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pyqt6

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Kseninia Mikhaylova 2024-11-11 11:27:41 +03:00
parent bc1d21ac22
commit 27f5a51ed6
13 changed files with 286 additions and 31 deletions
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@ -66106,3 +66106,195 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 -
2024-11-01 12:57:17,464 - logger - INFO - set joints - client_socket.py - 330 2024-11-01 12:57:17,464 - logger - INFO - set joints - client_socket.py - 330
2024-11-01 12:57:19,876 - logger - INFO - convrt to joint (-0.062080906817982826, -0.2794855809832703, 0.6114835679260266, 1.0571832726511998, -2.243355608712798, -0.13509294709677463) - client_socket.py - 322 2024-11-01 12:57:19,876 - logger - INFO - convrt to joint (-0.062080906817982826, -0.2794855809832703, 0.6114835679260266, 1.0571832726511998, -2.243355608712798, -0.13509294709677463) - client_socket.py - 322
2024-11-01 12:57:19,878 - logger - INFO - set joints - client_socket.py - 330 2024-11-01 12:57:19,878 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:02:50,952 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:02:50,953 - logger - INFO - None - robot.py - 52
2024-11-11 11:02:50,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:02:50,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:02:50,953 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:02:50,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:02:50,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:02:50,954 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:02:51,956 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
2024-11-11 11:03:18,585 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:03:18,585 - logger - INFO - None - robot.py - 52
2024-11-11 11:03:18,585 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:03:18,585 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:03:18,586 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:03:18,586 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:03:18,586 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:03:18,586 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:03:19,589 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
2024-11-11 11:03:21,491 - logger - INFO - not_connected - robot.py - 52
2024-11-11 11:03:21,797 - logger - INFO - urdf/sample.urdf - client_socket.py - 136
2024-11-11 11:03:24,074 - logger - INFO - connected - robot.py - 52
2024-11-11 11:03:26,439 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
2024-11-11 11:03:26,440 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327
2024-11-11 11:03:26,941 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:27,801 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 327
2024-11-11 11:03:28,421 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 322
2024-11-11 11:03:28,422 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:29,626 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 327
2024-11-11 11:03:30,208 - logger - INFO - Вычисленное положение [1279.7060012817383, -68.49903613328934, 1768.243670463562] - client_socket.py - 265
2024-11-11 11:03:30,210 - logger - INFO - Вычисленная ориентация [32.20440604 1.77436339 34.18111527] - client_socket.py - 268
2024-11-11 11:03:32,475 - logger - INFO - convrt to joint (-0.1094087905386062, -0.3821067320121191, 0.8152595907096211, 0.9340586920256324, -2.7982742988800515, -0.5584547949020581) - client_socket.py - 322
2024-11-11 11:03:32,655 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:34,914 - logger - INFO - convrt to joint (-0.10681534515997954, -0.4268018804002994, 0.8924964101221626, 1.0513696998404336, -2.81365196225861, -1.0166185170943915) - client_socket.py - 322
2024-11-11 11:03:34,915 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:37,142 - logger - INFO - convrt to joint (-0.10119464934886617, -0.5734366786087715, 1.0666427729133525, 1.0953712770850594, -2.8213059318957896, -0.96591643081755) - client_socket.py - 322
2024-11-11 11:03:37,143 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:39,475 - logger - INFO - convrt to joint (-0.09542514861782068, -0.7032644132861458, 1.220655719241099, 1.147124540945549, -2.8252103615159236, -0.9076777226961988) - client_socket.py - 322
