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RoboWaiter
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Update scene.py

This commit is contained in:
Netceor 2023-11-17 21:44:56 +08:00
parent a5efb60dde
commit 260957ec7f
1 changed files with 13 additions and 12 deletions
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25
robowaiter/scene/scene.py
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@ -558,7 +558,7 @@ class Scene:
time.sleep(1.0)
def release_obj(self,release_pos):
print("------------------release_obj----------------------")
print("------------------adjust_joints----------------------")
if release_pos==[340.0, 900.0, 99.0]:
self.ik_control_joints(2, release_pos[0]-40, release_pos[1]+35, release_pos[2])
time.sleep(2.0)
@ -566,25 +566,26 @@ class Scene:
self.ik_control_joints(2, release_pos[0] - 80, release_pos[1], release_pos[2])
time.sleep(2.0)
self.robo_stoop_parallel()
print("------------------release_obj----------------------")
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Release, values=[1])
scene = stub.Do(action)
time.sleep(2.0)
self.robo_recover()
self.standard_finger()
self.robo_recover() # 恢复肢体关节
self.standard_finger() # 恢复手指关节
return True
# 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
# 执行过程: Robot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
def op_task_execute(self,op_type,obj_id=0,release_pos=[247.0, 520.0, 100.0]):
self.control_robot_action(0, 1, "开始"+self.op_dialog[op_type]) # 开始制作咖啡
if op_type<8: result = self.control_robot_action(op_type, 1)
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])
if op_type in [13,14,15]: # 调整空调:13代表按开关,14升温,15降温
self.control_robot_action(0, 1, "开始"+self.op_dialog[op_type]) # 输出正在执行的任务
if op_type < 8:
result = self.control_robot_action(op_type, 1)
if 8 <= op_type <= 12:
result = self.control_robot_action(self.op_typeToAct[op_type][0], self.op_typeToAct[op_type][1])
if op_type in [13, 14, 15]: # 调整空调:13代表按开关,14升温,15降温
result = self.adjust_kongtiao(op_type)
if op_type ==16: # 抓握物体
if op_type == 16: # 抓握物体, 需要传入物品id
result = self.grasp_obj(obj_id)
if op_type ==17: # 放置物体
if op_type == 17: # 放置物体, 放置物品, 需要传入放置地点
result = self.release_obj(release_pos)
self.control_robot_action(0, 2)
if result: