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No commits in common. "urdf" and "bx-1198-class_refactor" have entirely different histories.
urdf
...
bx-1198-cl
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@ -2,9 +2,4 @@ __pycache__/
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.venv/
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.vscode/
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build/
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data/*
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/dist/**/*
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dist.zip
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.venv
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*.log
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log/*
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dist/
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16
README.md
16
README.md
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@ -1,16 +0,0 @@
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## Работа с роботом
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### Окружение
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* Запустить сокет сервер - для теста
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* Запустить pybullet сервер - визуализация в отдельном ПРОЦЕССЕ
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* Запустить gui
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### Локальный запуск
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* `poetry install`
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* Запустить в отдельном окне тестовый сокет `poetry run python utils/test_socket_server.py`
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* Запустить программу с визуализацией в отдельном окне `poetry run python ru.py --start-py --bullet-gui`
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### На чем работает
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* Визуализация и расчет положения робота - pybullet
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* Паллетизация py3dbp
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* Отправка данных по сокету `robot/socket_manager.py` и подготовка данных в нужном формате `robot/prepare_data.py`
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@ -8,25 +8,23 @@ import tkinter as tk
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from func import *
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window = tk.Tk()
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window.geometry("520x300")
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window.geometry('520x300')
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label = tk.Label(window, text="Hello, world!")
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label.pack()
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all_files = glob.glob("data/*.nc")
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all_files = glob.glob("data/data.txt")
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file = all_files[0]
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data = [
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("line", 0, 0, 277.8, 0, 5, 0),
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]
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# with open(file, "r") as fp:
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# lines = fp.readlines()
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# for l in lines:
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# r = l.strip().split(",")
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# r[1] = float(r[1])
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# r[2] = float(r[2])
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# r[3] = float(r[3])
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data = []
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with open(file, "r") as fp:
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lines = fp.readlines()
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for l in lines:
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r = l.strip().split(",")
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r[1] = float(r[1])
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r[2] = float(r[2])
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r[3] = float(r[3])
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# data.append(r)
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data.append(r)
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client = ModbusTcpClient(
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host=MODBUS_SERVER_HOST,
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@ -115,5 +113,5 @@ except Exception as e:
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finally:
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client.close()
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if __name__ == "__main__":
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if __name__=="__main__":
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window.mainloop()
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@ -0,0 +1,230 @@
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import socket
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import json
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import sys
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from pprint import pprint
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import tkinter
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from func import *
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class SocketRobotArm:
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line_speed = 100.0
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line_smooth = 9
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line_tool = 1
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global_speed = 100
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physical_speed = 50
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# laser_id = 15
