pallet pos

.gitignore

@@ -2,4 +2,9 @@ __pycache__/
 .venv/
 .vscode/
 build/
-dist/
+data/*
+/dist/**/*
+dist.zip
+.venv
+*.log
+log/*

README.md

@@ -0,0 +1,16 @@
+## Работа с роботом 
+
+### Окружение
+* Запустить сокет сервер - для теста
+* Запустить pybullet сервер - визуализация в отдельном ПРОЦЕССЕ
+* Запустить gui
+
+### Локальный запуск
+* `poetry install`
+* Запустить в отдельном окне тестовый сокет `poetry run python utils/test_socket_server.py`
+* Запустить программу с визуализацией в отдельном окне `poetry run python ru.py --start-py --bullet-gui`
+
+### На чем работает
+* Визуализация и расчет положения робота - pybullet
+* Паллетизация py3dbp
+* Отправка данных по сокету `robot/socket_manager.py` и подготовка данных в нужном формате `robot/prepare_data.py`

client_socket.py

@@ -1,230 +0,0 @@
-import socket
-import json
-import sys
-from pprint import pprint
-import tkinter
-
-from func import *
-
-
-class SocketRobotArm:
-    line_speed = 100.0
-    line_smooth = 9
-    line_tool = 1
-
-    global_speed = 100
-    physical_speed = 50
-    # laser_id = 15
-    laser_id = 14
-    # filename = 'half-sphere-no-angle'
-    filename = "half-sphere"
-
-    pass_size = 4
-
-    def __init__(self, *args, **kwargs):
-        self.socket = socket.socket()
-        self.host = MODBUS_SERVER_HOST
-        self.port = 9760
-
-        # self.host = "127.0.0.1"
-        # self.port = 65432
-        
-        self.tkinter_root = tkinter.Tk()
-
-        self.connect()
-
-    def __exit__(self, exc_type, exc_value, traceback):
-        self.socket.close()
-        
-    def close(self):
-        self.socket.close()
-        self.tkinter_root.destroy()
-        sys.exit()
-
-    def set_text(self, text):
-        label = tkinter.Label(self.tkinter_root, text=text)
-        label.pack()
-        self.tkinter_root.update()
-
-    def connect(self):
-        self.socket.connect((self.host, self.port))
-
-        self.tkinter_root.geometry("500x300")
-
-        self.get_axis()
-        self.set_text(text=f"Координаты осей {self.start_axis_coordinates}")
-
-        self.get_world()
-        self.set_text( text=f"Мировые координаты {self.start_world_coordinates}")
-
-        self.get_command_count()
-        self.set_text( text=f"Команд в очереди {self.remote_command_count}")
-
-        self.send_data(self.set_global_speed())
-        self.set_text( text=f"Установили глобальную скорость {self.global_speed}")
-
-        self.send_data(self.start_cycle())
-        self.set_text( text=f"Старт одиночного цикла")
-
-        self.add_rcc_list = (
-            [self.set_physical_speed(True), self.set_output_laser(True)]
-            + self.steps_from_file()
-            + [self.set_physical_speed(False), self.set_output_laser(False)]
-        )
-
-        my_label = tkinter.Label(self.tkinter_root, text=f"Отправка данных")
-        my_label.pack()
-        self.tkinter_root.update()
-        
-        exit_button = tkinter.Button(self.tkinter_root, text="Exit", command=self.close) 
-        exit_button.pack(pady=20) 
-        
-        step = 2
-        for i in range(0, len(self.add_rcc_list), step):
-            print(f"Отправка данных {i}...{i+step-1}")
-            # self.update_text(m, text=f"Отправка данных {i}...{i+step-1}")
-            my_label.config(text=f"Отправка данных {i}...{i+step-1}")
-            self.tkinter_root.update()
-
-            self.send_data(
-                make_addrcc_data(self.add_rcc_list[i : i + step], int(not i))
-            )
-            time.sleep(0.5)
-
-    def send_data(self, data):
-        response = None
-        # if data["reqType"] == "AddRCC":
-        #     return
-        self.socket.send(str.encode(json.dumps(data)))
-        response_data = self.socket.recv(1024)
-        response = json.loads(response_data)
-
-        if data["reqType"] == "query":
-            return response["queryData"]
-        elif data["reqType"] == "command":
-            return response["cmdReply"]
-        elif data["reqType"] == "AddRCC" and "cmdReply" in response.keys():
-            return response["cmdReply"]
-        else:
-            pprint(response)
-
-    def get_axis(self):
-        axis_coord_raw = self.send_data(
-            make_query_data(
-                ["axis-0", "axis-1", "axis-2", "axis-3", "axis-4", "axis-5"]
-            )
-        )
-        self.start_axis_coordinates = [float(i) for i in axis_coord_raw]
-        print("start_axis_coordinates", self.start_axis_coordinates)
-
-    def get_world(self):
-        world_coord_raw = self.send_data(
-            make_query_data(
-                ["world-0", "world-1", "world-2", "world-3", "world-4", "world-5"]
-            )
-        )
-        self.start_world_coordinates = [float(i) for i in world_coord_raw]
-        print("start_world_coordinates", self.start_world_coordinates)
-
-    def get_command_count(self):
-        res = self.send_data(make_query_data(["RemoteCmdLen"]))
-        self.remote_command_count = res
-        print(res)
-
-    def set_global_speed(self):
-        # Изменили глобальную скорость на global_speed%
-        return make_command_data(["modifyGSPD", str(self.global_speed * 10)])
-
-    def start_cycle(self):
-        return make_command_data(["actionSingleCycle"])
-
-    def round(v):
-        return round(v, 3)
-
-    def make_world_step(self, type, point):
-        step = {
-            "oneshot": "0",
-            "delay": "0.0",
-            "speed": str(self.line_speed),
-            "smooth": str(self.line_smooth),
-            "coord": "0",
-            "tool": str(self.line_tool),
-            "ckStatus": "0x3F",
-        }
-        if type == "line":
-            pairs = zip(self.start_world_coordinates, point)
-            m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
-            step.update({"action": "10"})
-            step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
-            step.update({"m6": 0, "m7": 0})
-        elif type == "curve":
-            pairs = zip(self.start_world_coordinates, point[:5])
-            m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
-
-            pairs_p = zip(self.start_world_coordinates, point[6:])
-            m0_p, m1_p, m2_p, m3_p, m4_p, m5_p = [round(sum(i), 3) for i in pairs_p]
-            step.update({"action": "17"})
-            step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
-            step.update({"m6": 0, "m7": 0})
-            step.update(
-                {
-                    "m0_p": m0_p,
-                    "m1_p": m1_p,
-                    "m2_p": m2_p,
-                    "m3_p": m3_p,
-                    "m4_p": m4_p,
-                    "m5_p": m5_p,
-                }
-            )
-            step.update({"m6_p": 0, "m7_p": 0})
-
-        for s in step:
-            step[s] = str(step[s])
-        return step
-
-    def set_physical_speed(self, status: bool = False):
-        return (
-            {
-                "oneshot": "0",
-                "action": "51",
-                "isUse": str(int(status)),
-                "speed": str(self.physical_speed * 1000),
-            },
-        )
-
-    def set_output_laser(self, status: bool = False):
-        return (
-            {
-                "oneshot": "0",
-                "action": "200",
-                "type": "0",
-                "io_status": str(int(status)),
-                "point": str(self.laser_id),
-            },
-        )
-
-    def steps_from_file(self):
-        result = []
-        with open(f"data/{self.filename}.nc.result", "r") as fp:
-            for line in fp:
-                data = line.strip().split(" ")
-                prep = {}
-                for item in data:
-                    prep[item[:1]] = float(item[1:])
-                result.append(
-                    self.make_world_step(
-                        "line",
-                        (
-                            prep.get("X", 0),
-                            prep.get("Y", 0),
-                            prep.get("Z", 0),
-                            prep.get("U", 0),
-                            prep.get("V", 0),
-                            prep.get("W", 0),
-                        ),
-                    )
-                )
-        return result
-
-
-SocketRobotArm()

data/test.nc.result

@@ -0,0 +1,11 @@
+X0 Y0 Z0
+X-300 Y0 Z0
+X-300 Y-300 Z0
+X0 Y-300 Z0
+X0 Y0 Z0
+X0 Y0 Z300
+X-300 Y0 Z300
+X-300 Y-300 Z300
+X0 Y-300 Z300
+X0 Y0 Z300
+X0 Y0 Z0

gui/command.py

@@ -0,0 +1,55 @@
+from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
+from PyQt6.QtCore import QTimer, Qt
+import time
+from logger import logger
+
+
+class Command(QWidget):
+    def __init__(self, startCommand, changeType, command_data, command_type):
+        super().__init__()
+
+        self.command_data = command_data
+        self.command_type = command_type
+        self.startCommand = startCommand
+        self.changeType = changeType
+
+        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.stepLabel = QLabel(text="Загрузка данных")
+        self.commandLabel = QLabel(text="Тип загрузки")
+
+        for l in [self.commandLabel, self.stepLabel]:
+            l.setWordWrap(True)
+            self.layout.addWidget(l)
+
+        self.updButton = QPushButton("Запустить single cycle")
+        self.updButton.clicked.connect(self.startCommand)
+        self.layout.addWidget(self.updButton)
+
+        self.chgButton = QPushButton("Изменить тип")
+        cur_types = ["base", "calc", "pallette"]
+        self.chgButton.clicked.connect(
+            lambda: self.changeType(
+                cur_types[(cur_types.index(self.command_type()) + 1) % len(cur_types)]
+            )
+        )
+        self.layout.addWidget(self.chgButton)
+
+    def paintEvent(self, event):
+        # Установка цвета фона
+        self.setAutoFillBackground(True)
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
+        self.setPalette(p)
+
+    def updateState(self):
+        self.stepLabel.setText(f"{self.command_data()}")
+        self.commandLabel.setText(f"Тип загрузки {self.command_type()}")

gui/filename.py

@@ -0,0 +1,55 @@
+import time
+from PyQt6.QtWidgets import (
+    QWidget,
+    QVBoxLayout,
+    QLabel,
+    QRadioButton,
+    QPushButton,
+    QButtonGroup,
+)
+from PyQt6.QtCore import Qt, QTimer
+
+from logger import logger
+
+class ChangeFile(QWidget):
+    def __init__(self, files, getFilename, setFilename):
+        super().__init__()
+        self.files = files or []
+        self.getFilename = getFilename
+        self.setFilename = setFilename
+
+        self.initUI()
+        self.old_status = None
+        self.counter = 0
+
+    def initUI(self):
+        self.layout = QVBoxLayout()
+
+        self.fileLabel = QLabel("Выберите файл")
+        self.layout.addWidget(self.fileLabel)
+
+        self.buttonGroup = QButtonGroup(self)
+        self.fileRadio = []
+
+        for i, r in enumerate(self.files):
+            radioButton = QRadioButton(r)
+            self.buttonGroup.addButton(radioButton, i)
+            self.fileRadio.append(radioButton)
+            self.layout.addWidget(radioButton)
+
+        self.setButton = QPushButton("Указать")
+        self.setButton.clicked.connect(self.setFilenameFunc)
+        self.layout.addWidget(self.setButton)
+
+        self.setLayout(self.layout)
+
+    def setFilenameFunc(self):
+        selectedId = self.buttonGroup.checkedId()
+        v = self.files[selectedId].split('.')[0]
+        self.setFilename(v)
+
+    def paintEvent(self, event):
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
+        self.setPalette(p)
+        super().paintEvent(event)

