diff --git a/.gitignore b/.gitignore index 68bc17f..fe2efa6 100644 --- a/.gitignore +++ b/.gitignore @@ -157,4 +157,5 @@ cython_debug/ # be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore # and can be added to the global gitignore or merged into this file. For a more nuclear # option (not recommended) you can uncomment the following to ignore the entire idea folder. -#.idea/ +.idea/ +test.py diff --git a/demo/关节控制.py b/demo/关节控制.py new file mode 100644 index 0000000..d6a036f --- /dev/null +++ b/demo/关节控制.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +import sys +import time +import grpc + +sys.path.append('./') +sys.path.append('../') + +import matplotlib.pyplot as plt +import numpy as np +from mpl_toolkits.axes_grid1 import make_axes_locatable + +from proto import GrabSim_pb2 +from proto import GrabSim_pb2_grpc + +channel = grpc.insecure_channel('localhost:30001',options=[ + ('grpc.max_send_message_length', 1024*1024*1024), + ('grpc.max_receive_message_length', 1024*1024*1024) + ]) + +sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) + +def map_test(map_id=0, scene_num=1): + initworld = sim_client.Init(GrabSim_pb2.NUL()) + print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())) + initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id)) + +def joint_test(scene_id=0): + print('------------------joint_test----------------------') + action_list = [[0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 36.0, -39.37, 37.2, -92.4, 4.13, -0.62, 0.4], + [0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 36.0, -39.62, 34.75, -94.80, 3.22, -0.26, 0.85], + [0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 32.63, -32.80, 15.15, -110.70, 6.86, 2.36, 0.40], + [0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 28.18, -27.92, 6.75, -115.02, 9.46, 4.28, 1.35], + [0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 4.09, -13.15, -11.97, -107.35, 13.08, 8.58, 3.33]] + + for value in action_list: + action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value) + scene = sim_client.Do(action) + + for i in range(8, 21): # arm + print( + f"{scene.joints[i].name}:{scene.joints[i].angle} location:{scene.joints[i].location.X},{scene.joints[i].location.Y},{scene.joints[i].location.Z}" + ) + print('') + for i in range(5, 10): # Right hand + print( + f"{scene.fingers[i].name} angle:{scene.fingers[i].angle} location:{scene.fingers[i].location[0].X},{scene.fingers[i].location[0].Y},{scene.fingers[i].location[0].Z}" + ) + print('----------------------------------------') + time.sleep(0.03) + time.sleep(1) + +if __name__ == '__main__': + map_id = 3 # 地图编号: 3: 咖啡厅 + scene_num = 1 # 场景数量 + map_test(map_id, scene_num) # 场景加载测试 + time.sleep(5) + + for i in range(scene_num): + print("------------------", i, "----------------------") + joint_test(i) # 关节控制测试 \ No newline at end of file diff --git a/demo/动画控制.py b/demo/动画控制.py new file mode 100644 index 0000000..8ee42cb --- /dev/null +++ b/demo/动画控制.py @@ -0,0 +1,97 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +# enconding = utf8 +import sys +import time +import grpc + +sys.path.append('./') +sys.path.append('../') + +import matplotlib.pyplot as plt +import numpy as np +from mpl_toolkits.axes_grid1 import make_axes_locatable + +from proto import GrabSim_pb2 +from proto import GrabSim_pb2_grpc + +channel = grpc.insecure_channel('localhost:30001', options=[ + ('grpc.max_send_message_length', 1024 * 1024 * 1024), + ('grpc.max_receive_message_length', 1024 * 1024 * 1024) +]) + +sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) + + +def map_test(map_id=0, scene_num=1): + initworld = sim_client.Init(GrabSim_pb2.NUL()) + print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())) + initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id)) + + +def control_robot_action(scene_id=0, type=0, action=0, message="你好"): + scene = sim_client.ControlRobot(GrabSim_pb2.ControlInfo(scene=scene_id, type=type, action=action, content=message)) + if (scene.info == "action success"): + return True + else: + return False + + +if __name__ == '__main__': + map_id = 3 # 地图编号: 0：空房间 1：室内 2:咖啡厅1.0 3: 咖啡厅2.0 4:餐厅 5:养老院 6：会议室 + scene_num = 1 # 场景数量 + map_test(map_id, scene_num) # 场景加载测试 + time.sleep(5) + + # 制作咖啡 + control_robot_action(0, 0, 1, "开始制作咖啡") + result = control_robot_action(0, 1, 1) + if (result): + control_robot_action(0, 1, 2) + control_robot_action(0, 1, 3) + control_robot_action(0, 1, 4) + else: + control_robot_action(0, 0, 1, "制作咖啡失败") + + # 倒水 + control_robot_action(0, 0, 1, "开始倒水") + result = control_robot_action(0, 2, 1) + if (result): + control_robot_action(0, 2, 2) + control_robot_action(0, 2, 3) + control_robot_action(0, 2, 4) + control_robot_action(0, 2, 5) + else: + control_robot_action(0, 0, 1, "倒水失败") + + # 夹点心 + control_robot_action(0, 0, 1, "开始夹点心") + result = control_robot_action(0, 3, 1) + if (result): + control_robot_action(0, 3, 2) + control_robot_action(0, 3, 3) + control_robot_action(0, 3, 4) + control_robot_action(0, 3, 5) + control_robot_action(0, 3, 6) + control_robot_action(0, 3, 7) + else: + control_robot_action(0, 0, 1, "夹点心失败") + + # 拖地 + control_robot_action(0, 0, 1, "开始拖地") + result = control_robot_action(0, 4, 1) + if (result): + control_robot_action(0, 4, 2) + control_robot_action(0, 4, 3) + control_robot_action(0, 4, 4) + else: + control_robot_action(0, 0, 1, "拖地失败") + + # 擦桌子 + control_robot_action(0, 0, 1, "开始擦桌子") + result = control_robot_action(0, 5, 1) + if (result): + control_robot_action(0, 5, 2) + control_robot_action(0, 5, 3) + else: + control_robot_action(0, 0, 1, "擦桌子失败") \ No newline at end of file diff --git a/demo/场景操作.py b/demo/场景操作.py new file mode 100644 index 0000000..6f436e0 --- /dev/null +++ b/demo/场景操作.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +import sys +import time +import grpc + +sys.path.append('./') +sys.path.append('../') + +import matplotlib.pyplot as plt +import numpy as np +from mpl_toolkits.axes_grid1 import make_axes_locatable + +from proto import GrabSim_pb2 +from proto import GrabSim_pb2_grpc + +channel = grpc.insecure_channel('localhost:30001',options=[ + ('grpc.max_send_message_length', 1024*1024*1024), + ('grpc.max_receive_message_length', 1024*1024*1024) + ]) + +sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) + +def map_test(map_id=0, scene_num=1): + initworld = sim_client.Init(GrabSim_pb2.NUL()) + print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())) + initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id)) + +def reset(scene_id=0): + scene = sim_client.Reset(GrabSim_pb2.ResetParams(scene=scene_id)) + +def show_env_info(scene_id=0): + scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id)) + print('------------------show_env_info----------------------') + print( + f"location:{[scene.location.X, scene.location.Y]}, rotation:{scene.rotation.Yaw}\n", + f"joints number:{len(scene.joints)}, fingers number:{len(scene.fingers)}\n", f"objects number: {len(scene.objects)}\n" + f"rotation:{scene.rotation}, timestep:{scene.timestep}\n" + f"timestamp:{scene.timestamp}, collision:{scene.collision}, info:{scene.info}") + +if __name__ == '__main__': + map_id = 3 # 地图编号: 3: 咖啡厅 + scene_num = 1 # 场景数量 + map_test(map_id, scene_num) # 场景加载测试 + time.sleep(5) + + for i in range(scene_num): + print("------------------", i, "----------------------") + reset(i) # 场景重置测试 + show_env_info(i) # 场景信息测试 \ No newline at end of file diff --git a/demo/导航寻路.py b/demo/导航寻路.py new file mode 100644 index 0000000..5f4fe28 --- /dev/null +++ b/demo/导航寻路.