Update scene.py
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Netceor
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@ -362,13 +362,18 @@ class Scene:
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temp = stub.GetIKControlInfos(GrabSim_pb2.HandPostureInfos(scene=self.sceneID, handPostureObjects=HandPostureObject))
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# 移动到进行操作任务的指定地点
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def move_task_area(self,op_type,obj_id=0):
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def move_task_area(self,op_type,obj_id=0, release_pos=[247.0, 520.0, 100.0]):
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scene = self.status
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cur_pos = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
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print("Current Position:", cur_pos, "开始任务:", self.op_dialog[op_type])
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if op_type==11 or op_type==12: # 开关窗帘不需要移动
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return
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scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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if op_type == 16:
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print('------------------moveTo_obj----------------------')
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print('------------------moveTo_Area----------------------')
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if op_type < 8: walk_v = self.op_v_list[op_type] + [scene.rotation.Yaw, 180, 0] # 动画控制
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if op_type>=8 and op_type<=10: walk_v = self.op_v_list[6] + [scene.rotation.Yaw, 180, 0] # 控灯
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if op_type in [13,14,15]: walk_v = [240, -140.0] + [0, 180, 0] # 空调
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if op_type==16: # 抓握物体，移动到物体周围的可达区域
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obj_info = scene.objects[obj_id]
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# Robot
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obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
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@ -377,31 +382,14 @@ class Scene:
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walk_v = [obj_x + 40, obj_y - 35, 130, 180, 0]
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obj_x += 3
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obj_y += 2.5
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# walk_v = [obj_x,obj_y-30,130, 180, 0]
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action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
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scene = stub.Do(action)
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time.sleep(1.0)
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return
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if op_type==17: # 放置物体，移动到物体周围的可达区域
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walk_v = release_pos[:-1] + [180, 180, 0]
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if release_pos == [340.0, 900.0, 99.0]:
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walk_v[2] = 130
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walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
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if op_type < 8:
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v_list = self.op_v_list[op_type]
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if op_type>=8 and op_type<=10: # 控灯
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v_list = self.op_v_list[6]
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if op_type in [13,14,15]: # 空调
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v_list = [[240, -140.0]] # KongTiao [300.5, -140.0] # 250
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print("------------------move_task_area----------------------")
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print("Current Position:", walk_value,"开始任务:",self.op_dialog[op_type])
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for walk_v in v_list:
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walk_v = walk_v + [scene.rotation.Yaw, 180, 0]
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walk_v[2] = 0 if (op_type in [13,14,15]) else scene.rotation.Yaw # 空调操作朝向墙面
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action = GrabSim_pb2.Action(
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scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v
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)
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scene = stub.Do(action)
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print("After Walk Position:",[scene.location.X, scene.location.Y, scene.rotation.Yaw])
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action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
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scene = stub.Do(action)
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print("After Walk Position:", [scene.location.X, scene.location.Y, scene.rotation.Yaw])
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# 相应的行动，由主办方封装
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def control_robot_action(self, type=0, action=0, message="你好"):
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@ -418,7 +406,9 @@ class Scene:
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return False
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def adjust_kongtiao(self,op_type):
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obj_loc = self.obj_loc[0][:]
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print("self.obj_loc:",self.obj_loc)
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obj_loc = self.obj_loc[:]
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print("obj_loc:",obj_loc,"self.obj_loc:", self.obj_loc)
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obj_loc[2] -= 5
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print("obj_loc:",obj_loc)
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if op_type == 13: obj_loc[1] -= 2
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@ -429,37 +419,25 @@ class Scene:
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self.robo_recover()
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return True
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def gen_obj(self,type=5,h=100):
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def gen_obj(self,h=100):
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# 4;冰红(盒) 5;酸奶 7:保温杯 9;冰红(瓶) 13:代语词典 14:cake 61:甜牛奶
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# type= 5 #9
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scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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scene = self.status
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ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
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obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=type),
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obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=5),
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
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# GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=9),
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GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=9),
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]