gui/imitator.py

@@ -0,0 +1,42 @@
+from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
+from PyQt6.QtCore import QTimer, Qt
+import time
+from logger import logger
+
+
+class Imitator(QWidget):
+    def __init__(self, startImitate, imitate_point):
+        super().__init__()
+
+        self.imitate_point = imitate_point
+        self.startImitate = startImitate
+        
+        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.stepLabel = QLabel(f"Отправлено шагов {0}")
+
+        for l in [self.stepLabel]:
+            l.setWordWrap(True)
+            self.layout.addWidget(l)
+
+        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.GlobalColor.lightGray)
+        self.setPalette(p)
+        
+    def updateState(self):
+        self.stepLabel.setText(f"Отправлено шагов {self.imitate_point()}")

gui/informer.py

@@ -0,0 +1,51 @@
+from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
+from PyQt6.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
+        
+        self.timer = QTimer()
+        self.timer.timeout.connect(self.updateState)
+        self.timer.start(int(100)) 
+        
+        # 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.updateData)
+        self.layout.addWidget(self.updButton)
+        
+
+        
+    def paintEvent(self, event):
+        # Установка цвета фона
+        self.setAutoFillBackground(True)
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
+        self.setPalette(p)
+
+    def updateState(self):
+        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()}')

gui/init.py

@@ -0,0 +1,126 @@
+import sys
+from PyQt6.QtWidgets import QApplication, QWidget, QVBoxLayout, QHBoxLayout
+from PyQt6.QtCore import Qt
+from PyQt6.QtGui import QColor, QPalette
+from gui.robot import ChangeRobot
+from gui.filename import ChangeFile
+from gui.status import Status
+from gui.informer import Informer
+from gui.imitator import Imitator
+from gui.command import Command
+from gui.visualize import Visualize
+from gui.palletizing import Palletizing
+from gui.observable import Observable
+from logger import logger
+
+
+class MyPanel(QWidget):
+    def __init__(self, panels, color):
+        super().__init__()
+
+        layout = QVBoxLayout()
+        for panel in panels:
+            layout.addWidget(panel)
+
+        self.color = QColor(*color)
+        self.setLayout(layout)
+        self.initUI()
+
+    def initUI(self):
+        palette = self.palette()
+        palette.setColor(QPalette.ColorRole.Window, self.color)
+        self.setAutoFillBackground(True)
+        self.setPalette(palette)
+
+
+class MainContentComponent(QWidget):
+    def __init__(self, **kwargs):
+        super().__init__()
+
+        self.observable = Observable(kwargs.get("get_status"))
+        self.observable.value_changed.connect(self.handle_value_change)
+
+        robotArgs = kwargs.get("robotPanel", {})
+        self.robotPanel = ChangeRobot(**robotArgs)
+
+        statusArgs = kwargs.get("statusPanel", {})
+        self.statusPanel = Status(**statusArgs)
+
+        informerArgs = kwargs.get("informerPanel", {})
+        self.informerPanel = Informer(**informerArgs)
+        
+        filenameArgs = kwargs.get("filenamePanel", {})
+        self.filenamePanel = ChangeFile(**filenameArgs)
+        
+        imitatorArgs = kwargs.get("imitatorPanel", {})
+        self.imitatorPanel = Imitator(**imitatorArgs)
+        
+        commandArgs = kwargs.get("commandPanel", {})
+        self.commandPanel = Command(**commandArgs)
+        
+        palletizingArgs = kwargs.get("palletizingPanel", {})
+        self.palletizingPanel = Palletizing(**palletizingArgs)
+
+        self.rightPanel = MyPanel(
+            panels=[
+                # self.statusPanel,
+                self.robotPanel,
+                self.informerPanel,
+                # self.filenamePanel,
+                # self.imitatorPanel,
+                self.palletizingPanel,
+                self.commandPanel,
+            ],
+            color=(169, 169, 169),
+        )
+
+        visArgs = kwargs.get("visPanel", {})
+        self.visPanel = Visualize(**visArgs)
+        self.mainPanel = MyPanel(
+            panels=[
+                self.visPanel,
+            ],
+            color=(200, 200, 200),
+        )
+
+        layout = QHBoxLayout()
+        layout.addWidget(self.mainPanel)
+        layout.addWidget(self.rightPanel)
+
+        self.setLayout(layout)
+        self.setFixedSize(800, 800)
+        self.initUI()
+
+    def initUI(self):
+        palette = QPalette()
+        palette.setColor(QPalette.ColorRole.Window, QColor(240, 240, 240))
+        self.setPalette(palette)
+
+    def resizeEvent(self, event):
+        width = self.width()
+        rightPanelWidth = int(width * 0.25)
+        self.rightPanel.setFixedWidth(rightPanelWidth)
+        super().resizeEvent(event)
+
+    def handle_value_change(self, new_value):
+        panels = [
+            self.informerPanel,
+            self.filenamePanel,
+            self.imitatorPanel,
+            self.commandPanel,
+            self.palletizingPanel,
+        ]
+        for p in panels:
+            if new_value == "not_connected":
+                p.setDisabled(True)
+            if new_value == "connected":
+                p.setDisabled(False)
+
+
+if __name__ == "__main__":
+    app = QApplication(sys.argv)
+    mainWindow = MainContentComponent(
+        robotPanel={"arg1": "value1"}, statusPanel={"arg1": "value1"}
+    )
+    mainWindow.show()
+    sys.exit(app.exec_())

gui/observable.py

@@ -0,0 +1,22 @@
+from PyQt6.QtCore import pyqtSignal, QObject, QTimer
+from logger import logger
+
+class Observable(QObject):
+    value_changed = pyqtSignal(object)  # Сигнал с переданным значением
+
+    def __init__(self, func, interval=1000):
+        super().__init__()
+        self.get_dynamic_value = func
+        self._value = None
+        
+        # Таймер для периодической проверки значения
+        self.timer = QTimer(self)
+        self.timer.timeout.connect(self.check_function)  # Вызываем some_function на каждом таймере
+        self.timer.start(interval)  # Интервал в миллисекундах
+
+    def check_function(self):
+        # Пример функции, которая обновляет значение
+        new_value = self.get_dynamic_value()
+        if new_value != self._value:
+            self._value = new_value
+            self.value_changed.emit(new_value)

gui/palletizing.py

@@ -0,0 +1,40 @@
+from PyQt6.QtWidgets import QWidget, QVBoxLayout, QPushButton, QLabel
+from PyQt6.QtCore import Qt, QTimer
+
+from logger import logger
+
+
+class Palletizing(QWidget):
+    def __init__(self, load_palletizing, start_moving):
+        super().__init__()
+        self.load_palletizing = load_palletizing
+        self.start_moving = start_moving
+        self.initUI()
+
+    def initUI(self):
+        self.layout = QVBoxLayout()
+
+        self.robotsLabel = QLabel("Паллетирование")
+        self.layout.addWidget(self.robotsLabel)
+
+        self.palletButton = QPushButton("Визуализировать")
+        self.palletButton.clicked.connect(self.startPalletzing)
+        self.layout.addWidget(self.palletButton)
+        
+        self.startButton = QPushButton("Конвейер")
+        self.startButton.clicked.connect(self.startMoving)
+        self.layout.addWidget(self.startButton)
+
+        self.setLayout(self.layout)
+
+    def startPalletzing(self):
+        self.load_palletizing()
+        
+    def startMoving(self):
+        self.start_moving()
+
+    def paintEvent(self, event):
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
+        self.setPalette(p)
+        super().paintEvent(event)

gui/robot.py

@@ -0,0 +1,87 @@
+import time
+from PyQt6.QtWidgets import (
+    QWidget,
+    QVBoxLayout,
+    QLabel,
+    QRadioButton,
+    QPushButton,
+    QButtonGroup,
+)
+from PyQt6.QtCore import Qt, QTimer
+
+from logger import logger
+
+class ChangeRobot(QWidget):
+    def __init__(self, robots, updateRobot, status):
+        super().__init__()
+        self.robots = robots or []
+        self.updateRobot = updateRobot
+        self.status = status
+
+        self.initUI()
+        self.old_status = None
+        self.counter = 0
+
+        self.timer = QTimer(self)
+        self.timer.timeout.connect(self.timerCallback)
+
+    def initUI(self):
+        self.layout = QVBoxLayout()
+
+        self.robotsLabel = QLabel("Выберите робота")
+        self.layout.addWidget(self.robotsLabel)
+
+        self.buttonGroup = QButtonGroup(self)
+        self.robotsRadio = []
+
+        for i, r in enumerate(self.robots):
+            radioButton = QRadioButton(r["name"])
+            self.buttonGroup.addButton(radioButton, i)
+            self.robotsRadio.append(radioButton)
+            self.layout.addWidget(radioButton)
+
+        self.connectButton = QPushButton("Соединить")
+        self.connectButton.clicked.connect(self.connectRobot)
+        self.layout.addWidget(self.connectButton)
+
+        self.setLayout(self.layout)
+        self.updateConnectButtonText()
+
+    def updateConnectButtonText(self):
+        radioState = True
+        if self.status() == "not_connected":
+            self.connectButton.setText("Соединить")
+        elif self.status() == "connected":
+            self.connectButton.setText("Отключить")
+            radioState = False
+
+        for radioButton in self.robotsRadio:
+            radioButton.setEnabled(radioState)
+
+    def timerCallback(self):
+        new_status = self.status()
+        self.counter += 1
+        if new_status == self.old_status and self.counter <= 10:
+            self.connectButton.setText(self.connectButton.text() + ".")
+        else:
+            self.old_status = None
+            self.timer.stop()
+            self.updateConnectButtonText()
+
+    def connectRobot(self):
+        self.updateConnectButtonText()
+        selectedId = self.buttonGroup.checkedId()
+        if selectedId == -1:
+            self.connectButton.setText("Выберите робота")
+            return
+
+        self.old_status = self.status()
+        self.timer.start(500)
+        time.sleep(0.3)
+        self.updateRobot(self.robots[selectedId])
+
+    def paintEvent(self, event):
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
+        self.setPalette(p)
+        super().paintEvent(event)

gui/status.py

@@ -0,0 +1,37 @@
+from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QApplication
+from PyQt6.QtCore import QTimer, Qt
+
+class Status(QWidget):
+    def __init__(self, status):
+        super().__init__()
+        
+        self.status = status
+        
+        # Инициализация пользовательского интерфейса
+        self.initUI()
+        
+        # Таймер для обновления статуса
+        self.timer = QTimer(self)
+        self.timer.timeout.connect(self.updateStatus)
+        self.timer.start(1000)  # Обновление каждые 1000 мс (1 секунда)
+
+    def initUI(self):
+        self.layout = QVBoxLayout()
+
+        # Создание метки для отображения статуса
+        self.statusLabel = QLabel(self.status())
+        self.layout.addWidget(self.statusLabel)
+
+        self.setLayout(self.layout)
+        self.setFixedHeight(100)
+        
+    def paintEvent(self, event):
+        # Установка цвета фона
+        self.setAutoFillBackground(True)
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.lightGray)
+        self.setPalette(p)
+
+    def updateStatus(self):
+        # Обновление текста метки статуса
+        self.statusLabel.setText(self.status())