2024-11-11 11:03:39,476 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:41,707 - logger - INFO - convrt to joint (-0.03321842982091733, -0.7119318858691356, 1.2399688143692305, 1.214719637562536, -2.7773640708624043, -0.8042533613466682) - client_socket.py - 322
2024-11-11 11:03:41,708 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:44,083 - logger - INFO - convrt to joint (0.028980597011100957, -0.7308808741139503, 1.27279697877987, 1.2679755719127208, -2.72971753147307, -0.7136414540810697) - client_socket.py - 322
2024-11-11 11:03:44,085 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:46,358 - logger - INFO - convrt to joint (0.03139866234108481, -0.6418629593352179, 1.1869260018627599, 1.292448512871511, -2.7307620128215033, -0.6868224281359855) - client_socket.py - 322
2024-11-11 11:03:46,360 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:48,711 - logger - INFO - convrt to joint (0.03423749452817421, -0.4978093609879702, 1.0167835185012706, 1.259783952267928, -2.722441933500363, -0.7227309559714254) - client_socket.py - 322
2024-11-11 11:03:48,712 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:50,987 - logger - INFO - convrt to joint (-0.036018074223732044, -0.4745108258112672, 0.9783861638033216, 1.2102447871348017, -2.7743430684350323, -0.8137729451783107) - client_socket.py - 322
2024-11-11 11:03:50,988 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:53,397 - logger - INFO - convrt to joint (-0.10601019861562783, -0.47488390009103576, 0.9739788459602019, 1.163875579644493, -2.8287193468984544, -0.8987142388872151) - client_socket.py - 322
2024-11-11 11:03:53,398 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:55,923 - logger - INFO - convrt to joint (-0.13342314757276436, -0.2949925971277215, 0.6299783511475565, 1.0546305021949665, -2.303439554752363, -0.175218332306312) - client_socket.py - 322
2024-11-11 11:03:55,925 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:03:58,527 - logger - INFO - convrt to joint (-0.12471084630639233, -0.45296676398361474, 0.8227123748367431, 1.0807684296009945, -2.3119307869818435, -0.13121987801318782) - client_socket.py - 322
2024-11-11 11:03:58,529 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:04:01,303 - logger - INFO - convrt to joint (-0.11704834719666707, -0.6269464135772959, 1.0491692142356763, 1.1224504522806544, -2.3274539723962393, -0.06522390044142433) - client_socket.py - 322
2024-11-11 11:04:01,305 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:04:03,735 - logger - INFO - convrt to joint (-0.054438817414617154, -0.6392450598265159, 1.0744895529013934, 1.130983924079274, -2.282337993662363, -0.01444630298086587) - client_socket.py - 322
2024-11-11 11:04:03,736 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:04:05,945 - logger - INFO - convrt to joint (0.008538147834004056, -0.6536445515530298, 1.0996000056954403, 1.1328825596208996, -2.2357165252907136, 0.030373236665844995) - client_socket.py - 322
2024-11-11 11:04:05,947 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:04:08,211 - logger - INFO - convrt to joint (0.009265428168505976, -0.4873652741146077, 0.8860612412409749, 1.1026523163637032, -2.2173023136760976, -0.01950128942683633) - client_socket.py - 322
2024-11-11 11:04:08,212 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:04:10,461 - logger - INFO - convrt to joint (0.00995737849793919, -0.288475300672168, 0.6276077701180526, 1.0640397055578867, -2.188353993335613, -0.08445240033996693) - client_socket.py - 322
2024-11-11 11:04:10,462 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:04:13,035 - logger - INFO - convrt to joint (-0.06207192715457745, -0.2806088135835706, 0.6132936180836168, 1.0577729690653896, -2.2437542140875397, -0.13418269209644473) - client_socket.py - 322
2024-11-11 11:04:13,037 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:04:15,451 - logger - INFO - convrt to joint (-0.13345419670024022, -0.2919081880650076, 0.6249846921182082, 1.0527632786196746, -2.3023457754012098, -0.17790879430914952) - client_socket.py - 322
2024-11-11 11:04:15,453 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:18:37,248 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:18:37,248 - logger - INFO - None - robot.py - 52
2024-11-11 11:18:37,248 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:18:37,249 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:20:34,488 - logger - INFO - None - robot.py - 52
