base viz
This commit is contained in:
parent
b58db72f74
commit
461364821d
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@ -1,8 +1,15 @@
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import socket
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import socket
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import json
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import json
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import os
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import sys
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import sys
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import math
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from pprint import pprint
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from pprint import pprint
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import tkinter
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import tkinter
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import threading
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import pybullet as p
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import pybullet_data
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os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
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from func import *
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from func import *
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@ -18,6 +25,7 @@ class SocketRobotArm:
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laser_id = 14
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laser_id = 14
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# filename = 'half-sphere-no-angle'
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# filename = 'half-sphere-no-angle'
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filename = "half-sphere"
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filename = "half-sphere"
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urdf_filename = "sample"
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pass_size = 4
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pass_size = 4
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@ -35,39 +43,65 @@ class SocketRobotArm:
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self.tkinter_exit = tkinter.Button(
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self.tkinter_exit = tkinter.Button(
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self.tkinter_root, text="Exit", command=self.close
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self.tkinter_root, text="Exit", command=self.close
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)
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)
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self.tkinter_start_cycle = tkinter.Button(
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self.tkinter_root, text="Start cycle", command=self.cycle_start
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)
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self.physics_client = None
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self.body_id = None
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threading.Thread(target=self.run_pybullet, daemon=True).start()
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self.socket.connect((self.host, self.port))
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self.socket.connect((self.host, self.port))
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self.cycle_base()
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self.cycle_base()
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self.cycle_start()
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self.tkinter_root.mainloop()
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def __exit__(self, exc_type, exc_value, traceback):
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def __exit__(self, exc_type, exc_value, traceback):
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print("exiting")
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print("exiting")
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self.socket.close()
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self.socket.close()
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def run_pybullet(self):
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self.physics_client = p.connect(p.GUI)
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p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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self.body_id = p.loadURDF(
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f"urdf/{self.urdf_filename}.urdf",
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[0, 0, 0],
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useFixedBase=True,
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globalScaling=2,
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)
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while True:
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p.stepSimulation()
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time.sleep(1 / 24)
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def close(self):
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def close(self):
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print("close")
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print("close")
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self.tkinter_info_label.destroy()
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# self.tkinter_info_label.destroy()
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# self.tkinter_root.destroy()
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self.tkinter_root.quit()
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self.socket.close()
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self.socket.close()
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self.socket = None
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self.socket = None
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# sys.exit()
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# sys.exit()
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def cycle_base(self):
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def cycle_base(self):
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self.tkinter_root.geometry("500x300")
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self.tkinter_root.geometry("500x300")
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self.tkinter_start_cycle.pack(pady=20)
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self.tkinter_exit.pack(pady=20)
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self.tkinter_exit.pack(pady=20)
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self.get_axis()
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self.get_axis()
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self.set_text(text=f"Координаты осей {self.start_axis_coordinates}")
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self.set_text(text=f"Координаты осей {self.start_axis_coordinates}")
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time.sleep(0.5)
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time.sleep(0.5)
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self.set_joint([math.radians(c) for c in self.start_axis_coordinates])
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self.get_world()
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self.get_world()
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self.set_text(text=f"Мировые координаты {self.start_world_coordinates}")
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self.set_text(text=f"Мировые координаты {self.start_world_coordinates}")
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time.sleep(0.5)
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time.sleep(0.5)
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self.set_joint(self.convert_to_joint(self.start_world_coordinates[0:3]))
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self.get_command_count()
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self.get_command_count()
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self.set_text(text=f"Команд в очереди {self.remote_command_count}")
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self.set_text(text=f"Команд в очереди {self.remote_command_count}")
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time.sleep(0.5)
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time.sleep(0.5)
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self.send_data(self.set_global_speed())
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self.send_data(self.set_global_speed())
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self.set_text(text=f"Установили глобальную скорость {self.global_speed}")
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self.set_text(text=f"Установили глобальную скорость {self.global_speed}")
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time.sleep(0.5)
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time.sleep(0.5)
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@ -76,7 +110,7 @@ class SocketRobotArm:
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self.send_data(self.start_cycle())
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self.send_data(self.start_cycle())
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self.set_text(text=f"Старт одиночного цикла")
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self.set_text(text=f"Старт одиночного цикла")
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time.sleep(0.5)
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time.sleep(0.5)
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self.add_rcc_list = (
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self.add_rcc_list = (
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[self.set_physical_speed(True), self.set_output_laser(True)]
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[self.set_physical_speed(True), self.set_output_laser(True)]
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+ self.steps_from_file()
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+ self.steps_from_file()
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@ -104,6 +138,34 @@ class SocketRobotArm:
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)
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)
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time.sleep(0.5)
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time.sleep(0.5)
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def convert_to_joint(self, coordinates):
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num_joints = p.getNumJoints(self.body_id)
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joint_info = [p.getJointInfo(self.body_id, i) for i in range(num_joints)]
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joint_angles = p.calculateInverseKinematics(
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self.body_id,
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endEffectorLinkIndex=num_joints - 1,
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targetPosition=coordinates,
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)
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print(joint_angles)
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return joint_angles
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def set_joint(self, coordinates):
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num_joints = p.getNumJoints(self.body_id)
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for joint_index in range(0, num_joints):
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p.setJointMotorControl2(
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bodyUniqueId=self.body_id,
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jointIndex=joint_index,
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controlMode=p.POSITION_CONTROL,
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targetPosition=coordinates[joint_index],
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)
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self.tkinter_info_label.config(
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text=f"Ось {joint_index} повернуть на {coordinates[joint_index]} градусов"
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)
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self.tkinter_info_label.pack()
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self.tkinter_root.update()
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time.sleep(0.5)
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def set_text(self, text):
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def set_text(self, text):
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label = tkinter.Label(self.tkinter_root, text=text)
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label = tkinter.Label(self.tkinter_root, text=text)
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label.pack()
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label.pack()
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@ -1,161 +1,48 @@
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# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
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# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
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[[package]]
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name = "attrs"
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version = "24.2.0"
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description = "Classes Without Boilerplate"
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optional = false
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python-versions = ">=3.7"
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files = [
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{file = "attrs-24.2.0-py3-none-any.whl", hash = "sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2"},
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{file = "attrs-24.2.0.tar.gz", hash = "sha256:5cfb1b9148b5b086569baec03f20d7b6bf3bcacc9a42bebf87ffaaca362f6346"},
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]
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[package.extras]
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benchmark = ["cloudpickle", "hypothesis", "mypy (>=1.11.1)", "pympler", "pytest (>=4.3.0)", "pytest-codspeed", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
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cov = ["cloudpickle", "coverage[toml] (>=5.3)", "hypothesis", "mypy (>=1.11.1)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
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dev = ["cloudpickle", "hypothesis", "mypy (>=1.11.1)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
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docs = ["cogapp", "furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-towncrier", "towncrier (<24.7)"]
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tests = ["cloudpickle", "hypothesis", "mypy (>=1.11.1)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
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tests-mypy = ["mypy (>=1.11.1)", "pytest-mypy-plugins"]
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[[package]]
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name = "automat"
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version = "22.10.0"
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description = "Self-service finite-state machines for the programmer on the go."