gui/visualize.py

@@ -0,0 +1,53 @@
+import time
+import numpy as np
+
+from PyQt6.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QSizePolicy
+from PyQt6.QtGui import QImage, QPixmap
+from PyQt6.QtCore import Qt, QTimer
+
+from logger import logger
+
+
+class Visualize(QWidget):
+    def __init__(self, get_pybullet_image):
+        super().__init__()
+        self.get_pybullet_image = get_pybullet_image
+
+        # Настройка компоновки
+        self.layout = QVBoxLayout(self)
+        self.layout.setContentsMargins(0, 0, 0, 0)  # Убираем отступы по краям
+
+        self.h_layout = QHBoxLayout()
+        self.h_layout.setContentsMargins(0, 0, 0, 0)  # Убираем отступы по краям
+
+        self.label = QLabel(self)
+        self.layout.addWidget(self.label)
+
+        # Таймер для обновления изображения
+        self.timer = QTimer()
+        self.timer.timeout.connect(self.update_image)
+        self.timer.start(300) 
+
+    def update_image(self):
+        res = self.get_pybullet_image()
+
+        if not res:
+            return
+
+        (rgb, width, height) = res
+        rgb_array = np.array(rgb, dtype=np.uint8)
+        bytesPerLine = 4 * width
+        # print(type(rgb))
+        image = QImage(rgb_array, width, height, bytesPerLine, QImage.Format.Format_RGBA8888).rgbSwapped()
+        image = image.convertToFormat(QImage.Format.Format_RGB888)
+        pixmap = QPixmap.fromImage(image)
+
+        self.label.setPixmap(pixmap)
+        self.label.setAlignment(Qt.AlignmentFlag.AlignHCenter)
+        self.label.update()
+
+    def paintEvent(self, event):
+        p = self.palette()
+        p.setColor(self.backgroundRole(), Qt.GlobalColor.magenta)
+        self.setPalette(p)
+        super().paintEvent(event)

logger.py

@@ -0,0 +1,14 @@
+import sys
+import logging
+
+# Настройка логгера
+logging.basicConfig(
+    level=logging.DEBUG,  # Уровень логирования
+    format="%(asctime)s - %(name)s - %(levelname)s - %(message)s - %(filename)s - %(lineno)d",
+    handlers=[
+        logging.FileHandler("app.log"),  # Запись в файл
+        logging.StreamHandler(sys.stdout),  # Вывод в консоль
+    ],
+)
+
+logger = logging.getLogger("logger")

main.py

@@ -0,0 +1,202 @@
+import os
+import sys
+import glob
+import json
+import time
+import argparse
+import threading
+from PyQt6.QtCore import QThread
+from PyQt6.QtWidgets import QApplication
+
+from robot.client_socket import SocketRobotArm
+from gui.init import MainContentComponent
+from logger import logger
+
+
+class MyApp:
+    if getattr(sys, "frozen", False):
+        # Если приложение собрано в один файл
+        application_path = os.path.dirname(sys.executable)
+    else:
+        # Если приложение запускается как скрипт
+        application_path = os.path.dirname(os.path.abspath(__file__))
+
+    robots_json_path = os.path.join(application_path, "robots.json")
+
+    with open(robots_json_path, "r") as file:
+        robots = json.load(file)
+
+    robot_app = None
+
+    def __init__(self, mode):
+        self.mode = mode
+
+        self.startGui()
+        self.startRobot()
+        self.startWindow()
+
+    def startGui(self):
+        self.app = QApplication(sys.argv)
+        mainWindow = MainContentComponent(
+            get_status=self.get_status,
+            robotPanel={
+                "robots": self.robots,
+                "updateRobot": self.updateRobot,
+                "status": self.get_status,
+            },
+            statusPanel={
+                "status": self.get_status,
+            },
+            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,
+            },
+            commandPanel={
+                "startCommand": self.command_wrapper,
+                "changeType": self.change_type_wrapper,
+                "command_data": self.get_command_data,
+                "command_type": self.get_command_type,
+            },
+            visPanel={
+                "get_pybullet_image": self.get_pybullet_image_wrapper,
+            },
+            filenamePanel={
+                "files": self.get_data_files(),
+                "getFilename": self.get_filename,
+                "setFilename": self.set_filename,
+            },
+            palletizingPanel={
+                "load_palletizing": self.load_palletizing,
+                "start_moving": self.start_moving
+            },
+        )
+        mainWindow.setWindowTitle("ROBOT GUI")
+        self.window = mainWindow
+
+    def get_data_files(self):
+        files = glob.glob(f"{self.application_path}/data/*.nc.result")
+        return [os.path.basename(x) for x in files]
+
+    def startWindow(self):
+        self.window.show()
+        sys.exit(self.app.exec())
+
+    def startRobot(self):
+        self.robot_app = SocketRobotArm(application_path=self.application_path)
+        # Запускаем SocketRobotArm в отдельном потоке
+        threading.Thread(target=self.run_robot_arm, daemon=True).start()
+
+    def run_robot_arm(self):
+        time.sleep(1)
+        self.robot_app.start("SHARED_MEMORY")
+
+    def updateRobot(self, robot):
+        if robot in self.robots:
+            selected_robot = robot
+            if self.mode == "test":
+                robot["host"] = "127.0.0.1"
+
+            if self.robot_app.status == "connected":
+                self.robot_app.close()
+                time.sleep(0.3)
+            else:
+                self.robot_app.connect(
+                    selected_robot["host"], selected_robot["slave_id"]
+                )
+                self.robot_app.start_loop(selected_robot["urdf"])
+
+    def check_robot_app(func):
+        def wrapper(self, *args, **kwargs):
+            if self.robot_app:
+                return func(self, *args, **kwargs)
+            else:
+                logger.info(f"robot_app еще не инициализирован. Метод: {func.__name__}")
+                return None  # Или любое значение по умолчанию
+
+        return wrapper
+
+    @check_robot_app
+    def get_status(self):
+        return self.robot_app.get_status()
+
+    @check_robot_app
+    def get_world_coordinates(self):
+        return self.robot_app.world_coordinates
+
+    @check_robot_app
+    def get_axis_coordinates(self):
+        return self.robot_app.axis_coordinates
+
+    @check_robot_app
+    def get_command_count(self):
+        return self.robot_app.command_count
+
+    @check_robot_app
+    def get_command_data(self):
+        return self.robot_app.get_command_data()
+
+    @check_robot_app
+    def get_command_type(self):
+        return self.robot_app.get_command_type()
+
+    @check_robot_app
+    def get_imitate_point(self):
+        return self.robot_app.get_imitate_point()
+
+    @check_robot_app
+    def change_type_wrapper(self, type="base"):
+        return self.robot_app.set_command_type(type)
+
+    @check_robot_app
+    def command_wrapper(self, *args, **kwargs):
+        # logger.info(args)
+        # logger.info(kwargs)
+        return self.robot_app.cycle_start()
+
+    @check_robot_app
+    def imitate_wrapper(self, *args, **kwargs):
+        return self.robot_app.imitate()
+
+    @check_robot_app
+    def update_data_wrapper(self, *args, **kwargs):
+        return self.robot_app.upd_model()
+
+    @check_robot_app
+    def get_pybullet_image_wrapper(self):
+        return self.robot_app.get_pybullet_image()
+
+    @check_robot_app
+    def get_filename(self):
+        return self.robot_app.filename
+
+    @check_robot_app
+    def set_filename(self, filename):
+        self.robot_app.filename = filename
+
+    @check_robot_app
+    def load_palletizing(self):
+        return self.robot_app.load_palletizing()
+    
+    @check_robot_app
+    def start_moving(self):
+        return self.robot_app.start_moving()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="MyApp Command Line Interface")
+    parser.add_argument(
+        "--mode",
+        type=str,
+        choices=["test", "prod"],
+        default="prod",
+        help="Mode of operation",
+    )
+    # MyApp()
+    args = parser.parse_args()
+    app = MyApp(args.mode)

main.spec

@@ -0,0 +1,39 @@
+# -*- mode: python ; coding: utf-8 -*-
+
+
+a = Analysis(
+    ['main.py'],
+    pathex=['.', './.venv', './.venv/Lib', './.venv/Lib/site-packages', 'robot/', 'gui/'],
+    binaries=[],
+    datas=[('robots.json', '.'), ('urdf', 'urdf'), ('data', 'data')],
+    hiddenimports=['numpy', 'libpython3.10'],
+    hookspath=[],
+    hooksconfig={},
+    runtime_hooks=[],
+    excludes=[],
+    noarchive=False,
+    optimize=0,
+)
+pyz = PYZ(a.pure)
+
+exe = EXE(
+    pyz,
+    a.scripts,
+    a.binaries,
+    a.datas,
+    [],
+    name='main',
+    debug=False,
+    bootloader_ignore_signals=False,
+    strip=False,
+    upx=True,
+    upx_exclude=[],
+    runtime_tmpdir=None,
+    console=True,
+    disable_windowed_traceback=False,
+    argv_emulation=False,
+    target_arch=None,
+    codesign_identity=None,
+    entitlements_file=None,
+    contents_directory='test',
+)

packer/packer.py

@@ -0,0 +1,45 @@
+from py3dbp import Packer, Bin, Item
+
+from logger import logger
+
+
+class PalletPacker:
+    def __init__(self, pallet: dict, box: dict):
+        self.pallet_width = pallet.get("x", 1.2)
+        self.pallet_height = pallet.get("y", 0.8)
+        self.pallet_depth = pallet.get("z", 0.144)
+
+        gap = 0
+        self.box_width = box.get("x", 0.2) + gap
+        self.box_height = box.get("y", 0.2) + gap
+        self.box_depth = box.get("z", 0.2)
+
+    def pack(self):
+        packer = Packer()
+        packer.add_bin(
+            Bin(
+                "pallet", self.pallet_width, self.pallet_height, self.pallet_depth, 1000
+            )
+        )
+
+        # Вычисляем, сколько коробок поместится на паллете в один слой
+        num_boxes_x = self.pallet_width // self.box_width
+        num_boxes_y = self.pallet_height // self.box_height
+        num_boxes = int(num_boxes_x * num_boxes_y)
+
+        # Добавляем коробки в пакер
+        for i in range(num_boxes):
+            packer.add_item(
+                Item(f"box{i}", self.box_width, self.box_height, self.box_depth, 1)
+            )
+
+        # Упаковываем коробки
+        packer.pack()
+
+        # Получаем результат
+        coordinates = []
+        for b in packer.bins:
+            for item in b.items:
+                coordinates.append([float(i) for i in item.position])
+
+        return coordinates

palletizing.json

@@ -0,0 +1,969 @@
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+            "points": [
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+                    }
+                }
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+        "commentAction": {
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+        "counterID": "0",
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poetry.lock

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 # This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
 
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 [package.dependencies]
@@ -260,62 +363,28 @@ numpy = ">=1.23.5,<2.3"
 
 [package.extras]
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+test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test (>=5.5)", "packaging (>=24.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-home (>=0.5)", "pytest-perf", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel (>=0.44.0)"]
+type = ["importlib-metadata (>=7.0.2)", "jaraco.develop (>=7.21)", "mypy (>=1.12,<1.14)", "pytest-mypy"]
 
 [[package]]
 name = "tk"
@@ -328,144 +397,7 @@ files = [
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-]
-
-[package.dependencies]
-setuptools = "*"
-
-[package.extras]
-docs = ["Sphinx", "repoze.sphinx.autointerface", "sphinx-rtd-theme"]
-test = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
-testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
-
 [metadata]
 lock-version = "2.0"
-python-versions = "3.10.12"
-content-hash = "a224728a18ef19c1f754e77db7d8cba413724a9a4257af5704b0fad93f833c58"
+python-versions = "^3.10.11"
+content-hash = "6d16510fd35519dee80acbeb09936403172391cc840df3b5be874e6eab27f242"

pybullet_server.spec

@@ -0,0 +1,39 @@
+# -*- mode: python ; coding: utf-8 -*-
+
+
+a = Analysis(
+    ['utils/pybullet_server.py'],
+    pathex=['.', './.venv', './.venv/Lib', './.venv/Lib/site-packages'],
+    binaries=[],
+    datas=[('pyproject.toml', '.'), ('robots.json', '.'), ('urdf', 'urdf'), ('data', 'data')],
+    hiddenimports=['libpython3.10', 'numpy'],
+    hookspath=[],
+    hooksconfig={},
+    runtime_hooks=[],
+    excludes=[],
+    noarchive=False,
+    optimize=0,
+)
+pyz = PYZ(a.pure)
+
+exe = EXE(
+    pyz,
+    a.scripts,
+    a.binaries,
+    a.datas,
+    [],
+    name='pybullet_server',
+    debug=False,
+    bootloader_ignore_signals=False,
+    strip=False,
+    upx=True,
+    upx_exclude=[],
+    runtime_tmpdir=None,
+    console=True,
+    disable_windowed_traceback=False,
+    argv_emulation=False,
+    target_arch=None,
+    codesign_identity=None,
+    entitlements_file=None,
+    contents_directory='test',
+)

pyproject.toml

@@ -4,16 +4,21 @@ version = "0.1.0"
 description = ""
 authors = ["aarizona <ar.ariz.arizona@gmail.com>"]
 readme = "README.md"
+package-mode = false
 
