test el
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0dd0b01744
commit
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@ -72,7 +72,7 @@ class SocketRobotArm:
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f"urdf/{self.urdf_filename}.urdf",
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[0, 0, 0],
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useFixedBase=True,
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globalScaling=2,
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globalScaling=1,
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)
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while True:
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@ -101,7 +101,7 @@ class SocketRobotArm:
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self.get_world()
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self.set_text(text=f"Мировые координаты {self.start_world_coordinates}")
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time.sleep(0.5)
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self.set_joint(self.convert_to_joint(self.start_world_coordinates[0:3]))
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# self.set_joint(self.convert_to_joint(self.start_world_coordinates[0:3]))
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self.get_command_count()
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self.set_text(text=f"Команд в очереди {self.remote_command_count}")
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@ -151,6 +151,7 @@ class SocketRobotArm:
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[float(p) for p in [p["m0"], p["m1"], p["m2"]]]
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)
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self.set_joint(angles)
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time.sleep(0.5)
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def convert_to_joint(self, coordinates):
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num_joints = p.getNumJoints(self.body_id)
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@ -167,8 +168,8 @@ class SocketRobotArm:
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def set_joint(self, coordinates):
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num_joints = p.getNumJoints(self.body_id)
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for joint_index in range(0, num_joints):
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if not joint_index in coordinates:
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return
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# if not joint_index in coordinates:
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# return
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p.setJointMotorControl2(
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bodyUniqueId=self.body_id,
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jointIndex=joint_index,
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@ -1,4 +1,9 @@
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X0 Y0
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X0 Y50
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X0 Y100
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X50 Y100
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X100 Y100
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X100 Y50
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X100 Y0
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X0 Y0
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X50 Y0
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X0 Y0
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@ -18,8 +18,8 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
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res = {"queryData": ["ok"]}
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if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
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res["queryData"] = [-59.696, 39.438, -7.478, -58.198, -76.606, 0]
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# res["queryData"] = [-60, 40, -10, -60, -75, 0]
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# res["queryData"] = [-59.696, 39.438, -7.478, -58.198, -76.606, 0.0]
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res["queryData"] = [-60, 40, -10, -60, -75, 0]
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if "queryAddr" in req and "world-0" in req["queryAddr"]:
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res["queryData"] = [
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167
urdf/sample.urdf
167
urdf/sample.urdf
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@ -2,144 +2,151 @@
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<robot name="sample_robot">
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<!-- links: main serial chain -->
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<link name="base_link">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.1"/>
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<origin rpy="0 0 0" xyz="0 0 0.1" />
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<geometry>
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<box size="0.2 0.2 0.2"/>
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<box size="0.2 0.2 0.2" />
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</geometry>
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<material name="">
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<color rgba="0.0 0 0 1.0"/>
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<material name="grey">
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<color rgba="0.0 0 0 1.0" />
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</material>
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</visual>
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</link>
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<link name="link_1">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.2473"/>
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<origin rpy="0 0 0" xyz="0 0 0.2473" />
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<geometry>
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<box size="0.1 0.1 0.4946"/>
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<box size="0.1 0.1 0.4946" />
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</geometry>
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<material name="">
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<color rgba="1.0 0.0 0.0 1.0"/>
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<material name="red">
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<color rgba="1.0 0.0 0.0 1.0" />
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</material>
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</visual>
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</link>
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<link name="link_2">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.3649605"/>
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<origin rpy="0 0 0" xyz="0 0 0.3649605" />
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<geometry>
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<box size="0.1 0.1 0.729921"/>
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<box size="0.1 0.1 0.729921" />
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</geometry>
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<material name="">
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<color rgba="0 0.0 1.0 1.0"/>
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<material name="blue">
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<color rgba="0 0.0 1.0 1.0" />
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</material>
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</visual>
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</link>
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<link name="link_3">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.049"/>
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<origin rpy="0 0 0" xyz="0 0 0.049" />
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<geometry>
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<box size="0.1 0.1 0.098277"/>
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<box size="0.1 0.1 0.098277" />
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</geometry>
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<material name="">
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<color rgba="0. 0.22 1.00 1.0"/>
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<material name="lightblue">
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<color rgba="0. 0.22 1.00 1.0" />
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</material>
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</visual>
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</link>
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<link name="link_4">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.5545195"/>
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<origin rpy="0 0 0" xyz="0 0 0.5545195" />
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<geometry>
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<box size="0.1 0.1 1.109039"/>
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<box size="0.1 0.1 1.109039" />
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</geometry>
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<material name="">
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<color rgba="0.96 0.76 0.13 1.0"/>
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<material name="yellow">
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<color rgba="0.96 0.76 0.13 1.0" />
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</material>
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</visual>
