diff --git a/app.log b/app.log index 9398061..ffb5576 100644 --- a/app.log +++ b/app.log @@ -46706,3 +46706,780 @@ Joint 5 - Position: 0.0, Velocity: 0.0 - client_socket.py - 96 2024-10-28 15:18:07,063 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 2024-10-28 15:18:35,253 - logger - INFO - GUI - client_socket.py - 55 2024-10-28 15:18:35,451 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:22:05,945 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:22:06,184 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:23:37,341 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:23:37,542 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:24:05,682 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:24:05,815 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:24:34,091 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:24:34,262 - logger - 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logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:23,350 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:23,350 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:23,433 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:23,433 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:23,516 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:23,517 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:23,599 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:23,600 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:23,683 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:23,683 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:23,783 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:23,783 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:23,866 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:23,867 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:23,965 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:23,966 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,048 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,048 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,132 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,132 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,216 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,217 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,301 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,301 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,400 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,400 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,483 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,483 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,583 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,583 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,683 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,683 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,782 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,783 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,883 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,883 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:24,983 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:24,983 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,082 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,082 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,167 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,167 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,267 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,267 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,367 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,367 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,466 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,466 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,550 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,550 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,650 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,650 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,750 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,750 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,850 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,850 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:25,933 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:25,933 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,033 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,033 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,117 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,117 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,200 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,200 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,300 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,300 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,400 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,400 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,499 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,500 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,583 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,583 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,683 