 [tool.poetry.dependencies]
-python = "3.10.12"
-modbus = "^3.2"
-pymodbustcp = "^0.2.2"
+python = "^3.10.11"
 pymodbus = "^3.7.0"
-pymodbus3 = "^1.0.0"
-svgpathtools = "^1.6.1"
 tk = "^0.1.0"
-
+pybullet = "^3.2.5"
+numpy = "^1.23.3"
+popsicle = "^0.9.6"
+pillow = "^11.0.0"
+pyqt6 = "^6.7.1"
+setuptools = "^75.3.0"
+psutil = "^6.1.0"
+pybullet-industrial = "^1.0.3"
+py3dbp = "^1.1.2"
 
 [build-system]
 requires = ["poetry-core"]

robot/__init__.py

@@ -0,0 +1 @@
+from .client_socket import SocketRobotArm

robot/client_modbus.py

@@ -8,23 +8,25 @@ import tkinter as tk
 from func import *
 
 window = tk.Tk()
-window.geometry('520x300')
+window.geometry("520x300")
 label = tk.Label(window, text="Hello, world!")
 label.pack()
 
 
-all_files = glob.glob("data/data.txt")
+all_files = glob.glob("data/*.nc")
 file = all_files[0]
-data = []
-with open(file, "r") as fp:
-    lines = fp.readlines()
-    for l in lines:
-        r = l.strip().split(",")
-        r[1] = float(r[1])
-        r[2] = float(r[2])
-        r[3] = float(r[3])
+data = [
+    ("line", 0, 0, 277.8, 0, 5, 0),
+]
+# with open(file, "r") as fp:
+#     lines = fp.readlines()
+#     for l in lines:
+#         r = l.strip().split(",")
+#         r[1] = float(r[1])
+#         r[2] = float(r[2])
+#         r[3] = float(r[3])
 
-        data.append(r)
+#         data.append(r)
 
 client = ModbusTcpClient(
     host=MODBUS_SERVER_HOST,
@@ -113,5 +115,5 @@ except Exception as e:
 finally:
     client.close()
 
-if __name__=="__main__":
+if __name__ == "__main__":
     window.mainloop()

robot/client_socket.py

@@ -0,0 +1,456 @@
+import socket
+import json
+import os
+import math
+import numpy as np
+
+from typing import Literal
+from pprint import pprint
+
+import threading
+import pybullet as p
+import pybullet_industrial as pi
+
+from logger import logger
+
+from robot.func import *
+from robot.prepare_data import PrepareRobotData
+from robot.urdf_manager import UrdfManager
+from robot.socket_manager import SocketManager
+
+# os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
+
+
+class SocketRobotArm:
+    global_speed = 10
+    physical_speed = 10
+    # laser_id = 15
+    laser_id = 14
+
+    filename = "axis"
+    urdf_filename = "sample"
+
+    pass_size = 4
+    connected_status = Literal["connected", "not_connected", "error"]
+
+    _axis_coordinates = []
+    _world_coordinates = []
+    _command_count = []
+
+    command_type = "base"
+    command_data = None
+
+    motion_type = "reset"
+    motion_type = "normal"
+
+    def __init__(self, application_path, *args, **kwargs):
+        self.socket = None
+        self.host = None
+        self.port = 9760
+        self.slave_id = None
+        self.status: SocketRobotArm.connected_status = "not_connected"
+
+        self.q_app = None
+        self.imitate_point = None
+
+        robot_start_position = [0, 0, 0]
+
+        self.prepare_data = PrepareRobotData()
+        self.socket_manager = SocketManager()
+        self.urdf_manager = UrdfManager(
+            robot_start_position,
+            application_path,
+            self.palletizing,
+        )
+        self.constraint_id = None
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        logger.info("exiting")
+        self.socket.close()
+
+    def start(self, type="DIRECT"):
+        self.urdf_manager.run_pybullet(type)
+
+    def start_loop(self, urdf):
+        self.urdf_manager.start_loop(urdf)
+        self.body_id = self.urdf_manager.body_id
+        self.num_joints = p.getNumJoints(self.body_id)
+
+    def load_palletizing(self):
+        self.urdf_manager.load_palletizing()
+
+    def start_moving(self):
+        self.urdf_manager.conveyor.moving = True
+
+    def get_pybullet_image(self):
+        return self.urdf_manager.get_pybullet_image()
+
+    def close(self):
+        self.socket_manager.close()
+
+    def connect(self, host, slave_id):
+        self.socket_manager.connect(host)
+        with open("delta.json", "w") as f:
+            pass
+
+    def get_status(self):
+        return self.socket_manager.status
+
+    def motionFund(self, radians):
+        if self.motion_type == "reset":
+            for index, r in enumerate(radians):
+                p.resetJointState(self.urdf_manager.body_id, index, r)
+            time.sleep(0.3)
+        else:
+            p.setJointMotorControlArray(
+                self.urdf_manager.body_id,
+                [i for i in range(len(radians))],
+                p.POSITION_CONTROL,
+                radians,
+            )
+            time.sleep(1)
+
+    def upd_model(self):
+        threading.Thread(target=self.upd_model_func, daemon=True).start()
+
+    def upd_model_func(self):
+        self.get_coordinates("axis")
+        self.set_text(text=f"Координаты осей {self.axis_coordinates}")
+        time.sleep(0.5)
+
+        self.get_coordinates("world")
+        self.set_text(text=f"Мировые координаты {self.world_coordinates}")
+        time.sleep(0.5)
+
+        self._fetch_command_count()
+        time.sleep(0.5)
+
+        axisJointPoses = self.axis_coordinates
+        self.motionFund(np.radians(axisJointPoses))
+
+        time.sleep(0.5)
+
+        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)
+            for i in range(self.num_joints):
+                v = worldJointPoses[i] if i < len(worldJointPoses) else 0
+                self.motionFund(worldJointPoses)
+
+            time.sleep(0.5)
+
+            calcWorldPosition = p.getLinkState(
+                self.urdf_manager.body_id,
+                self.num_joints - 1,
+                computeForwardKinematics=True,
+            )
+            calcWorldPosition = list(
+                [p * 1000 for p in calcWorldPosition[0]]
+                + [
+                    np.degrees(p)
+                    for p in p.getEulerFromQuaternion(calcWorldPosition[1])
+                ]
+            )
+            time.sleep(0.5)
+
+            position_diff = np.linalg.norm(
+                self.world_coordinates[:3] - np.array(calcWorldPosition[: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,
+            )
+
+        self.set_text(text=f"Команд в очереди {self.command_count}")
+        time.sleep(0.5)
+
+    def cycle_base(self):
+        self.upd_model()
+
+        self.send_data(self.set_global_speed())
+        self.set_text(text=f"Установили глобальную скорость {self.global_speed}")
+        time.sleep(0.5)
+
+    def cycle_start(self):
+        self.send_data(self.start_cycle())
+        self.set_text(text=f"Старт одиночного цикла")
+        time.sleep(0.5)
+
+        if self.command_type == "base":
+            commands = self.steps_from_file()
+        if self.command_type == "calc":
+            commands = self.convert_point_to_free()
+        if self.command_type == "pallette":
+            commands = self.get_palletizing_json()
+        with open(f"log/{self.command_type}.json", "w") as myfile:
+            myfile.write(json.dumps(commands))
+
+        self.add_rcc_list = (
+            [self.set_physical_speed(True), self.set_output_laser(True)]
+            + commands
+            + [self.set_physical_speed(False), self.set_output_laser(False)]
+        )
+
+        step = 4
+        empty = 1
+        for i in range(0, len(self.add_rcc_list), step):
+            self.command_data = f"Отправка данных {i}...{i+step-1}"
+
+            self.send_data(make_addrcc_data(self.add_rcc_list[i : i + step], empty))
+            empty = 0
+            time.sleep(0.05)
+
+    def imitate(self):
+        threading.Thread(target=self.imitate_func, daemon=True).start()
+
+    def palletizing(self, position, box_id, counter):
+        dir_wall = (self.urdf_manager.conv_direction + 1) % 2
+
+        near_position = position[:]
+        near_position[dir_wall] -= 0.4
+
+        object_position = position[:]
+        object_position[dir_wall] -= 0.02
+
+        pallet_position = self.urdf_manager.packing[
+            counter % len(self.urdf_manager.packing)
+        ]
+        logger.info(f"pallete {pallet_position}")
+
+        base1_position = pallet_position[:]
+        base1_position[0] -= 0.2
+        base1_position[2] += 0.2
+        
+        base_position = pallet_position[:]
+        base_position[0] -= 0.2
+        
+        drop_position = pallet_position[:]
+        drop_position[0] -= 0.4
+        drop_position[2] += 0.4
+
+        json_res = []
+        tool_pos = [0, 0, 0]
+
+        steps = [
+            {"type": "move", "coordinates": near_position},
+            {"type": "move", "coordinates": object_position},
+            {"type": "create_constraint"},
+            {"type": "move", "coordinates": base1_position},
+            {"type": "move", "coordinates": base_position},
+            {"type": "move", "coordinates": pallet_position},
+            {"type": "remove_constraint"},
+            {"type": "move", "coordinates": base_position},
+            {"type": "move", "coordinates": base1_position},
+            {"type": "move", "coordinates": drop_position},
+        ]
+        constraint_id = None
+
+        for step in steps:
+            if step["type"] == "move":
+                # logger.info(step["coordinates"])
+                jointPoses = self.convert_to_joint_base(
+                    step["coordinates"],
+                    np.radians(tool_pos),
+                )
+                json_res.append(
+                    self.prepare_data.make_step(
+                        "free", np.degrees(jointPoses), [0, 0, 0, 0, 0, 0]
+                    )
+                )
+                self.motionFund(jointPoses)
+                # time.sleep(2)
+            if step["type"] == "create_constraint":
+                link_state = p.getLinkState(self.body_id, self.num_joints - 1)
+                orientation = link_state[1]
+                constraint_id = p.createConstraint(
+                    parentBodyUniqueId=self.body_id,
+                    parentLinkIndex=self.num_joints - 1,
+                    childBodyUniqueId=box_id,
+                    childLinkIndex=-1,
+                    jointType=p.JOINT_FIXED,
+                    jointAxis=[0, 0, 0],
+                    parentFramePosition=[0, 0, 0],
+                    childFramePosition=[0, 0.2, 0],
+                    parentFrameOrientation=p.getQuaternionFromEuler(
+                        np.radians([0, 0, 90])
+                    ),
+                    childFrameOrientation=orientation,
+                )
+            if step["type"] == "remove_constraint":
+                time.sleep(0.5)
+                p.removeConstraint(constraint_id)
+                # time.sleep(0.5)
+                
+                # p.resetBasePositionAndOrientation(
+                #     box_id,
+                #     pallet_position,
+                #     p.getQuaternionFromEuler(np.radians([0, 0, 0])),
+                # )
+
+        with open(f"data/palletizing.json", "w") as myfile:
+            myfile.write(json.dumps(json_res))
+
+        self.urdf_manager.conveyor.conveyor_stopped = False
+
+    def set_text(self, text):
+        logger.info(text)
+
+    def send_data(self, data):
+        return self.socket_manager.send_data(data)
+
+    def get_coordinates(self, coord_type: Literal["axis", "world"] = "axis"):
+        request = make_query_data([f"{coord_type}-{i}" for i in range(6)])
+        result = self.send_data(request)
+        if not result:
+            return
+        data = [float(i) for i in result]
+        if coord_type == "axis":
+            self._axis_coordinates = data
+        elif coord_type == "world":
+            self._world_coordinates = data
+
+    @property
+    def axis_coordinates(self):
+        return self._axis_coordinates
+
+    @property
+    def world_coordinates(self):
+        return self._world_coordinates
+
+    def _fetch_command_count(self):
+        request = make_query_data(["RemoteCmdLen"])
+        result = self.send_data(request)
+        self._command_count = result
+
+    @property
+    def command_count(self):
+        return self._command_count
+
+    def set_command_type(self, data):
+        self.command_type = data
+
+    def get_command_type(self):
+        return self.command_type
+
+    def get_command_data(self):
+        return self.command_data
+
+    def get_imitate_point(self):
+        return self.imitate_point
+
+    def set_global_speed(self):
+        return make_command_data(["modifyGSPD", str(self.global_speed * 10)])
+
+    def start_cycle(self):
+        return make_command_data(["actionSingleCycle"])
+
+    def set_physical_speed(self, status: bool = False):
+        return (
+            {
+                "oneshot": "0",
+                "action": "51",
+                "isUse": str(int(status)),
+                "speed": str(self.physical_speed * 1000),
+            },
+        )
+
+    def set_output_laser(self, status: bool = False):
+        return (
+            {
+                "oneshot": "0",
+                "action": "200",
+                "type": "0",
+                "io_status": str(int(status)),
+                "point": str(self.laser_id),
+            },
+        )
+
+    def imitate_func(self):
+        points = self.convert_point_to_free()
+        for point in points:
+            jointPoses = [np.radians(float(point[f"m{i}"])) for i in range(6)]
+            self.motionFund(jointPoses)
+
+    def get_palletizing_json(self):
+        with open(f"data/palletizing.json", "r") as fp:
+            data = json.load(fp)
+        return data
+
+    def convert_point_to_free(self):
+        points = self.steps_from_file()
+        res = []
+        for i, point in enumerate(points):
+            if point["action"] == "10":
+                self.imitate_point = i
+                points = [
+                    point["m0"],
+                    point["m1"],
+                    point["m2"],
+                ]
+                angles = [
+                    point["m3"],
+                    point["m4"],
+                    point["m5"],
+                ]
+                jointPoses = self.convert_to_joint_base(
+                    [float(p) * 0.001 for p in points],
+                    np.radians([float(x) for x in angles]),
+                )
+                res.append(
+                    self.prepare_data.make_step(
+                        "free", np.degrees(jointPoses), [0, 0, 0, 0, 0, 0]
+                    )
+                )
+        return res
+
+    def convert_to_joint_base(self, coordinates, angles):
+        lower_limits = []
+        upper_limits = []
+        for i in range(self.num_joints):
+            limit = p.getJointInfo(self.body_id, i)
+            lower_limits.append(limit[8])
+            upper_limits.append(limit[9])
+
+        joint_angles = p.calculateInverseKinematics(
+            self.body_id,
+            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
+
+    def steps_from_file(self):
+        if not self.world_coordinates:
+            return []
+        result = []
+        with open(f"data/{self.filename}.nc.result", "r") as fp:
+            for line in fp:
+                data = line.strip().split(" ")
+                prep = {}
+                axis = ["X", "Y", "Z", "U", "V", "W"]
+                for item in data:
+                    if item and item[0] and item[0] in axis:
+                        prep[item[:1]] = float(item[1:])
+                if len(prep) > 0:
+                    r = self.prepare_data.make_step(
+                        "line",
+                        (
+                            prep.get("X", 0),
+                            prep.get("Y", 0),
+                            prep.get("Z", 0),
+                            prep.get("U", 0),
+                            prep.get("V", 0),
+                            prep.get("W", 0),
+                        ),
+                        self.world_coordinates,
+                    )
+                    # print(r)
+                    result.append(r)
+        return result

