fiexd URDF generation

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):