From 3304d386181b369331435844177087a8c7f1933c Mon Sep 17 00:00:00 2001 From: liwang_zhang <2638950452@qq.com> Date: Mon, 20 Nov 2023 16:14:49 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8F=90=E4=BE=9B=E5=9C=B0=E5=9B=BE=E6=8E=A5?= =?UTF-8?q?=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/scene/scene.py | 419 ++++++++++++++++++---------------- robowaiter/scene/tasks/AEM.py | 30 ++- 2 files changed, 242 insertions(+), 207 deletions(-) diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index c51d359..199cc3a 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -17,9 +17,9 @@ import os from robowaiter.utils import get_root_path from sklearn.cluster import DBSCAN from matplotlib import pyplot as plt -plt.rcParams['font.sans-serif']=['SimHei'] #用来正常显示中文标签 -plt.rcParams['axes.unicode_minus']=False #用来正常显示负号 +plt.rcParams['font.sans-serif'] = ['SimHei'] # 用来正常显示中文标签 +plt.rcParams['axes.unicode_minus'] = False # 用来正常显示负号 root_path = get_root_path() @@ -40,6 +40,7 @@ def init_world(scene_num=1, mapID=11): stub.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=mapID)) time.sleep(3) # wait for the map to load + def get_camera(part, scene_id=0): # print('------------------get_camera----------------------') action = GrabSim_pb2.CameraList(cameras=part, scene=scene_id) @@ -48,13 +49,13 @@ def get_camera(part, scene_id=0): def show_image(camera_data): print('------------------show_image----------------------') - #获取第0张照片 + # 获取第0张照片 im = camera_data.images[0] - #使用numpy(np) 数值类型矩阵的frombuffer，将im.data以流的形式（向量的形式）读入，在变型reshape成三位矩阵的形式(长度，宽度，深度)即三阶张量 + # 使用numpy(np) 数值类型矩阵的frombuffer，将im.data以流的形式（向量的形式）读入，在变型reshape成三位矩阵的形式(长度，宽度，深度)即三阶张量 d = np.frombuffer(im.data, dtype=im.dtype).reshape((im.height, im.width, im.channels)) - #matplotlib中的plt方法 对矩阵d 进行图形绘制，如果 深度相机拍摄的带深度的图片（图片名字中有depth信息），则转换成黑白图即灰度图 + # matplotlib中的plt方法 对矩阵d 进行图形绘制，如果 深度相机拍摄的带深度的图片（图片名字中有depth信息），则转换成黑白图即灰度图 plt.imshow(d, cmap="gray" if "depth" in im.name.lower() else None) - #图像展示在屏幕上 + # 图像展示在屏幕上 plt.show() return d @@ -77,19 +78,20 @@ class Scene: "sub_goal_list": [], # 子目标列表 "status": None, # 仿真器中的观测信息，见下方详细解释 "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)', - 'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Bar)', - #'Exist(Softdrink)', 'On(Softdrink,Table1)', - 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', - 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', - 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}, - "obj_mem":{}, - "customer_mem":{}, - "served_mem":{}, - "greeted_customers":set(), - "attention":{}, - "serve_state":{}, - "chat_history":{}, - "wait_history":set(), + 'Holding(Nothing)', 'Exist(Yogurt)', 'Exist(BottledDrink)', 'On(Yogurt,Bar)', + 'On(BottledDrink,Bar)', + # 'Exist(Softdrink)', 'On(Softdrink,Table1)', + 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}, + "obj_mem": {}, + "customer_mem": {}, + "served_mem": {}, + "greeted_customers": set(), + "attention": {}, + "serve_state": {}, + "chat_history": {}, + "wait_history": set(), "anomaly": None } """ @@ -105,7 +107,7 @@ class Scene: collision: str, info: str """ - def __init__(self,robot=None, sceneID=0): + def __init__(self, robot=None, sceneID=0): self.sceneID = sceneID self.use_offset = False self.start_time = time.time() @@ -116,7 +118,9 @@ class Scene: # 图像分割 self.take_picture = False self.map_ratio = 5 + self.map_map = np.zeros((math.ceil(950 / self.map_ratio), math.ceil(1850 / self.map_ratio))) self.db = DBSCAN(eps=self.map_ratio, min_samples=int(self.map_ratio / 2)) + self.infoCount = 0 # init robot if robot: @@ -128,20 +132,21 @@ class Scene: self.last_event_time = 0 # 1-7 正常执行, 8-10 控灯操作移动到6, 11-12窗帘操作不需要移动, - self.op_dialog = ["","制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子", # 1-7 - "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘", # 8-12 - "调整空调开关","调高空调温度","调低空调温度", # 13-15 - "抓握物体","放置物体"] # 16-17 + self.op_dialog = ["", "制作咖啡", "倒水", "夹点心", "拖地", "擦桌子", "开筒灯", "搬椅子", # 1-7 + "关筒灯", "开大厅灯", "关大厅灯", "关闭窗帘", "打开窗帘", # 8-12 + "调整空调开关", "调高空调温度", "调低空调温度", # 13-15 + "抓握物体", "放置物体"] # 16-17 # 动画控制的执行步骤数 - self.op_act_num = [0,3,4,6,3,2,0,1, - 0,0,0,0,0, - 0,0,0, - 0,0] + self.op_act_num = [0, 3, 4, 6, 3, 2, 0, 1, + 0, 0, 0, 0, 0, + 0, 0, 0, + 0, 0] # 动画控制的执行区域坐标 - self.op_v_list = [[0.0,0.0],[250.0, 310.0],[-70.0, 480.0],[250.0, 630.0],[-70.0, 740.0],[260.0, 1120.0],[300.0, -220.0], + self.op_v_list = [[0.0, 0.0], [250.0, 310.0], [-70.0, 480.0], [250.0, 630.0], [-70.0, 740.0], [260.0, 1120.0], + [300.0, -220.0], [0.0, -70.0]] - self.op_typeToAct = {8:[6,2],9:[6,3],10:[6,4],11:[8,1],12:[8,2]} # 任务类型到行动的映射 - self.obj_loc = [300.5, -140.0,114] # 空调面板位置 + self.op_typeToAct = {8: [6, 2], 9: [6, 3], 10: [6, 4], 11: [8, 1], 12: [8, 2]} # 任务类型到行动的映射 + self.obj_loc = [300.5, -140.0, 114] # 空调面板位置 # AEM self.visited = set() @@ -152,25 +157,45 @@ class Scene: with open(self.filename, 'rb') as file: self.map_file = pickle.load(file) + self.colors = [ + 'red', + 'pink', + 'purple', + 'blue', + 'cyan', + 'green', + 'yellow', + 'orange', + 'brown', + 'gold', + ] + # tool register - self.all_loc_en = ['bar', 'Table', 'sofa', 'stove', 'Gate', 'light switch', 'airconditioner switch', 'cabinet', 'bathroom', 'window', 'audio', - 'lounge area', 'workstation', 'service counter', 'cashier counter', 'corner', 'cake display', 'ChargingStations', - 'refrigerator', 'bookshelf'] + self.all_loc_en = ['bar', 'Table', 'sofa', 'stove', 'Gate', 'light switch', 'airconditioner switch', 'cabinet', + 'bathroom', 'window', 'audio', + 'lounge area', 'workstation', 'service counter', 'cashier counter', 'corner', 'cake display', + 'ChargingStations', + 'refrigerator', 'bookshelf'] self.loc_map_en = {'bar': {'工作台', '服务台', '收银台', '蛋糕柜'}, 'Table': {'大门', '休闲区', '墙角'}, - 'sofa': {'餐桌', '窗户', '音响', '休闲区', '墙角', '书架'}, - 'stove': {'吧台', '橱柜', '工作台', '服务台', '收银台', '蛋糕柜', '冰箱'}, - 'Gate': {'吧台', '灯开关', '空调开关', '卫生间', '墙角'}, 'light switch': {'大门', '空调开关', '卫生间', '墙角'}, - 'airconditioner switch': {'大门', '灯开关', '卫生间', '墙角'}, - 'cabinet': {'灶台', '吧台', '工作台', '服务台', '收银台', '蛋糕柜', '充电处', '冰箱'}, 'bathroom': {'大门', '墙角'}, - 'window': {'餐桌', '沙发', '休闲区'}, 'audio': {'餐桌', '沙发', '休闲区', '墙角', '书架'}, - 'lounge area': {'沙发', '餐桌', '墙角', '书架', '音响'}, 'workstation': {'吧台', '服务台', '收银台'}, - 'service counter': {'吧台', '工作台', '收银台'}, 'cashier counter': {'吧台', '工作台', '服务台'}, - 'corner': {'卫生间', '沙发', '灯开关', '空调开关', '音响', '休闲区', '书架'}, - 'cake display': {'吧台', '橱柜', '服务台', '收银台', '冰箱'}, - 'ChargingStations': {'吧台', '餐桌', '沙发', '休闲区', '工作台', '服务台', '收银台', '墙角', '书架'}, - 'refrigerator': {'吧台', '服务台', '蛋糕柜'}, 'bookshelf': {'餐桌', '沙发', '窗户', '休闲区', '墙角'}} - + 'sofa': {'餐桌', '窗户', '音响', '休闲区', '墙角', '书架'}, + 'stove': {'吧台', '橱柜', '工作台', '服务台', '收银台', '蛋糕柜', '冰箱'}, + 'Gate': {'吧台', '灯开关', '空调开关', '卫生间', '墙角'}, + 'light switch': {'大门', '空调开关', '卫生间', '墙角'}, + 'airconditioner switch': {'大门', '灯开关', '卫生间', '墙角'}, + 'cabinet': {'灶台', '吧台', '工作台', '服务台', '收银台', '蛋糕柜', '充电处', '冰箱'}, + 'bathroom': {'大门', '墙角'}, + 'window': {'餐桌', '沙发', '休闲区'}, 'audio': {'餐桌', '沙发', '休闲区', '墙角', '书架'}, + 'lounge area': {'沙发', '餐桌', '墙角', '书架', '音响'}, + 'workstation': {'吧台', '服务台', '收银台'}, + 'service counter': {'吧台', '工作台', '收银台'}, + 'cashier counter': {'吧台', '工作台', '服务台'}, + 'corner': {'卫生间', '沙发', '灯开关', '空调开关', '音响', '休闲区', '书架'}, + 'cake display': {'吧台', '橱柜', '服务台', '收银台', '冰箱'}, + 'ChargingStations': {'吧台', '餐桌', '沙发', '休闲区', '工作台', '服务台', '收银台', '墙角', + '书架'}, + 'refrigerator': {'吧台', '服务台', '蛋糕柜'}, + 'bookshelf': {'餐桌', '沙发', '窗户', '休闲区', '墙角'}} def reset(self): # 基类reset，默认执行仿真器初始化操作 @@ -179,8 +204,6 @@ class Scene: # reset state self.state = copy.deepcopy(self.default_state) - - print("场景初始化完成") self._reset() @@ -205,19 +228,19 @@ class Scene: self.robot_changed = self.robot.step() def deal_new_event(self): - if len(self.new_event_list)>0: + if len(self.new_event_list) > 0: next_event = self.new_event_list[0] - t,func,args = next_event + t, func, args = next_event if self.time >= t: print(f'event: {t}, {func.