Merge branch 'main' of https://github.com/HPCL-EI/RoboWaiter
This commit is contained in:
Caiyishuai
commit
50d7110f5f
157
README.md
157
README.md
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@ -14,162 +14,39 @@ pip install -e .
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### 快速入门
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### 快速入门
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1. 安装UE及Harix插件，打开默认项目并运行
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1. 安装UE及Harix插件，打开默认项目并运行
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2. 运行 run_robowaiter.py 文件即可实现机器人控制端与仿真器的交互
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2. 运行 tasks 文件夹下的任意场景即可实现机器人控制端与仿真器的交互
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# 运行流程介绍
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# 代码框架介绍
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run_robowaiter.py 入口文件如下：
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```python
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import os
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from robowaiter import Robot, task_map
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TASK_NAME = 'GQA'
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# create robot
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project_path = "./robowaiter"
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ptml_path = os.path.join(project_path, 'robot/Default.ptml')
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behavior_lib_path = os.path.join(project_path, 'behavior_lib')
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robot = Robot(ptml_path,behavior_lib_path)
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# create task
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task = task_map[TASK_NAME](robot)
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task.reset()
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task.run()
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```
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## Robot
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## Robot
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Robot是机器人类，包括从ptml加载行为树的方法，以及执行行为树的方法等
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Robot是机器人类，包括从ptml加载行为树的方法，以及执行行为树的方法等
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## task_map
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## tasks
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task_map是任务字典，通过任务缩写来返回相应的场景类。
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tasks文件夹中存放的场景定义及运行代码。
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| 缩写 | 任务 |
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| 缩写 | 任务 |
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|----|---------|
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|---------------------|-------------|
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| AEM | 主动探索和记忆 |
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| AEM | 主动探索和记忆 |
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| GQA | 具身多轮对话 |
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| GQA | 具身多轮对话 |
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| VLN | 视觉语言导航 |
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| VLN | 视觉语言导航 |
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| VLM | 视觉语言操作 |
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| VLM | 视觉语言操作 |
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| OT | 复杂开放任务 |
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| OT | 复杂开放任务 |
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| AT | 自主任务 |
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| AT | 自主任务 |
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| CafeDailyOperations | 整体展示：咖啡厅的一天 |
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| Interact | 命令行自由交互 |
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## Scene
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## Scene
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Scene是场景基类，task_map返回的任务场景都继承于Scene。
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Scene是场景基类，task_map返回的任务场景都继承于Scene。
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该类实现了一些通用的场景操作接口。
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该类实现了一些通用的场景操作接口。
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### 场景中物品类别
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| ID | Item |
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|-----|----------------------|
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| 0 | Mug |
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| 1 | Banana |
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| 2 | Toothpaste |
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| 3 | Bread |
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| 4 | Softdrink |
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| 5 | Yogurt |
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| 6 | ADMilk |
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| 7 | VacuumCup |
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| 8 | Bernachon |
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| 9 | BottledDrink |
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| 10 | PencilVase |
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| 11 | Teacup |
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| 12 | Caddy |
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| 13 | Dictionary |
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| 14 | Cake |
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| 15 | Date |
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| 16 | Stapler |
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| 17 | LunchBox |
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| 18 | Bracelet |
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| 19 | MilkDrink |
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| 20 | CocountWater |
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| 21 | Walnut |
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| 22 | HamSausage |
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| 23 | GlueStick |
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| 24 | AdhensiveTape |
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| 25 | Calculator |
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| 26 | Chess |
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| 27 | Orange |
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| 28 | Glass |
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| 29 | Washbowl |
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| 30 | Durian |
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| 31 | Gum |
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| 32 | Towl |
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| 33 | OrangeJuice |
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| 34 | Cardcase |
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| 35 | RubikCube |
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| 36 | StickyNotes |
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| 37 | NFCJuice |
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| 38 | SpringWater |
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| 39 | Apple |
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| 40 | Coffee |
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| 41 | Gauze |
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| 42 | Mangosteen |
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| 43 | SesameSeedCake |
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| 44 | Glove |
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| 45 | Mouse |
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| 46 | Kettle |
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| 47 | Atomize |
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| 48 | Chips |
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| 49 | SpongeGourd |
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| 50 | Garlic |
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| 51 | Potato |
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| 52 | Tray |
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| 53 | Hemomanometer |
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| 54 | TennisBall |
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| 55 | ToyDog |
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| 56 | ToyBear |
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| 57 | TeaTray |
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| 58 | Sock |
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| 59 | Scarf |
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| 60 | ToiletPaper |
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| 61 | Milk |
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| 62 | Soap |
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| 63 | Novel |
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| 64 | Watermelon |
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| 65 | Tomato |
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| 66 | CleansingFoam |
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| 67 | CocountMilk |
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| 68 | SugarlessGum |
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| 69 | MedicalAdhensiveTape |
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| 70 | SourMilkDrink |
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| 71 | PaperCup |
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| 72 | Tissue |
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| 73 | YogurtDrink |
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| 74 | Newspaper |
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| 75 | Box |
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| 76 | PaperCupStarbucks |
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| 77 | CoffeeMachine |
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| 78 | GingerLHand |
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| 79 | GingerRHand |
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| 80 | Straw |
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| 81 | Cake |
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| 82 | Tray |
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| 83 | Bread |
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| 84 | Glass |
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| 85 | Door |
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| 86 | Mug |
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| 87 | Machine |
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| 88 | Packaged Coffee |
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| 89 | Cube Sugar |
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| 90 | Apple |
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| 91 | Spoon |
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| 92 | Drinks |
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| 93 | Drink |
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| 94 | Take-Away Cup |
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| 95 | Saucer |
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| 96 | Trash Bin |
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| 97 | Knife |
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| 251 | Ginger |
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| 252 | Floor |
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| 253 | Roof |
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| 254 | Wall |
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注意：78及以后无法使用add_object方法生成
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# 调用大模型接口
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# 调用大模型接口
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运行llm_client.py文件调用大模型进行多轮对话。
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运行llm_client.py文件调用大模型进行多轮对话。
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```shell
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```shell
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python llm_client.py
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cd robowaiter/llm_client
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python multi_rounds.py
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```
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```
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输入字符即可等待回答，输入end表示对话结束。
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输入字符即可等待回答
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@ -103,7 +103,7 @@ class Bahavior(ptree.behaviour.Behaviour):
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# let behavior node interact with the scene
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# let behavior node Interact with the scene
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def set_scene(self, scene=None):
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def set_scene(self, scene=None):
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if scene:
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if scene:
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self.scene = scene
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self.scene = scene
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@ -64,6 +64,7 @@ class DealChat(Act):
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self.scene.robot.expand_sub_task_tree(goal_set)
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self.scene.robot.expand_sub_task_tree(goal_set)
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def get_object_info(self,**args):
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def get_object_info(self,**args):
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try:
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try:
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obj = args['obj']
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obj = args['obj']
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@ -19,4 +19,5 @@ class DelSubTree(Act):
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sub_task_tree = self.parent
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sub_task_tree = self.parent
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self.scene.sub_task_seq.children.remove(sub_task_tree)
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self.scene.sub_task_seq.children.remove(sub_task_tree)
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self.scene.draw_current_bt()
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return Status.RUNNING
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return Status.RUNNING
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@ -9,7 +9,7 @@ ok, 有需要您再找我。
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做一杯咖啡
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做一杯咖啡
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好的，我马上做咖啡
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好的，我马上做咖啡
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create_sub_task
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create_sub_task
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{"goal":"On(Coffee,CoffeeTable)"}00
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{"goal":"On(Coffee,CoffeeTable)"}
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不用了。
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不用了。
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好的，您有需要再跟我说
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好的，您有需要再跟我说
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@ -96,6 +96,8 @@ class Robot(object):
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# print_tree_from_root(self.bt.root)
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# print_tree_from_root(self.bt.root)
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print("行为树扩展完成！")
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print("行为树扩展完成！")
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self.scene.draw_current_bt()
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# 获取所有action的pre,add,del列表
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# 获取所有action的pre,add,del列表
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def collect_action_nodes(self):
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def collect_action_nodes(self):
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action_list = []
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action_list = []
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Binary file not shown.
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After Width: | Height: | Size: 794 KiB |
Binary file not shown.
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After Width: | Height: | Size: 116 KiB |
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@ -18,6 +18,9 @@ from robowaiter.utils import get_root_path
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from sklearn.cluster import DBSCAN
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from sklearn.cluster import DBSCAN
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from matplotlib import pyplot as plt
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from matplotlib import pyplot as plt
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from robowaiter.algos.navigator.dstar_lite import euclidean_distance
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from robowaiter.algos.navigator.dstar_lite import euclidean_distance
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from PIL import Image
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from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
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plt.rcParams['font.sans-serif'] = ['SimHei'] # 用来正常显示中文标签
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plt.rcParams['font.sans-serif'] = ['SimHei'] # 用来正常显示中文标签
