diff --git a/Physics Server0.png b/Physics Server0.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server0.png and /dev/null differ diff --git a/Physics Server1.png b/Physics Server1.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server1.png and /dev/null differ diff --git a/Physics Server10.png b/Physics Server10.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server10.png and /dev/null differ diff --git a/Physics Server100.png b/Physics Server100.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server100.png and /dev/null differ diff --git a/Physics Server101.png b/Physics Server101.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server101.png and /dev/null differ diff --git a/Physics Server102.png b/Physics Server102.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server102.png and /dev/null differ diff --git a/Physics Server103.png b/Physics Server103.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server103.png and /dev/null differ diff --git a/Physics Server104.png b/Physics Server104.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server104.png and /dev/null differ diff --git a/Physics Server105.png b/Physics Server105.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server105.png and /dev/null differ diff --git a/Physics Server106.png b/Physics Server106.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server106.png and /dev/null differ diff --git a/Physics Server107.png b/Physics Server107.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server107.png and /dev/null differ diff --git a/Physics Server108.png b/Physics Server108.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server108.png and /dev/null differ diff --git a/Physics Server109.png b/Physics Server109.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server109.png and /dev/null differ diff --git a/Physics Server11.png b/Physics Server11.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server11.png and /dev/null differ diff --git a/Physics Server110.png b/Physics Server110.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server110.png and /dev/null differ diff --git a/Physics Server111.png b/Physics Server111.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server111.png and /dev/null differ diff --git a/Physics Server112.png b/Physics Server112.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server112.png and /dev/null differ diff --git a/Physics Server113.png b/Physics Server113.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server113.png and /dev/null differ diff --git a/Physics Server114.png b/Physics Server114.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server114.png and /dev/null differ diff --git a/Physics Server115.png b/Physics Server115.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server115.png and /dev/null differ diff --git a/Physics Server116.png b/Physics Server116.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server116.png and /dev/null differ diff --git a/Physics Server117.png b/Physics Server117.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server117.png and /dev/null differ diff --git a/Physics Server118.png b/Physics Server118.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server118.png and /dev/null differ diff --git a/Physics Server119.png b/Physics Server119.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server119.png and /dev/null differ diff --git a/Physics Server12.png b/Physics Server12.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server12.png and /dev/null differ diff --git a/Physics Server120.png b/Physics Server120.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server120.png and /dev/null differ diff --git a/Physics Server121.png b/Physics Server121.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server121.png and /dev/null differ diff --git a/Physics Server122.png b/Physics Server122.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server122.png and /dev/null differ diff --git a/Physics Server123.png b/Physics Server123.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server123.png and /dev/null differ diff --git a/Physics Server124.png b/Physics Server124.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server124.png and /dev/null differ diff --git a/Physics Server125.png b/Physics Server125.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server125.png and /dev/null differ diff --git a/Physics Server126.png b/Physics Server126.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server126.png and /dev/null differ diff --git a/Physics Server127.png b/Physics Server127.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server127.png and /dev/null differ diff --git a/Physics Server128.png b/Physics Server128.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server128.png and /dev/null differ diff --git a/Physics Server129.png b/Physics Server129.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server129.png and /dev/null differ diff --git a/Physics Server13.png b/Physics Server13.