robot/conveyor.py

@@ -0,0 +1,141 @@
+import pybullet as p
+import time
+import threading
+from logger import logger
+
+
+class ConveyorBelt:
+    moving = False
+
+    def __init__(
+        self,
+        size,
+        position,
+        direction,
+        box_size,
+        box_spacing,
+        box_speed,
+        palletizinFunc,
+    ):
+        self.direction = direction
+
+        self.conveyor_size = size
+        self.conveyor_position = position
+        self.conveyor_id = self.create_conveyor(size, position)
+        self.conveyor_stopped = False
+
+        self.box_size = box_size
+        self.box_spacing = box_spacing
+        self.box_speed = box_speed
+        self.boxes = []
+        self.box_counter = 0
+        self.create_boxes()
+
+        self.stop_thread = False
+        self.thread = threading.Thread(target=self.run)
+        self.thread.start()
+
+        self.palletizingFunc = palletizinFunc
+
+    def create_conveyor(self, size, position):
+        collision_shape_id = p.createCollisionShape(
+            shapeType=p.GEOM_BOX,
+            halfExtents=[size[i] / 2.0 for i in range(3)],
+        )
+        visual_shape_id = p.createVisualShape(
+            shapeType=p.GEOM_BOX,
+            halfExtents=[size[i] / 2.0 for i in range(3)],
+            rgbaColor=[0.5, 0.5, 0.5, 1],
+        )
+        conveyor_id = p.createMultiBody(
+            baseMass=0.0,
+            baseCollisionShapeIndex=collision_shape_id,
+            baseVisualShapeIndex=visual_shape_id,
+            basePosition=position,
+        )
+        return conveyor_id
+
+    def box_position(self, i=0):
+        position = self.conveyor_position[:]
+        position[self.direction] = (
+            self.conveyor_position[self.direction]
+            - self.conveyor_size[self.direction] * 0.5
+            + i * (self.box_size[self.direction] + self.box_spacing)
+            + self.box_size[0] * 0.5
+        )
+        return position
+
+    def create_boxes(self):
+        num_boxes = int(
+            self.conveyor_size[self.direction] / (self.box_size[0] + self.box_spacing)
+        )
+        for i in range(num_boxes):
+            position = self.box_position(i)
+            self.boxes.append(self.create_box(position))
+
+    def create_box(self, position):
+        collision_shape_id = p.createCollisionShape(
+            shapeType=p.GEOM_BOX,
+            halfExtents=[self.box_size[i] / 2.0 for i in range(3)],
+        )
+        visual_shape_id = p.createVisualShape(
+            shapeType=p.GEOM_BOX,
+            halfExtents=[self.box_size[i] / 2.0 for i in range(3)],
+            rgbaColor=[1, 0, 0, 1],
+        )
+        box_id = p.createMultiBody(
+            baseMass=10.0,
+            baseCollisionShapeIndex=collision_shape_id,
+            baseVisualShapeIndex=visual_shape_id,
+            basePosition=position,
+            baseOrientation=p.getQuaternionFromEuler([0, 0, 0]),
+        )
+        return box_id
+
+    def move_boxes(self):
+        if self.moving and not self.conveyor_stopped:
+            for box_id in self.boxes[:]:
+                pos, orn = p.getBasePositionAndOrientation(box_id)
+                if (
+                    pos[self.direction] + self.box_size[0] * 0.5
+                    > self.conveyor_position[self.direction]
+                    + self.conveyor_size[self.direction] * 0.5
+                ):
+                    # Если коробка выходит за конец конвейера, она падает вниз (физика продолжает действовать)
+                    # Удаляем коробку с конвейера
+                    self.boxes.remove(box_id)
+                    self.conveyor_stopped = True
+                    wall_position = list(pos)
+                    dir_wall = (self.direction + 1) % (3 - 1)
+                    wall_position[dir_wall] -= self.box_size[dir_wall] * 0.5
+
+                    self.call_robot(wall_position, box_id, self.box_counter)
+                    self.box_counter += 1
+                else:
+                    new_pos = list(pos[:])
+                    new_pos[self.direction] += self.box_speed
+                    p.resetBasePositionAndOrientation(box_id, new_pos, orn)
+
+        # Добавляем новые коробки, если на конвейере меньше, чем максимально возможное количество
+        num_boxes = int(
+            self.conveyor_size[self.direction] / (self.box_size[0] + self.box_spacing)
+        )
+        if len(self.boxes) < num_boxes:
+            new_box = self.create_box(self.box_position())
+            self.boxes.append(new_box)
+
+    def call_robot(self, position, box_id, counter):
+        # Здесь можно вызвать робота для выполнения операции, например:
+        logger.info("Конвейер остановлен, вызываем робота для работы с коробкой.")
+        self.palletizingFunc(position, box_id, counter)
+        # time.sleep(5)
+        # self.conveyor_stopped = False
+
+    def run(self):
+        while not self.stop_thread:
+            self.move_boxes()
+            time.sleep(1)
+
+    def stop(self):
+        self.stop_thread = True
+        self.thread.join()

robot/func.py

@@ -1,7 +1,9 @@
 # Настройки клиента Modbus
 MODBUS_SERVER_HOST = "192.168.70.55"  # IP-адрес Modbus-сервера
+# MODBUS_SERVER_HOST = "192.168.70.65"  # IP-адрес Modbus-сервера
 MODBUS_SERVER_PORT = 502
 MODBUS_SLAVE_ID = 11
+# MODBUS_SLAVE_ID = 22
 
 indent = 21100
 s = 800
@@ -22,7 +24,7 @@ def two_byte_convert(result):
     return value
 
 
-def bulb(addr, new_state, client):
+def bulb(addr, new_state, client, slave_id):
     try:
         coils = client.read_coils(addr, 1, MODBUS_SLAVE_ID)
         # print("читаем начальное состояние", coils.bits)

robot/pallet.py

@@ -0,0 +1,34 @@
+import pybullet as p
+
+
+class Pallet:
+    def __init__(
+        self, position=[1, 1, 0], size=[0.8, 1.2, 0.144], color=[0.6, 0.3, 0.1, 0.5]
+    ):
+        self.size = size
+        self.position = position
+        self.color = color
+
+        self.create_pallet()
+
+    def create_pallet(self):
+        half_size = [s * 0.5 for s in self.size]
+
+        # Создаем collision shape для паллеты
+        collision_shape = p.createCollisionShape(p.GEOM_BOX, halfExtents=half_size)
+
+        # Создаем визуальное отображение (shape) для паллеты
+        visual_shape = p.createVisualShape(
+            p.GEOM_BOX, halfExtents=half_size, rgbaColor=self.color
+        )
+
+        # Создаем объект паллеты в физическом мире
+        self.pallet_id = p.createMultiBody(
+            baseMass=0,  # Масса 0, чтобы паллета не взаимодействовала с физикой
+            baseCollisionShapeIndex=collision_shape,
+            baseVisualShapeIndex=visual_shape,
+            basePosition=self.position,
+        )
+
+        # Устанавливаем позицию объекта паллеты в физическом мире
+        p.resetBasePositionAndOrientation(self.pallet_id, self.position, [0, 0, 0, 1])