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laser_id = 14
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# filename = 'half-sphere-no-angle'
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filename = "half-sphere"
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pass_size = 4
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def __init__(self, *args, **kwargs):
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self.socket = socket.socket()
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self.host = MODBUS_SERVER_HOST
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self.port = 9760
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# self.host = "127.0.0.1"
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# self.port = 65432
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self.tkinter_root = tkinter.Tk()
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self.connect()
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def __exit__(self, exc_type, exc_value, traceback):
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self.socket.close()
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def close(self):
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self.socket.close()
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self.tkinter_root.destroy()
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sys.exit()
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def set_text(self, text):
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label = tkinter.Label(self.tkinter_root, text=text)
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label.pack()
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self.tkinter_root.update()
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def connect(self):
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self.socket.connect((self.host, self.port))
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self.tkinter_root.geometry("500x300")
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self.get_axis()
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self.set_text(text=f"Координаты осей {self.start_axis_coordinates}")
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self.get_world()
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self.set_text( text=f"Мировые координаты {self.start_world_coordinates}")
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self.get_command_count()
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self.set_text( text=f"Команд в очереди {self.remote_command_count}")
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self.send_data(self.set_global_speed())
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self.set_text( text=f"Установили глобальную скорость {self.global_speed}")
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self.send_data(self.start_cycle())
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self.set_text( text=f"Старт одиночного цикла")
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self.add_rcc_list = (
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[self.set_physical_speed(True), self.set_output_laser(True)]
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+ self.steps_from_file()
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+ [self.set_physical_speed(False), self.set_output_laser(False)]
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)
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my_label = tkinter.Label(self.tkinter_root, text=f"Отправка данных")
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my_label.pack()
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self.tkinter_root.update()
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exit_button = tkinter.Button(self.tkinter_root, text="Exit", command=self.close)
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exit_button.pack(pady=20)
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step = 2
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for i in range(0, len(self.add_rcc_list), step):
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print(f"Отправка данных {i}...{i+step-1}")
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# self.update_text(m, text=f"Отправка данных {i}...{i+step-1}")
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my_label.config(text=f"Отправка данных {i}...{i+step-1}")
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self.tkinter_root.update()
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self.send_data(
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make_addrcc_data(self.add_rcc_list[i : i + step], int(not i))
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)
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time.sleep(0.5)
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def send_data(self, data):
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response = None
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# if data["reqType"] == "AddRCC":
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# return
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self.socket.send(str.encode(json.dumps(data)))
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response_data = self.socket.recv(1024)
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response = json.loads(response_data)
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if data["reqType"] == "query":
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return response["queryData"]
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elif data["reqType"] == "command":
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return response["cmdReply"]
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elif data["reqType"] == "AddRCC" and "cmdReply" in response.keys():
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return response["cmdReply"]
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else:
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pprint(response)
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def get_axis(self):
