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RoboWaiter
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This commit is contained in:
Netceor 2023-11-22 21:20:51 +08:00
parent c1019ffb77
commit 49ee064d7c
3 changed files with 46 additions and 31 deletions
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6
robowaiter/llm_client/data/fix_questions.txt
View File

@ -194,3 +194,9 @@ get_object_info
create_sub_task
{"goal":"On(Softdrink,Bar)"}
水杯
好的
create_sub_task
{"goal":"On(Glass,Bar)"}

37
robowaiter/scene/scene.py
View File

@ -736,10 +736,10 @@ 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
walk_v = [obj_x + 50, obj_y] + [180, 180, 0]
print("obj_y:",obj_y,"obj_x:",obj_x)
if obj_info.name == 'Plate':
walk_v = [obj_x + 51, obj_y] + [180, 180, 0]
if 820 <= obj_y <= 1200 and 240 <= obj_x <= 500: # 物品位于斜的抹布桌上 ([240,500],[820,1200])
walk_v = [obj_x + 40, obj_y - 35, 130, 180, 0]
print("walk_v:",walk_v)
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]:
@ -793,12 +793,19 @@ class Scene:
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), #48是薯片，6是AD钙奶
GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z=95, roll=0, pitch=0, yaw=0,
type=5),
type=57),
# 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),
# 斜桌三瓶冰红茶
GrabSim_pb2.ObjectList.Object(x=340, y=965, z=88, roll=0, pitch=0, yaw=90, type=4),
GrabSim_pb2.ObjectList.Object(x=320, y=940, z=88, roll=0, pitch=0, yaw=90, type=4),
GrabSim_pb2.ObjectList.Object(x=300, y=930, 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),
@ -816,13 +823,13 @@ class Scene:
scene = self.status
# 低头
value = [0] * 21
for i in range(21):
value[i] = self.status.joints[i].angle
value[5] = 30
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value)
scene = stub.Do(action)
time.sleep(1.0)
# value = [0] * 21
# for i in range(21):
# value[i] = self.status.joints[i].angle
# value[5] = 30
# action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value)
# scene = stub.Do(action)
# time.sleep(1.0)
if self.take_picture:
self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio)
@ -833,10 +840,10 @@ class Scene:
obj_x += 3
obj_y += 2.5
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]
# obj_x += 2.5
# obj_y -= 0.7 # 1.7
# obj_z -= 6
# values= [0, 0, 0, 0, 0, 15, -6, -6, -6, -6] # 后5位右手 [-6,45]
# stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values))
pass
if obj_info.name == "Glass":

34
tasks/VLM/VLM.py
View File

@ -83,18 +83,19 @@ class SceneVLM(Scene):
# "抓握物体","放置物体" # 16-17
# self.gen_obj()
if op_type <=15:
self.move_task_area(op_type)
self.op_task_execute(op_type)
if op_type == 16: # 16: 抓操作需要传入物品id
self.move_task_area(op_type, obj_id=1)
self.op_task_execute(op_type, obj_id=1)
# 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]
# 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],
if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域
pos = [240.0, 40.0, 100.0]
self.move_task_area(op_type, release_pos=pos)
self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100]
# if op_type <=15:
# self.move_task_area(op_type)
# self.op_task_execute(op_type)
# if op_type == 16: # 16: 抓操作需要传入物品id
# self.move_task_area(op_type, obj_id=281)
# self.op_task_execute(op_type, obj_id=281)
# op_type = 17
# # 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]
# # 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],
# if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域
# pos = [240.0, 40.0, 100.0]
# self.move_task_area(op_type, release_pos=pos)
# self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100]
@ -111,11 +112,12 @@ class SceneVLM(Scene):
# self.move_task_area(1)
# self.op_task_execute(1)
#
# self.find_obj("CoffeeCup")
self.find_obj("Plate")
#
# self.move_task_area(16, obj_id=275)
# self.op_task_execute(16, obj_id=275)
# pos = [-70.0, 500.0, 107]
id = 158
self.move_task_area(16, obj_id=id)
self.op_task_execute(16, obj_id=id)
# pos = [-70.0, 500.0, 107] # 107 98
# self.move_task_area(17, release_pos=pos)
# self.op_task_execute(17, release_pos=pos)
#