From 9f8706e03662c8f8fe9ca95066afadbba409dac8 Mon Sep 17 00:00:00 2001 From: Kseninia Mikhaylova Date: Tue, 29 Oct 2024 11:53:37 +0300 Subject: [PATCH] gui --- app.log | 365 +++++++++++++++++++++++++++++++++++++++ gui/imitator.py | 3 +- gui/visualize.py | 12 +- main.py | 22 ++- robot/client_socket.py | 30 ++-- robots.json | 6 +- run.sh | 29 +++- utils/pybullet_server.py | 31 +++- 8 files changed, 459 insertions(+), 39 deletions(-) diff --git a/app.log b/app.log index bdad786..c34b1b2 100644 --- a/app.log +++ b/app.log @@ -25,3 +25,368 @@ 2024-10-29 09:52:42,967 - logger - INFO - set joints - client_socket.py - 220 2024-10-29 09:52:43,028 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 217 2024-10-29 09:52:43,529 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217 +2024-10-29 10:07:11,491 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:07:12,492 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:07:13,731 - logger - INFO - Начат цикл симуляции - client_socket.py - 88 +2024-10-29 10:07:15,259 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:09:32,299 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:09:33,300 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:09:34,448 - logger - INFO - Начат цикл симуляции - client_socket.py - 88 +2024-10-29 10:09:35,817 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:09:36,488 - logger - INFO - connected - robot.py - 52 +2024-10-29 10:18:34,505 - logger - INFO - UPDATE - client_socket.py - 149 +2024-10-29 10:18:37,974 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:18:38,980 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:18:41,522 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:18:42,840 - logger - INFO - Начат цикл симуляции - client_socket.py - 96 +2024-10-29 10:22:10,681 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:22:11,685 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:22:11,686 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 10:22:14,298 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:22:15,744 - logger - INFO - connected - robot.py - 52 +2024-10-29 10:22:18,363 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 10:22:18,363 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 10:22:18,864 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 10:22:18,925 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 10:22:19,426 - logger - INFO - (-1.0471975511953981, 0.698131700798005, -0.1745329251997134, -1.0471975511898428, -1.3089969389893832, 7.148527879040802e-13) - client_socket.py - 222 +2024-10-29 10:22:19,426 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 10:22:19,427 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 10:24:26,432 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:24:27,435 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:24:27,436 - logger - INFO - Начат цикл симуляции - client_socket.py - 94 +2024-10-29 10:24:29,805 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:24:31,247 - logger - INFO - connected - robot.py - 52 +2024-10-29 10:25:31,402 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:25:32,404 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:25:32,404 - logger - INFO - Начат цикл симуляции - client_socket.py - 94 +2024-10-29 10:25:40,688 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:25:42,134 - logger - INFO - connected - robot.py - 52 +2024-10-29 10:25:48,991 - logger - INFO - UPDATE - client_socket.py - 155 +2024-10-29 10:25:48,992 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 224 +2024-10-29 10:25:49,493 - logger - INFO - set joints - client_socket.py - 227 +2024-10-29 10:25:49,554 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 224 +2024-10-29 10:25:50,056 - logger - INFO - (-0.9847364953106005, 1.2892635374377142, 1.2391833419710148, -0.23629584478076587, -0.04466857994359279, 5.1816585040072356e-12) - client_socket.py - 221 +2024-10-29 10:25:50,057 - logger - INFO - set joints - client_socket.py - 227 +2024-10-29 10:25:50,058 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 224 +2024-10-29 10:26:41,553 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:26:42,558 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:26:42,620 - logger - INFO - Начат цикл симуляции - client_socket.py - 94 +2024-10-29 10:26:44,656 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:26:46,123 - logger - INFO - connected - robot.py - 52 +2024-10-29 10:26:50,353 - logger - INFO - UPDATE - client_socket.py - 155 +2024-10-29 10:26:50,354 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 224 +2024-10-29 10:26:50,854 - logger - INFO - set joints - client_socket.py - 227 +2024-10-29 10:26:50,915 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 224 +2024-10-29 10:26:51,416 - logger - INFO - (-0.9847364953092403, 1.2892635374372106, 1.2391833419691833, -0.2362958447837087, -0.044668579943807504, 4.1702204901716426e-12) - client_socket.py - 221 +2024-10-29 10:26:51,416 - logger - INFO - set joints - client_socket.py - 227 +2024-10-29 10:26:51,417 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 224 +2024-10-29 10:26:59,148 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:27:00,157 