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plt.rcParams['axes.unicode_minus'] = False # 用来正常显示负号
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plt.rcParams['axes.unicode_minus'] = False # 用来正常显示负号
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@ -56,7 +59,7 @@ def show_image(camera_data):
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# 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
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# 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
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plt.imshow(d, cmap="gray" if "depth" in im.name.lower() else None)
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plt.imshow(d, cmap="gray" if "depth" in im.name.lower() else None)
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# 图像展示在屏幕上
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# 图像展示在屏幕上
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plt.show()
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# plt.show()
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return d
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return d
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@ -68,6 +71,9 @@ class Scene:
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signal_event_list = []
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signal_event_list = []
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# show_bubble = True
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# show_bubble = True
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event_signal = "None"
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event_signal = "None"
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# step_interval = 1
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# camera_interval = 1.5
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output_path = os.path.join(os.path.dirname(__file__), "outputs")
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default_state = {
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default_state = {
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"map": {
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"map": {
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@ -113,6 +119,7 @@ class Scene:
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self.start_time = time.time()
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self.start_time = time.time()
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self.time = 0
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self.time = 0
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self.sub_task_seq = None
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self.sub_task_seq = None
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os.makedirs(self.output_path,exist_ok=True)
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self.show_bubble = True
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self.show_bubble = True
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# 图像分割
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# 图像分割
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@ -129,14 +136,13 @@ class Scene:
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with open(file_name, 'rb') as file:
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with open(file_name, 'rb') as file:
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self.map_map_real = pickle.load(file)
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self.map_map_real = pickle.load(file)
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# init robot
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if robot:
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self.init_robot(robot)
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robot.set_scene(self)
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robot.load_BT()
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self.robot = robot
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self.robot_changed = False
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self.robot_changed = False
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self.last_event_time = 0
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self.last_event_time = 0
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self.last_camera_time = -99999
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self.last_step_time = -99999
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# 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,
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# 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,
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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
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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
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@ -212,6 +218,14 @@ class Scene:
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self.init_algos() # 初始化各种算法类
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self.init_algos() # 初始化各种算法类
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def init_robot(self, robot):
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# init robot
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self.robot = robot
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if robot:
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robot.set_scene(self)
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return robot.load_BT()
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def init_algos(self):
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def init_algos(self):
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'''
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'''
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初始化各种各种算法
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初始化各种各种算法
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||||||
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@ -250,11 +264,13 @@ class Scene:
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# 基类step，默认执行行为树tick操作
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# 基类step，默认执行行为树tick操作
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self.time = time.time() - self.start_time
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self.time = time.time() - self.start_time
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# if self.time - self.last_step_time > self.step_interval:
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self.deal_event()
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self.deal_event()
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self.deal_new_event()
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self.deal_new_event()
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self.deal_signal_event()
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self.deal_signal_event()
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self._step()
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self._step()
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self.robot_changed = self.robot.step()
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self.robot_changed = self.robot.step()
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self.last_step_time = self.time
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def deal_new_event(self):
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def deal_new_event(self):
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if len(self.new_event_list) > 0:
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if len(self.new_event_list) > 0:
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@ -306,9 +322,7 @@ class Scene:
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return set_sub_task
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return set_sub_task
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def new_set_goal(self, goal):
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g = eval("{'" + goal + "'}")
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self.state['chat_list'].append(("Goal", g))
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def new_set_goal(self,goal):
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def new_set_goal(self,goal):
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self.state['chat_list'].append(("Goal",goal))
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self.state['chat_list'].append(("Goal",goal))
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||||||
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||||||
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@ -1162,6 +1176,9 @@ class Scene:
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# print("物体世界偏移的坐标: ", world_offest_coordinates)
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# print("物体世界偏移的坐标: ", world_offest_coordinates)
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return world_coordinates
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return world_coordinates
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||||||
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||||||
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def ui_func(self,args):
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||||||
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pass
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|
||||||
def get_obstacle_point(self, db, scene, map_ratio, update_info_count=0):
|
def get_obstacle_point(self, db, scene, map_ratio, update_info_count=0):
|
||||||
|
|
||||||
# if abs(self.last_take_pic_tim - self.time)<
|
# if abs(self.last_take_pic_tim - self.time)<
|
||||||
|
|
@ -1176,10 +1193,8 @@ class Scene:
|
||||||
|
|
||||||
not_key_objs_id = {255, 254, 253, 107, 81}
|
not_key_objs_id = {255, 254, 253, 107, 81}
|
||||||
|
|
||||||
img_data_segment = get_camera([GrabSim_pb2.CameraName.Head_Segment])
|
|
||||||
img_data_depth = get_camera([GrabSim_pb2.CameraName.Head_Depth])
|
|
||||||
img_data_color = get_camera([GrabSim_pb2.CameraName.Head_Color])
|
|
||||||
|
|
||||||
|
img_data_segment,img_data_depth,img_data_color = self.get_cameras()
|
||||||
im_segment = img_data_segment.images[0]
|
im_segment = img_data_segment.images[0]
|
||||||
im_depth = img_data_depth.images[0]
|
im_depth = img_data_depth.images[0]
|
||||||
im_color = img_data_color.images[0]
|
im_color = img_data_color.images[0]
|
||||||
|
|
@ -1191,6 +1206,7 @@ class Scene:
|
||||||
d_color = np.frombuffer(im_color.data, dtype=im_color.dtype).reshape(
|
d_color = np.frombuffer(im_color.data, dtype=im_color.dtype).reshape(
|
||||||
(im_color.height, im_color.width, im_color.channels))
|
(im_color.height, im_color.width, im_color.channels))
|
||||||
|
|
||||||
|
|
||||||
items = img_data_segment.info.split(";")
|
items = img_data_segment.info.split(";")
|
||||||
objs_id = {}
|
objs_id = {}
|
||||||
for item in items:
|
for item in items:
|
||||||
|
|
@ -1267,6 +1283,10 @@ class Scene:
|
||||||
plt.axis('off')
|
plt.axis('off')
|
||||||
plt.title("目标检测")
|
plt.title("目标检测")
|
||||||
|
|
||||||
|
# self.ui_func(("draw_img","img_label_obj",d_color))
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
for key, value in object_pixels.items():
|
for key, value in object_pixels.items():
|
||||||
if key == 0:
|
if key == 0:
|
||||||
continue
|
continue
|
||||||
|
|
@ -1336,7 +1356,25 @@ class Scene:
|
||||||
plt.text(0, 0.3, f'更新语义信息：{update_info_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.text(0, 0.1, f'已存语义信息：{self.infoCount}', fontsize=10)
|
||||||
|
|
||||||
plt.show()
|
output_path = os.path.join(self.output_path,"vision.png")
|
||||||
|
plt.savefig(output_path)
|
||||||
|
|
||||||
|
# canvas = FigureCanvas(plt.gcf())
|
||||||
|
# fig = plt.gcf() # 获取当前figure
|
||||||
|
# image = fig.canvas.print_to_buffer()
|
||||||
|
# width, height = fig.get_size_inches() # 获取图像的宽度和高度（单位：英寸）
|
||||||
|
# dpi = fig.dpi # 获取图像的DPI
|
||||||
|
#
|
||||||
|
# width_px = int(width * dpi) # 转换为像素
|
||||||
|
# height_px = int(height * dpi) # 转换为像素
|
||||||
|
#
|
||||||
|
# image_pil = Image.frombuffer('RGB', (width, height), image, 'raw')
|
||||||
|
#
|
||||||
|
# # 转换为numpy数组
|
||||||
|
# image_np = np.asarray(image_pil)
|
||||||
|
self.ui_func(("draw_from_file","img_label_canvas",output_path))
|
||||||
|
plt.close()
|
||||||
|
# plt.show()
|
||||||
# return cur_obstacle_world_points
|
# return cur_obstacle_world_points
|
||||||
|
|
||||||
def updateMap(self, points):
|
def updateMap(self, points):
|
||||||
|
|
@ -1369,10 +1407,12 @@ class Scene:
|
||||||
def get_id_object_world(self, id, scene):
|
def get_id_object_world(self, id, scene):
|
||||||
pixels = []
|
pixels = []
|
||||||
world_points = []
|
world_points = []
|
||||||
img_data_segment = get_camera([GrabSim_pb2.CameraName.Head_Segment])
|
|
||||||
|
img_data_segment,img_data_depth,_ = self.get_cameras()
|
||||||
|
# img_data_segment = get_camera([GrabSim_pb2.CameraName.Head_Segment])
|
||||||
im_segment = img_data_segment.images[0]
|
im_segment = img_data_segment.images[0]
|
||||||
|
|
||||||
img_data_depth = get_camera([GrabSim_pb2.CameraName.Head_Depth])
|
# img_data_depth = get_camera([GrabSim_pb2.CameraName.Head_Depth])
|
||||||
im_depth = img_data_depth.images[0]
|
im_depth = img_data_depth.images[0]
|
||||||
|
|
||||||
d_segment = np.frombuffer(im_segment.data, dtype=im_segment.dtype).reshape(
|
d_segment = np.frombuffer(im_segment.data, dtype=im_segment.dtype).reshape(
|
||||||
|
|
@ -1390,3 +1430,14 @@ class Scene:
|
||||||
for pixel in pixels:
|
for pixel in pixels:
|
||||||
world_points.append(self.transform_co(img_data_depth, pixel[0], pixel[1], d_depth[pixel[0]][pixel[1]][0]))
|
world_points.append(self.transform_co(img_data_depth, pixel[0], pixel[1], d_depth[pixel[0]][pixel[1]][0]))
|
||||||
return world_points
|
return world_points
|
||||||
|
|
||||||
|
def get_cameras(self):
|
||||||
|
# if self.time - self.last_camera_time > self.camera_interval:
|
||||||
|
self.img_data_segment = get_camera([GrabSim_pb2.CameraName.Head_Segment])
|
||||||
|
time.sleep(0.2)
|
||||||
|
self.img_data_depth = get_camera([GrabSim_pb2.CameraName.Head_Depth])
|
||||||
|
time.sleep(0.2)
|
||||||
|
self.img_data_color = get_camera([GrabSim_pb2.CameraName.Head_Color])
|
||||||
|
self.last_camera_time = self.time
|
||||||
|
|
||||||
|
return self.img_data_segment,self.img_data_depth,self.img_data_color
|
||||||
|
|
@ -1,106 +0,0 @@
|
||||||
"""
|
|
||||||
视觉语言导航
|
|
||||||
识别顾客（NPC）靠近、打招呼、对话、领位导航到适合人数的空闲餐桌
|
|
||||||
开始条件：监测到顾客靠近
|
|
||||||
结束条件：完成领位，语音：“请问您想喝点什么？”，并等待下一步指令
|
|
||||||
"""
|
|
||||||
import os
|
|
||||||
import pickle
|
|
||||||
import time
|
|
||||||
import random
|
|
||||||
|
|
||||||
import matplotlib.pyplot as plt
|
|
||||||
import numpy as np
|
|
||||||
|
|
||||||
from robowaiter.scene.scene import Scene,init_world # TODO: 文件名改成Scene.py
|
|
||||||
|
|
||||||
from robowaiter.scene.scene import Scene
|
|
||||||
from robowaiter.utils import get_root_path
|
|
||||||
from robowaiter.algos.navigator.navigate import Navigator
|
|
||||||
from robowaiter.algos.navigator import test
|
|
||||||
|
|
||||||
class SceneVLN(Scene):
|
|
||||||
def __init__(self, robot):
|
|
||||||
super().__init__(robot)
|
|
||||||
# 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
|
|
||||||
self.event_list = [
|
|
||||||
(5, self.create_chat_event("测试VLN：前往2号桌")),
|
|
||||||
]
|
|
||||||
|
|
||||||
def _reset(self):
|
|
||||||
root_path = get_root_path()
|
|
||||||
file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl')
|
|
||||||
with open(file_name, 'rb') as file:
|
|
||||||
map = pickle.load(file)
|
|
||||||
|
|
||||||
self.state['map']['2d'] = map
|
|
||||||
self.state['map']['obj_pos']['Table'] = np.array((-100, 700))
|
|
||||||
|
|
||||||
def _run(self):
|
|
||||||
file_name = '../../algos/navigator/map_5.pkl'
|
|
||||||
if os.path.exists(file_name):
|
|
||||||
with open(file_name, 'rb') as file:
|
|
||||||
map = pickle.load(file)
|
|
||||||
|
|
||||||
# self.init_world(1, 11)
|
|
||||||
# scene = self.status
|
|
||||||
|
|
||||||
navigator = Navigator(scene=self, area_range=[-350, 600, -400, 1450], map=map)
|
|
||||||
|
|
||||||
'''场景1: 无行人环境 robot到达指定目标'''
|
|
||||||
# goal = np.array((-100, 700))
|
|
||||||
|
|
||||||
'''场景2: 静止行人环境 robot到达指定目标'''
|
|
||||||
# scene.clean_walker()
|
|
||||||
# scene.add_walker(50, 300, 0)
|
|
||||||
# scene.add_walker(-50, 500, 0)
|
|
||||||
# goal = np.array((-100, 700))
|
|
||||||
|
|
||||||
'''场景3: 移动行人环境 robot到达指定目标'''
|
|
||||||
self.walk_to(100, 0, -90, dis_limit=10)
|
|
||||||
self.clean_walker()
|
|
||||||
self.add_walkers([[50, 300], [-50, 500], [0, 700]])
|
|
||||||
# scene.add_walker(50, 300, 0)
|
|
||||||
# scene.add_walker(-50, 500, 0)
|
|
||||||
# scene.add_walker(0, 700, 0)
|
|
||||||
self.control_walker(
|
|
||||||
[self.walker_control_generator(walkerID=0, autowalk=False, speed=50, X=-50, Y=600, Yaw=0)])
|
|
||||||
self.control_walker(
|
|
||||||
[self.walker_control_generator(walkerID=1, autowalk=False, speed=50, X=100, Y=150, Yaw=0)])
|
|
||||||
self.control_walker([self.walker_control_generator(walkerID=2, autowalk=False, speed=50, X=0, Y=0, Yaw=0)])
|
|
||||||
|
|
||||||
# goal = (-100, 700)
|
|
||||||
# goal = (-300)
|
|
||||||
# goal = (340.0, 900.0)
|
|
||||||
|
|
||||||
# goal = (240.0, 1000.0)
|
|
||||||
# goal = (340.0, 900.0)
|
|
||||||
goal = (240.0, 1160.0)
|
|
||||||
|
|
||||||
'''场景4: 行人自由移动 robot到达指定目标'''
|
|
||||||
# # TODO: autowalk=True仿真器会闪退 ???
|
|
||||||
# scene.clean_walker()
|
|
||||||
# scene.add_walker(50, 300, 0)
|
|
||||||
# scene.add_walker(-50, 500, 0)
|
|
||||||
# scene.control_walker([scene.walker_control_generator(walkerID=0, autowalk=True, speed=20, X=0, Y=0, Yaw=0)])
|
|
||||||
# scene.control_walker([scene.walker_control_generator(walkerID=1, autowalk=True, speed=20, X=0, Y=0, Yaw=0)])
|
|
||||||
# time.sleep(5)
|
|
||||||
# goal = np.array((-100, 700))
|
|
||||||
|
|
||||||
navigator.navigate(goal, animation=False)
|
|
||||||
|
|
||||||
self.clean_walker()
|
|
||||||
print(self.status.collision) # TODO: 不显示碰撞信息 ???
