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aarizona
parent
41f99d7636
commit
bc1d21ac22
397
app.log
397
app.log
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@ -65709,3 +65709,400 @@ Joint 5 - Position: 2.6324369751913186e-19, Velocity: -1.7044130180708233e-30 -
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2024-11-01 11:54:46,646 - logger - INFO - set joints - client_socket.py - 263
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2024-11-01 11:54:49,495 - logger - INFO - convrt to joint (-0.13345173832268964, -0.292126154713406, 0.6253381437643674, 1.0528971901918123, -2.3024232062107273, -0.17771620751163136) - client_socket.py - 255
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2024-11-01 11:54:49,496 - logger - INFO - set joints - client_socket.py - 263
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2024-11-01 12:16:53,758 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:16:53,758 - logger - INFO - None - robot.py - 52
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2024-11-01 12:16:53,758 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:16:53,758 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:16:53,759 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:16:53,759 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-11-01 12:16:53,759 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-11-01 12:16:53,759 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-11-01 12:16:54,761 - logger - INFO - SHARED_MEMORY - client_socket.py - 111
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2024-11-01 12:16:54,761 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 122
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2024-11-01 12:16:56,356 - logger - INFO - not_connected - robot.py - 52
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2024-11-01 12:16:56,793 - logger - INFO - urdf/sample.urdf - client_socket.py - 128
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2024-11-01 12:16:59,395 - logger - INFO - connected - robot.py - 52
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2024-11-01 12:17:00,578 - logger - INFO - UPDATE - client_socket.py - 195
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2024-11-01 12:17:00,578 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 313
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2024-11-01 12:17:01,079 - logger - INFO - set joints - client_socket.py - 316
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2024-11-01 12:17:01,998 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 313
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2024-11-01 12:17:02,588 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 308
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2024-11-01 12:17:02,589 - logger - INFO - set joints - client_socket.py - 316
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2024-11-01 12:17:03,770 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 313
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2024-11-01 12:17:04,362 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 229
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2024-11-01 12:17:04,363 - logger - INFO - [32.20440604 1.77436339 34.18111527] - client_socket.py - 230
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2024-11-01 12:17:18,099 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:17:18,099 - logger - INFO - None - robot.py - 52
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2024-11-01 12:17:18,099 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:17:18,099 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:17:18,099 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:17:18,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-11-01 12:17:18,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-11-01 12:17:18,100 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-11-01 12:17:19,103 - logger - INFO - SHARED_MEMORY - client_socket.py - 111
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2024-11-01 12:17:19,103 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 122
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2024-11-01 12:17:19,738 - logger - INFO - not_connected - robot.py - 52
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2024-11-01 12:17:20,169 - logger - INFO - urdf/sample.urdf - client_socket.py - 128
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2024-11-01 12:17:22,757 - logger - INFO - connected - robot.py - 52
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2024-11-01 12:17:26,116 - logger - INFO - UPDATE - client_socket.py - 195
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2024-11-01 12:17:26,117 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 313
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2024-11-01 12:17:26,618 - logger - INFO - set joints - client_socket.py - 316
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2024-11-01 12:17:27,520 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 313
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2024-11-01 12:17:28,143 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 308
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2024-11-01 12:17:28,144 - logger - INFO - set joints - client_socket.py - 316
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2024-11-01 12:17:29,444 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 313
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2024-11-01 12:17:30,072 - logger - INFO - (1.2797060012817383, -0.06849903613328934, 1.768243670463562) - client_socket.py - 229
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2024-11-01 12:17:30,073 - logger - INFO - [32.20440604 1.77436339 34.18111527] - client_socket.py - 230
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2024-11-01 12:17:36,979 - logger - INFO - UPDATE - client_socket.py - 195
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2024-11-01 12:17:36,980 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 313
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2024-11-01 12:17:37,481 - logger - INFO - set joints - client_socket.py - 316
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2024-11-01 12:17:38,177 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 313
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2024-11-01 12:17:38,802 - logger - INFO - convrt to joint (-0.1480183212044404, -0.15390097166822342, 0.503664617178813, 1.3971190052026885, -1.0159427242359642, -0.45131450051192284) - client_socket.py - 308
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2024-11-01 12:17:38,803 - logger - INFO - set joints - client_socket.py - 316
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2024-11-01 12:17:40,051 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 313
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2024-11-01 12:17:40,675 - logger - INFO - (1.2617535591125488, -0.06815360486507416, 1.802610993385315) - client_socket.py - 229
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2024-11-01 12:17:40,676 - logger - INFO - [45.1625969 -3.03908645 51.9654009 ] - client_socket.py - 230
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2024-11-01 12:18:31,960 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:18:31,961 - logger - INFO - None - robot.py - 52
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2024-11-01 12:18:31,961 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:18:31,961 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:18:31,961 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:18:31,961 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-11-01 12:18:31,961 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-11-01 12:18:31,961 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-11-01 12:18:32,964 - logger - INFO - SHARED_MEMORY - client_socket.py - 113