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:27:00,158 - logger - INFO - Начат цикл симуляции - client_socket.py - 94 +2024-10-29 10:27:01,407 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:27:03,005 - logger - INFO - connected - robot.py - 52 +2024-10-29 10:27:03,834 - logger - INFO - UPDATE - client_socket.py - 155 +2024-10-29 10:27:03,839 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 224 +2024-10-29 10:27:04,343 - logger - INFO - set joints - client_socket.py - 227 +2024-10-29 10:27:04,492 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 224 +2024-10-29 10:27:04,998 - logger - INFO - (-0.9845206315641839, 1.2892199488102594, 1.238922989913048, -0.2367500615488039, -0.044701920875957174, -3.2799282084602464e-05) - client_socket.py - 221 +2024-10-29 10:27:04,998 - logger - INFO - set joints - client_socket.py - 227 +2024-10-29 10:27:04,999 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 224 +2024-10-29 10:27:41,431 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:27:42,448 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:27:42,572 - logger - INFO - Начат цикл симуляции - client_socket.py - 94 +2024-10-29 10:27:44,519 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:27:46,060 - logger - INFO - connected - robot.py - 52 +2024-10-29 10:27:51,421 - logger - INFO - UPDATE - client_socket.py - 155 +2024-10-29 10:27:51,422 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 224 +2024-10-29 10:27:51,936 - logger - INFO - set joints - client_socket.py - 227 +2024-10-29 10:27:52,088 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 224 +2024-10-29 10:27:52,588 - logger - INFO - (-0.9846531339418076, 1.2892357644726988, 1.239073709784769, -0.23647512695450956, -0.04468167418001631, 6.681340346910063e-06) - client_socket.py - 221 +2024-10-29 10:27:52,589 - logger - INFO - set joints - client_socket.py - 227 +2024-10-29 10:27:52,589 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 224 +2024-10-29 10:30:48,322 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:30:49,324 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:30:49,335 - logger - INFO - Начат цикл симуляции - client_socket.py - 94 +2024-10-29 10:30:52,770 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:30:54,168 - logger - INFO - connected - robot.py - 52 +2024-10-29 10:33:17,241 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:33:18,243 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 10:33:18,243 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 10:33:18,244 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 10:33:24,152 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 10:33:25,555 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:09:15,119 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:09:16,120 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:11:34,092 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:11:35,094 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:11:35,095 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:11:35,101 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:11:45,676 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:11:47,075 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:11:51,905 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:11:51,905 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:11:52,406 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:11:52,467 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:11:52,968 - logger - INFO - (-0.984736495301072, 1.2892635374342234, 1.2391833419582188, -0.23629584480136934, -0.044668579945096404, 3.3513201728724313e-12) - client_socket.py - 222 +2024-10-29 11:11:52,968 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:11:52,969 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:11:59,916 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:12:00,595 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:16:18,753 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:16:20,147 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:16:23,955 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:16:23,955 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:16:24,456 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:16:24,517 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:16:25,018 - logger - INFO - (-0.9847364953024569, 1.2892635374347103, 1.2391833419600613, -0.23629584479838228, -0.04466857994487837, 3.020241658224231e-12) - client_socket.py - 222 +2024-10-29 11:16:25,018 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:16:25,018 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:19:59,283 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:20:00,286 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:20:00,286 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:20:00,294 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:20:02,445 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:20:03,839 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:20:07,324 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:20:07,324 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:20:07,825 