From 461364821d134d66cdb1c4a0a83b5e80ccca750c Mon Sep 17 00:00:00 2001 From: Kseninia Mikhaylova Date: Tue, 1 Oct 2024 16:23:09 +0300 Subject: [PATCH] base viz --- README.md | 1 + client_socket.py | 74 ++++++- poetry.lock | 476 ++++-------------------------------------- pyproject.toml | 5 +- test_socket_server.py | 4 +- urdf/sample.urdf | 136 ++++++++++++ 6 files changed, 251 insertions(+), 445 deletions(-) create mode 100644 README.md create mode 100644 urdf/sample.urdf diff --git a/README.md b/README.md new file mode 100644 index 0000000..f6b0bd7 --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +## modbus \ No newline at end of file diff --git a/client_socket.py b/client_socket.py index ada8452..e4bba36 100644 --- a/client_socket.py +++ b/client_socket.py @@ -1,8 +1,15 @@ import socket import json +import os import sys +import math from pprint import pprint import tkinter +import threading +import pybullet as p +import pybullet_data + +os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1" from func import * @@ -18,6 +25,7 @@ class SocketRobotArm: laser_id = 14 # filename = 'half-sphere-no-angle' filename = "half-sphere" + urdf_filename = "sample" pass_size = 4 @@ -35,39 +43,65 @@ class SocketRobotArm: self.tkinter_exit = tkinter.Button( self.tkinter_root, text="Exit", command=self.close ) + self.tkinter_start_cycle = tkinter.Button( + self.tkinter_root, text="Start cycle", command=self.cycle_start + ) + self.physics_client = None + self.body_id = None + + threading.Thread(target=self.run_pybullet, daemon=True).start() self.socket.connect((self.host, self.port)) self.cycle_base() - self.cycle_start() + + self.tkinter_root.mainloop() def __exit__(self, exc_type, exc_value, traceback): print("exiting") self.socket.close() + def run_pybullet(self): + self.physics_client = p.connect(p.GUI) + p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client) + p.setAdditionalSearchPath(pybullet_data.getDataPath()) + self.body_id = p.loadURDF( + f"urdf/{self.urdf_filename}.urdf", + [0, 0, 0], + useFixedBase=True, + globalScaling=2, + ) + + while True: + p.stepSimulation() + time.sleep(1 / 24) + def close(self): print("close") - self.tkinter_info_label.destroy() - # self.tkinter_root.destroy() + # self.tkinter_info_label.destroy() + self.tkinter_root.quit() self.socket.close() self.socket = None # sys.exit() def cycle_base(self): self.tkinter_root.geometry("500x300") + self.tkinter_start_cycle.pack(pady=20) self.tkinter_exit.pack(pady=20) self.get_axis() self.set_text(text=f"Координаты осей {self.start_axis_coordinates}") time.sleep(0.5) - + self.set_joint([math.radians(c) for c in self.start_axis_coordinates]) + self.get_world() self.set_text(text=f"Мировые координаты {self.start_world_coordinates}") time.sleep(0.5) + self.set_joint(self.convert_to_joint(self.start_world_coordinates[0:3])) self.get_command_count() self.set_text(text=f"Команд в очереди {self.remote_command_count}") time.sleep(0.5) - + self.send_data(self.set_global_speed()) self.set_text(text=f"Установили глобальную скорость {self.global_speed}") time.sleep(0.5) @@ -76,7 +110,7 @@ class SocketRobotArm: self.send_data(self.start_cycle()) self.set_text(text=f"Старт одиночного цикла") time.sleep(0.5) - + self.add_rcc_list = ( [self.set_physical_speed(True), self.set_output_laser(True)] + self.steps_from_file() @@ -104,6 +138,34 @@ class SocketRobotArm: ) time.sleep(0.5) + def convert_to_joint(self, coordinates): + num_joints = p.getNumJoints(self.body_id) + joint_info = [p.getJointInfo(self.body_id, i) for i in range(num_joints)] + + joint_angles = p.calculateInverseKinematics( + self.body_id, + endEffectorLinkIndex=num_joints - 1, + targetPosition=coordinates, + ) + print(joint_angles) + return joint_angles + + def set_joint(self, coordinates): + num_joints = p.getNumJoints(self.body_id) + for joint_index in range(0, num_joints): + p.setJointMotorControl2( + bodyUniqueId=self.body_id, + jointIndex=joint_index, + controlMode=p.POSITION_CONTROL, + targetPosition=coordinates[joint_index], + ) + self.tkinter_info_label.config( + text=f"Ось {joint_index} повернуть на {coordinates[joint_index]} градусов" + ) + self.tkinter_info_label.pack() + self.tkinter_root.update() + time.sleep(0.5) + def set_text(self, text): label = tkinter.Label(self.tkinter_root, text=text) label.pack() diff --git a/poetry.lock b/poetry.lock index 0da507f..28407f5 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,161 +1,48 @@ # This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. -[[package]] -name = "attrs" -version = "24.2.0" -description = "Classes Without Boilerplate" -optional = false -python-versions = ">=3.7" -files = [ - {file = "attrs-24.2.0-py3-none-any.whl", hash = "sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2"}, - {file = "attrs-24.2.0.tar.gz", hash = "sha256:5cfb1b9148b5b086569baec03f20d7b6bf3bcacc9a42bebf87ffaaca362f6346"}, -] - -[package.extras] -benchmark = ["cloudpickle", 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"zope.event", "zope.testing"] - [metadata] lock-version = "2.0" python-versions = "3.10.12" -content-hash = "5d6ac608b7d4cd83ce992399f2263bf6356902a177e910b7419966ec5eb20e3f" +content-hash = "fe8f4d7980373c9220c8910d6eb71c5f4dd23b77fc6879a939a317637ef349d4" diff --git a/pyproject.toml b/pyproject.toml index 7f4e2aa..249bc7b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -7,13 +7,10 @@ readme = "README.md" [tool.poetry.dependencies] python = "3.10.12" -modbus = "^3.2" -pymodbustcp = "^0.2.2" pymodbus = "^3.7.0" -pymodbus3 = "^1.0.0" -svgpathtools = "^1.6.1" tk = "^0.1.0" pybullet = "^3.2.6" +numpy = "^1.20" [build-system] diff --git a/test_socket_server.py b/test_socket_server.py index d230921..d564703 100644 --- a/test_socket_server.py +++ b/test_socket_server.py @@ -18,10 +18,10 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: res = {"queryData": ["ok"]} if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]: - res["queryData"] = [10, 11, 12, 13, 14, 15] + res["queryData"] = [-59.696, 39.438, -7.478, -58.198, -76.606, 198.533] if "queryAddr" in req and "world-0" in req["queryAddr"]: - res["queryData"] = [100, 101, 102, 103, 104, 105] + res["queryData"] = [643.622, -1289.604, 254.682, 124.70, 24.209, -58.492] if req["reqType"] == "command": res["cmdReply"] = ['ok'] diff --git a/urdf/sample.urdf b/urdf/sample.urdf new file mode 100644 index 0000000..041f39d --- /dev/null +++ b/urdf/sample.urdf @@ -0,0 +1,136 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file