robot/prepare_data.py

@@ -0,0 +1,60 @@
+from robot.func import *
+
+# os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
+
+
+class PrepareRobotData:
+    line_speed = 100.0
+    line_smooth = 0
+    line_tool = 0
+
+    def make_step(self, type, point, start_coordinates):
+        step = {
+            "oneshot": "1",
+            "delay": "0.0",
+            "speed": str(self.line_speed),
+            "smooth": str(self.line_smooth),
+            "coord": "0",
+            "tool": str(self.line_tool),
+            "ckStatus": "0x3F",
+        }
+        if type == "line" or type == "free":
+            pairs = zip(start_coordinates, point)
+            data = []
+            for pair in pairs:
+                data.append(round(sum(pair), 3))
+
+            m0, m1, m2, m3, m4, m5 = data
+            if type == "line":
+                step.update({"action": "10"})
+            if type == "free":
+                step.update({"action": "4"})
+            # m3 = 0
+            # m4 = 0
+            # m5 = 0
+            step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
+            step.update({"m6": 0, "m7": 0})
+        elif type == "curve":
+            pairs = zip(self.world_coordinates, point[:5])
+            m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
+
+            pairs_p = zip(self.world_coordinates, point[6:])
+            m0_p, m1_p, m2_p, m3_p, m4_p, m5_p = [round(sum(i), 3) for i in pairs_p]
+            step.update({"action": "17"})
+            step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
+            step.update({"m6": 0, "m7": 0})
+            step.update(
+                {
+                    "m0_p": m0_p,
+                    "m1_p": m1_p,
+                    "m2_p": m2_p,
+                    "m3_p": m3_p,
+                    "m4_p": m4_p,
+                    "m5_p": m5_p,
+                }
+            )
+            step.update({"m6_p": 0, "m7_p": 0})
+
+        for s in step:
+            step[s] = str(step[s])
+        return step

robot/socket_manager.py

@@ -0,0 +1,58 @@
+import socket
+import json
+import os
+import math
+import numpy as np
+
+from typing import Literal
+from pprint import pprint
+
+import threading
+import pybullet as p
+import pybullet_industrial as pi
+
+from logger import logger
+
+
+class SocketManager:
+    def __init__(self):
+        self.host = None
+        self.port = 9760
+        self.socket = None
+        self.status: Literal["connected", "not_connected", "error"] = "not_connected"
+
+    def connect(self, host):
+        self.host = host
+        if self.socket is None:
+            self.socket = socket.socket()
+            logger.info(f"trying connect to {(self.host, self.port)}")
+            self.socket.connect((self.host, self.port))
+            self.status = "connected"
+
+    def close(self):
+        if self.socket:
+            self.socket.close()
+            self.socket = None
+            self.status = "not_connected"
+
+    def send_data(self, data):
+        if not self.socket:
+            return
+        try:
+            self.socket.send(str.encode(json.dumps(data)))
+            response_data = self.socket.recv(1024)
+            response = json.loads(response_data)
+
+            if data["reqType"] == "query":
+                return response["queryData"]
+            elif data["reqType"] == "command":
+                return response["cmdReply"]
+            elif data["reqType"] == "AddRCC" and "cmdReply" in response.keys():
+                return response["cmdReply"]
+            else:
+                pprint(response_data)
+
+            return json.loads(response_data)
+        except Exception as e:
+            logger.error(f"Error sending data: {e}")
+            return None

robot/urdf_manager.py

@@ -0,0 +1,139 @@
+import os
+import numpy as np
+import time
+
+import pybullet as p
+
+from logger import logger
+
+from robot.conveyor import ConveyorBelt
+from robot.pallet import Pallet
+from packer.packer import PalletPacker
+
+
+class UrdfManager:
+    urdf_filename = None
+    urdf_filename_tool = "welding_gun"
+    physics_client = None
+    body_id = None
+
+    def __init__(self, robot_start_position, application_path, palletizing):
+        self.robot_start_position = robot_start_position
+        self.application_path = application_path
+        self.palletizing = palletizing
+
+        self.conveyor = None
+        self.pallet = None
+
+    def start_loop(self, urdf):
+        self.urdf_filename = urdf
+
+        p.resetSimulation()
+        self.load_models()
+        p.setGravity(0, 0, -9.81, physicsClientId=self.physics_client)
+        self.state_id = p.saveState()
+
+    def run_pybullet(self, type="DIRECT"):
+        self.physics_client = p.connect(getattr(p, type))
+        logger.info(f"Connect to {self.physics_client} by {type}")
+
+    def load_models(self):
+        p.loadURDF(
+            os.path.join(self.application_path, "urdf", "plane.urdf"),
+            [0,0,-1],
+            physicsClientId=self.physics_client,
+        )
+
+        urdf_path = os.path.join(
+            self.application_path, "urdf", f"{self.urdf_filename}.urdf"
+        )
+        self.body_id = p.loadURDF(
+            urdf_path,
+            self.robot_start_position,
+            useFixedBase=True,
+        )
+
+    def load_palletizing(self):
+        if self.conveyor:
+            self.conveyor = None
+        if self.pallet:
+            self.pallet = None
+        self.start_loop(self.urdf_filename)
+
+        k = 0.2
+        self.pallet_target = [1.366773, 0.59591, -0.624086]
+        self.pallet_size = [0.8, 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))
+        ]
+        self.pallet = Pallet(self.pallet_position)
+
+        self.box_size = [0.2, 0.2, 0.2]
+
+        # положение дальнего угла
+        self.conv_target = [1.045, -0.989, -0.094]
+        self.conv_size = [0.5, 3.0, 0.1]
+        self.conv_direction = self.conv_size.index(max(self.conv_size))
+        self.conv_pos = [
+            (self.conv_target[i] - self.conv_size[i] * 0.5)
+            for i in range(len(self.conv_target))
+        ]
+        self.conveyor = ConveyorBelt(
+            self.conv_size,
+            self.conv_pos,
+            self.conv_direction,
+            self.box_size,
+            0.2,
+            0.1,
+            self.palletizing,
+        )
+
+        self.packing = PalletPacker(
+            {
+                "x": self.pallet_size[0],
+                "y": self.pallet_size[1],
+                "z": self.box_size[2],  # высота паллеты в один слой
+            },
+            {
+                "x": self.box_size[0],
+                "y": self.box_size[1],
+                "z": self.box_size[2],
+            },
+        ).pack()
+        self.packing = sorted(self.packing, key=lambda x: (x[0], x[1]))
+
+        for p in self.packing:
+            # logger.info(p)
+
+            for i in range(len(self.box_size)):
+                p[i] = self.pallet_target[i] - p[i] - self.box_size[i] * 0.5
+            dir_wall = (self.conv_direction + 1) % (3 - 1)
+            p[dir_wall] -= self.box_size[dir_wall]
+            p[self.conv_direction] -= self.box_size[self.conv_direction] * 0.5
+            p[2] += self.pallet_size[2]
+        # logger.info(f"{self.packing[0]} {self.pallet_target}")
+
+        time.sleep(1)
+
+    def get_pybullet_image(self):
+        if self.physics_client is None:
+            return
+
+        width, height, rgb, _, _ = p.getCameraImage(
+            width=500,
+            height=500,
+            viewMatrix=p.computeViewMatrix(
+                cameraEyePosition=[4, -4, 1.5],
+                # cameraEyePosition=[4,-4,4],
+                cameraTargetPosition=[0, 0, 0],  # Центр фокусировки камеры
+                cameraUpVector=[0, 0, 1],  # Направление вверх
+            ),
+            projectionMatrix=p.computeProjectionMatrixFOV(
+                fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0
+            ),
+            # renderer=p.ER_TINY_RENDERER,
+            physicsClientId=self.physics_client,
+        )
+
+        return (rgb, width, height)

robots.json

@@ -0,0 +1,33 @@
+[
+    {
+        
+        "name": "big",
+        "host": "192.168.70.55",
+        "slave_id": 11,
+        "urdf": "sample"
+    },
+    {
+        "name": "big WITHOUT",
+        "host": "192.168.70.55",
+        "slave_id": 11,
+        "urdf": "sample_without"
+    },
+    {
+        "name": "test",
+        "host": "127.0.0.1",
+        "slave_id": 11,
+        "urdf": "sample"
+    },
+    {
+        "name": "test WITHOUT",
+        "host": "127.0.0.1",
+        "slave_id": 11,
+        "urdf": "sample_without"
+    },
+    {
+        "name": "test small WITHOUT",
+        "host": "127.0.0.1",
+        "slave_id": 11,
+        "urdf": "small_without"
+    }
+]

run.py

@@ -0,0 +1,125 @@
+import subprocess
+import argparse
+import sys
+import signal
+import psutil
+
+# Параметры для процессов
+server_process = None
+test_server_process = None
+command_type = 'exe'
+
+def usage():
+    """Функция для отображения помощи"""
+    print("Usage: run_all.py [--test]")
+    sys.exit(1)
+
+
+def terminate_process(process):
+    """Функция для корректного завершения процесса и всех его дочерних процессов"""
+    if process:
+        proc = psutil.Process(process.pid)
+        for child in proc.children(recursive=True):
+            child.terminate()
+        proc.terminate()
+        proc.wait()
+
+
+# Обработчик для сигналов выхода
+def cleanup(*args):
+    """Функция для остановки серверов при выходе"""
+    global server_process, test_server_process
+    print("Остановка серверов...")
+    terminate_process(server_process)
+    terminate_process(test_server_process)
+    print("Серверы остановлены.")
+    sys.exit(0)  # Завершение работы после очистки
+
+
+# Назначаем функции очистки для сигналов
+signal.signal(signal.SIGINT, lambda *_: cleanup())
+signal.signal(signal.SIGTERM, lambda *_: cleanup())
+
+# Парсер аргументов командной строки
+parser = argparse.ArgumentParser(description="Python launcher script.")
+parser.add_argument(
+    "--test-socket", action="store_true", help="Запуск в режиме тестирования"
+)
+parser.add_argument(
+    "--bullet-gui", action="store_true", help="Вывод визуального pybullet"
+)
+parser.add_argument(
+    "--start-py", action="store_true", help="Запуск EXE или PY"
+)
+args = parser.parse_args()
+
+if args.start_py:
+    command_type = 'local'
+
+poetry_path = "poetry"
+
+# Установка команды для pybullet_server
+pybullet_command = [
+    poetry_path,
+    "run",
+    "python",
+    "utils/pybullet_server.py",
+] if command_type == 'local' else ['pybullet_server.exe']
+
+# Если включен режим тестирования, добавляем флаг --test
+if args.bullet_gui:
+    # if type(pybullet_command) is str:
+    #     pybullet_command += '--test'
+    # else:
+    pybullet_command.append("--test")
+
+# Запуск pybullet_server.exe
+print("Запуск pybullet_server...")
+server_process = subprocess.Popen(pybullet_command)
+
+# Проверяем успешный запуск сервера
+if server_process.poll() is not None:
+    print("Ошибка при запуске pybullet_server")
+    sys.exit(1)
+
+# Если включен режим тестирования, запускаем test_socket_server.exe
+if args.test_socket:
+    print("Запуск test_socket_server...")
+    test_server_process = subprocess.Popen(
+        [
+            poetry_path,
+            "run",
+            "python",
+            "utils/test_socket_server.py",
+        ] if command_type == 'local' else 'test_socket_server.exe'
+    )  # Путь к исполняемому файлу
+
+    # Проверка успешного запуска тестового сервера
+    if test_server_process.poll() is not None:
+        print("Ошибка при запуске test_socket_server")
+        sys.exit(1)
+
+    # Запуск основного скрипта main.exe в режиме тестирования
+    subprocess.run(
+        [
+            poetry_path,
+            "run",
+            "python",
+            "main.py",
+            "--mode",
+            "test",
+        ] if command_type == 'local' else 'main.exe --mode test'
+    )  # Путь к исполняемому файлу
+else:
+    # Запуск основного скрипта main.exe
+    subprocess.run(
+        [
+            poetry_path,
+            "run",
+            "python",
+            "main.py",
+        ] if command_type == 'local' else 'main.exe'
+    )  # Путь к исполняемому файлу
+
+# Очистка после завершения
+cleanup()

