific defaults.

Args:

obs_settings: `observations.ObservationSettings` instance.

Returns:

An instance of `manipulators.base.RobotHand`.

"""

return kinova.JacoHand(

use_pinch_site_as_tcp=True,

observable_options=observations.make_options(

obs_settings, observations.JACO_HAND_OBSERVABLES))