From ca54b3f05a6fb83cef5ddda231d62ae6209d79f2 Mon Sep 17 00:00:00 2001
From: IDONTSUDO <idontsudo.com>
Date: Wed, 12 Jul 2023 17:12:33 +0300
Subject: [PATCH] fiexd URDF generation

---
 stability_process_predicate/main.py                 |  6 ++----
 .../usecases/stability_check_usecase.py             | 13 +++++++------
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/stability_process_predicate/main.py b/stability_process_predicate/main.py
index a4e0304..9a86e0b 100644
--- a/stability_process_predicate/main.py
+++ b/stability_process_predicate/main.py
@@ -1,15 +1,13 @@
 import argparse
 
 from usecases.stability_check_usecase import StabilityCheckUseCase
-
-#python3 main.py --aspPath /home/idontsudo/t/framework/asp/out/sdf-generation --buildNumber 3
+# python3 main.py --aspPath /home/idontsudo/t/framework/cad_generation/out/sdf-generation/ --buildNumber 2
 def main():
     parser = argparse.ArgumentParser()
     parser.add_argument('--aspPath', help='asp folder generation path')
     parser.add_argument('--buildNumber', help='FreeCad generation buildNumber')
     args = parser.parse_args()
-    # args.aspPath
-    # args.buildNumber
+ 
     StabilityCheckUseCase().call( args.aspPath,args.buildNumber )
 
 
diff --git a/stability_process_predicate/usecases/stability_check_usecase.py b/stability_process_predicate/usecases/stability_check_usecase.py
index 9d37b53..9af448d 100644
--- a/stability_process_predicate/usecases/stability_check_usecase.py
+++ b/stability_process_predicate/usecases/stability_check_usecase.py
@@ -7,16 +7,17 @@ import json
 
 
 class StabilityCheckUseCase:
-    def call(self, outPath: str, buildNumber: int, duration=500):
+    def call(self, outPath: str, buildNumber: int, duration=10000):
         DURATION = duration
         try:
             assemblyUrdf = json.loads(
                 (open(outPath + 'urdf-generation.json')).read()).get(buildNumber)
-        except:
+            print(assemblyUrdf)
+        except Exception as e:
+            print(e)            
             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'
@@ -26,15 +27,15 @@ class StabilityCheckUseCase:
             f.write(el)
             urdfs.append(os.path.abspath(f.name))
             f.close()
-
-        p.connect(p.DIRECT)
+        p.connect(p.GUI)
 
         p.setGravity(0, 0, -10)
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
         bulletIds = []
+        p.loadURDF("plane.urdf")
         for el in urdfs:
             bulletIds.append(p.loadURDF(el))
-        p.loadURDF("plane.urdf")
         resultCoords = []
         for i in range(DURATION):
             if (i + 200 == DURATION):