FreeCAD: Workbench Refactor

simulation/stability_process_predicate/main.py

@@ -0,0 +1,14 @@
+import argparse
+from usecases.stability_check_usecase import StabilityCheckUseCase
+
+# python3 main.py --aspPath /Users/idontsudo/Desktop/asp-example/
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--aspPath", help="asp folder generation path")
+    args = parser.parse_args()
+    StabilityCheckUseCase().call(args.aspPath)
+
+
+main()

simulation/stability_process_predicate/usecases/stability_check_usecase.py

@@ -0,0 +1,229 @@
+from typing import Any, List, TypeVar, Type, cast, Callable
+import numpy as np
+import pybullet as p
+import time
+import pybullet_data
+import os
+import json
+
+from time import sleep
+
+
+T = TypeVar("T")
+
+
+def from_str(x):
+    assert isinstance(x, str)
+    return x
+
+
+def from_float(x: Any) -> float:
+    assert isinstance(x, (float, int)) and not isinstance(x, bool)
+    return float(x)
+
+
+def to_float(x: Any) -> float:
+    assert isinstance(x, float)
+    return x
+
+
+def from_int(x: Any) -> int:
+    assert isinstance(x, int) and not isinstance(x, bool)
+    return x
+
+
+def to_class(c: Type[T], x: Any) -> dict:
+    assert isinstance(x, c)
+    return cast(Any, x).to_dict()
+
+
+def from_list(f: Callable[[Any], T], x: Any) -> List[T]:
+    assert isinstance(x, list)
+    return [f(y) for y in x]
+
+
+class Coords:
+    x: float
+    y: float
+    z: float
+
+    def __init__(self, x: float, y: float, z: float) -> None:
+        self.x = x
+        self.y = y
+        self.z = z
+
+    @staticmethod
+    def from_dict(obj: Any) -> "Coords":
+        assert isinstance(obj, dict)
+        x = from_float(obj.get("x"))
+        y = from_float(obj.get("y"))
+        z = from_float(obj.get("z"))
+        return Coords(x, y, z)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        result["x"] = to_float(self.x)
+        result["y"] = to_float(self.y)
+        result["z"] = to_float(self.z)
+        return result
+
+
+class SimulatorStabilityResultModel:
+    id: str
+    quaternion: Coords
+    position: Coords
+
+    def __init__(self, id: int, quaternion: Coords, position: Coords) -> None:
+        self.id = id
+        self.quaternion = quaternion
+        self.position = position
+
+    @staticmethod
+    def from_dict(obj: Any) -> "SimulatorStabilityResultModel":
+        assert isinstance(obj, dict)
+        id = from_str(obj.get("id"))
+        quaternion = Coords.from_dict(obj.get("quaternion"))
+        position = Coords.from_dict(obj.get("position"))
+        return SimulatorStabilityResultModel(id, quaternion, position)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        result["id"] = from_str(self.id)
+        result["quaternion"] = to_class(Coords, self.quaternion)
+        result["position"] = to_class(Coords, self.position)
+        return result
+
+
+def SimulatorStabilityModelfromdict(s: Any) -> List[SimulatorStabilityResultModel]:
+    return from_list(SimulatorStabilityResultModel.from_dict, s)
+
+
+def SimulatorStabilityModeltodict(x: List[SimulatorStabilityResultModel]) -> Any:
+    return from_list(lambda x: to_class(SimulatorStabilityResultModel, x), x)
+
+
+class StabilityCheckUseCase:
+    def urdfLoader(
+        self, assembly: list[str], outPath: str, urdfGeneration: dict[str:str]
+    ):
+        urdfs = []
+        for assemblyCount in range(len(assembly)):
+            urdf = urdfGeneration.get(assembly[assemblyCount])
+            file_to_open = outPath + "/generation/" + str(assemblyCount) + ".urdf"
+            f = open(file_to_open, "w", encoding="utf-8", errors="ignore")
+            f.write(urdf)
+            f.close()
+            urdfs.append(os.path.abspath(f.name))
+        return urdfs
+
+    def executeSimulation(
+        self,
+        assembly: list[str],
+        outPath: str,
+        urdfGeneration: dict[str:str],
+        duration: int,
+    ) -> list["SimulatorStabilityResultModel"]:
+        p.connect(p.DIRECT)
+        p.setGravity(0, 0, -10)
+        p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        p.loadURDF("plane.urdf")
+        resultCoords = []
+