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +import sys +import time +import grpc + +sys.path.append('./') +sys.path.append('../') + +import matplotlib.pyplot as plt +import numpy as np +from mpl_toolkits.axes_grid1 import make_axes_locatable + +from proto import GrabSim_pb2 +from proto import GrabSim_pb2_grpc + +channel = grpc.insecure_channel('localhost:30001',options=[ + ('grpc.max_send_message_length', 1024*1024*1024), + ('grpc.max_receive_message_length', 1024*1024*1024) + ]) + +sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) + +def map_test(map_id=0, scene_num=1): + initworld = sim_client.Init(GrabSim_pb2.NUL()) + print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())) + initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id)) + +def walk_test(scene_id=0, map_id=0): + """ + 移动底盘 + GrabSim_pb2.Action(sceneID=0, action=GrabSim_pb2.Action.ActionType.WalkTo, values=[x, y, yaw, velocity, dis]) + yaw: 机器人朝向; velocity:速度, -1代表瞬移; dis:最终达到的位置距离目标点最远距离, 如果超过此距离则目标位置不可达 + """ + scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id)) + + walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw] + print('------------------walk_test----------------------') + print("position:", walk_value) + + if map_id == 3: # coffee + v_list = [[scene.location.X + 20, scene.location.Y - 500], [scene.location.X - 200, scene.location.Y - 300], + [scene.location.X - 200, scene.location.Y + 20], [0, 880], [250, 1200], [-55, 750], [70, -200]] + else: + v_list = [[scene.location.X - 10, scene.location.Y - 20]] + + for walk_v in v_list: + walk_v = walk_v + [scene.rotation.Yaw - 90, 600, 100] + print("walk_v", walk_v) + action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) + scene = sim_client.Do(action) + print(scene.info) # print navigation info + time.sleep(2) + +if __name__ == '__main__': + map_id = 3 # 地图编号: 3: 咖啡厅 + scene_num = 1 # 场景数量 + map_test(map_id, scene_num) # 场景加载测试 + time.sleep(5) + + for i in range(scene_num): + print("------------------", i, "----------------------") + walk_test(i, map_id) # 导航寻路测试 \ No newline at end of file diff --git a/demo/文字冒泡.py b/demo/文字冒泡.py new file mode 100644 index 0000000..78bb155 --- /dev/null +++ b/demo/文字冒泡.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +# enconding = utf8 +import sys +import time +import grpc + +sys.path.append('./') +sys.path.append('../') + +import matplotlib.pyplot as plt +import numpy as np +from mpl_toolkits.axes_grid1 import make_axes_locatable + +from proto import GrabSim_pb2 +from proto import GrabSim_pb2_grpc + +channel = grpc.insecure_channel('localhost:30001', options=[ + ('grpc.max_send_message_length', 1024 * 1024 * 1024), + ('grpc.max_receive_message_length', 1024 * 1024 * 1024) +]) + +sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) + + +def map_test(map_id=0, scene_num=1): + initworld = sim_client.Init(GrabSim_pb2.NUL()) + print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())) + initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id)) + + +def control_robot_action(scene_id=0, type=0, action=0, message="你好"): + scene = sim_client.ControlRobot(GrabSim_pb2.ControlInfo(scene=scene_id, type=type, action=action, content=message)) + if (scene.info == "action success"): + return True + else: + return False + + +if __name__ == '__main__': + map_id = 3 # 地图编号: 0：空房间 1：室内 2:咖啡厅1.0 3: 咖啡厅2.0 4:餐厅 5:养老院 6：会议室 + scene_num = 1 # 场景数量 + map_test(map_id, scene_num) # 场景加载测试 + time.sleep(5) + + # 文字冒泡 + control_robot_action(0, 0, 1, "你好，欢迎光临") \ No newline at end of file diff --git a/demo/物品操作.py b/demo/物品操作.py new file mode 100644 index 0000000..151e26a --- /dev/null +++ b/demo/物品操作.py @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +import sys +import time +import grpc + +sys.path.append('./') +sys.path.append('../') + +import matplotlib.pyplot as plt +import numpy as np +from mpl_toolkits.axes_grid1 import make_axes_locatable + +from proto import GrabSim_pb2 +from proto import GrabSim_pb2_grpc + +channel = grpc.insecure_channel('localhost:30001',options=[ + ('grpc.max_send_message_length', 1024*1024*1024), + ('grpc.max_receive_message_length', 1024*1024*1024) + ]) + +sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) + +def map_test(map_id=0, scene_num=1): + initworld = sim_client.Init(GrabSim_pb2.NUL()) + print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())) + initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id)) + +def joint_test(scene_id=0): + print('------------------joint_test----------------------') + action_list = [[0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 36.0, -39.37, 37.2, -92.4, 4.13, -0.62, 