2272 lines
2.0 MiB
2272 lines
2.0 MiB
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上传的文件是C++在树莓派编译的KDL程序，使用下面json调用webapi求逆解，不能正确得到计算结果，是什么原因？帮忙改正
|
||
{
|
||
"success": true,
|
||
"code": 0,
|
||
"msg": "机器人列表获取成功",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"req_cmd": "Cmd_Kinematics_inverse_pose_str",
|
||
"req_param": {
|
||
"robot_uuid" : "9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1",
|
||
"pose_str" : "0.374, 0.2, 0.63,0, 0, 0,1",
|
||
"q_init_str" : "0,0,0,0,0,0"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
|
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|
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|
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|
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|
||
{
|
||
"success": false,
|
||
"code": 1000,
|
||
"msg": "默认值",
|
||
"req_code": "F6F097FA-9494-4F56-83D2-67E5EB1650B4",
|
||
"req_from": "当前数字孪生系统客户端",
|
||
"req_cmd": "Cmd_MakeCraftFramesDataJL",
|
||
"req_param": {
|
||
"CraftCode": "78B45C0E-9F31-4559-BFAC-BDA651C8F35B",
|
||
"ProjectCode": "343EB6BA-FBAB-4A02-AD0D-ADC5B4BF8897",
|
||
"ModelAttribute": "[{\"ModelCode\":\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\",\"ModelName\":\"推料装置\",\"ModelTypeCode\":\"0\",\"DeviceTypeCode\":1,\"DeviceTypeName\":\"Device\",\"UrdfContent\":\"\",\"DeviceJson\":\"{\\\"UrdfContent\\\":null,\\\"Id\\\":null,\\\"ModelId\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"ModelName\\\":\\\"工位6推料装置\\\",\\\"DeviceType\\\":1,\\\"Base\\\":null,\\\"Flange\\\":null,\\\"Tool\\\":null,\\\"LinkList\\\":[{\\\"GraphPosition\\\":\\\"105, 53\\\",\\\"Id\\\":\\\"1CEDDB95-533A-4B28-94D3-D35C29FFFE21\\\",\\\"ModelId\\\":null,\\\"IsFixed\\\":false,\\\"Name\\\":\\\"link_1\\\",\\\"LinkElements\\\":[{\\\"Id\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"Name\\\":\\\"工位6推料装置\\\"}]},{\\\"GraphPosition\\\":\\\"104, 133\\\",\\\"Id\\\":\\\"B5826026-5A8A-4452-B858-778A60504DBF\\\",\\\"ModelId\\\":null,\\\"IsFixed\\\":false,\\\"Name\\\":\\\"link_2\\\",\\\"LinkElements\\\":[{\\\"Id\\\":\\\"5f0560a4-2ffa-4ba8-99b7-b6c127186b7d\\\",\\\"Name\\\":\\\"工位6推料装置JT1\\\"}]},{\\\"GraphPosition\\\":\\\"148, 216\\\",\\\"Id\\\":\\\"E8FE9E1C-FB12-4459-87C3-DE600273EEC9\\\",\\\"ModelId\\\":null,\\\"IsFixed\\\":false,\\\"Name\\\":\\\"link_3\\\",\\\"LinkElements\\\":[{\\\"Id\\\":\\\"9304a3de-078c-4b79-9455-914dd7aa295f\\\",\\\"Name\\\":\\\"工位6推料装置JT2\\\"}]},{\\\"GraphPosition\\\":\\\"230, 316\\\",\\\"Id\\\":\\\"B4C8FF8D-49AF-486F-8AB5-A9D1C6EBF1E0\\\",\\\"ModelId\\\":null,\\\"IsFixed\\\":false,\\\"Name\\\":\\\"link_4\\\",\\\"LinkElements\\\":[{\\\"Id\\\":\\\"b76da4e9-1004-43bc-a336-672493f38451\\\",\\\"Name\\\":\\\"工位6推料装置JT3\\\"}]}],\\\"JointList\\\":[{\\\"Script\\\":null,\\\"IsScript\\\":false,\\\"IsOnlyHomePose\\\":false,\\\"GraphPosition\\\":[\\\"155, 86\\\",\\\"154, 133\\\"],\\\"Id\\\":\\\"6A44F154-0B3D-4EFA-AF21-EE07115C3A7C\\\",\\\"Name\\\":\\\"joint_1\\\",\\\"ModelId\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"IsDriving\\\":false,\\\"ParentLinkId\\\":\\\"1CEDDB95-533A-4B28-94D3-D35C29FFFE21\\\",\\\"ChildLinkId\\\":\\\"B5826026-5A8A-4452-B858-778A60504DBF\\\",\\\"PId\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"CId\\\":\\\"5f0560a4-2ffa-4ba8-99b7-b6c127186b7d\\\",\\\"Axis\\\":{\\\"Start\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0},\\\"End\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0},\\\"AxisFlag\\\":0,\\\"Flip\\\":0,\\\"Loaction\\\":{\\\"Position\\\":{\\\"X\\\":-198.95,\\\"Y\\\":0,\\\"Z\\\":24.7},\\\"FixedAngle\\\":{\\\"R\\\":0,\\\"P\\\":0,\\\"Y\\\":0}},\\\"LoactionQuaternion\\\":{\\\"Position\\\":{\\\"X\\\":-198.95,\\\"Y\\\":0,\\\"Z\\\":24.7},\\\"Quaternion\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0,\\\"W\\\":1}}},\\\"JointType\\\":1,\\\"LockJoint\\\":false,\\\"JointLimit\\\":{\\\"Interval\\\":1000,\\\"LimitType\\\":0,\\\"LowLimit\\\":0,\\\"HighLimit\\\":800},\\\"JointMaxValue\\\":{\\\"Speed\\\":80,\\\"Acceleration\\\":90},\\\"Value\\\":0,\\\"ValueInput\\\":0,\\\"ValueFactor\\\":1,\\\"ValueCurrent\\\":1.5336285829544067},{\\\"Script\\\":null,\\\"IsScript\\\":false,\\\"IsOnlyHomePose\\\":false,\\\"GraphPosition\\\":[\\\"154, 166\\\",\\\"198, 216\\\"],\\\"Id\\\":\\\"FD3CB3A0-B773-40B0-8315-EBA8076EB477\\\",\\\"Name\\\":\\\"joint_2\\\",\\\"ModelId\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"IsDriving\\\":false,\\\"ParentLinkId\\\":\\\"B5826026-5A8A-4452-B858-778A60504DBF\\\",\\\"ChildLinkId\\\":\\\"E8FE9E1C-FB12-4459-87C3-DE600273EEC9\\\",\\\"PId\\\":\\\"5f0560a4-2ffa-4ba8-99b7-b6c127186b7d\\\",\\\"CId\\\":\\\"9304a3de-078c-4b79-9455-914dd7aa295f\\\",\\\"Axis\\\":{\\\"Start\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0},\\\"End\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0},\\\"AxisFlag\\\":2,\\\"Flip\\\":0,\\\"Loaction\\\":{\\\"Position\\\":{\\\"X\\\":-37.5,\\\"Y\\\":32.5,\\\"Z\\\":-320},\\\"FixedAngle\\\":{\\\"R\\\":0,\\\"P\\\":0,\\\"Y\\\":0}},\\\"LoactionQuaternion\\\":{\\\"Position\\\":{\\\"X\\\":-37.5,\\\"Y\\\":32.5,\\\"Z\\\":-320},\\\"Quaternion\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0,\\\"W\\\":1}}},\\\"JointType\\\":1,\\\"LockJoint\\\":false,\\\"JointLimit\\\":{\\\"Interval\\\":1000,\\\"LimitType\\\":0,\\\"LowLimit\\\":-800,\\\"HighLimit\\\":800},\\\"JointMaxValue\\\":{\\\"Speed\\\":80,\\\"Acceleration\\\":90},\\\"Value\\\":0,\\\"ValueInput\\\":0,\\\"ValueFactor\\\":1,\\\"ValueCurrent\\\":0.5040000677108765},{\\\"Script\\\":null,\\\"IsScript\\\":false,\\\"IsOnlyHomePose\\\":false,\\\"GraphPosition\\\":[\\\"198, 249\\\",\\\"280, 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|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
主线程用户操作触发任务 ───────▶消息管理器的消息队列(优先级)───────▶ Web Worker任务处理───────▶消息管理器的响应处理器───────▶主线程的消息队列───────▶主线程的状态更新界面渲染
|
||
|
||
|
||
主线程 │ │ 消息管理器 │ │ Web Worker │
|
||
│ │ │ │ │ │
|
||
│ ┌─────────────┐│ │ ┌─────────────┐ │ │ ┌─────────────┐│
|
||
│ │ 用户操作 ││ │ │ 消息队列 │ │ │ │ 任务处理 ││
|
||
│ │ 触发任务 │───────▶│ (优先级) │───────▶│ ││
|
||
│ └─────────────┘│ │ └─────────────┘ │ │ └─────────────┘│
|
||
│ │ │ │ │ │
|
||
│ ┌─────────────┐│ │ ┌─────────────┐ │ │ ┌─────────────┐│
|
||
│ │ 状态更新 │◀───────│ 响应处理器 │◀───────│ 返回结果 ││
|
||
│ │ 界面渲染 ││ │ │ (错误重试) │ │ │ │ (进度反馈) ││
|
||
│ └─────────────┘│ │ └─────────────┘ │ │ └─────────────
|
||
2025-09-27
|
||
|
||
|
||
{
|
||
"success": false,
|
||
"code": 1000,
|
||
"msg": "默认值",
|
||
