File size: 5,034 Bytes
8ebd73b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 | import argparse
from xml.etree import ElementTree as ET
from robosuite.controllers.composite.composite_controller_factory import load_composite_controller_config
from robosuite.robots.robot import Robot
from robosuite.utils.log_utils import ROBOSUITE_DEFAULT_LOGGER as logger
def check_xml_definition(root):
logger.info(f"Successfully loaded the xml file of robot model.")
# get all joints
world_body = root.find(".//worldbody")
parts_dict = {}
added_joints = []
for part_name in ["torso", "head", "leg", "gripper", "base"]:
parts_dict[part_name] = []
for joint in world_body.findall(".//joint"):
if part_name in joint.attrib["name"] and joint.attrib["name"] not in added_joints:
parts_dict[part_name].append(joint.attrib["name"])
added_joints.append(joint.attrib["name"])
parts_dict["arm"] = []
print(len(world_body.findall(".//joint")))
for joint in world_body.findall(".//joint"):
is_non_arm_part = False
for non_arm_part_name in ["torso", "head", "leg", "gripper", "base"]:
if non_arm_part_name in joint.attrib["name"]:
is_non_arm_part = True
break
if not is_non_arm_part:
parts_dict["arm"].append(joint.attrib["name"])
total_counted_joints = sum([len(parts_dict[part_name]) for part_name in parts_dict.keys()])
if total_counted_joints != len(world_body.findall(".//joint")):
logger.error(f"Counted {total_counted_joints} joints, but found {len(world_body.findall('.//joint'))} joints")
else:
logger.info(f"Your joint definition aligns with robosuite convention.")
# remove empty list entries
parts_dict = {part_name: joints for part_name, joints in parts_dict.items() if joints}
print(f" • Robosuite will be able to detect the following body parts: {list(parts_dict.keys())}")
print(" • For each body part, you have defined the following joints:")
for part_name in parts_dict.keys():
print(f" • {part_name} - {len(parts_dict[part_name])} joints: {parts_dict[part_name]}")
return parts_dict
def check_registered_robot(robot_name):
print(f"Loading {robot_name} ...")
controller_config = load_composite_controller_config("BASIC")
robot = Robot(robot_type=robot_name, composite_controller_config=controller_config, gripper_type=None)
logger.info(f"Succcessfully found the defined robot")
robot.load_model()
robot_model = robot.robot_model
root = robot_model.tree.getroot()
parts_dict = check_xml_definition(root)
if parts_dict.get("arm") is not None and parts_dict["arm"] != []:
# checking the order of arm joints defined.
arm_joint_names = parts_dict["arm"]
first_arm_joint_name = arm_joint_names[0]
if "l_" in first_arm_joint_name or "left" in first_arm_joint_name:
logger.warning(
"Incorrect order of the arm joints. THe arm joints needs to be defined first for the right arm and then for the left arm."
)
# check if the body for mounting exists
num_arms = len(robot.arms)
mount_names = [robot.robot_model._eef_name[name] for name in robot.robot_model._eef_name]
world_body = root.find(".//worldbody")
for mount_name in mount_names[:num_arms]:
# find the body name of mount_name in the worldbody
mount_body = world_body.find(f".//body[@name='robot0_{mount_name}']")
if mount_body is None:
logger.error(
f"Error: No body named '{mount_name}' found in the worldbody. Please make sure you have defined the body for mounting the arm."
)
exit(1)
print(" • Grippers will be mounted on the following bodies ", mount_names[:num_arms])
logger.warning(
"Attention!!! Make sure your definition of the motors for arms are in the same order as the joints defined. This program does not check on this item."
)
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--robot", type=str, default=None)
parser.add_argument("--robot-xml-file", type=str, default=None)
args = parser.parse_args()
if args.robot is None and args.robot_xml_file is None:
logger.error("Please provide either the robot name or the robot xml file.")
exit(1)
if args.robot is not None:
check_registered_robot(args.robot)
if args.robot_xml_file is not None:
etree_root = ET.parse(args.robot_xml_file)
parts_dict = check_xml_definition(etree_root)
arm_joint_names = parts_dict["arm"]
first_arm_joint_name = arm_joint_names[0]
if "l_" in first_arm_joint_name or "left" in first_arm_joint_name:
logger.warning(
"Incorrect order of the arm joints. THe arm joints needs to be defined first for the right arm and then for the left arm."
)
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