Chen Yulin's Blog

def SendData(self, strToSend):
    # Use this function to send string to C#
    self.udpSock.sendto(bytes(strToSend,'utf-8'), (self.udpIP, self.udpSendPort))

物体识别信息

需要包含的信息：物体种类，物体的三轴方位，三轴旋转，三轴尺寸。

格式：

{Object Detection}
category
position.x
position.y
position.z
eulerRotation.x
eulerRotation.y
eulerRotation.z
scale.x
scale.y
scale.z

示例：

{Object Detection}
Handle
0.1
0.052
0.026
0
90
0
0.5
0.3
1

机械臂实时角度

需要包含的信息：6 个 joint 角度(单位为度)

格式：

{Current Joint}
j0
j1
j2
j3
j4
j5
j6

Unity->Python

机械臂需要旋转的角度

需要包含的信息：6 个 joint 角度(单位为度)

格式：

{Target Joint}
j0
j1
j2
j3
j4
j5
j6

#Unity Python

Posted 2024-08-01Updated 2026-02-22Notea few seconds read (About 30 words)

Python-Unity Network

https://github.com/Siliconifier/Python-Unity-Socket-Communication

#Unity Csharp Python Capstone Network

Posted 2024-08-01Updated 2026-02-22Notea minute read (About 129 words)

6d pose -- unity coordinate

unity 使用左手坐标系，普遍的 6d 算法使用右手坐标系，所以得出[R;t]后需要做一步针对 y 轴的反射变换

#Unity Python CV 6-D Capstone

Posted 2024-08-01Updated 2026-02-22Note2 minutes read (About 317 words)

夹爪控制方式

使用 pyRobotiqGripper

但是只兼容 linux 电脑的串口，所以部署在笔记本上并且创建一个局域网服务器供台式机调用。

import pyRobotiqGripper
import time
from flask import Flask, request

app = Flask(__name__)
gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

@app.route('/open_gripper', methods=['POST'])
def open_gripper():
    # 执行脚本
    # import subprocess
    # subprocess.call(['/path/to/your/script.sh'])
    gripper.open()
    return 'gripper open'
@app.route('/close_gripper', methods=['POST'])
def close_gripper():
    # 执行脚本
    # import subprocess
    # subprocess.call(['/path/to/your/script.sh'])
    gripper.close()
    return 'gripper closed'

if __name__ == '__main__':
    app.run(host='0.0.0.0', port=5000)

# gripper = pyRobotiqGripper.RobotiqGripper()
# gripper.activate()
# gripper.close()
# gripper.open()
# time.sleep(3)
# gripper.close()

(base) cyl@arch ~/450> python gripper_test.py
Activation completed. Activation time :  1.9049019813537598
 * Serving Flask app 'gripper_test'
 * Debug mode: off
WARNING: This is a development server. Do not use it in a production deployment. Use a production 
WSGI server instead.
 * Running on all addresses (0.0.0.0)
 * Running on http://127.0.0.1:5000
 * Running on http://192.168.2.111:5000
Press CTRL+C to quit
192.168.2.103 - - [20/Jul/2024 16:26:01] "POST /open_gripper HTTP/1.1" 200 -
192.168.2.103 - - [20/Jul/2024 16:26:05] "POST /close_gripper HTTP/1.1" 200 -
192.168.2.103 - - [20/Jul/2024 16:26:07] "POST /close_gripper HTTP/1.1" 200 -
192.168.2.103 - - [20/Jul/2024 16:26:10] "POST /close_gripper HTTP/1.1" 200 -
192.168.2.103 - - [20/Jul/2024 16:26:13] "POST /close_gripper HTTP/1.1" 200 -
192.168.2.103 - - [20/Jul/2024 16:26:16] "POST /close_gripper HTTP/1.1" 200 -
192.168.2.103 - - [20/Jul/2024 16:26:18] "POST /close_gripper HTTP/1.1" 200 -
192.168.2.103 - - [20/Jul/2024 16:26:21] "POST /close_gripper HTTP/1.1" 200 -
192.168.2.103 - - [20/Jul/2024 16:26:24] "POST /close_gripper HTTP/1.1" 200 -

台式机通过

# 定义要发送的命令和URL
laptop_ip = "192.168.2.111"
close_url = "http://"+laptop_ip+":5000/close_gripper"
open_url = "http://"+laptop_ip+":5000/open_gripper"

# 使用curl命令通过POST请求发送命令
curl_close_command = [
    'curl', 
    '-X', 'POST', 
    close_url, 
]

curl_open_command = [
    'curl', 
    '-X', 'POST', 
    open_url, 
]

print(subprocess.run(curl_open_command, capture_output=True, text=True))