bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
118 lines
3.7 KiB
Python
118 lines
3.7 KiB
Python
def main():
|
|
import os
|
|
import sys
|
|
import pickle
|
|
import argparse
|
|
from dotenv import load_dotenv, find_dotenv
|
|
from .config import Config
|
|
from .message import error, info
|
|
from .robot_builder import RobotBuilder
|
|
from .exporter_urdf import ExporterURDF
|
|
from .exporter_sdf import ExporterSDF
|
|
from .exporter_mujoco import ExporterMuJoCo
|
|
|
|
"""
|
|
This is the entry point of the export script, i.e the "onshape-to-robot" command.
|
|
"""
|
|
load_dotenv(find_dotenv(usecwd=True))
|
|
|
|
def get_version():
|
|
# Get version from package
|
|
try:
|
|
from importlib.metadata import version, PackageNotFoundError
|
|
|
|
return version("onshape-to-robot")
|
|
except PackageNotFoundError:
|
|
return "unknown"
|
|
|
|
try:
|
|
# Retrieving robot path
|
|
arg_parser = argparse.ArgumentParser()
|
|
arg_parser.add_argument(
|
|
"robot_path", type=str, help="Path to the robot directory"
|
|
)
|
|
arg_parser.add_argument(
|
|
"--version", action="version", version=f"onshape-to-robot {get_version()}"
|
|
)
|
|
arg_parser.add_argument(
|
|
"--retrieve",
|
|
action="store_true",
|
|
help="Only retrieve data and produce robot.pkl",
|
|
)
|
|
arg_parser.add_argument(
|
|
"--save-pickle",
|
|
action="store_true",
|
|
help="Save the robot data to robot.pkl",
|
|
)
|
|
arg_parser.add_argument(
|
|
"--convert",
|
|
action="store_true",
|
|
help="Only convert robot.pkl to the desired format",
|
|
)
|
|
arg_parser.add_argument(
|
|
"--safe",
|
|
action="store_true",
|
|
help="Disable features involving custom commands or imports",
|
|
)
|
|
args = arg_parser.parse_args()
|
|
|
|
print(info(f"* onshape-to-robot version {get_version()}"))
|
|
|
|
robot_path: str = args.robot_path
|
|
|
|
# Loading configuration
|
|
config = Config(robot_path, safe=args.safe)
|
|
|
|
# Building exporter beforehand, so that the configuration gets checked
|
|
if config.output_format == "urdf":
|
|
exporter = ExporterURDF(config)
|
|
elif config.output_format == "sdf":
|
|
exporter = ExporterSDF(config)
|
|
elif config.output_format == "mujoco":
|
|
exporter = ExporterMuJoCo(config)
|
|
else:
|
|
raise Exception(f"Unsupported output format: {config.output_format}")
|
|
|
|
if not args.convert:
|
|
# Building the robot
|
|
robot_builder = RobotBuilder(config)
|
|
robot = robot_builder.robot
|
|
|
|
# Can be used for debugging
|
|
pkl_filename = config.output_directory + "/robot.pkl"
|
|
if args.retrieve or args.save_pickle:
|
|
pickle.dump(robot, open(pkl_filename, "wb"))
|
|
print(info(f"* Robot data saved to {pkl_filename}"))
|
|
|
|
if args.convert:
|
|
print(info(f"* Loading robot data from {pkl_filename}"))
|
|
robot = pickle.load(open(pkl_filename, "rb"))
|
|
|
|
if not args.retrieve:
|
|
# Applying processors
|
|
for processor in config.processors:
|
|
processor.process(robot)
|
|
|
|
exporter.write_xml(
|
|
robot,
|
|
config.output_directory
|
|
+ "/"
|
|
+ config.output_filename
|
|
+ "."
|
|
+ exporter.ext,
|
|
)
|
|
|
|
if not args.safe:
|
|
# Executing post-import commands
|
|
for command in config.post_import_commands:
|
|
print(info(f"* Running command: {command}"))
|
|
os.system(command)
|
|
|
|
except Exception as e:
|
|
print(error(f"ERROR: {e}"))
|
|
raise e
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|