EmbodiedAI
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RoboWaiter
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Update scene.py

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Netceor 2023-11-14 14:55:46 +08:00 committed by GitHub
parent 71f758e9df
commit 257cc0297c
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1 changed files with 4 additions and 5 deletions
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robowaiter/scene/scene.py
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@ -422,7 +422,7 @@ class Scene:
ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
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=9),
# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
GrabSim_pb2.ObjectList.Object(x=300, y=935, z = 88, roll=0, pitch=0, yaw=0, type=7),
GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=7),
]
scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
time.sleep(1.0)
@ -477,14 +477,13 @@ class Scene:
def release_obj(self,release_pos):
print("------------------Move to Realese Position----------------------")
walk_v = [release_pos[i] for i in range(2)] + [180,180,0]
if release_pos==[300.0, 935.0, 98.0]:
if release_pos==[340.0, 900.0, 99.0]:
walk_v[2] = 130
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
scene = stub.Do(action)
print("------------------release_obj----------------------")
if release_pos==[300.0, 935.0, 98.0]:
self.ik_control_joints(2, release_pos[0], release_pos[1], release_pos[2])
if release_pos==[340.0, 900.0, 99.0]:
self.ik_control_joints(2, 300.0, 935, release_pos[2])
time.sleep(2.0)
else:
self.ik_control_joints(2, release_pos[0] - 80, release_pos[1], release_pos[2])