Support "Assemble them all" trajectory generation from CAD

asp/main.py

@@ -0,0 +1,56 @@
+import argparse
+import shutil
+from helper.fs import FS
+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
+
+
+# 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')
+
+    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' and args.stabilityCheck != None):
+        UrdfSubAssemblyUseCase().call(
+            geometryModels=geometryModels, assembly=assemblyStructure,
+            world=args.world,
+            generationFolder=args.generationFolder,
+            outPath=args.outPath
+        )
+        StabilityCheckUseCase().call(
+        args.outPath
+        )