ksenia_mikhailova
/
modbus_test
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

pack lib

This commit is contained in:
Kseninia Mikhaylova 2024-12-16 11:25:40 +03:00
parent 10544e4308
commit b00e8d46b2
5 changed files with 72 additions and 53 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
packer/packer.py
View File

@ -1,21 +1,26 @@
from py3dbp import Packer, Bin, Item from py3dbp import Packer, Bin, Item
from logger import logger
class PalletPacker: class PalletPacker:
def __init__(self, pallet: dict, box: dict): def __init__(self, pallet: dict, box: dict):
self.pallet_width = pallet.get('x', 1.2) self.pallet_width = pallet.get("x", 1.2)
self.pallet_height = pallet.get('y', 0.8) self.pallet_height = pallet.get("y", 0.8)
self.pallet_depth = pallet.get('z', 0.144) self.pallet_depth = pallet.get("z", 0.144)
self.box_width = box.get('x', 0.2) gap = 0.2
self.box_height = box.get('y', 0.2) self.box_width = box.get("x", 0.2) + gap
self.box_depth = box.get('z', 0.2) self.box_height = box.get("y", 0.2) + gap
self.box_depth = box.get("z", 0.2)
def pack(self): def pack(self):
# Создаем контейнер (паллета)
pallet = Bin('pallet', self.pallet_width, self.pallet_height, self.box_depth, self.pallet_width)
# Создаем пакер
packer = Packer() packer = Packer()
packer.add_bin(
Bin(
"pallet", self.pallet_width, self.pallet_height, self.pallet_depth, 1000
)
)
# Вычисляем, сколько коробок поместится на паллете в один слой # Вычисляем, сколько коробок поместится на паллете в один слой
num_boxes_x = self.pallet_width // self.box_width num_boxes_x = self.pallet_width // self.box_width
@ -24,10 +29,9 @@ class PalletPacker:
# Добавляем коробки в пакер # Добавляем коробки в пакер
for i in range(num_boxes): for i in range(num_boxes):
packer.add_item(Item(f'box{i}', self.box_width, self.box_height, self.box_depth, 1)) packer.add_item(
Item(f"box{i}", self.box_width, self.box_height, self.box_depth, 1)
# Добавляем контейнер в пакер )
packer.add_bin(pallet)
# Упаковываем коробки # Упаковываем коробки
packer.pack() packer.pack()
@ -36,6 +40,6 @@ class PalletPacker:
coordinates = [] coordinates = []
for b in packer.bins: for b in packer.bins:
for item in b.items: for item in b.items:
coordinates.append((item.position, item.width, item.height, item.depth)) coordinates.append([float(i) for i in item.position])
return coordinates return coordinates