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optional = false
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python-versions = "*"
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files = [
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{file = "Automat-22.10.0-py2.py3-none-any.whl", hash = "sha256:c3164f8742b9dc440f3682482d32aaff7bb53f71740dd018533f9de286b64180"},
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{file = "Automat-22.10.0.tar.gz", hash = "sha256:e56beb84edad19dcc11d30e8d9b895f75deeb5ef5e96b84a467066b3b84bb04e"},
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]
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[package.dependencies]
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attrs = ">=19.2.0"
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six = "*"
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[package.extras]
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visualize = ["Twisted (>=16.1.1)", "graphviz (>0.5.1)"]
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[[package]]
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name = "constantly"
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version = "23.10.4"
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description = "Symbolic constants in Python"
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optional = false
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||||||
python-versions = ">=3.8"
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files = [
|
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{file = "constantly-23.10.4-py3-none-any.whl", hash = "sha256:3fd9b4d1c3dc1ec9757f3c52aef7e53ad9323dbe39f51dfd4c43853b68dfa3f9"},
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||||||
{file = "constantly-23.10.4.tar.gz", hash = "sha256:aa92b70a33e2ac0bb33cd745eb61776594dc48764b06c35e0efd050b7f1c7cbd"},
|
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||||||
]
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|
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[[package]]
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name = "hyperlink"
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version = "21.0.0"
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description = "A featureful, immutable, and correct URL for Python."
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optional = false
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python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
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files = [
|
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{file = "hyperlink-21.0.0-py2.py3-none-any.whl", hash = "sha256:e6b14c37ecb73e89c77d78cdb4c2cc8f3fb59a885c5b3f819ff4ed80f25af1b4"},
|
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||||||
{file = "hyperlink-21.0.0.tar.gz", hash = "sha256:427af957daa58bc909471c6c40f74c5450fa123dd093fc53efd2e91d2705a56b"},
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]
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[package.dependencies]
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idna = ">=2.5"
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[[package]]
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name = "idna"
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version = "3.7"
|
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||||||
description = "Internationalized Domain Names in Applications (IDNA)"
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optional = false
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python-versions = ">=3.5"
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files = [
|
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{file = "idna-3.7-py3-none-any.whl", hash = "sha256:82fee1fc78add43492d3a1898bfa6d8a904cc97d8427f683ed8e798d07761aa0"},
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||||||
{file = "idna-3.7.tar.gz", hash = "sha256:028ff3aadf0609c1fd278d8ea3089299412a7a8b9bd005dd08b9f8285bcb5cfc"},
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||||||
]
|
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|
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[[package]]
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name = "incremental"
|
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version = "24.7.2"
|
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description = "A small library that versions your Python projects."