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2024-11-01 12:18:32,964 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 124
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2024-11-01 12:18:33,766 - logger - INFO - not_connected - robot.py - 52
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2024-11-01 12:18:34,198 - logger - INFO - urdf/sample.urdf - client_socket.py - 130
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2024-11-01 12:18:36,805 - logger - INFO - connected - robot.py - 52
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2024-11-01 12:18:38,172 - logger - INFO - UPDATE - client_socket.py - 197
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2024-11-01 12:18:38,173 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 315
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2024-11-01 12:18:38,673 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:18:39,393 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 315
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2024-11-01 12:18:39,980 - logger - INFO - convrt to joint (-0.1265354833995041, -0.1171633295307326, 0.46916942192926725, 1.056326863354332, -0.678716551349419, -0.5805229511554447) - client_socket.py - 310
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2024-11-01 12:18:39,981 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:18:41,145 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 315
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2024-11-01 12:18:41,734 - logger - INFO - (1.2813012599945068, -0.06811699271202087, 1.7626862525939941) - client_socket.py - 231
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2024-11-01 12:18:41,736 - logger - INFO - [31.10998602 3.36572414 33.41361987] - client_socket.py - 232
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2024-11-01 12:18:43,737 - logger - INFO - convrt to joint (-0.10944819098441812, -0.38175646269809327, 0.8146358614551504, 0.9329466293233962, -2.798155867271653, -0.5596294949521006) - client_socket.py - 310
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2024-11-01 12:18:43,738 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:18:46,169 - logger - INFO - convrt to joint (-0.10683676481657492, -0.4262444153418375, 0.8915346529065954, 1.0499237201601666, -2.813464566688303, -1.0181366920673287) - client_socket.py - 310
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2024-11-01 12:18:46,170 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:18:48,507 - logger - INFO - convrt to joint (-0.1012065987207272, -0.5730598570204682, 1.0659999065629338, 1.0944421917616467, -2.8212030645606188, -0.9668922086992202) - client_socket.py - 310
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2024-11-01 12:18:48,508 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:18:50,890 - logger - INFO - convrt to joint (-0.09543307855854043, -0.7030152758105969, 1.2202290660955406, 1.1464734759070192, -2.825155628684059, -0.9083604036712981) - client_socket.py - 310
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2024-11-01 12:18:50,891 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:18:53,224 - logger - INFO - convrt to joint (-0.033198103720889965, -0.7130790344760329, 1.2419146485457888, 1.2171258990654699, -2.777594554223066, -0.8016925504291132) - client_socket.py - 310
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2024-11-01 12:18:53,226 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:18:55,571 - logger - INFO - convrt to joint (0.02898838636139119, -0.7316376989753762, 1.2740764574644574, 1.2693305202241907, -2.729855522646165, -0.712174875929794) - client_socket.py - 310
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2024-11-01 12:18:55,572 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:18:57,927 - logger - INFO - convrt to joint (0.03140148845651223, -0.642697082389267, 1.188319778599581, 1.2937934673342486, -2.7309150860395617, -0.6853618808310409) - client_socket.py - 310
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2024-11-01 12:18:57,928 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:00,273 - logger - INFO - convrt to joint (0.034236193706167525, -0.4986308784031873, 1.0181517283950539, 1.2610575417028438, -2.7226291464383707, -0.7213456611867803) - client_socket.py - 310
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2024-11-01 12:19:00,274 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:02,627 - logger - INFO - convrt to joint (-0.03601670138517621, -0.47510521836290476, 0.9793842533727696, 1.2113749088375958, -2.7744985381069425, -0.8125705669031348) - client_socket.py - 310
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2024-11-01 12:19:02,628 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:04,978 - logger - INFO - convrt to joint (-0.10600707535036136, -0.475322844404502, 0.9747208584734983, 1.1649015923937203, -2.8288465697996292, -0.897641780229479) - client_socket.py - 310
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2024-11-01 12:19:04,980 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:07,344 - logger - INFO - convrt to joint (-0.13342620671526814, -0.294713576490497, 0.629525694646006, 1.0544589066796535, -2.3033406215150345, -0.17546494492875392) - client_socket.py - 310
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2024-11-01 12:19:07,345 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:09,744 - logger - INFO - convrt to joint (-0.12471136226343185, -0.45284968345856896, 0.8225213453819651, 1.0807004958811124, -2.311891550980672, -0.13131845940037495) - client_socket.py - 310
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2024-11-01 12:19:09,745 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:12,092 - logger - INFO - convrt to joint (-0.11704423388393997, -0.6283774217769154, 1.0515299429264195, 1.1233162301028414, -2.327888640336165, -0.06398260394578964) - client_socket.py - 310
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2024-11-01 12:19:12,094 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:14,440 - logger - INFO - convrt to joint (-0.05443738936828916, -0.6401351091374622, 1.0759566240341998, 1.1314645528966136, -2.2826042254093486, -0.013719086017098911) - client_socket.py - 310
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2024-11-01 12:19:14,440 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:16,787 - logger - INFO - convrt to joint (0.008538706839805699, -0.6542211213007729, 1.1005501296764253, 1.1331611813533233, -2.2358882287646398, 0.030820706538444622) - client_socket.py - 310
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2024-11-01 12:19:16,789 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:19,136 - logger - INFO - convrt to joint (0.009265998518537695, -0.4877370014060042, 0.8866686000740799, 1.1028237637969085, -2.21742265515563, -0.019220359196378937) - client_socket.py - 310
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2024-11-01 12:19:19,137 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:21,488 - logger - INFO - convrt to joint (0.009957762359176666, -0.288558589368123, 0.6277415743438309, 1.0640770815843084, -2.188383402705313, -0.08438994825791227) - client_socket.py - 310
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2024-11-01 12:19:21,489 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:23,873 - logger - INFO - convrt to joint (-0.06208107160102683, -0.2794648257870262, 0.6114501310409752, 1.0571723963365582, -2.2433482412412253, -0.13510974318966112) - client_socket.py - 310
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2024-11-01 12:19:23,874 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:19:26,247 - logger - INFO - convrt to joint (-0.13345766230906644, -0.2916000173557331, 0.6244850428720493, 1.0525741409570732, -2.3022362877684253, -0.17818085977134987) - client_socket.py - 310