__name__}') self.new_event_list.pop(0) func(*args) def deal_signal_event(self): - if len(self.signal_event_list)>0: + if len(self.signal_event_list) > 0: next_event = self.signal_event_list[0] - t, func,args = next_event - if t < 0: #一直等待机器人行动，直到机器人无行动 + t, func, args = next_event + if t < 0: # 一直等待机器人行动，直到机器人无行动 if self.robot_changed: return if (t >= 0) and (self.time - self.last_event_time < t): @@ -228,17 +251,16 @@ class Scene: self.last_event_time = self.time func(*args) - def deal_event(self): - if len(self.event_list)>0: + if len(self.event_list) > 0: next_event = self.event_list[0] - t,func = next_event + t, func = next_event if self.time >= t: print(f'event: {t}, {func.__name__}') self.event_list.pop(0) func() - def create_chat_event(self,sentence): + def create_chat_event(self, sentence): def customer_say(): print(f'{sentence}') if self.show_bubble: @@ -247,19 +269,17 @@ class Scene: return customer_say - - - def set_goal(self,goal): + def set_goal(self, goal): g = eval("{'" + goal + "'}") + def set_sub_task(): - self.state['chat_list'].append(("Goal",g)) + self.state['chat_list'].append(("Goal", g)) return set_sub_task - def new_set_goal(self,goal): + def new_set_goal(self, goal): g = eval("{'" + goal + "'}") - self.state['chat_list'].append(("Goal",g)) - + self.state['chat_list'].append(("Goal", g)) @property def status(self): @@ -271,7 +291,6 @@ class Scene: init_world() stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID)) - def _reset(self): # 场景自定义的reset pass @@ -284,7 +303,6 @@ class Scene: # 场景自定义的step pass - def walker_control_generator(self, walkerID, autowalk, speed, X, Y, Yaw): if self.use_offset: X, Y = X + loc_offset[0], Y + loc_offset[1] @@ -296,7 +314,7 @@ class Scene: ) def walk_to(self, X, Y, Yaw=100, velocity=200, dis_limit=0): - walk_v = [X,Y,Yaw,velocity,dis_limit] + walk_v = [X, Y, Yaw, velocity, dis_limit] action = GrabSim_pb2.Action( scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v ) @@ -304,11 +322,10 @@ class Scene: return scene - def walker_walk_to(self,walkerID,X,Y,speed=50,Yaw=0): + def walker_walk_to(self, walkerID, X, Y, speed=50, Yaw=0): self.control_walker( [self.walker_control_generator(walkerID=walkerID, autowalk=False, speed=speed, X=X, Y=Y, Yaw=Yaw)]) - def reachable_check(self, X, Y, Yaw): if self.use_offset: X, Y = X + loc_offset[0], Y + loc_offset[1] @@ -324,13 +341,12 @@ class Scene: else: return True - - def add_walker(self,id,x,y,yaw=0,v=0,scope=100): - loc = [x,y,yaw,v,scope] + def add_walker(self, id, x, y, yaw=0, v=0, scope=100): + loc = [x, y, yaw, v, scope] action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc) scene = stub.Do(action) # print(scene.info) - walker_list=[] + walker_list = [] if (str(scene.info).find('unreachable') > -1): print('当前位置不可达,无法初始化NPC') else: @@ -340,20 +356,19 @@ class Scene: w = self.status.walkers num_customer = len(w) - self.state["customer_mem"][w[-1].name] = num_customer-1 + self.state["customer_mem"][w[-1].name] = num_customer - 1 - def walker_index2mem(self,index): - for mem,i in self.state["customer_mem"].items(): + def walker_index2mem(self, index): + for mem, i in self.state["customer_mem"].items(): if index == i: return mem - - def add_walkers(self,walker_loc=[[0, 880], [250, 1200], [-55, 750], [70, -200]]): + def add_walkers(self, walker_loc=[[0, 880], [250, 1200], [-55, 750], [70, -200]]): print('------------------add_walkers----------------------') - for i,walker in enumerate(walker_loc): - if len(walker)==2: - self.add_walker(i,walker[0],walker[1]) - elif len(walker)==3: + for i, walker in enumerate(walker_loc): + if len(walker) == 2: + self.add_walker(i, walker[0], walker[1]) + elif len(walker) == 3: self.add_walker(walker[0], walker[1], walker[2]) elif len(walker) == 4: self.add_walker(walker[0], walker[1], walker[2], walker[3]) @@ -376,7 +391,7 @@ class Scene: for i in range(len(w)): self.state["customer_mem"][w[i].name] = i - def remove_walkers(self,IDs=[0]): + def remove_walkers(self, IDs=[0]): s = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID)) scene = stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID)) time.sleep(2) @@ -386,20 +401,21 @@ class Scene: self.state["customer_mem"][w[i].name] = i return - def clean_walkers(self): scene = stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID)) - self.state["customer_mem"]={} + self.state["customer_mem"] = {} return