vis start

gui/init.py

@@ -10,33 +10,21 @@ from gui.observable import Observable
 from logger import logger
 
 
-class RightPanel(QWidget):
+class MyPanel(QWidget):
-    def __init__(self, panels):
+    def __init__(self, panels, color):
         super().__init__()
+
         layout = QVBoxLayout()
         for panel in panels:
             layout.addWidget(panel)
+
+        self.color = QColor(*color)
         self.setLayout(layout)
         self.initUI()
 
     def initUI(self):
         palette = self.palette()
-        palette.setColor(QPalette.Window, QColor(169, 169, 169))  # DarkGray
+        palette.setColor(QPalette.Window, self.color)
-        self.setAutoFillBackground(True)
-        self.setPalette(palette)
-
-
-class MainPanel(QWidget):
-    def __init__(self, panels):
-        super().__init__()
-        layout = QVBoxLayout()
-        for panel in panels:
-            layout.addWidget(panel)
-        self.initUI()
-
-    def initUI(self):
-        palette = self.palette()
-        palette.setColor(QPalette.Window, QColor(255, 255, 255))  # White
         self.setAutoFillBackground(True)
         self.setPalette(palette)
 
@@ -57,20 +45,22 @@ class MainContentComponent(QWidget):
         imitatorArgs = kwargs.get("imitatorPanel", {})
         self.imitatorPanel = Imitator(**imitatorArgs)
 
-        self.rightPanel = RightPanel(
+        self.rightPanel = MyPanel(
             panels=[
                 self.statusPanel,
                 self.robotPanel,
                 self.imitatorPanel,
-            ]
+            ],
+            color=(169, 169, 169),
         )
 
         visArgs = kwargs.get("visPanel", {})
         self.visPanel = Visualize(**visArgs)
-        self.mainPanel = MainPanel(
+        self.mainPanel = MyPanel(
             panels=[
                 self.visPanel,
-            ]
+            ],
+            color=(200, 200, 200),
         )
 
         layout = QHBoxLayout()
@@ -93,7 +83,10 @@ class MainContentComponent(QWidget):
         super().resizeEvent(event)
 
     def handle_value_change(self, new_value):
-        panels = [self.imitatorPanel, self.visPanel]
+        panels = [
+            self.imitatorPanel,
+            self.visPanel,
+        ]
         for p in panels:
             if new_value == "not_connected":
                 p.setDisabled(True)

gui/visualize.py

@@ -1,36 +1,63 @@
+import time
+
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy
+from PyQt5.QtGui import QImage, QPixmap, QColor
+from PyQt5.QtCore import Qt, QTimer
+
+import numpy as np
+from PIL import Image
 
-from PyQt5.QtWidgets import QWidget, QVBoxLayout, QLabel, QSizePolicy
-from PyQt5.QtGui import QImage, QPixmap
-from PyQt5.QtCore import QTimer
 from logger import logger
 
+
 class Visualize(QWidget):
     def __init__(self, get_pybullet_image):
         super().__init__()
         self.get_pybullet_image = get_pybullet_image
-        
+
         # Настройка компоновки
         self.layout = QVBoxLayout(self)
         self.layout.setContentsMargins(0, 0, 0, 0)  # Убираем отступы по краям
+
+        self.h_layout = QHBoxLayout()
+        self.h_layout.setContentsMargins(0, 0, 0, 0)  # Убираем отступы по краям
+
         self.label = QLabel(self)
-        self.label.setScaledContents(True)  # Масштабирование изображения по размеру QLabel
+        self.label.setScaledContents(True)
-        self.label.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)  # QLabel занимает всю доступную область
+        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(100)  # Обновление каждые 100 мс
+        self.timer.start(1000)  # Обновление каждые 100 мс
-        
+
     def update_image(self):
         (rgb, width, height) = self.get_pybullet_image()
-        
+
-        # logger.info('upd img')
+        # logger.info(f"Image size: {width}x{height}, RGB data length: {len(rgb)}")
-        
+
+        # rgbim = Image.fromarray(rgb)
+        # rgbim.save(f"test_img/rgbtest/{time.time() }.png")
+        # Преобразуем RGB данные в массив NumPy
+        rgb_array = np.array(rgb, dtype=np.uint8)
+
+        # Изменяем форму массива на (height, width, 4) для QImage
+        rgb_array = rgb_array.reshape(height, width, 4)
         # Преобразование RGB-данных в QImage
-        image = QImage(rgb, width, height, QImage.Format_RGB888)
+        image = QImage(rgb_array, width, height, QImage.Format_RGBA8888)
-        pixmap = QPixmap.fromImage(image)
+        image = image.convertToFormat(QImage.Format_RGB888)
         
+        pixmap = QPixmap.fromImage(image)
+
         # Обновление изображения на QLabel
         self.label.setPixmap(pixmap)
-        
+        self.label.repaint()
+
+    def paintEvent(self, event):
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.magenta)
+        self.setPalette(p)
+        super().paintEvent(event)

logger.py

@@ -4,7 +4,7 @@ import logging
 # Настройка логгера
 logging.basicConfig(
     level=logging.DEBUG,  # Уровень логирования
-    format="%(asctime)s - %(name)s - %(levelname)s - %(message)s",
+    format="%(asctime)s - %(name)s - %(levelname)s - %(message)s - %(filename)s - %(lineno)d",
     handlers=[
         logging.FileHandler("app.log"),  # Запись в файл
         logging.StreamHandler(sys.stdout),  # Вывод в консоль

poetry.lock

@@ -45,6 +45,98 @@ files = [
     {file = "numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010"},
 ]
 
+[[package]]
+name = "pillow"
+version = "11.0.0"
+description = "Python Imaging Library (Fork)"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "pillow-11.0.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:6619654954dc4936fcff82db8eb6401d3159ec6be81e33c6000dfd76ae189947"},
+    {file = "pillow-11.0.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b3c5ac4bed7519088103d9450a1107f76308ecf91d6dabc8a33a2fcfb18d0fba"},
+    {file = "pillow-11.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a65149d8ada1055029fcb665452b2814fe7d7082fcb0c5bed6db851cb69b2086"},
+    {file = "pillow-11.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:88a58d8ac0cc0e7f3a014509f0455248a76629ca9b604eca7dc5927cc593c5e9"},
+    {file = "pillow-11.0.0-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:c26845094b1af3c91852745ae78e3ea47abf3dbcd1cf962f16b9a5fbe3ee8488"},
+    {file = "pillow-11.0.0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:1a61b54f87ab5786b8479f81c4b11f4d61702830354520837f8cc791ebba0f5f"},
+    {file = "pillow-11.0.0-cp310-cp310-musllinux_1_2_aarch64.whl", hash = "sha256:674629ff60030d144b7bca2b8330225a9b11c482ed408813924619c6f302fdbb"},
+    {file = "pillow-11.0.0-cp310-cp310-musllinux_1_2_x86_64.whl", hash = "sha256:598b4e238f13276e0008299bd2482003f48158e2b11826862b1eb2ad7c768b97"},
+    {file = "pillow-11.0.0-cp310-cp310-win32.whl", hash = "sha256:9a0f748eaa434a41fccf8e1ee7a3eed68af1b690e75328fd7a60af123c193b50"},
+    {file = "pillow-11.0.0-cp310-cp310-win_amd64.whl", hash = "sha256:a5629742881bcbc1f42e840af185fd4d83a5edeb96475a575f4da50d6ede337c"},
+    {file = "pillow-11.0.0-cp310-cp310-win_arm64.whl", hash = "sha256:ee217c198f2e41f184f3869f3e485557296d505b5195c513b2bfe0062dc537f1"},
+    {file = "pillow-11.0.0-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:1c1d72714f429a521d8d2d018badc42414c3077eb187a59579f28e4270b4b0fc"},
+    {file = "pillow-11.0.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:499c3a1b0d6fc8213519e193796eb1a86a1be4b1877d678b30f83fd979811d1a"},
+    {file = "pillow-11.0.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c8b2351c85d855293a299038e1f89db92a2f35e8d2f783489c6f0b2b5f3fe8a3"},
+    {file = "pillow-11.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6f4dba50cfa56f910241eb7f883c20f1e7b1d8f7d91c750cd0b318bad443f4d5"},