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:20:07,886 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:20:08,387 - logger - INFO - (-0.9847364953001625, 1.2892635374338883, 1.2391833419569958, -0.23629584480333682, -0.04466857994523997, 2.689384423622259e-12) - client_socket.py - 222 +2024-10-29 11:20:08,387 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:20:08,387 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:21:57,245 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:21:58,246 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:21:58,247 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:21:58,251 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:23:54,699 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:23:55,700 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:23:55,701 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:23:55,708 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:23:59,561 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:24:00,955 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:24:57,991 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:24:58,992 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:24:58,992 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:24:59,002 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:25:01,819 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:25:03,211 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:25:05,971 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:25:05,972 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:25:06,473 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:25:06,534 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:25:07,035 - logger - INFO - (-0.9847364953027962, 1.2892635374348411, 1.2391833419605223, -0.23629584479764593, -0.04466857994482466, 3.0699683072811333e-12) - client_socket.py - 222 +2024-10-29 11:25:07,035 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:25:07,035 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:25:38,601 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:25:38,601 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:25:39,102 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:25:39,163 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:25:39,664 - logger - INFO - (-0.9847364952837485, 1.289263537427884, 1.239183341934961, -0.23629584483882415, -0.044668579947829856, 2.5925142517191805e-19) - client_socket.py - 222 +2024-10-29 11:25:39,664 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:25:39,665 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:28:50,055 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:28:51,058 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:28:51,059 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:28:51,067 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:28:52,656 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:28:54,058 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:28:55,104 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:28:55,105 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:28:55,605 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:28:55,667 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:28:56,168 - logger - INFO - (-0.984736495301072, 1.2892635374342234, 1.2391833419582188, -0.23629584480136934, -0.044668579945096404, 3.3513201728724313e-12) - client_socket.py - 222 +2024-10-29 11:28:56,168 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:28:56,168 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:30:02,759 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:30:03,761 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:30:03,762 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:30:03,777 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:32:03,264 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:32:04,660 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:32:10,112 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:32:10,113 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:32:10,614 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:32:10,675 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:32:11,176 - logger - INFO - (-0.9847364953010369, 1.2892635374342127, 1.2391833419581735, -0.23629584480144455, -0.04466857994510197, 3.4497249236169637e-12) - client_socket.py - 222 +2024-10-29 11:32:11,176 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:32:11,177 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:33:19,802 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:33:19,803 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:33:20,303 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:33:20,365 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:33:20,865 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.6711957511936244e-19) - client_socket.py - 222 +2024-10-29 11:33:20,866 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:33:20,866 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:33:25,509 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:33:25,509 