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optional = false
|
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||||||
python-versions = ">=3.8"
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||||||
files = [
|
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{file = "incremental-24.7.2-py3-none-any.whl", hash = "sha256:8cb2c3431530bec48ad70513931a760f446ad6c25e8333ca5d95e24b0ed7b8fe"},
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||||||
{file = "incremental-24.7.2.tar.gz", hash = "sha256:fb4f1d47ee60efe87d4f6f0ebb5f70b9760db2b2574c59c8e8912be4ebd464c9"},
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||||||
]
|
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||||||
|
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[package.dependencies]
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setuptools = ">=61.0"
|
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tomli = {version = "*", markers = "python_version < \"3.11\""}
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[package.extras]
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scripts = ["click (>=6.0)"]
|
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|
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[[package]]
|
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||||||
name = "modbus"
|
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||||||
version = "3.2"
|
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||||||
description = "Modbus TCP Server and Client Programs"
|
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||||||
optional = false
|
|
||||||
python-versions = "*"
|
|
||||||
files = [
|
|
||||||
{file = "modbus-3.2.tar.gz", hash = "sha256:f4cd6efa24e7e2c5295672467722c2ed32faec7f43bbc1cabafe8a9f521439f2"},
|
|
||||||
]
|
|
||||||
|
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||||||
[package.dependencies]
|
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numpy = "*"
|
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||||||
|
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[[package]]
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[[package]]
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name = "numpy"
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name = "numpy"
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version = "2.0.1"
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version = "1.26.4"
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||||||
description = "Fundamental package for array computing in Python"
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description = "Fundamental package for array computing in Python"
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||||||
optional = false
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optional = false
|
||||||
python-versions = ">=3.9"
|
python-versions = ">=3.9"
|
||||||
files = [
|
files = [
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||||||
{file = "numpy-2.0.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:0fbb536eac80e27a2793ffd787895242b7f18ef792563d742c2d673bfcb75134"},
|
{file = "numpy-1.26.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:9ff0f4f29c51e2803569d7a51c2304de5554655a60c5d776e35b4a41413830d0"},
|
||||||
{file = "numpy-2.0.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:69ff563d43c69b1baba77af455dd0a839df8d25e8590e79c90fcbe1499ebde42"},
|
{file = "numpy-1.26.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2e4ee3380d6de9c9ec04745830fd9e2eccb3e6cf790d39d7b98ffd19b0dd754a"},
|
||||||
{file = "numpy-2.0.1-cp310-cp310-macosx_14_0_arm64.whl", hash = "sha256:1b902ce0e0a5bb7704556a217c4f63a7974f8f43e090aff03fcf262e0b135e02"},
|
{file = "numpy-1.26.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d209d8969599b27ad20994c8e41936ee0964e6da07478d6c35016bc386b66ad4"},
|
||||||
{file = "numpy-2.0.1-cp310-cp310-macosx_14_0_x86_64.whl", hash = "sha256:f1659887361a7151f89e79b276ed8dff3d75877df906328f14d8bb40bb4f5101"},
|
{file = "numpy-1.26.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ffa75af20b44f8dba823498024771d5ac50620e6915abac414251bd971b4529f"},
|
||||||
{file = "numpy-2.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4658c398d65d1b25e1760de3157011a80375da861709abd7cef3bad65d6543f9"},
|
{file = "numpy-1.26.4-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:62b8e4b1e28009ef2846b4c7852046736bab361f7aeadeb6a5b89ebec3c7055a"},
|
||||||
{file = "numpy-2.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4127d4303b9ac9f94ca0441138acead39928938660ca58329fe156f84b9f3015"},
|
{file = "numpy-1.26.4-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:a4abb4f9001ad2858e7ac189089c42178fcce737e4169dc61321660f1a96c7d2"},
|
||||||
{file = "numpy-2.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:e5eeca8067ad04bc8a2a8731183d51d7cbaac66d86085d5f4766ee6bf19c7f87"},
|
{file = "numpy-1.26.4-cp310-cp310-win32.whl", hash = "sha256:bfe25acf8b437eb2a8b2d49d443800a5f18508cd811fea3181723922a8a82b07"},
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|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
|
|
@ -176,163 +63,23 @@ files = [
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "pymodbus"
|
name = "pymodbus"
|
||||||
version = "3.7.0"
|
version = "3.7.2"
|
||||||
description = "A fully featured modbus protocol stack in python"
|
description = "A fully featured modbus protocol stack in python"
|
||||||
optional = false
|
optional = false
|
||||||
python-versions = ">=3.9.0"
|
python-versions = ">=3.9.0"
|
||||||
files = [
|
files = [
|
||||||
{file = "pymodbus-3.7.0-py3-none-any.whl", hash = "sha256:4d4caedea604e294d9a39248dcac05e903e6143e5adfe49aa7edb79d461527e1"},
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|
||||||
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|
{file = "pymodbus-3.7.2.tar.gz", hash = "sha256:6cc63a14c8cca83f5b6d9dae3319565061bd49503ee7282df681201c16357eef"},
|
||||||
]
|
]
|
||||||
|
|
||||||
[package.extras]
|
[package.extras]
|
||||||
all = ["pymodbus[development,documentation,repl,serial,simulator]"]
|
all = ["pymodbus[development,documentation,repl,serial,simulator]"]
|
||||||
development = ["build (>=1.2.1)", "codespell (>=2.3.0)", "coverage (>=7.6.0)", "mypy (>=1.10.1)", "pylint (>=3.2.5)", "pytest (>=8.2.2)", "pytest-asyncio (>=0.23.8)", "pytest-cov (>=5.0.0)", "pytest-profiling (>=1.7.0)", "pytest-timeout (>=2.3.1)", "pytest-xdist (>=3.6.1)", "ruff (>=0.5.3)", "twine (>=5.1.1)", "types-Pygments", "types-pyserial"]
|
development = ["build (>=1.2.1)", "codespell (>=2.3.0)", "coverage (>=7.6.0)", "mypy (>=1.10.1)", "pylint (>=3.2.5)", "pytest (>=8.2.2)", "pytest-aiohttp (>=1.0.5)", "pytest-asyncio (>=0.23.8)", "pytest-cov (>=5.0.0)", "pytest-profiling (>=1.7.0)", "pytest-timeout (>=2.3.1)", "pytest-xdist (>=3.6.1)", "ruff (>=0.5.3)", "twine (>=5.1.1)", "types-Pygments", "types-pyserial"]
