47 lines
1.8 KiB
Python
47 lines
1.8 KiB
Python
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#!/usr/bin/env python3
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# -*- encoding: utf-8 -*-
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import sys
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import time
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import grpc
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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from proto import GrabSim_pb2
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from proto import GrabSim_pb2_grpc
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channel = grpc.insecure_channel('localhost:30001',options=[
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('grpc.max_send_message_length', 1024*1024*1024),
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('grpc.max_receive_message_length', 1024*1024*1024)
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])
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sim_client = GrabSim_pb2_grpc.GrabSimStub(channel)
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def map_test(map_id=0, scene_num=1):
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initworld = sim_client.Init(GrabSim_pb2.NUL())
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print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL()))
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initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id))
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def reset(scene_id=0):
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scene = sim_client.Reset(GrabSim_pb2.ResetParams(scene=scene_id))
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def show_env_info(scene_id=0):
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scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id))
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print('------------------show_env_info----------------------')
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print(
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f"location:{[scene.location.X, scene.location.Y]}, rotation:{scene.rotation.Yaw}\n",
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f"joints number:{len(scene.joints)}, fingers number:{len(scene.fingers)}\n", f"objects number: {len(scene.objects)}\n"
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f"rotation:{scene.rotation}, timestep:{scene.timestep}\n"
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f"timestamp:{scene.timestamp}, collision:{scene.collision}, info:{scene.info}")
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if __name__ == '__main__':
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map_id = 3 # 地图编号: 3: 咖啡厅
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scene_num = 1 # 场景数量
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map_test(map_id, scene_num) # 场景加载测试
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time.sleep(5)
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for i in range(scene_num):
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print("------------------", i, "----------------------")
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reset(i) # 场景重置测试
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show_env_info(i) # 场景信息测试
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