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:33:26,010 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:33:26,071 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:33:26,572 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.6711957511936244e-19) - client_socket.py - 222 +2024-10-29 11:33:26,572 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:33:26,573 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:34:24,499 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:34:24,500 - logger - INFO - None - main.py - 93 +2024-10-29 11:34:25,501 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:34:25,502 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:34:25,506 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:34:26,885 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:34:28,292 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:34:30,629 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:34:30,629 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:34:31,130 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:34:31,191 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:34:31,692 - logger - INFO - (-0.9847364953023128, 1.2892635374346606, 1.2391833419598708, -0.23629584479869187, -0.04466857994490095, 3.217666571451386e-12) - client_socket.py - 222 +2024-10-29 11:34:31,692 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:34:31,693 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:35:51,346 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:35:51,346 - logger - INFO - None - main.py - 93 +2024-10-29 11:35:52,348 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:35:52,348 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:35:52,349 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:35:58,654 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:36:00,047 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:36:00,710 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:36:00,711 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:36:01,212 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:01,273 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:36:01,773 - logger - INFO - (-0.9847364953038205, 1.2892635374351884, 1.239183341961875, -0.23629584479544036, -0.044668579944663264, 2.7793109827491576e-12) - client_socket.py - 222 +2024-10-29 11:36:01,774 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:01,774 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:36:03,276 - logger - INFO - - main.py - 93 +2024-10-29 11:36:03,276 - logger - INFO - [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - imitator.py - 47 +2024-10-29 11:36:03,276 - logger - INFO - - main.py - 93 +2024-10-29 11:36:05,830 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:36:05,830 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:36:06,331 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:06,392 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:36:06,893 - logger - INFO - (-0.9847364952837823, 1.2892635374278956, 1.2391833419350053, -0.236295844838752, -0.044668579947824666, 2.591350304248885e-19) - client_socket.py - 222 +2024-10-29 11:36:06,893 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:06,894 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:36:08,396 - logger - INFO - - main.py - 93 +2024-10-29 11:36:08,396 - logger - INFO - [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - imitator.py - 47 +2024-10-29 11:36:08,396 - logger - INFO - - main.py - 93 +2024-10-29 11:36:08,477 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:36:08,477 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:36:08,978 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:09,039 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:36:09,539 - logger - INFO - (-0.9847364952837823, 1.2892635374278956, 1.2391833419350053, -0.236295844838752, -0.044668579947824666, 2.591350304248781e-19) - client_socket.py - 222 +2024-10-29 11:36:09,539 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:09,540 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:36:11,041 - logger - INFO - - main.py - 93 +2024-10-29 11:36:11,041 - logger - INFO - [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - imitator.py - 47 +2024-10-29 11:36:11,042 - logger - INFO - - main.py - 93 +2024-10-29 11:36:11,124 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:36:11,124 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:36:11,625 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:11,686 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:36:12,187 - logger - INFO - (-0.9847364952837823, 1.2892635374278956, 1.2391833419350053, -0.236295844838752, -0.044668579947824666, 2.591350304248885e-19) - client_socket.py - 222 +2024-10-29 11:36:12,187 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:12,188 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:36:13,690 - logger - INFO - - main.py - 93 +2024-10-29 11:36:13,690 - logger - INFO - [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - imitator.py - 47 +2024-10-29 11:36:13,690 - logger - INFO - - main.py - 93 +2024-10-29 11:36:13,771 