37
robot/client_socket.py
View File

@ -204,7 +204,7 @@ class SocketRobotArm:
def imitate(self): def imitate(self):
threading.Thread(target=self.imitate_func, daemon=True).start() threading.Thread(target=self.imitate_func, daemon=True).start()
def palletizing(self, position, box_id): def palletizing(self, position, box_id, counter):
dir_wall = (self.urdf_manager.conv_direction + 1) % 2 dir_wall = (self.urdf_manager.conv_direction + 1) % 2
near_position = position[:] near_position = position[:]
@ -213,8 +213,11 @@ class SocketRobotArm:
object_position = position[:] object_position = position[:]
object_position[dir_wall] -= 0.02 object_position[dir_wall] -= 0.02
pallet_position = self.urdf_manager.pallet.position pallet_position = self.urdf_manager.packing[
counter % len(self.urdf_manager.packing)
]
logger.info(counter)
logger.info(pallet_position)
base_position = pallet_position[:] base_position = pallet_position[:]
base_position[2] += 1.0 base_position[2] += 1.0
@ -222,19 +225,19 @@ class SocketRobotArm:
tool_pos = [0, 0, 0] tool_pos = [0, 0, 0]
steps = [ steps = [
{'type': 'move', 'coordinates': near_position}, {"type": "move", "coordinates": near_position},
{'type': 'move', 'coordinates': object_position}, {"type": "move", "coordinates": object_position},
{'type': 'create_constraint'}, {"type": "create_constraint"},
{'type': 'move', 'coordinates': pallet_position}, {"type": "move", "coordinates": pallet_position},
{'type': 'remove_constraint'}, {"type": "remove_constraint"},
{'type': 'move', 'coordinates': base_position}, {"type": "move", "coordinates": base_position},
] ]
constraint_id = None constraint_id = None
for step in steps: for step in steps:
if step['type'] == 'move': if step["type"] == "move":
jointPoses = self.convert_to_joint_base( jointPoses = self.convert_to_joint_base(
step['coordinates'], step["coordinates"],
np.radians(tool_pos), np.radians(tool_pos),
) )
json_res.append( json_res.append(
@ -243,7 +246,7 @@ class SocketRobotArm:
) )
) )
self.motionFund(jointPoses) self.motionFund(jointPoses)
if step['type'] == 'create_constraint': if step["type"] == "create_constraint":
constraint_id = p.createConstraint( constraint_id = p.createConstraint(
parentBodyUniqueId=self.body_id, parentBodyUniqueId=self.body_id,
parentLinkIndex=self.num_joints - 1, parentLinkIndex=self.num_joints - 1,
@ -253,10 +256,14 @@ class SocketRobotArm:
jointAxis=[0, 0, 0], jointAxis=[0, 0, 0],
parentFramePosition=[0, 0, 0], parentFramePosition=[0, 0, 0],
childFramePosition=[0, 0.2, 0], childFramePosition=[0, 0.2, 0],
parentFrameOrientation=p.getQuaternionFromEuler(np.radians([0, 0, 90])), parentFrameOrientation=p.getQuaternionFromEuler(
childFrameOrientation=p.getQuaternionFromEuler(np.radians([0, 0, 0])), np.radians([0, 0, 90])
),
childFrameOrientation=p.getQuaternionFromEuler(
np.radians([0, 0, 0])
),
) )
if step['type'] == 'remove_constraint': if step["type"] == "remove_constraint":
p.removeConstraint(constraint_id) p.removeConstraint(constraint_id)
with open(f"data/palletizing.json", "w") as myfile: with open(f"data/palletizing.json", "w") as myfile:

10
robot/conveyor.py
View File

@ -28,6 +28,7 @@ class ConveyorBelt:
self.box_spacing = box_spacing self.box_spacing = box_spacing
self.box_speed = box_speed self.box_speed = box_speed
self.boxes = [] self.boxes = []
self.box_counter = 0
self.create_boxes() self.create_boxes()
self.stop_thread = False self.stop_thread = False
@ -83,7 +84,7 @@ class ConveyorBelt:
rgbaColor=[1, 0, 0, 1], rgbaColor=[1, 0, 0, 1],
) )
box_id = p.createMultiBody( box_id = p.createMultiBody(
baseMass=1.0, baseMass=10.0,
baseCollisionShapeIndex=collision_shape_id, baseCollisionShapeIndex=collision_shape_id,
baseVisualShapeIndex=visual_shape_id, baseVisualShapeIndex=visual_shape_id,
basePosition=position, basePosition=position,
@ -108,7 +109,8 @@ class ConveyorBelt:
dir_wall = (self.direction + 1) % (3 - 1) dir_wall = (self.direction + 1) % (3 - 1)
wall_position[dir_wall] -= self.box_size[dir_wall] * 0.5 wall_position[dir_wall] -= self.box_size[dir_wall] * 0.5
self.call_robot(wall_position, box_id) self.call_robot(wall_position, box_id, self.box_counter)
self.box_counter += 1
else: else:
new_pos = list(pos[:]) new_pos = list(pos[:])
new_pos[self.direction] += self.box_speed new_pos[self.direction] += self.box_speed
@ -122,10 +124,10 @@ class ConveyorBelt:
new_box = self.create_box(self.box_position()) new_box = self.create_box(self.box_position())
self.boxes.append(new_box) self.boxes.append(new_box)
def call_robot(self, position, box_id): def call_robot(self, position, box_id, counter):
# Здесь можно вызвать робота для выполнения операции, например: # Здесь можно вызвать робота для выполнения операции, например:
logger.info("Конвейер остановлен, вызываем робота для работы с коробкой.") logger.info("Конвейер остановлен, вызываем робота для работы с коробкой.")
self.palletizingFunc(position, box_id) self.palletizingFunc(position, box_id, counter)
# time.sleep(5) # time.sleep(5)
# self.conveyor_stopped = False # self.conveyor_stopped = False