"req_code": "D7007B97-BCF5-4A01-B231-A668180B4799",
|
||
"req_from": "当前数字孪生系统客户端",
|
||
"req_cmd": "Cmd_AddCraft",
|
||
"req_param": {
|
||
"CraftGroupCode": "1085194E-ED82-4D1E-BEA9-07690E7362AE",
|
||
"CraftName": "新版1_1001",
|
||
"CraftDeviceTypeCode": "LinearFlow",
|
||
"ModelCode": "e286a172-9ae1-4080-b945-506e2b1c14f8",
|
||
"ProjectCode": "343EB6BA-FBAB-4A02-AD0D-ADC5B4BF8897",
|
||
"ModelCodeParent": "48fdcd25-7b7f-4fa4-b4fc-36db1996aa72",
|
||
"ModelNameParent": "传送带送料装置",
|
||
"ModelName": "新版1_1",
|
||
"ClickModel": "{\"DeviceTypeCode\":0,\"ModelCode\":\"e286a172-9ae1-4080-b945-506e2b1c14f8\",\"ModelName\":\"新版1_1\",\"ModelCodeParent\":\"48fdcd25-7b7f-4fa4-b4fc-36db1996aa72\",\"ModelNameParent\":\"传送带送料装置\",\"ModelCodeBase\":\"dfbd1585-f468-4a53-a5e5-0404e5c86d25\",\"ModelNameBase\":\"Scene\",\"ModelCodeTool\":\"dfbd1585-f468-4a53-a5e5-0404e5c86d25\",\"ModelNameTool\":\"Scene\",\"ModelCodeTcp\":\"dfbd1585-f468-4a53-a5e5-0404e5c86d25\",\"ModelNameTcp\":\"Scene\",\"Position\":{\"x\":-0.15200001001358032,\"y\":-0.06886349618434906,\"z\":0.03602077066898346,\"tx\":0.7020000219345093,\"ty\":-0.05604272154569625,\"tz\":0.22587856096029282,\"rx\":0,\"ry\":0,\"rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1},\"Base\":{\"x\":0,\"y\":0,\"z\":0,\"tx\":0,\"ty\":0,\"tz\":0,\"rx\":0,\"ry\":0,\"rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1},\"Tool\":{\"x\":0,\"y\":0,\"z\":0,\"tx\":0,\"ty\":0,\"tz\":0,\"rx\":0,\"ry\":0,\"rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1},\"Tcp\":{\"x\":0,\"y\":0,\"z\":0,\"tx\":0,\"ty\":0,\"tz\":0,\"rx\":0,\"ry\":0,\"rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1},\"TcpSelf\":\"-0.15200001001358032&-0.06886349618434906&0.03602077066898346&0&0&0\",\"CurrentJoint\":[]}"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
|
||
INSERT INTO [OperationTree]([ID],[CraftCode],[CraftTypeCode],[Varieties],[CraftName],[ProjectCode],[KeepTime],[ModelCode],[CraftDeviceTypeCode],[Reverse],[ScriptText],[ExistScript],[ModelCodeParent],[ModelNameParent],[ModelName],[SequenceNo])
|
||
VALUES('19412737-d46c-4b43-84c2-631739eedb70','f66e1f5f-af8a-48ee-b254-42d55e26f5b5','1085194E-ED82-4D1E-BEA9-07690E7362AE','6','新版1_1001','343EB6BA-FBAB-4A02-AD0D-ADC5B4BF8897',0,'e286a172-9ae1-4080-b945-506e2b1c14f8',4,-1,'','False','48fdcd25-7b7f-4fa4-b4fc-36db1996aa72','传送带送料装置','新版1_1',99999)
|
||
|
||
|
||
|
||
|
||
{
|
||
"success": false,
|
||
"code": 1000,
|
||
"msg": "默认值",
|
||
"req_code": "D9E73A8D-1B39-4D20-AD60-CADE6D6ED09C",
|
||
"req_from": "当前数字孪生系统客户端",
|
||
"req_cmd": "Cmd_AddCraft",
|
||
"req_param": {
|
||
"CraftGroupCode": "1085194E-ED82-4D1E-BEA9-07690E7362AE",
|
||
"CraftName": "新版1_1001",
|
||
"CraftDeviceTypeCode": "LinearFlow",
|
||
"ModelCode": "e286a172-9ae1-4080-b945-506e2b1c14f8",
|
||
"ProjectCode": "343EB6BA-FBAB-4A02-AD0D-ADC5B4BF8897",
|
||
"ModelCodeParent": "48fdcd25-7b7f-4fa4-b4fc-36db1996aa72",
|
||
"ModelNameParent": "传送带送料装置",
|
||
"ModelName": "新版1_1",
|
||
"ClickModel": "{\"DeviceTypeCode\":0,\"ModelCode\":\"e286a172-9ae1-4080-b945-506e2b1c14f8\",\"ModelName\":\"新版1_1\",\"ModelCodeParent\":\"48fdcd25-7b7f-4fa4-b4fc-36db1996aa72\",\"ModelNameParent\":\"传送带送料装置\",\"ModelCodeBase\":\"35b8b817-b86e-4a24-8dc7-2c95c75f8452\",\"ModelNameBase\":\"Scene\",\"ModelCodeTool\":\"35b8b817-b86e-4a24-8dc7-2c95c75f8452\",\"ModelNameTool\":\"Scene\",\"ModelCodeTcp\":\"35b8b817-b86e-4a24-8dc7-2c95c75f8452\",\"ModelNameTcp\":\"Scene\",\"Position\":{\"x\":-0.15200001001358032,\"y\":-0.06886349618434906,\"z\":0.03602077066898346,\"tx\":0.7020000219345093,\"ty\":-0.05604272154569625,\"tz\":0.22587856096029282,\"rx\":0,\"ry\":0,\"rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1},\"Base\":{\"x\":0,\"y\":0,\"z\":0,\"tx\":0,\"ty\":0,\"tz\":0,\"rx\":0,\"ry\":0,\"rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1},\"Tool\":{\"x\":0,\"y\":0,\"z\":0,\"tx\":0,\"ty\":0,\"tz\":0,\"rx\":0,\"ry\":0,\"rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1},\"Tcp\":{\"x\":0,\"y\":0,\"z\":0,\"tx\":0,\"ty\":0,\"tz\":0,\"rx\":0,\"ry\":0,\"rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1},\"TcpSelf\":\"-0.15200001001358032&-0.06886349618434906&0.03602077066898346&0&0&0\",\"CurrentJoint\":[]}"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
|
||
|
||
|
||
public class Api_Craft
|
||
class
|
||
Interface_Comm Comm_ReqField
|
||
CraftAttribute
|
||
Type_GenerateSignal Type_SignalStartEnd Type_TagIDHandler Type_Device
|
||
CraftAttribute
|
||
|
||
func：
|
||
|
||
Func_Craft
|
||
Func_GenerateSignal？？：
|
||
--------------------------------------
|
||
Dictionary<String, String>
|
||
|
||
CraftAttribute Type_TagIDHandler Type_Device Type_GenerateSignal
|
||
Type_SignalStartEnd Type_Craft
|
||
SqlSignalTree SqlCraft SqlTag_Handler SqlProcess SqlProcesslLabel
|
||
----------------------------------------
|
||
|
||
public class SqlTag_Handler？？
|
||
-------------------------
|
||
SqlOperation.OutGUID.Get_CS_GUID()
|
||
Dictionary 转 Record
|
||
----------------------------------------
|
||
Qsql：
|
||
|
||
SqlCraft
|
||
|
||
SqlSignalTree SqlProcess SqlProcesslLabel
|
||
|
||
sqlite
|
||
DataSet
|
||
|
||
Dictionary 转 Record
|
||
|
||
|
||
Func_Craft_Beat_Statistics？？
|
||
|
||
TypeUnit
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
1、将C#程序SqlOperationTree.cs转成TypeScript程序；
|
||
2、数据库操作参考SQLCommon.ts；
|
||
3、数据库使用Sqlite。sql语言脚本符合Sqlite数据库；
|
||
4、C#程序中的sql语言脚本分离出单独函数，放到sql脚本模板类中
|
||
4、输出完整的程序
|
||
2025-09-26
|
||
|
||
|
||
|
||
|
||
|
||
public class Func_MsgHandler
|
||
|
||
|
||
|
||
BaseClass
|
||
-------------------------------------------
|
||
ParsingData ??
|
||
|
||
|
||
|
||
|
||
-----------------------------------
|
||
|
||
|
||
ModelAttribute
|
||
|
||
Data_ClickModel :Data_Position,Data_RobotCurr,CVT
|
||
|
||
|
||
PP
|
||
|
||
PathEditorRow: JointData
|
||
|
||
GlobalEventInterface
|
||
|
||
func
|
||
|
||
Func_RobotManagement
|
||
Func_Interface_Out
|
||
Func_ModelQuery
|
||
|
||
|
||
|
||
|
||
|
||
Func_Destruction
|
||
|
||
|
||
|
||
Dictionary<String, ModelAttribute>
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
2025-09-25
|
||
public static int CalculateRobotFrameData(string currentProcessNodeId, Dictionary<String, ModelAttribute> PP_HT_ModelCode_ModelAttribute)
|
||
|
||
public static string OutputCraftGroupData(List<String> list_CraftCode)
|
||
|
||
class :
|
||
|
||
|
||
ModelAttribute CraftAttribute PP Type_Craft DataTable P_OPERATION FrameD??