|
||||||
documentation = ["Sphinx (>=7.3.7)", "recommonmark (>=0.7.1)", "sphinx-rtd-theme (>=2.0.0)"]
|
documentation = ["Sphinx (>=7.3.7)", "recommonmark (>=0.7.1)", "sphinx-rtd-theme (>=2.0.0)"]
|
||||||
repl = ["pymodbus-repl (>=2.0.3)"]
|
repl = ["pymodbus-repl (>=2.0.4)"]
|
||||||
serial = ["pyserial (>=3.5)"]
|
serial = ["pyserial (>=3.5)"]
|
||||||
simulator = ["aiohttp (>=3.8.6)", "aiohttp (>=3.9.5)"]
|
simulator = ["aiohttp (>=3.8.6)", "aiohttp (>=3.9.5)"]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "pymodbus3"
|
|
||||||
version = "1.0.0"
|
|
||||||
description = "A fully featured modbus protocol stack in python"
|
|
||||||
optional = false
|
|
||||||
python-versions = "*"
|
|
||||||
files = [
|
|
||||||
{file = "pymodbus3-1.0.0.tar.gz", hash = "sha256:4a340660a5e56a8f2f945e650b00b78c0bfce05911140338101b37d3b9ed3f8c"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[package.dependencies]
|
|
||||||
pyserial = ">=2.6"
|
|
||||||
twisted = ">=12.2.0"
|
|
||||||
|
|
||||||
[package.extras]
|
|
||||||
documents = ["sphinx (>=1.1.3)"]
|
|
||||||
quality = ["coverage (>=3.5.3)", "mock (>=1.0.0)", "nose (>=1.2.1)", "pep8 (>=1.3.3)"]
|
|
||||||
twisted = ["pyasn1 (>=0.1.4)", "pycrypto (>=2.6)"]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "pymodbustcp"
|
|
||||||
version = "0.2.2"
|
|
||||||
description = "A simple Modbus/TCP library for Python"
|
|
||||||
optional = false
|
|
||||||
python-versions = "*"
|
|
||||||
files = [
|
|
||||||
{file = "pyModbusTCP-0.2.2-py3-none-any.whl", hash = "sha256:6f018792c891b725da99d978c7d156c71340fa26d389d22310f99bf5829ce773"},
|
|
||||||
{file = "pyModbusTCP-0.2.2.tar.gz", hash = "sha256:30ed8bdba98ef8c423aa8421be454d5079fd5952ef78557f287ec263c57b5ba6"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "pyserial"
|
|
||||||
version = "3.5"
|
|
||||||
description = "Python Serial Port Extension"
|
|
||||||
optional = false
|
|
||||||
python-versions = "*"
|
|
||||||
files = [
|
|
||||||
{file = "pyserial-3.5-py2.py3-none-any.whl", hash = "sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0"},
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|
||||||
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|
|
||||||
]
|
|
||||||
|
|
||||||
[package.extras]
|
|
||||||
cp2110 = ["hidapi"]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "scipy"
|
|
||||||
version = "1.14.0"
|
|
||||||
description = "Fundamental algorithms for scientific computing in Python"
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.10"
|
|
||||||
files = [
|
|
||||||
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|
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|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
{file = "scipy-1.14.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9e3154691b9f7ed73778d746da2df67a19d046a6c8087c8b385bc4cdb2cfca74"},
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||||||
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|
||||||
{file = "scipy-1.14.0-cp311-cp311-win_amd64.whl", hash = "sha256:5b083c8940028bb7e0b4172acafda6df762da1927b9091f9611b0bcd8676f2bc"},
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|
||||||
{file = "scipy-1.14.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:bff2438ea1330e06e53c424893ec0072640dac00f29c6a43a575cbae4c99b2b9"},
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|
||||||
{file = "scipy-1.14.0-cp312-cp312-macosx_12_0_arm64.whl", hash = "sha256:bbc0471b5f22c11c389075d091d3885693fd3f5e9a54ce051b46308bc787e5d4"},
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|
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|
||||||
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|
||||||
{file = "scipy-1.14.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d91db2c41dd6c20646af280355d41dfa1ec7eead235642178bd57635a3f82209"},
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|
||||||
{file = "scipy-1.14.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a01cc03bcdc777c9da3cfdcc74b5a75caffb48a6c39c8450a9a05f82c4250a14"},
|
|
||||||
{file = "scipy-1.14.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:65df4da3c12a2bb9ad52b86b4dcf46813e869afb006e58be0f516bc370165159"},
|
|
||||||
{file = "scipy-1.14.0-cp312-cp312-win_amd64.whl", hash = "sha256:4c4161597c75043f7154238ef419c29a64ac4a7c889d588ea77690ac4d0d9b20"},
|
|
||||||
{file = "scipy-1.14.0.tar.gz", hash = "sha256:b5923f48cb840380f9854339176ef21763118a7300a88203ccd0bdd26e58527b"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[package.dependencies]
|
|
||||||
numpy = ">=1.23.5,<2.3"
|
|
||||||
|
|
||||||
[package.extras]
|
|
||||||
dev = ["cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy (==1.10.0)", "pycodestyle", "pydevtool", "rich-click", "ruff (>=0.0.292)", "types-psutil", "typing_extensions"]
|
|
||||||
doc = ["jupyterlite-pyodide-kernel", "jupyterlite-sphinx (>=0.13.1)", "jupytext", "matplotlib (>=3.5)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (>=0.15.2)", "sphinx (>=5.0.0)", "sphinx-design (>=0.4.0)"]
|
|
||||||
test = ["Cython", "array-api-strict", "asv", "gmpy2", "hypothesis (>=6.30)", "meson", "mpmath", "ninja", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "setuptools"
|
|
||||||
version = "72.1.0"
|
|
||||||
description = "Easily download, build, install, upgrade, and uninstall Python packages"
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.8"
|
|
||||||
files = [
|
|
||||||
{file = "setuptools-72.1.0-py3-none-any.whl", hash = "sha256:5a03e1860cf56bb6ef48ce186b0e557fdba433237481a9a625176c2831be15d1"},
|
|
||||||
{file = "setuptools-72.1.0.tar.gz", hash = "sha256:8d243eff56d095e5817f796ede6ae32941278f542e0f941867cc05ae52b162ec"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[package.extras]
|
|
||||||
core = ["importlib-metadata (>=6)", "importlib-resources (>=5.10.2)", "jaraco.text (>=3.7)", "more-itertools (>=8.8)", "ordered-set (>=3.1.1)", "packaging (>=24)", "platformdirs (>=2.6.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"]
|
|
||||||
doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
|
|
||||||
test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test", "mypy (==1.11.*)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (<0.4)", "pytest-ruff (>=0.2.1)", "pytest-ruff (>=0.3.2)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "six"
|
|
||||||
version = "1.16.0"
|
|
||||||
description = "Python 2 and 3 compatibility utilities"
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
|
|
||||||
files = [
|
|
||||||
{file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
|
|
||||||
{file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "svgpathtools"
|
|
||||||
version = "1.6.1"
|
|
||||||
description = "A collection of tools for manipulating and analyzing SVG Path objects and Bezier curves."