2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:20:34,488 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:21:20,049 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:21:20,050 - logger - INFO - None - robot.py - 52
2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:21:20,050 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:21:32,810 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:21:32,811 - logger - INFO - None - robot.py - 52
2024-11-11 11:21:32,811 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:21:32,811 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:21:32,811 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:21:32,812 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:21:32,812 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:21:32,812 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:22:58,808 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:22:58,808 - logger - INFO - None - robot.py - 52
2024-11-11 11:22:58,808 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:22:58,808 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:22:58,809 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:22:58,809 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:22:58,809 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:22:58,809 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:09,829 - logger - INFO - None - robot.py - 52
2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:23:09,829 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:23:17,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:17,621 - logger - INFO - None - robot.py - 52
2024-11-11 11:23:17,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:17,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:17,621 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:17,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:23:17,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:23:17,622 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:23:26,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:26,619 - logger - INFO - None - robot.py - 52
2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:23:26,620 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:23:27,640 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:24:54,280 - logger - INFO - None - robot.py - 52
2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
2024-11-11 11:24:54,280 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
2024-11-11 11:24:55,300 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
2024-11-11 11:24:57,322 - logger - INFO - not_connected - robot.py - 52
2024-11-11 11:24:57,626 - logger - INFO - urdf/sample.urdf - client_socket.py - 136
2024-11-11 11:24:59,267 - logger - INFO - connected - robot.py - 52
2024-11-11 11:25:00,769 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
2024-11-11 11:25:00,770 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327
2024-11-11 11:25:01,271 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:02,105 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 327
2024-11-11 11:25:02,621 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 322
2024-11-11 11:25:02,622 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:03,636 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 327
2024-11-11 11:25:04,300 - logger - INFO - Вычисленное положение [1280.0310850143433, -69.1663846373558, 1768.6139345169067] - client_socket.py - 265
2024-11-11 11:25:04,301 - logger - INFO - Вычисленная ориентация [31.30137967 1.62132011 33.43301993] - client_socket.py - 268
2024-11-11 11:25:06,126 - logger - INFO - convrt to joint (-0.1094087905386062, -0.3821067320121191, 0.8152595907096211, 0.9340586920256324, -2.7982742988800515, -0.5584547949020581) - client_socket.py - 322
2024-11-11 11:25:06,127 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:08,447 - logger - INFO - convrt to joint (-0.10677898089993804, -0.4281043755214567, 0.8947096491555754, 1.0544338683697967, -2.814086615128763, -1.013398603955773) - client_socket.py - 322
2024-11-11 11:25:08,448 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:10,469 - logger - INFO - convrt to joint (-0.10117184403674909, -0.5742634657055242, 1.0680442855334813, 1.0973205111814273, -2.8215321168171745, -0.963868103671884) - client_socket.py - 322