|
|
||||||
pass
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
import os
|
|
||||||
from robowaiter.robot.robot import Robot
|
|
||||||
|
|
||||||
robot = Robot()
|
|
||||||
|
|
||||||
# create task
|
|
||||||
task = SceneVLN(robot)
|
|
||||||
task.reset()
|
|
||||||
task.run()
|
|
||||||
|
|
@ -279,7 +279,8 @@ def render_dot_tree(root: behaviour.Behaviour,
|
||||||
name: str = None,
|
name: str = None,
|
||||||
target_directory: str = os.getcwd(),
|
target_directory: str = os.getcwd(),
|
||||||
with_blackboard_variables: bool = False,
|
with_blackboard_variables: bool = False,
|
||||||
with_qualified_names: bool = False):
|
with_qualified_names: bool = False,
|
||||||
|
png_only = True):
|
||||||
"""
|
"""
|
||||||
Render the dot tree to .dot, .svg, .png. files in the current
|
Render the dot tree to .dot, .svg, .png. files in the current
|
||||||
working directory. These will be named with the root behaviour name.
|
working directory. These will be named with the root behaviour name.
|
||||||
|
|
@ -322,10 +323,16 @@ def render_dot_tree(root: behaviour.Behaviour,
|
||||||
filename_wo_extension_to_convert = root.ins_name if name is None else name
|
filename_wo_extension_to_convert = root.ins_name if name is None else name
|
||||||
filename_wo_extension = utilities.get_valid_filename(filename_wo_extension_to_convert)
|
filename_wo_extension = utilities.get_valid_filename(filename_wo_extension_to_convert)
|
||||||
filenames = {}
|
filenames = {}
|
||||||
for extension, writer in {"dot": graph.write, "png": graph.write_png, "svg": graph.write_svg}.items():
|
|
||||||
|
if png_only:
|
||||||
|
write_dict = {"png": graph.write_png}
|
||||||
|
else:
|
||||||
|
write_dict = {"dot": graph.write, "png": graph.write_png, "svg": graph.write_svg}
|
||||||
|
|
||||||
|
for extension, writer in write_dict.items():
|
||||||
filename = filename_wo_extension + '.' + extension
|
filename = filename_wo_extension + '.' + extension
|
||||||
pathname = os.path.join(target_directory, filename)
|
pathname = os.path.join(target_directory, filename)
|
||||||
print("Writing {}".format(pathname))
|
print("Writing {}".format(pathname))
|
||||||
writer(pathname)
|
writer(pathname)
|
||||||
filenames[extension] = pathname
|
filenames[extension] = pathname
|
||||||
return filenames
|
return filenames["png"]
|
||||||
|
|
|
||||||
|
|
@ -1,17 +1,10 @@
|
||||||
selector
|
sequence{
|
||||||
sequence
|
cond Holding(Nothing)
|
||||||
cond CustomerChatting()
|
sequence{
|
||||||
act DealChat()
|
cond Is(Curtain,Off)
|
||||||
sequence
|
act Turn(Curtain,On)
|
||||||
cond HasSubTask()
|
}
|
||||||
sequence
|
sequence{
|
||||||
act SubTaskPlaceHolder()
|
cond Is(AC,Off)
|
||||||
sequence
|
act Turn(AC,On)
|
||||||
cond FocusingCustomer()
|
}}
|
||||||
act ServeCustomer()
|
|
||||||
sequence
|
|
||||||
cond NewCustomerComing()
|
|
||||||
selector
|
|
||||||
cond At(Robot,Bar)
|
|
||||||
act MoveTo(Bar)
|
|
||||||
act GreetCustomer()
|
|
||||||
|
|
@ -2,27 +2,28 @@ selector
|
||||||
{
|
{
|
||||||
sequence
|
sequence
|
||||||
{
|
{
|
||||||
cond CustomerChatting()
|
cond Chatting()
|
||||||
act DealChat()
|
act DealChat()
|
||||||
|
} sequence
|
||||||
} sequence
|
|
||||||
{
|
{
|
||||||
cond HasSubTask()
|
cond HasSubTask()
|
||||||
sequence
|
sequence
|
||||||
{
|
{
|
||||||
act SubTaskPlaceHolder()
|
act SubTaskPlaceHolder()
|
||||||
|
} } sequence
|
||||||
} sequence
|
{
|
||||||
cond FocusingCustomer()
|
cond FocusingCustomer()
|
||||||
act ServeCustomer()
|
act ServeCustomer()
|
||||||
|
} sequence
|
||||||
} sequence
|
|
||||||
{
|
{
|
||||||
cond NewCustomerComing()
|
cond NewCustomer()
|
||||||
selector
|
selector
|
||||||
{
|
{
|
||||||
cond At(Robot,Bar)
|
cond At(Robot,Bar)
|
||||||
act MoveTo(Bar)
|
act MoveTo(Bar)
|
||||||
|
} act GreetCustomer()
|
||||||
} act GreetCustomer()
|
} sequence
|
||||||
}}
|
{
|
||||||
|
cond AnomalyDetected()
|
||||||
|
act ResolveAnomaly()
|
||||||
|
}}
|
||||||
|
|
@ -3,37 +3,19 @@ ordering=out;
|
||||||
graph [fontname="times-roman"];
|
graph [fontname="times-roman"];
|
||||||
node [fontname="times-roman"];
|
node [fontname="times-roman"];
|
||||||
edge [fontname="times-roman"];
|
edge [fontname="times-roman"];
|
||||||
"a3ac082f-ad46-4cc9-86b4-3e76c3c564d3" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
|
"c9a8671e-b0b8-4587-a4de-a094fd678334" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=octagon, style=filled, width=0.01];
|
||||||
"717a1290-56bc-41e1-9b4b-e6df93d40e64" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
"bc597ff6-b3cb-4573-9dea-944fdb38d045" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||||
"a3ac082f-ad46-4cc9-86b4-3e76c3c564d3" -> "717a1290-56bc-41e1-9b4b-e6df93d40e64";
|
"c9a8671e-b0b8-4587-a4de-a094fd678334" -> "bc597ff6-b3cb-4573-9dea-944fdb38d045";
|
||||||
"b3236b13-d5f2-4643-ae7c-6f27bd4ab6f2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="CustomerChatting()", shape=ellipse, style=filled];
|
"a8e26121-f5cc-4ba5-b98e-86bd84de06d6" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
|
||||||
"717a1290-56bc-41e1-9b4b-e6df93d40e64" -> "b3236b13-d5f2-4643-ae7c-6f27bd4ab6f2";
|
"c9a8671e-b0b8-4587-a4de-a094fd678334" -> "a8e26121-f5cc-4ba5-b98e-86bd84de06d6";
|
||||||
"28015225-b7a4-4f38-b26f-4dbe5eea4154" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="DealChat()", shape=box, style=filled];
|
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<title>c3d096cf-f848-46a3-9497-5398614798e8</title>
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<polygon fill="lawngreen" stroke="black" points="399.57,-40.1 238.82,-40.1 238.82,-4.1 399.57,-4.1 399.57,-40.1"/>
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<text text-anchor="middle" x="319.2" y="-14.72" font-family="Times New Roman,serif" font-size="20.00">Turn(Curtain,On)</text>
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|
</g>
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|
<!-- a8e26121-f5cc-4ba5-b98e-86bd84de06d6->c3d096cf-f848-46a3-9497-5398614798e8 -->
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|
<g id="edge4" class="edge">
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<title>a8e26121-f5cc-4ba5-b98e-86bd84de06d6->c3d096cf-f848-46a3-9497-5398614798e8</title>
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<path fill="none" stroke="black" d="M319.2,-79.97C319.2,-71.24 319.2,-61.2 319.2,-52.01"/>
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<polygon fill="black" stroke="black" points="322.7,-52.11 319.2,-42.11 315.7,-52.11 322.7,-52.11"/>
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|
</g>
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|
<!-- 3fc48afc-1cef-45f5-826d-2571d7979a2f -->
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<g id="node7" class="node">
|
<g id="node7" class="node">
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<title>2428792c-3896-443d-8744-f5e286644fad</title>
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<title>3fc48afc-1cef-45f5-826d-2571d7979a2f</title>
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<ellipse fill="yellow" stroke="black" cx="490.2" cy="-22.1" rx="72.3" ry="22.1"/>
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<text text-anchor="middle" x="669.87" y="-195.24" font-family="Times New Roman,serif" font-size="20.00">Sequence</text>
|
<text text-anchor="middle" x="490.2" y="-14.72" font-family="Times New Roman,serif" font-size="20.00">Is(AC,Off)</text>
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</g>
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</g>
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<!-- ff83c742-a2ba-4aa5-8b3a-39ecd7c03b0e->2428792c-3896-443d-8744-f5e286644fad -->
|
<!-- 400b4104-ff96-4d64-89b2-49dc6e4e3cbd->3fc48afc-1cef-45f5-826d-2571d7979a2f -->
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<g id="edge6" class="edge">
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<g id="edge6" class="edge">
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<title>ff83c742-a2ba-4aa5-8b3a-39ecd7c03b0e->2428792c-3896-443d-8744-f5e286644fad</title>
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<title>400b4104-ff96-4d64-89b2-49dc6e4e3cbd->3fc48afc-1cef-45f5-826d-2571d7979a2f</title>
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</g>
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</g>
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<!-- 64b2362a-d99e-4e99-8772-ad1419e53a2e -->
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<!-- 47af4df0-8811-45a5-95e2-f0fc9458ddfd -->
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<g id="node9" class="node">
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<title>64b2362a-d99e-4e99-8772-ad1419e53a2e</title>
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<text text-anchor="middle" x="832.87" y="-195.24" font-family="Times New Roman,serif" font-size="20.00">Sequence</text>
|
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</g>
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<!-- ff83c742-a2ba-4aa5-8b3a-39ecd7c03b0e->64b2362a-d99e-4e99-8772-ad1419e53a2e -->
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<g id="edge8" class="edge">
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<title>ff83c742-a2ba-4aa5-8b3a-39ecd7c03b0e->64b2362a-d99e-4e99-8772-ad1419e53a2e</title>
|
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<path fill="none" stroke="black" d="M709.74,-265.43C731.74,-254.38 759.28,-240.56 782.73,-228.78"/>
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<polygon fill="black" stroke="black" points="784.12,-232 791.48,-224.39 780.98,-225.75 784.12,-232"/>
|
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</g>
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<!-- bea12066-ecbd-49b0-8934-efcb2c38b5f5 -->
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<g id="node12" class="node">
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<title>bea12066-ecbd-49b0-8934-efcb2c38b5f5</title>
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<polygon fill="orange" stroke="black" points="1384.38,-192.7 1384.38,-212.52 1341.9,-226.53 1281.83,-226.53 1239.35,-212.52 1239.35,-192.7 1281.83,-178.69 1341.9,-178.69 1384.38,-192.7"/>
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<text text-anchor="middle" x="1311.87" y="-195.24" font-family="Times New Roman,serif" font-size="20.00">Sequence</text>
|
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</g>
|
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<!-- ff83c742-a2ba-4aa5-8b3a-39ecd7c03b0e->bea12066-ecbd-49b0-8934-efcb2c38b5f5 -->
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<g id="edge11" class="edge">
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<title>ff83c742-a2ba-4aa5-8b3a-39ecd7c03b0e->bea12066-ecbd-49b0-8934-efcb2c38b5f5</title>
|
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<path fill="none" stroke="black" d="M742.57,-276.18C862.55,-260.89 1101.31,-230.45 1228.15,-214.28"/>
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<polygon fill="black" stroke="black" points="1228.34,-217.79 1237.82,-213.05 1227.46,-210.84 1228.34,-217.79"/>
