Merge branch 'main' of github.com:HPCL-EI/RoboWaiter
This commit is contained in:
ChenXL97
commit
460e9ba991
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@ -15,8 +15,12 @@ class Bahavior(ptree.behaviour.Behaviour):
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scene = None
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print_name_prefix = ""
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tables_for_placement = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3',"BrightTable6"}
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all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
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'VacuumCup'}
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# all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
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# 'VacuumCup'}
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all_object = {
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'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup',
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'Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater'}
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# BrightTable5 = Table4
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tables_for_guiding = {"QuietTable1","QuietTable2",
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@ -48,6 +48,9 @@ class PutDown(Act):
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Act.num_of_obj_on_place[self.target_place]+=1
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self.scene.move_task_area(op_type, release_pos=release_pos)
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if self.target_obj == "Chips":
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release_pos[2] +=3
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self.scene.op_task_execute(op_type, release_pos=release_pos)
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if self.scene.take_picture:
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self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1)
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@ -189,4 +189,14 @@ get_object_info
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我带着孩子呢，想要宽敞亮堂的地方。
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好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。
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冰红茶
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好的
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create_sub_task
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{"goal":"On(Softdrink,Bar)"}
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水杯
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好的
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create_sub_task
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{"goal":"On(Glass,Bar)"}
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@ -74,8 +74,11 @@ class Scene:
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"status": None, # 仿真器中的观测信息，见下方详细解释
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"condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
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'Holding(Nothing)', 'Exist(Yogurt)', 'Exist(BottledDrink)',
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'Exist(Softdrink)',
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# 'On(Yogurt,Bar)','On(BottledDrink,Bar)',
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# 'Exist(Softdrink)', 'On(Softdrink,Table1)',
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'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)'
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'},
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@ -745,10 +748,10 @@ class Scene:
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obj_info = scene.objects[obj_id]
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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_info.name == 'Plate':
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walk_v = [obj_x + 51, obj_y] + [180, 180, 0]
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if 820 <= obj_y <= 1200 and 240 <= 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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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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@ -802,18 +805,68 @@ class Scene:
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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 = [
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z=95, roll=0, pitch=0, yaw=0,
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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=190, y=40, z=87, roll=0, pitch=0, yaw=0,
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type=38), #矿泉水
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 75, z=95, roll=0, pitch=0, yaw=0,
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type=48), # 48是薯片
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# GrabSim_pb2.ObjectList.Object(x=190, y=40, z=87, roll=0, pitch=0, yaw=0,
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# type=48), #48是薯片
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 65, z=95, roll=0, pitch=0, yaw=0,
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type=37), #37是NFC果汁
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 55, z=95, roll=0, pitch=0, yaw=0,
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type=8), #8是贝尔纳松
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 45, z=95, roll=0, pitch=0, yaw=0,
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type=6), #6是AD钙奶
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 35, z=95, roll=0, pitch=0, yaw=0,
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type=9), #9是冰红(瓶)
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 25, z=95, roll=0, pitch=0, yaw=0,
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type=5), # 5是酸奶
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 30, z=95, roll=0, pitch=0, yaw=0,
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# type=13),
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z=95, roll=0, pitch=0, yaw=0,
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# type=48),
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# GrabSim_pb2.ObjectList.Object(x=340, y=960, z=88, roll=0, pitch=0, yaw=90, type=7),
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# GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=90, type=9),
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# GrabSim_pb2.ObjectList.Object(x=340, y=952, z=88, roll=0, pitch=0, yaw=90, type=4),
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GrabSim_pb2.ObjectList.Object(x=320, y=400, z=95, roll=0, pitch=0, yaw=0,
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type=20),
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# 斜桌三瓶冰红茶
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GrabSim_pb2.ObjectList.Object(x=340, y=965, z=88, roll=0, pitch=0, yaw=90, type=4),
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GrabSim_pb2.ObjectList.Object(x=320, y=940, z=88, roll=0, pitch=0, yaw=90, type=4),
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GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=4),
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# GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=38), #矿泉水
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GrabSim_pb2.ObjectList.Object(x=370, y=1000, z=88, roll=0, pitch=0, yaw=90, type=1), #香蕉
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GrabSim_pb2.ObjectList.Object(x=380, y=1000, z=88, roll=0, pitch=0, yaw=90, type=65), # 番茄
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GrabSim_pb2.ObjectList.Object(x=380, y=1020, z=88, roll=0, pitch=0, yaw=90, type=42), # 山竹
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GrabSim_pb2.ObjectList.Object(x=360, y=1020, z=88, roll=0, pitch=0, yaw=90, type=27), # 橙子
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# BrightTable2
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# GrabSim_pb2.ObjectList.Object(x=-30, y=1000, z=35, roll=0, pitch=0, yaw=90, type=64), #西瓜
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GrabSim_pb2.ObjectList.Object(x=-15, y=1050, z=40, roll=0, pitch=0, yaw=90, type=17), #a午餐盒
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# 保温杯
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GrabSim_pb2.ObjectList.Object(x=-102, y=10, z=90, roll=0, pitch=0, yaw=90, type=7),
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 70, z=95, roll=0, pitch=0, yaw=0,
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type=9),
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 70, z=95, roll=0, pitch=0, yaw=0,
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# type=9),
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# Table3上由两套军旗，一个模仿
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GrabSim_pb2.ObjectList.Object(x=-115, y=200, z=85, roll=0, pitch=0, yaw=90, type=26), # Chess
