ksenia_mikhailova
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modbus_test
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model fix

This commit is contained in:
aarizona 2024-11-21 10:10:49 +03:00
parent a2059f72ba
commit bc0672d6f8
4 changed files with 1397 additions and 36 deletions
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1358
app.log
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File diff suppressed because it is too large Load Diff

6
delta.json
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@ -0,0 +1,6 @@
0.00632926238978882
0.006367644030288622
0.006349076001385698

9
robot/client_socket.py
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@ -194,12 +194,7 @@ class SocketRobotArm:
self.q_app = None
self.imitate_point = None
robot_start_position = [
-0.008700576263427698,
0.04579925857591629,
0.0036192361602783203,
]
# robot_start_position = [0, 0, 0]
robot_start_position = [0, -0, 0]
self.prepare_data = PrepareRobotData()
self.socket_manager = SocketManager()
@ -285,6 +280,8 @@ class SocketRobotArm:
# logger.info(f"delta by WORLD {i} {pos[0] - pos[1]}")
position_diff = np.linalg.norm(self.world_coordinates[:3] - np.array(calcWorldPosition[:3]))
print("Position Difference:", position_diff)
with open('delta.json', 'a') as f:
f.write(f'\n{position_diff}\n')
# logger.info('-------')

50
urdf/sample.urdf
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@ -33,9 +33,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="../urdf_support/sample/1.stl"/>
<mesh filename="../urdf_support/sample/1.stl" />
</geometry>
<material name="grey"/>
<material name="grey" />
</visual>
</link>
@ -47,9 +47,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="../urdf_support/sample/2.stl"/>
<mesh filename="../urdf_support/sample/2.stl" />
</geometry>
<material name="red"/>
<material name="red" />
</visual>
</link>
@ -61,9 +61,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry>
<mesh filename="../urdf_support/sample/3.stl"/>
<mesh filename="../urdf_support/sample/3.stl" />
</geometry>
<material name="blue"/>
<material name="blue" />
</visual>
</link>
@ -75,9 +75,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry>
<mesh filename="../urdf_support/sample/4.stl"/>
<mesh filename="../urdf_support/sample/4.stl" />
</geometry>
<material name="lightblue"/>
<material name="lightblue" />
</visual>
</link>
@ -89,9 +89,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry>
<mesh filename="../urdf_support/sample/5.stl"/>
<mesh filename="../urdf_support/sample/5.stl" />
</geometry>
<material name="yellow"/>
<material name="yellow" />
</visual>
</link>
@ -103,9 +103,9 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry>
<mesh filename="../urdf_support/sample/6.stl"/>
<mesh filename="../urdf_support/sample/6.stl" />
</geometry>
<material name="orange"/>
<material name="orange" />
</visual>
</link>
@ -117,16 +117,16 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry>
<mesh filename="../urdf_support/sample/7.stl"/>
<mesh filename="../urdf_support/sample/7.stl" />
<!-- <box size="0.1 0.1 0.1"/> -->
</geometry>
<material name="black"/>
<material name="black" />
</visual>
</link>
<!-- Joints: main serial chain -->
<joint name="joint_1" type="revolute">
<limit lower="-2.705" upper="2.705" effort="0" velocity="0"/>
<limit lower="-2.705" upper="2.705" effort="0" velocity="0" />
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="base_link" />
<child link="link_1" />
@ -134,43 +134,43 @@
</joint>
<joint name="joint_2" type="revolute">
<limit lower="-2.444" upper="1.135" effort="0" velocity="0"/>
<limit lower="-2.444" upper="1.135" effort="0" velocity="0" />
<parent link="link_1" />
<child link="link_2" />
<axis xyz="0 -1 0" />
<origin rpy="0 0 0" xyz="0.168621 -0.103 0.4946" />
<origin rpy="0 0 0" xyz="0.17045 0 0.4946" />
</joint>
<joint name="joint_3" type="revolute">
<limit lower="-1.309" upper="1.919" effort="0" velocity="0"/>
<limit lower="-1.309" upper="1.919" effort="0" velocity="0" />
<parent link="link_2" />
<child link="link_3" />
<axis xyz="0 -1 0" />
<origin rpy="0 0 0" xyz="0.006871 0.002321 0.729921" />
<origin rpy="0 0 0" xyz="0 -0.001963 0.729921" />
</joint>
<joint name="joint_4" type="revolute">
<limit lower="-3.142" upper="3.142" effort="0" velocity="0"/>
<limit lower="-3.142" upper="3.142" effort="0" velocity="0" />
<parent link="link_3" />
<child link="link_4" />
<axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="0.240065 0.101766 0.098277" />
<origin rpy="0 0 0" xyz="0 0 0.098277" />
</joint>
<joint name="joint_5" type="revolute">
<limit lower="-2.007" upper="2.007" effort="0" velocity="0"/>
<limit lower="-2.007" upper="2.007" effort="0" velocity="0" />
<parent link="link_4" />
<child link="link_5" />
<axis xyz="0 -1 0" />
<origin rpy="0 0 0" xyz="1.109039 0.037912 0.000177" />
<origin rpy="0 0 0" xyz="1.109039 0 0" />
</joint>
<joint name="joint_6" type="revolute">
<limit lower="-6.283" upper="6.283" effort="0" velocity="0"/>
<limit lower="-6.283" upper="6.283" effort="0" velocity="0" />
<parent link="link_5" />
<child link="link_6" />
<axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="0.117 -0.039029 -0.000419" />
<origin rpy="0 0 0" xyz="0.117 0 0" />
</joint>
</robot>