56 lines
2.3 KiB
Python
56 lines
2.3 KiB
Python
import argparse
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import shutil
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from helper.fs import FS
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from src.usecases.stability_check_usecase import StabilityCheckUseCase
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from src.usecases.urdf_sub_assembly_usecase import UrdfSubAssemblyUseCase
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from src.usecases.sdf_generate_world_usecase import SdfGenerateWorldUseCase
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from src.model.sdf_geometry import GeometryModel
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from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase
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import os
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# python3 main.py --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true --format 'urdf' --stabilityCheck 'true'
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# python3 main.py --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true --format 'sdf'
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument('--generationFolder', help='FreeCad generation folder')
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parser.add_argument('--outPath', help='save SDF path')
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parser.add_argument('--world', help='adding sdf world')
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parser.add_argument('--format', help='urdf,sdf,mujoco')
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parser.add_argument('--stabilityCheck',
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help='do i need to check the stability?')
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args = parser.parse_args()
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if args.generationFolder == None or args.outPath == None:
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parser.print_help()
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outPath = args.outPath
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geometryFiles = FS.readFilesTypeFolder(args.generationFolder + '/assets/')
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assemblyStructure = FS.readJSON(
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args.generationFolder + '/step-structure.json')
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geometryModels: list[GeometryModel] = []
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for el in geometryFiles:
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geometryModels.append(GeometryModel.from_dict(
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FS.readJSON(args.generationFolder + '/assets/' + el)))
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if os.path.exists(outPath + 'sdf-generation/'):
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shutil.rmtree(path=outPath + 'sdf-generation/')
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if (args.format == 'sdf'):
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SdfSubAssemblyUseCase().call(
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geometryModels=geometryModels, assembly=assemblyStructure,
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world=args.world,
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generationFolder=args.generationFolder,
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outPath=args.outPath
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)
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if (args.format == 'urdf' and args.stabilityCheck != None):
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UrdfSubAssemblyUseCase().call(
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geometryModels=geometryModels, assembly=assemblyStructure,
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world=args.world,
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generationFolder=args.generationFolder,
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outPath=args.outPath
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)
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StabilityCheckUseCase().call(
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args.outPath
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)
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