+    {file = "pillow-11.0.0-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:5ddbfd761ee00c12ee1be86c9c0683ecf5bb14c9772ddbd782085779a63dd55b"},
+    {file = "pillow-11.0.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:45c566eb10b8967d71bf1ab8e4a525e5a93519e29ea071459ce517f6b903d7fa"},
+    {file = "pillow-11.0.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:b4fd7bd29610a83a8c9b564d457cf5bd92b4e11e79a4ee4716a63c959699b306"},
+    {file = "pillow-11.0.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:cb929ca942d0ec4fac404cbf520ee6cac37bf35be479b970c4ffadf2b6a1cad9"},
+    {file = "pillow-11.0.0-cp311-cp311-win32.whl", hash = "sha256:006bcdd307cc47ba43e924099a038cbf9591062e6c50e570819743f5607404f5"},
+    {file = "pillow-11.0.0-cp311-cp311-win_amd64.whl", hash = "sha256:52a2d8323a465f84faaba5236567d212c3668f2ab53e1c74c15583cf507a0291"},
+    {file = "pillow-11.0.0-cp311-cp311-win_arm64.whl", hash = "sha256:16095692a253047fe3ec028e951fa4221a1f3ed3d80c397e83541a3037ff67c9"},
+    {file = "pillow-11.0.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:d2c0a187a92a1cb5ef2c8ed5412dd8d4334272617f532d4ad4de31e0495bd923"},
+    {file = "pillow-11.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:084a07ef0821cfe4858fe86652fffac8e187b6ae677e9906e192aafcc1b69903"},
+    {file = "pillow-11.0.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8069c5179902dcdce0be9bfc8235347fdbac249d23bd90514b7a47a72d9fecf4"},
+    {file = "pillow-11.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f02541ef64077f22bf4924f225c0fd1248c168f86e4b7abdedd87d6ebaceab0f"},
+    {file = "pillow-11.0.0-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:fcb4621042ac4b7865c179bb972ed0da0218a076dc1820ffc48b1d74c1e37fe9"},
+    {file = "pillow-11.0.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:00177a63030d612148e659b55ba99527803288cea7c75fb05766ab7981a8c1b7"},
+    {file = "pillow-11.0.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:8853a3bf12afddfdf15f57c4b02d7ded92c7a75a5d7331d19f4f9572a89c17e6"},
+    {file = "pillow-11.0.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:3107c66e43bda25359d5ef446f59c497de2b5ed4c7fdba0894f8d6cf3822dafc"},
+    {file = "pillow-11.0.0-cp312-cp312-win32.whl", hash = "sha256:86510e3f5eca0ab87429dd77fafc04693195eec7fd6a137c389c3eeb4cfb77c6"},
+    {file = "pillow-11.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:8ec4a89295cd6cd4d1058a5e6aec6bf51e0eaaf9714774e1bfac7cfc9051db47"},
+    {file = "pillow-11.0.0-cp312-cp312-win_arm64.whl", hash = "sha256:27a7860107500d813fcd203b4ea19b04babe79448268403172782754870dac25"},
+    {file = "pillow-11.0.0-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:bcd1fb5bb7b07f64c15618c89efcc2cfa3e95f0e3bcdbaf4642509de1942a699"},
+    {file = "pillow-11.0.0-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:0e038b0745997c7dcaae350d35859c9715c71e92ffb7e0f4a8e8a16732150f38"},
+    {file = "pillow-11.0.0-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0ae08bd8ffc41aebf578c2af2f9d8749d91f448b3bfd41d7d9ff573d74f2a6b2"},