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2024-11-01 12:19:26,248 - logger - INFO - set joints - client_socket.py - 318
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2024-11-01 12:30:37,116 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:30:37,117 - logger - INFO - None - robot.py - 52
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2024-11-01 12:30:37,117 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:30:37,117 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:30:37,117 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
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2024-11-01 12:30:37,118 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
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2024-11-01 12:30:37,118 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
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2024-11-01 12:30:37,118 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
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2024-11-01 12:30:38,120 - logger - INFO - SHARED_MEMORY - client_socket.py - 109
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2024-11-01 12:30:38,121 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 120
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2024-11-01 12:30:38,885 - logger - INFO - not_connected - robot.py - 52
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2024-11-01 12:30:39,316 - logger - INFO - urdf/sample.urdf - client_socket.py - 126
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2024-11-01 12:30:41,890 - logger - INFO - connected - robot.py - 52
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2024-11-01 12:30:52,762 - logger - INFO - UPDATE - client_socket.py - 193
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2024-11-01 12:30:52,763 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 281
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2024-11-01 12:30:53,264 - logger - INFO - set joints - client_socket.py - 284
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2024-11-01 12:30:53,980 - logger - INFO - UPDATE - client_socket.py - 193
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2024-11-01 12:30:53,980 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 281
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2024-11-01 12:30:54,076 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 281
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2024-11-01 12:30:54,481 - logger - INFO - set joints - client_socket.py - 284
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2024-11-01 12:30:54,577 - logger - INFO - convrt to joint (-0.1538780806540143, -0.1763893128582651, 0.5307025974933031, 1.4460020400520237, -1.1793520810711204, -0.2678602601327784) - client_socket.py - 276
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2024-11-01 12:30:54,577 - logger - INFO - set joints - client_socket.py - 284
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2024-11-01 12:30:55,196 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 281
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2024-11-01 12:30:55,401 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 281
|
||||
2024-11-01 12:30:55,805 - logger - INFO - convrt to joint (-0.1557111866256431, -0.18556034473129, 0.5410657166562433, 1.4719468742019917, -1.2426947376255277, -0.2195343209770179) - client_socket.py - 276
|
||||
2024-11-01 12:30:55,806 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:30:56,010 - logger - INFO - Вычисленное положение [1265.5024528503418, -69.19429451227188, 1789.114236831665] - client_socket.py - 221
|
||||
2024-11-01 12:30:56,011 - logger - INFO - Вычисленная ориентация [55.26759051 -1.63373172 61.42742731] - client_socket.py - 222
|
||||
2024-11-01 12:30:57,021 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 281
|
||||
2024-11-01 12:30:57,626 - logger - INFO - Вычисленное положение [1276.1765718460083, -73.26635718345642, 1779.2478799819946] - client_socket.py - 221
|
||||
2024-11-01 12:30:57,628 - logger - INFO - Вычисленная ориентация [55.25594011 -1.57469886 60.88798855] - client_socket.py - 222
|
||||
2024-11-01 12:30:59,446 - logger - INFO - convrt to joint (-0.10682425567382234, -0.4236305837877095, 0.8873189582920301, 1.0458850052919457, -2.8126020712023934, -0.44063450024768036) - client_socket.py - 276
|
||||
2024-11-01 12:30:59,446 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:01,663 - logger - INFO - convrt to joint (-0.10585959195605835, -0.4769869583318574, 0.9781644203258072, 1.1745562647737315, -2.829453610038152, -0.8876356094671212) - client_socket.py - 276
|
||||
2024-11-01 12:31:01,664 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:03,891 - logger - INFO - convrt to joint (-0.10035469248298161, -0.6103353103984095, 1.1293203269119514, 1.1845398716098936, -2.830746991967983, -0.8724125585545924) - client_socket.py - 276
|
||||
2024-11-01 12:31:03,892 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:06,135 - logger - INFO - convrt to joint (-0.09477705287515091, -0.7274702866979678, 1.262050805562284, 1.2101439239838887, -2.8302443566861077, -0.8416671288843024) - client_socket.py - 276
|
||||
2024-11-01 12:31:06,136 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:08,338 - logger - INFO - convrt to joint (-0.032890070527179356, -0.7319262085524126, 1.273960048580558, 1.257509789063663, -2.7811888082986718, -0.7587725324613193) - client_socket.py - 276
|
||||
2024-11-01 12:31:08,539 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:10,805 - logger - INFO - convrt to joint (0.029119909492568707, -0.7457117396984372, 1.2978851441921533, 1.2947236448386252, -2.7323248015140926, -0.6847122431117221) - client_socket.py - 276
|
||||
2024-11-01 12:31:10,806 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:13,109 - logger - INFO - convrt to joint (0.03144047729830754, -0.6566406556088112, 1.2116104742006635, 1.3162790904364319, -2.733374402472029, -0.6609530027836389) - client_socket.py - 276
|
||||
2024-11-01 12:31:13,110 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:15,357 - logger - INFO - convrt to joint (0.03420062849441264, -0.5132141116320696, 1.0424073799680647, 1.283498147427908, -2.7258443024786216, -0.6969402956262974) - client_socket.py - 276
|
||||
2024-11-01 12:31:15,358 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:17,618 - logger - INFO - convrt to joint (-0.03600875232913422, -0.4877465814193038, 1.0005690784683055, 1.2351586909302257, -2.777715888138728, -0.7872725171326318) - client_socket.py - 276
|
||||
2024-11-01 12:31:17,619 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:19,968 - logger - INFO - convrt to joint (-0.10595420293900441, -0.48609922220833, 0.9929042251389548, 1.1898857204027096, -2.8318998318543223, -0.8715371938156214) - client_socket.py - 276
|
||||
2024-11-01 12:31:19,969 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:22,225 - logger - INFO - convrt to joint (-0.13340721500086805, -0.29649141393269274, 0.6324092484818596, 1.0555494733302784, -2.303970591189315, -0.17389725433791492) - client_socket.py - 276
|
||||
2024-11-01 12:31:22,226 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:24,544 - logger - INFO - convrt to joint (-0.12470620581215125, -0.4537584056108462, 0.8240081736093652, 1.0812415381168945, -2.3121963587121943, -0.1305368213370447) - client_socket.py - 276
|
||||
2024-11-01 12:31:24,546 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:26,804 - logger - INFO - convrt to joint (-0.11704458925174271, -0.6282572426811545, 1.0513316159471462, 1.1232432835747175, -2.327852161918198, -0.06408711818396119) - client_socket.py - 276
