test model

data/test.nc.result

@@ -1,9 +1,9 @@
-X0 Z0
-X0 Z100
-X0 Z200
-X100 Z200
-X200 Z200
-X200 Z100
-X200 Z0
-X100 Z0
+X0 Y0
+X0 Y100
+X0 Y200
+X100 Y200
+X200 Y200
+X200 Y100
+X200 Y0
+X100 Y0
 X0 Z0

dist/client/data.txt

@@ -0,0 +1,2 @@
+line,0,0,277.8,0,0,0
+line,0,-50,50,0,0,0

dist/urdf_support

@@ -0,0 +1 @@
+urdf_support/

gui/init.py

@@ -78,7 +78,7 @@ class MainContentComponent(QWidget):
         layout.addWidget(self.rightPanel)
 
         self.setLayout(layout)
-        self.setFixedSize(800, 600)
+        self.setFixedSize(800, 800)
         self.initUI()
 
     def initUI(self):

main.py

@@ -135,7 +135,9 @@ class MyApp:
         return self.robot_app.set_command_type(type)
 
     @check_robot_app
-    def command_wrapper(self):
+    def command_wrapper(self, *args, **kwargs):
+        logger.info(args)
+        logger.info(kwargs)
         return self.robot_app.cycle_start()
 
     @check_robot_app

robot/client_socket.py

@@ -36,7 +36,7 @@ class SocketRobotArm:
     start_world_coordinates = []
     remote_command_count = []
 
-    command_type = 'base'
+    command_type = "base"
     command_data = None
 
     def __init__(self, *args, **kwargs):
@@ -73,6 +73,7 @@ class SocketRobotArm:
         p.loadURDF("urdf/plane.urdf", physicsClientId=self.physics_client)
 
         urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
+        logger.info(urdf_path)
         self.body_id = p.loadURDF(
             urdf_path, [0, 0, 0], useFixedBase=1, physicsClientId=self.physics_client
         )
@@ -141,7 +142,7 @@ class SocketRobotArm:
         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.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}")
@@ -160,7 +161,9 @@ class SocketRobotArm:
         time.sleep(0.5)
 
         commands = (
-            self.steps_from_file() if self.command_type == "base" else self.convert_file_to_join()
+            self.steps_from_file()
+            if self.command_type == "base"
+            else self.convert_file_to_join()
         )
 
         self.add_rcc_list = (
@@ -193,7 +196,7 @@ class SocketRobotArm:
                     [float(point) for point in [point["m0"], point["m1"], point["m2"]]]
                 )
                 # logger.info(f"point {point} {angles}")
-                self.set_joint(angles)
+                self.set_joint((*angles, point["m2"], point["m3"], point["m4"]))
                 time.sleep(1)
 
     def convert_to_joint(self, coordinates):

robots.json

@@ -10,5 +10,11 @@
         "host": "192.168.70.65",
         "slave_id": 22,
         "urdf": "sample"
+    },
+    {
+        "name": "test (ip small)",
+        "host": "192.168.70.55",
+        "slave_id": 11,
+        "urdf": "borunte_macro"
     }
 ]

run_local.py

@@ -0,0 +1,82 @@
+import subprocess
+import argparse
+import sys
+import signal
+
+# Параметры для процессов
+server_process = None
+test_server_process = None
+
+
+def usage():
+    """Функция для отображения помощи"""
+    print("Usage: run_all.py [--test]")
+    sys.exit(1)
+
+
+# Обработчик для сигналов выхода
+def cleanup():
+    """Функция для остановки серверов при выходе"""
+    print("Остановка серверов...")
+    if server_process:
+        server_process.terminate()
+        server_process.wait()
+    if test_server_process:
+        test_server_process.terminate()
+        test_server_process.wait()
+    print("Серверы остановлены.")
+
+
+# Назначаем функции очистки для сигналов
+signal.signal(signal.SIGINT, lambda *_: cleanup())
+signal.signal(signal.SIGTERM, lambda *_: cleanup())
+
+# Парсер аргументов командной строки
+parser = argparse.ArgumentParser(description="Python launcher script.")
+parser.add_argument("--test", action="store_true", help="Запуск в режиме тестирования")
+args = parser.parse_args()
+
+# Установка команды для pybullet_server
+pybullet_command = [
+    "poetry",
+    "run",
+    "python",
+    "utils/pybullet_server.py",
+    "--test",
+]  # Путь к исполняемому файлу
+
+# Если включен режим тестирования, добавляем флаг --test
+if args.test:
+    pybullet_command.append("--test")
+
+# Запуск pybullet_server.exe
+print("Запуск pybullet_server...")
+server_process = subprocess.Popen(pybullet_command)
+
+# Проверяем успешный запуск сервера
+if server_process.poll() is not None:
+    print("Ошибка при запуске pybullet_server")
+    sys.exit(1)
+
+# Если включен режим тестирования, запускаем test_socket_server.exe
+if args.test:
+    print("Запуск test_socket_server...")
+    test_server_process = subprocess.Popen(
+        ["poetry", "run", "python", "utils/test_socket_server.py"]
+    )  # Путь к исполняемому файлу
+
+    # Проверка успешного запуска тестового сервера
+    if test_server_process.poll() is not None:
+        print("Ошибка при запуске test_socket_server")
+        sys.exit(1)
+
+    # Запуск основного скрипта main.exe в режиме тестирования
+    subprocess.run(
+        ["poetry", "run", "python", "main.py", "--mode", "test"]
+    )  # Путь к исполняемому файлу
+else:
+    # Запуск основного скрипта main.exe
+    subprocess.run(["poetry", "run", "python", "main.py"])  # Путь к исполняемому файлу
+
+# Очистка после завершения
+cleanup()