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,683 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,766 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,767 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,866 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,866 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:26,949 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:26,950 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:27,050 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:27,050 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:27,150 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:27,150 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:27,265 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:27,265 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:27,348 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:27,348 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:27,449 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:27,449 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:27,532 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:27,532 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:27,633 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:27,633 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:27,716 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 53 +2024-10-28 15:27:27,716 - logger - INFO - PyQt5.QtCore.QSize(640, 640) - visualize.py - 54 +2024-10-28 15:27:54,662 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:27:54,855 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:28:20,890 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:28:21,078 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:28:33,341 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:28:33,513 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:29:04,516 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:29:04,694 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:29:37,476 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:29:37,673 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:30:03,294 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:30:03,438 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:30:40,550 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:30:40,692 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:30:44,802 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:30:44,977 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:30:49,337 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:30:49,486 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:31:05,285 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:31:05,422 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:32:32,191 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:32:32,324 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:32:37,586 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:32:37,735 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:32:49,558 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 219 +2024-10-28 15:32:50,059 - logger - INFO - set joints - client_socket.py - 222 +2024-10-28 15:32:50,120 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 219 +2024-10-28 15:32:50,621 - logger - INFO - (0.14973857501762938, -1.3765941667917658, -1.187935174315797, -3.463877212871233, -3.6701784753067783, 1.1605332164225521) - client_socket.py - 216 +2024-10-28 15:32:50,621 - logger - INFO - set joints - client_socket.py - 222 +2024-10-28 15:32:50,622 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 219 +2024-10-28 15:33:28,321 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:33:28,525 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:33:56,146 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:33:56,342 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:33:56,342 - logger - INFO - Joint 0 - Position: 0.0, Velocity: 0.0 +Joint 1 - Position: 0.0, Velocity: 0.0 +Joint 2 - Position: 0.0, Velocity: 0.0 +Joint 3 - Position: 0.0, Velocity: 0.0 +Joint 4 - Position: 0.0, Velocity: 0.0 +Joint 5 - Position: 0.0, Velocity: 0.0 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:56,467 - logger - INFO - Joint 0 - Position: 0.00782162898532024, Velocity: 1.8771909564768574 +Joint 1 - Position: 9.617686060193475e-131, Velocity: 2.308244654446434e-128 +Joint 2 - Position: 0.07358868610365309, Velocity: 17.661284664876742 +Joint 3 - Position: -0.006916603029825139, Velocity: -1.6599847271580335 +Joint 4 - Position: -0.07328989420214636, Velocity: -17.58957460851513 +Joint 5 - Position: 0.004549988917158072, Velocity: 1.0919973401179373 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:56,558 - logger - INFO - Joint 0 - Position: 0.15189136011859564, Velocity: 34.5767354719861 +Joint 1 - Position: -8.571645299617436e-16, Velocity: -2.0571948719081846e-13 +Joint 2 - Position: 0.4902553527703198, Velocity: 100.0 +Joint 3 - Position: -0.031862711142024706, Velocity: -5.987065946927896 +Joint 4 - Position: -0.48995656086881306, Velocity: -100.0 +Joint 5 - Position: -0.013965047481668161, Velocity: -4.443608735718296 