From f5ecc08fde45e0456751a2a0e8d8a382d9722c44 Mon Sep 17 00:00:00 2001 From: Kseninia Mikhaylova Date: Tue, 29 Oct 2024 13:35:06 +0300 Subject: [PATCH] imitator --- .gitignore | 4 +- app.log | 745 +++++++++++++++++++++++++++++++++++++++++ gui/imitator.py | 52 ++- gui/informer.py | 49 +++ gui/init.py | 6 + main.py | 17 +- robot/client_socket.py | 7 +- 7 files changed, 848 insertions(+), 32 deletions(-) create mode 100644 gui/informer.py diff --git a/.gitignore b/.gitignore index c47f6ba..afb3117 100644 --- a/.gitignore +++ b/.gitignore @@ -2,4 +2,6 @@ __pycache__/ .venv/ .vscode/ build/ -dist/ \ No newline at end of file +dist/ + +app.log \ No newline at end of file diff --git a/app.log b/app.log index c34b1b2..c129fa4 100644 --- a/app.log +++ b/app.log @@ -390,3 +390,748 @@ 2024-10-29 11:53:09,392 - logger - INFO - (-0.9847364953036543, 1.2892635374351422, 1.239183341961664, -0.23629584479579457, -0.04466857994468927, 2.5825696739323423e-12) - client_socket.py - 222 2024-10-29 11:53:09,392 - logger - INFO - set joints - client_socket.py - 228 2024-10-29 11:53:09,393 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:54:34,455 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:54:35,457 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:54:35,458 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:54:35,462 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:54:37,455 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:54:38,845 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:54:40,335 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:54:40,336 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:54:40,836 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:54:40,897 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:54:41,398 - logger - INFO - (-0.9847364953024569, 1.2892635374347103, 1.2391833419600613, -0.23629584479838228, -0.04466857994487837, 3.020241658224231e-12) - client_socket.py - 222 +2024-10-29 11:54:41,398 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:54:41,399 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 11:57:33,214 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:57:34,215 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 11:57:34,216 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 11:57:34,231 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 11:57:36,672 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 11:57:38,063 - logger - INFO - connected - robot.py - 52 +2024-10-29 11:57:38,665 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 11:57:38,665 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 11:57:39,166 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:57:39,227 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 11:57:39,728 - logger - INFO - (-0.984736495303508, 1.2892635374351034, 1.2391833419614802, -0.23629584479610594, -0.044668579944712114, 2.3149826211395446e-12) - client_socket.py - 222 +2024-10-29 11:57:39,728 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 11:57:39,729 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 12:28:06,639 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 12:41:59,947 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 12:42:00,949 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 12:42:00,950 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 12:42:00,964 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 12:55:03,734 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 12:55:52,869 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 12:56:03,153 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 12:56:04,156 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 12:56:04,157 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 12:56:04,163 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 12:56:12,096 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 12:56:13,507 - logger - INFO - connected - robot.py - 52 +2024-10-29 12:57:03,708 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 12:57:03,708 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 12:57:04,209 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 12:57:04,270 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 12:57:04,771 - logger - INFO - (-0.984736495303508, 1.2892635374351034, 1.2391833419614802, -0.23629584479610594, -0.044668579944712114, 2.3149826211395446e-12) - client_socket.py - 222 +2024-10-29 12:57:04,771 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 12:57:04,771 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 12:57:20,445 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 12:57:21,447 - logger - INFO - SHARED_MEMORY - client_socket.py - 55 +2024-10-29 12:57:21,447 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 66 +2024-10-29 12:57:21,457 - logger - INFO - Начат цикл симуляции - client_socket.py - 95 +2024-10-29 12:57:23,002 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 12:57:24,416 - logger - INFO - connected - robot.py - 52 +2024-10-29 12:57:25,193 - logger - INFO - UPDATE - client_socket.py - 156 +2024-10-29 12:57:25,194 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 225 +2024-10-29 12:57:25,695 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 12:57:25,756 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 225 +2024-10-29 12:57:26,256 - logger - INFO - (-0.98473649530159, 1.2892635374343886, 1.2391833419588938, -0.23629584480025762, -0.04466857994501512, 2.3129417735183594e-12) - client_socket.py - 222 +2024-10-29 12:57:26,256 - logger - INFO - set joints - client_socket.py - 228 +2024-10-29 12:57:26,257 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 225 +2024-10-29 13:17:47,930 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:19:41,156 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:19:42,158 - logger - INFO - SHARED_MEMORY - client_socket.py - 56 +2024-10-29 13:19:42,158 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67 +2024-10-29 13:19:42,165 - logger - INFO - Начат цикл симуляции - client_socket.py - 96 +2024-10-29 13:19:45,613 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:19:47,007 - logger - INFO - connected - robot.py - 52 +2024-10-29 13:19:48,237 - logger - INFO - UPDATE - client_socket.py - 157 +2024-10-29 13:19:48,237 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 227 +2024-10-29 13:19:48,738 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:19:48,799 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 227 +2024-10-29 13:19:49,300 - logger - INFO - (-0.9847364953008166, 1.2892635374341364, 1.2391833419578817, -0.236295844801919, -0.04466857994513661, 