scene - def control_walker(self, walkerID,autowalk,speed,X,Y,Yaw=0): + def control_walker(self, walkerID, autowalk, speed, X, Y, Yaw=0): if not isinstance(walkerID, int): walkerID = self.walker_index2mem(walkerID) pose = GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw) scene = stub.ControlWalkers( - GrabSim_pb2.WalkerControls(controls=[GrabSim_pb2.WalkerControls.WControl(id=walkerID, autowalk=autowalk, speed=speed, pose=pose)], scene=self.sceneID) + GrabSim_pb2.WalkerControls( + controls=[GrabSim_pb2.WalkerControls.WControl(id=walkerID, autowalk=autowalk, speed=speed, pose=pose)], + scene=self.sceneID) ) return scene # stub.ControlWalkers( @@ -410,9 +426,9 @@ class Scene: """ 同时处理行人的行走和对话 control_list_ls =[walkerID,autowalk,speed,X,Y,Yaw,cont] """ - control_list= [] + control_list = [] for control in control_list_ls: - if control[-1]!= None: + if control[-1] != None: walkerID = control[0] if not isinstance(walkerID, int): @@ -420,15 +436,17 @@ class Scene: # cont = self.status.walkers[walkerID].name + ":"+control[-1] # self.control_robot_action(control[walkerID], 3, cont) - self.customer_say(walkerID,control[-1]) - control_list.append(self.walker_control_generator(walkerID=control[0], autowalk=control[1], speed=control[2], X=control[3], Y=control[4], Yaw=control[5])) + self.customer_say(walkerID, control[-1]) + control_list.append( + self.walker_control_generator(walkerID=control[0], autowalk=control[1], speed=control[2], X=control[3], + Y=control[4], Yaw=control[5])) # 收集没有对话的统一控制 scene = stub.ControlWalkers( GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID) ) return scene - def control_walkers(self,walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True): + def control_walkers(self, walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]], is_autowalk=True): """pose:表示行人的终止位置姿态""" scene = self.status walker_loc = walker_loc @@ -536,8 +554,8 @@ class Scene: talk_content = name + ":" + message self.control_robot_action(0, 3, talk_content) - def customer_say(self,name,sentence,show_bubble=True): - if isinstance(name,int): + def customer_say(self, name, sentence, show_bubble=True): + if isinstance(name, int): name = self.walker_index2mem(name) # if not isinstance(walkerID, int): @@ -545,8 +563,8 @@ class Scene: print(f'{name} say: {sentence}') if self.show_bubble and show_bubble: - self.walker_bubble(name,sentence) - self.state['chat_list'].append((name,sentence)) + self.walker_bubble(name, sentence) + self.state['chat_list'].append((name, sentence)) # def control_robot_action(self, scene_id=0, type=0, action=0, message="你好"): # print('------------------control_robot_action----------------------') @@ -579,13 +597,14 @@ class Scene: def ik_control_joints(self, handNum=2, x=30, y=40, z=80): # print('------------------ik_control_joints----------------------') # IK控制,双手, 1左手, 2右手; 暂时只动右手 - HandPostureObject = [GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=handNum, x=x, y=y, z=z, roll=0, pitch=0, yaw=0), - # GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=1, x=0, y=0, z=0, roll=0, pitch=0, yaw=0), - ] - temp = stub.GetIKControlInfos(GrabSim_pb2.HandPostureInfos(scene=self.sceneID, handPostureObjects=HandPostureObject)) + HandPostureObject = [ + GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=handNum, x=x, y=y, z=z, roll=0, pitch=0, yaw=0), + # GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=1, x=0, y=0, z=0, roll=0, pitch=0, yaw=0), + ] + temp = stub.GetIKControlInfos( + GrabSim_pb2.HandPostureInfos(scene=self.sceneID, handPostureObjects=HandPostureObject)) - - def move_to_obj(self,obj_id): + def move_to_obj(self, obj_id): scene = self.status # 抬头 @@ -605,13 +624,12 @@ class Scene: walk_v = [obj_x + 40, obj_y - 35, 130, 180, 0] obj_x += 3 obj_y += 2.5 - walk_v[0]+=1 - print("walk:",walk_v) + walk_v[0] += 1 + print("walk:", walk_v) action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) scene = stub.Do(action) print("After Walk Position:", [scene.location.X, scene.location.Y, scene.rotation.Yaw]) - # 移动到进行操作任务的指定地点 def move_task_area(self, op_type, obj_id=0, release_pos=[247.0, 520.0, 