2024-11-11 11:25:10,470 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:12,505 - logger - INFO - convrt to joint (-0.09540894704361569, -0.7037977436164273, 1.2215668168630283, 1.148495182876803, -2.8253278052430812, -0.9062402010486493) - client_socket.py - 322
2024-11-11 11:25:12,506 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:14,520 - logger - INFO - convrt to joint (-0.03318662802404017, -0.7137009149485788, 1.2429721647286367, 1.2184539466541957, -2.7777186739023763, -0.8002799589202565) - client_socket.py - 322
2024-11-11 11:25:14,521 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:16,527 - logger - INFO - convrt to joint (0.02899335849807339, -0.7321146180012585, 1.2748834705674343, 1.2701901108731053, -2.729942182572034, -0.7112447472439664) - client_socket.py - 322
2024-11-11 11:25:16,527 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:18,528 - logger - INFO - convrt to joint (0.03140321774858756, -0.6432070948877004, 1.18917224140585, 1.2946178485518638, -2.731008373662333, -0.6844667729283571) - client_socket.py - 322
2024-11-11 11:25:18,528 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:20,684 - logger - INFO - convrt to joint (0.034236025570744025, -0.49905196151209946, 1.0188578827076527, 1.2617424544192744, -2.7227258983182825, -0.7206021400862395) - client_socket.py - 322
2024-11-11 11:25:20,685 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:22,842 - logger - INFO - convrt to joint (-0.03601802999339514, -0.4739020782464266, 0.9773727491327836, 1.2091547586583262, -2.7741852304335017, -0.8149344979138856) - client_socket.py - 322
2024-11-11 11:25:22,843 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:24,999 - logger - INFO - convrt to joint (-0.10602079201692144, -0.47337896993473455, 0.9714371797962518, 1.1603817343639544, -2.828282084793471, -0.9023669197559442) - client_socket.py - 322
2024-11-11 11:25:25,000 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:27,153 - logger - INFO - convrt to joint (-0.1334306741504675, -0.29430383930198006, 0.6288611291016133, 1.054207322495566, -2.3031953199803743, -0.17582662385988407) - client_socket.py - 322
2024-11-11 11:25:27,154 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:29,307 - logger - INFO - convrt to joint (-0.1247122939941249, -0.45267705801394875, 0.8222391013999517, 1.0805983585018826, -2.3118336342944747, -0.1314661855272336) - client_socket.py - 322
2024-11-11 11:25:29,308 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:31,465 - logger - INFO - convrt to joint (-0.11704265706671065, -0.628933819624908, 1.052447854279249, 1.1236528980637934, -2.3280574174093362, -0.06349998989676209) - client_socket.py - 322
2024-11-11 11:25:31,466 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:33,630 - logger - INFO - convrt to joint (-0.05443424132999592, -0.6421461921323957, 1.0792716245037428, 1.1325507674552906, -2.2832046147972322, -0.012076010851278697) - client_socket.py - 322
2024-11-11 11:25:33,631 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:35,794 - logger - INFO - convrt to joint (0.008540740865839737, -0.6563619278923186, 1.1040781596791551, 1.1341962254396272, -2.236524674719237, 0.03248243505491137) - client_socket.py - 322
2024-11-11 11:25:35,795 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:37,832 - logger - INFO - convrt to joint (0.009268051009051526, -0.4890941996493256, 0.8888862565773905, 1.103449865681501, -2.217861627031553, -0.018194651155436812) - client_socket.py - 322
2024-11-11 11:25:37,833 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:39,850 - logger - INFO - convrt to joint (0.009959166433723932, -0.28886427994192976, 0.6282326804940068, 1.0642142596396056, -2.18849132736126, -0.08416074474175211) - client_socket.py - 322
2024-11-11 11:25:39,851 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:41,855 - logger - INFO - convrt to joint (-0.06208057303507176, -0.2795265476167713, 0.6115495905958935, 1.0572048106871026, -2.2433701529022114, -0.13505970552322757) - client_socket.py - 322
2024-11-11 11:25:42,025 - logger - INFO - set joints - client_socket.py - 330
2024-11-11 11:25:44,034 - logger - INFO - convrt to joint (-0.13345530809927322, -0.2915546266359023, 0.6244189174764613, 1.0525699967942828, -2.3022204887532625, -0.1781916807932946) - client_socket.py - 322
2024-11-11 11:25:44,034 - logger - INFO - set joints - client_socket.py - 330

