FreeCAD: Workbench Refactor

simulation/asp/main.py

@@ -0,0 +1,53 @@
+import argparse
+import shutil
+from src.model.enum import Enum
+from helper.fs import FS
+from src.usecases.urdf_sub_assembly_usecase import UrdfSubAssemblyUseCase
+from src.model.sdf_geometry import GeometryModel
+from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase
+
+import os
+from pathlib import Path
+
+
+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 + Enum.folderPath):
+        shutil.rmtree(outPath + Enum.folderPath)
+    Path(outPath + Enum.folderPath).mkdir(parents=True, exist_ok=True)
+
+    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,
+        )