|
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</g>
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<!-- 4bb7a9c3-521b-408f-b403-1fd25d54b192 -->
|
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<g id="node8" class="node">
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<g id="node8" class="node">
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<title>4bb7a9c3-521b-408f-b403-1fd25d54b192</title>
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<title>47af4df0-8811-45a5-95e2-f0fc9458ddfd</title>
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<polygon fill="lawngreen" stroke="black" points="574.49,-129.44 373.24,-129.44 373.24,-93.44 574.49,-93.44 574.49,-129.44"/>
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<polygon fill="lawngreen" stroke="black" points="707.7,-40.1 580.7,-40.1 580.7,-4.1 707.7,-4.1 707.7,-40.1"/>
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<text text-anchor="middle" x="473.87" y="-104.07" font-family="Times New Roman,serif" font-size="20.00">SubTaskPlaceHolder()</text>
|
<text text-anchor="middle" x="644.2" y="-14.72" font-family="Times New Roman,serif" font-size="20.00">Turn(AC,On)</text>
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</g>
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</g>
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<!-- 2428792c-3896-443d-8744-f5e286644fad->4bb7a9c3-521b-408f-b403-1fd25d54b192 -->
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<!-- 400b4104-ff96-4d64-89b2-49dc6e4e3cbd->47af4df0-8811-45a5-95e2-f0fc9458ddfd -->
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<g id="edge7" class="edge">
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<g id="edge7" class="edge">
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<title>2428792c-3896-443d-8744-f5e286644fad->4bb7a9c3-521b-408f-b403-1fd25d54b192</title>
|
<title>400b4104-ff96-4d64-89b2-49dc6e4e3cbd->47af4df0-8811-45a5-95e2-f0fc9458ddfd</title>
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<path fill="none" stroke="black" d="M627.82,-182.48C596.86,-168.4 554.7,-149.22 522.33,-134.49"/>
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<path fill="none" stroke="black" d="M529.46,-82.71C551.25,-71.39 578.4,-57.28 600.82,-45.64"/>
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<polygon fill="black" stroke="black" points="524.12,-131.46 513.57,-130.51 521.22,-137.83 524.12,-131.46"/>
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<polygon fill="black" stroke="black" points="602.15,-48.89 609.41,-41.17 598.92,-42.68 602.15,-48.89"/>
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</g>
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<!-- fd7124ba-c9d1-4fde-8063-e8337d335121 -->
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<g id="node10" class="node">
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<title>fd7124ba-c9d1-4fde-8063-e8337d335121</title>
|
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<ellipse fill="yellow" stroke="black" cx="720.87" cy="-111.44" rx="128.52" ry="22.1"/>
|
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<text text-anchor="middle" x="720.87" y="-104.07" font-family="Times New Roman,serif" font-size="20.00">FocusingCustomer()</text>
|
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</g>
|
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<!-- 64b2362a-d99e-4e99-8772-ad1419e53a2e->fd7124ba-c9d1-4fde-8063-e8337d335121 -->
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<g id="edge9" class="edge">
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<title>64b2362a-d99e-4e99-8772-ad1419e53a2e->fd7124ba-c9d1-4fde-8063-e8337d335121</title>
|
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<path fill="none" stroke="black" d="M803.73,-178.42C789.1,-166.77 771.27,-152.57 755.9,-140.33"/>
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<polygon fill="black" stroke="black" points="758.36,-137.82 748.36,-134.33 754,-143.3 758.36,-137.82"/>
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</g>
|
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<!-- 169ebec9-3645-4fbb-a533-5186a8e5967b -->
|
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<g id="node11" class="node">
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<title>169ebec9-3645-4fbb-a533-5186a8e5967b</title>
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<polygon fill="lawngreen" stroke="black" points="1020.49,-129.44 867.24,-129.44 867.24,-93.44 1020.49,-93.44 1020.49,-129.44"/>
|
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<text text-anchor="middle" x="943.87" y="-104.07" font-family="Times New Roman,serif" font-size="20.00">ServeCustomer()</text>
|
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</g>
|
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<!-- 64b2362a-d99e-4e99-8772-ad1419e53a2e->169ebec9-3645-4fbb-a533-5186a8e5967b -->
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<g id="edge10" class="edge">
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<title>64b2362a-d99e-4e99-8772-ad1419e53a2e->169ebec9-3645-4fbb-a533-5186a8e5967b</title>
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<path fill="none" stroke="black" d="M861.74,-178.42C877.67,-165.62 897.45,-149.73 913.6,-136.76"/>
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<polygon fill="black" stroke="black" points="915.36,-139.83 920.97,-130.84 910.98,-134.37 915.36,-139.83"/>
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</g>
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<!-- a847a0cc-c5af-4757-aa8c-8baef72788dc -->
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<g id="node13" class="node">
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<title>a847a0cc-c5af-4757-aa8c-8baef72788dc</title>
|
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<ellipse fill="yellow" stroke="black" cx="1186.87" cy="-111.44" rx="148.14" ry="22.1"/>
|
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||||||
<text text-anchor="middle" x="1186.87" y="-104.07" font-family="Times New Roman,serif" font-size="20.00">NewCustomerComing()</text>
|
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</g>
|
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<!-- bea12066-ecbd-49b0-8934-efcb2c38b5f5->a847a0cc-c5af-4757-aa8c-8baef72788dc -->
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<g id="edge12" class="edge">
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<title>bea12066-ecbd-49b0-8934-efcb2c38b5f5->a847a0cc-c5af-4757-aa8c-8baef72788dc</title>
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<path fill="none" stroke="black" d="M1280,-178.88C1263.4,-167.04 1242.97,-152.46 1225.48,-139.99"/>
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<polygon fill="black" stroke="black" points="1227.51,-137.14 1217.34,-134.18 1223.44,-142.84 1227.51,-137.14"/>
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</g>
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<!-- 99354f05-1716-46b2-9151-d88eac0a5b27 -->
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<g id="node14" class="node">
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<title>99354f05-1716-46b2-9151-d88eac0a5b27</title>
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<polygon fill="cyan" stroke="black" points="1436.87,-142.69 1353.37,-111.44 1436.87,-80.19 1520.37,-111.44 1436.87,-142.69"/>
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<text text-anchor="middle" x="1436.87" y="-104.07" font-family="Times New Roman,serif" font-size="20.00">Selector</text>
|
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</g>
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<!-- bea12066-ecbd-49b0-8934-efcb2c38b5f5->99354f05-1716-46b2-9151-d88eac0a5b27 -->
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<g id="edge13" class="edge">
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<title>bea12066-ecbd-49b0-8934-efcb2c38b5f5->99354f05-1716-46b2-9151-d88eac0a5b27</title>
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<path fill="none" stroke="black" d="M1343.73,-178.88C1360.85,-166.67 1382.05,-151.54 1399.9,-138.81"/>
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</g>
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<!-- a3766a34-5152-4f82-8fba-8bf1f6b3830b -->
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<g id="node17" class="node">
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<title>a3766a34-5152-4f82-8fba-8bf1f6b3830b</title>
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<polygon fill="lawngreen" stroke="black" points="1691.49,-129.44 1538.24,-129.44 1538.24,-93.44 1691.49,-93.44 1691.49,-129.44"/>
|
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<text text-anchor="middle" x="1614.87" y="-104.07" font-family="Times New Roman,serif" font-size="20.00">GreetCustomer()</text>
|
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</g>
|
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<!-- bea12066-ecbd-49b0-8934-efcb2c38b5f5->a3766a34-5152-4f82-8fba-8bf1f6b3830b -->
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<g id="edge16" class="edge">
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<title>bea12066-ecbd-49b0-8934-efcb2c38b5f5->a3766a34-5152-4f82-8fba-8bf1f6b3830b</title>
|
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<path fill="none" stroke="black" d="M1369.59,-187.32C1413.74,-176.07 1475.98,-159.54 1529.87,-142.69 1538.78,-139.91 1548.16,-136.78 1557.3,-133.61"/>
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<polygon fill="black" stroke="black" points="1558.17,-137.02 1566.45,-130.4 1555.85,-130.41 1558.17,-137.02"/>
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</g>
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<!-- 19de10a3-7554-43a3-b892-34cb2e32ab9a -->
|
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<g id="node15" class="node">
|
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<title>19de10a3-7554-43a3-b892-34cb2e32ab9a</title>
|
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<ellipse fill="yellow" stroke="black" cx="1347.87" cy="-22.1" rx="95.64" ry="22.1"/>
|
|
||||||
<text text-anchor="middle" x="1347.87" y="-14.72" font-family="Times New Roman,serif" font-size="20.00">At(Robot,Bar)</text>
|
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</g>
|
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<!-- 99354f05-1716-46b2-9151-d88eac0a5b27->19de10a3-7554-43a3-b892-34cb2e32ab9a -->
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<g id="edge14" class="edge">
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<title>99354f05-1716-46b2-9151-d88eac0a5b27->19de10a3-7554-43a3-b892-34cb2e32ab9a</title>
|
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<path fill="none" stroke="black" d="M1414.41,-88.4C1403.11,-77.32 1389.28,-63.74 1377.16,-51.84"/>
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<polygon fill="black" stroke="black" points="1379.76,-49.5 1370.17,-44.99 1374.86,-54.49 1379.76,-49.5"/>
|