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:36:13,772 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:36:14,272 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:14,333 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:36:14,834 - logger - INFO - (-0.9847364952837823, 1.2892635374278956, 1.2391833419350053, -0.236295844838752, -0.044668579947824666, 2.591350304248899e-19) - client_socket.py - 222 +2024-10-29 11:36:14,834 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:14,835 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:36:16,336 - logger - INFO - - main.py - 93 +2024-10-29 11:36:16,336 - logger - INFO - [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - imitator.py - 47 +2024-10-29 11:36:16,337 - logger - INFO - - main.py - 93 +2024-10-29 11:36:32,404 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:36:33,082 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:36:34,740 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:36:36,126 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:36:37,444 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:36:37,444 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:36:37,945 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:38,006 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:36:38,507 - logger - INFO - (-0.9847364953038205, 1.2892635374351884, 1.239183341961875, -0.23629584479544036, -0.044668579944663264, 2.7793109827491576e-12) - client_socket.py - 222 +2024-10-29 11:36:38,507 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:36:38,508 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:36:40,009 - logger - INFO - - main.py - 93 +2024-10-29 11:36:40,010 - logger - INFO - [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - imitator.py - 47 +2024-10-29 11:36:40,010 - logger - INFO - - main.py - 93 +2024-10-29 11:37:27,972 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:37:27,972 - logger - INFO - None - main.py - 93 +2024-10-29 11:37:28,974 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:37:51,502 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:37:51,502 - logger - INFO - None - main.py - 93 +2024-10-29 11:37:52,504 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:37:52,505 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:37:52,507 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:37:54,366 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:37:55,775 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:38:07,061 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:38:07,061 - logger - INFO - None - main.py - 93 +2024-10-29 11:38:08,062 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:44:03,745 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:44:03,746 - logger - INFO - None - main.py - 93 +2024-10-29 11:44:04,748 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:44:04,748 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:44:04,762 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:44:04,832 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:44:07,281 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:44:08,675 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:44:09,393 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:44:09,394 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:44:09,895 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:44:09,956 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:44:10,456 - logger - INFO - (-0.9847364953050008, 1.28926353743567, 1.2391833419635008, -0.23629584479287147, -0.044668579944476344, 4.534502227404686e-12) - client_socket.py - 222 +2024-10-29 11:44:10,457 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:44:10,457 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:44:11,959 - logger - INFO - - main.py - 93 +2024-10-29 11:44:12,641 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:44:12,641 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:44:13,142 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:44:13,203 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:44:13,704 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.671195751193575e-19) - client_socket.py - 222 +2024-10-29 11:44:13,705 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:44:13,705 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:44:15,207 - logger - INFO - - main.py - 93 +2024-10-29 11:49:49,066 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:49:49,066 - logger - INFO - None - main.py - 93 +2024-10-29 11:49:50,067 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:49:50,068 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:49:50,068 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:50:12,804 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:50:12,804 - logger - INFO - None - main.py - 93 +2024-10-29 11:50:13,806 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:50:13,806 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:50:13,806 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:50:28,435 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:50:28,436 - logger - INFO - None - main.py - 93 +2024-10-29 11:50:29,437 