urdf/borunte_macro.urdf

@@ -10,14 +10,14 @@
   <link name="base_link">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/base_link.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/base_link.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
       <material name="Black"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/base_link_collision.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/base_link_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
     </collision>
@@ -25,14 +25,14 @@
   <link name="link_1">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_1.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_1.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_1_collision.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_1_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
     </collision>
@@ -44,14 +44,14 @@
   <link name="link_2">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_2.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_2.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_2_collision.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_2_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
     </collision>
@@ -63,14 +63,14 @@
   <link name="link_3">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_3.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_3.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_3_collision.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_3_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
     </collision>
@@ -82,14 +82,14 @@
   <link name="link_4">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_4.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_4.stl"/>
       </geometry>
       <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_4_collision.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_4_collision.stl"/>
       </geometry>
       <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
     </collision>
@@ -101,14 +101,14 @@
   <link name="link_5">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_5.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_5.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_5_collision.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_5_collision.stl"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
@@ -120,14 +120,14 @@
   <link name="link_6">
     <visual>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_6.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_6.stl"/>
       </geometry>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <material name="DarkRed"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_6_collision.stl"/>
+        <mesh filename="../urdf_support/borunte_support/meshes/link_6_collision.stl"/>
       </geometry>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
     </collision>

urdf/sample.urdf

@@ -108,18 +108,18 @@
   </link>
   <!-- joints: main serial chain -->
   <joint name="joint_1" type="revolute">
+    <limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415" />
     <origin rpy="0 0 0" xyz="0 0 0" />
     <parent link="base_link" />
     <child link="link_1" />
     <axis xyz="0 0 1" />
-    <limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415" />
   </joint>
   <joint name="joint_2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.0170450 0 0.494600" />
+    <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" />
     <parent link="link_1" />
     <child link="link_2" />
-    <axis xyz="0 1 0" />
-    <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0.0170450 0 0.494600" />
   </joint>
   <joint name="joint_3" type="revolute">
     <origin rpy="0 1.5708 0" xyz="0 0 0.729921" />
@@ -129,24 +129,24 @@
     <limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269" />
   </joint>
   <joint name="joint_4" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.098277" />
+    <limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813" />
     <parent link="link_3" />
     <child link="link_4" />
-    <axis xyz="-1 0 0" />
-    <limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813" />
+    <axis xyz="0 0 1" />
+    <origin rpy="0 0 0" xyz="0 0 0.098277" />
   </joint>
   <joint name="joint_5" type="revolute">
-    <origin rpy="0 0 0" xyz="0.0 0 1.109039" />
+    <limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595" />
     <parent link="link_4" />
     <child link="link_5" />
-    <axis xyz="0 -1 0" />
-    <limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595" />
+    <axis xyz="0 1 0" />
+    <origin rpy="0 0 0" xyz="0.0 0 1.109039" />
   </joint>
   <joint name="joint_6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.0 0 0.117" />
+    <limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775" />
     <parent link="link_5" />
     <child link="link_6" />
-    <axis xyz="-1 0 0" />
-    <limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775" />
+    <axis xyz="0 0 1" />
+    <origin rpy="0 0 0" xyz="0.0 0 0.117" />
   </joint>
 </robot>

utils/pybullet_server.py

@@ -32,5 +32,5 @@ if __name__ == "__main__":
 
     # Если передан аргумент --test, устанавливаем тип подключения SHARED_MEMORY_SERVER
     connection_type = "GUI_SERVER" if args.test else "SHARED_MEMORY_SERVER"
-    connection_type = "SHARED_MEMORY_SERVER"
+    # connection_type = "SHARED_MEMORY_SERVER"
     main(connection_type)