100.0]): scene = self.status @@ -630,13 +648,13 @@ class Scene: if op_type == 11 or op_type == 12: # 开关窗帘不需要移动 return print('------------------moveTo_Area----------------------') - if op_type < 8: # 动画控制相关任务的移动目标 + if op_type < 8: # 动画控制相关任务的移动目标 walk_v = self.op_v_list[op_type] + [scene.rotation.Yaw, 180, 0] - if 8 <= op_type <= 10: # 控灯相关任务的移动目标 + if 8 <= op_type <= 10: # 控灯相关任务的移动目标 walk_v = self.op_v_list[6] + [scene.rotation.Yaw, 180, 0] - if op_type in [13,14,15]: # 空调相关任务的移动目标 + if op_type in [13, 14, 15]: # 空调相关任务的移动目标 walk_v = [240, -140.0] + [0, 180, 0] - if op_type == 16: # 抓握物体，移动到物体周围的可达区域 + if op_type == 16: # 抓握物体，移动到物体周围的可达区域 scene = self.status obj_info = scene.objects[obj_id] obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z @@ -645,7 +663,7 @@ class Scene: walk_v = [obj_x + 40, obj_y - 35, 130, 180, 0] obj_x += 3 obj_y += 2.5 - if op_type == 17: # 放置物体，移动到物体周围的可达区域 + if op_type == 17: # 放置物体，移动到物体周围的可达区域 walk_v = release_pos[:-1] + [180, 180, 0] if release_pos == [340.0, 900.0, 99.0]: walk_v[2] = 130 @@ -654,8 +672,6 @@ class Scene: scene = stub.Do(action) print("After Walk Position:", [scene.location.X, scene.location.Y, scene.rotation.Yaw]) - - # 相应的行动，由主办方封装 def control_robot_action(self, type=0, action=0, message="你好"): scene = stub.ControlRobot( @@ -671,9 +687,9 @@ class Scene: return False # 调整空调开关、温度 - def adjust_kongtiao(self,op_type): + def adjust_kongtiao(self, op_type): # 低头 - value = [0]*21 + value = [0] * 21 for i in range(21): value[i] = self.status.joints[i].angle value[5] = 30 @@ -688,32 +704,35 @@ class Scene: if op_type == 15: obj_loc[1] += 2 self.ik_control_joints(2, obj_loc[0], obj_loc[1], obj_loc[2]) time.sleep(3.0) - self.robo_recover() # 恢复肢体关节 + self.robo_recover() # 恢复肢体关节 return True - def gen_obj(self,h=100): + def gen_obj(self, h=100): # 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 scene = self.status 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=5), - # 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=340, y=960, z=88, roll=0, pitch=0, yaw=90, type=7), - # GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=90, type=9), - # GrabSim_pb2.ObjectList.Object(x=340, y=952, z=88, roll=0, pitch=0, yaw=90, type=4), - GrabSim_pb2.ObjectList.Object(x=-102, y=10, z=90, roll=0, pitch=0, yaw=90, type=7), - GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 70, z=95, roll=0, pitch=0, yaw=0, type=9), + 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), + # 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=340, y=960, z=88, roll=0, pitch=0, yaw=90, type=7), + # GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=90, type=9), + # GrabSim_pb2.ObjectList.Object(x=340, y=952, z=88, roll=0, pitch=0, yaw=90, type=4), + GrabSim_pb2.ObjectList.Object(x=-102, y=10, z=90, roll=0, pitch=0, yaw=90, type=7), + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 70, z=95, roll=0, pitch=0, yaw=0, + type=9), - ] + ] scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID)) time.sleep(1.0) # 实现抓握操作 - def grasp_obj(self,obj_id,hand_id=1): + def grasp_obj(self, obj_id, hand_id=1): print('------------------adjust_joints----------------------') scene = self.status # 低头 - value = [0]*21 + value = [0] * 21 for i in range(21): value[i] = self.status.joints[i].angle value[5] = 30 @@ -726,34 +745,35 @@ class Scene: obj_info = scene.objects[obj_id] obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z - if obj_info.name=="CoffeeCup": + if obj_info.name == "CoffeeCup": # obj_x += 1 # obj_y -= 1 # values = [0,0,0,0,0, 10,-25,-45,-45,-45] # values= [-6, 0, 0, 0, 0, -6, 0, 45, 45, 45] # stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values)) pass - if obj_info.name=="Glass": + if obj_info.name == "Glass": pass # Finger - self.ik_control_joints(2, obj_x-9, obj_y, obj_z) # -10, 0, 0 + self.ik_control_joints(2, obj_x - 9, obj_y, obj_z) # -10, 0, 0 time.sleep(3.0) # Grasp Obj print('------------------grasp_obj----------------------') - action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Grasp, values=[hand_id, obj_id]) + action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Grasp, + values=[hand_id, obj_id]) scene = stub.Do(action) time.sleep(3.0) return True # robot的肢体恢复原位 def robo_recover(self): - action = GrabSim_pb2.Action(scene=self.sceneID,action=GrabSim_pb2.Action.ActionType.RotateJoints, # 恢复原位 + action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, # 恢复原位 values=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) scene = stub.Do(action) # 恢复手指关节 def standard_finger(self): - values = [0,0,0,0,0, 0,0,0,0,0] + values = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0] stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values)) time.sleep(1.0) @@ -762,19 +782,19 @@ class Scene: # 0-3是躯干，4-6是脖子和头，7-13是左胳膊，14-20是右胳膊 scene = self.status angle = [scene.joints[i].angle for i in range(21)] - angle[0] = 15 # 15 + angle[0] = 15 # 15 angle[19] = -15 angle[20] = -30 - action = GrabSim_pb2.Action(scene=self.sceneID,action=GrabSim_pb2.Action.ActionType.RotateJoints, # 弯腰 + action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, # 弯腰 values=angle) scene = stub.Do(action) time.sleep(1.0) # 实现放置操作 - def release_obj(self,release_pos): + def release_obj(self, release_pos): print("------------------adjust_joints----------------------") # 低头 - value = [0]*21 + value = [0] * 21 for i in range(21): value[i] = self.status.joints[i].angle value[5] = 30 @@ -785,9 +805,8 @@ class Scene: if self.take_picture: self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio) - - 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]) + 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) else: self.ik_control_joints(2, release_pos[0] - 80, release_pos[1], release_pos[2]) @@ -797,37 +816,37 @@ class Scene: 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() # 恢复肢体关节 - self.standard_finger() # 恢复手指关节 + self.robo_recover() # 恢复肢体关节 + self.standard_finger() # 恢复手指关节 return True # 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]) # 输出正在执行的任务 + 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]) # 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, 需要传入物品id + 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, 放置物品, 需要传入放置地点 + 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: - if self.op_act_num[op_type]>0: - for i in range(2,2+self.op_act_num[op_type]): - self.control_robot_action(op_type,i) + if self.op_act_num[op_type] > 0: + for i in range(2, 2 + self.op_act_num[op_type]): + self.control_robot_action(op_type, i) self.control_robot_action(0, 2) # self.control_robot_action(0, 1, "成功"+self.op_dialog[op_type]) # else: # self.control_robot_action(0, 1, self.op_dialog[op_type]+"失败") - def find_obj(self,name): + def find_obj(self, name): for id, item in enumerate(self.status.objects): if item.name == name: - print("name:",name,"id:",id,"X:",item.location.X,"Y:",item.location.Y,"Z:",item.location.Z,) + print("name:", name, "id:", id, "X:", item.location.X, "Y:", item.location.Y, "Z:", item.location.Z, ) def test_move(self): v_list = [[0, 880], [250, 1200], [-55, 750], [70, -200]] @@ -855,8 +874,8 @@ class Scene: # cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, # objs_name_set) - cur_obstacle_world_points, cur_objs_id= camera.get_obstacle_point(plt, db, scene, cur_obstacle_world_points,map_ratio) - + cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(plt, db, scene, + cur_obstacle_world_points, map_ratio) # if scene.info == "Unreachable": print(scene.info) @@ -877,8 +896,8 @@ class Scene: # cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, # objs_name_set) - cur_obstacle_world_points, cur_objs_id= camera.get_obstacle_point(plt, db, scene, cur_obstacle_world_points, map_ratio) - + cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(plt, db, scene, + cur_obstacle_world_points, map_ratio) # if scene.info == "Unreachable": print(scene.info) @@ -964,11 +983,9 @@ class Scene: frontier_best = frontier return frontier_best - - - def cal_distance_to_robot(self,objx,objy,objz): + def cal_distance_to_robot(self, objx, objy, objz): scene = self.status - ginger_x, ginger_y, ginger_z = [int(scene.location.X), int(scene.location.Y),100] + ginger_x, ginger_y, ginger_z = [int(scene.location.X), int(scene.location.Y), 