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

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IDONTSUDO 2023-07-04 07:19:55 +00:00 • committed by Igor Brylyov
parent 23edfea360
commit c1e4b0e0f0
57 changed files with 2969 additions and 290 deletions
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12
asp/main.py
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@ -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
)