start imitate

gui/init.py

@@ -93,12 +93,12 @@ class MainContentComponent(QWidget):
         super().resizeEvent(event)
 
     def handle_value_change(self, new_value):
-        logger.info(f"Value changed: {new_value}")
-
+        panels = [self.imitatorPanel, self.visPanel]
+        for p in panels:
             if new_value == "not_connected":
-            self.imitatorPanel.setDisabled(True)
+                p.setDisabled(True)
             if new_value == "connected":
-            self.imitatorPanel.setDisabled(False)
+                p.setDisabled(False)
 
 
 if __name__ == "__main__":

gui/visualize.py

@@ -2,6 +2,7 @@
 from PyQt5.QtWidgets import QWidget, QVBoxLayout, QLabel, QSizePolicy
 from PyQt5.QtGui import QImage, QPixmap
 from PyQt5.QtCore import QTimer
+from logger import logger
 
 class Visualize(QWidget):
     def __init__(self, get_pybullet_image):
@@ -24,6 +25,8 @@ class Visualize(QWidget):
     def update_image(self):
         (rgb, width, height) = self.get_pybullet_image()
         
+        # logger.info('upd img')
+        
         # Преобразование RGB-данных в QImage
         image = QImage(rgb, width, height, QImage.Format_RGB888)
         pixmap = QPixmap.fromImage(image)

robot/client_socket.py

@@ -1,17 +1,19 @@
 import socket
 import json
 import os
-from typing import Literal
 import math
+
+from typing import Literal
 from pprint import pprint
+
 import threading
 import pybullet as p
 import pybullet_data
 
-os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
-
 from robot.func import *
+from logger import logger
 
+os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
 
 class SocketRobotArm:
     line_speed = 100.0
@@ -52,21 +54,30 @@ class SocketRobotArm:
         self.socket.close()
 
     def run_pybullet(self):
-        self.physics_client = p.connect(p.DIRECT)
+        self.physics_client = p.connect(p.GUI)
+        
         p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client)
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
+        
+        urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
+        if not os.path.exists(urdf_path):
+            raise FileNotFoundError(f"URDF file not found: {urdf_path}")
+        
         self.body_id = p.loadURDF(
-            f"urdf/{self.urdf_filename}.urdf",
+            urdf_path,
             [0, 0, 0],
             useFixedBase=True,
         )
         
+        logger.info(f"Loaded URDF: {urdf_path} with body ID: {self.body_id}")
+
     def get_pybullet_image(self):
+        p.stepSimulation()
         width, height, rgb, _, _ = p.getCameraImage(
-            width=320,
-            height=240,
+            width=800,
+            height=800,
             viewMatrix=p.computeViewMatrix(
-                cameraEyePosition=[1, 1, 1],
+                cameraEyePosition=[0, 0, 1],
                 cameraTargetPosition=[0, 0, 0],
                 cameraUpVector=[0, 0, 1],
             ),
@@ -167,6 +178,7 @@ class SocketRobotArm:
         print(text)
 
     def set_joint(self, coordinates):
+        logger.info('set joint')
         num_joints = p.getNumJoints(self.body_id)
         for joint_index in range(0, num_joints):
             # if not joint_index in coordinates: