validate-robot

What problem does it solve?

Detects dynamics and simulation issues in robosuite robot XMLs that cause unstable solvers, placeholder inertias, gravity-driven divergence, stuck actuators, or NaN/Inf during simulation, reducing time spent debugging low-level physics and controller problems.

Core Features & Use Cases

• Locates robot XMLs from cache or project source to ensure the correct model is validated.
• Extracts joint names and initial joint positions from registration files and XML to provide accurate inputs to validation tools.
• Runs deterministic dynamics validation and optional smoke tests to surface solver stability, mass sanity, gravity stability, actuator response, and OSC tuning issues.
• Reports each check as PASS/FAIL with key metrics and targeted remediation tips for common failure modes such as impratio conflicts, placeholder inertias, or insufficient ctrlrange.
• Use Case: when porting a robot to robosuite or after editing an XML, run this workflow to catch physics regressions before integration testing.

Quick Start

Run validate-robot with the robot name and optional XML path to perform dynamics validation and smoke tests and return a PASS/FAIL summary with remediation suggestions.