7
robot/pallet.py
View File

@ -3,13 +3,10 @@ import pybullet as p
class Pallet: class Pallet:
def __init__( def __init__(
self, target=[1, 1, 0], size=[0.8, 1.2, 0.144], color=[0.6, 0.3, 0.1, 0.5] self, position=[1, 1, 0], size=[0.8, 1.2, 0.144], color=[0.6, 0.3, 0.1, 0.5]
): ):
self.size = size self.size = size
self.position = [ self.position = position
(target[i] - self.size[i] * 0.5)
for i in range(len(target))
]
self.color = color self.color = color
self.create_pallet() self.create_pallet()

23
robot/urdf_manager.py
View File

@ -59,18 +59,24 @@ class UrdfManager:
self.pallet = None self.pallet = None
self.start_loop(self.urdf_filename) self.start_loop(self.urdf_filename)
self.pallet_size = [1.3, 0.6, 0.1] self.pallet_target = [1.3 + 0.5, 0.6, 0.1]
self.pallet = Pallet(self.pallet_size) self.pallet_size = [0.8, 1.2, 0.144]
self.pallet_position = [
(self.pallet_target[i] - self.pallet_size[i] * 0.5)
for i in range(len(self.pallet_target))
]
self.pallet = Pallet(self.pallet_position)
self.box_size = [0.2, 0.2, 0.2]
# положение дальнего угла # положение дальнего угла
self.conv_target = [1.1, -0.63, 0.4] self.conv_target = [1.1 + 0.5, -0.63, 0.4]
self.conv_size = [0.5, 3.0, 0.1] self.conv_size = [0.5, 3.0, 0.1]
self.conv_direction = self.conv_size.index(max(self.conv_size)) self.conv_direction = self.conv_size.index(max(self.conv_size))
self.conv_pos = [ self.conv_pos = [
(self.conv_target[i] - self.conv_size[i] * 0.5) (self.conv_target[i] - self.conv_size[i] * 0.5)
for i in range(len(self.conv_target)) for i in range(len(self.conv_target))
] ]
self.box_size = [0.2, 0.2, 0.2]
self.conveyor = ConveyorBelt( self.conveyor = ConveyorBelt(
self.conv_size, self.conv_size,
self.conv_pos, self.conv_pos,
@ -85,15 +91,18 @@ class UrdfManager:
{ {
"x": self.pallet_size[0], "x": self.pallet_size[0],
"y": self.pallet_size[1], "y": self.pallet_size[1],
"z": self.pallet_size[2], "z": self.box_size[2], # высота паллеты в один слой
}, },
{ {
"x": self.box_size[0], "x": self.box_size[0],
"y": self.box_size[1], "y": self.box_size[1],
"z": self.box_size[2], "z": self.box_size[2],
}, },
) ).pack()
logger.info(self.packing.pack()) logger.info(self.packing)
for p in self.packing:
for i in range(len(self.box_size)):
p[i] = (self.pallet_position[i] - self.pallet_size[i] * 0.5) + self.box_size[i] * 0.5 - p[i]
time.sleep(1) time.sleep(1)