37 lines
995 B
Python
37 lines
995 B
Python
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"""
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视觉语言操作
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机器人根据指令人的指令调节空调，自主探索环境导航到目标点，通过手臂的运动规划能力操作空调，比如开关按钮、调温按钮、显示面板
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"""
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import time
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from robowaiter.scene.scene import Scene
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class SceneVLM(Scene):
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def __init__(self, robot):
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super().__init__(robot)
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def reset(self):
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self.reset_sim()
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self.add_walker(1085, 2630, 220)
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self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
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def run(self):
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# 空调操作
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self.walk_to(950, 1260, 90) # 没法转向？
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# todo: 手臂操作
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time.sleep(5)
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self.walk_to(947, 1900, 0)
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# 物品挪动
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# todo: 视觉导航至目标点，操作手臂至可抓位置
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"""
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scene.grasp(1, your_objectID)
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"""
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# todo: 视觉导航至目标点，找准释放位置
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"""
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scene.release(1)
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"""
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