robossembler/framework
7
0
Fork 0
Code Issues 21 Pull requests Projects Releases Packages Wiki Activity Actions

fiexd URDF generation

Browse source
This commit is contained in:
IDONTSUDO 2023-07-12 17:12:33 +03:00
parent d27f2fb762
commit ca54b3f05a
2 changed files with 9 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

6
stability_process_predicate/main.py
View file

@ -1,15 +1,13 @@
import argparse import argparse
from usecases.stability_check_usecase import StabilityCheckUseCase from usecases.stability_check_usecase import StabilityCheckUseCase
# python3 main.py --aspPath /home/idontsudo/t/framework/cad_generation/out/sdf-generation/ --buildNumber 2
#python3 main.py --aspPath /home/idontsudo/t/framework/asp/out/sdf-generation --buildNumber 3
def main(): def main():
parser = argparse.ArgumentParser() parser = argparse.ArgumentParser()
parser.add_argument('--aspPath', help='asp folder generation path') parser.add_argument('--aspPath', help='asp folder generation path')
parser.add_argument('--buildNumber', help='FreeCad generation buildNumber') parser.add_argument('--buildNumber', help='FreeCad generation buildNumber')
args = parser.parse_args() args = parser.parse_args()
# args.aspPath
# args.buildNumber
StabilityCheckUseCase().call( args.aspPath,args.buildNumber ) StabilityCheckUseCase().call( args.aspPath,args.buildNumber )

13
stability_process_predicate/usecases/stability_check_usecase.py
View file

@ -7,16 +7,17 @@ import json
class StabilityCheckUseCase: class StabilityCheckUseCase:
def call(self, outPath: str, buildNumber: int, duration=500): def call(self, outPath: str, buildNumber: int, duration=10000):
DURATION = duration DURATION = duration
try: try:
assemblyUrdf = json.loads( assemblyUrdf = json.loads(
(open(outPath + 'urdf-generation.json')).read()).get(buildNumber) (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') return TypeError('not found urfd file or not found build number')
inc = 0 inc = 0
urdfs = [] urdfs = []
for el in assemblyUrdf: for el in assemblyUrdf:
inc += 1 inc += 1
file_to_open = outPath + str(inc) + '.urdf' file_to_open = outPath + str(inc) + '.urdf'
@ -26,15 +27,15 @@ class StabilityCheckUseCase:
f.write(el) f.write(el)
urdfs.append(os.path.abspath(f.name)) urdfs.append(os.path.abspath(f.name))
f.close() f.close()
p.connect(p.GUI)
p.connect(p.DIRECT)
p.setGravity(0, 0, -10) p.setGravity(0, 0, -10)
p.setAdditionalSearchPath(pybullet_data.getDataPath()) p.setAdditionalSearchPath(pybullet_data.getDataPath())
bulletIds = [] bulletIds = []
p.loadURDF("plane.urdf")
for el in urdfs: for el in urdfs:
bulletIds.append(p.loadURDF(el)) bulletIds.append(p.loadURDF(el))
p.loadURDF("plane.urdf")
resultCoords = [] resultCoords = []
for i in range(DURATION): for i in range(DURATION):
if (i + 200 == DURATION): if (i + 200 == DURATION):