4
gui/command.py
View File

@ -1,5 +1,5 @@
from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
from PyQt5.QtCore import QTimer, Qt from PyQt6.QtCore import QTimer, Qt
import time import time
from logger import logger from logger import logger

4
gui/imitator.py
View File

@ -1,5 +1,5 @@
from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
from PyQt5.QtCore import QTimer, Qt from PyQt6.QtCore import QTimer, Qt
import time import time
from logger import logger from logger import logger

6
gui/informer.py
View File

@ -1,5 +1,5 @@
from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
from PyQt5.QtCore import QTimer, Qt from PyQt6.QtCore import QTimer, Qt
import time import time
from logger import logger from logger import logger
@ -38,7 +38,7 @@ class Informer(QWidget):
# Установка цвета фона # Установка цвета фона
self.setAutoFillBackground(True) self.setAutoFillBackground(True)
p = self.palette() p = self.palette()
p.setColor(self.backgroundRole(), Qt.lightGray) p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
self.setPalette(p) self.setPalette(p)
def updateState(self): def updateState(self):

10
gui/init.py
View File

@ -1,7 +1,7 @@
import sys import sys
from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QHBoxLayout from PyQt6.QtWidgets import QApplication, QWidget, QVBoxLayout, QHBoxLayout
from PyQt5.QtCore import Qt from PyQt6.QtCore import Qt
from PyQt5.QtGui import QColor, QPalette from PyQt6.QtGui import QColor, QPalette
from gui.robot import ChangeRobot from gui.robot import ChangeRobot
from gui.status import Status from gui.status import Status
from gui.informer import Informer from gui.informer import Informer
@ -26,7 +26,7 @@ class MyPanel(QWidget):
def initUI(self): def initUI(self):
palette = self.palette() palette = self.palette()
palette.setColor(QPalette.Window, self.color) palette.setColor(QPalette.ColorRole.Window, self.color)
self.setAutoFillBackground(True) self.setAutoFillBackground(True)
self.setPalette(palette) self.setPalette(palette)
@ -83,7 +83,7 @@ class MainContentComponent(QWidget):
def initUI(self): def initUI(self):
palette = QPalette() palette = QPalette()
palette.setColor(QPalette.Background, QColor(240, 240, 240)) palette.setColor(QPalette.ColorRole.Window, QColor(240, 240, 240))
self.setPalette(palette) self.setPalette(palette)
def resizeEvent(self, event): def resizeEvent(self, event):

2
gui/observable.py
View File

@ -1,4 +1,4 @@
from PyQt5.QtCore import pyqtSignal, QObject, QTimer from PyQt6.QtCore import pyqtSignal, QObject, QTimer
from logger import logger from logger import logger
class Observable(QObject): class Observable(QObject):

6
gui/robot.py
View File

@ -1,5 +1,5 @@
import time import time
from PyQt5.QtWidgets import ( from PyQt6.QtWidgets import (
QWidget, QWidget,
QVBoxLayout, QVBoxLayout,
QLabel, QLabel,
@ -7,7 +7,7 @@ from PyQt5.QtWidgets import (
QPushButton, QPushButton,
QButtonGroup, QButtonGroup,
) )
from PyQt5.QtCore import Qt, QTimer from PyQt6.QtCore import Qt, QTimer
from logger import logger from logger import logger
@ -83,6 +83,6 @@ class ChangeRobot(QWidget):
def paintEvent(self, event): def paintEvent(self, event):
p = self.palette() p = self.palette()
p.setColor(self.backgroundRole(), Qt.lightGray) p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
self.setPalette(p) self.setPalette(p)
super().paintEvent(event) super().paintEvent(event)

6
gui/status.py
View File

@ -1,5 +1,5 @@
from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QApplication from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QApplication
from PyQt5.QtCore import QTimer, Qt from PyQt6.QtCore import QTimer, Qt
class Status(QWidget): class Status(QWidget):
def __init__(self, status): def __init__(self, status):
@ -29,7 +29,7 @@ class Status(QWidget):
# Установка цвета фона # Установка цвета фона
self.setAutoFillBackground(True) self.setAutoFillBackground(True)
p = self.palette() p = self.palette()
p.setColor(self.backgroundRole(), Qt.lightGray) p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
self.setPalette(p) self.setPalette(p)
def updateStatus(self): def updateStatus(self):

12
gui/visualize.py
View File

@ -1,8 +1,8 @@
import time import time
from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy from PyQt6.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy
from PyQt5.QtGui import QImage, QPixmap from PyQt6.QtGui import QImage, QPixmap
from PyQt5.QtCore import Qt, QTimer from PyQt6.QtCore import Qt, QTimer
from logger import logger from logger import logger
@ -35,8 +35,8 @@ class Visualize(QWidget):
(rgb, width, height) = res (rgb, width, height) = res
image = QImage(rgb, width, height, QImage.Format_RGBA8888) image = QImage(rgb, width, height, QImage.Format.Format_RGBA8888)
image = image.convertToFormat(QImage.Format_RGB888) image = image.convertToFormat(QImage.Format.Format_RGB888)
pixmap = QPixmap.fromImage(image) pixmap = QPixmap.fromImage(image)
self.label.setPixmap(pixmap) self.label.setPixmap(pixmap)
@ -45,6 +45,6 @@ class Visualize(QWidget):
def paintEvent(self, event): def paintEvent(self, event):
p = self.palette() p = self.palette()
p.setColor(self.backgroundRole(), Qt.magenta) p.setColor(self.backgroundRole(), Qt.GlobalColor.magenta)
self.setPalette(p) self.setPalette(p)
super().paintEvent(event) super().paintEvent(event)