|
||
|
||
|
||
|
||
Func_ReleaceResult.ts
|
||
|
||
SqlCraft
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
UPDATE [OperationTree] SET [CraftPlayData] = '{"OPERATION":{"frames":[{"time":"0.00","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[{"ModelCode":"6a73a7d5-356b-407c-afe6-32d11e6b8a22","Visible":"0"}],"rotations":[],"waits":[],"attachs":[]},{"time":"0.02","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19082","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.04","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19163","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.06","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19245","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.08","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19327","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.10","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19408","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.12","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.1949","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.14","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19571","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.16","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19653","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.18","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19735","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.20","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19816","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.22","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.19898","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.24","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.1998","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.26","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.20061","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.28","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.20143","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.30","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.20224","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.32","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.20306","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.34","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.20388","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.36","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.20469","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.38","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.20551","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.40","objStates":[{"i":"58baee3e-64b8-4db7-9a24-5ba47d83a0ad","tx":"-0.20633","ty":"0","tz":"-0.315","qx":"0","qy":"0","qz":"0","qw":"1"}],"crafts":[],"signalwrites":[],"visibles":[],"rotations":[],"waits":[],"attachs":[]},{"time":"0.42","objSt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|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
2025-09-24
|
||
|
||
|
||
Func_ReleaceResult
|
||
class
|
||
ModelAttribute OPERATION_BaseClass.ts PathEditorRow CraftAttribute Kinematics CurrModelPosition PP GlobalEventInterface
|
||
|
||
CVT_TABLE InterfaceInvoke Interface_Comm_ReqField
|
||
|
||
|
||
|
||
OPERATION_FramesList 在k目录
|
||
|
||
CVT :Data_ClickModel
|
||
CVT_TABLE: Basic_Calculate/CVT_TABLE.js
|
||
|
||
|
||
|
||
|
||
|
||
func
|
||
|
||
Func_PathEditor_Play ? Func_RecordJointData ? Func_PtMakePtList
|
||
|
||
Func_RobotManagement?? Func_ModelQuery?
|
||
CanRunningCpp?
|
||
|
||
|
||
Func_RobotManagement
|
||
|
||
|
||
osql
|
||
SqlCraft SqlProcess SqlProcesslLabel
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
SQLCommon
|
||
|
||
|
||
|
||
|
||
|
||
Dictionary 转Record
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
Dictionary 转Record
|
||
|
||
|
||
|
||
|
||
sqlite
|
||
|
||
|
||
|
||
Dictionary 转Record
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
public class Func_Craft
|
||
1、移植要点：
|
||
CraftAttribute ModelAttribute DeviceCraftData TagTriggerHandler Type_Craft HomeOpen
|
||
|
||
ModelBasic.ErrDef
|
||
DataTable DataRow SqlCraft SqlProcess
|
||
|
||
|
||
ActControl : PP OPERATION_BaseClass.ts
|
||
|
||
|
||
public class Func_ActManagement:
|
||
|
||
ActControl OPERATION_BaseClass.ts Func_Dataformat
|
||
Interface_Comm_ReqField InterfaceInvoke
|
||
|
||
Func_Interface_Out Func_ReleaceResult Func_GlobalEventInterface_Exec
|
||
|
||
|
||
SqlCraft
|
||
|
||
Dictionary 转Record
|
||
|
||
|
||
|
||
|
||
|
||
PathEditorRow Data_ClickModel ModelAttribute QueueExecScriptParam
|
||
|
||
|
||
|
||
|
||
|
||
public class Func_GlobalEventInterface_Exec
|
||
GlobalEventInterface OPERATION_BaseClass.ts
|
||
|
||
public class GlobalEventInterface:
|
||
|
||
ActControl OPERATION_BaseClass.ts PathEditorRow Data_ClickModel ModelAttribute QueueExecScriptParam
|
||
|
||
DataTable Mode_Run Kinematics DataTable
|
||
|
||
Dictionary<String, ActControl> 转: Record<string, ActControl>
|
||
|
||
|
||
InterfaceInvoke
|
||
|
||
Interface_Comm，Interface_Comm_Cmd Api_Api DataTable
|
||
|
||
Dictionary 转Record
|
||
|
||
|
||
|
||
public class Func_Dataformat
|
||
|
||
OPERATION_BaseClass.ts
|
||
|
||
Func_Interface_Out
|
||
|
||
PlayBack Cmd_Protocol PP OPERATION_BaseClass.ts Func_Dataformat GlobalEventInterface
|
||
|
||
Func_Socket
|
||
|
||
|
||
|
||
public class PlayBack
|
||
|
||
DataSet
|
||
|
||
Dictionary 转Record
|
||
|
||
OutGUID.Get_CS_GUID() 在文件uuid.ts中的UUIDGenerator.generate()
|
||
|
||
1、将C#程序SqlOperationTree.cs转成TypeScript程序；
|
||
2、数据库操作参考SQLCommon.ts；
|
||
3、数据库使用Sqlite。sql语言脚本符合Sqlite数据库；
|
||
4、C#程序中的sql语言脚本分离出单独函数，放到sql脚本模板类中
|
||
4、输出完整的程序
|
||
|
||
public class Func_Interface_Out
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
Dictionary<String, ModelAttribute> PP_HT_ModelCode_ModelAttribute 转: Record<string, ModelAttribute>
|
||
|
||
Dictionary<String, String> dc_CraftCode_CloneNewCraftCode 转: Record<string, ModelAttribute>
|
||
|
||
|
||
|
||
HomeOpen.OPEN
|
||
|
||
|
||
ModelBasic.ErrDef.iErrHandler.ErrInfoTransmit(
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
registerCommand("Cmd_Kinematics_inverse_pose_str_2PSteps",
|
||
[this](const json& param) { return handleKinematicsInverse2PSteps(param); });
|
||
registerCommand("Cmd_Kinematics_inverse_pose_str_NoDifference",
|
||
[this](const json& param) { return handleKinematicsInverseNoDifference(param); });
|
||
|
||
std::string pose_str = param.value("pose_str", "");
|
||
std::string q_init_str = param.value("q_init_str", "0,0,0,0,0,0");
|
||
std::string robot_uuid = param.value("robot_uuid", "default");
|
||
std::string steps_str = param.value("steps_str", "default");
|
||
|
||
9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1
|
||
0A049A00-6C1F-4748-A22A-6B5942B09430
|
||
F07C2A76-A13F-4475-B936-181FD8DBF986
|
||
94295448-DD21-4A87-A80F-F65B85AB861E
|
||
964D5694-ACC3-4C30-93F3-066D1FA04952
|
||
243AAD5C-4E64-4E9E-A9FA-E79600045F08
|
||
D9A71933-B7FA-4A77-805F-F7C404101CB1