3.648419388259251e-12) - client_socket.py - 224 +2024-10-29 13:19:49,300 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:19:49,301 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 227 +2024-10-29 13:20:25,638 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:20:26,640 - logger - INFO - SHARED_MEMORY - client_socket.py - 56 +2024-10-29 13:20:26,640 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67 +2024-10-29 13:20:26,644 - logger - INFO - Начат цикл симуляции - client_socket.py - 96 +2024-10-29 13:20:28,162 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:20:29,567 - logger - INFO - connected - robot.py - 52 +2024-10-29 13:20:30,610 - logger - INFO - UPDATE - client_socket.py - 157 +2024-10-29 13:20:30,611 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 227 +2024-10-29 13:20:31,111 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:31,173 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 227 +2024-10-29 13:20:31,673 - logger - INFO - (-0.9847364953036543, 1.2892635374351422, 1.239183341961664, -0.23629584479579457, -0.04466857994468927, 2.5825696739323423e-12) - client_socket.py - 224 +2024-10-29 13:20:31,674 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:31,674 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 227 +2024-10-29 13:20:34,017 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.6711957511936244e-19) - client_socket.py - 224 +2024-10-29 13:20:34,017 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:34,518 - logger - INFO - (-0.933554592165177, 1.262150899133044, 1.2535653390643513, -0.19564842420450618, -0.04223352100375377, 2.6711957511936244e-19) - client_socket.py - 224 +2024-10-29 13:20:34,518 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:35,019 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.6711957511936244e-19) - client_socket.py - 224 +2024-10-29 13:20:35,019 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:38,681 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.6711957511936244e-19) - client_socket.py - 224 +2024-10-29 13:20:38,681 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:39,182 - logger - INFO - (-0.933554592165177, 1.262150899133044, 1.2535653390643513, -0.19564842420450618, -0.04223352100375377, 2.6711957511936244e-19) - client_socket.py - 224 +2024-10-29 13:20:39,183 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:39,683 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.6711957511936244e-19) - client_socket.py - 224 +2024-10-29 13:20:39,684 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:40,961 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.671195751193575e-19) - client_socket.py - 224 +2024-10-29 13:20:40,961 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:41,461 - logger - INFO - (-0.933554592165177, 1.262150899133044, 1.2535653390643513, -0.19564842420450618, -0.04223352100375377, 2.671195751193575e-19) - client_socket.py - 224 +2024-10-29 13:20:41,462 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:41,962 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.671195751193575e-19) - client_socket.py - 224 +2024-10-29 13:20:41,962 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:46,256 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.671195751193575e-19) - client_socket.py - 224 +2024-10-29 13:20:46,257 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:46,757 - logger - INFO - (-0.933554592165177, 1.262150899133044, 1.2535653390643513, -0.19564842420450618, -0.04223352100375377, 2.671195751193575e-19) - client_socket.py - 224 +2024-10-29 13:20:46,758 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:20:47,258 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.671195751193575e-19) - client_socket.py - 224 +2024-10-29 13:20:47,259 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:03,116 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:33:04,118 - logger - INFO - SHARED_MEMORY - client_socket.py - 56 +2024-10-29 13:33:04,118 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67 +2024-10-29 13:33:04,133 - logger - INFO - Начат цикл симуляции - client_socket.py - 96 +2024-10-29 13:33:06,476 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:33:07,871 - logger - INFO - connected - robot.py - 52 +2024-10-29 13:33:08,508 - logger - INFO - UPDATE - client_socket.py - 157 +2024-10-29 13:33:08,509 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 227 +2024-10-29 13:33:09,010 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:09,071 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 227 +2024-10-29 13:33:09,572 - logger - INFO - (-0.9847364953038205, 1.2892635374351884, 1.239183341961875, -0.23629584479544036, -0.044668579944663264, 2.7793109827491576e-12) - client_socket.py - 224 +2024-10-29 13:33:09,572 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:09,572 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 227 +2024-10-29 13:33:12,204 - logger - INFO - (-0.9847364952837823, 1.2892635374278956, 1.2391833419350053, -0.236295844838752, -0.044668579947824666, 2.591350304248913e-19) - client_socket.py - 224 +2024-10-29 13:33:12,204 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:12,705 - logger - INFO - (-0.9335545921651842, 1.262150899133046, 1.2535653390643602, -0.19564842420449086, -0.04223352100375252, 2.5913503042487804e-19) - client_socket.py - 224 +2024-10-29 13:33:12,705 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:13,206 - logger - INFO - (-0.9847364952837823, 1.2892635374278956, 1.2391833419350053, -0.236295844838752, -0.044668579947824666, 2.5913503042489003e-19) - client_socket.py - 224 +2024-10-29 13:33:13,206 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:17,819 - logger - INFO - (-0.9847364952837823, 1.2892635374278956, 1.2391833419350053, -0.236295844838752, -0.044668579947824666, 2.5913503042487766e-19) - client_socket.py - 224 +2024-10-29 13:33:17,820 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:18,320 - logger - INFO - (-0.9335545921651842, 1.262150899133046, 1.2535653390643602, -0.19564842420449086, -0.04223352100375252, 2.591350304248885e-19) - client_socket.py - 224 +2024-10-29 13:33:18,321 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:18,821 - logger - INFO - (-0.9847364952837823, 1.2892635374278956, 1.2391833419350053, -0.236295844838752, -0.044668579947824666, 2.591350304248899e-19) - client_socket.py - 224 +2024-10-29 13:33:18,822 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:37,089 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:33:37,194 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:37,299 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:37,404 