|
||||
2024-11-01 12:31:26,805 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:29,050 - logger - INFO - convrt to joint (-0.054440350003438685, -0.6382933853919479, 1.0729210496056163, 1.130470436656039, -2.2820529956268825, -0.015223477737774696) - client_socket.py - 276
|
||||
2024-11-01 12:31:29,051 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:31,298 - logger - INFO - convrt to joint (0.008536571540164007, -0.6520396267553934, 1.096955429684148, 1.1321074142243617, -2.235237928031145, 0.029127962038099725) - client_socket.py - 276
|
||||
2024-11-01 12:31:31,300 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:33,534 - logger - INFO - convrt to joint (0.009262755590348616, -0.4856512612665356, 0.8832609973694802, 1.1018620387611273, -2.2167468187149626, -0.02079656025161833) - client_socket.py - 276
|
||||
2024-11-01 12:31:33,535 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:35,855 - logger - INFO - convrt to joint (0.009958819396774702, -0.28878952029742927, 0.6281125601672024, 1.06418067569867, -2.1884649332439765, -0.08421684437370625) - client_socket.py - 276
|
||||
2024-11-01 12:31:35,856 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:38,115 - logger - INFO - convrt to joint (-0.062076493156318954, -0.28003541440723695, 0.6123695750911228, 1.0574719367630596, -2.243550766409968, -0.1346473394582753) - client_socket.py - 276
|
||||
2024-11-01 12:31:38,116 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:31:40,444 - logger - INFO - convrt to joint (-0.13345376215191018, -0.2919460941571619, 0.6250461775484939, 1.052786623977582, -2.302359243664374, -0.17787523121973423) - client_socket.py - 276
|
||||
2024-11-01 12:31:40,445 - logger - INFO - set joints - client_socket.py - 284
|
||||
2024-11-01 12:40:54,395 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:40:54,395 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:40:54,395 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:40:54,395 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:40:54,396 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:40:54,396 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:40:54,396 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:40:54,396 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:40:55,399 - logger - INFO - SHARED_MEMORY - client_socket.py - 148
|
||||
2024-11-01 12:40:55,399 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 159
|
||||
2024-11-01 12:40:56,456 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-01 12:41:05,519 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:41:05,520 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:41:05,520 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:41:05,520 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:41:05,520 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:41:05,520 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:41:05,520 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:41:05,520 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:41:06,521 - logger - INFO - SHARED_MEMORY - client_socket.py - 148
|
||||
2024-11-01 12:41:06,522 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 159
|
||||
2024-11-01 12:41:07,222 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-01 12:41:07,654 - logger - INFO - urdf/sample.urdf - client_socket.py - 165
|
||||
2024-11-01 12:41:10,198 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-01 12:41:21,801 - logger - INFO - UPDATE - client_socket.py - 208
|
||||
2024-11-01 12:41:41,945 - logger - INFO - UPDATE - client_socket.py - 208
|
||||
2024-11-01 12:43:24,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:43:24,793 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:43:24,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:43:24,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:43:24,793 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:43:24,794 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:43:24,794 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:43:24,794 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:43:25,796 - logger - INFO - SHARED_MEMORY - client_socket.py - 156
|
||||
2024-11-01 12:43:25,797 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 167
|
||||
2024-11-01 12:43:26,412 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-01 12:43:26,845 - logger - INFO - urdf/sample.urdf - client_socket.py - 173
|
||||
2024-11-01 12:43:29,431 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-01 12:43:30,486 - logger - INFO - UPDATE - client_socket.py - 216
|
||||
2024-11-01 12:43:30,487 - logger - ERROR - Error sending data: byte indices must be integers or slices, not str - client_socket.py - 109
|
||||
2024-11-01 12:43:58,484 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:43:58,484 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:43:58,484 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:43:58,484 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:43:58,484 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:43:58,484 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:43:58,485 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:43:58,485 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:43:59,486 - logger - INFO - SHARED_MEMORY - client_socket.py - 156
|
||||
2024-11-01 12:43:59,486 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 167
|
||||
2024-11-01 12:44:00,043 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-01 12:44:00,475 - logger - INFO - urdf/sample.urdf - client_socket.py - 173
|
||||
2024-11-01 12:44:03,171 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-01 12:44:04,448 - logger - INFO - UPDATE - client_socket.py - 216
|
||||
2024-11-01 12:44:04,449 - logger - ERROR - Error sending data: byte indices must be integers or slices, not str - client_socket.py - 109
|
||||
2024-11-01 12:45:33,738 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:45:33,738 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:45:33,738 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:45:33,738 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:45:33,739 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:45:33,739 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:45:33,739 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:45:33,739 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:45:34,741 - logger - INFO - SHARED_MEMORY - client_socket.py - 157
|
||||
2024-11-01 12:45:34,741 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 168
|
||||
2024-11-01 12:45:35,720 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-01 12:45:36,151 - logger - INFO - urdf/sample.urdf - client_socket.py - 174
|
||||
2024-11-01 12:45:38,737 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-01 12:45:39,904 - logger - INFO - UPDATE - client_socket.py - 217
|
||||
2024-11-01 12:45:39,905 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 307
|
||||
2024-11-01 12:45:40,406 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:45:41,318 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 307
|
||||
2024-11-01 12:45:41,903 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 302
|
||||
2024-11-01 12:45:41,905 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:45:43,073 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 307
|
||||
2024-11-01 12:45:43,660 - logger - INFO - Вычисленное положение [1279.7060012817383, -68.49903613328934, 1768.243670463562] - client_socket.py - 245
|
||||
2024-11-01 12:45:43,661 - logger - INFO - Вычисленная ориентация [32.20440604 1.77436339 34.18111527] - client_socket.py - 248
|
||||
2024-11-01 12:45:45,269 - logger - INFO - convrt to joint (-0.10931106612361231, -0.3831474883201415, 0.817083280977513, 0.937064268942277, -2.7986317559192635, -0.5552782475587559) - client_socket.py - 302