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:50:56,925 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:50:56,925 - logger - INFO - None - main.py - 93 +2024-10-29 11:50:57,926 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:51:44,311 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:51:44,312 - logger - INFO - None - main.py - 93 +2024-10-29 11:51:45,315 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:51:45,315 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:51:45,326 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:51:47,285 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:51:48,683 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:51:49,373 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:51:49,373 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:51:49,874 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:51:49,936 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:51:50,436 - logger - INFO - (-0.9847364953050008, 1.28926353743567, 1.2391833419635008, -0.23629584479287147, -0.044668579944476344, 4.534502227404686e-12) - client_socket.py - 222 +2024-10-29 11:51:50,436 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:51:50,437 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:51:51,938 - logger - INFO - - main.py - 93 +2024-10-29 11:52:47,851 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:52:48,854 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:52:48,854 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:52:48,871 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:52:49,776 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:52:51,174 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:53:08,327 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:53:08,327 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:53:08,828 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:53:08,891 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:53:09,392 - logger - INFO - (-0.9847364953036543, 1.2892635374351422, 1.239183341961664, -0.23629584479579457, -0.04466857994468927, 2.5825696739323423e-12) - client_socket.py - 222 +2024-10-29 11:53:09,392 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:53:09,393 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 diff --git a/gui/imitator.py b/gui/imitator.py index 5dd13e8..cce271f 100644 --- a/gui/imitator.py +++ b/gui/imitator.py @@ -1,6 +1,7 @@ from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton from PyQt5.QtCore import QTimer, Qt import time +from logger import logger class Imitator(QWidget): def __init__(self, updateData, world_coord, axis_coord, command_count): @@ -28,7 +29,7 @@ class Imitator(QWidget): self.layout.addWidget(l) self.updButton = QPushButton('Обновить данные') - self.updButton.clicked.connect(self.updateData) + self.updButton.clicked.connect(self.updateState) self.layout.addWidget(self.updButton) diff --git a/gui/visualize.py b/gui/visualize.py index 870b3e6..f8839e8 100644 --- a/gui/visualize.py +++ b/gui/visualize.py @@ -2,10 +2,7 @@ import time from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy from PyQt5.QtGui import QImage, QPixmap -from PyQt5.QtCore import Qt, QTimer, QSize - -import numpy as np -from PIL import Image +from PyQt5.QtCore import Qt, QTimer from logger import logger @@ -23,16 +20,12 @@ class Visualize(QWidget): self.h_layout.setContentsMargins(0, 0, 0, 0) # Убираем отступы по краям self.label = QLabel(self) - self.label.setScaledContents(True) - self.label.setSizePolicy( - QSizePolicy.Expanding, QSizePolicy.Expanding - ) self.layout.addWidget(self.label) # Таймер для обновления изображения self.timer = QTimer() self.timer.timeout.connect(self.update_image) - self.timer.start(int(1000/240)) # Обновление каждые 100 мс + self.timer.start(int(500)) # Обновление каждые 100 мс def update_image(self): res = self.get_pybullet_image() @@ -46,6 +39,7 @@ class Visualize(QWidget): pixmap = QPixmap.fromImage(image) self.label.setPixmap(pixmap) + self.label.setAlignment(Qt.AlignmentFlag.AlignHCenter) self.label.resize(image.size()) self.label.repaint() diff --git a/main.py b/main.py index 10078ba..6f3cfca 100644 --- a/main.py +++ b/main.py @@ -8,16 +8,18 @@ from PyQt5.QtWidgets import QApplication from robot.client_socket import SocketRobotArm from gui.init import MainContentComponent +from logger import logger + class MyApp: with open("./robots.json", "r") as file: robots = json.load(file) robot_app = None - + def __init__(self, mode): self.mode = mode - + self.startGui() self.startRobot() self.startWindow() @@ -58,13 +60,18 @@ class MyApp: def run_robot_arm(self): time.sleep(1) - self.robot_app.start('SHARED_MEMORY') + self.robot_app.start("SHARED_MEMORY") def updateRobot(self, robot): if robot in self.robots: selected_robot = robot if self.mode == "test": - selected_robot = {"name": "test", "host": "127.0.0.1", "slave_id": 11} + selected_robot = { + "name": "test", + "host": "127.0.0.1", + "slave_id": 11, + "urdf": "sample", + } if self.robot_app.status == "connected": self.robot_app.close() @@ -73,14 +80,15 @@ class MyApp: self.robot_app.connect( selected_robot["host"], selected_robot["slave_id"] ) - - # Функции-обертки + self.robot_app.start_loop(selected_robot["urdf"]) + + # Функции-обертки def get_status(self): if self.robot_app: return self.robot_app.get_status() else: return "not_connected" - + def get_world_coordinates(self): if self.robot_app: return self.robot_app.get_world_coordinates() diff --git a/robot/client_socket.py b/robot/client_socket.py index 4ef7c37..1c7c061 100644 --- a/robot/client_socket.py +++ b/robot/client_socket.py @@ -54,24 +54,31 @@ class SocketRobotArm: def start(self, type="DIRECT"): logger.info(type) self.run_pybullet(type) + + def start_loop(self, urdf): + self.urdf_filename = urdf + + p.resetSimulation() + self.load_models() def run_pybullet(self, type="DIRECT"): self.physics_client = p.connect(getattr(p, type)) + logger.info(f"Connect to {self.physics_client} by {type}") p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client) p.setAdditionalSearchPath(pybullet_data.getDataPath()) p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0) - p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0) - - self.load_models() + self.simulation_loop() def load_models(self): p.loadURDF("plane.urdf", physicsClientId=self.physics_client) urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf") - self.body_id = p.loadURDF(urdf_path, [0, 0, 0], useFixedBase=1, physicsClientId=self.physics_client) + self.body_id = p.loadURDF( + urdf_path, [0, 0, 0], useFixedBase=1, physicsClientId=self.physics_client + ) time.sleep(1) - + # Получение AABB aabb = p.getAABB(self.body_id) @@ -80,9 +87,10 @@ class SocketRobotArm: size_y = aabb[1][1] - aabb[0][1] # Длина по оси Y size_z = aabb[1][2] - aabb[0][2] # Длина по оси Z - print(f"Размеры модели (длина x, длина y, длина z): ({size_x}, {size_y}, {size_z})") - p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1) - + print( + f"Размеры модели (длина x, длина y, длина z): ({size_x}, {size_y}, {size_z})" + ) + def simulation_loop(self): logger.info(f"Начат цикл симуляции") while True: @@ -104,7 +112,7 @@ class SocketRobotArm: # logger.info("\n".join(joint_log)) p.stepSimulation() - time.sleep(1 / 240) # 24 кадра в секунду + time.sleep(1 / 240) def get_pybullet_image(self): if self.physics_client is None: @@ -145,7 +153,7 @@ class SocketRobotArm: return self.status def upd_model(self): - logger.info('UPDATE') + logger.info("UPDATE") self.get_axis() self.set_text(text=f"Координаты осей {self.start_axis_coordinates}") time.sleep(0.5) @@ -154,7 +162,7 @@ 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}") diff --git a/robots.json b/robots.json index 0840739..c3fa042 100644 --- a/robots.json +++ b/robots.json @@ -2,11 +2,13 @@ { "name": "big", "host": "192.168.70.55", - "slave_id": 11 + "slave_id": 11, + "urdf": "sample" }, { "name": "small", "host": "192.168.70.65", - "slave_id": 22 + "slave_id": 22, + "urdf": "sample" } ] \ No newline at end of file diff --git a/run.sh b/run.sh index 40042e3..aa58abd 100755 --- a/run.sh +++ b/run.sh @@ -18,8 +18,33 @@ while [[ "$1" != "" ]]; do shift done -# Запуск сервера в фоновом режиме -poetry run python utils/pybullet_server.py & +# Функция для очистки запущенных процессов при завершении +cleanup() { + echo "Остановка серверов..." + if [[ -n "$SERVER_PID" ]]; then + kill $SERVER_PID + wait $SERVER_PID 2>/dev/null + fi + if [[ -n "$TEST_SERVER_PID" ]]; then + kill $TEST_SERVER_PID + wait $TEST_SERVER_PID 2>/dev/null + fi + echo "Серверы остановлены." +} + +# Устанавливаем ловушку для сигналов выхода +trap cleanup EXIT + +# Устанавливаем команду запуска для pybullet_server +PYBULLET_COMMAND="poetry run python utils/pybullet_server.py" + +# Добавляем флаг --test, если включен режим тестирования +if [ $TEST_MODE -eq 1 ]; then + PYBULLET_COMMAND+=" --test" +fi + +# Запуск сервера в фоновом режиме с учетом флага --test +$PYBULLET_COMMAND & SERVER_PID=$! # Проверяем, был ли сервер запущен успешно diff --git a/utils/pybullet_server.py b/utils/pybullet_server.py index a997db7..b5a44ce 100644 --- a/utils/pybullet_server.py +++ b/utils/pybullet_server.py @@ -1,20 +1,37 @@ # server.py +import time +import argparse + import pybullet as p import pybullet_data -import time -def main(): + +def main(type = 'SHARED_MEMORY_SERVER'): # Подключаемся к графическому серверу в режиме SHARED_MEMORY_SERVER - physicsClient = p.connect(p.SHARED_MEMORY_SERVER) - + # physicsClient = p.connect(p.SHARED_MEMORY_SERVER) + physicsClient = p.connect(getattr(p, type)) + print(f"start pybullet ph client {physicsClient}") # Настраиваем среду p.setAdditionalSearchPath(pybullet_data.getDataPath()) p.setGravity(0, 0, -10) - + while True: # Основной цикл физического движка p.stepSimulation() - time.sleep(1./240.) + time.sleep(1.0 / 240.0) + if __name__ == "__main__": - main() + # Парсер аргументов командной строки + parser = argparse.ArgumentParser(description="Запуск PyBullet сервера.") + parser.add_argument( + "--test", + action="store_true", + help="Запустить сервер в режиме GUI_SERVER" + ) + + args = parser.parse_args() + + # Если передан аргумент --test, устанавливаем тип подключения SHARED_MEMORY_SERVER + connection_type = 'GUI_SERVER' if args.test else 'SHARED_MEMORY_SERVER' + main(connection_type)