|
||
|
||
|
||
|
||
"[0, 0, 0, 0, 0, -0.000249999997395833, 0.99999996875]"
|
||
"[0, 0, 0.29, 0, -0.221078309227548, 0, 0.975256059293706]"
|
||
"[0, 0, 0.27, 0, 0.287537726379785, 0, 0.957769312469524]"
|
||
"[0.134, 0, 0.07, 0.00161499929795286, 0, 0, 0.999998695887783]"
|
||
"[0.168, 0, 0, 0, 0.276682391433487, 0, 0.960961421843066]"
|
||
"[0.072, 0, 0, -0.00121499970106446, 0, 0, 0.999999261887591]"
|
||
|
||
|
||
|
||
{"objStates":[{"i":"0A049A00-6C1F-4748-A22A-6B5942B09430","qw":"1.00000","qx":"0.00000","qy":"0.00000","qz":"-0.00025","tx":"0.00000","ty":"0.00000","tz":"0.00000"},{"i":"F07C2A76-A13F-4475-B936-181FD8DBF986","qw":"0.97526","qx":"0.00000","qy":"-0.22108","qz":"0.00000","tx":"0.00000","ty":"0.00000","tz":"0.29000"},{"i":"94295448-DD21-4A87-A80F-F65B85AB861E","qw":"0.95777","qx":"0.00000","qy":"0.28754","qz":"0.00000","tx":"0.00000","ty":"0.00000","tz":"0.27000"},{"i":"964D5694-ACC3-4C30-93F3-066D1FA04952","qw":"1.00000","qx":"0.00161","qy":"0.00000","qz":"0.00000","tx":"0.13400","ty":"0.00000","tz":"0.07000"},{"i":"243AAD5C-4E64-4E9E-A9FA-E79600045F08","qw":"0.96096","qx":"0.00000","qy":"0.27668","qz":"0.00000","tx":"0.16800","ty":"0.00000","tz":"0.00000"},{"i":"D9A71933-B7FA-4A77-805F-F7C404101CB1","qw":"1.00000","qx":"-0.00121","qy":"0.00000","qz":"0.00000","tx":"0.07200","ty":"0.00000","tz":"0.00000"}],"time":"0.020000"}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
DT|ModelTree|[{"ModelCode":"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca","ModelName":"推料装置","ModelTypeCode":"0","DeviceTypeCode":1,"DeviceTypeName":"Device","UrdfContent":"","DeviceJson":"{\"UrdfContent\":null,\"Id\":null,\"ModelId\":\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\",\"ModelName\":\"工位6推料装置\",\"DeviceType\":1,\"Base\":null,\"Flange\":null,\"Tool\":null,\"LinkList\":[{\"GraphPosition\":\"105, 53\",\"Id\":\"1CEDDB95-533A-4B28-94D3-D35C29FFFE21\",\"ModelId\":null,\"IsFixed\":false,\"Name\":\"link_1\",\"LinkElements\":[{\"Id\":\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\",\"Name\":\"工位6推料装置\"}]},{\"GraphPosition\":\"104, 133\",\"Id\":\"B5826026-5A8A-4452-B858-778A60504DBF\",\"ModelId\":null,\"IsFixed\":false,\"Name\":\"link_2\",\"LinkElements\":[{\"Id\":\"5f0560a4-2ffa-4ba8-99b7-b6c127186b7d\",\"Name\":\"工位6推料装置JT1\"}]},{\"GraphPosition\":\"148, 216\",\"Id\":\"E8FE9E1C-FB12-4459-87C3-DE600273EEC9\",\"ModelId\":null,\"IsFixed\":false,\"Name\":\"link_3\",\"LinkElements\":[{\"Id\":\"9304a3de-078c-4b79-9455-914dd7aa295f\",\"Name\":\"工位6推料装置JT2\"}]},{\"GraphPosition\":\"230, 316\",\"Id\":\"B4C8FF8D-49AF-486F-8AB5-A9D1C6EBF1E0\",\"ModelId\":null,\"IsFixed\":false,\"Name\":\"link_4\",\"LinkElements\":[{\"Id\":\"b76da4e9-1004-43bc-a336-672493f38451\",\"Name\":\"工位6推料装置JT3\"}]}],\"JointList\":[{\"Script\":null,\"IsScript\":false,\"IsOnlyHomePose\":false,\"GraphPosition\":[\"155, 86\",\"154, 133\"],\"Id\":\"6A44F154-0B3D-4EFA-AF21-EE07115C3A7C\",\"Name\":\"joint_1\",\"ModelId\":\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\",\"IsDriving\":false,\"ParentLinkId\":\"1CEDDB95-533A-4B28-94D3-D35C29FFFE21\",\"ChildLinkId\":\"B5826026-5A8A-4452-B858-778A60504DBF\",\"PId\":\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\",\"CId\":\"5f0560a4-2ffa-4ba8-99b7-b6c127186b7d\",\"Axis\":{\"Start\":{\"X\":0,\"Y\":0,\"Z\":0},\"End\":{\"X\":0,\"Y\":0,\"Z\":0},\"AxisFlag\":0,\"Flip\":0,\"Loaction\":{\"Position\":{\"X\":-198.95,\"Y\":0,\"Z\":24.7},\"FixedAngle\":{\"R\":0,\"P\":0,\"Y\":0}},\"LoactionQuaternion\":{\"Position\":{\"X\":-198.95,\"Y\":0,\"Z\":24.7},\"Quaternion\":{\"X\":0,\"Y\":0,\"Z\":0,\"W\":1}}},\"JointType\":1,\"LockJoint\":false,\"JointLimit\":{\"Interval\":1000,\"LimitType\":0,\"LowLimit\":0,\"HighLimit\":800},\"JointMaxValue\":{\"Speed\":80,\"Acceleration\":90},\"Value\":0,\"ValueInput\":0,\"ValueFactor\":1,\"ValueCurrent\":1.5336285829544067},{\"Script\":null,\"IsScript\":false,\"IsOnlyHomePose\":false,\"GraphPosition\":[\"154, 166\",\"198, 216\"],\"Id\":\"FD3CB3A0-B773-40B0-8315-EBA8076EB477\",\"Name\":\"joint_2\",\"ModelId\":\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\",\"IsDriving\":false,\"ParentLinkId\":\"B5826026-5A8A-4452-B858-778A60504DBF\",\"ChildLinkId\":\"E8FE9E1C-FB12-4459-87C3-DE600273EEC9\",\"PId\":\"5f0560a4-2ffa-4ba8-99b7-b6c127186b7d\",\"CId\":\"9304a3de-078c-4b79-9455-914dd7aa295f\",\"Axis\":{\"Start\":{\"X\":0,\"Y\":0,\"Z\":0},\"End\":{\"X\":0,\"Y\":0,\"Z\":0},\"AxisFlag\":2,\"Flip\":0,\"Loaction\":{\"Position\":{\"X\":-37.5,\"Y\":32.5,\"Z\":-320},\"FixedAngle\":{\"R\":0,\"P\":0,\"Y\":0}},\"LoactionQuaternion\":{\"Position\":{\"X\":-37.5,\"Y\":32.5,\"Z\":-320},\"Quaternion\":{\"X\":0,\"Y\":0,\"Z\":0,\"W\":1}}},\"JointType\":1,\"LockJoint\":false,\"JointLimit\":{\"Interval\":1000,\"LimitType\":0,\"LowLimit\":-800,\"HighLimit\":800},\"JointMaxValue\":{\"Speed\":80,\"Acceleration\":90},\"Value\":0,\"ValueInput\":0,\"ValueFactor\":1,\"ValueCurrent\":0.5040000677108765},{\"Script\":null,\"IsScript\":false,\"IsOnlyHomePose\":false,\"GraphPosition\":[\"198, 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0.02462000,-0.24624000,0.51528000,0.22950000,0.25360000,-0.63054000,0.69673000;0.00256000,-0.21896000,0.37436000,0.50044000,0.49956000,-0.50044000,0.49956000
|
||
|
||
-1.4711434370267016,-0.4458471499487547,0.5833138196918832,-0.000002094395102392868,0.5606828334129736,-0.000010995574287564615
|
||
|
||
{
|
||
"success": true,
|
||
"code": 0,
|
||
"msg": "机器人列表获取成功",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"req_cmd": "Cmd_Kinematics_inverse_pose_str",
|
||
"req_param": {
|
||
"robot_uuid" : "9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1",
|
||
"pose_str" : "0.00256000,-0.21896000,0.37436000,0.50044000,0.49956000,-0.50044000,0.49956000;0.00256000,-0.21896000,0.27436000,-0.50044000,-0.49956000,0.50044000,-0.49956000",
|
||
"q_init_str" : "-0.02721153378315474,-0.004794261234298897,0.014711667603995887,5.1168900437817183e-8,0.017498201291300173,0.00023474894840220452"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
3、编写函数Cmd_Kinematics_inverse_pose_str实现机器人逆解，
|
||
输入字符串参数robot_uuid、robot_uuid，q_init_str 用post方法， 合成下面json数据，实现机器人逆解。
|
||
输入：
|
||
|
||
{
|
||
"success": true,
|
||
"code": 0,
|
||
"msg": "机器人列表获取成功",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"req_cmd": "Cmd_Kinematics_inverse_pose_str",
|
||
"req_param": {
|
||
"robot_uuid" : "9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1",
|
||
"pose_str" : "0.00256000,-0.21896000,0.37436000,0.50044000,0.49956000,-0.50044000,0.49956000;0.00256000,-0.21896000,0.27436000,-0.50044000,-0.49956000,0.50044000,-0.49956000",
|
||
"q_init_str" : "0,0,0,0,0,0"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
|
||
|
||
3、编写函数Cmd_Kinematics_inverse_pose_str实现机器人逆解，
|
||
输入字符串参数robot_uuid、robot_uuid，q_init_str 用post方法， 合成下面json数据，实现机器人逆解。
|
||
输入：
|
||
|
||
{
|
||
"success": true,
|
||
"code": 0,
|
||
"msg": "机器人列表获取成功",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"req_cmd": "Cmd_Kinematics_inverse_pose_str",