run.spec

@@ -0,0 +1,39 @@
+# -*- mode: python ; coding: utf-8 -*-
+
+
+a = Analysis(
+    ['run.py'],
+    pathex=['.', './.venv', './.venv/Lib', './.venv/Lib/site-packages'],
+    binaries=[],
+    datas=[('pyproject.toml', '.'), ('robots.json', '.'), ('urdf', 'urdf'), ('data', 'data')],
+    hiddenimports=['libpython3.10'],
+    hookspath=[],
+    hooksconfig={},
+    runtime_hooks=[],
+    excludes=[],
+    noarchive=False,
+    optimize=0,
+)
+pyz = PYZ(a.pure)
+
+exe = EXE(
+    pyz,
+    a.scripts,
+    a.binaries,
+    a.datas,
+    [],
+    name='run',
+    debug=False,
+    bootloader_ignore_signals=False,
+    strip=False,
+    upx=True,
+    upx_exclude=[],
+    runtime_tmpdir=None,
+    console=True,
+    disable_windowed_traceback=False,
+    argv_emulation=False,
+    target_arch=None,
+    codesign_identity=None,
+    entitlements_file=None,
+    contents_directory='test',
+)

test_socket_server.py

@@ -1,27 +0,0 @@
-import socket
-import json
-
-HOST = "127.0.0.1"  # Standard loopback interface address (localhost)
-PORT = 65432  # Port to listen on (non-privileged ports are > 1023)
-
-with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-    s.bind((HOST, PORT))
-    s.listen()
-    conn, addr = s.accept()
-    with conn:
-        print(f"Connected by {addr}")
-        while True:
-            data = conn.recv(1024)
-            if data:
-                req = json.loads(data)
-                res = {"queryData": ["ok"]}
-
-                if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
-                    res["queryData"] = [10, 11, 12, 13, 14, 15]
-
-                if "queryAddr" in req and "world-0" in req["queryAddr"]:
-                    res["queryData"] = [100, 101, 102, 103, 104, 105]
-
-                if req["reqType"] == "command":
-                    res["cmdReply"] = ['ok']
-                conn.sendall(json.dumps(res).encode())

test_socket_server.spec

@@ -0,0 +1,39 @@
+# -*- mode: python ; coding: utf-8 -*-
+
+
+a = Analysis(
+    ['utils/test_socket_server.py'],
+    pathex=['.', './.venv', './.venv/Lib', './.venv/Lib/site-packages'],
+    binaries=[],
+    datas=[('pyproject.toml', '.'), ('robots.json', '.'), ('urdf', 'urdf'), ('data', 'data')],
+    hiddenimports=['libpython3.10'],
+    hookspath=[],
+    hooksconfig={},
+    runtime_hooks=[],
+    excludes=[],
+    noarchive=False,
+    optimize=0,
+)
+pyz = PYZ(a.pure)
+
+exe = EXE(
+    pyz,
+    a.scripts,
+    a.binaries,
+    a.datas,
+    [],
+    name='test_socket_server',
+    debug=False,
+    bootloader_ignore_signals=False,
+    strip=False,
+    upx=True,
+    upx_exclude=[],
+    runtime_tmpdir=None,
+    console=True,
+    disable_windowed_traceback=False,
+    argv_emulation=False,
+    target_arch=None,
+    codesign_identity=None,
+    entitlements_file=None,
+    contents_directory='test',
+)

urdf/europallet.urdf

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<robot name="europallet">
+    <link name="pallet">
+        <inertial>
+            <mass value="20.0" /> <!-- Масса палеты, можно изменить -->
+            <origin xyz="0 0 7.25" rpy="0 0 0" /> <!-- Центр масс (высота 7.25 см) -->
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> <!-- Моменты
+            инерции, можно изменить -->
+        </inertial>
+        <visual>
+            <geometry>
+                <box size="1.2 0.8 0.145" /> <!-- Размеры (длина, ширина, высота) в метрах -->
+            </geometry>
+            <material name="wood">
+                <color rgba="0.58 0.29 0.19 1.0" /> <!-- Цвет, здесь коричневый -->
+            </material>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="1.2 0.8 0.145" /> <!-- Размеры для коллизий также -->
+            </geometry>
+        </collision>
+    </link>
+</robot>

urdf/plane.urdf

@@ -0,0 +1,28 @@
+<?xml version="1.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="../urdf_support/plane.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -5"/>
+      <geometry>
+	 	<box size="30 30 10"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

urdf/sample.urdf

@@ -0,0 +1,218 @@
+<?xml version="1.0"?>
+<robot name="sample_robot">
+
+  <!-- Materials -->
+  <material name="grey">
+    <color rgba="0.0 0 0 1.0" />
+  </material>
+  <material name="red">
+    <color rgba="1.0 0.0 0.0 1.0" />
+  </material>
+  <material name="blue">
+    <color rgba="0 0.0 1.0 1.0" />
+  </material>
+  <material name="lightblue">
+    <color rgba="0.0 0.22 1.0 1.0" />
+  </material>
+  <material name="yellow">
+    <color rgba="0.96 0.76 0.13 1.0" />
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.5 0.0 1.0" />
+  </material>
+  <material name="black">
+    <color rgba="0.15 0.15 0.15 1.0" />
+  </material>
+
+  <!-- Links: main serial chain -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/1.stl" />
+      </geometry>
+      <material name="grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/1.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.23445" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/2.stl" />
+      </geometry>
+      <material name="red" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.23445" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/2.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/3.stl" />
+      </geometry>
+      <material name="blue" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/3.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/4.stl" />
+      </geometry>
+      <material name="lightblue" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/4.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.23345 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/5.stl" />
+      </geometry>
+      <material name="yellow" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.23345 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/5.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.02 0.04 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/6.stl" />
+      </geometry>
+      <material name="orange" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.02 0.04 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/6.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/777.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/777.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="welding_gun_body">
+    <visual>
+      <geometry>
+        <mesh filename="../urdf_support/sample/7.stl" />  <!-- Замените на путь к вашему STL-файлу -->
+      </geometry>
+      <material name="metal" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </visual>
+  </link>
+
+  <!-- Joints: main serial chain -->
+  <joint name="joint_1" type="revolute">
+    <limit lower="-2.705" upper="2.705" effort="0" velocity="0" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="base_link" />
+    <child link="link_1" />
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <joint name="joint_2" type="revolute">
+    <limit lower="-2.444" upper="1.135" effort="0" velocity="0" />
+    <parent link="link_1" />
+    <child link="link_2" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0.17045 0 0.4946" />
+  </joint>
+
+  <joint name="joint_3" type="revolute">
+    <limit lower="-1.309" upper="1.919" effort="0" velocity="0" />
+    <parent link="link_2" />
+    <child link="link_3" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0 -0.001963 0.729921" />
+  </joint>
+
+  <joint name="joint_4" type="revolute">
+    <limit lower="-3.142" upper="3.142" effort="0" velocity="0" />
+    <parent link="link_3" />
+    <child link="link_4" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0 0 0.098277" />
+  </joint>
+
+  <joint name="joint_5" type="revolute">
+    <limit lower="-2.007" upper="2.007" effort="0" velocity="0" />
+    <parent link="link_4" />
+    <child link="link_5" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="1.109039 0 0" />
+  </joint>
+
+  <joint name="joint_6" type="revolute">
+    <limit lower="-6.283" upper="6.283" effort="0" velocity="0" />
+    <parent link="link_5" />
+    <child link="link_6" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0.117 0 0" />
+  </joint>
+
+  <joint name="welding_gun_fixed_joint" type="fixed">
+    <parent link="link_6" />
+    <child link="welding_gun_body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="tcp">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 0.05" />
+      </geometry>
+      <material name="red" />
+    </visual>
+  </link>
+
+  <joint name="tcp_joint" type="fixed">
+    <parent link="welding_gun_body" />
+    <child link="tcp" />
+    <origin xyz="0.353774 0.009203 -0.033794" rpy="110.766 1.620 -89.636" />
+  </joint>
+</robot>

urdf/sample_without.urdf

@@ -0,0 +1,204 @@
+<?xml version="1.0"?>
+<robot name="sample_robot">
+
+  <!-- Materials -->
+  <material name="grey">
+    <color rgba="0.0 0 0 1.0" />
+  </material>
+  <material name="red">
+    <color rgba="1.0 0.0 0.0 1.0" />
+  </material>
+  <material name="blue">
+    <color rgba="0 0.0 1.0 1.0" />
+  </material>
+  <material name="lightblue">
+    <color rgba="0.0 0.22 1.0 1.0" />
+  </material>
+  <material name="yellow">
+    <color rgba="0.96 0.76 0.13 1.0" />
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.5 0.0 1.0" />
+  </material>
+  <material name="black">
+    <color rgba="0.15 0.15 0.15 1.0" />
+  </material>
+
+  <!-- Links: main serial chain -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/1.stl" />
+      </geometry>
+      <material name="grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/1.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.23445" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/2.stl" />
+      </geometry>
+      <material name="red" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.23445" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/2.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/3.stl" />
+      </geometry>
+      <material name="blue" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/3.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/4.stl" />
+      </geometry>
+      <material name="lightblue" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/4.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.23345 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/5.stl" />
+      </geometry>
+      <material name="yellow" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.23345 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/5.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.02 0.04 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/6.stl" />
+      </geometry>
+      <material name="orange" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.02 0.04 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/6.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/777.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/777.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Joints: main serial chain -->
+  <joint name="joint_1" type="revolute">
+    <limit lower="-2.705" upper="2.705" effort="0" velocity="0" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="base_link" />
+    <child link="link_1" />
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <joint name="joint_2" type="revolute">
+    <limit lower="-2.444" upper="1.135" effort="0" velocity="0" />
+    <parent link="link_1" />
+    <child link="link_2" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0.17045 0 0.4946" />
+  </joint>
+
+  <joint name="joint_3" type="revolute">
+    <limit lower="-1.309" upper="1.919" effort="0" velocity="0" />
+    <parent link="link_2" />
+    <child link="link_3" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0 -0.001693 0.729921" />
+  </joint>
+
+  <joint name="joint_4" type="revolute">
+    <limit lower="-3.142" upper="3.142" effort="0" velocity="0" />
+    <parent link="link_3" />
+    <child link="link_4" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0 0 0.098277" />
+  </joint>
+
+  <joint name="joint_5" type="revolute">
+    <limit lower="-2.007" upper="2.007" effort="0" velocity="0" />
+    <parent link="link_4" />
+    <child link="link_5" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="1.109039 0 0" />
+  </joint>
+
+  <joint name="joint_6" type="revolute">
+    <limit lower="-6.283" upper="6.283" effort="0" velocity="0" />
+    <parent link="link_5" />
+    <child link="link_6" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0.117 0 0" />
+  </joint>
+
+  <link name="tcp">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.04 0 0" />
+      <geometry>
+        <box size="0.02 0.02 0.02" />
+      </geometry>
+      <material name="red" />
+    </visual>
+  </link>
+
+  <joint name="tcp_joint" type="fixed">
+    <parent link="link_6" />
+    <child link="tcp" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>

