working model

.gitignore

@@ -4,7 +4,7 @@ __pycache__/
 build/
 data/*
 /dist/**/*
-app.log
 dist.zip
 .venv
 *.log
+log/*

delta.json

@@ -1,6 +0,0 @@
-
-0.00632926238978882
-
-0.006367644030288622
-
-0.006349076001385698

main.py

@@ -141,8 +141,8 @@ class MyApp:
 
     @check_robot_app
     def command_wrapper(self, *args, **kwargs):
-        logger.info(args)
+        # logger.info(args)
-        logger.info(kwargs)
+        # logger.info(kwargs)
         return self.robot_app.cycle_start()
 
     @check_robot_app

robot/client_socket.py

@@ -35,8 +35,11 @@ class PrepareRobotData:
         }
         if type == "line" or type == "free":
             pairs = zip(start_coordinates, point)
+            data = []
+            for pair in pairs:
+                data.append(round(sum(pair), 3))
 
-            m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
+            m0, m1, m2, m3, m4, m5 = data
             if type == "line":
                 step.update({"action": "10"})
             if type == "free":
@@ -267,28 +270,12 @@ class SocketRobotArm:
             p.resetJointState(self.urdf_manager.body_id, i, worldJointPoses[i])
 
         calcWorldPosition = p.getLinkState(
-            self.urdf_manager.body_id,
+            self.urdf_manager.body_id, num_joints - 1, computeForwardKinematics=True
-            num_joints - 1,
-            computeForwardKinematics=True
         )
         calcWorldPosition = list(
             [p * 1000 for p in calcWorldPosition[0]]
             + [np.degrees(p) for p in p.getEulerFromQuaternion(calcWorldPosition[1])]
         )
-        # logger.info(calcWorldPosition)
-        # for i, pos in enumerate(zip(calcWorldPosition, self.world_coordinates)):
-        #     logger.info(f"delta by WORLD {i} {pos[0] - pos[1]}")
-        position_diff = np.linalg.norm(self.world_coordinates[:3] - np.array(calcWorldPosition[:3]))
-        print("Position Difference:", position_diff)
-        with open('delta.json', 'a') as f:
-            f.write(f'\n{position_diff}\n')
-            
-        # logger.info('-------')
-
-        # for i, pos in enumerate(zip(axisJointPoses, worldJointPoses)):
-        #     logger.info(f"delta by JOINT {i} {pos[0] - pos[1]}")
-
-        # time.sleep(1)
 
         self._get_command_count()
         self.set_text(text=f"Команд в очереди {self.remote_command_count}")
@@ -311,7 +298,7 @@ class SocketRobotArm:
             if self.command_type == "base"
             else self.convert_file_to_joint()
         )
-        with open(f"{self.command_type}.log", "w") as myfile:
+        with open(f"log/{self.command_type}.json", "w") as myfile:
             myfile.write(json.dumps(commands))
 
         self.add_rcc_list = (
@@ -493,11 +480,10 @@ class SocketRobotArm:
                     )
                 )
                 points = np.degrees(pj)
-                # points[1] = points[1] + 60
+                start_position = [0, 60, -100, 0, 40, 0]
-                # points[2] = points[2] - 100
+                start_position = [0, 0, 0, 0, 0, 0]
-                # points[4] = points[4] - 40
                 result.append(
-                    self.prepare_data.make_step("free", points, [0, 0, 0, 0, 0, 0])
+                    self.prepare_data.make_step("free", points, start_position)
                 )
         return result
 

utils/test_socket_server.py

@@ -32,7 +32,6 @@ c_angles = [
         "world": [1396.525, 1.687, 1322.697, 0, 90, 0],
         "axis": [0, -0.002, -0.002, 0.003, -0.001, 0],
     },
-
     {
         "world": [1396.513, 1.758, 1322.749, -0.002, 90, 0],
         "axis": [0.002, -0.001, 0, 0, 0, 0],
@@ -62,8 +61,33 @@ c_angles = [
         "axis": [0, -0.001, 0, 0.002, 0, 90.003],
     },
 ]
+c_angles = [
+    {
+        "world": [
+            894.159973,
+            -738.295654,
+            782.748047,
+            172.274109,
+            28.079031,
+            120.377357,
+        ],
+        "axis": [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755],
+    },
+    {
+        "world": [
+            1100.071655,
+            -347.347412,
+            782.754578,
+            172.284241,
+            28.079557,
+            142.505508,
+        ],
+        "axis": [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479],
+    },
+]
 coordinates_index = 0
 
+
 def handle_client(conn, addr):
     print(f"Connected by {addr}")
     try:
@@ -109,7 +133,6 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
     s.listen()
     print(f"Server listening on {HOST}:{PORT}")
 
-
     while True:
         conn, addr = s.accept()
         handle_client(conn, addr)