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</g>
|
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<!-- 4286d652-c4ef-4522-a7f1-b5c865dcc4c9 -->
|
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<g id="node16" class="node">
|
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<title>4286d652-c4ef-4522-a7f1-b5c865dcc4c9</title>
|
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<polygon fill="lawngreen" stroke="black" points="1589.74,-40.1 1461.99,-40.1 1461.99,-4.1 1589.74,-4.1 1589.74,-40.1"/>
|
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<text text-anchor="middle" x="1525.87" y="-14.72" font-family="Times New Roman,serif" font-size="20.00">MoveTo(Bar)</text>
|
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</g>
|
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<!-- 99354f05-1716-46b2-9151-d88eac0a5b27->4286d652-c4ef-4522-a7f1-b5c865dcc4c9 -->
|
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<g id="edge15" class="edge">
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<title>99354f05-1716-46b2-9151-d88eac0a5b27->4286d652-c4ef-4522-a7f1-b5c865dcc4c9</title>
|
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<path fill="none" stroke="black" d="M1459.32,-88.4C1471.74,-76.21 1487.23,-61.02 1500.13,-48.35"/>
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<polygon fill="black" stroke="black" points="1502.42,-51.01 1507.1,-41.51 1497.51,-46.02 1502.42,-51.01"/>
|
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</g>
|
</g>
|
||||||
</g>
|
</g>
|
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</svg>
|
</svg>
|
||||||
|
|
|
||||||
|
Before Width: | Height: | Size: 15 KiB After Width: | Height: | Size: 7.1 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 92 KiB |
|
|
@ -0,0 +1,171 @@
|
||||||
|
from PyQt5.QtWidgets import QApplication, QMainWindow, QLabel
|
||||||
|
from PyQt5.QtGui import QPixmap
|
||||||
|
from PyQt5.QtCore import Qt
|
||||||
|
from PyQt5.QtCore import QTimer, QCoreApplication
|
||||||
|
import sys
|
||||||
|
import os
|
||||||
|
|
||||||
|
from robowaiter.utils.ui.window import Ui_MainWindow
|
||||||
|
from robowaiter.utils.basic import get_root_path
|
||||||
|
from PyQt5.QtCore import QThread
|
||||||
|
import queue
|
||||||
|
import numpy as np
|
||||||
|
from PyQt5.QtGui import QImage, QPixmap
|
||||||
|
from PyQt5.QtCore import Qt
|
||||||
|
|
||||||
|
# 创建线程安全的队列
|
||||||
|
scene_queue = queue.Queue()
|
||||||
|
ui_queue = queue.Queue()
|
||||||
|
|
||||||
|
root_path = get_root_path()
|
||||||
|
|
||||||
|
class TaskThread(QThread):
|
||||||
|
def __init__(self, task, scene_cls,robot_cls, *args, **kwargs):
|
||||||
|
super(TaskThread, self).__init__(*args, **kwargs)
|
||||||
|
self.task = task
|
||||||
|
self.scene_cls = scene_cls
|
||||||
|
self.robot_cls = robot_cls
|
||||||
|
|
||||||
|
def run(self):
|
||||||
|
self.task(self.scene_cls,self.robot_cls)
|
||||||
|
|
||||||
|
def run_scene(scene_cls,robot_cls):
|
||||||
|
scene = scene_cls(robot_cls(),scene_queue,ui_queue)
|
||||||
|
|
||||||
|
scene.reset()
|
||||||
|
scene.run()
|
||||||
|
#
|
||||||
|
# try:
|
||||||
|
# # 机器人系统的主循环
|
||||||
|
#
|
||||||
|
# except Exception as e:
|
||||||
|
# # 打印异常信息到命令行
|
||||||
|
# print("Robot system error:", str(e))
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
class UI(QMainWindow, Ui_MainWindow):
|
||||||
|
scene = None
|
||||||
|
|
||||||
|
def __init__(self,scene_cls,robot_cls):
|
||||||
|
app = QApplication(sys.argv)
|
||||||
|
MainWindow = QMainWindow()
|
||||||
|
super(UI, self).__init__(MainWindow)
|
||||||
|
self.scene_cls = scene_cls
|
||||||
|
self.robot_cls = robot_cls
|
||||||
|
|
||||||
|
self.setupUi(MainWindow) # 初始化UI
|
||||||
|
|
||||||
|
# 初始化
|
||||||
|
self.btn_say.clicked.connect(self.btn_say_on_click)
|
||||||
|
|
||||||
|
# 设置一个定时器，每隔100ms检查一次队列
|
||||||
|
timer = QTimer()
|
||||||
|
timer.setInterval(100) # 设置检查队列的间隔时间
|
||||||
|
timer.timeout.connect(self.handle_queue_messages) # 当定时器超时时，处理队列中的消息
|
||||||
|
timer.start() # 启动定时器
|
||||||
|
|
||||||
|
MainWindow.show()
|
||||||
|
|
||||||
|
thread = TaskThread(run_scene,scene_cls,robot_cls)
|
||||||
|
thread.start()
|
||||||
|
|
||||||
|
sys.exit(app.exec_())
|
||||||
|
|
||||||
|
def btn_say_on_click(self):
|
||||||
|
question = self.edit_say.text()
|
||||||
|
if question[-1] == ")":
|
||||||
|
print(f"设置目标:{question}")
|
||||||
|
self.scene_func(("new_set_goal",question))
|
||||||
|
# self.scene.new_set_goal(question)
|
||||||
|
else:
|
||||||
|
self.scene_func(("customer_say","System",question))
|
||||||
|
# self.scene.customer_say("System", question)
|
||||||
|
|
||||||
|
def scene_func(self,args):
|
||||||
|
scene_queue.put(args)
|
||||||
|
|
||||||
|
def handle_queue_messages(self):
|
||||||
|
while not ui_queue.empty():
|
||||||
|
message = ui_queue.get()
|
||||||
|
function_name = message[0]
|
||||||
|
function = getattr(self, function_name, None)
|
||||||
|
|
||||||
|
args = []
|
||||||
|
if len(message)>1:
|
||||||
|
args = message[1:]
|
||||||
|
|
||||||
|
result = function(*args)
|
||||||
|
|
||||||
|
def setupUi(self, MainWindow):
|
||||||
|
Ui_MainWindow.setupUi(self,MainWindow)
|
||||||
|
|
||||||
|
# dir_path = os.path.dirname(__file__)
|
||||||
|
|
||||||
|
# 加载并显示图片
|
||||||
|
# img_path = os.path.join(root_path, "robowaiter/utils/draw_bt/test.png")
|
||||||
|
# self.draw_from_file("img_label_bt",img_path)
|
||||||
|
# self.label.setAlignment(Qt.AlignCenter) # 图片居中显示
|
||||||
|
|
||||||
|
def draw_from_file(self,control_name,file_name):
|
||||||
|
control = getattr(self,control_name,None)
|
||||||
|
# 加载并显示图片
|
||||||
|
pixmap = QPixmap(file_name) # 替换为你的图片路径
|
||||||
|
# self.label.setPixmap(pixmap)
|
||||||
|
control.setPixmap(self.scale_pixmap_to_label(pixmap, control))
|
||||||
|
|
||||||
|
def draw_img(self,control_name,img):
|
||||||
|
control = getattr(self,control_name,None)
|
||||||
|
# 加载并显示图片
|
||||||
|
print(img)
|
||||||
|
img = self.ndarray_to_qimage(img)
|
||||||
|
print(img)
|
||||||
|
pixmap = QPixmap.fromImage(img) # 替换为你的图片路径
|
||||||
|
# self.label.setPixmap(pixmap)
|
||||||
|
control.setPixmap(self.scale_pixmap_to_label(pixmap, control))
|
||||||
|
|
||||||
|
def draw_canvas(self,control_name,canvas):
|
||||||
|
control = getattr(self,control_name,None)
|
||||||
|
# 加载并显示图片
|
||||||
|
|
||||||
|
pixmap = QApplication.grabWidget(canvas)
|
||||||
|
|
||||||
|
# self.label.setPixmap(pixmap)
|
||||||
|
control.setPixmap(self.scale_pixmap_to_label(pixmap, control))
|
||||||
|
|
||||||
|
|
||||||
|
def ndarray_to_qimage(self,array: np.ndarray) -> QImage:
|
||||||
|
# 假设你的ndarray是uint8类型的，且是RGB格式（三个通道）
|
||||||
|
height, width, channels = array.shape
|
||||||
|
if channels ==3:
|
||||||
|
bytes_per_line = channels * width
|
||||||
|
image = QImage(array.data, width, height, bytes_per_line, QImage.Format_RGB888)
|
||||||
|
else:
|
||||||
|
# 对于灰度图像
|
||||||
|
image = QImage(array.data, width, height, QImage.Format_Grayscale8)
|
||||||
|
|
||||||
|
return image
|
||||||
|
|
||||||
|
def scale_pixmap_to_label(self, pixmap, label):
|
||||||
|
# 获取QLabel的大小
|
||||||
|
label_width = label.width()
|
||||||
|
label_height = label.height()
|
||||||
|
|
||||||
|
# 保持图片的长宽比，同时确保图片的一个维度适应QLabel的大小
|
||||||
|
scaled_pixmap = pixmap.scaledToWidth(label_width, Qt.SmoothTransformation)
|
||||||
|
if scaled_pixmap.height() > label_height:
|
||||||
|
scaled_pixmap = pixmap.scaledToHeight(label_height, Qt.SmoothTransformation)
|
||||||
|
|
||||||
|
return scaled_pixmap
|
||||||
|
|
||||||
|
def set_scene(self, scene):
|
||||||
|
self.scene = scene
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
# app = QApplication(sys.argv)
|
||||||
|
# MainWindow = QMainWindow()
|
||||||
|
ui = UI()
|
||||||
|
# ui.setupUi(MainWindow)
|
||||||
|
# MainWindow.show()
|
||||||
|
# sys.exit(app.exec_())
|
||||||
|
|
@ -0,0 +1,84 @@
|
||||||
|
"""
|
||||||
|
交互式场景，输入
|
||||||
|
"""
|
||||||
|
import tkinter as tk
|
||||||
|
from robowaiter.utils.ui.pyqt5 import UI
|
||||||
|
import os
|
||||||
|
|
||||||
|
# todo: 接收点单信息，大模型生成任务规划
|
||||||
|
|
||||||
|
from robowaiter.scene.scene import Scene
|
||||||
|
from robowaiter.utils.ui.ui import RobotInterface
|
||||||
|
from robowaiter.utils.bt.draw import render_dot_tree
|
||||||
|
class SceneUI(Scene):
|
||||||
|
scene_queue = None
|
||||||
|
ui_queue = None
|
||||||
|
# camera_interval = 4
|
||||||
|
|
||||||
|
def __init__(self, robot,scene_queue,ui_queue):
|
||||||
|
self.scene_queue = scene_queue
|
||||||
|
self.ui_queue = ui_queue
|
||||||
|
|
||||||
|
super().__init__(robot)
|
||||||
|
# 在这里加入场景中发生的事件
|
||||||
|
|
||||||
|
# while True:
|
||||||
|
# if not self.scene_queue.empty():
|
||||||
|
# param = self.scene_queue.get()
|
||||||
|
# # 处理参数...
|
||||||
|
|
||||||
|
# self.ui_queue.put(('say',"test"))
|
||||||
|
|
||||||
|
def init_robot(self, robot):
|
||||||
|
# init robot
|
||||||
|
self.robot = robot
|
||||||
|
|
||||||
|
if robot:
|
||||||
|
robot.set_scene(self)
|
||||||
|
robot.load_BT()
|
||||||
|
self.draw_current_bt()
|
||||||
|
|
||||||
|
def draw_current_bt(self):
|
||||||
|
render_dot_tree(self.robot.bt.root,target_directory=self.output_path,name="current_bt")
|
||||||
|
self.ui_queue.put(('draw_from_file',"img_label_bt", f"{self.output_path}/current_bt.png"))
|
||||||
|
|
||||||
|
def ui_func(self,args):
|
||||||
|
self.ui_queue.put(args)
|
||||||
|
|
||||||
|
def _reset(self):
|
||||||
|
pass
|
||||||
|
|
||||||
|
def _step(self):
|
||||||
|
# print("已运行")
|
||||||
|
self.handle_queue_messages()
|
||||||
|
# if len(self.sub_task_seq.children) == 0:
|
||||||
|
# question = input("请输入指令：")
|
||||||
|
# if question[-1] == ")":
|
||||||
|
# print(f"设置目标:{question}")
|
||||||
|
# self.new_set_goal(question)
|
||||||
|
# else:
|
||||||
|
# self.customer_say("System",question)
|
||||||
|
|
||||||
|
|
||||||
|
def handle_queue_messages(self):
|
||||||
|
while not self.scene_queue.empty():
|
||||||
|
message = self.scene_queue.get()
|
||||||
|
function_name = message[0]
|
||||||
|
function = getattr(self, function_name, None)
|
||||||
|
|
||||||
|
args = []
|
||||||
|
if len(message)>1:
|
||||||
|
args = message[1:]
|
||||||
|
|
||||||
|
result = function(*args)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
from robowaiter.robot.robot import Robot
|
||||||
|
|
||||||
|
robot = Robot()
|
||||||
|
ui = UI(SceneUI, Robot)
|
||||||
|
|
||||||
|
# create task
|
||||||
|
# task = SceneUI(robot,ui)
|
||||||
|
|
||||||
|
|
@ -0,0 +1,110 @@
|
||||||
|
import tkinter as tk
|
||||||
|
from robowaiter.utils.basic import get_root_path
|
||||||
|
from tkinter import PhotoImage
|
||||||
|
import os
|
||||||
|
root_path = get_root_path()
|
||||||
|
|
||||||
|
class Robot:
|
||||||
|
def __init__(self):
|
||||||
|
self.is_running = False
|
||||||
|
|
||||||
|
def start(self):
|
||||||
|
if not self.is_running:
|
||||||
|
self.is_running = True
|
||||||
|
# 在这里添加启动机器人的逻辑代码
|
||||||
|
print("机器人正在启动...")
|
||||||
|
|
||||||
|
def stop(self):
|
||||||
|
if self.is_running:
|
||||||
|
self.is_running = False
|
||||||
|
# 在这里添加停止机器人的逻辑代码
|
||||||
|
print("机器人正在停止...")