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server13.png and /dev/null differ diff --git a/Physics Server130.png b/Physics Server130.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server130.png and /dev/null differ diff --git a/Physics Server131.png b/Physics Server131.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server131.png and /dev/null differ diff --git a/Physics Server132.png b/Physics Server132.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server132.png and /dev/null differ diff --git a/Physics Server133.png b/Physics Server133.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server133.png and /dev/null differ diff --git a/Physics Server134.png b/Physics Server134.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server134.png and /dev/null differ diff --git a/Physics Server135.png b/Physics Server135.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server135.png and /dev/null differ diff --git a/Physics Server136.png b/Physics Server136.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server136.png and /dev/null differ diff --git a/Physics Server137.png b/Physics Server137.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server137.png and /dev/null differ diff --git a/Physics Server138.png b/Physics Server138.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server138.png and /dev/null differ diff --git a/Physics Server139.png b/Physics Server139.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server139.png and /dev/null differ diff --git a/Physics Server14.png b/Physics Server14.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server14.png and /dev/null differ diff --git a/Physics Server140.png b/Physics Server140.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server140.png and /dev/null differ diff --git a/Physics Server141.png b/Physics Server141.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server141.png and /dev/null differ diff --git a/Physics Server142.png b/Physics Server142.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server142.png and /dev/null differ diff --git a/Physics Server143.png b/Physics Server143.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server143.png and /dev/null differ diff --git a/Physics Server144.png b/Physics Server144.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server144.png and /dev/null differ diff --git a/Physics Server145.png b/Physics Server145.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server145.png and /dev/null differ diff --git a/Physics Server146.png b/Physics Server146.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server146.png and /dev/null differ diff --git a/Physics Server147.png b/Physics Server147.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server147.png and /dev/null differ diff --git a/Physics Server148.png b/Physics Server148.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server148.png and /dev/null differ diff --git a/Physics Server149.png b/Physics Server149.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server149.png and /dev/null differ diff --git a/Physics Server15.png b/Physics Server15.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server15.png and /dev/null differ diff --git a/Physics Server150.png b/Physics Server150.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server150.png and /dev/null differ diff --git a/Physics Server151.png b/Physics Server151.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server151.png and /dev/null differ diff --git a/Physics Server152.png b/Physics Server152.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server152.png and /dev/null differ diff --git a/Physics Server153.png b/Physics Server153.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server153.png and /dev/null differ diff --git a/Physics Server154.png b/Physics Server154.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server154.png and /dev/null differ diff --git a/Physics Server155.png b/Physics Server155.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server155.png and /dev/null differ diff --git a/Physics Server156.png b/Physics Server156.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server156.png and /dev/null differ diff --git a/Physics Server157.png b/Physics Server157.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server157.png and /dev/null differ diff --git a/Physics Server158.png b/Physics Server158.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server158.png and /dev/null differ diff --git a/Physics Server159.png b/Physics Server159.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server159.png and /dev/null differ diff --git a/Physics Server16.png b/Physics Server16.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server16.png and /dev/null differ diff --git a/Physics Server160.png b/Physics Server160.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server160.png and /dev/null differ diff --git a/Physics Server161.png b/Physics Server161.