|
||||
2024-11-01 12:45:45,461 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:45:47,798 - logger - INFO - convrt to joint (-0.10678415104952765, -0.4276756236821257, 0.8939987218531162, 1.0535889676975958, -2.8139449619242995, -1.0142882217794047) - client_socket.py - 302
|
||||
2024-11-01 12:45:47,800 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:45:49,991 - logger - INFO - convrt to joint (-0.1011462832633768, -0.574810749578873, 1.0690019485639157, 1.0989097005158326, -2.821678548879428, -0.9622026781992618) - client_socket.py - 302
|
||||
2024-11-01 12:45:49,992 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:45:52,326 - logger - INFO - convrt to joint (-0.09539694635806384, -0.7041236891914062, 1.2221306089806467, 1.149405570381574, -2.825397985887917, -0.9052866282283991) - client_socket.py - 302
|
||||
2024-11-01 12:45:52,328 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:45:54,661 - logger - INFO - convrt to joint (-0.03318147040917348, -0.7139641911714545, 1.2434213864833874, 1.219029429274634, -2.777770943885613, -0.7996682250118107) - client_socket.py - 302
|
||||
2024-11-01 12:45:54,662 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:45:56,996 - logger - INFO - convrt to joint (0.028995490908741303, -0.7323160094601067, 1.2752245527562165, 1.2705553876762703, -2.729978703888444, -0.7108496004229792) - client_socket.py - 302
|
||||
2024-11-01 12:45:56,997 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:45:59,332 - logger - INFO - convrt to joint (0.0314039509794172, -0.6434215982812214, 1.1895308870927201, 1.2949654157846997, -2.7310475436718553, -0.6840894327915862) - client_socket.py - 302
|
||||
2024-11-01 12:45:59,334 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:46:01,670 - logger - INFO - convrt to joint (0.03423501596719244, -0.4993473261987714, 1.0193450125035648, 1.262168888590773, -2.7227919373956966, -0.7201369257385919) - client_socket.py - 302
|
||||
2024-11-01 12:46:01,671 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:46:04,006 - logger - INFO - convrt to joint (-0.03601555895379786, -0.4756260270272258, 0.9802587476476918, 1.2123651042868964, -2.7746344793455333, -0.811517109310959) - client_socket.py - 302
|
||||
2024-11-01 12:46:04,007 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:46:04,008 - logger - INFO - UPDATE - client_socket.py - 217
|
||||
2024-11-01 12:46:04,008 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 307
|
||||
2024-11-01 12:46:04,509 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:46:05,420 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 307
|
||||
2024-11-01 12:46:05,615 - logger - INFO - convrt to joint (-0.10614542798721123, -0.450406398700106, 0.9330511316294423, 1.111280225254205, -2.821386604223668, -0.9538125897878451) - client_socket.py - 302
|
||||
2024-11-01 12:46:05,617 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:46:06,008 - logger - INFO - convrt to joint (-0.15916186373477356, -0.24907622024063772, 0.6307630191129387, 1.4444672300986676, -1.614840559086181, -0.5869549822722783) - client_socket.py - 302
|
||||
2024-11-01 12:46:06,009 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:46:07,181 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 307
|
||||
2024-11-01 12:46:07,768 - logger - INFO - Вычисленное положение [1265.661358833313, -56.95154890418053, 1806.5030574798584] - client_socket.py - 245
|
||||
2024-11-01 12:46:07,769 - logger - INFO - Вычисленная ориентация [33.23965935 9.44221558 81.0230977 ] - client_socket.py - 248
|
||||
2024-11-01 12:46:07,963 - logger - INFO - convrt to joint (-0.1335102541738893, -0.2871331620162284, 0.6172426325879847, 1.0498259082666732, -2.300646761796691, -0.18213453963599416) - client_socket.py - 302
|
||||
2024-11-01 12:46:07,964 - logger - INFO - set joints - client_socket.py - 310
|
||||
2024-11-01 12:53:01,437 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:53:01,437 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:53:01,437 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:53:01,437 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:53:01,437 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:53:01,438 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:53:01,438 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:53:01,438 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:53:35,059 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:53:35,059 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:53:35,059 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:53:35,060 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:53:35,060 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:53:35,060 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:53:35,060 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:53:35,060 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:53:36,062 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 127
|
||||
2024-11-01 12:53:37,139 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-01 12:53:37,578 - logger - INFO - urdf/sample.urdf - client_socket.py - 133
|
||||
2024-11-01 12:54:34,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:54:34,619 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:54:34,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:54:34,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:54:34,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:54:34,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:54:34,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:54:34,619 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:54:35,622 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
|
||||
2024-11-01 12:54:36,238 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-01 12:54:36,669 - logger - INFO - urdf/sample.urdf - client_socket.py - 136
|
||||
2024-11-01 12:54:39,241 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-01 12:54:40,474 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 235
|
||||
2024-11-01 12:54:40,474 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 326
|
||||
2024-11-01 12:54:40,975 - logger - INFO - set joints - client_socket.py - 329
|
||||
2024-11-01 12:55:22,776 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:55:22,777 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:55:22,777 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:55:22,777 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:55:22,777 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:55:22,777 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:55:22,777 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:55:22,777 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:55:23,778 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
|
||||
2024-11-01 12:55:24,337 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-01 12:55:24,768 - logger - INFO - urdf/sample.urdf - client_socket.py - 136
|
||||
2024-11-01 12:55:27,355 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-01 12:55:29,002 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
|
||||
2024-11-01 12:55:29,003 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327
|
||||
2024-11-01 12:55:29,504 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:28,994 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:56:28,995 - logger - INFO - None - robot.py - 52
|
||||
2024-11-01 12:56:28,995 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:56:28,995 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:56:28,995 - logger - INFO - robot_app еще не инициализирован. Метод: get_status - main.py - 100
|
||||
