"""Base exoskeleton configuration framework.""" import numpy as np from dataclasses import dataclass from typing import Dict, Tuple BLENDER_STL_DIR = "../../so100_blender_testings" SO100_MODEL_DIR = "robot_models/so100_model" BOARD_IMG_DIR = f"{SO100_MODEL_DIR}/../board_imgs" @dataclass class LinkConfig: """Configuration for a single robot link with ArUco marker.""" mujoco_name: str # Name in MuJoCo XML pybullet_name: str # Name for PyBullet/IK solver robot_mesh_path: str # Path to robot's visual mesh exo_mesh_path: str # Path to exoskeleton/mount mesh aruco_offset_pos: np.ndarray # [x, y, z] offset from link to ArUco (mm) aruco_offset_rot: np.ndarray # [rx, ry, rz] euler angles (radians) aruco_board_name: str # Name of ArUco board pattern board_length: float # Physical size of board (meters) class ExoskeletonConfig: """Base configuration class for robots with ArUco marker exoskeletons.""" # Override these in subclass name: str = "Robot" base_xml_path: str = "" background_xml_path: str = "robot_models/so100_model/background.xml" compiler_meshdir: str = "./" # ArUco board patterns (override in subclass) aruco_boards: Dict[str, str] = {} # Physical board sizes board_length_small: float = 0.045 # 3x3 markers board_length_large: float = 0.095 # 6x6 markers # Link configurations (override in subclass) links: Dict[str, LinkConfig] = {} exo_alpha: float = .3 exo_link_alpha: float = .8 aruco_alpha: float = 1.0 # Transparency for ArUco planes (0.0 = invisible, 1.0 = opaque) def __init__(self): """Initialize and generate XML.""" self.xml = self._generate_xml() def _generate_xml(self) -> str: """Generate complete MuJoCo XML with exoskeletons and ArUco planes.""" # Header xml = f""" """ # Robot and exoskeleton meshes for name, cfg in self.links.items(): # Robot meshes from SO100 model are already in correct units (meters), no scaling needed # Exoskeleton meshes from Blender need .001 scale (mm to m conversion) exo_scale = ' scale=".001 .001 .001"' if cfg.exo_mesh_path.endswith('.stl') else '' xml += f""" """ # ArUco plane meshes xml += f""" """ # Textures and materials for board_name, img_path in self.aruco_boards.items(): xml += f""" """ xml += """ """ # Mocap bodies for each link for name, cfg in self.links.items(): plane_size = "large" if cfg.board_length > 0.05 else "small" xml += f""" """ xml += """ """ return xml