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</link>
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<link name="link_5">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.0585"/>
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<origin rpy="0 0 0" xyz="0 0 0.0585" />
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<geometry>
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<box size="0.1 0.1 0.117"/>
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<box size="0.1 0.1 0.117" />
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</geometry>
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<material name="">
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<color rgba="1.0 0.5 0.0 1.0"/>
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<material name="orange">
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<color rgba="1.0 0.5 0.0 1.0" />
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</material>
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</visual>
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</link>
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<link name="link_6">
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<inertial>
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<mass value="1.0" />
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.05"/>
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<origin rpy="0 0 0" xyz="0 0 0.05" />
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<geometry>
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<box size="0.1 0.1 0.1"/>
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<box size="0.1 0.1 0.1" />
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</geometry>
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<material name="">
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<color rgba="0.15 0.15 0.15 1.0"/>
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<material name="black">
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<color rgba="0.15 0.15 0.15 1.0" />
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</material>
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</visual>
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</link>
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<!-- joints: main serial chain -->
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<joint name="joint_1" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.2"/>
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<parent link="base_link"/>
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<child link="link_1"/>
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<axis xyz="0 0 1"/>
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<limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415"/>
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<origin rpy="0 0 0" xyz="0 0 0.2" />
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<parent link="base_link" />
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<child link="link_1" />
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<axis xyz="0 0 1" />
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<limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415" />
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</joint>
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<joint name="joint_2" type="revolute">
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<origin rpy="0 0 0" xyz="0.0170450 0 0.494600"/>
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<parent link="link_1"/>
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<child link="link_2"/>
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<axis xyz="0 1 0"/>
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<limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415"/>
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<origin rpy="0 0 0" xyz="0.0170450 0 0.494600" />
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<parent link="link_1" />
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<child link="link_2" />
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<axis xyz="0 1 0" />
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<limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" />
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</joint>
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<joint name="joint_3" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.729921"/>
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<parent link="link_2"/>
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<child link="link_3"/>
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<axis xyz="0 -1 0"/>
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<limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269"/>
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<origin rpy="0 0 0" xyz="0 0 0.729921" />
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<parent link="link_2" />
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<child link="link_3" />
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<axis xyz="0 -1 0" />
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<limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269" />
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</joint>
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<joint name="joint_4" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.098277"/>
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<parent link="link_3"/>
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<child link="link_4"/>
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<axis xyz="-1 0 0"/>
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<limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813"/>
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<origin rpy="0 0 0" xyz="0 0 0.098277" />
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<parent link="link_3" />
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<child link="link_4" />
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<axis xyz="-1 0 0" />
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<limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813" />
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</joint>
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<joint name="joint_5" type="revolute">
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<origin rpy="0 0 0" xyz="0.0 0 1.109039"/>
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<parent link="link_4"/>
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<child link="link_5"/>
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<axis xyz="0 -1 0"/>
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<limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595"/>
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<origin rpy="0 0 0" xyz="0.0 0 1.109039" />
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<parent link="link_4" />
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<child link="link_5" />
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<axis xyz="0 -1 0" />
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<limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595" />
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</joint>
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<joint name="joint_6" type="revolute">
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<origin rpy="0 0 0" xyz="0.0 0 0.117"/>
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<parent link="link_5"/>
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<child link="link_6"/>
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<axis xyz="-1 0 0"/>
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<limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775"/>
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<origin rpy="0 0 0" xyz="0.0 0 0.117" />
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<parent link="link_5" />
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<child link="link_6" />
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<axis xyz="-1 0 0" />
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<limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775" />
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</joint>
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<!-- ROS base_link to Fanuc World Coordinates transform -->
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<link name="base"/>
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<joint name="base_link-base" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.350"/>
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<parent link="base_link"/>
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<child link="base"/>
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</joint>
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<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
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<link name="flange"/>
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<joint name="joint_6-flange" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="link_6"/>
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<child link="flange"/>
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</joint>
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<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
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<link name="tool0"/>
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<joint name="link_6-tool0" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="link_6"/>
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<child link="tool0"/>
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</joint>
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</robot>
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</robot>
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