|
|
||||||
optional = false
|
|
||||||
python-versions = "*"
|
|
||||||
files = [
|
|
||||||
{file = "svgpathtools-1.6.1-py2.py3-none-any.whl", hash = "sha256:39967f9a817b8a12cc6dd1646fc162d522fca6c3fd5f8c94913c15ee4cb3a906"},
|
|
||||||
{file = "svgpathtools-1.6.1.tar.gz", hash = "sha256:7054e6de1953e295bf565d535d585695453b09f8db4a2f7c4853348732097a3e"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[package.dependencies]
|
|
||||||
numpy = "*"
|
|
||||||
scipy = "*"
|
|
||||||
svgwrite = "*"
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "svgwrite"
|
|
||||||
version = "1.4.3"
|
|
||||||
description = "A Python library to create SVG drawings."
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.6"
|
|
||||||
files = [
|
|
||||||
{file = "svgwrite-1.4.3-py3-none-any.whl", hash = "sha256:bb6b2b5450f1edbfa597d924f9ac2dd099e625562e492021d7dd614f65f8a22d"},
|
|
||||||
{file = "svgwrite-1.4.3.zip", hash = "sha256:a8fbdfd4443302a6619a7f76bc937fc683daf2628d9b737c891ec08b8ce524c3"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "tk"
|
name = "tk"
|
||||||
version = "0.1.0"
|
version = "0.1.0"
|
||||||
|
|
@ -344,144 +91,7 @@ files = [
|
||||||
{file = "tk-0.1.0.tar.gz", hash = "sha256:60bc8923d5d35f67f5c6bd93d4f0c49d2048114ec077768f959aef36d4ed97f8"},
|
{file = "tk-0.1.0.tar.gz", hash = "sha256:60bc8923d5d35f67f5c6bd93d4f0c49d2048114ec077768f959aef36d4ed97f8"},
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "tomli"
|
|
||||||
version = "2.0.1"
|
|
||||||
description = "A lil' TOML parser"
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.7"
|
|
||||||
files = [
|
|
||||||
{file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
|
|
||||||
{file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "twisted"
|
|
||||||
version = "24.3.0"
|
|
||||||
description = "An asynchronous networking framework written in Python"
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.8.0"
|
|
||||||
files = [
|
|
||||||
{file = "twisted-24.3.0-py3-none-any.whl", hash = "sha256:039f2e6a49ab5108abd94de187fa92377abe5985c7a72d68d0ad266ba19eae63"},
|
|
||||||
{file = "twisted-24.3.0.tar.gz", hash = "sha256:6b38b6ece7296b5e122c9eb17da2eeab3d98a198f50ca9efd00fb03e5b4fd4ae"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[package.dependencies]
|
|
||||||
attrs = ">=21.3.0"
|
|
||||||
automat = ">=0.8.0"
|
|
||||||
constantly = ">=15.1"
|
|
||||||
hyperlink = ">=17.1.1"
|
|
||||||
incremental = ">=22.10.0"
|
|
||||||
twisted-iocpsupport = {version = ">=1.0.2,<2", markers = "platform_system == \"Windows\""}
|
|
||||||
typing-extensions = ">=4.2.0"
|
|
||||||
zope-interface = ">=5"
|
|
||||||
|
|
||||||
[package.extras]
|
|
||||||
all-non-platform = ["twisted[conch,http2,serial,test,tls]", "twisted[conch,http2,serial,test,tls]"]
|
|
||||||
conch = ["appdirs (>=1.4.0)", "bcrypt (>=3.1.3)", "cryptography (>=3.3)"]
|
|
||||||
dev = ["coverage (>=6b1,<7)", "pyflakes (>=2.2,<3.0)", "python-subunit (>=1.4,<2.0)", "twisted[dev-release]", "twistedchecker (>=0.7,<1.0)"]
|
|
||||||
dev-release = ["pydoctor (>=23.9.0,<23.10.0)", "pydoctor (>=23.9.0,<23.10.0)", "sphinx (>=6,<7)", "sphinx (>=6,<7)", "sphinx-rtd-theme (>=1.3,<2.0)", "sphinx-rtd-theme (>=1.3,<2.0)", "towncrier (>=23.6,<24.0)", "towncrier (>=23.6,<24.0)"]
|
|
||||||
gtk-platform = ["pygobject", "pygobject", "twisted[all-non-platform]", "twisted[all-non-platform]"]
|
|
||||||
http2 = ["h2 (>=3.0,<5.0)", "priority (>=1.1.0,<2.0)"]
|
|
||||||
macos-platform = ["pyobjc-core", "pyobjc-core", "pyobjc-framework-cfnetwork", "pyobjc-framework-cfnetwork", "pyobjc-framework-cocoa", "pyobjc-framework-cocoa", "twisted[all-non-platform]", "twisted[all-non-platform]"]
|
|
||||||
mypy = ["mypy (>=1.8,<2.0)", "mypy-zope (>=1.0.3,<1.1.0)", "twisted[all-non-platform,dev]", "types-pyopenssl", "types-setuptools"]
|
|
||||||
osx-platform = ["twisted[macos-platform]", "twisted[macos-platform]"]
|
|
||||||
serial = ["pyserial (>=3.0)", "pywin32 (!=226)"]
|
|
||||||
test = ["cython-test-exception-raiser (>=1.0.2,<2)", "hypothesis (>=6.56)", "pyhamcrest (>=2)"]
|
|
||||||
tls = ["idna (>=2.4)", "pyopenssl (>=21.0.0)", "service-identity (>=18.1.0)"]
|
|
||||||
windows-platform = ["pywin32 (!=226)", "pywin32 (!=226)", "twisted[all-non-platform]", "twisted[all-non-platform]"]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "twisted-iocpsupport"
|
|
||||||
version = "1.0.4"
|
|
||||||
description = "An extension for use in the twisted I/O Completion Ports reactor."