+    {file = "pillow-11.0.0-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d69bfd8ec3219ae71bcde1f942b728903cad25fafe3100ba2258b973bd2bc1b2"},
+    {file = "pillow-11.0.0-cp313-cp313-manylinux_2_28_aarch64.whl", hash = "sha256:61b887f9ddba63ddf62fd02a3ba7add935d053b6dd7d58998c630e6dbade8527"},
+    {file = "pillow-11.0.0-cp313-cp313-manylinux_2_28_x86_64.whl", hash = "sha256:c6a660307ca9d4867caa8d9ca2c2658ab685de83792d1876274991adec7b93fa"},
+    {file = "pillow-11.0.0-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:73e3a0200cdda995c7e43dd47436c1548f87a30bb27fb871f352a22ab8dcf45f"},
+    {file = "pillow-11.0.0-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:fba162b8872d30fea8c52b258a542c5dfd7b235fb5cb352240c8d63b414013eb"},
+    {file = "pillow-11.0.0-cp313-cp313-win32.whl", hash = "sha256:f1b82c27e89fffc6da125d5eb0ca6e68017faf5efc078128cfaa42cf5cb38798"},
+    {file = "pillow-11.0.0-cp313-cp313-win_amd64.whl", hash = "sha256:8ba470552b48e5835f1d23ecb936bb7f71d206f9dfeee64245f30c3270b994de"},
+    {file = "pillow-11.0.0-cp313-cp313-win_arm64.whl", hash = "sha256:846e193e103b41e984ac921b335df59195356ce3f71dcfd155aa79c603873b84"},
+    {file = "pillow-11.0.0-cp313-cp313t-macosx_10_13_x86_64.whl", hash = "sha256:4ad70c4214f67d7466bea6a08061eba35c01b1b89eaa098040a35272a8efb22b"},
+    {file = "pillow-11.0.0-cp313-cp313t-macosx_11_0_arm64.whl", hash = "sha256:6ec0d5af64f2e3d64a165f490d96368bb5dea8b8f9ad04487f9ab60dc4bb6003"},
+    {file = "pillow-11.0.0-cp313-cp313t-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c809a70e43c7977c4a42aefd62f0131823ebf7dd73556fa5d5950f5b354087e2"},
+    {file = "pillow-11.0.0-cp313-cp313t-manylinux_2_28_x86_64.whl", hash = "sha256:4b60c9520f7207aaf2e1d94de026682fc227806c6e1f55bba7606d1c94dd623a"},
+    {file = "pillow-11.0.0-cp313-cp313t-musllinux_1_2_x86_64.whl", hash = "sha256:1e2688958a840c822279fda0086fec1fdab2f95bf2b717b66871c4ad9859d7e8"},
+    {file = "pillow-11.0.0-cp313-cp313t-win32.whl", hash = "sha256:607bbe123c74e272e381a8d1957083a9463401f7bd01287f50521ecb05a313f8"},
+    {file = "pillow-11.0.0-cp313-cp313t-win_amd64.whl", hash = "sha256:5c39ed17edea3bc69c743a8dd3e9853b7509625c2462532e62baa0732163a904"},
+    {file = "pillow-11.0.0-cp313-cp313t-win_arm64.whl", hash = "sha256:75acbbeb05b86bc53cbe7b7e6fe00fbcf82ad7c684b3ad82e3d711da9ba287d3"},
+    {file = "pillow-11.0.0-cp39-cp39-macosx_10_10_x86_64.whl", hash = "sha256:2e46773dc9f35a1dd28bd6981332fd7f27bec001a918a72a79b4133cf5291dba"},
+    {file = "pillow-11.0.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:2679d2258b7f1192b378e2893a8a0a0ca472234d4c2c0e6bdd3380e8dfa21b6a"},
+    {file = "pillow-11.0.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:eda2616eb2313cbb3eebbe51f19362eb434b18e3bb599466a1ffa76a033fb916"},
+    {file = "pillow-11.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:20ec184af98a121fb2da42642dea8a29ec80fc3efbaefb86d8fdd2606619045d"},
+    {file = "pillow-11.0.0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:8594f42df584e5b4bb9281799698403f7af489fba84c34d53d1c4bfb71b7c4e7"},
+    {file = "pillow-11.0.0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:c12b5ae868897c7338519c03049a806af85b9b8c237b7d675b8c5e089e4a618e"},