|
||
"req_param": {
|
||
"robot_uuid" : "9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1",
|
||
"pose_str" : "0.374, 0, 0.63,0, 0, 0,1;0.4626,0.2209,0.3340,0.148283,0.435718,0.079062,0.884258",
|
||
"q_init_str" : "0,0,0,0,0,0"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
Cmd_MakeCraftFramesDataJL：
|
||
|
||
{
|
||
"success": false,
|
||
"code": 1000,
|
||
"msg": "默认值",
|
||
"req_code": "C8682754-EDA0-43A6-BFCF-B0448E57CB69",
|
||
"req_from": "当前数字孪生系统客户端",
|
||
"req_cmd": "Cmd_MakeCraftFramesDataJL",
|
||
"req_param": {
|
||
"CraftCode": "C889895D-54B0-4498-904B-20F710D8B2AE",
|
||
"ProjectCode": "343EB6BA-FBAB-4A02-AD0D-ADC5B4BF8897"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
|
||
|
||
{
|
||
"success": false,
|
||
"code": 1000,
|
||
"msg": "默认值",
|
||
"req_code": "C8682754-EDA0-43A6-BFCF-B0448E57CB69",
|
||
"req_from": "机器人工艺仿真",
|
||
"req_cmd": "Cmd_MakeCraftFramesDataJL",
|
||
"req_param": {
|
||
"CraftCode": "C889895D-54B0-4498-904B-20F710D8B2AE",
|
||
"ProjectCode": "343EB6BA-FBAB-4A02-AD0D-ADC5B4BF8897",
|
||
"ModelAttribute": "[{\"ModelCode\":\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\",\"ModelName\":\"推料装置\",\"ModelTypeCode\":\"0\",\"DeviceTypeCode\":1,\"DeviceTypeName\":\"Device\",\"UrdfContent\":\"\",\"DeviceJson\":\"{\\\"UrdfContent\\\":null,\\\"Id\\\":null,\\\"ModelId\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"ModelName\\\":\\\"工位6推料装置\\\",\\\"DeviceType\\\":1,\\\"Base\\\":null,\\\"Flange\\\":null,\\\"Tool\\\":null,\\\"LinkList\\\":[{\\\"GraphPosition\\\":\\\"105, 53\\\",\\\"Id\\\":\\\"1CEDDB95-533A-4B28-94D3-D35C29FFFE21\\\",\\\"ModelId\\\":null,\\\"IsFixed\\\":false,\\\"Name\\\":\\\"link_1\\\",\\\"LinkElements\\\":[{\\\"Id\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"Name\\\":\\\"工位6推料装置\\\"}]},{\\\"GraphPosition\\\":\\\"104, 133\\\",\\\"Id\\\":\\\"B5826026-5A8A-4452-B858-778A60504DBF\\\",\\\"ModelId\\\":null,\\\"IsFixed\\\":false,\\\"Name\\\":\\\"link_2\\\",\\\"LinkElements\\\":[{\\\"Id\\\":\\\"5f0560a4-2ffa-4ba8-99b7-b6c127186b7d\\\",\\\"Name\\\":\\\"工位6推料装置JT1\\\"}]},{\\\"GraphPosition\\\":\\\"148, 216\\\",\\\"Id\\\":\\\"E8FE9E1C-FB12-4459-87C3-DE600273EEC9\\\",\\\"ModelId\\\":null,\\\"IsFixed\\\":false,\\\"Name\\\":\\\"link_3\\\",\\\"LinkElements\\\":[{\\\"Id\\\":\\\"9304a3de-078c-4b79-9455-914dd7aa295f\\\",\\\"Name\\\":\\\"工位6推料装置JT2\\\"}]},{\\\"GraphPosition\\\":\\\"230, 316\\\",\\\"Id\\\":\\\"B4C8FF8D-49AF-486F-8AB5-A9D1C6EBF1E0\\\",\\\"ModelId\\\":null,\\\"IsFixed\\\":false,\\\"Name\\\":\\\"link_4\\\",\\\"LinkElements\\\":[{\\\"Id\\\":\\\"b76da4e9-1004-43bc-a336-672493f38451\\\",\\\"Name\\\":\\\"工位6推料装置JT3\\\"}]}],\\\"JointList\\\":[{\\\"Script\\\":null,\\\"IsScript\\\":false,\\\"IsOnlyHomePose\\\":false,\\\"GraphPosition\\\":[\\\"155, 86\\\",\\\"154, 133\\\"],\\\"Id\\\":\\\"6A44F154-0B3D-4EFA-AF21-EE07115C3A7C\\\",\\\"Name\\\":\\\"joint_1\\\",\\\"ModelId\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"IsDriving\\\":false,\\\"ParentLinkId\\\":\\\"1CEDDB95-533A-4B28-94D3-D35C29FFFE21\\\",\\\"ChildLinkId\\\":\\\"B5826026-5A8A-4452-B858-778A60504DBF\\\",\\\"PId\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"CId\\\":\\\"5f0560a4-2ffa-4ba8-99b7-b6c127186b7d\\\",\\\"Axis\\\":{\\\"Start\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0},\\\"End\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0},\\\"AxisFlag\\\":0,\\\"Flip\\\":0,\\\"Loaction\\\":{\\\"Position\\\":{\\\"X\\\":-198.95,\\\"Y\\\":0,\\\"Z\\\":24.7},\\\"FixedAngle\\\":{\\\"R\\\":0,\\\"P\\\":0,\\\"Y\\\":0}},\\\"LoactionQuaternion\\\":{\\\"Position\\\":{\\\"X\\\":-198.95,\\\"Y\\\":0,\\\"Z\\\":24.7},\\\"Quaternion\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0,\\\"W\\\":1}}},\\\"JointType\\\":1,\\\"LockJoint\\\":false,\\\"JointLimit\\\":{\\\"Interval\\\":1000,\\\"LimitType\\\":0,\\\"LowLimit\\\":0,\\\"HighLimit\\\":800},\\\"JointMaxValue\\\":{\\\"Speed\\\":80,\\\"Acceleration\\\":90},\\\"Value\\\":0,\\\"ValueInput\\\":0,\\\"ValueFactor\\\":1,\\\"ValueCurrent\\\":1.5336285829544067},{\\\"Script\\\":null,\\\"IsScript\\\":false,\\\"IsOnlyHomePose\\\":false,\\\"GraphPosition\\\":[\\\"154, 166\\\",\\\"198, 216\\\"],\\\"Id\\\":\\\"FD3CB3A0-B773-40B0-8315-EBA8076EB477\\\",\\\"Name\\\":\\\"joint_2\\\",\\\"ModelId\\\":\\\"1a7cb3bc-f717-4562-a4cf-3f2c090d32ca\\\",\\\"IsDriving\\\":false,\\\"ParentLinkId\\\":\\\"B5826026-5A8A-4452-B858-778A60504DBF\\\",\\\"ChildLinkId\\\":\\\"E8FE9E1C-FB12-4459-87C3-DE600273EEC9\\\",\\\"PId\\\":\\\"5f0560a4-2ffa-4ba8-99b7-b6c127186b7d\\\",\\\"CId\\\":\\\"9304a3de-078c-4b79-9455-914dd7aa295f\\\",\\\"Axis\\\":{\\\"Start\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0},\\\"End\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0},\\\"AxisFlag\\\":2,\\\"Flip\\\":0,\\\"Loaction\\\":{\\\"Position\\\":{\\\"X\\\":-37.5,\\\"Y\\\":32.5,\\\"Z\\\":-320},\\\"FixedAngle\\\":{\\\"R\\\":0,\\\"P\\\":0,\\\"Y\\\":0}},\\\"LoactionQuaternion\\\":{\\\"Position\\\":{\\\"X\\\":-37.5,\\\"Y\\\":32.5,\\\"Z\\\":-320},\\\"Quaternion\\\":{\\\"X\\\":0,\\\"Y\\\":0,\\\"Z\\\":0,\\\"W\\\":1}}},\\\"JointType\\\":1,\\\"LockJoint\\\":false,\\\"JointLimit\\\":{\\\"Interval\\\":1000,\\\"LimitType\\\":0,\\\"LowLimit\\\":-800,\\\"HighLimit\\\":800},\\\"JointMaxValue\\\":{\\\"Speed\\\":80,\\\"Acceleration\\\":90},\\\"Value\\\":0,\\\"ValueInput\\\":0,\\\"ValueFactor\\\":1,\\\"ValueCurrent\\\":0.5040000677108765},{\\\"Script\\\":null,\\\"IsScript\\\":false,\\\"IsOnlyHomePose\\\":false,\\\"GraphPosition\\\":[\\\"198, 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},
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}
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receiveMsg(params)
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{
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"success": false,
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"code": 1000,
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"msg": "默认值",
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"req_from": "当前数字孪生系统客户端",
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"req_param": {
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{
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rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1}},{\"ModelCode\":\"D9A71933-B7FA-4A77-805F-F7C404101CB1\",\"ModelName\":\"link_6\",\"ModelTypeCode\":\"9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1\",\"DeviceTypeCode\":2,\"DeviceTypeName\":\"Robot\",\"UrdfContent\":\"\",\"DeviceJson\":\"{}\",\"Position\":{\"tx\":0.07199999690055847,\"ty\":0,\"tz\":0,\"rx\":0,\"ry\":0,\"rz\":0,\"qx\":0,\"qy\":0,\"qz\":0,\"qw\":1}}]"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
|
||
|
||
import { InterfaceComm } from './Interface_Comm.js';
|
||
import { CommReqField, InterfaceCommReqField } from './InterfaceCommReqField.js';
|
||
import { CommResField, InterfaceCommResField } from './Interface_Comm_ResField.js';
|
||
import { InterfaceCommSetErr, InterfaceCommErr } from './Interface_Comm_Err.js';
|
||
