192 lines
6.5 KiB
Python
192 lines
6.5 KiB
Python
from typing import Any, List, TypeVar, Type, cast, Callable
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import numpy as np
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import pybullet as p
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import time
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import pybullet_data
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import os
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import json
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from time import sleep
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T = TypeVar("T")
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def from_str(x):
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assert isinstance(x, str)
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return x
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def from_float(x: Any) -> float:
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assert isinstance(x, (float, int)) and not isinstance(x, bool)
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return float(x)
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def to_float(x: Any) -> float:
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assert isinstance(x, float)
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return x
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def from_int(x: Any) -> int:
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assert isinstance(x, int) and not isinstance(x, bool)
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return x
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def to_class(c: Type[T], x: Any) -> dict:
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assert isinstance(x, c)
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return cast(Any, x).to_dict()
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def from_list(f: Callable[[Any], T], x: Any) -> List[T]:
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assert isinstance(x, list)
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return [f(y) for y in x]
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class Coords:
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x: float
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y: float
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z: float
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def __init__(self, x: float, y: float, z: float) -> None:
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self.x = x
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self.y = y
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self.z = z
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@staticmethod
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def from_dict(obj: Any) -> 'Coords':
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assert isinstance(obj, dict)
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x = from_float(obj.get("x"))
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y = from_float(obj.get("y"))
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z = from_float(obj.get("z"))
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return Coords(x, y, z)
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def to_dict(self) -> dict:
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result: dict = {}
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result["x"] = to_float(self.x)
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result["y"] = to_float(self.y)
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result["z"] = to_float(self.z)
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return result
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class SimulatorStabilityResultModel:
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id: str
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quaternion: Coords
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position: Coords
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def __init__(self, id: int, quaternion: Coords, position: Coords) -> None:
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self.id = id
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self.quaternion = quaternion
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self.position = position
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@staticmethod
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def from_dict(obj: Any) -> 'SimulatorStabilityResultModel':
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assert isinstance(obj, dict)
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id = from_str(obj.get("id"))
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quaternion = Coords.from_dict(obj.get("quaternion"))
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position = Coords.from_dict(obj.get("position"))
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return SimulatorStabilityResultModel(id, quaternion, position)
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def to_dict(self) -> dict:
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result: dict = {}
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result["id"] = from_str(self.id)
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result["quaternion"] = to_class(Coords, self.quaternion)
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result["position"] = to_class(Coords, self.position)
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return result
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def SimulatorStabilityModelfromdict(s: Any) -> List[SimulatorStabilityResultModel]:
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return from_list(SimulatorStabilityResultModel.from_dict, s)
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def SimulatorStabilityModeltodict(x: List[SimulatorStabilityResultModel]) -> Any:
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return from_list(lambda x: to_class(SimulatorStabilityResultModel, x), x)
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class StabilityCheckUseCase:
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def urdfLoader(self, assembly: list[str], outPath: str, urdfGeneration: dict[str:str]):
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urdfs = []
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for assemblyCount in range(len(assembly)):
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urdf = urdfGeneration.get(assembly[assemblyCount])
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file_to_open = outPath + '/sdf-generation/' + \
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str(assemblyCount) + '.urdf'
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f = open(file_to_open, 'w', encoding='utf-8',
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errors='ignore')
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f.write(urdf)
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f.close()
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urdfs.append(os.path.abspath(f.name))
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return urdfs
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def executeSimulation(self, assembly: list[str], outPath: str, urdfGeneration: dict[str:str], duration: int) -> list['SimulatorStabilityResultModel']:
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p.connect(p.DIRECT)
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p.setGravity(0, 0, -10)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.loadURDF("plane.urdf")
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resultCoords = []
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urdfs = self.urdfLoader(assembly=assembly,
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urdfGeneration=urdfGeneration, outPath=outPath)
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bulletIds = []
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for el in urdfs:
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id = p.loadURDF(el)
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bulletIds.append(id)
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for i in range(duration):
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if (i + 200 == duration):
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inc = 0
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for bulletUUID in bulletIds:
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pos, rot = p.getBasePositionAndOrientation(bulletUUID)
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resultCoords.append(SimulatorStabilityResultModel(id=assembly[inc], quaternion=Coords(
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x=rot[0], y=rot[1], z=rot[2]), position=Coords(x=pos[0], y=pos[1], z=pos[2])))
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p.removeBody(bulletUUID)
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inc += 1
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p.stepSimulation()
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time.sleep(1./240.)
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return resultCoords
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def call(self, aspPath: str):
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try:
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assemblyFolder = aspPath
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assemblesStructures = json.loads(
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(open(assemblyFolder + 'sequences.json')).read()).get('sequences')
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tasks = len(assemblesStructures) * len(assemblesStructures[0])
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taskCounter = 0
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urdfGeneration = json.loads(
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(open(assemblyFolder + 'sdf-generation/urdf-generation.json')).read())
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for activeAssemblyNumber in range(len(assemblesStructures)):
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pathSaveResultAssemblyFolder = aspPath + 'stability' + \
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'/' + str(activeAssemblyNumber + 1) + '/'
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if not os.path.exists(pathSaveResultAssemblyFolder):
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os.makedirs(pathSaveResultAssemblyFolder)
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for subAssemblyNumber in range(len(assemblesStructures[activeAssemblyNumber])):
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taskCounter += 1
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subAssembly = assemblesStructures[activeAssemblyNumber][0:subAssemblyNumber+1]
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asm = []
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for el in subAssembly:
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asm.append(el)
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resultSimulationStates = self.executeSimulation(
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assembly=asm, outPath=aspPath, urdfGeneration=urdfGeneration, duration=1000)
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pathSaveResultSubAssemblyFolder = aspPath + 'stability' + '/' + \
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str(activeAssemblyNumber + 1) + \
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'/' + str(subAssemblyNumber) + '/'
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if not os.path.exists(pathSaveResultSubAssemblyFolder):
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os.makedirs(pathSaveResultSubAssemblyFolder)
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results = {}
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for state in resultSimulationStates:
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results[state.id] = state.to_dict()
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f = open(pathSaveResultSubAssemblyFolder + '/' +
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'motion_result.json', 'w', encoding='utf-8', errors='ignore')
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f.write(json.dumps(results,
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ensure_ascii=False, indent=4))
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f.close()
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percentageOfCompletion = taskCounter / tasks * 100
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print('process complete: ' +
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str(percentageOfCompletion) + '%')
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except Exception as e:
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print(e)
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