|
|
||||||
optional = false
|
|
||||||
python-versions = "*"
|
|
||||||
files = [
|
|
||||||
{file = "twisted-iocpsupport-1.0.4.tar.gz", hash = "sha256:858096c0d15e33f15ac157f455d8f86f2f2cdd223963e58c0f682a3af8362d89"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp310-cp310-win32.whl", hash = "sha256:afa2b630797f9ed2f27f3d9f55e3f72b4244911e45a8c82756f44babbf0b243e"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp310-cp310-win_amd64.whl", hash = "sha256:0058c963c8957bcd3deda62122e89953c9de1e867a274facc9b15dde1a9f31e8"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp311-cp311-win32.whl", hash = "sha256:196f7c7ccad4ba4d1783b1c4e1d1b22d93c04275cd780bf7498d16c77319ad6e"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp311-cp311-win_amd64.whl", hash = "sha256:4e5f97bcbabdd79cbaa969b63439b89801ea560f11d42b0a387634275c633623"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp312-cp312-win32.whl", hash = "sha256:6081bd7c2f4fcf9b383dcdb3b3385d75a26a7c9d2be25b6950c3d8ea652d2d2d"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp312-cp312-win_amd64.whl", hash = "sha256:76f7e67cec1f1d097d1f4ed7de41be3d74546e1a4ede0c7d56e775c4dce5dfb0"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp36-cp36m-win32.whl", hash = "sha256:3d306fc4d88a6bcf61ce9d572c738b918578121bfd72891625fab314549024b5"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp36-cp36m-win_amd64.whl", hash = "sha256:391ac4d6002a80e15f35adc4ad6056f4fe1c17ceb0d1f98ba01b0f4f917adfd7"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp37-cp37m-win32.whl", hash = "sha256:0c1b5cf37f0b2d96cc3c9bc86fff16613b9f5d0ca565c96cf1f1fb8cfca4b81c"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp37-cp37m-win_amd64.whl", hash = "sha256:3c5dc11d72519e55f727320e3cee535feedfaee09c0f0765ed1ca7badff1ab3c"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp38-cp38-win32.whl", hash = "sha256:cc86c2ef598c15d824a243c2541c29459881c67fc3c0adb6efe2242f8f0ec3af"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp38-cp38-win_amd64.whl", hash = "sha256:c27985e949b9b1a1fb4c20c71d315c10ea0f93fdf3ccdd4a8c158b5926edd8c8"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp39-cp39-win32.whl", hash = "sha256:e311dfcb470696e3c077249615893cada598e62fa7c4e4ca090167bd2b7d331f"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-cp39-cp39-win_amd64.whl", hash = "sha256:4574eef1f3bb81501fb02f911298af3c02fe8179c31a33b361dd49180c3e644d"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:872747a3b64e2909aee59c803ccd0bceb9b75bf27915520ebd32d69687040fa2"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:c2712b778bacf1db434e3e065adfed3db300754186a29aecac1efae9ef4bcaff"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:7c66fa0aa4236b27b3c61cb488662d85dae746a6d1c7b0d91cf7aae118445adf"},
|
|
||||||
{file = "twisted_iocpsupport-1.0.4-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:300437af17396a945a58dcfffd77863303a8b6d9e65c6e81f1d2eed55b50d444"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "typing-extensions"
|
|
||||||
version = "4.12.2"
|
|
||||||
description = "Backported and Experimental Type Hints for Python 3.8+"
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.8"
|
|
||||||
files = [
|
|
||||||
{file = "typing_extensions-4.12.2-py3-none-any.whl", hash = "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d"},
|
|
||||||
{file = "typing_extensions-4.12.2.tar.gz", hash = "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "zope-interface"
|
|
||||||
version = "7.0.1"
|
|
||||||
description = "Interfaces for Python"
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.8"
|
|
||||||
files = [
|
|
||||||
{file = "zope.interface-7.0.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ec4e87e6fdc511a535254daa122c20e11959ce043b4e3425494b237692a34f1c"},
|
|
||||||
{file = "zope.interface-7.0.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:51d5713e8e38f2d3ec26e0dfdca398ed0c20abda2eb49ffc15a15a23eb8e5f6d"},
|
|
||||||
{file = "zope.interface-7.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ea8d51e5eb29e57d34744369cd08267637aa5a0fefc9b5d33775ab7ff2ebf2e3"},
|
|
||||||
{file = "zope.interface-7.0.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:55bbcc74dc0c7ab489c315c28b61d7a1d03cf938cc99cc58092eb065f120c3a5"},
|
|
||||||
{file = "zope.interface-7.0.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10ebac566dd0cec66f942dc759d46a994a2b3ba7179420f0e2130f88f8a5f400"},
|
|
||||||
{file = "zope.interface-7.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:7039e624bcb820f77cc2ff3d1adcce531932990eee16121077eb51d9c76b6c14"},
|
|
||||||
{file = "zope.interface-7.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:03bd5c0db82237bbc47833a8b25f1cc090646e212f86b601903d79d7e6b37031"},
|
|
||||||