6
main.py
View File

@ -3,8 +3,8 @@ import sys
import time import time
import argparse import argparse
import threading import threading
from PyQt5.QtCore import QThread from PyQt6.QtCore import QThread
from PyQt5.QtWidgets import QApplication from PyQt6.QtWidgets import QApplication
from robot.client_socket import SocketRobotArm from robot.client_socket import SocketRobotArm
from gui.init import MainContentComponent from gui.init import MainContentComponent
@ -61,7 +61,7 @@ class MyApp:
def startWindow(self): def startWindow(self):
self.window.show() self.window.show()
sys.exit(self.app.exec_()) sys.exit(self.app.exec())
def startRobot(self): def startRobot(self):
self.robot_app = SocketRobotArm() self.robot_app = SocketRobotArm()

66
poetry.lock generated
View File

@ -257,6 +257,70 @@ files = [
{file = "PyQt5_sip-12.15.0.tar.gz", hash = "sha256:d23fdfcf363b5cedd9d39f8a9c5710e7d52804f5b08a58e91c638b36eafcb702"}, {file = "PyQt5_sip-12.15.0.tar.gz", hash = "sha256:d23fdfcf363b5cedd9d39f8a9c5710e7d52804f5b08a58e91c638b36eafcb702"},
] ]
[[package]]
name = "pyqt6"
version = "6.7.1"
description = "Python bindings for the Qt cross platform application toolkit"
optional = false
python-versions = ">=3.8"
files = [
{file = "PyQt6-6.7.1-1-cp38-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:7f397f4b38b23b5588eb2c0933510deb953d96b1f0323a916c4839c2a66ccccc"},
{file = "PyQt6-6.7.1-1-cp38-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:c2f202b7941aa74e5c7e1463a6f27d9131dbc1e6cabe85571d7364f5b3de7397"},
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{file = "PyQt6-6.7.1.tar.gz", hash = "sha256:3672a82ccd3a62e99ab200a13903421e2928e399fda25ced98d140313ad59cb9"},
]
[package.dependencies]
PyQt6-Qt6 = ">=6.7.0,<6.8.0"
PyQt6-sip = ">=13.8,<14"
[[package]]
name = "pyqt6-qt6"
version = "6.7.3"
description = "The subset of a Qt installation needed by PyQt6."
optional = false
python-versions = "*"
files = [
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]
[[package]]
name = "pyqt6-sip"
version = "13.8.0"
description = "The sip module support for PyQt6"
optional = false
python-versions = ">=3.8"
files = [
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]
[[package]] [[package]]
name = "tk" name = "tk"
version = "0.1.0" version = "0.1.0"
@ -271,4 +335,4 @@ files = [
[metadata] [metadata]
lock-version = "2.0" lock-version = "2.0"
python-versions = "3.10.12" python-versions = "3.10.12"
content-hash = "f85dffb2208f45a3e3405ff57e5215d35ca57ed3e846c4f1580cd20bb4111491" content-hash = "ad97b1e4f8bf35d8b9e80e190f076abae64fa5242dcd7d7c479cbe8d96fb428a"

2
pyproject.toml
View File

@ -12,8 +12,8 @@ tk = "^0.1.0"
pybullet = "^3.2.6" pybullet = "^3.2.6"
numpy = "^1.20" numpy = "^1.20"
popsicle = "^0.9.6" popsicle = "^0.9.6"
pyqt5 = "^5.15.11"
pillow = "^11.0.0" pillow = "^11.0.0"
pyqt6 = "^6.7.1"
[build-system] [build-system]

1
run_local.py
View File

@ -43,7 +43,6 @@ pybullet_command = [
"run", "run",
"python", "python",
"utils/pybullet_server.py", "utils/pybullet_server.py",
"--test",
] # Путь к исполняемому файлу ] # Путь к исполняемому файлу
# Если включен режим тестирования, добавляем флаг --test # Если включен режим тестирования, добавляем флаг --test