import { Func_PathEditor } from './Func_PathEditor.js';
|
||
import { Func_ReleaceResult } from './Func_ReleaceResult.js';
|
||
import { Func_ProcessLabel } from './Func_ProcessLabel.js';
|
||
import { SqlProcess } from '../../Osql/SqlProcess.js';
|
||
import { SqlProcessLabel } from '../../Osql/SqlProcessLabel.js';
|
||
import { PathEditorRow } from '../../Foundation/BaseClass/PathEditorRow.js';
|
||
import { ModelAttribute } from '../../Foundation/BaseClass/ModelAttribute.js';
|
||
import { FrameElementCmd } from '../../Foundation/CommReqField.js'; // 假设存在
|
||
import { PP } from '../../Foundation/BaseClass/PP.js';
|
||
|
||
|
||
|
||
// Func_ReleaceResult.js
|
||
|
||
import { SQLCommon,ExecuteResult,DataSet,DataTable,DataRow } from '../sqlite/SQLCommon';
|
||
|
||
|
||
import { SqlCraft } from '../../Osql/SqlCraft.js';
|
||
import { SqlProcess } from '../../Osql/SqlProcess.js';
|
||
import { SqlProcessLabel } from '../../Osql/SqlProcessLabel.js';
|
||
import { Func_PathEditor } from './Func_PathEditor.js';
|
||
import { Func_PtMakePtList } from './Func_PtMakePtList.js';
|
||
|
||
import { CanRunning } from '../../Foundation/CanRunning/CanRunning.js';
|
||
|
||
import { CVT_TABLE } from '../../Foundation/Basic_Calculate/CVT_TABLE.js';
|
||
import { C_Frames } from '../../Foundation/BaseClass/OPERATION_BaseClass.js';
|
||
import { OperateResult } from '../../Foundation/BaseClass/OperateResult.js';
|
||
import { PP } from '../../Foundation/BaseClass/PP.js';
|
||
import { FrameElementCmd } from '../../Foundation/BaseClass/FrameElementCmd.js';
|
||
import { ModelAttribute } from '../../Foundation/BaseClass/ModelAttribute.js';
|
||
import { CraftAttribute } from '../../Foundation/BaseClass/CraftAttribute.js';
|
||
import { PathEditorRow } from '../../Foundation/BaseClass/PathEditorRow.js';
|
||
import { Type_Craft } from '../../Foundation/BaseClass/Type_Craft.js';
|
||
import { P_OPERATION } from '../../Foundation/BaseClass/OPERATION_BaseClass.js';
|
||
|
||
|
||
PathEditorRow C_Frames CraftAttribute P_OPERATION CVT_TABLE
|
||
|
||
Dictionary<String, ModelAttribute> PP_HT_ModelCode_ModelAttribute 转成TypeScript的Record<string, ModelAttribute>
|
||
|
||
Dictionary<String, CraftAttribute> 转成TypeScript的Record<string, ModelAttribute>
|
||
|
||
CVT_TABLE OperateResult.ts
|
||
|
||
PathEditorRow DataTable
|
||
|
||
import { SQLCommon,ExecuteResult,DataSet,DataTable,DataRow } from '../sqlite/SQLCommon';
|
||
import { PathEditorRow } from '../../Foundation/BaseClass/PathEditorRow.js';
|
||
|
||
CanRunning
|
||
|
||
|
||
C_Frames C_ObjStates Pose Joint , Dictionary<String, ModelAttribute> PP_HT_ModelCode_ModelAttribute PoseInfo
|
||
|
||
Kinematics AxisFlag JointType PositionQuaternion
|
||
|
||
Quaternion Vector3 C_Frames
|
||
|
||
|
||
|
||
|
||
CVT_TABLE
|
||
Pose
|
||
|
||
JointPose MoveToPosePriorType Kinematics UUIDGenerator
|
||
|
||
public Dictionary<string, double> 转成TypeScript的Record<string, double>
|
||
Guid.NewGuid().ToString("D").ToUpper() 在文件uuid.ts中的UUIDGenerator.generate()
|
||
|
||
|
||
|
||
import { SQLCommon,ExecuteResult,DataSet,DataTable,DataRow } from '../sqlite/SQLCommon';
|
||
import { UUIDGenerator } from '../utils/uuid.js';
|
||
|
||
FrameElementCmd
|
||
DataTable DataSet
|
||
|
||
DataSet 在的类在文件SQLCommon.ts中
|
||
PathEditorRow的类在文件PathEditorRow.ts中
|
||
|
||
|
||
Joint.cs
|
||
ModelAttribute Kinematics PositionQuaternion
|
||
|
||
|
||
|
||
Dictionary<String, ModelAttribute> PP_HT_ModelCode_ModelAttribute 转成TypeScript的Record<string, ModelAttribute>
|
||
|
||
|
||
使用帕斯卡命名法（PascalCase）而不是驼峰命名法
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
Sensor.cs
|
||
|
||
public static event Action<string, string, object, Dictionary<String, ModelAttribute>> OnDataChange = null;
|
||
public static event Action<string, string, bool> OnDataChangeJointIsRun = null;
|
||
|
||
Dictionary<String, ModelAttribute>转成TypeScript的Record<string, ModelAttribute>
|
||
|
||
public class Joint
|
||
{
|
||
/// <summary>
|
||
/// ModeId JointId value
|
||
/// </summary>
|
||
public static event Action<string, string, object, Dictionary<String, ModelAttribute>> OnDataChange = null;
|
||
public static event Action<string, string, bool> OnDataChangeJointIsRun = null;
|
||
//public static event Action<Joint> UpdateJoint;
|
||
|
||
public static void DataChange(string modeId, string id, object val, Dictionary<String, ModelAttribute> PP_HT_ModelCode_ModelAttribute)
|
||
{
|
||
if (OnDataChange != null)
|
||
{
|
||
OnDataChange.Invoke(modeId, id, val, PP_HT_ModelCode_ModelAttribute);
|
||
}
|
||
}
|
||
|
||
public static void DataChangeJointIsRun(string modeId, string id, bool val)
|
||
{
|
||
if (OnDataChangeJointIsRun != null)
|
||
{
|
||
OnDataChangeJointIsRun.Invoke(modeId, id, val);
|
||
}
|
||
}
|
||
public static void SetJointValueCurrent(string modelId, string id, double val, Dictionary<String, ModelAttribute> PP_HT_ModelCode_ModelAttribute)
|
||
{
|
||
|
||
var k = PP_HT_ModelCode_ModelAttribute[modelId].KinematicsData;
|
||
Joint.DataChange(k.ModelId, id, k.JointList.FirstOrDefault(t => t.Id == id).ValueCurrent, PP_HT_ModelCode_ModelAttribute);
|
||
}
|
||
|
||
}
|
||
|
||
|
||
public static void SetJointValueCurrent(string modelId, string id, double val, Dictionary<String, ModelAttribute> PP_HT_ModelCode_ModelAttribute)
|
||
{
|
||
|
||
var k = PP_HT_ModelCode_ModelAttribute[modelId].KinematicsData;
|
||
Joint.DataChange(k.ModelId, id, k.JointList.FirstOrDefault(t => t.Id == id).ValueCurrent, PP_HT_ModelCode_ModelAttribute);
|
||
}
|
||
主要优化点：
|
||
保持C#命名规范：
|
||
这个类是从C#的程序中转换过来的。进一步优化这个类，方便C#程序中使用的这个类准确转化成TypeScript程序。
|
||
使用帕斯卡命名法（PascalCase）而不是驼峰命名法
|
||
|
||
方法名首字母大写（SetCurrJoint而不是setCurrJoint）
|
||
|
||
属性名与C#完全一致
|
||
|
||
精确的接口匹配：
|
||
|
||
定义了IPathEditorRow接口，完全对应C#类的属性结构
|
||
|
||
保持了所有原始字段名称和类型
|
||
|
||
方法一致性：
|
||
|
||
所有方法签名与C#版本保持一致
|
||
|
||
参数命名与C#一致（如p_JList）
|
||
|
||
内部结构化数据：
|
||
|
||
使用私有字段存储结构化数据
|
||
|
||
提供同步方法确保数据一致性
|
||
|
||
序列化支持：
|
||
|
||
ToObject()方法用于序列化
|
||
|
||
FromObject()方法用于反序列化
|
||
|
||
兼容性工具：
|
||
|
||
提供了从各种格式创建实例的工厂函数
|
||
|
||
保持与C#常量定义的一致性
|
||
|
||
这样设计确保了C#代码可以无缝转换为TypeScript，同时保持了原有的API和行为。
|
||
|
||
|
||
1、将C#程序SqlOperationTree.cs转成TypeScript程序；
|
||
2、数据库操作参考SQLCommon.ts；
|
||
3、数据库使用Sqlite。sql语言脚本符合Sqlite数据库；
|
||
4、C#程序中的sql语言脚本分离出单独函数，放到sql脚本模板类中
|
||
4、输出完整的程序
|
||
|
||
import { SQLCommon,ExecuteResult,DataSet,DataTable,DataRow } from '../sqlite/SQLCommon';
|
||
import { UUIDGenerator } from '../utils/uuid.js';
|
||
|
||
FrameElementCmd
|
||
DataTable DataSet
|
||
|
||
DataSet 在的类在文件SQLCommon.ts中
|
||
PathEditorRow的类在文件PathEditorRow.ts中
|
||
OutGUID.Get_CS_GUID() 在文件uuid.ts中的UUIDGenerator.generate()
|
||
|
||
|
||
规范完成
|
||
src/core_ts/Osql/
|
||
|
||
SqlCraft.ts
|
||
SqlProcess.ts
|
||
SqlSignalTree.ts
|
||
|
||
|
||
|
||
|
||
|
||
import { SqlCraft } from '../../Osql/SqlCraft.js';
|
||
import { SqlSignalTree } from '../../Osql/SqlSignalTree.js';
|
||
import { SqlProcessLabel } from '../../Osql/SqlProcessLabel.js';
|
||