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:56,649 - logger - INFO - Joint 0 - Position: 0.5685580267852623, Velocity: 100.0 +Joint 1 - Position: -8.308886843305679e-16, Velocity: 6.30620295148216e-15 +Joint 2 - Position: 0.9069220194369865, Velocity: 100.0 +Joint 3 - Position: 0.38480395552464197, Velocity: 100.0 +Joint 4 - Position: -0.9066232275354797, Velocity: -100.0 +Joint 5 - Position: -0.43063171414833484, Velocity: -100.0 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:56,739 - logger - INFO - Joint 0 - Position: 0.9852246934519291, Velocity: 100.0 +Joint 1 - Position: -1.223165129393963e-15, Velocity: -9.414634681521483e-14 +Joint 2 - Position: 1.3235886861036532, Velocity: 100.0 +Joint 3 - Position: 0.8014706221913086, Velocity: 100.0 +Joint 4 - Position: -1.3232898942021465, Velocity: -100.0 +Joint 5 - Position: -0.6041849353084161, Velocity: -41.652773078419514 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:56,833 - logger - INFO - Joint 0 - Position: 1.4018913601185958, Velocity: 100.0 +Joint 1 - Position: -1.2182463231048071e-15, Velocity: 1.1805135093974034e-15 +Joint 2 - Position: 1.74025535277032, Velocity: 100.0 +Joint 3 - Position: 1.2181372888579753, Velocity: 100.0 +Joint 4 - Position: -1.7399565608688132, Velocity: -100.0 +Joint 5 - Position: -0.18751826864174942, Velocity: 100.0 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:56,925 - logger - INFO - Joint 0 - Position: 1.5631693862955998, Velocity: 38.70672628248093 +Joint 1 - Position: -1.218048640795767e-15, Velocity: 4.7443754169658375e-17 +Joint 2 - Position: 1.6568796935038856, Velocity: -20.01015822394423 +Joint 3 - Position: 1.2346981306536435, Velocity: 3.9746020309603836 +Joint 4 - Position: -1.7088645667391635, Velocity: 7.462078591115951 +Joint 5 - Position: -0.252591790911406, Velocity: -15.617645344717573 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:57,019 - logger - INFO - Joint 0 - Position: 1.6939157759862744, Velocity: 31.37913352576192 +Joint 1 - Position: -1.218219258173462e-15, Velocity: -4.0948170646824467e-17 +Joint 2 - Position: 1.576921862300072, Velocity: -19.189879488915263 +Joint 3 - Position: 1.232220529294061, Velocity: -0.5946243262998419 +Joint 4 - Position: -1.7059904809063435, Velocity: 0.6897805998768147 +Joint 5 - Position: -0.3074515250151544, Velocity: -13.166336184899611 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:57,114 - logger - INFO - Joint 0 - Position: 1.6138591988282347, Velocity: -19.213578517929555 +Joint 1 - Position: -1.3314602211816587e-15, Velocity: -2.7177831121967185e-14 +Joint 2 - Position: 1.1602551956334053, Velocity: -100.0 +Joint 3 - Position: 1.1821493113101786, Velocity: -12.01709231613175 +Joint 4 - Position: -1.7059857895159836, Velocity: 0.0011259336864128944 +Joint 5 - Position: -0.6517310921582425, Velocity: -82.62709611434116 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:57,212 - logger - INFO - Joint 0 - Position: 1.5472060533576655, Velocity: -15.99675491293661 +Joint 1 - Position: -1.384030334413974e-15, Velocity: -1.2616827175755661e-14 +Joint 2 - Position: 1.0992001016647708, Velocity: -14.653222552472272 +Joint 3 - Position: 1.5988159779768454, Velocity: 100.0 +Joint 4 - Position: -2.0391411599385094, Velocity: -79.95728890140624 +Joint 5 - Position: -0.27145700872057216, Velocity: 91.2657800250409 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:57,311 - logger - INFO - Joint 0 - Position: 1.9638727200243322, Velocity: 100.0 +Joint 1 - Position: -1.0964919638206244e-15, Velocity: 6.900920894240389e-14 +Joint 2 - Position: 1.5158667683314375, Velocity: 100.0 +Joint 3 - Position: 2.015482644643512, Velocity: 100.0 +Joint 4 - Position: -2.0918866700286975, Velocity: -12.658922421645144 +Joint 5 - Position: -0.4018218008385846, Velocity: -31.28755010832299 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:57,417 - logger - INFO - Joint 0 - Position: 2.380539386690999, Velocity: 100.0 +Joint 1 - Position: -1.0868440070436765e-15, Velocity: 2.3155096264675113e-15 +Joint 2 - Position: 1.9325334349981043, Velocity: 100.0 +Joint 3 - Position: 2.4321493113101784, Velocity: 100.0 +Joint 4 - Position: -1.6752200033620308, Velocity: 100.0 +Joint 5 - Position: -0.04393608168620661, Velocity: 85.89257259657072 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:57,551 - logger - INFO - Joint 0 - Position: 2.3822176818111, Velocity: 0.402790828824223 +Joint 1 - Position: -1.045826206535152e-15, Velocity: 9.844272122045882e-15 +Joint 2 - Position: 1.8057863410525479, Velocity: -30.419302546933523 +Joint 3 - Position: 2.3398710758951062, Velocity: -22.14677649961736 +Joint 4 - Position: -1.7918242058536598, Velocity: -27.985008597990927 +Joint 5 - Position: -0.16335055995299425, Velocity: -28.659474784029037 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:57,669 - logger - INFO - Joint 0 - Position: 2.382735057508106, Velocity: 0.12417016728154029 +Joint 1 - Position: -1.0428455046912753e-15, Velocity: 7.153684425303975e-16 +Joint 2 - Position: 1.5465852055833484, Velocity: -62.20827251260785 +Joint 3 - Position: 2.0444594670656313, Velocity: -70.89878611907395 +Joint 4 - Position: -2.002242003625593, Velocity: -50.50027146526399 +Joint 5 - Position: -0.4649567454865585, Velocity: -72.38548452805543 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:57,786 - logger - INFO - Joint 0 - Position: 2.7994017241747726, Velocity: 100.0 +Joint 1 - Position: -2.074962685004993e-15, Velocity: -2.477081232752923e-13 +Joint 2 - Position: 1.9632518722500152, Velocity: 100.0 +Joint 3 - Position: 2.461126133732298, Velocity: 100.0 +Joint 4 - Position: -1.7496299725548428, Velocity: 60.626887456980064 +Joint 5 - Position: -0.4649567454865589, Velocity: -9.947598300641403e-14 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:57,901 - logger - INFO - Joint 0 - Position: 2.798169703129116, Velocity: -0.29568505095762987 +Joint 1 - Position: -2.067448906954636e-15, Velocity: 1.8033067320857406e-15 +Joint 2 - Position: 1.8254914875348316, Velocity: -33.06249233164408 +Joint 3 - Position: 2.345029825430977, Velocity: -27.863113992316975 +Joint 4 - Position: -1.8902525504712246, Velocity: -33.74941869993165 +Joint 5 - Position: -0.6138488018597265, Velocity: -35.73409352956021 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:58,019 - logger - INFO - Joint 0 - Position: 2.799085578513006, Velocity: 0.2198100921336542 +Joint 1 - Position: -2.069460288291011e-15, Velocity: -4.827315207301061e-16 +Joint 2 - Position: 1.4519592448960732, Velocity: -89.647738233302 +Joint 3 - Position: 1.9283631587643104, Velocity: -100.0 +Joint 4 - Position: -2.29394520795216, Velocity: -96.88623779542448 +Joint 5 - Position: -1.030515468526393, Velocity: -100.0 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:58,134 - logger - INFO - Joint 0 - Position: 2.3824189118463397, Velocity: -100.0 +Joint 1 - Position: -2.761721657267174e-15, Velocity: -1.6614272855427904e-13 +Joint 2 - Position: 1.0352925782294065, Velocity: -100.0 +Joint 3 - Position: 1.5116964920976437, Velocity: -100.0 +Joint 4 - Position: -2.4320299957604643, Velocity: -33.14034907399305 +Joint 5 - Position: -1.4471821351930598, Velocity: -100.0 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:33:58,233 - logger - INFO - Joint 0 - Position: 1.965752245179673, Velocity: -100.0 +Joint 1 - Position: 3.5033359780437554e-14, Velocity: 9.070819545049134e-12 +Joint 2 - Position: 0.6186259115627397, Velocity: -100.0 +Joint 3 - Position: 1.095029825430977, Velocity: -100.0 +Joint 4 - Position: -2.015363329093798, Velocity: 100.0 +Joint 5 - Position: -1.8638488018597266, Velocity: -100.0 +Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 +2024-10-28 15:35:00,147 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:35:00,356 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:36:00,865 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:36:01,078 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:37:02,158 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:37:02,350 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:37:06,338 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 217 +2024-10-28 15:37:06,839 - logger - INFO - set joints - client_socket.py - 220 +2024-10-28 15:37:06,900 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 217 +2024-10-28 15:37:07,401 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217 +2024-10-28 15:37:16,486 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 217 +2024-10-28 15:37:16,987 - logger - INFO - set joints - client_socket.py - 220 +2024-10-28 15:37:17,048 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 217 +2024-10-28 15:37:17,549 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217 +2024-10-28 15:37:35,815 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:37:36,000 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:37:43,921 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:37:44,108 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:38:02,381 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:38:02,590 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:38:32,257 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:38:32,443 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:38:54,357 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:38:54,518 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:39:21,817 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:39:22,011 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:39:27,509 - logger - INFO - UPDATE - client_socket.py - 149 +2024-10-28 15:39:27,510 - logger - INFO - Координаты осей [0.0, 0.0, 0.0, 0.0, 5.0, 0.0] - client_socket.py - 218 +2024-10-28 15:39:28,010 - logger - INFO - set joints - client_socket.py - 221 +2024-10-28 15:39:28,072 - logger - INFO - Мировые координаты [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 218 +2024-10-28 15:39:28,573 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 218 +2024-10-28 15:39:43,353 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:39:43,512 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:39:52,852 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:39:52,991 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:41:19,530 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:41:19,704 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:41:48,403 