|
||||||
|
|
||||||
|
def get_status(self):
|
||||||
|
if self.is_running:
|
||||||
|
return "运行中"
|
||||||
|
else:
|
||||||
|
return "已停止"
|
||||||
|
|
||||||
|
|
||||||
|
class RobotInterface:
|
||||||
|
def __init__(self, master):
|
||||||
|
self.master = master
|
||||||
|
# self.robot = Robot() # 假设这里有一个名为Robot的类，表示机器人系统
|
||||||
|
|
||||||
|
# 创建启动机器人按钮
|
||||||
|
self.start_button = tk.Button(master, text="启动机器人", command=self.start_robot)
|
||||||
|
self.start_button.pack()
|
||||||
|
|
||||||
|
# 创建停止机器人按钮
|
||||||
|
self.stop_button = tk.Button(master, text="停止机器人", command=self.stop_robot)
|
||||||
|
self.stop_button.pack()
|
||||||
|
|
||||||
|
# 创建显示机器人状态的标签
|
||||||
|
self.status_label = tk.Label(master, text="机器人状态：")
|
||||||
|
self.status_label.pack()
|
||||||
|
|
||||||
|
# 创建用于显示图片的三个标签
|
||||||
|
self.image_label1 = tk.Label(master)
|
||||||
|
self.image_label1.pack()
|
||||||
|
self.image_label2 = tk.Label(master)
|
||||||
|
self.image_label2.pack()
|
||||||
|
self.image_label3 = tk.Label(master)
|
||||||
|
self.image_label3.pack()
|
||||||
|
|
||||||
|
# dir_path = os.path.dirname(__file__)
|
||||||
|
# # 加载图片
|
||||||
|
# self.image1 = PhotoImage(file=os.path.join(dir_path,"1.png")) # 替换为实际图片路径
|
||||||
|
# self.image2 = PhotoImage(file=os.path.join(dir_path,"2.png")) # 替换为实际图片路径
|
||||||
|
# self.image3 = PhotoImage(file=os.path.join(dir_path,"3.png")) # 替换为实际图片路径
|
||||||
|
#
|
||||||
|
# # 显示第一张图片
|
||||||
|
# self.show_image(1)
|
||||||
|
|
||||||
|
def display_binary_image(self,data):
|
||||||
|
# 创建一个Tkinter窗口
|
||||||
|
|
||||||
|
# 创建一个像素画布
|
||||||
|
canvas = tk.Canvas(self.master, width=len(data[0]), height=len(data), bg='white')
|
||||||
|
canvas.pack()
|
||||||
|
|
||||||
|
# 在画布上绘制像素点
|
||||||
|
for i in range(len(data)):
|
||||||
|
for j in range(len(data[0])):
|
||||||
|
if data[i][j] == 1:
|
||||||
|
canvas.create_rectangle(j, i, j + 1, i + 1, fill='black')
|
||||||
|
|
||||||
|
def show_image(self, image_number):
|
||||||
|
if image_number == 1:
|
||||||
|
self.image_label1.config(image=self.image1)
|
||||||
|
elif image_number == 2:
|
||||||
|
self.image_label2.config(image=self.image2)
|
||||||
|
elif image_number == 3:
|
||||||
|
self.image_label3.config(image=self.image3)
|
||||||
|
else:
|
||||||
|
print("无效的图片编号")
|
||||||
|
|
||||||
|
def start_robot(self):
|
||||||
|
self.robot.start() # 假设Robot类有一个start方法来启动机器人
|
||||||
|
self.update_status("机器人已启动。")
|
||||||
|
|
||||||
|
def stop_robot(self):
|
||||||
|
self.robot.stop() # 假设Robot类有一个stop方法来停止机器人
|
||||||
|
self.update_status("机器人已停止。")
|
||||||
|
|
||||||
|
def update_status(self, status):
|
||||||
|
self.status_label.config(text="机器人状态： " + status)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
|
||||||
|
root = tk.Tk()
|
||||||
|
interface = RobotInterface(root)
|
||||||
|
binary_image = [
|
||||||
|
[0, 1, 0],
|
||||||
|
[1, 1, 1],
|
||||||
|
[0, 1, 0]
|
||||||
|
]
|
||||||
|
interface.display_binary_image(binary_image)
|
||||||
|
|
||||||
|
root.mainloop()
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
pyuic5 -x window.ui -o window.py
|
||||||
|
|
@ -0,0 +1,67 @@
|
||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
|
||||||
|
# Form implementation generated from reading ui file 'window.ui'
|
||||||
|
#
|
||||||
|
# Created by: PyQt5 UI code generator 5.15.7
|
||||||
|
#
|
||||||
|
# WARNING: Any manual changes made to this file will be lost when pyuic5 is
|
||||||
|
# run again. Do not edit this file unless you know what you are doing.
|
||||||
|
|
||||||
|
|
||||||
|
from PyQt5 import QtCore, QtGui, QtWidgets
|
||||||
|
|
||||||
|
|
||||||
|
class Ui_MainWindow(object):
|
||||||
|
def setupUi(self, MainWindow):
|
||||||
|
MainWindow.setObjectName("MainWindow")
|
||||||
|
MainWindow.resize(960, 1080)
|
||||||
|
MainWindow.setAutoFillBackground(True)
|
||||||
|
self.centralwidget = QtWidgets.QWidget(MainWindow)
|
||||||
|
self.centralwidget.setObjectName("centralwidget")
|
||||||
|
self.edit_say = QtWidgets.QLineEdit(self.centralwidget)
|
||||||
|
self.edit_say.setGeometry(QtCore.QRect(450, 30, 221, 31))
|
||||||
|
self.edit_say.setObjectName("edit_say")
|
||||||
|
self.btn_say = QtWidgets.QPushButton(self.centralwidget)
|
||||||
|
self.btn_say.setGeometry(QtCore.QRect(680, 40, 75, 23))
|
||||||
|
self.btn_say.setObjectName("btn_say")
|
||||||
|
self.img_label_canvas = QtWidgets.QLabel(self.centralwidget)
|
||||||
|
self.img_label_canvas.setGeometry(QtCore.QRect(0, 160, 811, 441))
|
||||||
|
self.img_label_canvas.setStyleSheet("border: 2px solid black;")
|
||||||
|
self.img_label_canvas.setText("")
|
||||||
|
self.img_label_canvas.setObjectName("img_label_canvas")
|
||||||
|
self.img_label_bt = QtWidgets.QLabel(self.centralwidget)
|
||||||
|
self.img_label_bt.setGeometry(QtCore.QRect(0, 670, 811, 311))
|
||||||
|
self.img_label_bt.setStyleSheet("border: 2px solid black;")
|
||||||
|
self.img_label_bt.setText("")
|
||||||
|
self.img_label_bt.setObjectName("img_label_bt")
|
||||||
|
self.label_5 = QtWidgets.QLabel(self.centralwidget)
|
||||||
|
self.label_5.setGeometry(QtCore.QRect(400, 630, 111, 16))
|
||||||
|
self.label_5.setObjectName("label_5")
|
||||||
|
MainWindow.setCentralWidget(self.centralwidget)
|
||||||
|
self.menubar = QtWidgets.QMenuBar(MainWindow)
|
||||||
|
self.menubar.setGeometry(QtCore.QRect(0, 0, 960, 23))
|
||||||
|
self.menubar.setObjectName("menubar")
|
||||||
|
MainWindow.setMenuBar(self.menubar)
|
||||||
|
self.statusbar = QtWidgets.QStatusBar(MainWindow)
|
||||||
|
self.statusbar.setObjectName("statusbar")
|
||||||
|
MainWindow.setStatusBar(self.statusbar)
|
||||||
|
|
||||||
|
self.retranslateUi(MainWindow)
|
||||||
|
QtCore.QMetaObject.connectSlotsByName(MainWindow)
|
||||||
|
|
||||||
|
def retranslateUi(self, MainWindow):
|
||||||
|
_translate = QtCore.QCoreApplication.translate
|
||||||
|
MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
|
||||||
|
self.edit_say.setText(_translate("MainWindow", "做一杯咖啡"))
|
||||||
|
self.btn_say.setText(_translate("MainWindow", "说话"))
|
||||||
|
self.label_5.setText(_translate("MainWindow", "语义地图"))
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
import sys
|
||||||
|
app = QtWidgets.QApplication(sys.argv)
|
||||||
|
MainWindow = QtWidgets.QMainWindow()
|
||||||
|
ui = Ui_MainWindow()
|
||||||
|
ui.setupUi(MainWindow)
|
||||||
|
MainWindow.show()
|
||||||
|
sys.exit(app.exec_())
|
||||||
|
|
@ -0,0 +1,106 @@
|
||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<ui version="4.0">
|
||||||
|
<class>MainWindow</class>
|
||||||
|
<widget class="QMainWindow" name="MainWindow">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>0</x>
|
||||||
|
<y>0</y>
|
||||||
|
<width>960</width>
|
||||||
|
<height>1080</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="windowTitle">
|
||||||
|
<string>MainWindow</string>
|
||||||
|
</property>
|
||||||
|
<property name="autoFillBackground">
|
||||||
|
<bool>true</bool>
|
||||||
|
</property>
|
||||||
|
<widget class="QWidget" name="centralwidget">
|
||||||
|
<widget class="QLineEdit" name="edit_say">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>450</x>
|
||||||
|
<y>30</y>
|
||||||
|
<width>221</width>
|
||||||
|
<height>31</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="text">
|
||||||
|
<string>做一杯咖啡</string>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QPushButton" name="btn_say">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>680</x>
|
||||||
|
<y>40</y>
|
||||||
|
<width>75</width>
|
||||||
|
<height>23</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="text">
|
||||||
|
<string>说话</string>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QLabel" name="img_label_canvas">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>0</x>
|
||||||
|
<y>160</y>
|
||||||
|
<width>811</width>
|
||||||
|
<height>441</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="styleSheet">
|
||||||
|
<string notr="true">border: 2px solid black;</string>
|
||||||
|
</property>
|
||||||
|
<property name="text">
|
||||||
|
<string/>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QLabel" name="img_label_bt">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>0</x>
|
||||||
|
<y>670</y>
|
||||||
|
<width>811</width>
|
||||||
|
<height>311</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="styleSheet">
|
||||||
|
<string notr="true">border: 2px solid black;</string>
|
||||||
|
</property>
|
||||||
|
<property name="text">
|
||||||
|
<string/>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QLabel" name="label_5">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>400</x>
|
||||||
|
<y>630</y>
|
||||||
|
<width>111</width>
|
||||||
|
<height>16</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
<property name="text">
|
||||||
|
<string>语义地图</string>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
</widget>
|
||||||
|
<widget class="QMenuBar" name="menubar">
|
||||||
|
<property name="geometry">
|
||||||
|
<rect>
|
||||||
|
<x>0</x>
|
||||||
|
<y>0</y>
|
||||||
|
<width>960</width>
|
||||||
|
<height>23</height>
|
||||||
|
</rect>
|
||||||
|
</property>
|
||||||
|
</widget>
|
||||||
|
<widget class="QStatusBar" name="statusbar"/>
|
||||||
|
</widget>
|
||||||
|
<resources/>
|
||||||
|
<connections/>
|
||||||
|
</ui>
|
||||||
|
|
@ -1,16 +0,0 @@
|
||||||
import os
|
|
||||||
from robowaiter import Robot, task_map
|
|
||||||
|
|
||||||
TASK_NAME = 'VLM'
|
|
||||||
|
|
||||||
# create robot
|
|
||||||
project_path = "./robowaiter"
|
|
||||||
ptml_path = os.path.join(project_path, 'robot/Default.ptml')
|
|
||||||
behavior_lib_path = os.path.join(project_path, 'behavior_lib')
|
|
||||||
|
|
||||||
robot = Robot(ptml_path, behavior_lib_path)
|
|
||||||
|
|
||||||
# create task
|
|
||||||
task = task_map[TASK_NAME](robot)
|
|
||||||
task.reset()
|
|
||||||
task.run()
|
|
||||||
|
|
@ -1,31 +0,0 @@
|
||||||
selector{
|
|
||||||
|
|
||||||
sequence{
|
|
||||||
cond On(Coffee,CoffeeTable)
|
|
||||||
cond On(Coffee,CoffeeTable)
|
|
||||||
}
|
|
||||||
|
|
||||||
sequence{
|
|
||||||
cond Holding(Nothing)
|
|
||||||
act Make(Coffee)
|
|
||||||
}
|
|
||||||
sequence{
|
|
||||||
cond At(Robot,CoffeeTable)
|
|
||||||
cond Holding(Coffee)
|
|
||||||
act PutDown(Coffee,CoffeeTable)
|
|
||||||
}
|
|
||||||
sequence{
|
|
||||||
cond At(Robot,Bar)
|
|
||||||
cond Holding(Coffee)
|
|
||||||
act PutDown(Coffee,Bar)
|
|
||||||
}
|
|
||||||
sequence{
|
|
||||||
cond At(Robot,WaterTable)
|
|
||||||
cond Holding(Coffee)
|
|
||||||
act PutDown(Coffee,WaterTable)
|
|
||||||
}
|
|
||||||
sequence{
|
|
||||||
cond Holding(Coffee)
|
|
||||||
act MoveTo(CoffeeTable)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -40,7 +40,7 @@ class SceneAEM(Scene):
|
||||||
map_ratio = self.map_ratio
|
map_ratio = self.map_ratio
|
||||||
db = DBSCAN(eps=map_ratio, min_samples=int(map_ratio / 2))
|
db = DBSCAN(eps=map_ratio, min_samples=int(map_ratio / 2))
|
||||||
|
|
||||||
file_name = '../../proto/map_1.pkl'
|
file_name = '../../robowaiter/proto/map_1.pkl'
|
||||||
if os.path.exists(file_name):
|
if os.path.exists(file_name):
|
||||||
with open(file_name, 'rb') as file:
|
with open(file_name, 'rb') as file:
|
||||||
map = pickle.load(file)
|
map = pickle.load(file)
|
||||||
|
|
@ -117,7 +117,7 @@ class SceneAEM(Scene):
|
||||||
{"id": f"{i}", "name": f"{cur_objs[i].name}", "location": f"{cur_objs[i].location}",
|
{"id": f"{i}", "name": f"{cur_objs[i].name}", "location": f"{cur_objs[i].location}",
|
||||||
"height": f"{cur_objs[i].location.Z}"})
|
"height": f"{cur_objs[i].location.Z}"})
|
||||||
|
|
||||||
with open('../../proto/objs.json', 'w') as file:
|
with open('../../robowaiter/proto/objs.json', 'w') as file:
|
||||||
json.dump(obj_json_data, file)
|
json.dump(obj_json_data, file)
|
||||||
|
|
||||||
# for i in range(-350, 600):
|
# for i in range(-350, 600):
|
||||||
|
|
@ -1,10 +1,5 @@
|
||||||
"""
|
"""
|
||||||
人提出请求，机器人完成任务
|
交互式场景，输入
|
||||||
1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上
|
|
||||||
2. 倒水
|
|
||||||
3. 夹点心
|
|
||||||
|
|
||||||
具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。
|
|
||||||
|
|
||||||
"""
|
"""
|
||||||
|
|
||||||
|
|
@ -27,9 +22,9 @@ class SubScene(Scene):
|
||||||
question = input("请输入指令：")
|
question = input("请输入指令：")
|
||||||
if question[-1] == ")":
|
if question[-1] == ")":
|
||||||
print(f"设置目标:{question}")
|
print(f"设置目标:{question}")
|
||||||
self.set_goal(question)()
|
self.new_set_goal(question)
|
||||||
else:
|
else:
|
||||||
self.state['chat_list'].append(question)
|
self.customer_say("System",question)
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -3,8 +3,6 @@
|
||||||
|
|
||||||
测试导航算法的动态避障(Obstacle Detection and Avoidance, ODA)能力
|
测试导航算法的动态避障(Obstacle Detection and Avoidance, ODA)能力
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
"""
|
"""
|
||||||
import os
|
import os
|
||||||
import pickle
|
import pickle
|
||||||
|
|
@ -1,27 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
# _base Behavior
|
|
||||||
class Bahavior(ptree.behaviour.Behaviour):
|
|
||||||
scene = None
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
self.scene = scene
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def _update(self) -> ptree.common.Status:
|
|
||||||
print("this is just a _base behavior node.")
