78 lines
2.2 KiB
Python
78 lines
2.2 KiB
Python
import socket
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import json
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import os
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import math
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import numpy as np
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import time
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from typing import Literal
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from pprint import pprint
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import threading
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import pybullet as p
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import pybullet_industrial as pi
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from logger import logger
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class UrdfManager:
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urdf_filename = None
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urdf_filename_tool = "welding_gun"
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physics_client = None
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body_id = None
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def __init__(self, robot_start_position, application_path):
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self.robot_start_position = robot_start_position
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self.application_path = application_path
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def start_loop(self, urdf):
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self.urdf_filename = urdf
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p.resetSimulation()
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self.load_models()
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def run_pybullet(self, type="DIRECT"):
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self.physics_client = p.connect(getattr(p, type))
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logger.info(f"Connect to {self.physics_client} by {type}")
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def load_models(self):
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# p.loadURDF("urdf/plane.urdf", physicsClientId=self.physics_client)
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urdf_path = os.path.join(
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self.application_path, "urdf", f"{self.urdf_filename}.urdf"
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)
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self.body_id = p.loadURDF(
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urdf_path, self.robot_start_position, useFixedBase=True
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)
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urdf_path_tool = os.path.join(
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self.application_path, "urdf", f"{self.urdf_filename_tool}.urdf"
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)
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num_joints = p.getNumJoints(self.body_id)
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end_state = p.getLinkState(self.body_id, num_joints - 1)
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self.tool_id = p.loadURDF(urdf_path_tool)
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time.sleep(1)
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def get_pybullet_image(self):
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if self.physics_client is None:
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return
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width, height, rgb, _, _ = p.getCameraImage(
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width=500,
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height=500,
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viewMatrix=p.computeViewMatrix(
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cameraEyePosition=[4, -4, 1.5],
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# cameraEyePosition=[4,-4,4],
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cameraTargetPosition=[0, 0, 0], # Центр фокусировки камеры
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cameraUpVector=[0, 0, 1], # Направление вверх
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),
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projectionMatrix=p.computeProjectionMatrixFOV(
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fov=60.0, aspect=1.0, nearVal=0.1, farVal=10.0
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),
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# renderer=p.ER_TINY_RENDERER,
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physicsClientId=self.physics_client,
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)
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return (rgb, width, height)
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