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:41:48,611 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:56:06,044 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:56:06,151 - logger - INFO - Начат цикл симуляции - client_socket.py - 88 +2024-10-28 15:56:18,430 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:56:18,629 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:56:36,596 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:56:36,734 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:57:00,819 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:57:00,969 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:57:42,534 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:57:42,670 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:57:58,330 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:57:58,486 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:58:21,909 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:58:22,013 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:58:28,032 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:58:28,167 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:58:34,381 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:58:34,519 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:58:41,842 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:58:41,997 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:58:51,642 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:58:51,781 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:59:07,043 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:59:07,180 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 15:59:20,792 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 15:59:20,985 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:03:27,042 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:03:27,225 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:08:06,682 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:08:08,340 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:32:42,811 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:32:47,941 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:32:49,373 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:38:25,781 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:39:23,053 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:39:24,055 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:39:25,343 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:40:08,304 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:40:09,457 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:42:55,305 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:42:56,450 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:43:03,961 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:43:04,028 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:43:05,184 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:49:19,611 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:49:20,613 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:49:36,491 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:49:37,492 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:49:38,790 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:49:58,254 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:49:59,256 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:50:00,581 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:50:08,178 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:50:09,180 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:50:10,500 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:50:31,431 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:50:32,433 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:50:33,615 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:50:40,408 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:50:41,410 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:50:42,682 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:51:00,982 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:51:02,122 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:51:27,081 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:51:28,244 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:51:32,818 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:51:33,820 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:51:35,108 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:52:23,954 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:52:24,956 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:52:26,101 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:53:06,956 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:53:07,958 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:53:09,288 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:55:09,492 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:55:10,494 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:55:11,824 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:55:38,840 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:55:39,842 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:55:41,108 