|
|
||||||
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
re = self._update()
|
|
||||||
print(f"{self.__class__.__name__}: {re.value}")
|
|
||||||
return re
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
@ -1,23 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
from robowaiter.behavior_lib._base.Behavior import Bahavior
|
|
||||||
|
|
||||||
class Chatting(Bahavior):
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name, scene)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def _update(self) -> ptree.common.Status:
|
|
||||||
# if self.scene.status?
|
|
||||||
if self.scene.state['chat_list'] == []:
|
|
||||||
return ptree.common.Status.FAILURE
|
|
||||||
else:
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
@ -1,20 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
from robowaiter.behavior_lib._base.Behavior import Bahavior
|
|
||||||
|
|
||||||
class CoffeeCupFound(Bahavior):
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name, scene)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print("Start checking IsChatting...")
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
@ -1,22 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
from robowaiter.behavior_lib._base.Behavior import Bahavior
|
|
||||||
|
|
||||||
class CoffeeCupGrasped(Bahavior):
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name, scene)
|
|
||||||
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class CoffeeCupPlaced(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,26 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
from robowaiter.behavior_lib._base.Behavior import Bahavior
|
|
||||||
from robowaiter.llm_client.ask_llm import ask_llm
|
|
||||||
|
|
||||||
class DealChat(Bahavior):
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name, scene)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def _update(self) -> ptree.common.Status:
|
|
||||||
# if self.scene.status?
|
|
||||||
chat = self.scene.state['chat_list'].pop()
|
|
||||||
answer = ask_llm(chat)
|
|
||||||
print(f"机器人回答：{answer}")
|
|
||||||
self.scene.chat_bubble(f"机器人回答：{answer}")
|
|
||||||
|
|
||||||
return ptree.common.Status.RUNNING
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class DestinationAReached(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class FindCoffeeCup(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class Grasp(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def _update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class GraspCoffeeCup(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class Istask(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class MoveTo(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene, a, b, c, d):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def _update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class PlaceCoffeeCup(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class ReachDestinationA(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class SeqTest(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,21 +0,0 @@
|
||||||
import py_trees as ptree
|
|
||||||
from typing import Any
|
|
||||||
|
|
||||||
class TestTask(ptree.behaviour.Behaviour):
|
|
||||||
|
|
||||||
def __init__(self, name: str, scene):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> ptree.common.Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return ptree.common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: ptree.common.Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
@ -1,124 +0,0 @@
|
||||||
"""
|
|
||||||
顶层行为树中的动作与条件节点
|
|
||||||
"""
|
|
||||||
|
|
||||||
from typing import *
|
|
||||||
import py_trees
|
|
||||||
from py_trees import common
|
|
||||||
from py_trees.common import Status
|
|
||||||
|
|
||||||
|
|
||||||
##############################################################
|
|
||||||
# 条件节点
|
|
||||||
##############################################################
|
|
||||||
|
|
||||||
class IsChatting(py_trees.behaviour.Behaviour):
|
|
||||||
def __init__(self, name: str = ""):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> Status:
|
|
||||||
print('Start checking IsChatting...')
|
|
||||||
return common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
||||||
class IsTakingAction(py_trees.behaviour.Behaviour):
|
|
||||||
def __init__(self, name: str = ""):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> Status:
|
|
||||||
print('Start checking IsTakingAction...')
|
|
||||||
return common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
||||||
class IsSomethingMore(py_trees.behaviour.Behaviour):
|
|
||||||
def __init__(self, name: str = ""):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> Status:
|
|
||||||
print('Start checking IsSomethingMore...')
|
|
||||||
return common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
||||||
##############################################################
|
|
||||||
# 动作节点
|
|
||||||
##############################################################
|
|
||||||
|
|
||||||
class Chatting(py_trees.behaviour.Behaviour):
|
|
||||||
def __init__(self, name: str = ""):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> Status:
|
|
||||||
print('Start executing Chatting...')
|
|
||||||
return common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
||||||
class TakingAction(py_trees.behaviour.Behaviour):
|
|
||||||
def __init__(self, name: str = ""):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> Status:
|
|
||||||
print('Start executing TakingAction...')
|
|
||||||
return common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
||||||
|
|
||||||
class TakingMoreAction(py_trees.behaviour.Behaviour):
|
|
||||||
def __init__(self, name: str = ""):
|
|
||||||
super().__init__(name)
|
|
||||||
|
|
||||||
def setup(self, **kwargs: Any) -> None:
|
|
||||||
return super().setup(**kwargs)
|
|
||||||
|
|
||||||
def initialise(self) -> None:
|
|
||||||
return super().initialise()
|
|
||||||
|
|
||||||
def update(self) -> Status:
|
|
||||||
print('Start executing TakingMoreAction...')
|
|
||||||
return common.Status.SUCCESS
|
|
||||||
|
|
||||||
def terminate(self, new_status: Status) -> None:
|
|
||||||
return super().terminate(new_status)
|
|
||||||
|
|
@ -1,66 +0,0 @@
|
||||||
import py_trees
|
|
||||||
from behavior_library import *
|
|
||||||
|
|
||||||
|
|
||||||
def LoadMainTree() -> py_trees.trees.BehaviourTree:
|
|
||||||
"""
|
|
||||||
此方法用于加载固定的顶层行为树（不包括实际执行）
|
|
||||||
|
|
||||||
Args: None
|
|
||||||
"""
|
|
||||||
|
|
||||||
seq_subtree_0 = py_trees.composites.Sequence(
|
|
||||||
name='seq_subtree_0',
|
|
||||||
memory=False,
|
|
||||||
children=[IsChatting(), Chatting()]
|
|
||||||
)
|
|
||||||
|
|
||||||
seq_subtree_1 = py_trees.composites.Sequence(
|
|
||||||
name='seq_subtree_1',
|
|
||||||
memory=False,
|
|
||||||
children=[IsTakingAction(), TakingAction()]
|
|
||||||
)
|
|
||||||
|
|
||||||
seq_subtree_2 = py_trees.composites.Sequence(
|
|
||||||
name='seq_subtree_2',
|
|
||||||
memory=False,
|
|
||||||
children=[IsSomethingMore(), TakingMoreAction()]
|
|
||||||
)
|
|
||||||
|
|
||||||
root = py_trees.composites.Selector(
|
|
||||||
name='selector_root',
|
|
||||||
memory=False,
|
|
||||||
children=[seq_subtree_0, seq_subtree_1, seq_subtree_2]
|
|
||||||
)
|
|
||||||
|
|
||||||
return py_trees.trees.BehaviourTree(root)
|
|
||||||
|
|
||||||
|
|
||||||
def LoadSubTree(path: str) -> py_trees.behaviour.Behaviour:
|
|
||||||
"""
|
|
||||||
此方法用于从ptml文件中加载行为树（不包括实际执行）
|
|
||||||
|
|
||||||
Args:
|
|
||||||
-- path: ptml文件的路径
|
|
||||||
"""
|
|
||||||
# TODO
|
|
||||||
pass
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
btree = LoadMainTree()
|
|
||||||
|
|
||||||
|
|
||||||
def print_tree(tree):
|
|
||||||
print(py_trees.display.unicode_tree(root=tree.root, show_status=True))
|
|
||||||
|
|
||||||
|
|
||||||
try:
|
|
||||||
btree.tick_tock(
|
|
||||||
period_ms=500,
|
|
||||||
number_of_iterations=py_trees.trees.CONTINUOUS_TICK_TOCK,
|
|
||||||
pre_tick_handler=None,
|
|
||||||
post_tick_handler=print_tree
|
|
||||||
)
|
|
||||||
except KeyboardInterrupt:
|
|
||||||
btree.interrupt()
|
|
||||||
|
|
@ -1,59 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
# -*- encoding: utf-8 -*-
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
import grpc
|
|
||||||
|
|
||||||
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
|
|
||||||
|
|
@ -1,94 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
# -*- encoding: utf-8 -*-
|
|
||||||
# enconding = utf8
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
import grpc
|
|
||||||
|
|
||||||
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")
|
|
||||||
|
|
@ -1,47 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
# -*- encoding: utf-8 -*-
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
import grpc
|
|
||||||
|
|
||||||
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
|
|
||||||
139
zoo/demo/导航寻路.py
139
zoo/demo/导航寻路.py
|
|
@ -1,139 +0,0 @@
|
||||||
#!/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 robowaiter.proto import GrabSim_pb2_grpc,GrabSim_pb2
|
|
||||||
|
|
||||||
|
|
||||||
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)
|
|
||||||
|
|
||||||
'''
|
|
||||||
初始化，卸载已经加载的关卡，清除所有机器人
|
|
||||||
'''
|
|
||||||
|
|
||||||
|
|
||||||
def Init():
|
|
||||||
sim_client.Init(GrabSim_pb2.NUL())
|
|
||||||
|
|
||||||
|
|
||||||
'''
|
|
||||||
获取当前可加载的地图信息(地图名字、地图尺寸)
|
|
||||||
'''
|
|
||||||
|
|
||||||
|
|
||||||
def AcquireAvailableMaps():
|
|
||||||
AvailableMaps = sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())
|