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server161.png and /dev/null differ diff --git a/Physics Server162.png b/Physics Server162.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server162.png and /dev/null differ diff --git a/Physics Server163.png b/Physics Server163.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server163.png and /dev/null differ diff --git a/Physics Server164.png b/Physics Server164.png deleted file mode 100644 index 5041e24..0000000 Binary files a/Physics Server164.png and /dev/null differ diff --git a/Physics Server165.png b/Physics Server165.png deleted file mode 100644 index 5041e24..0000000 Binary files a/Physics Server165.png and /dev/null differ diff --git a/Physics Server166.png b/Physics Server166.png deleted file mode 100644 index 5041e24..0000000 Binary files a/Physics Server166.png and /dev/null differ diff --git a/Physics Server167.png b/Physics Server167.png deleted file mode 100644 index d8fff48..0000000 Binary files a/Physics Server167.png and /dev/null differ diff --git a/Physics Server168.png b/Physics Server168.png deleted file mode 100644 index d8fff48..0000000 Binary files a/Physics Server168.png and /dev/null differ diff --git a/Physics Server169.png b/Physics Server169.png deleted file mode 100644 index 394f069..0000000 Binary files a/Physics Server169.png and /dev/null differ diff --git a/Physics Server17.png b/Physics Server17.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server17.png and /dev/null differ diff --git a/Physics Server170.png b/Physics Server170.png deleted file mode 100644 index 394f069..0000000 Binary files a/Physics Server170.png and /dev/null differ diff --git a/Physics Server171.png b/Physics Server171.png deleted file mode 100644 index 786d7be..0000000 Binary files a/Physics Server171.png and /dev/null differ diff --git a/Physics Server172.png b/Physics Server172.png deleted file mode 100644 index 786d7be..0000000 Binary files a/Physics Server172.png and /dev/null differ diff --git a/Physics Server173.png b/Physics Server173.png deleted file mode 100644 index d707a96..0000000 Binary files a/Physics Server173.png and /dev/null differ diff --git a/Physics Server174.png b/Physics Server174.png deleted file mode 100644 index d707a96..0000000 Binary files a/Physics Server174.png and /dev/null differ diff --git a/Physics Server175.png b/Physics Server175.png deleted file mode 100644 index 469c485..0000000 Binary files a/Physics Server175.png and /dev/null differ diff --git a/Physics Server176.png b/Physics Server176.png deleted file mode 100644 index 469c485..0000000 Binary files a/Physics Server176.png and /dev/null differ diff --git a/Physics Server177.png b/Physics Server177.png deleted file mode 100644 index 84af2d4..0000000 Binary files a/Physics Server177.png and /dev/null differ diff --git a/Physics Server178.png b/Physics Server178.png deleted file mode 100644 index 84af2d4..0000000 Binary files a/Physics Server178.png and /dev/null differ diff --git a/Physics Server179.png b/Physics Server179.png deleted file mode 100644 index 1c7a489..0000000 Binary files a/Physics Server179.png and /dev/null differ diff --git a/Physics Server18.png b/Physics Server18.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server18.png and /dev/null differ diff --git a/Physics Server180.png b/Physics Server180.png deleted file mode 100644 index 1c7a489..0000000 Binary files a/Physics Server180.png and /dev/null differ diff --git a/Physics Server181.png b/Physics Server181.png deleted file mode 100644 index 41411a2..0000000 Binary files a/Physics Server181.png and /dev/null differ diff --git a/Physics Server182.png b/Physics Server182.png deleted file mode 100644 index 41411a2..0000000 Binary files a/Physics Server182.png and /dev/null differ diff --git a/Physics Server183.png b/Physics Server183.png deleted file mode 100644 index 41411a2..0000000 Binary files a/Physics Server183.png and /dev/null differ diff --git a/Physics Server184.png b/Physics Server184.png deleted file mode 100644 index d9ff99d..0000000 Binary files a/Physics Server184.png and /dev/null differ diff --git a/Physics Server185.png b/Physics Server185.png deleted file mode 100644 index 9670c48..0000000 Binary files a/Physics Server185.png and /dev/null differ diff --git a/Physics Server186.png b/Physics Server186.png deleted file mode 100644 index ee3fc47..0000000 Binary files a/Physics Server186.png and /dev/null differ diff --git a/Physics Server187.png b/Physics Server187.png deleted file mode 100644 index 1e384c0..0000000 Binary files a/Physics Server187.png and /dev/null differ diff --git a/Physics Server188.png b/Physics Server188.png deleted file mode 100644 index 32981e6..0000000 Binary files a/Physics Server188.png and /dev/null differ diff --git a/Physics Server189.png b/Physics Server189.png deleted file mode 100644 index 3bb8744..0000000 Binary files a/Physics Server189.png and /dev/null differ diff --git a/Physics Server19.png b/Physics Server19.