64 lines
2.5 KiB
Python
64 lines
2.5 KiB
Python
#
|
|
# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
|
#
|
|
# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
|
# property and proprietary rights in and to this material, related
|
|
# documentation and any modifications thereto. Any use, reproduction,
|
|
# disclosure or distribution of this material and related documentation
|
|
# without an express license agreement from NVIDIA CORPORATION or
|
|
# its affiliates is strictly prohibited.
|
|
#
|
|
|
|
"""This module contains a function to load robot representation from a yaml or xrdf file."""
|
|
|
|
# Standard Library
|
|
from typing import Optional, Union
|
|
|
|
# CuRobo
|
|
from curobo.types.file_path import ContentPath
|
|
from curobo.util.logger import log_error
|
|
from curobo.util.xrdf_utils import convert_xrdf_to_curobo
|
|
from curobo.util_file import join_path, load_yaml
|
|
|
|
|
|
def load_robot_yaml(content_path: ContentPath = ContentPath()) -> dict:
|
|
"""Load robot representation from a yaml or xrdf file.
|
|
|
|
Args:
|
|
content_path: Path to the robot configuration files.
|
|
|
|
Returns:
|
|
dict: Robot representation as a dictionary.
|
|
"""
|
|
if isinstance(content_path, str):
|
|
log_error("content_path should be of type ContentPath")
|
|
|
|
robot_data = load_yaml(content_path.get_robot_configuration_path())
|
|
|
|
if "format" in robot_data and robot_data["format"] == "xrdf":
|
|
robot_data = convert_xrdf_to_curobo(
|
|
content_path=content_path,
|
|
)
|
|
robot_data["robot_cfg"]["kinematics"][
|
|
"asset_root_path"
|
|
] = content_path.robot_asset_absolute_path
|
|
|
|
if "robot_cfg" not in robot_data:
|
|
robot_data["robot_cfg"] = robot_data
|
|
if "kinematics" not in robot_data["robot_cfg"]:
|
|
robot_data["robot_cfg"]["kinematics"] = robot_data
|
|
if content_path.robot_urdf_absolute_path is not None:
|
|
robot_data["robot_cfg"]["kinematics"]["urdf_path"] = content_path.robot_urdf_absolute_path
|
|
if content_path.robot_usd_absolute_path is not None:
|
|
robot_data["robot_cfg"]["kinematics"]["usd_path"] = content_path.robot_usd_absolute_path
|
|
if content_path.robot_asset_absolute_path is not None:
|
|
robot_data["robot_cfg"]["kinematics"][
|
|
"asset_root_path"
|
|
] = content_path.robot_asset_absolute_path
|
|
if isinstance(robot_data["robot_cfg"]["kinematics"]["collision_spheres"], str):
|
|
robot_data["robot_cfg"]["kinematics"]["collision_spheres"] = join_path(
|
|
content_path.robot_config_root_path,
|
|
robot_data["robot_cfg"]["kinematics"]["collision_spheres"],
|
|
)
|
|
return robot_data
|