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Kseninia Mikhaylova 2024-10-28 16:59:01 +03:00
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commit baac2d138c
8 changed files with 908 additions and 92 deletions
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@ -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
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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

2
gui/imitator.py
View File

@ -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)

17
gui/robot.py
View File

@ -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)
super().paintEvent(event)

20
gui/visualize.py
View File

@ -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):

67
main.py
View File

@ -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__":

65
robot/client_socket.py
View File

@ -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}")

24
urdf/fanucM16ib.urdf
View File

@ -10,8 +10,8 @@
<geometry>
<mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/base_link.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
<material name="green">
<color rgba="0.13 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
@ -27,8 +27,8 @@
<geometry>
<mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_1.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
<material name="darkgreen">
<color rgba="0.13 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
@ -44,8 +44,8 @@
<geometry>
<mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_2.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
<material name="green">
<color rgba="0.13 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
@ -61,8 +61,8 @@
<geometry>
<mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_3.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
<material name="darkgreen">
<color rgba="0.13 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
@ -78,8 +78,8 @@
<geometry>
<mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_4.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
<material name="green">
<color rgba="0.13 0.76 0.13 1.0"/>
</material>
</visual>
<collision>
@ -95,8 +95,8 @@
<geometry>
<mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_5.stl"/>
</geometry>
<material name="">
<color rgba="0.96 0.76 0.13 1.0"/>
<material name="darkgreen">
<color rgba="0.13 0.76 0.13 1.0"/>
</material>
</visual>
<collision>

28
utils/test_socket_server.py
View File

@ -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":