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server19.png and /dev/null differ diff --git a/Physics Server190.png b/Physics Server190.png deleted file mode 100644 index fe97d60..0000000 Binary files a/Physics Server190.png and /dev/null differ diff --git a/Physics Server191.png b/Physics Server191.png deleted file mode 100644 index aa1d333..0000000 Binary files a/Physics Server191.png and /dev/null differ diff --git a/Physics Server192.png b/Physics Server192.png deleted file mode 100644 index 5d7953e..0000000 Binary files a/Physics Server192.png and /dev/null differ diff --git a/Physics Server193.png b/Physics Server193.png deleted file mode 100644 index e7989fe..0000000 Binary files a/Physics Server193.png and /dev/null differ diff --git a/Physics Server194.png b/Physics Server194.png deleted file mode 100644 index 09c0d60..0000000 Binary files a/Physics Server194.png and /dev/null differ diff --git a/Physics Server195.png b/Physics Server195.png deleted file mode 100644 index b5d939e..0000000 Binary files a/Physics Server195.png and /dev/null differ diff --git a/Physics Server196.png b/Physics Server196.png deleted file mode 100644 index 104e0ea..0000000 Binary files a/Physics Server196.png and /dev/null differ diff --git a/Physics Server197.png b/Physics Server197.png deleted file mode 100644 index a009096..0000000 Binary files a/Physics Server197.png and /dev/null differ diff --git a/Physics Server198.png b/Physics Server198.png deleted file mode 100644 index 4c3eafe..0000000 Binary files a/Physics Server198.png and /dev/null differ diff --git a/Physics Server199.png b/Physics Server199.png deleted file mode 100644 index 4f9ae9e..0000000 Binary files a/Physics Server199.png and /dev/null differ diff --git a/Physics Server2.png b/Physics Server2.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server2.png and /dev/null differ diff --git a/Physics Server20.png b/Physics Server20.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server20.png and /dev/null differ diff --git a/Physics Server200.png b/Physics Server200.png deleted file mode 100644 index da60a5d..0000000 Binary files a/Physics Server200.png and /dev/null differ diff --git a/Physics Server201.png b/Physics Server201.png deleted file mode 100644 index 6d2386d..0000000 Binary files a/Physics Server201.png and /dev/null differ diff --git a/Physics Server202.png b/Physics Server202.png deleted file mode 100644 index bff7c8f..0000000 Binary files a/Physics Server202.png and /dev/null differ diff --git a/Physics Server203.png b/Physics Server203.png deleted file mode 100644 index 818a727..0000000 Binary files a/Physics Server203.png and /dev/null differ diff --git a/Physics Server204.png b/Physics Server204.png deleted file mode 100644 index ebd873c..0000000 Binary files a/Physics Server204.png and /dev/null differ diff --git a/Physics Server205.png b/Physics Server205.png deleted file mode 100644 index 0ab535d..0000000 Binary files a/Physics Server205.png and /dev/null differ diff --git a/Physics Server206.png b/Physics Server206.png deleted file mode 100644 index a2b2632..0000000 Binary files a/Physics Server206.png and /dev/null differ diff --git a/Physics Server207.png b/Physics Server207.png deleted file mode 100644 index a2b2632..0000000 Binary files a/Physics Server207.png and /dev/null differ diff --git a/Physics Server208.png b/Physics Server208.png deleted file mode 100644 index 442293c..0000000 Binary files a/Physics Server208.png and /dev/null differ diff --git a/Physics Server209.png b/Physics Server209.png deleted file mode 100644 index d6e1e6d..0000000 Binary files a/Physics Server209.png and /dev/null differ diff --git a/Physics Server21.png b/Physics Server21.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server21.png and /dev/null differ diff --git a/Physics Server210.png b/Physics Server210.png deleted file mode 100644 index 7c3d76c..0000000 Binary files a/Physics Server210.png and /dev/null differ diff --git a/Physics Server211.png b/Physics Server211.png deleted file mode 100644 index 3f42efe..0000000 Binary files a/Physics Server211.png and /dev/null differ diff --git a/Physics Server212.png b/Physics Server212.png deleted file mode 100644 index 043ed33..0000000 Binary files a/Physics Server212.png and /dev/null differ diff --git a/Physics Server213.png b/Physics Server213.png deleted file mode 100644 index 0d001fd..0000000 Binary files a/Physics Server213.png and /dev/null differ diff --git a/Physics Server214.png b/Physics Server214.png deleted file mode 100644 index d214f68..0000000 Binary files a/Physics Server214.png and /dev/null differ diff --git a/Physics Server215.png b/Physics Server215.png deleted file mode 100644 index 313609b..0000000 Binary files a/Physics Server215.png and /dev/null differ diff --git a/Physics Server216.png b/Physics Server216.png deleted file mode 100644 index abc595b..0000000 Binary files a/Physics Server216.png and /dev/null differ diff --git a/Physics Server217.png b/Physics Server217.png deleted file mode 100644 index 251e3fd..0000000 Binary files a/Physics Server217.png and /dev/null differ diff --git a/Physics Server22.png b/Physics Server22.