2024-11-01 12:56:28,995 - logger - INFO - robot_app еще не инициализирован. Метод: get_world_coordinates - main.py - 100
|
||||
2024-11-01 12:56:28,995 - logger - INFO - robot_app еще не инициализирован. Метод: get_axis_coordinates - main.py - 100
|
||||
2024-11-01 12:56:28,996 - logger - INFO - robot_app еще не инициализирован. Метод: get_command_count - main.py - 100
|
||||
2024-11-01 12:56:29,998 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 130
|
||||
2024-11-01 12:56:30,969 - logger - INFO - not_connected - robot.py - 52
|
||||
2024-11-01 12:56:31,399 - logger - INFO - urdf/sample.urdf - client_socket.py - 136
|
||||
2024-11-01 12:56:33,990 - logger - INFO - connected - robot.py - 52
|
||||
2024-11-01 12:56:35,596 - logger - INFO - UPDATE MODEL FUNC - client_socket.py - 236
|
||||
2024-11-01 12:56:35,597 - logger - INFO - Координаты осей [-8.487, -8.681, 33.058, 88.07, -75.01, -10.566] - client_socket.py - 327
|
||||
2024-11-01 12:56:36,098 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:37,000 - logger - INFO - Мировые координаты [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999] - client_socket.py - 327
|
||||
2024-11-01 12:56:37,603 - logger - INFO - convrt to joint (-0.12763735069843182, -0.11691416170987744, 0.46671442662186435, 1.1037406605631854, -0.6794612019196175, -0.591270555130562) - client_socket.py - 322
|
||||
2024-11-01 12:56:37,604 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:38,809 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 327
|
||||
2024-11-01 12:56:39,412 - logger - INFO - Вычисленное положение [1279.7060012817383, -68.49903613328934, 1768.243670463562] - client_socket.py - 265
|
||||
2024-11-01 12:56:39,413 - logger - INFO - Вычисленная ориентация [32.20440604 1.77436339 34.18111527] - client_socket.py - 268
|
||||
2024-11-01 12:56:41,426 - logger - INFO - convrt to joint (-0.1093650531985243, -0.3825696443899188, 0.816070865808273, 0.9353972147304468, -2.798433208887387, -0.5570400616062368) - client_socket.py - 322
|
||||
2024-11-01 12:56:41,426 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:43,635 - logger - INFO - convrt to joint (-0.10683698525964097, -0.425838948993411, 0.8908750829441577, 1.0492443440611892, -2.813330825738961, -1.0188537722366438) - client_socket.py - 322
|
||||
2024-11-01 12:56:43,636 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:45,893 - logger - INFO - convrt to joint (-0.10117976919148029, -0.5736096749590424, 1.0669642275729434, 1.09606040223221, -2.82135043952302, -0.9651964041460296) - client_socket.py - 322
|
||||
2024-11-01 12:56:45,895 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:48,193 - logger - INFO - convrt to joint (-0.09543978520311237, -0.7026427602530719, 1.2196077242922445, 1.145673055014592, -2.8250701246054857, -0.9092025075954634) - client_socket.py - 322
|
||||
2024-11-01 12:56:48,194 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:50,414 - logger - INFO - convrt to joint (-0.03322576024855805, -0.7114960997766048, 1.239231721338731, 1.2138241049870344, -2.777275937173575, -0.8052069848259018) - client_socket.py - 322
|
||||
2024-11-01 12:56:50,415 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:52,623 - logger - INFO - convrt to joint (0.02896283418267679, -0.729216628629897, 1.269981209271688, 1.264981066167794, -2.7294123398465238, -0.7168823263207155) - client_socket.py - 322
|
||||
2024-11-01 12:56:52,624 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:55,038 - logger - INFO - convrt to joint (0.03138873569024906, -0.6391551320285396, 1.182397942666379, 1.2880610990003085, -2.7302602785576626, -0.6915863962654856) - client_socket.py - 322
|
||||
2024-11-01 12:56:55,039 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:57,453 - logger - INFO - convrt to joint (0.03423956223121782, -0.4959289111770668, 1.013645719239557, 1.2568303820141862, -2.7220098956237746, -0.7259421547156241) - client_socket.py - 322
|
||||
2024-11-01 12:56:57,453 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:56:59,665 - logger - INFO - convrt to joint (-0.03601931242936851, -0.4747484708194733, 0.9787747315398838, 1.2106165116887422, -2.774403190359203, -0.8133753316373724) - client_socket.py - 322
|
||||
2024-11-01 12:56:59,666 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:57:01,877 - logger - INFO - convrt to joint (-0.10600193486643139, -0.47622144743660766, 0.9762350934593638, 1.1669590167488795, -2.8291054924383894, -0.8954907441163705) - client_socket.py - 322
|
||||
2024-11-01 12:57:01,877 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:57:04,087 - logger - INFO - convrt to joint (-0.1334230438444288, -0.2950049916425932, 0.6299983689655958, 1.054637840152675, -2.3034439398545516, -0.17520772692767886) - client_socket.py - 322
|
||||
2024-11-01 12:57:04,088 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:57:06,293 - logger - INFO - convrt to joint (-0.12471065665669628, -0.4529850145085747, 0.8227425337315094, 1.080780295259689, -2.3119369398728864, -0.13120297807206868) - client_socket.py - 322
|
||||
2024-11-01 12:57:06,293 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:57:08,498 - logger - INFO - convrt to joint (-0.11704604272620245, -0.6277448449238092, 1.050486367993967, 1.1229334797264336, -2.3276965995048085, -0.06453132681390968) - client_socket.py - 322
|
||||
2024-11-01 12:57:08,498 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:57:10,730 - logger - INFO - convrt to joint (-0.05444094286871648, -0.6379303478492858, 1.072322709486967, 1.1302745407992818, -2.281944179963358, -0.015519994815675592) - client_socket.py - 322
|
||||
2024-11-01 12:57:10,731 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:57:12,972 - logger - INFO - convrt to joint (0.008536329043098326, -0.6517959842757673, 1.0965539759519083, 1.1319897818686533, -2.2351651884063477, 0.0289389406353508) - client_socket.py - 322
|
||||
2024-11-01 12:57:12,974 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:57:15,207 - logger - INFO - convrt to joint (0.009262500455662195, -0.4854899967972485, 0.8829975549846432, 1.101787705829335, -2.216694503167781, -0.02091842086591491) - client_socket.py - 322
|
||||
2024-11-01 12:57:15,208 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:57:17,463 - logger - INFO - convrt to joint (0.009958642729007747, -0.2887510279982009, 0.6280507199327147, 1.0641634019967223, -2.188451344007528, -0.08424570559504604) - client_socket.py - 322
|
||||
2024-11-01 12:57:17,464 - logger - INFO - set joints - client_socket.py - 330
|
||||
2024-11-01 12:57:19,876 - logger - INFO - convrt to joint (-0.062080906817982826, -0.2794855809832703, 0.6114835679260266, 1.0571832726511998, -2.243355608712798, -0.13509294709677463) - client_socket.py - 322
|
||||
2024-11-01 12:57:19,878 - logger - INFO - set joints - client_socket.py - 330
|
||||
|
|
|
|||
|
|
@ -17,11 +17,154 @@ from logger import logger
|
|||
# os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
|
||||
|
||||
|
||||
class SocketRobotArm:
|
||||
class PrepareRobotData:
|
||||
line_speed = 100.0
|
||||
line_smooth = 9
|
||||
line_tool = 1
|
||||
|
||||
def make_step(self, type, point, start_coordinates):
|
||||
step = {
|
||||
"oneshot": "1",
|
||||
"delay": "0.0",
|
||||
"speed": str(self.line_speed),
|
||||
"smooth": str(self.line_smooth),
|
||||
"coord": "0",
|
||||
"tool": str(self.line_tool),
|
||||
"ckStatus": "0x3F",
|
||||
}
|
||||
if type == "line" or type == "free":
|
||||
pairs = zip(start_coordinates, point)
|
||||
|
||||
m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
|
||||
if type == "line":
|
||||
step.update({"action": "10"})
|
||||
if type == "free":
|
||||
step.update({"action": "4"})
|
||||
step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
|
||||
step.update({"m6": 0, "m7": 0})
|
||||
elif type == "curve":
|
||||