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axis_coord_raw = self.send_data(
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make_query_data(
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["axis-0", "axis-1", "axis-2", "axis-3", "axis-4", "axis-5"]
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)
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)
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self.start_axis_coordinates = [float(i) for i in axis_coord_raw]
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print("start_axis_coordinates", self.start_axis_coordinates)
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def get_world(self):
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world_coord_raw = self.send_data(
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make_query_data(
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["world-0", "world-1", "world-2", "world-3", "world-4", "world-5"]
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)
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)
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self.start_world_coordinates = [float(i) for i in world_coord_raw]
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print("start_world_coordinates", self.start_world_coordinates)
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def get_command_count(self):
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res = self.send_data(make_query_data(["RemoteCmdLen"]))
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self.remote_command_count = res
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print(res)
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def set_global_speed(self):
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# Изменили глобальную скорость на global_speed%
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return make_command_data(["modifyGSPD", str(self.global_speed * 10)])
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def start_cycle(self):
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return make_command_data(["actionSingleCycle"])
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def round(v):
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return round(v, 3)
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def make_world_step(self, type, point):
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step = {
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"oneshot": "0",
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"delay": "0.0",
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"speed": str(self.line_speed),
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"smooth": str(self.line_smooth),
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"coord": "0",
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"tool": str(self.line_tool),
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"ckStatus": "0x3F",
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}
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if type == "line":
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pairs = zip(self.start_world_coordinates, point)
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m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
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step.update({"action": "10"})
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step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
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step.update({"m6": 0, "m7": 0})
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elif type == "curve":
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pairs = zip(self.start_world_coordinates, point[:5])
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m0, m1, m2, m3, m4, m5 = [round(sum(i), 3) for i in pairs]
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pairs_p = zip(self.start_world_coordinates, point[6:])
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m0_p, m1_p, m2_p, m3_p, m4_p, m5_p = [round(sum(i), 3) for i in pairs_p]
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step.update({"action": "17"})
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step.update({"m0": m0, "m1": m1, "m2": m2, "m3": m3, "m4": m4, "m5": m5})
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step.update({"m6": 0, "m7": 0})
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step.update(
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{
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"m0_p": m0_p,
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"m1_p": m1_p,
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"m2_p": m2_p,
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"m3_p": m3_p,
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"m4_p": m4_p,
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"m5_p": m5_p,
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}
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)
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step.update({"m6_p": 0, "m7_p": 0})
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for s in step:
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step[s] = str(step[s])
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return step
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def set_physical_speed(self, status: bool = False):
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return (
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{
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"oneshot": "0",
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"action": "51",
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"isUse": str(int(status)),
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"speed": str(self.physical_speed * 1000),
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},
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)
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def set_output_laser(self, status: bool = False):
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return (
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{