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server22.png and /dev/null differ diff --git a/Physics Server23.png b/Physics Server23.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server23.png and /dev/null differ diff --git a/Physics Server24.png b/Physics Server24.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server24.png and /dev/null differ diff --git a/Physics Server25.png b/Physics Server25.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server25.png and /dev/null differ diff --git a/Physics Server26.png b/Physics Server26.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server26.png and /dev/null differ diff --git a/Physics Server27.png b/Physics Server27.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server27.png and /dev/null differ diff --git a/Physics Server28.png b/Physics Server28.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server28.png and /dev/null differ diff --git a/Physics Server29.png b/Physics Server29.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server29.png and /dev/null differ diff --git a/Physics Server3.png b/Physics Server3.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server3.png and /dev/null differ diff --git a/Physics Server30.png b/Physics Server30.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server30.png and /dev/null differ diff --git a/Physics Server31.png b/Physics Server31.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server31.png and /dev/null differ diff --git a/Physics Server32.png b/Physics Server32.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server32.png and /dev/null differ diff --git a/Physics Server33.png b/Physics Server33.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server33.png and /dev/null differ diff --git a/Physics Server34.png b/Physics Server34.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server34.png and /dev/null differ diff --git a/Physics Server35.png b/Physics Server35.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server35.png and /dev/null differ diff --git a/Physics Server36.png b/Physics Server36.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server36.png and /dev/null differ diff --git a/Physics Server37.png b/Physics Server37.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server37.png and /dev/null differ diff --git a/Physics Server38.png b/Physics Server38.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server38.png and /dev/null differ diff --git a/Physics Server39.png b/Physics Server39.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server39.png and /dev/null differ diff --git a/Physics Server4.png b/Physics Server4.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server4.png and /dev/null differ diff --git a/Physics Server40.png b/Physics Server40.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server40.png and /dev/null differ diff --git a/Physics Server41.png b/Physics Server41.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server41.png and /dev/null differ diff --git a/Physics Server42.png b/Physics Server42.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server42.png and /dev/null differ diff --git a/Physics Server43.png b/Physics Server43.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server43.png and /dev/null differ diff --git a/Physics Server44.png b/Physics Server44.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server44.png and /dev/null differ diff --git a/Physics Server45.png b/Physics Server45.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server45.png and /dev/null differ diff --git a/Physics Server46.png b/Physics Server46.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server46.png and /dev/null differ diff --git a/Physics Server47.png b/Physics Server47.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server47.png and /dev/null differ diff --git a/Physics Server48.png b/Physics Server48.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server48.png and /dev/null differ diff --git a/Physics Server49.png b/Physics Server49.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server49.png and /dev/null differ diff --git a/Physics Server5.png b/Physics Server5.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server5.png and /dev/null differ diff --git a/Physics Server50.png b/Physics Server50.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server50.png and /dev/null differ diff --git a/Physics Server51.png b/Physics Server51.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server51.png and /dev/null differ diff --git a/Physics Server52.png b/Physics Server52.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server52.png and /dev/null differ diff --git a/Physics Server53.png b/Physics Server53.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server53.png and /dev/null differ diff --git a/Physics Server54.png b/Physics Server54.