framework/asp/main.py

import argparse
import shutil
from helper.fs import FS
from src.usecases.urdf_sub_assembly_usecase import UrdfSubAssemblyUseCase
# from src.usecases.sdf_generate_world_usecase import SdfGenerateWorldUseCase
from src.model.sdf_geometry import GeometryModel
from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase

import os



if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument('--generationFolder', help='FreeCad generation folder')
    parser.add_argument('--outPath', help='save SDF path')
    parser.add_argument('--world', help='adding sdf world')
    parser.add_argument('--format', help='urdf,sdf,mujoco')
    args = parser.parse_args()

    if args.generationFolder == None or args.outPath == None:
        parser.print_help()
    outPath = args.outPath
    geometryFiles = FS.readFilesTypeFolder(args.generationFolder + '/assets/')
    assemblyStructure = FS.readJSON(
        args.generationFolder + '/step-structure.json')

    geometryModels: list[GeometryModel] = []
    for el in geometryFiles:
        geometryModels.append(GeometryModel.from_dict(
            FS.readJSON(args.generationFolder + '/assets/' + el)))
    if os.path.exists(outPath + 'sdf-generation/'):
        shutil.rmtree(path=outPath + 'sdf-generation/')

    if (args.format == 'sdf'):
        SdfSubAssemblyUseCase().call(
            geometryModels=geometryModels, assembly=assemblyStructure,
            world=args.world,
            generationFolder=args.generationFolder,
            outPath=args.outPath
        )
    if (args.format == 'urdf'):
        UrdfSubAssemblyUseCase().call(
            geometryModels=geometryModels, assembly=assemblyStructure,
            world=args.world,
            generationFolder=args.generationFolder,
            outPath=args.outPath
        )