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GrabSim_pb2.ObjectList.Object(x=-130, y=225, z=85, roll=0, pitch=0, yaw=90, type=55), # 玩具狗
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GrabSim_pb2.ObjectList.Object(x=-110, y=225, z=85, roll=0, pitch=0, yaw=90, type=56), #玩具熊
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GrabSim_pb2.ObjectList.Object(x=-115, y=250, z=85, roll=0, pitch=0, yaw=90, type=26), # Chess
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GrabSim_pb2.ObjectList.Object(x=-115, y=280, z=85, roll=0, pitch=0, yaw=90, type=35), # Chess
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GrabSim_pb2.ObjectList.Object(x=-115, y=280, z=85, roll=0, pitch=0, yaw=90, type=35), # 魔方
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# 靠窗边的桌子上
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GrabSim_pb2.ObjectList.Object(x=-400, y=520, z=70, roll=0, pitch=0, yaw=0, type=63), # 小说
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GrabSim_pb2.ObjectList.Object(x=-410, y=550, z=70, roll=0, pitch=0, yaw=0, type=59), # 围巾
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GrabSim_pb2.ObjectList.Object(x=-395, y=570, z=70, roll=0, pitch=0, yaw=0, type=18), # 手镯
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]
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scene = self.stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
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@ -838,12 +891,15 @@ class Scene:
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obj_info = scene.objects[obj_id]
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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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if 820 <= obj_y <= 1200 and 240 <= obj_x <= 500: # 物品位于斜的抹布桌上 ([240,500],[820,1200])
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obj_x += 3
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obj_y += 2.5
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if obj_info.name == "CoffeeCup":
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# obj_x += 1
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# obj_y -= 1
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# values = [0,0,0,0,0, 10,-25,-45,-45,-45]
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# values= [-6, 0, 0, 0, 0, -6, 0, 45, 45, 45]
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# self.stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values))
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# obj_x += 2.5
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# obj_y -= 0.7 # 1.7
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# obj_z -= 6
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# values= [0, 0, 0, 0, 0, 15, -6, -6, -6, -6] # 后5位右手 [-6,45]
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# stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values))
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pass
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if obj_info.name == "Glass":
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pass
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@ -915,6 +971,7 @@ class Scene:
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# 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
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def op_task_execute(self, op_type, obj_id=0, release_pos=[247.0, 520.0, 100.0]):
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#id = 196 # Glass = 188+x, Plate = 150+x
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self.control_robot_action(0, 1, "开始" + self.op_dialog[op_type]) # 输出正在执行的任务
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if op_type < 8:
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if self.take_picture:
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@ -18,7 +18,8 @@ class SceneOT(Scene):
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super().__init__(robot)
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# 在这里加入场景中发生的事件
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self.signal_event_list = [
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(3, self.customer_say, ("System", "酸奶。")),
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(3, self.customer_say, ("System", "冰红茶")),
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# (3, self.customer_say, ("System", "酸奶。")),
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# (3, self.customer_say, ("System","来一号桌")),
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# (-1, self.customer_say, ("System","回去吧")),
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# (5, self.set_goal("At(Robot,BrightTable4)"))
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@ -83,18 +83,19 @@ class SceneVLM(Scene):
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# "抓握物体","放置物体" # 16-17
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# self.gen_obj()
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if op_type <=15:
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self.move_task_area(op_type)
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self.op_task_execute(op_type)
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if op_type == 16: # 16: 抓操作需要传入物品id
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self.move_task_area(op_type, obj_id=1)
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self.op_task_execute(op_type, obj_id=1)
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# 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 100.0], 水杯桌:[-70.0, 500.0, 107]
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# 桌子1:[-55.0, 0.0, 107],抹布桌:[340.0, 900.0, 99.0] # 桌子2:[-55.0, 150.0, 107],
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if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域
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pos = [240.0, 40.0, 100.0]
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self.move_task_area(op_type, release_pos=pos)
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self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100]
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# if op_type <=15:
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# self.move_task_area(op_type)
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# self.op_task_execute(op_type)
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# if op_type == 16: # 16: 抓操作需要传入物品id
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# self.move_task_area(op_type, obj_id=281)
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# self.op_task_execute(op_type, obj_id=281)
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# op_type = 17
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# # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 100.0], 水杯桌:[-70.0, 500.0, 107]
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# # 桌子1:[-55.0, 0.0, 107],抹布桌:[340.0, 900.0, 99.0] # 桌子2:[-55.0, 150.0, 107],
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# if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域
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# pos = [240.0, 40.0, 100.0]
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# self.move_task_area(op_type, release_pos=pos)
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# self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100]
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@ -111,13 +112,14 @@ class SceneVLM(Scene):
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# self.move_task_area(1)
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# self.op_task_execute(1)
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#
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# self.find_obj("CoffeeCup")
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#
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# self.move_task_area(16, obj_id=275)
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# self.op_task_execute(16, obj_id=275)
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# pos = [-70.0, 500.0, 107]
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# self.move_task_area(17, release_pos=pos)
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# self.op_task_execute(17, release_pos=pos)
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# self.find_obj("Plate")
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# #
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id = 0
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self.move_task_area(16, obj_id=id)
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self.op_task_execute(16, obj_id=id)
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pos = [-70.0, 500.0, 111] # 107 98
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self.move_task_area(17, release_pos=pos)
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self.op_task_execute(17, release_pos=pos)
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#
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# # 倒水:倒完的水放到旁边桌子上
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# self.move_task_area(2)
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