gui
This commit is contained in:
parent
6a35a25a5b
commit
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app.log
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app.log
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@ -25,3 +25,368 @@
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2024-10-29 09:52:42,967 - logger - INFO - set joints - client_socket.py - 220
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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
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2024-10-29 09:52:43,529 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217
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2024-10-29 10:07:11,491 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:07:12,492 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:07:13,731 - logger - INFO - Начат цикл симуляции - client_socket.py - 88
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2024-10-29 10:07:15,259 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:09:32,299 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:09:33,300 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:09:34,448 - logger - INFO - Начат цикл симуляции - client_socket.py - 88
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2024-10-29 10:09:35,817 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:09:36,488 - logger - INFO - connected - robot.py - 52
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2024-10-29 10:18:34,505 - logger - INFO - UPDATE - client_socket.py - 149
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2024-10-29 10:18:37,974 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:18:38,980 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:18:41,522 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:18:42,840 - logger - INFO - Начат цикл симуляции - client_socket.py - 96
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2024-10-29 10:22:10,681 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:22:11,685 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:22:11,686 - logger - INFO - Начат цикл симуляции - client_socket.py - 95
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2024-10-29 10:22:14,298 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:22:15,744 - logger - INFO - connected - robot.py - 52
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2024-10-29 10:22:18,363 - logger - INFO - UPDATE - client_socket.py - 156
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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
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2024-10-29 10:22:18,864 - logger - INFO - set joints - client_socket.py - 228
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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
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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
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2024-10-29 10:22:19,426 - logger - INFO - set joints - client_socket.py - 228
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2024-10-29 10:22:19,427 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225
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2024-10-29 10:24:26,432 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:24:27,435 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:24:27,436 - logger - INFO - Начат цикл симуляции - client_socket.py - 94
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2024-10-29 10:24:29,805 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:24:31,247 - logger - INFO - connected - robot.py - 52
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2024-10-29 10:25:31,402 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:25:32,404 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:25:32,404 - logger - INFO - Начат цикл симуляции - client_socket.py - 94
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2024-10-29 10:25:40,688 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:25:42,134 - logger - INFO - connected - robot.py - 52
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2024-10-29 10:25:48,991 - logger - INFO - UPDATE - client_socket.py - 155
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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
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2024-10-29 10:25:49,493 - logger - INFO - set joints - client_socket.py - 227
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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
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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
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2024-10-29 10:25:50,057 - logger - INFO - set joints - client_socket.py - 227
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2024-10-29 10:25:50,058 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 224
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2024-10-29 10:26:41,553 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:26:42,558 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:26:42,620 - logger - INFO - Начат цикл симуляции - client_socket.py - 94
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2024-10-29 10:26:44,656 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:26:46,123 - logger - INFO - connected - robot.py - 52
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2024-10-29 10:26:50,353 - logger - INFO - UPDATE - client_socket.py - 155
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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
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2024-10-29 10:26:50,854 - logger - INFO - set joints - client_socket.py - 227
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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
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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
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2024-10-29 10:26:51,416 - logger - INFO - set joints - client_socket.py - 227
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2024-10-29 10:26:51,417 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 224
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2024-10-29 10:26:59,148 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:27:00,157 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:27:00,158 - logger - INFO - Начат цикл симуляции - client_socket.py - 94
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2024-10-29 10:27:01,407 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:27:03,005 - logger - INFO - connected - robot.py - 52
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2024-10-29 10:27:03,834 - logger - INFO - UPDATE - client_socket.py - 155
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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
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2024-10-29 10:27:04,343 - logger - INFO - set joints - client_socket.py - 227
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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
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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
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2024-10-29 10:27:04,998 - logger - INFO - set joints - client_socket.py - 227
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2024-10-29 10:27:04,999 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 224
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2024-10-29 10:27:41,431 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:27:42,448 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:27:42,572 - logger - INFO - Начат цикл симуляции - client_socket.py - 94
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2024-10-29 10:27:44,519 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:27:46,060 - logger - INFO - connected - robot.py - 52
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2024-10-29 10:27:51,421 - logger - INFO - UPDATE - client_socket.py - 155
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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
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2024-10-29 10:27:51,936 - logger - INFO - set joints - client_socket.py - 227
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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
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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
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2024-10-29 10:27:52,589 - logger - INFO - set joints - client_socket.py - 227
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2024-10-29 10:27:52,589 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 224
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2024-10-29 10:30:48,322 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:30:49,324 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:30:49,335 - logger - INFO - Начат цикл симуляции - client_socket.py - 94
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2024-10-29 10:30:52,770 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:30:54,168 - logger - INFO - connected - robot.py - 52
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2024-10-29 10:33:17,241 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:33:18,243 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 10:33:18,243 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66
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2024-10-29 10:33:18,244 - logger - INFO - Начат цикл симуляции - client_socket.py - 95
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2024-10-29 10:33:24,152 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 10:33:25,555 - logger - INFO - connected - robot.py - 52
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2024-10-29 11:09:15,119 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:09:16,120 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 11:11:34,092 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:11:35,094 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 11:11:35,095 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66
