Экспорт URDF из FreeCAD

sdf/main.py

@@ -1,71 +1,56 @@
 import argparse
 import shutil
-from distutils.dir_util import copy_tree
-import asyncio
 from helper.fs import FS
-from src.usecases.generate_world import SdfGenerateWorldUseCase
-from src.model.sdf_geometry import SdfGeometryModel
+from src.usecases.stability_check_usecase import StabilityCheckUseCase
+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
-import typing
-import xmlformatter
 
- 
 
-# python3 main.py  --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true
+# python3 main.py  --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true --format 'urdf' --stabilityCheck 'true'
+# python3 main.py  --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true --format 'sdf'
+
 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')
+    parser.add_argument('--stabilityCheck',
+                        help='do i need to check the stability?')
     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')
 
-    sdfGeometryModels: list[SdfGeometryModel] = []
+    geometryModels: list[GeometryModel] = []
     for el in geometryFiles:
-        sdfGeometryModels.append(SdfGeometryModel.from_dict(
+        geometryModels.append(GeometryModel.from_dict(
             FS.readJSON(args.generationFolder + '/assets/' + el)))
-    sdfSubAssemblyUseCase = SdfSubAssemblyUseCase().call(
-        sdfGeometryModels, assemblyStructure,)
-    
     if os.path.exists(outPath + 'sdf-generation/'):
         shutil.rmtree(path=outPath + 'sdf-generation/')
-    
-    copy_tree(args.generationFolder + 'sdf/', outPath + 'sdf-generation/')
-    dirPath = outPath + 'sdf-generation/'
-    for el in sdfGeometryModels:
-        path = dirPath + el.name + '/'
-        os.makedirs(path)
-        FS.writeFile(data=el.toSDF(), filePath=path,
-                     fileName='/model' + '.sdf')
-        FS.writeFile(data=FS.readFile(os.path.dirname(os.path.realpath(__file__))
-                                      + '/mocks/sdf/model.config'), filePath=path, fileName='/model' + '.config')
-    
-     
-    if(args.world == None):
-        for key, v in sdfSubAssemblyUseCase.items():
-            FS.writeFile(data=v['assembly'], filePath=dirPath,
-                     fileName='/' + key + '.sdf')
-    
-    else:
-          for key, v in sdfSubAssemblyUseCase.items():
-                FS.writeFile(data=SdfGenerateWorldUseCase.call(v['assembly']), filePath=dirPath,
-                     fileName='/' + key + '.sdf')
-    formatter = xmlformatter.Formatter(indent="1", indent_char="\t", encoding_output="ISO-8859-1", preserve=["literal"])
-
-    files = FS.readFilesTypeFolder(outPath + 'sdf-generation/', fileType= '.sdf')
-    for el in files:
-        
-        FS.writeFile(data=str(formatter.format_file(outPath + 'sdf-generation/' + el) , 'utf-8'), filePath=outPath + 'sdf-generation/', fileName=el)
-    
-    
 
+    if (args.format == 'sdf'):
+        SdfSubAssemblyUseCase().call(
+            geometryModels=geometryModels, assembly=assemblyStructure,
+            world=args.world,
+            generationFolder=args.generationFolder,
+            outPath=args.outPath
+        )
+    if (args.format == 'urdf' and args.stabilityCheck != None):
+        UrdfSubAssemblyUseCase().call(
+            geometryModels=geometryModels, assembly=assemblyStructure,
+            world=args.world,
+            generationFolder=args.generationFolder,
+            outPath=args.outPath
+        )
+        StabilityCheckUseCase().call(
+        args.outPath
+        )