pairs = zip(self.start_world_coordinates, point[:5])
|
||||
m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
|
||||
|
||||
pairs_p = zip(self.start_world_coordinates, point[6:])
|
||||
m0_p, m1_p, m2_p, m3_p, m4_p, m5_p = [round(sum(i), 3) for i in pairs_p]
|
||||
step.update({"action": "17"})
|
||||
step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
|
||||
step.update({"m6": 0, "m7": 0})
|
||||
step.update(
|
||||
{
|
||||
"m0_p": m0_p,
|
||||
"m1_p": m1_p,
|
||||
"m2_p": m2_p,
|
||||
"m3_p": m3_p,
|
||||
"m4_p": m4_p,
|
||||
"m5_p": m5_p,
|
||||
}
|
||||
)
|
||||
step.update({"m6_p": 0, "m7_p": 0})
|
||||
|
||||
for s in step:
|
||||
step[s] = str(step[s])
|
||||
return step
|
||||
|
||||
|
||||
class SocketManager:
|
||||
def __init__(self):
|
||||
self.host = None
|
||||
self.port = 9760
|
||||
self.socket = None
|
||||
self.status: Literal["connected", "not_connected", "error"] = "not_connected"
|
||||
|
||||
def connect(self, host):
|
||||
self.host = host
|
||||
if self.socket is None:
|
||||
self.socket = socket.socket()
|
||||
self.socket.connect((self.host, self.port))
|
||||
self.status = "connected"
|
||||
|
||||
def close(self):
|
||||
if self.socket:
|
||||
self.socket.close()
|
||||
self.socket = None
|
||||
self.status = "not_connected"
|
||||
|
||||
def send_data(self, data):
|
||||
if not self.socket:
|
||||
return
|
||||
try:
|
||||
self.socket.send(str.encode(json.dumps(data)))
|
||||
response_data = self.socket.recv(1024)
|
||||
response = json.loads(response_data)
|
||||
|
||||
if data["reqType"] == "query":
|
||||
return response["queryData"]
|
||||
elif data["reqType"] == "command":
|
||||
return response["cmdReply"]
|
||||
elif data["reqType"] == "AddRCC" and "cmdReply" in response.keys():
|
||||
return response["cmdReply"]
|
||||
else:
|
||||
pprint(response_data)
|
||||
|
||||
return json.loads(response_data)
|
||||
except Exception as e:
|
||||
logger.error(f"Error sending data: {e}")
|
||||
return None
|
||||
|
||||
|
||||
class UrdfManager:
|
||||
urdf_filename = None
|
||||
physics_client = None
|
||||
body_id = None
|
||||
|
||||
def __init__(self, robot_start_position):
|
||||
self.robot_start_position = robot_start_position
|
||||
|
||||
def start_loop(self, urdf):
|
||||
self.urdf_filename = urdf
|
||||
|
||||
p.resetSimulation()
|
||||
self.load_models()
|
||||
|
||||
def run_pybullet(self, type="DIRECT"):
|
||||
self.physics_client = p.connect(getattr(p, type))
|
||||
logger.info(f"Connect to {self.physics_client} by {type}")
|
||||
|
||||
def load_models(self):
|
||||
p.loadURDF("urdf/plane.urdf", physicsClientId=self.physics_client)
|
||||
|
||||
urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
|
||||
logger.info(urdf_path)
|
||||
self.body_id = p.loadURDF(
|
||||
urdf_path,
|
||||
self.robot_start_position,
|
||||
useFixedBase=1,
|
||||
physicsClientId=self.physics_client,
|
||||
)
|
||||
time.sleep(1)
|
||||
|
||||
def get_pybullet_image(self):
|
||||
if self.physics_client is None:
|
||||
return
|
||||
|
||||
width, height, rgb, _, _ = p.getCameraImage(
|
||||
width=500,
|
||||
height=500,
|
||||
viewMatrix=p.computeViewMatrix(
|
||||
cameraEyePosition=[3, -3, 3],
|
||||
cameraTargetPosition=[0, 0, 0], # Центр фокусировки камеры
|
||||
cameraUpVector=[0, 0, 1], # Направление вверх
|
||||
),
|
||||
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)
|
||||
|
||||
|
||||
class SocketRobotArm:
|
||||
global_speed = 10
|
||||
physical_speed = 10
|
||||
# laser_id = 15
|
||||
|
|
@ -47,101 +190,51 @@ class SocketRobotArm:
|
|||
self.slave_id = None
|
||||
self.status: SocketRobotArm.Status = "not_connected"
|
||||
|
||||
self.physics_client = None
|
||||
self.body_id = None
|
||||
self.q_app = None
|
||||
self.imitate_point = None
|
||||
|
||||
robot_start_position = [
|
||||
-0.075458, # новое значение x в метрах
|
||||
0.068477, # новое значение y в метрах
|
||||
0.082201, # новое значение z в метрах
|
||||
]
|
||||
|
||||
self.prepare_data = PrepareRobotData()
|
||||
self.socket_manager = SocketManager()
|
||||
self.urdf_manager = UrdfManager(robot_start_position=robot_start_position)
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
print("exiting")
|
||||
logger.info("exiting")
|
||||
self.socket.close()
|
||||
|
||||
def start(self, type="DIRECT"):
|
||||
logger.info(type)
|
||||
self.run_pybullet(type)
|
||||
self.urdf_manager.run_pybullet(type)
|
||||
|
||||
def start_loop(self, urdf):
|
||||
self.urdf_filename = urdf
|
||||
|
||||
p.resetSimulation()
|
||||
self.load_models()
|
||||
|
||||
def run_pybullet(self, type="DIRECT"):
|
||||
self.physics_client = p.connect(getattr(p, type))
|
||||
logger.info(f"Connect to {self.physics_client} by {type}")
|
||||
self.urdf_manager.start_loop(urdf)
|
||||
|
||||
def load_models(self):
|
||||
p.loadURDF("urdf/plane.urdf", physicsClientId=self.physics_client)
|
||||
|
||||
urdf_path = os.path.join("urdf", f"{self.urdf_filename}.urdf")
|
||||
logger.info(urdf_path)
|
||||
self.body_id = p.loadURDF(
|
||||
urdf_path,
|
||||
[
|
||||
-0.075458, # новое значение x в метрах
|
||||
0.068477, # новое значение y в метрах
|
||||
0.082201, # новое значение z в метрах
|
||||
],
|
||||
useFixedBase=1,
|
||||
physicsClientId=self.physics_client,
|
||||
)
|
||||
time.sleep(1)
|
||||
|
||||
# Получение AABB
|
||||
aabb = p.getAABB(self.body_id)
|
||||
|
||||
# Вычисление размеров модели
|
||||
size_x = aabb[1][0] - aabb[0][0] # Длина по оси X
|
||||
size_y = aabb[1][1] - aabb[0][1] # Длина по оси Y
|
||||
size_z = aabb[1][2] - aabb[0][2] # Длина по оси Z
|
||||
|
||||
print(
|
||||
f"Размеры модели (длина x, длина y, длина z): ({size_x}, {size_y}, {size_z})"
|
||||
)
|
||||
self.urdf_manager.load_models()
|
||||
self.body_id = self.urdf_manager.body_id
|
||||
|
||||
def get_pybullet_image(self):
|
||||
if self.physics_client is None:
|
||||
return
|
||||
|
||||
width, height, rgb, _, _ = p.getCameraImage(
|
||||
width=500,
|
||||
height=500,
|
||||
viewMatrix=p.computeViewMatrix(
|
||||
cameraEyePosition=[3, -3, 3],
|
||||
cameraTargetPosition=[0, 0, 0], # Центр фокусировки камеры
|
||||
cameraUpVector=[0, 0, 1], # Направление вверх
|
||||
),
|
||||
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)
|
||||
return self.urdf_manager.get_pybullet_image()
|
||||
|
||||
def close(self):
|
||||
self.socket.close()
|
||||
self.socket = None
|
||||
self.status = "not_connected"
|
||||
self.slave_id = None
|
||||
self.socket_manager.close()
|
||||
|
||||
def connect(self, host, slave_id):
|
||||
self.host = host
|
||||
self.slave_id = slave_id
|
||||
if self.socket is None:
|
||||
self.socket = socket.socket()
|
||||
self.socket.connect((self.host, self.port))
|
||||
self.status = "connected"
|
||||
self.socket_manager.connect(host)
|
||||
|
||||
def get_status(self):
|
||||
return self.status
|
||||
return self.socket_manager.status
|
||||
|
||||
def upd_model(self):
|
||||
threading.Thread(target=self.upd_model_func, daemon=True).start()
|
||||
|
||||
def upd_model_func(self):
|
||||
logger.info("UPDATE")
|
||||
logger.info("UPDATE MODEL FUNC")
|
||||
|
||||
self.get_axis()
|
||||
self.set_text(text=f"Координаты осей {self.start_axis_coordinates}")
|
||||
time.sleep(0.5)
|
||||
|
|
@ -160,23 +253,19 @@ class SocketRobotArm:
|
|||
self.set_text(text=f"Команд в очереди {self.remote_command_count}")
|
||||
time.sleep(0.5)
|
||||
|
||||
num_joints = p.getNumJoints(self.body_id)
|
||||
num_joints = p.getNumJoints(self.urdf_manager.body_id)
|
||||
end_effector_state = p.getLinkState(
|
||||
self.body_id, num_joints - 1, computeForwardKinematics=True
|
||||
self.urdf_manager.body_id, num_joints - 1, computeForwardKinematics=True
|
||||
)
|
||||
|
||||
# Позиция end-effector
|
||||
end_effector_position = end_effector_state[4]
|
||||
# Ориентация end-effector (кватернион)
|