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2024-10-29 11:11:35,101 - logger - INFO - Начат цикл симуляции - client_socket.py - 95
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2024-10-29 11:11:45,676 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:11:47,075 - logger - INFO - connected - robot.py - 52
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2024-10-29 11:11:51,905 - logger - INFO - UPDATE - client_socket.py - 156
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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
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2024-10-29 11:11:52,406 - logger - INFO - set joints - client_socket.py - 228
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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
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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
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2024-10-29 11:11:52,968 - logger - INFO - set joints - client_socket.py - 228
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2024-10-29 11:11:52,969 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225
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2024-10-29 11:11:59,916 - logger - INFO - connected - robot.py - 52
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2024-10-29 11:12:00,595 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:16:18,753 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:16:20,147 - logger - INFO - connected - robot.py - 52
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2024-10-29 11:16:23,955 - logger - INFO - UPDATE - client_socket.py - 156
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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
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2024-10-29 11:16:24,456 - logger - INFO - set joints - client_socket.py - 228
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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
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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
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2024-10-29 11:16:25,018 - logger - INFO - set joints - client_socket.py - 228
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2024-10-29 11:16:25,018 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225
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2024-10-29 11:19:59,283 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:20:00,286 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 11:20:00,286 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66
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2024-10-29 11:20:00,294 - logger - INFO - Начат цикл симуляции - client_socket.py - 95
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2024-10-29 11:20:02,445 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:20:03,839 - logger - INFO - connected - robot.py - 52
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2024-10-29 11:20:07,324 - logger - INFO - UPDATE - client_socket.py - 156
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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
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2024-10-29 11:20:07,825 - logger - INFO - set joints - client_socket.py - 228
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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
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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
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2024-10-29 11:20:08,387 - logger - INFO - set joints - client_socket.py - 228
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2024-10-29 11:20:08,387 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225
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2024-10-29 11:21:57,245 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:21:58,246 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 11:21:58,247 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66
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2024-10-29 11:21:58,251 - logger - INFO - Начат цикл симуляции - client_socket.py - 95
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2024-10-29 11:23:54,699 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:23:55,700 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 11:23:55,701 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66
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2024-10-29 11:23:55,708 - logger - INFO - Начат цикл симуляции - client_socket.py - 95
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2024-10-29 11:23:59,561 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:24:00,955 - logger - INFO - connected - robot.py - 52
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2024-10-29 11:24:57,991 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:24:58,992 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 11:24:58,992 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66
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2024-10-29 11:24:59,002 - logger - INFO - Начат цикл симуляции - client_socket.py - 95
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2024-10-29 11:25:01,819 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:25:03,211 - logger - INFO - connected - robot.py - 52
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2024-10-29 11:25:05,971 - logger - INFO - UPDATE - client_socket.py - 156
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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
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2024-10-29 11:25:06,473 - logger - INFO - set joints - client_socket.py - 228
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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
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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
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2024-10-29 11:25:07,035 - logger - INFO - set joints - client_socket.py - 228
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2024-10-29 11:25:07,035 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225
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2024-10-29 11:25:38,601 - logger - INFO - UPDATE - client_socket.py - 156
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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
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2024-10-29 11:25:39,102 - logger - INFO - set joints - client_socket.py - 228
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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
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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
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2024-10-29 11:25:39,664 - logger - INFO - set joints - client_socket.py - 228
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2024-10-29 11:25:39,665 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225
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2024-10-29 11:28:50,055 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:28:51,058 - logger - INFO - SHARED_MEMORY - client_socket.py - 55
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2024-10-29 11:28:51,059 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66
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2024-10-29 11:28:51,067 - logger - INFO - Начат цикл симуляции - client_socket.py - 95
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2024-10-29 11:28:52,656 - logger - INFO - not_connected - robot.py - 52
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2024-10-29 11:28:54,058 - logger - INFO - connected - robot.py - 52
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2024-10-29 11:28:55,104 - logger - INFO - UPDATE - client_socket.py - 156
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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
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2024-10-29 11:28:55,605 - logger - INFO - set joints - client_socket.py - 228
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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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f6d57f74400> - 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 - <robot.client_socket.SocketRobotArm object at 0x7fc4fdb143d0> - 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 - <robot.client_socket.SocketRobotArm object at 0x7fc4fdb143d0> - 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 - <robot.client_socket.SocketRobotArm object at 0x7f56bd0703d0> - 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
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -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()
|
||||
|
||||
|
|
|
|||
12
main.py
12
main.py
|
|
@ -8,6 +8,8 @@ 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:
|
||||
|
|
@ -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()
|
||||
|
|
@ -73,6 +80,7 @@ class MyApp:
|
|||
self.robot_app.connect(
|
||||
selected_robot["host"], selected_robot["slave_id"]
|
||||
)
|
||||
self.robot_app.start_loop(selected_robot["urdf"])
|
||||
|
||||
# Функции-обертки
|
||||
def get_status(self):
|
||||
|
|
|
|||
|
|
@ -55,21 +55,28 @@ class SocketRobotArm:
|
|||
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
|
||||
|
|
@ -80,8 +87,9 @@ 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")
|
||||
|
|
@ -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}")
|
||||
|
|
|
|||
|
|
@ -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"
|
||||
}
|
||||
]
|
||||
29
run.sh
29
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
|
||||
|
|
|
|||
|
|
@ -1,12 +1,16 @@
|
|||
# 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)
|
||||
|
|
@ -14,7 +18,20 @@ def main():
|
|||
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)
|
||||
|
|
|
|||
Loading…
Reference in New Issue