A hacky script to check URDF / SDF gripper tooling consistency.

check_tooling.py

from __future__ import annotations

def get_robot_ee_info(path: str) -> dict[str, str]:
    with open(path, 'r') as fh:
        all = fh.readlines()

    robot_ee_info = dict()
    for line in all:
        line = line.strip()
        robot_ee_id, type = line.split(":")
        robot_ee_info[robot_ee_id] = type

    return robot_ee_info



def main():

    urdf_ee_info = get_robot_ee_info("urdf_cups") # or cups
    sdf_ee_info = get_robot_ee_info("sdf_cups") # or cups

    for key, value in urdf_ee_info.items():
        if key not in sdf_ee_info:
            print(f"Missing from SDF {key}")
            continue
        if sdf_ee_info[key] != value:
            print(f"Mismatch for robot {key}: urdf had {value}, sdf had {sdf_ee_info[key]}")
    
    print("fingers")
    urdf_ee_info = get_robot_ee_info("urdf_fingers") # or cups
    sdf_ee_info = get_robot_ee_info("sdf_fingers") # or cups

    for key, value in urdf_ee_info.items():
        if key not in sdf_ee_info:
            print(f"Missing from SDF {key}")
            continue
        if sdf_ee_info[key] != value:
            print(f"Mismatch for robot {key}: urdf had {value}, sdf had {sdf_ee_info[key]}")

if __name__ == "__main__":
    main()