||||
end_effector_orientation = end_effector_state[5]
|
||||
|
||||
# Преобразуем кватернион в углы Эйлера
|
||||
euler_orientation = p.getEulerFromQuaternion(end_effector_orientation)
|
||||
|
||||
euler_orientation = np.degrees(euler_orientation)
|
||||
|
||||
logger.info(end_effector_position)
|
||||
logger.info(euler_orientation)
|
||||
logger.info(
|
||||
f"Вычисленное положение {[a * 1000 for a in end_effector_position]}"
|
||||
)
|
||||
logger.info(f"Вычисленная ориентация {np.degrees(euler_orientation)}")
|
||||
|
||||
def cycle_base(self):
|
||||
self.upd_model()
|
||||
|
|
@ -193,7 +282,7 @@ class SocketRobotArm:
|
|||
commands = (
|
||||
self.steps_from_file()
|
||||
if self.command_type == "base"
|
||||
else self.convert_file_to_join()
|
||||
else self.convert_file_to_joint()
|
||||
)
|
||||
|
||||
self.add_rcc_list = (
|
||||
|
|
@ -217,40 +306,18 @@ class SocketRobotArm:
|
|||
def imitate(self):
|
||||
threading.Thread(target=self.imitate_func, daemon=True).start()
|
||||
|
||||
def imitate_func(self):
|
||||
points = self.steps_from_file()
|
||||
for i, point in enumerate(points):
|
||||
if point["action"] == "10":
|
||||
self.imitate_point = i
|
||||
points = [
|
||||
point["m0"],
|
||||
point["m1"],
|
||||
point["m2"],
|
||||
]
|
||||
coor = [(float(point) * 0.001) for point in points]
|
||||
angles = self.convert_to_joint(
|
||||
coor,
|
||||
[
|
||||
point["m3"],
|
||||
point["m4"],
|
||||
point["m5"],
|
||||
],
|
||||
)
|
||||
# logger.info(f"point {point} {angles}")
|
||||
self.set_joint(angles)
|
||||
time.sleep(1)
|
||||
|
||||
def convert_to_joint(self, coordinates, angles=[]):
|
||||
num_joints = p.getNumJoints(self.body_id)
|
||||
joint_info = [p.getJointInfo(self.body_id, i) for i in range(num_joints)]
|
||||
num_joints = p.getNumJoints(self.urdf_manager.body_id)
|
||||
|
||||
joint_angles = p.calculateInverseKinematics(
|
||||
self.body_id,
|
||||
self.urdf_manager.body_id,
|
||||
endEffectorLinkIndex=num_joints - 1,
|
||||
targetPosition=coordinates,
|
||||
targetOrientation=p.getQuaternionFromEuler(
|
||||
[math.radians(float(a)) for a in angles]
|
||||
) if len(angles) == 3 else None,
|
||||
targetOrientation=(
|
||||
p.getQuaternionFromEuler([math.radians(float(a)) for a in angles])
|
||||
if len(angles) == 3
|
||||
else None
|
||||
),
|
||||
)
|
||||
logger.info(f"convrt to joint {joint_angles}")
|
||||
# logger.info(joint_angles)
|
||||
|
|
@ -261,14 +328,14 @@ class SocketRobotArm:
|
|||
|
||||
def set_joint(self, coordinates):
|
||||
logger.info("set joints")
|
||||
num_joints = p.getNumJoints(self.body_id)
|
||||
num_joints = p.getNumJoints(self.urdf_manager.body_id)
|
||||
if coordinates is None:
|
||||
return
|
||||
for joint_index in range(0, num_joints):
|
||||
if len(coordinates) <= joint_index or coordinates[joint_index] is None:
|
||||
return
|
||||
p.setJointMotorControl2(
|
||||
bodyUniqueId=self.body_id,
|
||||
bodyUniqueId=self.urdf_manager.body_id,
|
||||
jointIndex=joint_index,
|
||||
controlMode=p.POSITION_CONTROL,
|
||||
targetPosition=coordinates[joint_index],
|
||||
|
|
@ -276,21 +343,7 @@ class SocketRobotArm:
|
|||
time.sleep(0.1)
|
||||
|
||||
def send_data(self, data):
|
||||
if not self.socket:
|
||||
return
|
||||
|
||||
self.socket.send(str.encode(json.dumps(data)))
|
||||
response_data = self.socket.recv(1024)
|
||||
response = json.loads(response_data)
|
||||
|
||||
if data["reqType"] == "query":
|
||||
return response["queryData"]
|
||||
elif data["reqType"] == "command":
|
||||
return response["cmdReply"]
|
||||
elif data["reqType"] == "AddRCC" and "cmdReply" in response.keys():
|
||||
return response["cmdReply"]
|
||||
else:
|
||||
pprint(response)
|
||||
return self.socket_manager.send_data(data)
|
||||
|
||||
def get_axis(self):
|
||||
axis_coord_raw = self.send_data(
|
||||
|
|
@ -343,60 +396,6 @@ class SocketRobotArm:
|
|||
def start_cycle(self):
|
||||
return make_command_data(["actionSingleCycle"])
|
||||
|
||||
def round(v):
|
||||
return round(v, 3)
|
||||
|
||||
def relative_axis_coordinates(self):
|
||||
start = self.start_axis_coordinates
|
||||
|
||||
def make_world_step(self, type, point):
|
||||
step = {
|
||||
"oneshot": "1",
|
||||
"delay": "0.0",
|
||||
"speed": str(self.line_speed),
|
||||
"smooth": str(self.line_smooth),
|
||||
"coord": "0",
|
||||
"tool": str(self.line_tool),
|
||||
"ckStatus": "0x3F",
|
||||
}
|
||||
if type == "line" or type == "free":
|
||||
if type == "line":
|
||||
pairs = zip(self.start_world_coordinates, point)
|
||||
if type == "free":
|
||||
pairs = zip(self.start_axis_coordinates, point)
|
||||
|
||||
m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
|
||||
if type == "line":
|
||||
step.update({"action": "10"})
|
||||
if type == "free":
|
||||
step.update({"action": "4"})
|
||||
step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
|
||||
step.update({"m6": 0, "m7": 0})
|
||||
elif type == "curve":
|
||||
pairs = zip(self.start_world_coordinates, point[:5])
|
||||
m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
|
||||
|
||||
pairs_p = zip(self.start_world_coordinates, point[6:])
|
||||
m0_p, m1_p, m2_p, m3_p, m4_p, m5_p = [round(sum(i), 3) for i in pairs_p]
|
||||
step.update({"action": "17"})
|
||||
step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
|
||||
step.update({"m6": 0, "m7": 0})
|
||||
step.update(
|
||||
{
|
||||
"m0_p": m0_p,
|
||||
"m1_p": m1_p,
|
||||
"m2_p": m2_p,
|
||||
"m3_p": m3_p,
|
||||
"m4_p": m4_p,
|
||||
"m5_p": m5_p,
|
||||
}
|
||||
)
|
||||
step.update({"m6_p": 0, "m7_p": 0})
|
||||
|
||||
for s in step:
|
||||
step[s] = str(step[s])
|
||||
return step
|
||||
|
||||
def set_physical_speed(self, status: bool = False):
|
||||
return (
|
||||
{
|
||||
|
|
@ -418,7 +417,30 @@ class SocketRobotArm:
|
|||
},
|
||||
)
|
||||
|
||||
def convert_file_to_join(self):
|
||||
def imitate_func(self):
|
||||
points = self.steps_from_file()
|
||||
for i, point in enumerate(points):
|
||||
if point["action"] == "10":
|
||||
self.imitate_point = i
|
||||
points = [
|
||||
point["m0"],
|
||||
point["m1"],
|
||||
point["m2"],
|
||||
]
|
||||
coor = [(float(point) * 0.001) for point in points]
|
||||
angles = self.convert_to_joint(
|
||||
coor,
|
||||
[
|
||||
point["m3"],
|
||||
point["m4"],
|
||||
point["m5"],
|
||||
],
|
||||
)
|
||||
# logger.info(f"point {point} {angles}")
|
||||
self.set_joint(angles)
|
||||
time.sleep(1)
|
||||
|
||||
def convert_file_to_joint(self):
|
||||
result = []
|
||||
with open(f"data/{self.filename}.nc.result", "r") as fp:
|
||||
for line in fp:
|
||||
|
|
@ -429,23 +451,23 @@ class SocketRobotArm:
|
|||
|
||||
pj = list(
|
||||
self.convert_to_joint(
|
||||
(
|
||||
coordinates=(
|
||||
prep.get("X", 0),
|
||||
prep.get("Y", 0),
|
||||
prep.get("Z", 0),
|
||||
)
|
||||
),
|
||||
angles=[
|
||||
prep.get("U", 0),
|
||||
prep.get("V", 0),
|
||||
prep.get("W", 0),
|
||||
],
|
||||
)
|
||||
)
|
||||
result.append(
|
||||
self.prepare_data.make_step(
|
||||
"free", tuple(pj), self.start_axis_coordinates
|
||||
)
|
||||
)
|
||||
pj.extend(
|
||||
[
|
||||
prep.get("U", 0),
|
||||
prep.get("V", 0),
|
||||
prep.get("W", 0),
|
||||
]
|
||||
),
|
||||
logger.info(line)
|
||||
logger.info(pj)
|
||||
result.append(self.make_world_step("free", tuple(pj)))
|
||||
return result
|
||||
|
||||
def steps_from_file(self):
|
||||
|
|
@ -457,7 +479,7 @@ class SocketRobotArm:
|
|||
for item in data:
|
||||
prep[item[:1]] = float(item[1:])
|
||||
result.append(
|
||||
self.make_world_step(
|
||||
self.prepare_data.make_step(
|
||||
"line",
|
||||
(
|
||||
prep.get("X", 0),
|
||||
|
|
@ -467,6 +489,7 @@ class SocketRobotArm:
|
|||
prep.get("V", 0),
|
||||
prep.get("W", 0),
|
||||
),
|
||||
self.start_world_coordinates,
|
||||
)
|
||||
)
|
||||
return result
|
||||
|
|
|
|||
Loading…
Reference in New Issue