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Add PDDL, 3D-assets & SDF-URDF generator from Blender Scene Config

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IDONTSUDO 2023-12-17 13:58:43 +00:00 • committed by Igor Brylyov
parent b77687ea14
commit e305d486f2
41 changed files with 2793 additions and 664 deletions
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42
asp/main.py
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@ -1,45 +1,53 @@
import argparse
import shutil
from src.model.enum import Enum
from helper.fs import FS
from src.usecases.urdf_sub_assembly_usecase import UrdfSubAssemblyUseCase
from src.model.sdf_geometry import GeometryModel
from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase
import os
from pathlib import Path
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--generationFolder', help='FreeCad generation folder')
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("--generationFolder", help="FreeCad generation folder")
parser.add_argument("--outPath", help="save SDF path")
parser.add_argument("--world", help="adding sdf world")
parser.add_argument("--format", help="urdf,sdf,mujoco")
args = parser.parse_args()
if args.generationFolder == None or args.outPath == None:
parser.print_help()
outPath = args.outPath
geometryFiles = FS.readFilesTypeFolder(args.generationFolder + '/assets/')
assemblyStructure = FS.readJSON(
args.generationFolder + '/step-structure.json')
geometryFiles = FS.readFilesTypeFolder(args.generationFolder + "/assets/")
assemblyStructure = FS.readJSON(args.generationFolder + "/step-structure.json")
geometryModels: list[GeometryModel] = []
for el in geometryFiles:
geometryModels.append(GeometryModel.from_dict(
FS.readJSON(args.generationFolder + '/assets/' + el)))
# if os.path.exists(outPath + 'sdf-generation/'):
# shutil.rmtree(path=outPath + 'sdf-generation/')
geometryModels.append(
GeometryModel.from_dict(
FS.readJSON(args.generationFolder + "/assets/" + el)
)
)
if os.path.exists(outPath + Enum.folderPath):
shutil.rmtree(outPath + Enum.folderPath)
Path(outPath + Enum.folderPath).mkdir(parents=True, exist_ok=True)
if (args.format == 'sdf'):
if args.format == "sdf":
SdfSubAssemblyUseCase().call(
geometryModels=geometryModels, assembly=assemblyStructure,
geometryModels=geometryModels,
assembly=assemblyStructure,
world=args.world,
generationFolder=args.generationFolder,
outPath=args.outPath
outPath=args.outPath,
)
if (args.format == 'urdf'):
if args.format == "urdf":
UrdfSubAssemblyUseCase().call(
geometryModels=geometryModels, assembly=assemblyStructure,
geometryModels=geometryModels,
assembly=assemblyStructure,
world=args.world,
generationFolder=args.generationFolder,
outPath=args.outPath
outPath=args.outPath,
)