From e5ecf4c3ec2dc67cc01ce5db7062be34c7d55cef Mon Sep 17 00:00:00 2001 From: Kseninia Mikhaylova Date: Tue, 29 Oct 2024 09:20:41 +0300 Subject: [PATCH] work in process --- app.log | 49 +++++++++++++++++++++++++++++++++++++ main.py | 6 ++--- pybullet_server.py | 20 +++++++++++++++ robot/client_socket.py | 2 +- utils/test_socket_server.py | 34 ++++++++++++------------- 5 files changed, 90 insertions(+), 21 deletions(-) create mode 100644 pybullet_server.py diff --git a/app.log b/app.log index ffb5576..ad9301d 100644 --- a/app.log +++ b/app.log @@ -47483,3 +47483,52 @@ Joint 6 - Position: 0.0, Velocity: 0.0 - client_socket.py - 104 2024-10-28 16:58:04,526 - logger - INFO - not_connected - robot.py - 52 2024-10-28 16:58:05,529 - logger - INFO - GUI - client_socket.py - 55 2024-10-28 16:58:06,810 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-29 08:48:44,642 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 08:48:45,647 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 08:48:46,825 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-29 08:48:54,807 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 08:48:55,457 - logger - INFO - connected - robot.py - 52 +2024-10-29 08:51:20,753 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 08:51:21,754 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 08:51:22,959 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-29 08:53:08,122 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 08:53:09,124 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 08:53:29,598 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 08:53:30,600 - logger - INFO - GRAPHICS_SERVER - client_socket.py - 55 +2024-10-29 08:53:59,460 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 08:54:00,462 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 09:03:06,548 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 09:03:07,550 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 09:03:08,567 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-29 09:03:13,220 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 09:03:13,840 - logger - INFO - connected - robot.py - 52 +2024-10-29 09:15:38,649 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 09:15:39,651 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 09:15:40,755 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-29 09:15:43,115 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 09:15:43,811 - logger - INFO - connected - robot.py - 52 +2024-10-29 09:15:44,901 - logger - INFO - UPDATE - client_socket.py - 148 +2024-10-29 09:15:44,902 - logger - INFO - Координаты осей [0.0, 0.0, 0.0, 0.0, 5.0, 0.0] - client_socket.py - 217 +2024-10-29 09:15:45,402 - logger - INFO - set joints - client_socket.py - 220 +2024-10-29 09:15:45,463 - logger - INFO - Мировые координаты [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 217 +2024-10-29 09:15:45,964 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217 +2024-10-29 09:15:51,107 - logger - INFO - UPDATE - client_socket.py - 148 +2024-10-29 09:15:51,107 - logger - INFO - Координаты осей [0.0, 0.0, 0.0, 0.0, 5.0, 0.0] - client_socket.py - 217 +2024-10-29 09:15:51,608 - logger - INFO - set joints - client_socket.py - 220 +2024-10-29 09:15:51,669 - logger - INFO - Мировые координаты [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - client_socket.py - 217 +2024-10-29 09:15:52,170 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217 +2024-10-29 09:17:01,559 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 09:17:02,560 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 09:17:03,643 - logger - INFO - Начат цикл симуляции - client_socket.py - 87 +2024-10-29 09:17:20,666 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 09:17:21,298 - logger - INFO - connected - robot.py - 52 +2024-10-29 09:17:23,383 - logger - INFO - UPDATE - client_socket.py - 148 +2024-10-29 09:17:23,384 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 217 +2024-10-29 09:17:23,884 - logger - INFO - set joints - client_socket.py - 220 +2024-10-29 09:17:23,945 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 217 +2024-10-29 09:17:24,446 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217 +2024-10-29 09:17:29,491 - logger - INFO - UPDATE - client_socket.py - 148 +2024-10-29 09:17:29,491 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 217 +2024-10-29 09:17:29,992 - logger - INFO - set joints - client_socket.py - 220 +2024-10-29 09:17:30,053 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 217 +2024-10-29 09:17:30,554 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 217 diff --git a/main.py b/main.py index 030017c..10078ba 100644 --- a/main.py +++ b/main.py @@ -58,7 +58,7 @@ class MyApp: def run_robot_arm(self): time.sleep(1) - self.robot_app.start('GUI') + self.robot_app.start('SHARED_MEMORY') def updateRobot(self, robot): if robot in self.robots: @@ -96,9 +96,9 @@ class MyApp: return self.robot_app.get_command_count() return 0 # Или любое значение по умолчанию - def update_data_wrapper(self, data): + def update_data_wrapper(self): if self.robot_app: - self.robot_app.upd_model(data) + self.robot_app.upd_model() else: print("robot_app еще не инициализирован.") diff --git a/pybullet_server.py b/pybullet_server.py new file mode 100644 index 0000000..22b6d5b --- /dev/null +++ b/pybullet_server.py @@ -0,0 +1,20 @@ +# server.py +import pybullet as p +import pybullet_data +import time + +def run_server(): + # Подключаемся к графическому серверу в режиме SHARED_MEMORY_SERVER + physicsClient = p.connect(p.SHARED_MEMORY_SERVER) + + # Настраиваем среду + p.setAdditionalSearchPath(pybullet_data.getDataPath()) + p.setGravity(0, 0, -10) + + while True: + # Основной цикл физического движка + p.stepSimulation() + time.sleep(1./240.) + +if __name__ == "__main__": + run_server() diff --git a/robot/client_socket.py b/robot/client_socket.py index d05a25d..4ef7c37 100644 --- a/robot/client_socket.py +++ b/robot/client_socket.py @@ -27,7 +27,7 @@ class SocketRobotArm: laser_id = 14 filename = "test" - urdf_filename = "fanucM16ib" + urdf_filename = "sample" pass_size = 4 Status = Literal["connected", "not_connected", "error"] diff --git a/utils/test_socket_server.py b/utils/test_socket_server.py index d032cfd..46734b5 100644 --- a/utils/test_socket_server.py +++ b/utils/test_socket_server.py @@ -17,28 +17,28 @@ def handle_client(conn, addr): if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]: res["queryData"] = [ - 0, - 0, - 0, - 0, - 5, + -60, + 40, + -10, + -60, + -75, 0, ] if "queryAddr" in req and "world-0" in req["queryAddr"]: res["queryData"] = [ - # 643.622, - # -1289.604, - # 254.682, - # 124.70, - # 24.209, - # -58.492, - 0, - 0, - 0, - 0, - 0, - 0, + 643.622, + -1289.604, + 254.682, + 124.70, + 24.209, + -58.492, + # 0, + # 0, + # 0, + # 0, + # 0, + # 0, ] if req["reqType"] == "command":