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"oneshot": "0",
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"action": "200",
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"type": "0",
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"io_status": str(int(status)),
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"point": str(self.laser_id),
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},
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)
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def steps_from_file(self):
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result = []
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with open(f"data/{self.filename}.nc.result", "r") as fp:
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for line in fp:
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data = line.strip().split(" ")
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prep = {}
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for item in data:
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prep[item[:1]] = float(item[1:])
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result.append(
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self.make_world_step(
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"line",
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(
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prep.get("X", 0),
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prep.get("Y", 0),
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prep.get("Z", 0),
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prep.get("U", 0),
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prep.get("V", 0),
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prep.get("W", 0),
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),
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)
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)
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return result
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SocketRobotArm()
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
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@ -1,11 +0,0 @@
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X0 Y0 Z0
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X-300 Y0 Z0
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X-300 Y-300 Z0
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X0 Y-300 Z0
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X0 Y0 Z0
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X0 Y0 Z300
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X-300 Y0 Z300
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X-300 Y-300 Z300
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X0 Y-300 Z300
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X0 Y0 Z300
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X0 Y0 Z0
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@ -1,9 +1,7 @@
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# Настройки клиента Modbus
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MODBUS_SERVER_HOST = "192.168.70.55" # IP-адрес Modbus-сервера
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# MODBUS_SERVER_HOST = "192.168.70.65" # IP-адрес Modbus-сервера
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MODBUS_SERVER_PORT = 502
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MODBUS_SLAVE_ID = 11
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# MODBUS_SLAVE_ID = 22
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indent = 21100
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s = 800
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@ -24,7 +22,7 @@ def two_byte_convert(result):
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return value
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def bulb(addr, new_state, client, slave_id):
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def bulb(addr, new_state, client):
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try:
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coils = client.read_coils(addr, 1, MODBUS_SLAVE_ID)
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# print("читаем начальное состояние", coils.bits)
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@ -1,55 +0,0 @@
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from PyQt6.QtWidgets import QWidget, QLabel, QVBoxLayout, QPushButton
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from PyQt6.QtCore import QTimer, Qt
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import time
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from logger import logger
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class Command(QWidget):
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def __init__(self, startCommand, changeType, command_data, command_type):
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super().__init__()
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self.command_data = command_data
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self.command_type = command_type
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self.startCommand = startCommand
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self.changeType = changeType
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self.initUI()
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self.timer = QTimer()
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self.timer.timeout.connect(self.updateState)
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self.timer.start(int(100))
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|
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def initUI(self):
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self.layout = QVBoxLayout()
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self.setLayout(self.layout)
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self.stepLabel = QLabel(text="Загрузка данных")
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self.commandLabel = QLabel(text="Тип загрузки")