100] return math.sqrt((ginger_x - objx) ** 2 + (ginger_y - objy) ** 2 + (ginger_z - objz) ** 2) # 根据map文件判断是否可达 @@ -979,8 +996,6 @@ class Scene: else: return False - - @staticmethod def transform_co(img_data, pixel_x_, pixel_y_, depth_, scene, id=0, label=0): im = img_data.images[0] @@ -1072,23 +1087,14 @@ class Scene: # print("物体世界偏移的坐标: ", world_offest_coordinates) return world_coordinates - @staticmethod - def get_obstacle_point(db, scene, map_ratio): + def get_obstacle_point(self, db, scene, map_ratio, update_info_count): # db = DBSCAN(eps=4, min_samples=2) cur_obstacle_pixel_points = [] + obj_detect_count = 0 + walker_detect_count = 0 + fig = plt.figure() object_pixels = {} - colors = [ - 'red', - 'pink', - 'purple', - 'blue', - 'cyan', - 'green', - 'yellow', - 'orange', - 'brown', - 'gold', - ] + not_key_objs_id = {255, 254, 253, 107, 81} img_data_segment = get_camera([GrabSim_pb2.CameraName.Head_Segment]) @@ -1114,10 +1120,11 @@ class Scene: objs_id[251] = "walker" # plt.imshow(d_depth, cmap="gray" if "depth" in im_depth.name.lower() else None) # plt.show() - # plt.imshow(d_segment, cmap="gray" if "depth" in im_segment.name.lower() else None) - # plt.axis("off") - # plt.title("相机分割") - # plt.show() + plt.subplot(2, 2, 1) + plt.imshow(d_segment, cmap="gray" if "depth" in im_segment.name.lower() else None) + plt.axis("off") + plt.title("相机分割") + plt.show() d_depth = np.transpose(d_depth, (1, 0, 2)) d_segment = np.transpose(d_segment, (1, 0, 2)) @@ -1148,13 +1155,12 @@ class Scene: # for pixel in cur_obstacle_pixel_points: # world_point = transform_co(img_data_depth, pixel[0], pixel[1], d_depth[pixel[0]][pixel[1]][0], scene) # cur_obstacle_world_points.append([world_point[0], world_point[1]]) - # print(f"{pixel}：{[world_point[0], world_point[1]]}") - # plt.subplot(2, 2, 2) + # print(f"{pixel}：{[world_point[0], world_point[1]]}") + plt.subplot(2, 2, 2) plt.imshow(d_color, cmap="gray" if "depth" in im_depth.name.lower() else None) # plt.axis('off') plt.title("目标检测") - for key, value in object_pixels.items(): if key == 0: continue @@ -1173,16 +1179,24 @@ class Scene: y_min = min(p[1] for p in group_data) if x_max - x_min < 10 or y_max - y_min < 10: continue + if key != 251: + obj_detect_count += 1 + else: + walker_detect_count += 1 # 在指定的位置绘制方框 # 创建矩形框 rect = patches.Rectangle((x_min, y_min), (x_max - x_min), (y_max - y_min), linewidth=1, - edgecolor=colors[key % 10], + edgecolor=self.colors[key % 10], facecolor='none') plt.text(x_min, y_min, f'{objs_id[key]}', fontdict={'family': 'serif', 'size': 10, 'color': 'green'}, ha='center', va='center') plt.gca().add_patch(rect) else: + if key != 251: + obj_detect_count += 1 + else: + walker_detect_count += 1 x_max = max(p[0] for p in value) y_max = max(p[1] for p in value) x_min = min(p[0] for p in value) @@ -1190,23 +1204,38 @@ class Scene: # 在指定的位置绘制方框 # 创建矩形框 rect = patches.Rectangle((x_min, y_min), (x_max - x_min), (y_max - y_min), linewidth=1, - edgecolor=colors[key % 10], + edgecolor=self.colors[key % 10], facecolor='none') plt.text(x_min, y_min, f'{objs_id[key]}', - fontdict={'family': 'serif', 'size': 10, 'color': 'green'}, - ha='center', - va='center') + fontdict={'family': 'serif', 'size': 10, 'color': 'green'}, + ha='center', + va='center') plt.gca().add_patch(rect) - # point1 = min(value, key=lambda x: (x[0], x[1])) - # point2 = max(value, key=lambda x: (x[0], x[1])) - # width = point2[1] - point1[1] - # height = point2[0] - point1[0] - # rect = patches.Rectangle((0, 255), 15, 30, linewidth=1, edgecolor='g', - # facecolor='none') + new_map = self.updateMap(cur_obstacle_pixel_points) + self.draw_map(new_map) - # 将矩形框添加到图像中 - # plt.gca().add_patch(rect) + plt.subplot(2, 7, 14) + plt.text(0, 0.9, f'检测行人数量：{walker_detect_count}', fontsize=10) + plt.text(0, 0.7, f'检测物体数量：{obj_detect_count}', fontsize=10) + plt.text(0, 0.5, f'新增语义信息：{walker_detect_count}', fontsize=10) + plt.text(0, 0.3, f'更新语义信息：{update_info_count}', fontsize=10) + # plt.text(0, 0.1, f'已存语义信息：{self.infoCount}', fontsize=10) plt.show() # return cur_obstacle_world_points + + def updateMap(self, points): + map = copy.deepcopy(self.map_map) + for point in points: + if point[0] < -350 or point[0] > 600 or point[1] < -400 or point[1] > 1450: + continue + map[ + math.floor((point[0] + 350) / self.map_ratio), math.floor((point[1] + 400) / self.map_ratio)] = 1 + return map + + def draw_map(self, map): + plt.subplot(2, 1, 2) # 这里的2,1表示总共2行，1列，2表示这个位置是第2个子图 + plt.imshow(map, cmap='binary', alpha=0.5, origin='lower', + extent=(-400 / self.map_ratio, 1450 / self.map_ratio, + -350 / self.map_ratio, 600 / self.map_ratio)) diff --git a/robowaiter/scene/tasks/AEM.py b/robowaiter/scene/tasks/AEM.py index 63234b1..3ab63f1 100644 --- a/robowaiter/scene/tasks/AEM.py +++ b/robowaiter/scene/tasks/AEM.py @@ -11,17 +11,21 @@ import pickle import numpy as np from matplotlib import pyplot as plt -plt.rcParams['font.sans-serif']=['SimHei'] #用来正常显示中文标签 -plt.rcParams['axes.unicode_minus']=False #用来正常显示负号 + +plt.rcParams['font.sans-serif'] = ['SimHei'] # 用来正常显示中文标签 +plt.rcParams['axes.unicode_minus'] = False # 用来正常显示负号 from sklearn.cluster import DBSCAN from robowaiter.scene.scene import Scene + + class SceneAEM(Scene): def __init__(self, robot): super().__init__(robot) def _reset(self): pass + def _run(self): print(len(self.status.objects)) # 创建一个从白色（1）到灰色（0）的 colormap @@ -33,9 +37,7 @@ class SceneAEM(Scene): obj_count = 0 added_info = 0 - - - map_ratio = 3 + map_ratio = self.map_ratio db = DBSCAN(eps=map_ratio, min_samples=int(map_ratio / 2)) file_name = '../../proto/map_1.pkl' @@ -50,7 +52,7 @@ class SceneAEM(Scene): # print(reachable([237,490])) # navigation_move([[237,490]], i, map_id) # navigation_test(i,map_id) - map_map = np.zeros((math.ceil(950 / map_ratio), math.ceil(1850 / map_ratio))) + # map_map = np.zeros((math.ceil(950 / map_ratio), math.ceil(1850 / map_ratio))) # self.add_walker(0, 30, 520, ) # self.add_walker(10, 30, 420) @@ -60,13 +62,15 @@ class SceneAEM(Scene): goal = self.explore(map, 120) if goal is None: break - cur_obstacle_world_points, cur_objs_id= self.navigation_move(plt, cur_objs, cur_obstacle_world_points, [[goal[0], goal[1]]], map_ratio, db,0, 11) + cur_obstacle_world_points, cur_objs_id = self.navigation_move(plt, cur_objs, cur_obstacle_world_points, + [[goal[0], goal[1]]], map_ratio, db, 0, 11) for point in cur_obstacle_world_points: if point[0] < -350 or point[0] > 600 or point[1] < -400 or point[1] > 1450: continue - map_map[math.floor((point[0] + 350) / map_ratio), math.floor((point[1] + 400) / map_ratio)] = 1 - visited_obstacle.add((math.floor((point[0] + 350) / map_ratio), math.floor((point[1] + 400) / map_ratio))) + self.map_map[math.floor((point[0] + 350) / map_ratio), math.floor((point[1] + 400) / map_ratio)] = 1 + visited_obstacle.add( + (math.floor((point[0] + 350) / map_ratio), math.floor((point[1] + 400) / map_ratio))) # plt.imshow(map_map, cmap='binary', alpha=0.5, origin='lower', # extent=(-400 / map_ratio, 1450 / map_ratio, # -350 / map_ratio, 600 / map_ratio)) @@ -80,7 +84,7 @@ class SceneAEM(Scene): break plt.subplot(2, 1, 2) # 这里的2,1表示总共2行，1列，2表示这个位置是第2个子图 - plt.imshow(map_map, cmap='binary', alpha=0.5, origin='lower', + plt.imshow(self.map_map, cmap='binary', alpha=0.5, origin='lower', extent=(-400 / map_ratio, 1450 / map_ratio, -350 / map_ratio, 600 / map_ratio)) # plt.imshow(map_map, cmap='binary', alpha=0.5, origin='lower') @@ -95,16 +99,18 @@ class SceneAEM(Scene): plt.text(0, 0.5, f'新增语义信息：{new_add_info}', fontsize=10) # 在图中添加文字，x和y坐标是在这个图片大小内的相对位置，fontsize是字体大小 added_info += new_add_info plt.text(0, 0.3, f'已存语义信息：{added_info}', fontsize=10) # 在图中添加文字，x和y坐标是在这个图片大小内的相对位置，fontsize是字体大小 + self.infoCount = added_info plt.axis("off") plt.show() print("------------当前检测到的物品信息--------------") print(cur_objs) time.sleep(1) - for i in range(len(cur_objs)): if cur_objs[i].name == "Desk" or cur_objs[i].name == "Chair": - obj_json_data.append({"id":f"{i}", "name":f"{cur_objs[i].name}", "location":f"{cur_objs[i].location}", "height":f"{cur_objs[i].location.Z * 2}"}) + obj_json_data.append( + {"id": f"{i}", "name": f"{cur_objs[i].name}", "location": f"{cur_objs[i].location}", + "height": f"{cur_objs[i].location.Z * 2}"}) else: obj_json_data.append(