{file = "zope.interface-7.0.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:3f52050c6a10d4a039ec6f2c58e5b3ade5cc570d16cf9d102711e6b8413c90e6"},
|
|
||||||
{file = "zope.interface-7.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:af0b33f04677b57843d529b9257a475d2865403300b48c67654c40abac2f9f24"},
|
|
||||||
{file = "zope.interface-7.0.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:696c2a381fc7876b3056711717dba5eddd07c2c9e5ccd50da54029a1293b6e43"},
|
|
||||||
{file = "zope.interface-7.0.1-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f89a420cf5a6f2aa7849dd59e1ff0e477f562d97cf8d6a1ee03461e1eec39887"},
|
|
||||||
{file = "zope.interface-7.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:b59deb0ddc7b431e41d720c00f99d68b52cb9bd1d5605a085dc18f502fe9c47f"},
|
|
||||||
{file = "zope.interface-7.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:52f5253cca1b35eaeefa51abd366b87f48f8714097c99b131ba61f3fdbbb58e7"},
|
|
||||||
{file = "zope.interface-7.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:88d108d004e0df25224de77ce349a7e73494ea2cb194031f7c9687e68a88ec9b"},
|
|
||||||
{file = "zope.interface-7.0.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c203d82069ba31e1f3bc7ba530b2461ec86366cd4bfc9b95ec6ce58b1b559c34"},
|
|
||||||
{file = "zope.interface-7.0.1-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3f3495462bc0438b76536a0e10d765b168ae636092082531b88340dc40dcd118"},
|
|
||||||
{file = "zope.interface-7.0.1-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:192b7a792e3145ed880ff6b1a206fdb783697cfdb4915083bfca7065ec845e60"},
|
|
||||||
{file = "zope.interface-7.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:400d06c9ec8dbcc96f56e79376297e7be07a315605c9a2208720da263d44d76f"},
|
|
||||||
{file = "zope.interface-7.0.1-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8c1dff87b30fd150c61367d0e2cdc49bb55f8b9fd2a303560bbc24b951573ae1"},
|
|
||||||
{file = "zope.interface-7.0.1-cp313-cp313-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f749ca804648d00eda62fe1098f229b082dfca930d8bad8386e572a6eafa7525"},
|
|
||||||
{file = "zope.interface-7.0.1-cp313-cp313-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4ec212037becf6d2f705b7ed4538d56980b1e7bba237df0d8995cbbed29961dc"},
|
|
||||||
{file = "zope.interface-7.0.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:d33cb526efdc235a2531433fc1287fcb80d807d5b401f9b801b78bf22df560dd"},
|
|
||||||
{file = "zope.interface-7.0.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:b419f2144e1762ab845f20316f1df36b15431f2622ebae8a6d5f7e8e712b413c"},
|
|
||||||
{file = "zope.interface-7.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:03f1452d5d1f279184d5bdb663a3dc39902d9320eceb63276240791e849054b6"},
|
|
||||||
{file = "zope.interface-7.0.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6ba4b3638d014918b918aa90a9c8370bd74a03abf8fcf9deb353b3a461a59a84"},
|
|
||||||
{file = "zope.interface-7.0.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc0615351221926a36a0fbcb2520fb52e0b23e8c22a43754d9cb8f21358c33c0"},
|
|
||||||
{file = "zope.interface-7.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:ce6cbb852fb8f2f9bb7b9cdca44e2e37bce783b5f4c167ff82cb5f5128163c8f"},
|
|
||||||
{file = "zope.interface-7.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:5566fd9271c89ad03d81b0831c37d46ae5e2ed211122c998637130159a120cf1"},
|
|
||||||
{file = "zope.interface-7.0.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:da0cef4d7e3f19c3bd1d71658d6900321af0492fee36ec01b550a10924cffb9c"},
|
|
||||||
{file = "zope.interface-7.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f32ca483e6ade23c7caaee9d5ee5d550cf4146e9b68d2fb6c68bac183aa41c37"},
|
|
||||||
{file = "zope.interface-7.0.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:da21e7eec49252df34d426c2ee9cf0361c923026d37c24728b0fa4cc0599fd03"},
|
|
||||||
{file = "zope.interface-7.0.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9a8195b99e650e6f329ce4e5eb22d448bdfef0406404080812bc96e2a05674cb"},
|
|
||||||
{file = "zope.interface-7.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:19c829d52e921b9fe0b2c0c6a8f9a2508c49678ee1be598f87d143335b6a35dc"},
|
|
||||||
{file = "zope.interface-7.0.1.tar.gz", hash = "sha256:f0f5fda7cbf890371a59ab1d06512da4f2c89a6ea194e595808123c863c38eff"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[package.dependencies]
|
|
||||||
setuptools = "*"
|
|
||||||
|
|
||||||
[package.extras]
|
|
||||||
docs = ["Sphinx", "repoze.sphinx.autointerface", "sphinx-rtd-theme"]
|
|
||||||
test = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
|
|
||||||
testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
|
|
||||||
|
|
||||||
[metadata]
|
[metadata]
|
||||||
lock-version = "2.0"
|
lock-version = "2.0"
|
||||||