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|
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for l in [self.commandLabel, self.stepLabel]:
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l.setWordWrap(True)
|
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self.layout.addWidget(l)
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|
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self.updButton = QPushButton("Запустить single cycle")
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self.updButton.clicked.connect(self.startCommand)
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self.layout.addWidget(self.updButton)
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|
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self.chgButton = QPushButton("Изменить тип")
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cur_types = ["base", "calc", "pallette"]
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self.chgButton.clicked.connect(
|
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lambda: self.changeType(
|
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cur_types[(cur_types.index(self.command_type()) + 1) % len(cur_types)]
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)
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||||
)
|
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self.layout.addWidget(self.chgButton)
|
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|
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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()}")
|
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self.commandLabel.setText(f"Тип загрузки {self.command_type()}")
|
||||
|
|
@ -1,55 +0,0 @@
|
|||
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)
|
||||
|
|
@ -1,42 +0,0 @@
|
|||
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()}")
|
||||
|
|
@ -1,51 +0,0 @@
|
|||
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()}')
|
||||
126
gui/init.py
126
gui/init.py
|
|
@ -1,126 +0,0 @@
|
|||
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_())
|
||||
|
|
@ -1,22 +0,0 @@
|
|||
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)
|
||||
|
|
@ -1,40 +0,0 @@
|
|||
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)
|
||||
87
gui/robot.py
87
gui/robot.py
|
|
@ -1,87 +0,0 @@
|
|||
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)
|
||||
|
|
@ -1,37 +0,0 @@
|
|||
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())
|
||||
|
|
@ -1,53 +0,0 @@
|
|||
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)
|
||||
14
logger.py
14
logger.py
|
|
@ -1,14 +0,0 @@
|
|||
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")
|
||||
202
main.py
202
main.py
|
|
@ -1,202 +0,0 @@
|
|||
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)
|
||||
39
main.spec
39
main.spec
|
|
@ -1,39 +0,0 @@
|
|||
# -*- 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',
|
||||
)
|
||||
|
|
@ -1,45 +0,0 @@
|
|||
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
|
||||
99
pallete.json
99
pallete.json
File diff suppressed because one or more lines are too long
969
palletizing.json
969
palletizing.json
|
|
@ -1,969 +0,0 @@
|
|||
[
|
||||
{
|
||||
"action": 50000,
|
||||
"comment": " *<font size=\"4\" color=\"green\">pociya_1_korobki</font> Line3D-Pose:<br> Next:X:1092.016,Y:417.880,Z:-297.773,U:-179.999,V:0.000,W:-90.004 <br> V100.0 DLY0.000 Smooth:None tool:0:Null coord:0:Null ",
|
||||
"commentAction": {
|
||||
"action": 10,
|
||||
"bindIOInfo": 0,
|
||||
"ckStatus": "63",
|
||||
"customName": "pociya_1_korobki",
|
||||
"delay": "0.000",
|
||||
"distance": "0.000",
|
||||
"insertedIndex": 12,
|
||||
"passTrans": 0,
|
||||
"points": [
|
||||
{
|
||||
"pointName": "",
|
||||
"pos": {
|
||||
"m0": "1092.016",
|
||||
"m1": "417.880",
|
||||
"m2": "-297.773",
|
||||
"m3": "-179.999",
|
||||
"m4": "0.000",
|
||||
"m5": "-90.004",
|
||||
"m6": "0.000",
|
||||
"m7": "0.000"
|
||||
}
|
||||
}
|
||||
],
|
||||
"quotePoint": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"relativeType": 0,
|
||||
"smooth": 0,
|
||||
"speed": "100.0",
|
||||
"toolCoord": 0
|
||||
},
|
||||
"insertedIndex": 12
|
||||
},
|
||||
{
|
||||
"action": 50000,
|
||||
"comment": " *<font size=\"4\" color=\"green\">po_odnoj_1korobka</font> Line3D-Pose:<br> Next:X:1225.936,Y:417.871,Z:-297.768,U:-179.998,V:0.000,W:-90.006 <br> V100.0 DLY0.000 Smooth:None tool:0:Null coord:0:Null ",
|
||||
"commentAction": {
|
||||
"action": 10,
|
||||
"bindIOInfo": 0,
|
||||
"ckStatus": "63",
|
||||
"customName": "po_odnoj_1korobka",
|
||||
"delay": "0.000",
|
||||
"distance": "0.000",
|
||||
"insertedIndex": 19,
|
||||
"passTrans": 0,
|
||||
"points": [
|
||||
{
|
||||
"pointName": "",
|
||||
"pos": {
|
||||
"m0": "1225.936",
|
||||
"m1": "417.871",
|
||||
"m2": "-297.768",
|
||||
"m3": "-179.998",
|
||||
"m4": "0.000",
|
||||
"m5": "-90.006",
|
||||
"m6": "0.000",
|
||||
"m7": "0.000"
|
||||
}
|
||||
}
|
||||
],
|
||||
"quotePoint": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"relativeType": 0,
|
||||
"smooth": 0,
|
||||
"speed": "100.0",
|
||||
"toolCoord": 0
|
||||
},
|
||||
"insertedIndex": 19
|
||||
},
|
||||
{
|
||||
"action": 50000,
|
||||
"comment": " *<font size=\"4\" color=\"green\">free_poziciya</font> Line3D-Pose:<br> Next:X:877.893,Y:-470.669,Z:1124.063,U:-180.000,V:-0.015,W:151.736 <br> V100.0 DLY0.000 Smooth:None tool:0:Null coord:0:Null ",
|
||||
"commentAction": {
|
||||
"action": 10,
|
||||
"bindIOInfo": 0,
|
||||
"ckStatus": "63",
|
||||
"customName": "free_poziciya",
|
||||
"delay": "0.000",
|
||||
"distance": "0.000",
|
||||
"insertedIndex": 1,
|
||||
"passTrans": 0,
|
||||
"points": [
|
||||
{
|
||||
"pointName": "",
|
||||
"pos": {
|
||||
"m0": "877.893",
|
||||
"m1": "-470.669",
|
||||
"m2": "1124.063",
|
||||
"m3": "-180.000",
|
||||
"m4": "-0.015",
|
||||
"m5": "151.736",
|
||||
"m6": "0.000",
|
||||
"m7": "0.000"
|
||||
}
|
||||
}
|
||||
],
|
||||
"quotePoint": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"relativeType": 0,
|
||||
"smooth": 0,
|
||||
"speed": "100.0",
|
||||
"toolCoord": 0
|
||||
},
|
||||
"insertedIndex": 1
|
||||
},
|
||||
{
|