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:37,509 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:37,613 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:37,719 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:37,823 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:37,928 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,029 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,090 - logger - INFO - SHARED_MEMORY - client_socket.py - 56 +2024-10-29 13:33:38,091 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67 +2024-10-29 13:33:38,097 - logger - INFO - Начат цикл симуляции - client_socket.py - 96 +2024-10-29 13:33:38,128 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,229 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,329 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,429 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,553 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,629 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,729 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,829 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:38,929 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,029 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,129 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,229 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,329 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,429 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,529 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,629 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,728 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,828 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:39,929 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,029 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,128 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,228 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,329 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,442 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,528 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,628 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,729 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,829 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:40,945 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:41,028 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:41,129 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:41,225 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:33:42,536 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:42,620 - logger - INFO - connected - robot.py - 52 +2024-10-29 13:33:42,632 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:42,729 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:42,829 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:42,929 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,090 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,129 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,229 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,329 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,429 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,568 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,629 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,729 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,829 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,929 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:43,945 - logger - INFO - UPDATE - client_socket.py - 157 +2024-10-29 13:33:43,946 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 227 +2024-10-29 13:33:44,447 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:44,508 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 227 +2024-10-29 13:33:45,009 - logger - INFO - (-0.9847364953008166, 1.2892635374341364, 1.2391833419578817, -0.236295844801919, -0.04466857994513661, 3.648419388259251e-12) - client_socket.py - 224 +2024-10-29 13:33:45,009 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:45,010 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 227 +2024-10-29 13:33:46,593 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:46,619 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:46,723 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:46,829 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:46,928 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,065 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,129 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,229 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,328 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,429 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,547 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,628 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,729 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,828 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:47,928 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:48,029 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:48,057 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.6711957511936244e-19) - client_socket.py - 224 +2024-10-29 13:33:48,058 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:48,558 - logger - INFO - (-0.933554592165177, 1.262150899133044, 1.2535653390643513, -0.19564842420450618, -0.04223352100375377, 2.671195751193575e-19) - client_socket.py - 224 +2024-10-29 13:33:48,559 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:33:49,059 - logger - INFO - (-0.9847364952837785, 1.2892635374278947, 1.2391833419350005, -0.23629584483876048, -0.04466857994782522, 2.671195751193575e-19) - 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42 +2024-10-29 13:33:50,829 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:50,929 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,063 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,129 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,228 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,329 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,428 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,541 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,628 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,729 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,828 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:51,929 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:52,028 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:52,129 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:52,229 - 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imitator.py - 42 +2024-10-29 13:33:56,628 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:56,729 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:56,829 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:57,010 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:57,029 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:57,129 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:57,228 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:57,329 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:57,514 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:57,529 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:57,629 - logger - INFO - lalaala - imitator.py - 42 +2024-10-29 13:33:59,867 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:33:59,962 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,058 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,153 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,248 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,342 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,437 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,532 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,628 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,728 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,829 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:00,869 - logger - INFO - SHARED_MEMORY - client_socket.py - 56 +2024-10-29 13:34:00,870 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67 +2024-10-29 13:34:00,878 - logger - INFO - Начат цикл симуляции - client_socket.py - 96 +2024-10-29 13:34:00,955 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:01,028 - logger - INFO - lalaala None - 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logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:02,529 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:02,628 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:02,729 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:02,829 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:02,942 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,029 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,129 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,229 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,328 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,443 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,528 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,628 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,729 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,828 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:03,942 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:04,029 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:04,129 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:04,229 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:04,247 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:34:05,559 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:05,649 - logger - INFO - connected - robot.py - 52 +2024-10-29 13:34:05,654 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:05,750 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:05,845 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:05,940 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:06,112 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:06,130 - 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logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:33,228 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:33,329 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:33,514 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:33,529 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:33,629 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:33,729 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:33,828 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,015 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,028 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,129 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,228 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,329 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,510 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,529 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,628 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,729 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:34,829 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,006 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,029 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,129 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,229 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,328 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,509 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,529 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,628 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,729 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:35,829 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:36,012 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:36,028 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:38,723 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:34:38,828 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:38,929 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,029 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,128 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,228 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,329 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,429 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,529 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,629 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,725 - logger - INFO - SHARED_MEMORY - client_socket.py - 56 +2024-10-29 13:34:39,725 - logger - INFO - Connect to 0 by SHARED_MEMORY - client_socket.py - 67 +2024-10-29 13:34:39,742 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,742 - logger - INFO - Начат цикл симуляции - client_socket.py - 96 +2024-10-29 13:34:39,828 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:39,929 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:40,028 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:40,129 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:40,229 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:40,328 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:40,429 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:40,529 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:40,604 - logger - INFO - not_connected - robot.py - 52 +2024-10-29 13:34:41,916 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:42,002 - logger - INFO - connected - robot.py - 52 +2024-10-29 13:34:42,021 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:42,126 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:42,229 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:42,329 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:42,507 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:42,529 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:42,629 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:42,729 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:42,829 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:43,005 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:43,029 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:43,076 - logger - INFO - UPDATE - client_socket.py - 157 +2024-10-29 13:34:43,077 - logger - INFO - Координаты осей [-60.0, 40.0, -10.0, -60.0, -75.0, 0.0] - client_socket.py - 227 +2024-10-29 13:34:43,578 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:34:43,639 - logger - INFO - Мировые координаты [643.622, -1289.604, 254.682, 124.7, 24.209, -58.492] - client_socket.py - 227 +2024-10-29 13:34:44,140 - logger - INFO - (-0.9847364953001625, 1.2892635374338883, 1.2391833419569958, -0.23629584480333682, -0.04466857994523997, 2.689384423622259e-12) - client_socket.py - 224 +2024-10-29 13:34:44,140 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:34:44,140 - logger - INFO - Команд в очереди ['ok'] - client_socket.py - 227 +2024-10-29 13:34:45,644 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:45,739 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:45,834 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:45,929 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:46,028 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:46,197 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:46,228 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:46,328 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:46,429 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:46,529 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:46,669 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:46,728 - logger - INFO - lalaala None - imitator.py - 42 +2024-10-29 13:34:46,749 - logger - INFO - (-0.9847364952837587, 1.2892635374278878, 1.2391833419349747, -0.2362958448388025, -0.044668579947828316, 2.6324369751913186e-19) - client_socket.py - 224 +2024-10-29 13:34:46,749 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:34:47,250 - logger - INFO - (-0.9335545921651835, 1.2621508991330466, 1.2535653390643606, -0.19564842420449197, -0.04223352100375251, 2.6324369751913186e-19) - client_socket.py - 224 +2024-10-29 13:34:47,250 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:34:47,751 - logger - INFO - (-0.9847364952837587, 1.2892635374278878, 1.2391833419349747, -0.2362958448388025, -0.044668579947828316, 2.6324369751913186e-19) - client_socket.py - 224 +2024-10-29 13:34:47,751 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:34:48,252 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:48,347 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:48,441 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:48,536 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:48,632 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:48,729 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:48,853 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:48,928 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,028 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,128 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,228 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,378 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,428 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,528 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,628 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,728 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,904 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:49,928 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:50,028 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:50,128 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:50,228 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:50,328 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:50,430 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:50,528 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:50,532 - logger - INFO - (-0.9847364952837587, 1.2892635374278878, 1.2391833419349747, -0.2362958448388025, -0.044668579947828316, 2.6324369751913894e-19) - client_socket.py - 224 +2024-10-29 13:34:50,532 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:34:51,033 - logger - INFO - (-0.9335545921651835, 1.2621508991330466, 1.2535653390643606, -0.19564842420449197, -0.04223352100375251, 2.6324369751913894e-19) - client_socket.py - 224 +2024-10-29 13:34:51,033 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:34:51,534 - logger - INFO - (-0.9847364952837587, 1.2892635374278878, 1.2391833419349747, -0.2362958448388025, -0.044668579947828316, 2.6324369751913894e-19) - client_socket.py - 224 +2024-10-29 13:34:51,534 - logger - INFO - set joints - client_socket.py - 230 +2024-10-29 13:34:52,035 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:52,134 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:52,229 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:52,328 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:52,429 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:52,587 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:52,628 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:52,729 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:52,828 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:52,929 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:53,062 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:53,129 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:53,229 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:53,328 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:53,429 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:53,538 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:53,629 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:53,728 - logger - INFO - lalaala 2 - imitator.py - 42 +2024-10-29 13:34:53,828 - logger - INFO - lalaala 2 - imitator.py - 42 diff --git a/gui/imitator.py b/gui/imitator.py index cce271f..ab1de65 100644 --- a/gui/imitator.py +++ b/gui/imitator.py @@ -3,47 +3,41 @@ from PyQt5.QtCore import QTimer, Qt import time from logger import logger -class Imitator(QWidget): - def __init__(self, updateData, world_coord, axis_coord, command_count): - super().