+        urdfs = self.urdfLoader(
+            assembly=assembly, urdfGeneration=urdfGeneration, outPath=outPath
+        )
+        bulletIds = []
+        for el in urdfs:
+            id = p.loadURDF(el)
+            bulletIds.append(id)
+        for i in range(duration):
+            if i + 200 == duration:
+                inc = 0
+                for bulletUUID in bulletIds:
+                    pos, rot = p.getBasePositionAndOrientation(bulletUUID)
+                    resultCoords.append(
+                        SimulatorStabilityResultModel(
+                            id=assembly[inc],
+                            quaternion=Coords(x=rot[0], y=rot[1], z=rot[2]),
+                            position=Coords(x=pos[0], y=pos[1], z=pos[2]),
+                        )
+                    )
+                    p.removeBody(bulletUUID)
+                    inc += 1
+
+            p.stepSimulation()
+
+            time.sleep(1.0 / 240.0)
+        return resultCoords
+
+    def call(self, aspPath: str):
+        try:
+            assemblyFolder = aspPath
+            assemblesStructures = json.loads(
+                (open(assemblyFolder + "sequences.json")).read()
+            ).get("sequences")
+
+            tasks = len(assemblesStructures) * len(assemblesStructures[0])
+            taskCounter = 0
+            urdfGeneration = json.loads(
+                (open(assemblyFolder + "generation/urdf-generation.json")).read()
+            )
+            for activeAssemblyNumber in range(len(assemblesStructures)):
+                pathSaveResultAssemblyFolder = (
+                    aspPath + "stability" + "/" + str(activeAssemblyNumber + 1) + "/"
+                )
+                if not os.path.exists(pathSaveResultAssemblyFolder):
+                    os.makedirs(pathSaveResultAssemblyFolder)
+
+                for subAssemblyNumber in range(
+                    len(assemblesStructures[activeAssemblyNumber])
+                ):
+                    taskCounter += 1
+                    subAssembly = assemblesStructures[activeAssemblyNumber][
+                        0 : subAssemblyNumber + 1
+                    ]
+                    print(subAssembly)
+
+                    if subAssembly == [
+                        "disk_top",
+                        "disk_middel",
+                    ]:
+                        asm = []
+                        for el in subAssembly:
+                            asm.append(el)
+
+                        resultSimulationStates = self.executeSimulation(
+                            assembly=asm,
+                            outPath=aspPath,
+                            urdfGeneration=urdfGeneration,
+                            duration=1000,
+                        )
+
+                        pathSaveResultSubAssemblyFolder = (
+                            aspPath
+                            + "stability"
+                            + "/"
+                            + str(activeAssemblyNumber + 1)
+                            + "/"
+                            + str(subAssemblyNumber)
+                            + "/"
+                        )
+                        if not os.path.exists(pathSaveResultSubAssemblyFolder):
+                            os.makedirs(pathSaveResultSubAssemblyFolder)
+                        results = {}
+                        for state in resultSimulationStates:
+                            results[state.id] = state.to_dict()
+                        f = open(
+                            pathSaveResultSubAssemblyFolder
+                            + "/"
+                            + "motion_result.json",
+                            "w",
+                            encoding="utf-8",
+                            errors="ignore",
+                        )
+                        f.write(json.dumps(results, ensure_ascii=False, indent=4))
+                        f.close()
+                        percentageOfCompletion = taskCounter / tasks * 100
+                        print("process complete: " + str(percentageOfCompletion) + "%")
+        except Exception as e:
+            print(e)