How to add custom controller

This tutorial will show you how to add a controller for a robot

Before this tutorial, you should read:

• how to add robot

1. Add grutopia.core.robot.controller

Take this “ChatboxController” as an example,

from datetime import datetime
from typing import Any, Dict, List, Union

import numpy as np
from omni.isaac.core.scenes import Scene
from omni.isaac.core.utils.types import ArticulationAction

from grutopia.core.datahub.model_data import LogData, ModelData
from grutopia.core.robot.controller import BaseController
from grutopia.core.robot.robot import BaseRobot
from grutopia.core.robot.robot_model import ControllerModel


@BaseController.register('ChatboxController')
class ChatboxController(BaseController):

    def __init__(self, config: ControllerModel, name: str, robot: BaseRobot, scene: Scene) -> None:
        config = ControllerModel(name=name, type='chat')
        super().__init__(config, robot, scene)
        self._user_config = None
        self.counter = 1

    def action_to_control(self, action: Union[np.ndarray, List]) -> ArticulationAction:
        # TODO Check input(like [np.array('I am the sentence', agent_avatar_data)])
        return self.forward(str(action[0]))

    def forward(self, chat: str) -> ArticulationAction:
        # TODO Set chat action
        return ArticulationAction()

    def get_obs(self) -> Dict[str, Any]:
        return {}

2. Register at robot_models

Like this.

3. Write a demo

...
while env.simulation_app.is_running():
    ...
    env_actions = [{
        h1: {
            "web_chat": np.array(['你好'])
        }
    }]
    obs = env.step(actions=env_actions)
env.simulation_app.close()