__init__() - - self.world_coord = world_coord - self.axis_coord = axis_coord - self.command_count = command_count - self.updateData = updateData +class Imitator(QWidget): + def __init__(self, startImitate, imitate_point): + super().__init__() + + self.imitate_point = imitate_point + self.startImitate = startImitate - # Инициализация пользовательского интерфейса self.initUI() + + self.timer = QTimer() + self.timer.timeout.connect(self.updateState) + self.timer.start(int(100)) def initUI(self): self.layout = QVBoxLayout() - self.setLayout(self.layout) - - self.wLabel = QLabel(f'Мировые координаты {self.world_coord()}') - self.aLabel = QLabel(f'Поворот осей {self.axis_coord()}') - self.cLabel = QLabel(f'Количество команд в стеке {self.command_count()}') - - for l in [self.wLabel, self.aLabel, self.cLabel]: + self.setLayout(self.layout) + + self.stepLabel = QLabel(f"Отправлено шагов {0}") + + for l in [self.stepLabel]: l.setWordWrap(True) self.layout.addWidget(l) - - self.updButton = QPushButton('Обновить данные') - self.updButton.clicked.connect(self.updateState) - self.layout.addWidget(self.updButton) - - + self.updButton = QPushButton("Запустить имитацию") + self.updButton.clicked.connect(self.startImitate) + self.layout.addWidget(self.updButton) + def paintEvent(self, event): # Установка цвета фона self.setAutoFillBackground(True) p = self.palette() - p.setColor(self.backgroundRole(), Qt.lightGray) + p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray) self.setPalette(p) - + def updateState(self): - self.updateData() - time.sleep(1) - self.wLabel.setText(f'Мировые координаты {self.world_coord()}') - self.aLabel.setText(f'Поворот осей {self.axis_coord()}') - self.cLabel.setText(f'Количество команд в стеке {self.command_count()}') + logger.info(f'lalaala {self.imitate_point()}') + self.stepLabel.setText(f"Отправлено шагов {self.imitate_point()}") \ No newline at end of file diff --git a/gui/informer.py b/gui/informer.py new file mode 100644 index 0000000..31bd509 --- /dev/null +++ b/gui/informer.py @@ -0,0 +1,49 @@ +from PyQt5.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton +from PyQt5.QtCore import QTimer, Qt +import time +from logger import logger + +class Informer(QWidget): + def __init__(self, updateData, world_coord, axis_coord, command_count): + super().__init__() + + self.world_coord = world_coord + self.axis_coord = axis_coord + self.command_count = command_count + + self.updateData = updateData + + # Инициализация пользовательского интерфейса + self.initUI() + + def initUI(self): + self.layout = QVBoxLayout() + self.setLayout(self.layout) + + self.wLabel = QLabel(f'Мировые координаты {self.world_coord()}') + self.aLabel = QLabel(f'Поворот осей {self.axis_coord()}') + self.cLabel = QLabel(f'Количество команд в стеке {self.command_count()}') + + for l in [self.wLabel, self.aLabel, self.cLabel]: + l.setWordWrap(True) + self.layout.addWidget(l) + + self.updButton = QPushButton('Обновить данные') + self.updButton.clicked.connect(self.updateState) + self.layout.addWidget(self.updButton) + + + + def paintEvent(self, event): + # Установка цвета фона + self.setAutoFillBackground(True) + p = self.palette() + p.setColor(self.backgroundRole(), Qt.lightGray) + self.setPalette(p) + + def updateState(self): + self.updateData() + time.sleep(1) + self.wLabel.setText(f'Мировые координаты {self.world_coord()}') + self.aLabel.setText(f'Поворот осей {self.axis_coord()}') + self.cLabel.setText(f'Количество команд в стеке {self.command_count()}') diff --git a/gui/init.py b/gui/init.py index af5c95f..594b6dc 100644 --- a/gui/init.py +++ b/gui/init.py @@ -4,6 +4,7 @@ from PyQt5.QtCore import Qt from PyQt5.QtGui import QColor, QPalette from gui.robot import ChangeRobot from gui.status import Status +from gui.informer import Informer from gui.imitator import Imitator from gui.visualize import Visualize from gui.observable import Observable @@ -42,6 +43,9 @@ class MainContentComponent(QWidget): statusArgs = kwargs.get("statusPanel", {}) self.statusPanel = Status(**statusArgs) + informerArgs = kwargs.get("informerPanel", {}) + self.informerPanel = Informer(**informerArgs) + imitatorArgs = kwargs.get("imitatorPanel", {}) self.imitatorPanel = Imitator(**imitatorArgs) @@ -49,6 +53,7 @@ class MainContentComponent(QWidget): panels=[ self.statusPanel, self.robotPanel, + self.informerPanel, self.imitatorPanel, ], color=(169, 169, 169), @@ -84,6 +89,7 @@ class MainContentComponent(QWidget): def handle_value_change(self, new_value): panels = [ + self.informerPanel, self.imitatorPanel, ] for p in panels: diff --git a/main.py b/main.py index 6f3cfca..60f1292 100644 --- a/main.py +++ b/main.py @@ -36,12 +36,16 @@ class MyApp: statusPanel={ "status": self.get_status, }, - imitatorPanel={ + informerPanel={ "world_coord": self.get_world_coordinates, "axis_coord": self.get_axis_coordinates, "command_count": self.get_command_count, "updateData": self.update_data_wrapper, }, + imitatorPanel={ + "startImitate": self.imitate_wrapper, + "imitate_point": self.get_imitate_point, + }, visPanel={ "get_pybullet_image": self.get_pybullet_image_wrapper, }, @@ -103,7 +107,18 @@ class MyApp: if self.robot_app: return self.robot_app.get_command_count() return 0 # Или любое значение по умолчанию + + def get_imitate_point(self): + if self.robot_app: + return self.robot_app.get_imitate_point() + return 0 # Или любое значение по умолчанию + def imitate_wrapper(self): + if self.robot_app: + self.robot_app.imitate() + else: + print("robot_app еще не инициализирован.") + def update_data_wrapper(self): if self.robot_app: self.robot_app.upd_model() diff --git a/robot/client_socket.py b/robot/client_socket.py index 1c7c061..eb5f881 100644 --- a/robot/client_socket.py +++ b/robot/client_socket.py @@ -46,6 +46,7 @@ class SocketRobotArm: self.physics_client = None self.body_id = None self.q_app = None + self.imitate_point = None def __exit__(self, exc_type, exc_value, traceback): print("exiting") @@ -201,8 +202,9 @@ class SocketRobotArm: def imitate(self): points = self.steps_from_file() - for p in points: + for i, p in enumerate(points): if p["action"] == "10": + self.imitate_point = i angles = self.convert_to_joint( [float(p) for p in [p["m0"], p["m1"], p["m2"]]] ) @@ -288,6 +290,9 @@ class SocketRobotArm: def get_command_count(self): return self.remote_command_count + + def get_imitate_point(self): + return self.imitate_point def set_global_speed(self): # Изменили глобальную скорость на global_speed%