0.4], + [0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 36.0, -39.62, 34.75, -94.80, 3.22, -0.26, 0.85], + [0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 32.63, -32.80, 15.15, -110.70, 6.86, 2.36, 0.40], + [0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 28.18, -27.92, 6.75, -115.02, 9.46, 4.28, 1.35], + [0, 0, 0, 0, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 4.09, -13.15, -11.97, -107.35, 13.08, 8.58, 3.33]] + + for value in action_list: + action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value) + scene = sim_client.Do(action) + + for i in range(8, 21): # arm + print( + f"{scene.joints[i].name}:{scene.joints[i].angle} location:{scene.joints[i].location.X},{scene.joints[i].location.Y},{scene.joints[i].location.Z}" + ) + print('') + for i in range(5, 10): # Right hand + print( + f"{scene.fingers[i].name} angle:{scene.fingers[i].angle} location:{scene.fingers[i].location[0].X},{scene.fingers[i].location[0].Y},{scene.fingers[i].location[0].Z}" + ) + print('----------------------------------------') + time.sleep(0.03) + time.sleep(1) + +def gen_obj(scene_id, h=80): + print('------------------gen objs----------------------') + scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id)) + ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z] + + obj_list = [ + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 90, y=ginger_loc[1] + 30, yaw=10, z=h, type=4), + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 80, y=ginger_loc[1] + 31, z=h, type=5), + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 33, y=ginger_loc[1] - 10.5, z=h+20, type=7), + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 70, y=ginger_loc[1] + 33, z=h, type=9), + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 60, y=ginger_loc[1] + 34, z=h, type=13) + ] + scene = sim_client.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=scene_id)) + print(scene.collision) + time.sleep(5) + +def remove_obj(scene_id=0, id_list=[1]): + print('------------------remove objs----------------------') + remove_obj_list = id_list + scene = sim_client.RemoveObjects(GrabSim_pb2.RemoveList(IDs=remove_obj_list, scene=scene_id)) + print(f"remove objects {id_list}. current obj:") + time.sleep(1) + +def clean_obj(scene_id=0): + print('------------------clean objs----------------------') + scene = sim_client.CleanObjects(GrabSim_pb2.SceneID(value=scene_id)) + +def obj_test(scene_id=0): + gen_obj(scene_id) + # remove_obj(scene_id, id_list=[0]) + # clean_obj(scene_id) + +def grasp_test(hand_id, obj_scene_id, scene_id=0): + action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.Grasp, values=[hand_id, obj_scene_id]) + scene = sim_client.Do(action) + +def release_test(hand_id, scene_id=0): + action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.Release, values=[hand_id]) + scene = sim_client.Do(action) + +if __name__ == '__main__': + map_id = 3 # 地图编号: 3: 咖啡厅 + scene_num = 1 # 场景数量 + map_test(map_id, scene_num) # 场景加载测试 + time.sleep(5) + + for i in range(scene_num): + print("------------------", i, "----------------------") + joint_test(i) # 关节控制测试 + obj_test(i) # 物品生成测试 + grasp_test(1, 2) # 抓取物品测试 + joint_test(i) # 关节控制测试 + release_test(1) # 释放物品测试 \ No newline at end of file diff --git a/demo/相机操作.py b/demo/相机操作.py new file mode 100644 index 0000000..8389a1a --- /dev/null +++ b/demo/相机操作.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +import sys +import time +import grpc + +sys.path.append('./') +sys.path.append('../') + +import matplotlib.pyplot as plt +import numpy as np +from mpl_toolkits.axes_grid1 import make_axes_locatable + +from proto import GrabSim_pb2 +from proto import GrabSim_pb2_grpc + +channel = grpc.insecure_channel('localhost:30001',options=[ + ('grpc.max_send_message_length', 1024*1024*1024), + ('grpc.max_receive_message_length', 1024*1024*1024) + ]) + +sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) + +def map_test(map_id=0, scene_num=1): + initworld = sim_client.Init(GrabSim_pb2.NUL()) + print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())) + initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id)) + +def