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modbus_test
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user 2024-11-20 16:02:42 +03:00
parent 93d7fe77b1
commit 8ec738bbff
2 changed files with 773 additions and 87700 deletions
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88448
app.log
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25
robot/client_socket.py
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@ -272,13 +272,14 @@ class SocketRobotArm:
p.resetJointState(self.urdf_manager.body_id, i, worldJointPoses[i]) p.resetJointState(self.urdf_manager.body_id, i, worldJointPoses[i])
calcWorldPosition = p.getLinkState( calcWorldPosition = p.getLinkState(
self.urdf_manager.body_id, num_joints - 1, computeForwardKinematics=True self.urdf_manager.body_id, num_joints - 1,
# computeForwardKinematics=True
) )
logger.info(calcWorldPosition)
calcWorldPosition = list( calcWorldPosition = list(
[p * 1000 for p in calcWorldPosition[0]] [p * 1000 for p in calcWorldPosition[0]]
+ [np.degrees(p) for p in p.getEulerFromQuaternion(calcWorldPosition[1])] + [np.degrees(p) for p in p.getEulerFromQuaternion(calcWorldPosition[1])]
) )
logger.info(calcWorldPosition)
for i, pos in enumerate(zip(calcWorldPosition, self.world_coordinates)): for i, pos in enumerate(zip(calcWorldPosition, self.world_coordinates)):
logger.info(f"delta by WORLD {i} {pos[0] - pos[1]}") logger.info(f"delta by WORLD {i} {pos[0] - pos[1]}")
@ -452,8 +453,15 @@ class SocketRobotArm:
targetOrientation=angles, targetOrientation=angles,
lowerLimits=lower_limits, lowerLimits=lower_limits,
upperLimits=upper_limits, upperLimits=upper_limits,
# jointRanges=[0, 0, 0, 0, 0, 0], jointRanges=[
# restPoses=[0, 0, 0, 0, 0, 0, -math.pi * 0.5, 0], math.radians(-17.409513 - (-17.596806)),
math.radians(10.897068 - (-48.161888)),
math.radians(-33.003525 - 66.406982),
math.radians(176.892288 - 177.113632),
math.radians(38.957874 - (-2.829787)),
math.radians(-159.934479 - (-159.933365)),
],
restPoses=[0, 0, 0, 0, 0, 0, 0, 0],
# solver=0, # solver=0,
# maxNumIterations=100, # maxNumIterations=100,
# residualThreshold=0.001, # residualThreshold=0.001,
@ -487,11 +495,12 @@ class SocketRobotArm:
], ],
) )
) )
points = np.degrees(pj)
# points[1] = points[1] + 60
# points[2] = points[2] - 100
# points[4] = points[4] - 40
result.append( result.append(
self.prepare_data.make_step( self.prepare_data.make_step("free", points, [0, 0, 0, 0, 0, 0])
"free", np.degrees(pj), [0, 0, 0, 0, 0, 0]
)
) )
return result return result