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

2023-07-04 07:19:55 +00:00 · 2023-07-04 07:19:55 +00:00 · c1e4b0e0f0
commit c1e4b0e0f0
parent 23edfea360
57 changed files with 2969 additions and 290 deletions
--- a/stability_process_predicate/usecases/stability_check_usecase.py
+++ b/stability_process_predicate/usecases/stability_check_usecase.py
@ -0,0 +1,61 @@
+import numpy as np
+import pybullet as p
+import time
+import pybullet_data
+import os
+import json
+
+
+class StabilityCheckUseCase:
+    def call(self, outPath: str, buildNumber: int, duration=500):
+        DURATION = duration
+        try:
+            assemblyUrdf = json.loads(
+                (open(outPath + 'urdf-generation.json')).read()).get(buildNumber)
+        except:
+            return TypeError('not found urfd file or not found build number')
+        inc = 0
+        urdfs = []
+
+        for el in assemblyUrdf:
+            inc += 1
+            file_to_open = outPath + str(inc) + '.urdf'
+
+            f = open(file_to_open, 'w', encoding='utf-8',
+                     errors='ignore')
+            f.write(el)
+            urdfs.append(os.path.abspath(f.name))
+            f.close()
+
+        p.connect(p.DIRECT)
+
+        p.setGravity(0, 0, -10)
+        p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        bulletIds = []
+        for el in urdfs:
+            bulletIds.append(p.loadURDF(el))
+        p.loadURDF("plane.urdf")
+        resultCoords = []
+        for i in range(DURATION):
+            if (i + 200 == DURATION):
+                inc = 0
+                for el in bulletIds:
+                    inc += 1
+                    pos, rot = p.getBasePositionAndOrientation(el)
+                    resultCoords.append({
+                        'id': inc,
+                        "quaternion": rot,
+                        "position": pos
+                    })
+            p.stepSimulation()
+            time.sleep(1./240.)
+
+        file_to_open = outPath + buildNumber + "_" + 'stability_coords.json'
+
+        f = open(file_to_open, 'w', encoding='utf-8',
+                 errors='ignore')
+        f.write(json.dumps(resultCoords))
+        for el in urdfs:
+            os.remove(el)
+        f.close()
+        p.disconnect()