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server54.png and /dev/null differ diff --git a/Physics Server55.png b/Physics Server55.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server55.png and /dev/null differ diff --git a/Physics Server56.png b/Physics Server56.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server56.png and /dev/null differ diff --git a/Physics Server57.png b/Physics Server57.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server57.png and /dev/null differ diff --git a/Physics Server58.png b/Physics Server58.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server58.png and /dev/null differ diff --git a/Physics Server59.png b/Physics Server59.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server59.png and /dev/null differ diff --git a/Physics Server6.png b/Physics Server6.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server6.png and /dev/null differ diff --git a/Physics Server60.png b/Physics Server60.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server60.png and /dev/null differ diff --git a/Physics Server61.png b/Physics Server61.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server61.png and /dev/null differ diff --git a/Physics Server62.png b/Physics Server62.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server62.png and /dev/null differ diff --git a/Physics Server63.png b/Physics Server63.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server63.png and /dev/null differ diff --git a/Physics Server64.png b/Physics Server64.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server64.png and /dev/null differ diff --git a/Physics Server65.png b/Physics Server65.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server65.png and /dev/null differ diff --git a/Physics Server66.png b/Physics Server66.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server66.png and /dev/null differ diff --git a/Physics Server67.png b/Physics Server67.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server67.png and /dev/null differ diff --git a/Physics Server68.png b/Physics Server68.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server68.png and /dev/null differ diff --git a/Physics Server69.png b/Physics Server69.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server69.png and /dev/null differ diff --git a/Physics Server7.png b/Physics Server7.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server7.png and /dev/null differ diff --git a/Physics Server70.png b/Physics Server70.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server70.png and /dev/null differ diff --git a/Physics Server71.png b/Physics Server71.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server71.png and /dev/null differ diff --git a/Physics Server72.png b/Physics Server72.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server72.png and /dev/null differ diff --git a/Physics Server73.png b/Physics Server73.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server73.png and /dev/null differ diff --git a/Physics Server74.png b/Physics Server74.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server74.png and /dev/null differ diff --git a/Physics Server75.png b/Physics Server75.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server75.png and /dev/null differ diff --git a/Physics Server76.png b/Physics Server76.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server76.png and /dev/null differ diff --git a/Physics Server77.png b/Physics Server77.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server77.png and /dev/null differ diff --git a/Physics Server78.png b/Physics Server78.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server78.png and /dev/null differ diff --git a/Physics Server79.png b/Physics Server79.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server79.png and /dev/null differ diff --git a/Physics Server8.png b/Physics Server8.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server8.png and /dev/null differ diff --git a/Physics Server80.png b/Physics Server80.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server80.png and /dev/null differ diff --git a/Physics Server81.png b/Physics Server81.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server81.png and /dev/null differ diff --git a/Physics Server82.png b/Physics Server82.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server82.png and /dev/null differ diff --git a/Physics Server83.png b/Physics Server83.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server83.png and /dev/null differ diff --git a/Physics Server84.png b/Physics Server84.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server84.png and /dev/null differ diff --git a/Physics Server85.png b/Physics Server85.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server85.png and /dev/null differ diff --git a/Physics Server86.png b/Physics Server86.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server86.png and /dev/null differ diff --git a/Physics Server87.png b/Physics Server87.