get_camera(part, scene_id=0): + action = GrabSim_pb2.CameraList(cameras=part, scene=scene_id) + return sim_client.Capture(action) + +def show_image(img_data): + im = img_data.images[0] + d = np.frombuffer(im.data, dtype=im.dtype).reshape((im.height, im.width, im.channels)) + plt.imshow(d, cmap="gray" if "depth" in im.name.lower() else None) + plt.show() + +def camera_test(scene_id=0): + for camera_name in [GrabSim_pb2.CameraName.Head_Color, GrabSim_pb2.CameraName.Head_Depth, GrabSim_pb2.CameraName.Head_Segment]: + img_data = get_camera([camera_name], scene_id) + show_image(img_data) + +if __name__ == '__main__': + map_id = 3 # 地图编号: 0：空房间 1：室内 2:咖啡厅1.0 3: 咖啡厅2.0 4:餐厅 5:养老院 6：会议室 + scene_num = 1 # 场景数量 + map_test(map_id, scene_num) # 场景加载测试 + time.sleep(5) + + for i in range(scene_num): + print("------------------", i, "----------------------") + camera_test(i) # 相机操作测试 \ No newline at end of file diff --git a/demo/行人控制.py b/demo/行人控制.py new file mode 100644 index 0000000..2b5e7da --- /dev/null +++ b/demo/行人控制.py @@ -0,0 +1,87 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +import sys +import time +import grpc + +sys.path.append('./') +sys.path.append('../') + +import matplotlib.pyplot as plt +import numpy as np +from mpl_toolkits.axes_grid1 import make_axes_locatable + +from proto import GrabSim_pb2 +from proto import GrabSim_pb2_grpc + +channel = grpc.insecure_channel('localhost:30001',options=[ + ('grpc.max_send_message_length', 1024*1024*1024), + ('grpc.max_receive_message_length', 1024*1024*1024) + ]) + +sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) + +def map_test(map_id=0, scene_num=1): + initworld = sim_client.Init(GrabSim_pb2.NUL()) + print(sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())) + initworld = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id)) + +def add_walker(scene_id=0): + """pose:表示行人的初始位置姿态""" + print('------------------add walker----------------------') + s = sim_client.Observe(GrabSim_pb2.SceneID(value=0)) + + walker_loc = [[0, 880], [250, 1200], [-55, 750], [70, -200]] + walker_list = [] + for i in range(len(walker_loc)): + loc = walker_loc[i] + [0, 600, 100] + action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc) + scene = sim_client.Do(action) + print(scene.info) + # 只有可达的位置才能成功初始化行人，显示unreachable的地方不能初始化行人 + walker_list.append(GrabSim_pb2.WalkerList.Walker(id=i, pose=GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=90))) + + scene = sim_client.AddWalker(GrabSim_pb2.WalkerList(walkers=walker_list, scene=scene_id)) + return scene + +def control_walkers(scene_id=0): + """pose:表示行人的终止位置姿态""" + s = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id)) + + walker_loc = [[-55, 750], [70, -200], [250, 1200], [0, 880]] + controls = [] + for i in range(len(s.walkers)): + loc = walker_loc[i] + is_autowalk = False + pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180) + controls.append(GrabSim_pb2.WalkerControls.WControl(id=i, autowalk=is_autowalk, speed=200, pose=pose)) + scene = sim_client.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=scene_id)) + time.sleep(10) + return scene + +def remove_walkers(scene_id=0): + s = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id)) + scene = sim_client.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=[1, 3], scene=scene_id)) + time.sleep(2) + return + +def clean_walkers(scene_id=0): + scene = sim_client.CleanWalkers(GrabSim_pb2.SceneID(value=scene_id)) + return scene + +def walker_test(scene_id=0): + add_walker(scene_id) + control_walkers(scene_id) + remove_walkers(scene_id) + clean_walkers(scene_id) + return + +if __name__ == '__main__': + map_id = 3 # 地图编号: 3: 咖啡厅 + scene_num = 1 # 场景数量 + map_test(map_id, scene_num) # 场景加载测试 + time.sleep(5) + + for i in range(scene_num): + print("------------------", i, "----------------------") + walker_test(i) # 行人控制测试 \ No newline at end of file diff --git a/proto/__init__.py b/proto/__init__.py new file mode 100644 index 0000000..e69de29