urdf/small_without.urdf

@@ -0,0 +1,192 @@
+<?xml version="1.0"?>
+<robot name="small_robot">
+
+  <!-- Materials -->
+  <material name="grey">
+    <color rgba="0.0 0 0 1.0" />
+  </material>
+  <material name="red">
+    <color rgba="1.0 0.0 0.0 1.0" />
+  </material>
+  <material name="blue">
+    <color rgba="0 0.0 1.0 1.0" />
+  </material>
+  <material name="lightblue">
+    <color rgba="0.0 0.22 1.0 1.0" />
+  </material>
+  <material name="yellow">
+    <color rgba="0.96 0.76 0.13 1.0" />
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.5 0.0 1.0" />
+  </material>
+  <material name="black">
+    <color rgba="0.15 0.15 0.15 1.0" />
+  </material>
+
+  <!-- Links: main serial chain -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/small/1.stl" />
+      </geometry>
+      <material name="grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/1.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.23445" />
+      <geometry>
+        <mesh filename="../urdf_support/small/2.stl" />
+      </geometry>
+      <material name="red" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.23445" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/2.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/small/3.stl" />
+      </geometry>
+      <material name="blue" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/3.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/small/4.stl" />
+      </geometry>
+      <material name="lightblue" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/4.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.23345 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/small/5.stl" />
+      </geometry>
+      <material name="yellow" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.23345 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/5.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link_5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/small/6.stl" />
+      </geometry>
+      <material name="orange" />
+    </visual>
+  </link>
+
+  <link name="link_6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/small/7.stl" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </link>
+
+  <!-- Joints: main serial chain -->
+  <joint name="joint_1" type="revolute">
+    <limit lower="-2.705" upper="2.705" effort="0" velocity="0" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="base_link" />
+    <child link="link_1" />
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <joint name="joint_2" type="revolute">
+    <limit lower="-2.444" upper="1.135" effort="0" velocity="0" />
+    <parent link="link_1" />
+    <child link="link_2" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0.169740 0 0.4946" />
+  </joint>
+
+  <joint name="joint_3" type="revolute">
+    <limit lower="-1.309" upper="1.919" effort="0" velocity="0" />
+    <parent link="link_2" />
+    <child link="link_3" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0 -0.00118 0.730581" />
+  </joint>
+
+  <joint name="joint_4" type="revolute">
+    <limit lower="-3.142" upper="3.142" effort="0" velocity="0" />
+    <parent link="link_3" />
+    <child link="link_4" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0 0 0.099522" />
+  </joint>
+
+  <joint name="joint_5" type="revolute">
+    <limit lower="-2.007" upper="2.007" effort="0" velocity="0" />
+    <parent link="link_4" />
+    <child link="link_5" />
+    <axis xyz="0 -1 0" />
+    <origin rpy="0 0 0" xyz="0.826407 0 0" />
+  </joint>
+
+  <joint name="joint_6" type="revolute">
+    <limit lower="-6.283" upper="6.283" effort="0" velocity="0" />
+    <parent link="link_5" />
+    <child link="link_6" />
+    <axis xyz="1 0 0" />
+    <origin rpy="0 0 0" xyz="0.164 0 0" />
+  </joint>
+
+  <link name="tcp">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.04 0 0" />
+      <geometry>
+        <box size="0.02 0.02 0.02" />
+      </geometry>
+      <material name="red" />
+    </visual>
+  </link>
+
+  <joint name="tcp_joint" type="fixed">
+    <parent link="link_6" />
+    <child link="tcp" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>

urdf/welding_gun.urdf

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<robot name="welding_gun_robot">
+
+    <link name="welding_gun_body">
+        <visual>
+            <geometry>
+                <mesh filename="../urdf_support/sample/7.stl" />
+            </geometry>
+            <material name="metal" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+        </visual>
+    </link>
+    <link name="tcp">
+        <visual>
+            <geometry>
+                <box size="0.05 0.05 0.05" />
+            </geometry>
+            <material name="red" />
+        </visual>
+    </link>
+
+    <joint name="tcp_joint" type="fixed">
+        <parent link="welding_gun_body" />
+        <child link="tcp" />
+        <origin xyz="0.353774 0.009203 -0.033794" rpy="110.766 1.620 -89.636" />
+    </joint>
+</robot>

urdf_support/plane.obj

@@ -0,0 +1,18 @@
+# Blender v2.66 (sub 1) OBJ File: ''
+# www.blender.org
+mtllib plane.mtl
+o Plane
+v 15.000000 -15.000000 0.000000
+v 15.000000 15.000000 0.000000
+v -15.000000 15.000000 0.000000
+v -15.000000  -15.000000 0.000000
+
+vt 15.000000 0.000000
+vt 15.000000 15.000000
+vt 0.000000 15.000000
+vt 0.000000 0.000000
+
+usemtl Material
+s off
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4

utils/pybullet_server.py

@@ -0,0 +1,42 @@
+# server.py
+import time
+import argparse
+
+import pybullet as p
+import pybullet_data
+# from logger import logger
+
+
+def main(type="SHARED_MEMORY_SERVER"):
+    # Подключаемся к графическому серверу в режиме SHARED_MEMORY_SERVER
+    # physicsClient = p.connect(p.SHARED_MEMORY_SERVER)
+    physicsClient = p.connect(getattr(p, type))
+    print(f"start pybullet ph client {physicsClient}")
+    # Настраиваем среду
+    p.setAdditionalSearchPath(pybullet_data.getDataPath())
+    p.setGravity(0, 0, -9.81, physicsClientId=physicsClient)
+
+    while True:
+        # Основной цикл физического движка
+        # if physicsClient != -1:
+        try:
+            p.stepSimulation()
+        except Exception as e:
+            print(f"Ошибка в pybullet_server{e}")
+            time.sleep(1)
+        time.sleep(1/240)
+
+
+if __name__ == "__main__":
+    # Парсер аргументов командной строки
+    parser = argparse.ArgumentParser(description="Запуск PyBullet сервера.")
+    parser.add_argument(
+        "--test", action="store_true", help="Запустить сервер в режиме GUI_SERVER"
+    )
+
+    args = parser.parse_args()
+
+    # Если передан аргумент --test, устанавливаем тип подключения SHARED_MEMORY_SERVER
+    connection_type = "GUI_SERVER" if args.test else "SHARED_MEMORY_SERVER"
+    # connection_type = "SHARED_MEMORY_SERVER"
+    main(connection_type)

utils/test_socket_server.py

@@ -0,0 +1,179 @@
+import socket
+import json
+
+HOST = "127.0.0.1"  # Standard loopback interface address (localhost)
+PORT = 9760  # Port to listen on (non-privileged ports are > 1023)
+
+c_angles = [
+    {
+        "world": [
+            1131.959351,
+            -588.689941,
+            1277.805054,
+            6.181231,
+            54.227802,
+            -100.604988,
+        ],
+        "axis": [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335],
+    },
+    {
+        "world": [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999],
+        "axis": [-8.487, -8.681, 33.058, 88.070, -75.010, -10.566],
+    },
+    {
+        "world": [1630.006, 628.326, 1322.554, 0, 90, 0],
+        "axis": [22.493, -30.696, 35.997, -77.419, -23.007, 76.362],
+    },
+    {
+        "world": [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065],
+        "axis": [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362],
+    },
+    {
+        "world": [1396.525, 1.687, 1322.697, 0, 90, 0],
+        "axis": [0, -0.002, -0.002, 0.003, -0.001, 0],
+    },
+    {
+        "world": [1396.513, 1.758, 1322.749, -0.002, 90, 0],
+        "axis": [0.002, -0.001, 0, 0, 0, 0],
+    },
+    {
+        "world": [-1.645, 1396.533, 1322.700, -89.998, 90.000, 0],
+        "axis": [89.998, -0.002, -0.001, 0.001, -0.001, -0.001],
+    },
+    {
+        "world": [-61.982, 1.689, 1955.771, 0, 25, 0.003],
+        "axis": [0.003, 65, -0.001, 0.001, 0, -0.001],
+    },
+    {
+        "world": [72.252, 1.696, 2450.564, 0, 0, 0],
+        "axis": [0.002, -0.001, 89.999, 0.002, 0, -0.001],
+    },
+    {
+        "world": [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003],
+        "axis": [0.002, -0.003, 0, 89.999, -0.001, 0],
+    },
+    {
+        "world": [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001],
+        "axis": [0.001, -0.002, -0.001, 0.004, 89.998, 0],
+    },
+    {
+        "world": [1396.518, 1.704, 1322.743, 90.002, -0.006, 90],
+        "axis": [0, -0.001, 0, 0.002, 0, 90.003],
+    },
+]
+c_angles = [
+    {
+        "world": [
+            894.159973,
+            -738.295654,
+            782.748047,
+            172.274109,
+            28.079031,
+            120.377357,
+        ],
+        "axis": [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755],
+    },
+    {
+        "world": [
+            1100.071655,
+            -347.347412,
+            782.754578,
+            172.284241,
+            28.079557,
+            142.505508,
+        ],
+        "axis": [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479],
+    },
+]
+c_small = [
+    {
+        "world": [549.087, -803.609, 939.418, 125.479, 50.992, 63.257],
+        "axis": [-55.721, 12.229, -33.657, 35.030, 0.00, -1.621],
+    },
+    {
+        "world": [202.361, 333.995, 1743.859, -33.7, 40.692, 12.951],
+        "axis": [58.637, 41.540, -2.386, -32.975, -0.052, 0.119],
+    },
+    {
+        "world": [915.212, 352.196, 1110.636, -109.839, 55.517, -85.605],
+        "axis": [20.987, 14.281, -25.313, -32.976, -0.054, 0.117],
+    },
+    {
+        "world": [915.172, 352.254, 1110.614, 179.937, 78.911, -159.077],
+        "axis": [20.986, 14.282, -25.313, -0.102, -0.057, 0.115],
+    },
+    {
+        "world": [1165.135, 1.142, 1312.130, 179.258, 89.223, 179.259],
+        "axis": [0.001, -0.299, -0.416, -0.103, -0.059, 0.113],
+    },
+    {
+        "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
+
+
+def handle_client(conn, addr):
+    print(f"Connected by {addr}")
+    try:
+        while True:
+            data = conn.recv(1024 * 2)
+            if not data:
+                break
+            req = json.loads(data)
+            print(req)
+            res = {"queryData": ["ok"]}
+            global coordinates_index
+            if "queryAddr" in req and "axis-0" in req["queryAddr"]:
+                print(f"----{coordinates_index}----")
+                limit = len(c_angles) - 1
+                # limit = 2
+                if coordinates_index < limit:
+                    coordinates_index += 1
+                else:
+                    coordinates_index = 0
+
+            c = c_angles[coordinates_index]
+
+            if "queryAddr" in req and "axis-0" in req["queryAddr"]:
+                res["queryData"] = c["axis"]
+
+            if "queryAddr" in req and "world-0" in req["queryAddr"]:
+                res["queryData"] = c["world"]
+
+            if "reqType" in req and (
+                req["reqType"] == "command" or req["reqType"] == "AddRCC"
+            ):
+                res["cmdReply"] = ["it is local dear"]
+            # print(res)
+            conn.sendall(json.dumps(res).encode())
+    except json.JSONDecodeError as e:
+        print(f"JSON decode error: {e}")
+    except socket.error as e:
+        print(f"Socket error: {e}")
+    except Exception as e:
+        print(f"Unexpected error: {e}")
+    finally:
+        conn.close()
+        print(f"Connection with {addr} closed")
+
+
+with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+    s.bind((HOST, PORT))
+    s.listen()
+    print(f"Server listening on {HOST}:{PORT}")
+
+    while True:
+        conn, addr = s.accept()
+        handle_client(conn, addr)

utils/urdf_convert.py

@@ -0,0 +1,4 @@
+from xacrodoc import XacroDoc
+doc = XacroDoc.from_file(path="fanuc_m16ib_support/urdf/fanucM16ib.urdf")
+urdf_str = doc.to_urdf_string()
+doc.to_urdf_file("urdf/fanucM16ib.urdf")