import { FrameElementCmd } from '../../Foundation/BaseClass/FrameElementCmd.js';
|
||
import { PathEditorRow,CurrJointName} from '../../Foundation/BaseClass/PathEditorRow.js';
|
||
|
||
PP_HT_ModelCode_ModelAttribute: Record<string, ModelAttribute>
|
||
import { SQLCommon,ExecuteResult,DataSet,DataTable,DataRow } from '../sqlite/SQLCommon';
|
||
|
||
|
||
1、将C#程序SqlOperationTree.cs转成TypeScript程序；
|
||
2、数据库操作参考SQLCommon.ts；
|
||
3、数据库使用Sqlite。sql语言脚本符合Sqlite数据库；
|
||
4、C#程序中的sql语言脚本分离出单独函数，放到sql脚本模板类中
|
||
4、输出完整的程序
|
||
FrameElementCmd
|
||
|
||
1、SqlProcessLabel_ts.ts
|
||
import { SQLCommon } from '../sqlite/SQLCommon.js';
|
||
import { SqlTemplate } from './SqlTemplate_ts.js';
|
||
|
||
|
||
2、SqlProcess_ts.ts
|
||
|
||
import { SQLCommon } from '../sqlite/SQLCommon';
|
||
import { SqlTemplate } from './SqlTemplate_ts.js';
|
||
import { UUIDGenerator } from '../utils/uuid.js';
|
||
|
||
|
||
请将各个上传的C#程序，按文件转成添加注释的TypeScript文件；不使用interface。
|
||
C#先去掉namespace，不使用命名空间。所有的类，都要export。每个上传的文件，单独转换到同一个文件中，文件名称保持不变。
|
||
文件后缀，.ts。
|
||
func
|
||
webapi服务的网址
|
||
http://127.0.0.1:41182/api/idt/func
|
||
|
||
1、编写函数Cmd_InitRobot，输入字符串参数robot_uuid、urdf_base64， 用post方法， 输入下面数据，创建新的机器人，保存到webapi服务的管理器中，实现机器人初始化。
|
||
输入：{
|
||
"req_cmd": "Cmd_InitRobot",
|
||
"req_from": "api_tester",
|
||
"req_param": {
|
||
"robot_uuid": "9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1",
|
||
"urdf_base64": "<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/xtark/ABB_ws/src/abb_experimental/abb_irb120_support/urdf/irb120_3_58.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="abb_irb120_3_58" xmlns:xacro="http://ros.org/wiki/xacro" uuid="9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1">
  <!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
       unless otherwise stated. -->
  <!-- link list -->
  <link name="link_6" uuid="D9A71933-B7FA-4A77-805F-F7C404101CB1">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="base_link" uuid="9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_1" uuid="0A049A00-6C1F-4748-A22A-6B5942B09430">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_2" uuid="F07C2A76-A13F-4475-B936-181FD8DBF986">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_3" uuid="94295448-DD21-4A87-A80F-F65B85AB861E">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_4" uuid="964D5694-ACC3-4C30-93F3-066D1FA04952">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_5" uuid="243AAD5C-4E64-4E9E-A9FA-E79600045F08">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <!-- end of link list -->
  <!-- joint list -->
  <joint name="joint_6" type="revolute" innerId="8E926C36-2177-41F4-BA1C-8E34589BF818">
    <origin rpy="0 0 0" xyz="0.072 0 0" />
    <parent link="link_5" uuid="243AAD5C-4E64-4E9E-A9FA-E79600045F08" />
    <child link="link_6" uuid="D9A71933-B7FA-4A77-805F-F7C404101CB1" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="1 0 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_1" type="revolute" innerId="45B6400D-AE70-4FE0-910A-6F8962B4F792">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="base_link" uuid="9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1" />
    <child link="link_1" uuid="0A049A00-6C1F-4748-A22A-6B5942B09430" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="0 0 1" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_2" type="revolute" innerId="35A4A784-26D1-4DBA-BAEF-740B6E2278AB">
    <origin rpy="0 0 0" xyz="0 0 0.29" />
    <parent link="link_1" uuid="0A049A00-6C1F-4748-A22A-6B5942B09430" />
    <child link="link_2" uuid="F07C2A76-A13F-4475-B936-181FD8DBF986" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="0 1 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_3" type="revolute" innerId="BBAD98ED-4240-4E21-8620-C6D448303F9B">
    <origin rpy="0 0 0" xyz="0 0 0.27" />
    <parent link="link_2" uuid="F07C2A76-A13F-4475-B936-181FD8DBF986" />
    <child link="link_3" uuid="94295448-DD21-4A87-A80F-F65B85AB861E" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="0 1 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_4" type="revolute" innerId="1A0AD00D-9676-49F1-BB15-852516029946">
    <origin rpy="0 0 0" xyz="0.134 0 0.07" />
    <parent link="link_3" uuid="94295448-DD21-4A87-A80F-F65B85AB861E" />
    <child link="link_4" uuid="964D5694-ACC3-4C30-93F3-066D1FA04952" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="1 0 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_5" type="revolute" innerId="29B7FB0E-32B5-4216-A3E4-95EA7767B3B8">
    <origin rpy="0 0 0" xyz="0.168 0 0" />
    <parent link="link_4" uuid="964D5694-ACC3-4C30-93F3-066D1FA04952" />
    <child link="link_5" uuid="243AAD5C-4E64-4E9E-A9FA-E79600045F08" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="0 1 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <!-- end of joint list -->
  <!-- ROS-Industrial 'base' frame: base_link to ABB World Coordinates transform -->
  <link name="base" uuidBase="39fc08ad-6f2e-4fc5-8bcc-dd6e35918a31" />
  <joint name="base_link-base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="base" />
    <child link="base_link" />
  </joint>
  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
  <link name="flange" />
  <joint name="joint_6-flange" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="link_6" />
    <child link="flange" />
  </joint>
  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
  <link name="tool0" uuidTool="5b570726-e374-4d8a-882e-60c803f37ac0" />
  <joint name="link_6-tool0" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="flange" />
    <child link="tool0" />
  </joint>
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/</robotNamespace>
    </plugin>
  </gazebo>
</robot>
",
|
||
"force_update": true
|
||
}
|
||
}
|
||
返回：
|
||
{
|
||
"code": 0,
|
||
"msg": "",
|
||
"req_cmd": "Cmd_InitRobot",
|
||
"req_code": "",
|
||
"req_from": "api_tester",
|
||
"res_data": {
|
||
"message": "Successfully updated robot 9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1",
|
||
"success": true,
|
||
"timestamp": "2025-09-13T19:20:55.226Z"
|
||
},
|
||
"success": true,
|
||
"timestamp": 1757791255
|
||
}
|
||
2、编写函数Cmd_ListRobots， 列出webapi服务中机器人的相关信息。
|
||
输入：
|
||
列出机器人：
|
||
{
|
||
"success": true,
|
||
"code": 0,
|
||
"msg": "机器人列表获取成功",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"req_cmd": "Cmd_ListRobots",
|
||
"req_param": {
|
||
"detail": true
|
||
},
|
||
"res_data": null
|
||
}
|
||
输出：
|
||
{
|
||
"code": 0,
|
||
"msg": "机器人列表获取成功",
|
||
"req_cmd": "Cmd_ListRobots",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"res_data": {
|
||
"count": 4,
|
||
"robots": {
|
||
"9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1": "Joints: 6, Status: valid, Hash: e921fd78...",
|
||
"9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1-1": "Joints: 6, Status: valid, Hash: e921fd78...",
|
||
"9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1-2": "Joints: 6, Status: valid, Hash: e921fd78...",
|
||
"abb_irb120_3_58": "Joints: 6, Status: valid, Hash: e921fd78..."