+    {file = "pillow-11.0.0-cp39-cp39-musllinux_1_2_aarch64.whl", hash = "sha256:70fbbdacd1d271b77b7721fe3cdd2d537bbbd75d29e6300c672ec6bb38d9672f"},
+    {file = "pillow-11.0.0-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:5178952973e588b3f1360868847334e9e3bf49d19e169bbbdfaf8398002419ae"},
+    {file = "pillow-11.0.0-cp39-cp39-win32.whl", hash = "sha256:8c676b587da5673d3c75bd67dd2a8cdfeb282ca38a30f37950511766b26858c4"},
+    {file = "pillow-11.0.0-cp39-cp39-win_amd64.whl", hash = "sha256:94f3e1780abb45062287b4614a5bc0874519c86a777d4a7ad34978e86428b8dd"},
+    {file = "pillow-11.0.0-cp39-cp39-win_arm64.whl", hash = "sha256:290f2cc809f9da7d6d622550bbf4c1e57518212da51b6a30fe8e0a270a5b78bd"},
+    {file = "pillow-11.0.0-pp310-pypy310_pp73-macosx_10_15_x86_64.whl", hash = "sha256:1187739620f2b365de756ce086fdb3604573337cc28a0d3ac4a01ab6b2d2a6d2"},
+    {file = "pillow-11.0.0-pp310-pypy310_pp73-macosx_11_0_arm64.whl", hash = "sha256:fbbcb7b57dc9c794843e3d1258c0fbf0f48656d46ffe9e09b63bbd6e8cd5d0a2"},
+    {file = "pillow-11.0.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5d203af30149ae339ad1b4f710d9844ed8796e97fda23ffbc4cc472968a47d0b"},
+    {file = "pillow-11.0.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:21a0d3b115009ebb8ac3d2ebec5c2982cc693da935f4ab7bb5c8ebe2f47d36f2"},
+    {file = "pillow-11.0.0-pp310-pypy310_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:73853108f56df97baf2bb8b522f3578221e56f646ba345a372c78326710d3830"},
+    {file = "pillow-11.0.0-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:e58876c91f97b0952eb766123bfef372792ab3f4e3e1f1a2267834c2ab131734"},
+    {file = "pillow-11.0.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:224aaa38177597bb179f3ec87eeefcce8e4f85e608025e9cfac60de237ba6316"},
+    {file = "pillow-11.0.0-pp39-pypy39_pp73-macosx_11_0_arm64.whl", hash = "sha256:5bd2d3bdb846d757055910f0a59792d33b555800813c3b39ada1829c372ccb06"},
+    {file = "pillow-11.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:375b8dd15a1f5d2feafff536d47e22f69625c1aa92f12b339ec0b2ca40263273"},
+    {file = "pillow-11.0.0-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:daffdf51ee5db69a82dd127eabecce20729e21f7a3680cf7cbb23f0829189790"},
+    {file = "pillow-11.0.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:7326a1787e3c7b0429659e0a944725e1b03eeaa10edd945a86dead1913383944"},
+    {file = "pillow-11.0.0.tar.gz", hash = "sha256:72bacbaf24ac003fea9bff9837d1eedb6088758d41e100c1552930151f677739"},
+]
+
+[package.extras]
+docs = ["furo", "olefile", "sphinx (>=8.1)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinxext-opengraph"]
+fpx = ["olefile"]
+mic = ["olefile"]
+tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+typing = ["typing-extensions"]
+xmp = ["defusedxml"]
+
 [[package]]
 name = "popsicle"
 version = "0.9.6"
@@ -179,4 +271,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = "3.10.12"
-content-hash = "674afa8962f34256e63f5d5af6be94013e2c39e9880191eb3caecc9f70dcf704"
+content-hash = "f85dffb2208f45a3e3405ff57e5215d35ca57ed3e846c4f1580cd20bb4111491"