||||
"action": 4,
|
||||
"bindIOInfo": 0,
|
||||
"ckStatus": "63",
|
||||
"customName": "startovaya_poziciya",
|
||||
"delay": "0.000",
|
||||
"distance": "0.000",
|
||||
"insertedIndex": 2,
|
||||
"passTrans": 0,
|
||||
"points": [
|
||||
{
|
||||
"pointName": "",
|
||||
"pos": {
|
||||
"m0": "-28.261",
|
||||
"m1": "0.281",
|
||||
"m2": "-2.815",
|
||||
"m3": "0.000",
|
||||
"m4": "-87.481",
|
||||
"m5": "0.002",
|
||||
"m6": "0.000",
|
||||
"m7": "0.000"
|
||||
}
|
||||
}
|
||||
],
|
||||
"quotePoint": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"relativeType": 0,
|
||||
"smooth": 0,
|
||||
"speed": "100.0",
|
||||
"toolCoord": 0
|
||||
},
|
||||
{
|
||||
"action": 401,
|
||||
"counterID": "0",
|
||||
"customName": "ochischaem_schetchik",
|
||||
"insertedIndex": 3
|
||||
},
|
||||
{
|
||||
"action": 59999,
|
||||
"comment": "start_cikla",
|
||||
"customName": "nachalo_cikla_ukladki",
|
||||
"flag": 0,
|
||||
"insertedIndex": 4
|
||||
},
|
||||
{
|
||||
"action": 50000,
|
||||
"comment": " *<font size=\"4\" color=\"green\">u_konveera</font> Line3D-Pose:<br> Next:X:685.097,Y:-1139.102,Z:205.713,U:-179.991,V:-0.002,W:179.468 <br> V100.0 DLY0.000 Smooth:None tool:0:Null coord:0:Null ",
|
||||
"commentAction": {
|
||||
"action": 10,
|
||||
"bindIOInfo": 0,
|
||||
"ckStatus": "63",
|
||||
"customName": "u_konveera",
|
||||
"delay": "0.000",
|
||||
"distance": "0.000",
|
||||
"insertedIndex": 4,
|
||||
"passTrans": 0,
|
||||
"points": [
|
||||
{
|
||||
"pointName": "",
|
||||
"pos": {
|
||||
"m0": "685.097",
|
||||
"m1": "-1139.102",
|
||||
"m2": "205.713",
|
||||
"m3": "-179.991",
|
||||
"m4": "-0.002",
|
||||
"m5": "179.468",
|
||||
"m6": "0.000",
|
||||
"m7": "0.000"
|
||||
}
|
||||
}
|
||||
],
|
||||
"quotePoint": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"relativeType": 0,
|
||||
"smooth": 0,
|
||||
"speed": "100.0",
|
||||
"toolCoord": 0
|
||||
},
|
||||
"insertedIndex": 5
|
||||
},
|
||||
{
|
||||
"action": 4,
|
||||
"bindIOInfo": 0,
|
||||
"ckStatus": "63",
|
||||
"customName": "podhod_k_konveeru",
|
||||
"delay": "0.000",
|
||||
"distance": "0.000",
|
||||
"insertedIndex": 6,
|
||||
"passTrans": 0,
|
||||
"points": [
|
||||
{
|
||||
"pointName": "",
|
||||
"pos": {
|
||||
"m0": "-59.023",
|
||||
"m1": "-50.957",
|
||||
"m2": "-0.568",
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "typing-extensions"
|
||||
version = "4.12.2"
|
||||
description = "Backported and Experimental Type Hints for Python 3.8+"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "typing_extensions-4.12.2-py3-none-any.whl", hash = "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d"},
|
||||
{file = "typing_extensions-4.12.2.tar.gz", hash = "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"},
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zope-interface"
|
||||
version = "7.0.1"
|
||||
description = "Interfaces for Python"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
{file = "zope.interface-7.0.1.tar.gz", hash = "sha256:f0f5fda7cbf890371a59ab1d06512da4f2c89a6ea194e595808123c863c38eff"},
|
||||
]
|
||||
|
||||
[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 = "^3.10.11"
|
||||
content-hash = "6d16510fd35519dee80acbeb09936403172391cc840df3b5be874e6eab27f242"
|
||||
python-versions = "3.10.12"
|
||||
content-hash = "a224728a18ef19c1f754e77db7d8cba413724a9a4257af5704b0fad93f833c58"
|
||||
|
|
|
|||
|
|
@ -1,39 +0,0 @@
|
|||
# -*- 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',
|
||||
)
|
||||
|
|
@ -4,21 +4,16 @@ version = "0.1.0"
|
|||
description = ""
|
||||
authors = ["aarizona <ar.ariz.arizona@gmail.com>"]
|
||||
readme = "README.md"
|
||||
package-mode = false
|
||||
|
||||
[tool.poetry.dependencies]
|
||||
python = "^3.10.11"
|
||||
python = "3.10.12"
|
||||
modbus = "^3.2"
|
||||
pymodbustcp = "^0.2.2"
|
||||
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"]
|
||||
|
|
|
|||
|
|
@ -1 +0,0 @@
|
|||
from .client_socket import SocketRobotArm
|
||||
|
|
@ -1,456 +0,0 @@
|
|||
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
|
||||
|
|
@ -1,141 +0,0 @@
|
|||
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()
|
||||
|
|
@ -1,34 +0,0 @@
|
|||
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])
|
||||
|
|
@ -1,60 +0,0 @@
|
|||
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
|
||||
|
|
@ -1,58 +0,0 @@
|
|||
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
|
||||
|
|
@ -1,139 +0,0 @@
|
|||
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)
|
||||
33
robots.json
33
robots.json
|
|
@ -1,33 +0,0 @@
|
|||
[
|
||||
{
|
||||
|
||||
"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"
|
||||
}
|
||||
]
|
||||
125
run.py
125
run.py
|
|
@ -1,125 +0,0 @@
|
|||
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()
|
||||
39
run.spec
39
run.spec
|
|
@ -1,39 +0,0 @@
|
|||
# -*- 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',
|
||||
)
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
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())
|
||||
|
|
@ -1,39 +0,0 @@
|
|||
# -*- 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',
|
||||
)
|
||||
|
|
@ -1,24 +0,0 @@
|
|||
<?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>
|
||||
|
|
@ -1,28 +0,0 @@
|
|||
<?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>
|
||||
218
urdf/sample.urdf
218
urdf/sample.urdf
|
|
@ -1,218 +0,0 @@
|
|||
<?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>
|
||||
|
|
@ -1,204 +0,0 @@
|
|||
<?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>
|
||||
|
|
@ -1,192 +0,0 @@
|
|||
<?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>
|
||||
|
|
@ -1,27 +0,0 @@
|
|||
<?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>
|
||||
|
|
@ -1,18 +0,0 @@
|
|||
# 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
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -1,42 +0,0 @@
|
|||
# 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)
|
||||
|
|
@ -1,179 +0,0 @@
|
|||
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)
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
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")
|
||||
Loading…
Reference in New Issue