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:56:04,283 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:56:05,285 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:56:06,534 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:56:14,530 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:56:15,532 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:56:16,834 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:56:49,285 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:56:50,286 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:56:51,536 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-28 16:58:04,526 - logger - INFO - not_connected - robot.py - 52 +2024-10-28 16:58:05,529 - logger - INFO - GUI - client_socket.py - 55 +2024-10-28 16:58:06,810 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 diff --git a/gui/imitator.py b/gui/imitator.py index 5547399..5dd13e8 100644 --- a/gui/imitator.py +++ b/gui/imitator.py @@ -28,7 +28,7 @@ class Imitator(QWidget): self.layout.addWidget(l) self.updButton = QPushButton('Обновить данные') - self.updButton.clicked.connect(self.updateState) + self.updButton.clicked.connect(self.updateData) self.layout.addWidget(self.updButton) diff --git a/gui/robot.py b/gui/robot.py index de9a8dd..67b8caf 100644 --- a/gui/robot.py +++ b/gui/robot.py @@ -1,8 +1,16 @@ -import sys import time -from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel, QRadioButton, QPushButton, QButtonGroup +from PyQt5.QtWidgets import ( + QWidget, + QVBoxLayout, + QLabel, + QRadioButton, + QPushButton, + QButtonGroup, +) from PyQt5.QtCore import Qt, QTimer +from logger import logger + class ChangeRobot(QWidget): def __init__(self, robots, updateRobot, status): super().__init__() @@ -41,12 +49,13 @@ class ChangeRobot(QWidget): def updateConnectButtonText(self): radioState = True + logger.info(self.status()) if self.status() == "not_connected": self.connectButton.setText("Соединить") elif self.status() == "connected": self.connectButton.setText("Отключить") radioState = False - + for radioButton in self.robotsRadio: radioButton.setEnabled(radioState) @@ -76,4 +85,4 @@ class ChangeRobot(QWidget): p = self.palette() p.setColor(self.backgroundRole(), Qt.lightGray) self.setPalette(p) - super().paintEvent(event) \ No newline at end of file + super().paintEvent(event) diff --git a/gui/visualize.py b/gui/visualize.py index 9978766..870b3e6 100644 --- a/gui/visualize.py +++ b/gui/visualize.py @@ -1,8 +1,8 @@ import time from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy -from PyQt5.QtGui import QImage, QPixmap, QColor -from PyQt5.QtCore import Qt, QTimer +from PyQt5.QtGui import QImage, QPixmap +from PyQt5.QtCore import Qt, QTimer, QSize import numpy as np from PIL import Image @@ -32,7 +32,7 @@ class Visualize(QWidget): # Таймер для обновления изображения self.timer = QTimer() self.timer.timeout.connect(self.update_image) - self.timer.start(int(1000/24)) # Обновление каждые 100 мс + self.timer.start(int(1000/240)) # Обновление каждые 100 мс def update_image(self): res = self.get_pybullet_image() @@ -40,23 +40,13 @@ class Visualize(QWidget): if not res: return (rgb, width, height) = res - # 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_array, width, height, QImage.Format_RGBA8888) + image = QImage(rgb, width, height, QImage.Format_RGBA8888) image = image.convertToFormat(QImage.Format_RGB888) - pixmap = QPixmap.fromImage(image) - # Обновление изображения на QLabel self.label.setPixmap(pixmap) + self.label.resize(image.size()) self.label.repaint() def paintEvent(self, event): diff --git a/main.py b/main.py index 78cab8d..030017c 100644 --- a/main.py +++ b/main.py @@ -13,23 +13,17 @@ class MyApp: with open("./robots.json", "r") as file: robots = json.load(file) + robot_app = None + def __init__(self, mode): self.mode = mode - self.startRobot() + self.startGui() - - def get_status(self): - if self.robot_app: - return self.robot_app.get_status() - else: - return self.def_robot_status() - - def def_robot_status(self): - return SocketRobotArm.Status[1] + self.startRobot() + self.startWindow() def startGui(self): - app = QApplication(sys.argv) - self.robot_app.q_app = app + self.app = QApplication(sys.argv) mainWindow = MainContentComponent( get_status=self.get_status, robotPanel={ @@ -41,19 +35,21 @@ class MyApp: "status": self.get_status, }, imitatorPanel={ - "world_coord": self.robot_app.get_world_coordinates, - "axis_coord": self.robot_app.get_axis_coordinates, - "command_count": self.robot_app.get_command_count, - "updateData": self.robot_app.upd_model, + "world_coord": self.get_world_coordinates, + "axis_coord": self.get_axis_coordinates, + "command_count": self.get_command_count, + "updateData": self.update_data_wrapper, }, visPanel={ - "get_pybullet_image": self.robot_app.get_pybullet_image, + "get_pybullet_image": self.get_pybullet_image_wrapper, }, ) mainWindow.setWindowTitle("ROBOT GUI") - mainWindow.show() + self.window = mainWindow - sys.exit(app.exec_()) + def startWindow(self): + self.window.show() + sys.exit(self.app.exec_()) def startRobot(self): self.robot_app = SocketRobotArm() @@ -77,6 +73,39 @@ class MyApp: self.robot_app.connect( selected_robot["host"], selected_robot["slave_id"] ) + + # 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() + return None # Или любое значение по умолчанию + + def get_axis_coordinates(self): + if self.robot_app: + return self.robot_app.get_axis_coordinates() + return None # Или любое значение по умолчанию + + def get_command_count(self): + if self.robot_app: + return self.robot_app.get_command_count() + return 0 # Или любое значение по умолчанию + + def update_data_wrapper(self, data): + if self.robot_app: + self.robot_app.upd_model(data) + else: + print("robot_app еще не инициализирован.") + + def get_pybullet_image_wrapper(self): + if self.robot_app: + return self.robot_app.get_pybullet_image() + return (None, 0, 0) # Или любое значение по умолчанию if __name__ == "__main__": diff --git a/robot/client_socket.py b/robot/client_socket.py index a481805..d05a25d 100644 --- a/robot/client_socket.py +++ b/robot/client_socket.py @@ -57,19 +57,19 @@ class SocketRobotArm: def run_pybullet(self, type="DIRECT"): self.physics_client = p.connect(getattr(p, type)) - # p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client) + 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) - threading.Thread(target=self.load_models, daemon=True).start() - threading.Thread(target=self.simulation_loop, daemon=True).start() + self.load_models() + self.simulation_loop() def load_models(self): - p.loadURDF("plane.urdf") + 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=True, globalScaling=2) + self.body_id = p.loadURDF(urdf_path, [0, 0, 0], useFixedBase=1, physicsClientId=self.physics_client) time.sleep(1) # Получение AABB @@ -86,28 +86,25 @@ class SocketRobotArm: def simulation_loop(self): logger.info(f"Начат цикл симуляции") while True: - bodyUniqueId = self.body_id - position, orientation = p.getBasePositionAndOrientation(bodyUniqueId) - # logger.info(f"Position: {position}, Orientation: {orientation}") + # 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)) + # # Получение состояния суставов + # num_joints = p.getNumJoints(bodyUniqueId) + # joint_states = p.getJointStates(bodyUniqueId, range(num_joints)) - joint_log = [] - for i, state in enumerate(joint_states): - joint_position = state[0] # Угол - joint_velocity = state[1] # Угловая скорость - joint_log.append( - f"Joint {i} - Position: {joint_position}, Velocity: {joint_velocity}" - ) + # joint_log = [] + # for i, state in enumerate(joint_states): + # joint_position = state[0] # Угол + # joint_velocity = state[1] # Угловая скорость + # joint_log.append( + # f"Joint {i} - Position: {joint_position}, Velocity: {joint_velocity}" + # ) # logger.info("\n".join(joint_log)) p.stepSimulation() - if self.q_app: - self.q_app.processEvents() - - time.sleep(1 / 24) # 24 кадра в секунду + time.sleep(1 / 240) # 24 кадра в секунду def get_pybullet_image(self): if self.physics_client is None: @@ -116,17 +113,16 @@ class SocketRobotArm: width, height, rgb, _, _ = p.getCameraImage( width=640, height=640, - # viewMatrix=p.computeViewMatrix( - # cameraEyePosition=[2, 2, 2], - # cameraTargetPosition=[0, 0, 0], - # cameraUpVector=[0, 0, 1], - # ), - # projectionMatrix=p.computeProjectionMatrixFOV( - # fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0 - # ), - # renderer=p.ER_TINY_RENDERER, - # physicsClientId=self.physics_client, - flags=p.ER_NO_SEGMENTATION_MASK, + viewMatrix=p.computeViewMatrix( + cameraEyePosition=[2, 2, 2], + cameraTargetPosition=[0, 0, 0], + cameraUpVector=[0, 0, 1], + ), + projectionMatrix=p.computeProjectionMatrixFOV( + fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0 + ), + renderer=p.ER_TINY_RENDERER, + physicsClientId=self.physics_client, ) return (rgb, width, height) @@ -149,6 +145,7 @@ class SocketRobotArm: return self.status def upd_model(self): + logger.info('UPDATE') self.get_axis() self.set_text(text=f"Координаты осей {self.start_axis_coordinates}") time.sleep(0.5) @@ -157,7 +154,7 @@ 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/urdf/fanucM16ib.urdf b/urdf/fanucM16ib.urdf index ae09800..981ee2a 100644 --- a/urdf/fanucM16ib.urdf +++ b/urdf/fanucM16ib.urdf @@ -10,8 +10,8 @@ - - + + @@ -27,8 +27,8 @@ - - + + @@ -44,8 +44,8 @@ - - + + @@ -61,8 +61,8 @@ - - + + @@ -78,8 +78,8 @@ - - + + @@ -95,8 +95,8 @@ - - + + diff --git a/utils/test_socket_server.py b/utils/test_socket_server.py index 1a1af98..d032cfd 100644 --- a/utils/test_socket_server.py +++ b/utils/test_socket_server.py @@ -4,6 +4,7 @@ import json HOST = "127.0.0.1" # Standard loopback interface address (localhost) PORT = 9760 # Port to listen on (non-privileged ports are > 1023) + def handle_client(conn, addr): print(f"Connected by {addr}") try: @@ -15,16 +16,29 @@ def handle_client(conn, addr): res = {"queryData": ["ok"]} if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]: - res["queryData"] = [-60, 40, -10, -60, -75, 0] + res["queryData"] = [ + 0, + 0, + 0, + 0, + 5, + 0, + ] if "queryAddr" in req and "world-0" in req["queryAddr"]: res["queryData"] = [ - 643.622, - -1289.604, - 254.682, - 124.70, - 24.209, - -58.492, + # 643.622, + # -1289.604, + # 254.682, + # 124.70, + # 24.209, + # -58.492, + 0, + 0, + 0, + 0, + 0, + 0, ] if req["reqType"] == "command":