python-versions = "3.10.12"
|
python-versions = "3.10.12"
|
||||||
content-hash = "5d6ac608b7d4cd83ce992399f2263bf6356902a177e910b7419966ec5eb20e3f"
|
content-hash = "fe8f4d7980373c9220c8910d6eb71c5f4dd23b77fc6879a939a317637ef349d4"
|
||||||
|
|
|
||||||
|
|
@ -7,13 +7,10 @@ readme = "README.md"
|
||||||
|
|
||||||
[tool.poetry.dependencies]
|
[tool.poetry.dependencies]
|
||||||
python = "3.10.12"
|
python = "3.10.12"
|
||||||
modbus = "^3.2"
|
|
||||||
pymodbustcp = "^0.2.2"
|
|
||||||
pymodbus = "^3.7.0"
|
pymodbus = "^3.7.0"
|
||||||
pymodbus3 = "^1.0.0"
|
|
||||||
svgpathtools = "^1.6.1"
|
|
||||||
tk = "^0.1.0"
|
tk = "^0.1.0"
|
||||||
pybullet = "^3.2.6"
|
pybullet = "^3.2.6"
|
||||||
|
numpy = "^1.20"
|
||||||
|
|
||||||
|
|
||||||
[build-system]
|
[build-system]
|
||||||
|
|
|
||||||
|
|
@ -18,10 +18,10 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
|
||||||
res = {"queryData": ["ok"]}
|
res = {"queryData": ["ok"]}
|
||||||
|
|
||||||
if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
|
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"]:
|
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":
|
if req["reqType"] == "command":
|
||||||
res["cmdReply"] = ['ok']
|
res["cmdReply"] = ['ok']
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,136 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot name="five_axis_robot" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||||
|
|
||||||
|
<!-- Определение ссылок -->
|
||||||
|
<link name="base_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.0" />
|
||||||
|
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.5 0.5 0.1" />
|
||||||
|
</geometry>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba="0.5 0.5 0.5 1.0" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="link1">
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.0" />
|
||||||
|
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<cylinder radius="0.05" length="0.3" />
|
||||||
|
</geometry>
|
||||||
|
<material name="blue">
|
||||||
|
<color rgba="0.0 0.0 1.0 1.0" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="link2">
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.0" />
|
||||||
|
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<cylinder radius="0.05" length="0.3" />
|
||||||
|
</geometry>
|
||||||
|
<material name="green">
|
||||||
|
<color rgba="0.0 1.0 0.0 1.0" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="link3">
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.0" />
|
||||||
|
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<cylinder radius="0.05" length="0.3" />
|
||||||
|
</geometry>
|
||||||
|
<material name="red">
|
||||||
|
<color rgba="1.0 0.0 0.0 1.0" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="link4">
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.0" />
|
||||||
|
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<cylinder radius="0.05" length="0.3" />
|
||||||
|
</geometry>
|
||||||
|
<material name="yellow">
|
||||||
|
<color rgba="1.0 1.0 0.0 1.0" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="end_effector">
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.0" />
|
||||||
|
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1 0.1 0.1" />
|
||||||
|
</geometry>
|
||||||
|
<material name="black">
|
||||||
|
<color rgba="0.0 0.0 0.0 1.0" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<!-- Определение суставов -->
|
||||||
|
<joint name="joint1" type="revolute">
|
||||||
|
<parent link="base_link" />
|
||||||
|
<child link="link1" />
|
||||||
|
<origin xyz="0 0 0.15" rpy="0 0 0" />
|
||||||
|
<axis xyz="0 0 1" />
|
||||||
|
<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="joint2" type="revolute">
|
||||||
|
<parent link="link1" />
|
||||||
|
<child link="link2" />
|
||||||
|
<origin xyz="0 0 0.3" rpy="0 0 0" />
|
||||||
|
<axis xyz="0 1 0" />
|
||||||
|
<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="joint3" type="revolute">
|
||||||
|
<parent link="link2" />
|
||||||
|
<child link="link3" />
|
||||||
|
<origin xyz="0 0 0.3" rpy="0 0 0" />
|
||||||
|
<axis xyz="0 1 0" />
|
||||||
|
<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="joint4" type="revolute">
|
||||||
|
<parent link="link3" />
|
||||||
|
<child link="link4" />
|
||||||
|
<origin xyz="0 0 0.3" rpy="0 0 0" />
|
||||||
|
<axis xyz="0 1 0" />
|
||||||
|
<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="end_effector_joint" type="revolute">
|
||||||
|
<parent link="link4" />
|
||||||
|
<child link="end_effector" />
|
||||||
|
<origin xyz="0 0 0.3" rpy="0 0 0" />
|
||||||
|
<axis xyz="0 1 0" />
|
||||||
|
<limit lower="-3.14" upper="3.14" effort="10" velocity="1" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
</robot>
|
||||||
Loading…
Reference in New Issue