Веб интерфейс для корректировки работы ASP, его интеграция с алгоритмами генерации

asp/.gitignore

@@ -0,0 +1 @@
+out

asp/main.py

@@ -1,17 +1,14 @@
 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.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()
@@ -19,8 +16,6 @@ if __name__ == "__main__":
     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:
@@ -44,13 +39,10 @@ if __name__ == "__main__":
             generationFolder=args.generationFolder,
             outPath=args.outPath
         )
-    if (args.format == 'urdf' and args.stabilityCheck != None):
+    if (args.format == 'urdf'):
         UrdfSubAssemblyUseCase().call(
             geometryModels=geometryModels, assembly=assemblyStructure,
             world=args.world,
             generationFolder=args.generationFolder,
             outPath=args.outPath
         )
-        StabilityCheckUseCase().call(
-        args.outPath
-        )

asp/src/usecases/formatter_usecase.py

@@ -1,11 +1,10 @@
 from src.model.enum import Enum
-import xmlformatter
 from helper.fs import FS
-
+import xmlformatter 
 
 class FormatterUseCase:
     def call(outPath: str,   format: str):
-        formatter = xmlformatter.Formatter(
+        formatter = xmlformatter(
             indent="1", indent_char="\t", encoding_output="ISO-8859-1", preserve=["literal"])
 
         files = FS.readFilesTypeFolder(

asp/src/usecases/stability_check_usecase.py

@@ -1,36 +0,0 @@
-import numpy as np
-import pybullet as p
-import time
-import pybullet_data
-from helper.fs import FS
-from src.usecases.urdf_sub_assembly_usecase import URDF_GENERATOR_FILE
-import json
-
-from src.model.enum import Enum
-
-
-class StabilityCheckUseCase:
-    def call(self, outPath: str):
-        dirPath = outPath + Enum.folderPath
-        DURATION = 10000
-        asm = json.loads(FS.readFile(dirPath + URDF_GENERATOR_FILE))
-        inc = 0
-        for el in asm['asm2']:
-            FS.writeFile(data=el, filePath=dirPath,
-                         fileName=str(inc) + '.urdf')
-            inc += 1
-        assemblyURDFS = list(
-            map(lambda el: dirPath+el, FS.readFilesTypeFolder(dirPath, '.urdf')))
-        physicsClient = p.connect(p.GUI)
-
-        p.setGravity(0, 0, -10)
-        
-        for el in assemblyURDFS:
-            p.loadURDF(el)
-      
-
-        for i in range(DURATION):
-            p.stepSimulation()
-            time.sleep(1./240.)
-           
-        p.disconnect()

asp/src/usecases/urdf_sub_assembly_usecase.py

@@ -5,6 +5,7 @@ from src.model.asm import Assembly
 from src.model.sdf_geometry import GeometryModel
 from helper.fs import filterModels, listGetFirstValue
 import json
+import re
 
 
 def toUrdf(el: GeometryModel):
@@ -21,6 +22,7 @@ class UrdfSubAssemblyUseCase(Assembly):
         generateSubAssemblyModels = self.generateSubAssembly(assembly)
         inc = 0
         for key, value in generateSubAssemblyModels.items():
+            keyAsm = int(re.findall(r'\d', key)[0])
             inc += 1
             if value['assembly'].__len__() != 0:
                 model: Optional[GeometryModel] = listGetFirstValue(
@@ -32,11 +34,9 @@ class UrdfSubAssemblyUseCase(Assembly):
                         geometryModels,  value['assembly'])))
                     urdfs.append(listGetFirstValue(
                         geometryModels, None, lambda x:  x.name == value['part']) .toUrdf())
-                    asm[key] = urdfs
+                    asm[keyAsm] = urdfs
 
         self.copy(generationFolder=generationFolder,
                   format='/sdf', outPath=outPath)
-
         FS.writeFile(data=json.dumps(asm),
                      fileName=URDF_GENERATOR_FILE, filePath=dirPath)
-        # for el in asm.keys():