|
||
},
|
||
"success": true,
|
||
"timestamp": "2025-09-13T19:32:26.075Z"
|
||
},
|
||
"success": true,
|
||
"timestamp": 1757791946
|
||
}
|
||
|
||
3、编写函数Cmd_Kinematics_inverse_pose_str实现机器人逆解，
|
||
输入字符串参数robot_uuid、robot_uuid，q_init_str 用post方法， 合成下面json数据，实现机器人逆解。
|
||
输入：
|
||
|
||
{
|
||
"success": true,
|
||
"code": 0,
|
||
"msg": "机器人列表获取成功",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"req_cmd": "Cmd_Kinematics_inverse_pose_str",
|
||
"req_param": {
|
||
"robot_uuid" : "9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1",
|
||
"pose_str" : "0.374, 0, 0.63,0, 0, 0,1;0.4626,0.2209,0.3340,0.148283,0.435718,0.079062,0.884258",
|
||
"q_init_str" : "0,0,0,0,0,0"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
返回：
|
||
{
|
||
"code": 0,
|
||
"msg": "机器人列表获取成功",
|
||
"req_cmd": "Cmd_Kinematics_inverse_pose_str",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"res_data": {
|
||
"joints": [
|
||
[
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0
|
||
],
|
||
[
|
||
0.0009582940197322115,
|
||
0.00018158340725373372,
|
||
0.0008763247355296988,
|
||
-1.3057007322306757,
|
||
0.00075645615705964,
|
||
1.3061290954157572
|
||
],
|
||
[
|
||
0.003827695221796387,
|
||
0.0007429397247690358,
|
||
0.0034873816910016087,
|
||
-1.3050521008156786,
|
||
0.0030173056066635324,
|
||
1.30677737446471
|
||
],
|
||
[
|
||
0.008592046930435795,
|
||
0.0017339350754710051,
|
||
0.007778663258828579,
|
||
-1.3034942990492495,
|
||
0.006759195900432913,
|
||
1.307420262785877
|
||
],
|
||
[
|
||
0.015223149519032945,
|
||
0.0032373516110497814,
|
||
0.013659126527598806,
|
||
-1.3007737675175146,
|
||
0.011938459915884539,
|
||
1.3078620649349735
|
||
],
|
||
[
|
||
0.02368165779540205,
|
||
0.005367846100177289,
|
||
0.02100357584485277,
|
||
-1.2972116093644617,
|
||
0.01849455325056704,
|
||
1.3085031312859634
|
||
],
|
||
[
|
||
0.03391581433506203,
|
||
0.008271181064448718,
|
||
0.02965256507644727,
|
||
-1.292706443792475,
|
||
0.02634585841442917,
|
||
1.3093408509684785
|
||
],
|
||
[
|
||
0.04586087527808603,
|
||
0.0121230578268883,
|
||
0.03941302157975081,
|
||
-1.2870462821520385,
|
||
0.035388235970713104,
|
||
1.3102790570574931
|
||
],
|
||
[
|
||
0.059438833016704044,
|
||
0.017127359657050614,
|
||
0.05006037010396112,
|
||
-1.2801001310705262,
|
||
0.04549308480487953,
|
||
1.3113164969424775
|
||
],
|
||
[
|
||
0.07455787708960984,
|
||
0.023514482631095613,
|
||
0.061338655481692914,
|
||
-1.271658398356698,
|
||
0.056505715818021586,
|
||
1.3123833614863474
|
||
],
|
||
[
|
||
0.09111214344149629,
|
||
0.03153928870784992,
|
||
0.07296064410198985,
|
||
-1.261421504678815,
|
||
0.06824437912382819,
|
||
1.3133252393373545
|
||
],
|
||
[
|
||
0.10898222459584772,
|
||
0.04147832220041649,
|
||
0.0846093019848334,
|
||
-1.249087008877968,
|
||
0.08050032459479094,
|
||
1.3139848511478933
|
||
],
|
||
[
|
||
0.12803558288765277,
|
||
0.05362704564752753,
|
||
0.09593660967350108,
|
||
-1.2342500242137098,
|
||
0.09303945674153595,
|
||
1.3140962823132014
|
||
],
|
||
[
|
||
0.14812778579951993,
|
||
0.06829628366037162,
|
||
0.10656330146139538,
|
||
-1.2164129271045305,
|
||
0.10560613111171124,
|
||
1.3132879025298607
|
||
],
|
||
[
|
||
0.16910421190920089,
|
||
0.08580816453690407,
|
||
0.11607787402096882,
|
||
-1.1949596237909428,
|
||
0.11792985584646197,
|
||
1.311049401035295
|
||
],
|
||
[
|
||
0.1908023765102276,
|
||
0.10649142947147655,
|
||
0.12403545724795073,
|
||
-1.169131848307366,
|
||
0.12973581300675163,
|
||
1.306700749679695
|
||
],
|
||
[
|
||
0.21305434812923307,
|
||
0.13067650586753704,
|
||
0.12995495341306532,
|
||
-1.1379497426136023,
|
||
0.1407605472395851,
|
||
1.299305663891145
|
||
],
|
||
[
|
||
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|
||
0.15868966335920295,
|
||
0.13331856157126717,
|
||
-1.100224685955312,
|
||
0.15077418931821798,
|
||
1.2876784274824689
|
||
],
|
||
[
|
||
0.2585420315814514,
|
||
0.1908477987233229,
|
||
0.13356778304128356,
|
||
-1.0544612398707955,
|
||
0.15961185802455108,
|
||
1.2702812336077949
|
||
],
|
||
[
|
||
0.2814455997533801,
|
||
0.2274534661340679,
|
||
0.1301001898994154,
|
||
-0.9988294971332239,
|
||
0.16721687194771542,
|
||
1.2451944722168313
|
||
],
|
||
[
|
||
0.30310901149762687,
|
||
0.2666051912205366,
|
||
0.12277131945071751,
|
||
-0.9348823686540341,
|
||
0.1733971240008866,
|
||
1.2121577898456024
|
||
],
|
||
[
|
||
0.32250839805446585,
|
||
0.30586264153835796,
|
||
0.11225163039199322,
|
||
-0.8660598677263996,
|
||
0.17835135172447203,
|
||
1.1727390556016102
|
||
],
|
||
[
|
||
0.3398695545683136,
|
||
0.3447575776207607,
|
||
0.09910200240650267,
|
||
-0.7934009875317838,
|
||
0.18266453937544264,
|
||
1.1278204687169786
|
||
],
|
||
[
|
||
0.35539392442106493,
|
||
0.3828836432527478,
|
||
0.08385352102673582,
|
||
-0.7183124146481462,
|
||
0.1868224836013358,
|
||
1.0787138002680339
|
||
],
|
||
[
|
||
0.3692597842984983,
|
||
0.4198890218844248,
|
||
0.06700894934265952,
|
||
-0.642474550913149,
|
||
0.19119186136082655,
|
||
1.0270512583444849
|
||
],
|
||
[
|
||
0.3816238866778212,
|
||
0.45546901325937333,
|
||
0.04904401932147685,
|
||
-0.5676815317112079,
|
||
0.19600988005532585,
|
||
0.974612468972854
|
||
],
|
||
[
|
||
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|
||
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|
||
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|
||
-0.49565223697761684,
|
||
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|
||
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|
||
],
|
||
[
|
||
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|
||
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|
||
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|
||
-0.427861880044476,
|
||
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|
||
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|
||
],
|
||
[
|
||
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|
||
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|
||
-0.0071993285388150426,
|
||
-0.36543416393982453,
|
||
0.2136967237700551,
|
||
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|
||
],
|
||
[
|
||
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|
||
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|
||
-0.025395671583025636,
|
||
-0.3091085869953627,
|
||
0.22036864642133205,
|
||
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|
||
],
|
||
[
|
||
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|
||
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|
||
-0.04271090682402441,
|
||
-0.25927187034663846,
|
||
0.22712446218612445,
|
||
0.7513271085409557
|
||
],
|
||
[
|
||
0.4307993082491471,
|
||
0.6262649930828031,
|
||
-0.05882046465089051,
|
||
-0.21602854926909404,
|
||
0.23374069303371173,
|
||
0.719994167066533
|
||
],
|
||
[
|
||
0.43561133391375906,
|
||
0.646007067927268,
|
||
-0.07342781325373064,
|
||
-0.17928518810028518,
|
||
0.23999377739071623,
|
||
0.6935251095477796
|
||
],
|
||
[
|
||
0.43961110357857913,
|
||
0.6629072866199375,
|
||
-0.08626687670138723,
|
||
-0.14883000541689803,
|
||
0.24567325349030936,
|
||
0.6717303336853523
|
||
],
|
||
[
|
||
0.4428357115823004,
|
||
0.6768700363185732,
|
||
-0.09710487740727984,
|
||
-0.12440176423544834,
|
||
0.25059090707758314,
|
||
0.6543664112908636
|
||
],
|
||
[
|
||
0.44531423859951413,
|
||
0.6878153972554355,
|
||
-0.10574560286754225,
|
||
-0.10572560851890338,
|
||
0.2545870119432121,
|
||
0.6411719239404059
|
||
],
|
||
[
|
||
0.4470690838872079,
|
||
0.6956798658321923,
|
||
-0.11203230556866382,
|
||
-0.09256987578498477,
|
||
0.25753413012029186,
|
||
0.6319251532943804
|
||
],
|
||
[
|
||
0.44846374633055974,
|
||
0.7019995443366844,
|
||
-0.11713131280735145,
|
||
-0.08216002939248704,
|
||
0.25994791289444835,
|
||
0.6246387241463403
|
||
]
|
||
],
|
||
"success": true
|
||
},
|
||
"success": true,
|
||
"timestamp": 1757792337
|
||
}
|
||
|
||
|
||
4、编写函数Cmd_Kinematics_forward_all_joints实现机器人正解，
|
||
输入字符串参数robot_uuid、joints_str 用post方法， 合成下面json数据，实现机器人正解。
|
||
输入：
|
||
|
||
正解：
|
||
{
|
||
"success": true,
|
||
"code": 0,
|
||
"msg": "机器人每个关节姿态列表",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"req_cmd": "Cmd_Kinematics_forward_all_joints",
|
||
"req_param": {
|
||
"robot_uuid" : "9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1",
|
||
"joints_str" : "0, 0, 0,0, 0, 0;0.374, 0, 0.63,0, 0, 0;0.4626,0.2209,0.3340,0.148283,0.435718,0.079062"
|
||
},
|
||
"res_data": null
|
||
}
|
||
|
||
{
|
||
"code": 0,
|
||
"msg": "机器人每个关节姿态列表",
|
||
"req_cmd": "Cmd_Kinematics_forward_all_joints",
|
||
"req_code": "REQ_LIST_001",
|
||
"req_from": "management_client",
|
||
"res_data": {
|
||
"joints": {
|
||
"array_format": [
|
||
[
|
||
[
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
1
|
||
],
|
||
[
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
1
|
||
],
|
||
[
|
||
0,
|
||
0,
|
||
0.29,
|
||
0,
|
||
0,
|
||
0,
|
||
1
|
||
],
|
||
[
|
||
0,
|
||
0,
|
||
0.56,
|
||
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|
||
0,
|
||
0,
|
||
1
|
||
],
|
||
[
|
||
0.134,
|
||
0,
|
||
0.6300000000000001,
|
||
0,
|
||
0,
|
||
0,
|
||
1
|
||
],
|
||
[
|
||
0.30200000000000005,
|
||
0,
|
||
0.6300000000000001,
|
||
0,
|
||
0,
|
||
0,
|
||
1
|
||
]
|
||
],
|
||
[
|
||
[
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
1
|
||
],
|
||
[
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0,
|
||
0.18591203682577587,
|
||
0.9825663919365915
|
||
],
|
||
[
|
||
0,
|
||
0,
|
||
0.29,
|
||
0,
|
||
0,
|
||
0.18591203682577587,
|
||
0.9825663919365915
|
||
],
|
||
[
|
||
0,
|
||
0,
|
||
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