stability process

stability_check_predicate/main.py

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+import argparse
+
+from usecases.stability_check_usecase import StabilityCheckUseCase
+
+#python3 main.py --aspPath /home/idontsudo/t/framework/asp/out/sdf-generation --buildNumber 3
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--aspPath', help='asp folder generation path')
+    parser.add_argument('--buildNumber', help='FreeCad generation buildNumber')
+    args = parser.parse_args()
+    # args.aspPath
+    # args.buildNumber
+    StabilityCheckUseCase().call( args.aspPath,args.buildNumber )
+
+
+main()

stability_check_predicate/usecases/stability_check_usecase.py

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+import numpy as np
+import pybullet as p
+import time
+import pybullet_data
+import os
+import json
+
+
+class StabilityCheckUseCase:
+    def call(self, outPath: str, buildNumber: int, duration=500):
+        DURATION = duration
+        try:
+            assemblyUrdf = json.loads(
+                (open(outPath + 'urdf-generation.json')).read()).get(buildNumber)
+        except:
+            return TypeError('not found urfd file or not found build number')
+        inc = 0
+        urdfs = []
+
+        for el in assemblyUrdf:
+            inc += 1
+            file_to_open = outPath + str(inc) + '.urdf'
+
+            f = open(file_to_open, 'w', encoding='utf-8',
+                     errors='ignore')
+            f.write(el)
+            urdfs.append(os.path.abspath(f.name))
+            f.close()
+
+        p.connect(p.DIRECT)
+
+        p.setGravity(0, 0, -10)
+        p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        bulletIds = []
+        for el in urdfs:
+            bulletIds.append(p.loadURDF(el))
+        p.loadURDF("plane.urdf")
+        resultCoords = []
+        for i in range(DURATION):
+            if (i + 200 == DURATION):
+                inc = 0
+                for el in bulletIds:
+                    inc += 1
+                    pos, rot = p.getBasePositionAndOrientation(el)
+                    resultCoords.append({
+                        'id': inc,
+                        "quaternion": rot,
+                        "position": pos
+                    })
+            p.stepSimulation()
+            time.sleep(1./240.)
+
+        file_to_open = outPath + buildNumber + "_" + 'stability_coords.json'
+
+        f = open(file_to_open, 'w', encoding='utf-8',
+                 errors='ignore')
+        f.write(json.dumps(resultCoords))
+        for el in urdfs:
+            os.remove(el)
+        f.close()
+        p.disconnect()

stability_process_predicate/main.py

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+import argparse
+
+from usecases.stability_check_usecase import StabilityCheckUseCase
+
+#python3 main.py --aspPath /home/idontsudo/t/framework/asp/out/sdf-generation --buildNumber 3
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--aspPath', help='asp folder generation path')
+    parser.add_argument('--buildNumber', help='FreeCad generation buildNumber')
+    args = parser.parse_args()
+    # args.aspPath
+    # args.buildNumber
+    StabilityCheckUseCase().call( args.aspPath,args.buildNumber )
+
+
+main()

stability_process_predicate/usecases/stability_check_usecase.py

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+import numpy as np
+import pybullet as p
+import time
+import pybullet_data
+import os
+import json
+
+
+class StabilityCheckUseCase:
+    def call(self, outPath: str, buildNumber: int, duration=500):
+        DURATION = duration
+        try:
+            assemblyUrdf = json.loads(
+                (open(outPath + 'urdf-generation.json')).read()).get(buildNumber)
+        except:
+            return TypeError('not found urfd file or not found build number')
+        inc = 0
+        urdfs = []
+
+        for el in assemblyUrdf:
+            inc += 1
+            file_to_open = outPath + str(inc) + '.urdf'
+
+            f = open(file_to_open, 'w', encoding='utf-8',
+                     errors='ignore')
+            f.write(el)
+            urdfs.append(os.path.abspath(f.name))
+            f.close()
+
+        p.connect(p.DIRECT)
+
+        p.setGravity(0, 0, -10)
+        p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        bulletIds = []
+        for el in urdfs:
+            bulletIds.append(p.loadURDF(el))
+        p.loadURDF("plane.urdf")
+        resultCoords = []
+        for i in range(DURATION):
+            if (i + 200 == DURATION):
+                inc = 0
+                for el in bulletIds:
+                    inc += 1
+                    pos, rot = p.getBasePositionAndOrientation(el)
+                    resultCoords.append({
+                        'id': inc,
+                        "quaternion": rot,
+                        "position": pos
+                    })
+            p.stepSimulation()
+            time.sleep(1./240.)
+
+        file_to_open = outPath + buildNumber + "_" + 'stability_coords.json'
+
+        f = open(file_to_open, 'w', encoding='utf-8',
+                 errors='ignore')
+        f.write(json.dumps(resultCoords))
+        for el in urdfs:
+            os.remove(el)
+        f.close()
+        p.disconnect()