pyproject.toml

@@ -13,6 +13,7 @@ pybullet = "^3.2.6"
 numpy = "^1.20"
 popsicle = "^0.9.6"
 pyqt5 = "^5.15.11"
+pillow = "^11.0.0"
 
 
 [build-system]

robot/client_socket.py

@@ -46,38 +46,50 @@ class SocketRobotArm:
         self.body_id = None
         threading.Thread(target=self.run_pybullet, daemon=True).start()
 
-        # self.socket.connect((self.host, self.port))
-        # self.cycle_base()
-
     def __exit__(self, exc_type, exc_value, traceback):
         print("exiting")
         self.socket.close()
 
     def run_pybullet(self):
         self.physics_client = p.connect(p.GUI)
-        
         p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client)
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
-        
+
         urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
         if not os.path.exists(urdf_path):
             raise FileNotFoundError(f"URDF file not found: {urdf_path}")
-        
+
-        self.body_id = p.loadURDF(
+        p.loadURDF("plane.urdf")
-            urdf_path,
+        self.body_id = p.loadURDF(urdf_path, [0, 0, 0], useFixedBase=True)
-            [0, 0, 0],
+        logger.info(f"Загружена модель {urdf_path}, id: {self.body_id}")
-            useFixedBase=True,
+
-        )
+        threading.Thread(target=self.simulation_loop, daemon=True).start()
-        
+
-        logger.info(f"Loaded URDF: {urdf_path} with body ID: {self.body_id}")
+    def simulation_loop(self):
+        logger.info(f"Загружена simulation loop")
+        while True:
+            bodyUniqueId = self.body_id
+            position, orientation = p.getBasePositionAndOrientation(bodyUniqueId)
+            # logger.info(f"Position: {position}, Orientation: {orientation}")
+
+            # Получение состояния суставов
+            num_joints = p.getNumJoints(bodyUniqueId)
+            joint_states = p.getJointStates(bodyUniqueId, range(num_joints))
+
+            for i, state in enumerate(joint_states):
+                joint_position = state[0]  # Угол
+                joint_velocity = state[1]  # Угловая скорость
+                # logger.info(f"Joint {i} - Position: {joint_position}, Velocity: {joint_velocity}")
+
+            p.stepSimulation()
+            time.sleep(1 / 24)  # 24 кадра в секунду
 
     def get_pybullet_image(self):
-        p.stepSimulation()
         width, height, rgb, _, _ = p.getCameraImage(
-            width=800,
+            width=640,
-            height=800,
+            height=640,
             viewMatrix=p.computeViewMatrix(
-                cameraEyePosition=[0, 0, 1],
+                cameraEyePosition=[2, 2, 2],
                 cameraTargetPosition=[0, 0, 0],
                 cameraUpVector=[0, 0, 1],
             ),
@@ -87,6 +99,10 @@ class SocketRobotArm:
             renderer=p.ER_BULLET_HARDWARE_OPENGL,
             physicsClientId=self.physics_client,
         )
+        logger.info(f"Image size: {width}x{height}, RGB data length: {len(rgb)}")
+
+        
+
         return (rgb, width, height)
 
     def close(self):
@@ -172,17 +188,19 @@ class SocketRobotArm:
             targetPosition=coordinates,
         )
         print(joint_angles)
-        return joint_angles
+        logger.info(joint_angles)
 
     def set_text(self, text):
-        print(text)
+        logger.info(text)
 
     def set_joint(self, coordinates):
-        logger.info('set joint')
+        logger.info("set joints")
         num_joints = p.getNumJoints(self.body_id)
+        if coordinates is None:
+            return
         for joint_index in range(0, num_joints):
-            # if not joint_index in coordinates:
+            if coordinates[joint_index] is None:
-            #     return
+                return
             p.setJointMotorControl2(
                 bodyUniqueId=self.body_id,
                 jointIndex=joint_index,

urdf/borunte_macro.urdf

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