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scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
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time.sleep(1.0)
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def grasp_obj(self,obj_id,hand_id=1):
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# Move to Obj
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# print('------------------moveTo_obj----------------------')
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scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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scene = self.status
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obj_info = scene.objects[obj_id]
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# # Robot
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obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
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# walk_v = [obj_x+50, obj_y] + [180, 180, 0]
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# if obj_y>=820 and obj_y<= 1200 and obj_x>=240 and obj_x<= 500: # 物品位于斜的抹布桌上 ([240,500],[820,1200])
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# walk_v = [obj_x+40, obj_y-35, 130, 180, 0]
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# obj_x += 3
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# obj_y += 2.5
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# # walk_v = [obj_x,obj_y-30,130, 180, 0]
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# action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
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# scene = stub.Do(action)
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# time.sleep(1.0)
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if obj_info.name=="CoffeeCup":
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pass
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if obj_info.name=="Glass":
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pass
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# Finger
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self.ik_control_joints(2, obj_x-9, obj_y, obj_z) # -10, 0, 0
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time.sleep(3.0)
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@ -467,7 +445,7 @@ class Scene:
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print('------------------grasp_obj----------------------')
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action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Grasp, values=[hand_id, obj_id])
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scene = stub.Do(action)
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time.sleep(4)
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time.sleep(3.0)
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return True
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# robot的肢体恢复原位
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@ -479,7 +457,7 @@ class Scene:
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def robo_stoop_parallel(self):
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# 0-3是躯干，4-6是脖子和头，7-13是左胳膊，14-20是右胳膊
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scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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scene = self.status
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angle = [scene.joints[i].angle for i in range(21)]
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angle[0] = 15
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angle[19] = -15
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@ -490,12 +468,6 @@ class Scene:
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time.sleep(1.0)
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def release_obj(self,release_pos):
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print("------------------Move to Realese Position----------------------")
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walk_v = [release_pos[i] for i in range(2)] + [180,180,0]
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if release_pos==[340.0, 900.0, 99.0]:
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walk_v[2] = 130
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action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
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scene = stub.Do(action)
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print("------------------release_obj----------------------")
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if release_pos==[340.0, 900.0, 99.0]:
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self.ik_control_joints(2, 300.0, 935, release_pos[2])
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@ -515,17 +487,14 @@ class Scene:
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# 执行过程：输出"开始(任务名)" -> 按步骤数执行任务 -> Robot输出成功或失败的对话
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def op_task_execute(self,op_type,obj_id=0,release_pos=[240,-140]):
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self.control_robot_action(0, 1, "开始"+self.op_dialog[op_type]) # 开始制作咖啡
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if op_type<8: result = self.control_robot_action(op_type, 1)
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if op_type>=8 and op_type<=12: result = self.control_robot_action(self.op_typeToAct[op_type][0], self.op_typeToAct[op_type][1])
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if op_type in [13,14,15]: # 调整空调:13代表按开关,14升温,15降温
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result = self.adjust_kongtiao(op_type)
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elif op_type ==16:
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if op_type ==16: # 抓握物体
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result = self.grasp_obj(obj_id)
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elif op_type ==17:
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if op_type ==17: # 放置物体
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result = self.release_obj(release_pos)
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elif op_type>=8:
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result = self.control_robot_action(self.op_typeToAct[op_type][0], self.op_typeToAct[op_type][1])
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print("result:",result)
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else:
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result = self.control_robot_action(op_type, 1) #
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self.control_robot_action(0, 2)
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if result:
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if self.op_act_num[op_type]>0:
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@ -536,6 +505,11 @@ class Scene:
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# else:
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# self.control_robot_action(0, 1, self.op_dialog[op_type]+"失败")
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def find_obj(self,name):
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for id, item in enumerate(self.status.objects):
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if item.name == name:
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print("name:",name,"id:",id,"X:",item.location.X,"Y:",item.location.Y,"Z:",item.location.Z,)
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def test_move(self):
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v_list = [[0, 880], [250, 1200], [-55, 750], [70, -200]]
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scene = self.status
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