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server87.png and /dev/null differ diff --git a/Physics Server88.png b/Physics Server88.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server88.png and /dev/null differ diff --git a/Physics Server89.png b/Physics Server89.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server89.png and /dev/null differ diff --git a/Physics Server9.png b/Physics Server9.png deleted file mode 100644 index e4ae009..0000000 Binary files a/Physics Server9.png and /dev/null differ diff --git a/Physics Server90.png b/Physics Server90.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server90.png and /dev/null differ diff --git a/Physics Server91.png b/Physics Server91.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server91.png and /dev/null differ diff --git a/Physics Server92.png b/Physics Server92.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server92.png and /dev/null differ diff --git a/Physics Server93.png b/Physics Server93.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server93.png and /dev/null differ diff --git a/Physics Server94.png b/Physics Server94.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server94.png and /dev/null differ diff --git a/Physics Server95.png b/Physics Server95.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server95.png and /dev/null differ diff --git a/Physics Server96.png b/Physics Server96.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server96.png and /dev/null differ diff --git a/Physics Server97.png b/Physics Server97.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server97.png and /dev/null differ diff --git a/Physics Server98.png b/Physics Server98.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server98.png and /dev/null differ diff --git a/Physics Server99.png b/Physics Server99.png deleted file mode 100644 index 3782de9..0000000 Binary files a/Physics Server99.png and /dev/null differ diff --git a/robot/client_socket.py b/robot/client_socket.py index d3d4269..b70e3b7 100644 --- a/robot/client_socket.py +++ b/robot/client_socket.py @@ -41,7 +41,7 @@ class SocketRobotArm: command_data = None motion_type = "reset" - # motion_type = "normal" + motion_type = "normal" def __init__(self, application_path, *args, **kwargs): self.socket = None @@ -53,7 +53,7 @@ class SocketRobotArm: self.q_app = None self.imitate_point = None - robot_start_position = [0, -0, 0] + robot_start_position = [0, 0, 0] self.prepare_data = PrepareRobotData() self.socket_manager = SocketManager() @@ -130,7 +130,7 @@ class SocketRobotArm: time.sleep(0.5) - if True: + if False: coordinates = [float(p) * 0.001 for p in self.world_coordinates[:3]] angles = [math.radians(p) for p in self.world_coordinates[3:6]] worldJointPoses = self.convert_to_joint_base(coordinates, angles) @@ -157,7 +157,9 @@ class SocketRobotArm: position_diff = np.linalg.norm( self.world_coordinates[:3] - np.array(calcWorldPosition[:3]) ) - print([self.world_coordinates[i] - np.array(calcWorldPosition[i]) for i in range(3)]) + # print(*[f"world delta {i} {self.world_coordinates[i] - calcWorldPosition[i]}" for i in range(6)]) + # print(*[f"axis delta {i} {self.axis_coordinates[i] - np.rad2deg(worldJointPoses[i])}" for i in range(6)]) + # print(self.axis_coordinates[4] - np.rad2deg(worldJointPoses[4])) print( "Разница между расчетом по модели и мировыми координатами:", position_diff, @@ -418,6 +420,8 @@ class SocketRobotArm: endEffectorLinkIndex=self.num_joints - 1, targetPosition=[float(c) for c in coordinates], targetOrientation=p.getQuaternionFromEuler(angles), + lowerLimits=lower_limits, + upperLimits=upper_limits, ) return joint_angles diff --git a/robot/urdf_manager.py b/robot/urdf_manager.py index f401294..6a2d5d1 100644 --- a/robot/urdf_manager.py +++ b/robot/urdf_manager.py @@ -58,9 +58,10 @@ class UrdfManager: if self.pallet: self.pallet = None self.start_loop(self.urdf_filename) - - self.pallet_target = [1.3 + 0.5, 0.6, 0.1] - self.pallet_size = [0.8, 1.2, 0.144] + + k = 0.2 + self.pallet_target = [1.3 + k, 0.6, 0.1] + self.pallet_size = [0.3 + k, 1.2, 0.144] self.pallet_position = [ (self.pallet_target[i] - self.pallet_size[i] * 0.5) for i in range(len(self.pallet_target)) diff --git a/urdf/small_without.urdf b/urdf/small_without.urdf index e68add4..b50ccdb 100644 --- a/urdf/small_without.urdf +++ b/urdf/small_without.urdf @@ -81,7 +81,7 @@ - + @@ -97,7 +97,7 @@ - + @@ -173,4 +173,20 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/utils/test_socket_server.py b/utils/test_socket_server.py index 7f46311..fa76a6a 100644 --- a/utils/test_socket_server.py +++ b/utils/test_socket_server.py @@ -110,6 +110,15 @@ c_small = [ "world": [1410.226, 1.123, 1324.733, 0, 90, 0], "axis": [0, -20.6, 23.854, -0.001, -3.249, 0.004], }, + + { + "world": [943.3, -650.361, 783.806, 103.505, 55.005, 42.234], + "axis": [-31.249, -8.117, -28.424, 43.951, 36.544, 0.001], + }, + { + "world": [721.214, 299.284, 1141.345, -133.593, 37.242, -120.067], + "axis": [27.053, 27.798, -28.423, -35.215, -41.446, 0.005], + }, ] c_angles = c_small coordinates_index = 0