|
||||||
print(AvailableMaps)
|
|
||||||
|
|
||||||
|
|
||||||
'''
|
|
||||||
1、根据mapID加载指定地图
|
|
||||||
2、如果scene_num>1,则根据地图尺寸偏移后加载多个相同地图
|
|
||||||
3、这样就可以在一个关卡中训练多个地图
|
|
||||||
'''
|
|
||||||
|
|
||||||
|
|
||||||
def SetWorld(map_id=0, scene_num=1):
|
|
||||||
print('------------------SetWorld----------------------')
|
|
||||||
world = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id))
|
|
||||||
|
|
||||||
|
|
||||||
'''
|
|
||||||
返回场景的状态信息
|
|
||||||
1、返回机器人的位置和旋转
|
|
||||||
2、返回各个关节的名字和旋转
|
|
||||||
3、返回场景中标记的物品信息(名字、类型、位置、旋转)
|
|
||||||
4、返回场景中行人的信息(名字、位置、旋转、速度)
|
|
||||||
5、返回机器人手指和双臂的碰撞信息
|
|
||||||
'''
|
|
||||||
|
|
||||||
|
|
||||||
def Observe(scene_id=0):
|
|
||||||
print('------------------show_env_info----------------------')
|
|
||||||
scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id))
|
|
||||||
print(
|
|
||||||
f"location:{[scene.location]}, rotation:{scene.rotation}\n",
|
|
||||||
f"joints number:{len(scene.joints)}, fingers number:{len(scene.fingers)}\n",
|
|
||||||
f"objects number: {len(scene.objects)}, walkers number: {len(scene.walkers)}\n"
|
|
||||||
f"timestep:{scene.timestep}, timestamp:{scene.timestamp}\n"
|
|
||||||
f"collision:{scene.collision}, info:{scene.info}")
|
|
||||||
|
|
||||||
|
|
||||||
'''
|
|
||||||
重置场景
|
|
||||||
1、重置桌子的宽度和高度
|
|
||||||
2、清除生成的行人和物品
|
|
||||||
3、重置关节角度、位置旋转
|
|
||||||
4、清除碰撞信息
|
|
||||||
5、重置场景中标记的物品
|
|
||||||
'''
|
|
||||||
|
|
||||||
|
|
||||||
def Reset(scene_id=0):
|
|
||||||
print('------------------Reset----------------------')
|
|
||||||
scene = sim_client.Reset(GrabSim_pb2.ResetParams(scene=scene_id))
|
|
||||||
print(scene)
|
|
||||||
|
|
||||||
# 如果场景支持调整桌子
|
|
||||||
# sim_client.Reset(GrabSim_pb2.ResetParams(scene = scene_id, adjust = True, height = 100.0, width = 100.0))"
|
|
||||||
|
|
||||||
|
|
||||||
"""
|
|
||||||
导航移动
|
|
||||||
yaw:机器人朝向;
|
|
||||||
velocity:速度,>0代表移动,<0代表瞬移,=0代表只查询;
|
|
||||||
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
|
|
||||||
"""
|
|
||||||
|
|
||||||
|
|
||||||
def navigation_move(scene_id=0, map_id=0):
|
|
||||||
print('------------------navigation_move----------------------')
|
|
||||||
scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id))
|
|
||||||
walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
|
|
||||||
print("position:", walk_value)
|
|
||||||
|
|
||||||
if map_id == 11: # coffee
|
|
||||||
v_list = [[0, 880], [250, 1200], [-55, 750], [70, -200]]
|
|
||||||
else:
|
|
||||||
v_list = [[0.0, 0.0]]
|
|
||||||
|
|
||||||
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)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
map_id = 11 # 地图编号
|
|
||||||
scene_num = 1 # 场景数量
|
|
||||||
|
|
||||||
print('------------ 初始化加载场景 ------------')
|
|
||||||
Init()
|
|
||||||
AcquireAvailableMaps()
|
|
||||||
SetWorld(map_id, scene_num)
|
|
||||||
time.sleep(5.0)
|
|
||||||
|
|
||||||
for i in range(scene_num):
|
|
||||||
print('------------ 场景操作 ------------')
|
|
||||||
Observe(i)
|
|
||||||
Reset(i)
|
|
||||||
|
|
||||||
print('------------ 导航移动 ------------')
|
|
||||||
navigation_move(i, map_id)
|
|
||||||
|
|
@ -1,44 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
# -*- encoding: utf-8 -*-
|
|
||||||
# enconding = utf8
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
import grpc
|
|
||||||
|
|
||||||
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")
|
|
||||||
103
zoo/demo/物品操作.py
103
zoo/demo/物品操作.py
|
|
@ -1,103 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
# -*- encoding: utf-8 -*-
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
import grpc
|
|
||||||
|
|
||||||
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
|
|
||||||
|
|
@ -1,49 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
# -*- encoding: utf-8 -*-
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
import grpc
|
|
||||||
|
|
||||||
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
|
|
||||||
|
|
@ -1,86 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
# -*- encoding: utf-8 -*-
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
import grpc
|
|
||||||
|
|
||||||
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)
|
|
||||||
print(sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id)).walkers)
|
|
||||||
remove_walkers(scene_id)
|
|
||||||
print(sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id)).walkers)
|
|
||||||
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
|
|
||||||
|
|
@ -1 +0,0 @@
|
||||||
conda install pytorch==1.11.0 torchvision==0.12.0 torchaudio==0.11.0 cudatoolkit=11.3 -c pytorch
|
|
||||||
|
|
@ -1,4 +0,0 @@
|
||||||
|
|
||||||
from . import navigate
|
|
||||||
from . import dstar_lite
|
|
||||||
|
|
||||||
|
|
@ -1,510 +0,0 @@
|
||||||
'''
|
|
||||||
基于两个D* lite的实现
|
|
||||||
按照原始算法的伪代码
|
|
||||||
自己写的D* lite
|
|
||||||
'''
|
|
||||||
|
|
||||||
import math
|
|
||||||
import queue
|
|
||||||
from functools import partial
|
|
||||||
import numpy as np
|
|
||||||
import heapq
|
|
||||||
|
|
||||||
from matplotlib import pyplot as plt
|
|
||||||
|
|
||||||
|
|
||||||
def diagonal_distance(start, end): #
|
|
||||||
return max(abs(start[0] - end[0]), abs(start[1] - end[1]))
|
|
||||||
|
|
||||||
|
|
||||||
def manhattan_distance(start, end): # 曼哈顿距离
|
|
||||||
return abs(start[0] - end[0]) + abs(start[1] - end[1])
|
|
||||||
|
|
||||||
|
|
||||||
def euclidean_distance(start, end): # 欧式距离
|
|
||||||
# return np.linalg.norm(start-end)
|
|
||||||
return math.sqrt((start[0] - end[0]) ** 2 + (start[1] - end[1]) ** 2)
|
|
||||||
|
|
||||||
|
|
||||||
def heuristic(start, end, name='euclidean'):
|
|
||||||
if name == 'diagonal':
|
|
||||||
return diagonal_distance(start, end)
|
|
||||||
elif name == 'euclidean':
|
|
||||||
return euclidean_distance(start, end)
|
|
||||||
elif name == 'manhattan':
|
|
||||||
return manhattan_distance(start, end)
|
|
||||||
else:
|
|
||||||
raise Exception('Error heuristic name!')
|
|
||||||
|
|
||||||
|
|
||||||
class Priority:
|
|
||||||
'''
|
|
||||||
优先级类
|
|
||||||
'''
|
|
||||||
|
|
||||||
def __init__(self, k1, k2):
|
|
||||||
self.k1 = k1
|
|
||||||
self.k2 = k2
|
|
||||||
|
|
||||||
def __lt__(self, other): # 定义对象的 < 运算
|
|
||||||
return self.k1 < other.k1 or (self.k1 == other.k1 and self.k2 < other.k2)
|
|
||||||
|
|
||||||
def __le__(self, other): # 定于对象的 <= 运算
|
|
||||||
return self.k1 < other.k1 or (self.k1 == other.k1 and self.k2 <= other.k2)
|
|
||||||
|
|
||||||
|
|
||||||
class Node:
|
|
||||||
'''
|
|
||||||
节点类
|
|
||||||
'''
|
|
||||||
|
|
||||||
def __init__(self, pos: (int, int), priority: Priority):
|
|
||||||
self.pos = pos # X Y
|
|
||||||
self.priority = priority
|
|
||||||
|
|
||||||
def __lt__(self, other): # 定义对象的 < 运算
|
|
||||||
return self.priority < other.priority
|
|
||||||
|
|
||||||
def __le__(self, other): # 定于对象的 <= 运算
|
|
||||||
return self.priority <= other.priority
|
|
||||||
|
|
||||||
|
|
||||||
class PriorityQueue:
|
|
||||||
def __init__(self):
|
|
||||||
self.queue = [] # 节点队列
|
|
||||||
self.nodes = [] # 节点位置列表
|
|
||||||
|
|
||||||
def is_empty(self):
|
|
||||||
# 队列判空
|
|
||||||
return len(self.queue) == 0
|
|
||||||
|
|
||||||
def top(self):
|
|
||||||
return self.queue[0].pos
|
|
||||||
|
|
||||||
def top_key(self):
|
|
||||||
if self.is_empty():
|
|
||||||
return Priority(float('inf'), float('inf'))
|
|
||||||
return self.queue[0].priority
|
|
||||||
|
|
||||||
def pop(self):
|
|
||||||
# 取出第一个节点
|
|
||||||
node = heapq.heappop(self.queue)
|
|
||||||
self.nodes.remove(node.pos)
|
|
||||||
return node
|
|
||||||
|
|
||||||
def insert(self, pos, priority):
|
|
||||||
# 创建并添加节点
|
|
||||||
node = Node(pos, priority)
|
|
||||||
heapq.heappush(self.queue, node)
|
|
||||||
self.nodes.append(pos)
|
|
||||||
|
|
||||||
def remove(self, pos):
|
|
||||||
# 删除指定节点并重新排序
|
|
||||||
self.queue = [n for n in self.queue if n.pos != pos]
|
|
||||||
heapq.heapify(self.queue) # 重排序
|
|
||||||
self.nodes.remove(pos)
|
|
||||||
|
|
||||||
def update(self, pos, priority):
|
|
||||||
# 更新指定位置的priority值
|
|
||||||
for n in self.queue:
|
|
||||||
if n.pos == pos:
|
|
||||||
n.priority = priority
|
|
||||||
break
|
|
||||||
|
|
||||||
|
|
||||||
class DStarLite:
|
|
||||||
def __init__(self,
|
|
||||||
map: np.array([int, int]), # [X, Y]
|
|
||||||
area_range, # [x_min, x_max, y_min, y_max] 实际坐标范围
|
|
||||||
scale_ratio=5, # 地图缩放率
|
|
||||||
dyna_obs_radius=20 # dyna_obs实际身位半径
|
|
||||||
):
|
|
||||||
|
|
||||||
# self.area_bounds = area
|
|
||||||
self.map = map
|
|
||||||
self.background = map
|
|
||||||
self.X = map.shape[0]
|
|
||||||
self.Y = map.shape[1]
|
|
||||||
(self.x_min, self.x_max, self.y_min, self.y_max) = area_range
|
|
||||||
self.scale_ratio = scale_ratio
|
|
||||||
self.dyna_obs_list = [] # 动态障碍物位置列表( 当前地图 ) [(x, y)]
|
|
||||||
self.dyna_obs_radius = math.ceil(dyna_obs_radius/scale_ratio) # dyna_obs缩放后身位半径
|
|
||||||
|
|
||||||
# free:0, obs:1, dyna_obs:2
|
|
||||||
self.idx_to_object = {
|
|
||||||
0: "free",
|
|
||||||
1: "obstacle",
|
|
||||||
2: "dynamic obstacle"
|
|
||||||
}
|
|
||||||
self.object_to_idx = dict(zip(self.idx_to_object.values(), self.idx_to_object.keys()))
|
|
||||||
self.object_to_cost = {
|
|
||||||
"free": 0,
|
|
||||||
"obstacle": float('inf'),
|
|
||||||
"dynamic obstacle": 50
|
|
||||||
}
|
|
||||||
|
|
||||||
self.compute_cost_map()
|
|
||||||
|
|
||||||
self.s_start = None # (int,int) 必须是元组(元组可以直接当作矩阵索引)
|
|
||||||
self.s_goal = None # (int,int)
|
|
||||||
self.s_last = None # (int,int)
|
|
||||||
self.U = PriorityQueue()
|
|
||||||
self.k_m = 0
|
|
||||||
self.rhs = np.ones((self.X, self.Y)) * np.inf
|
|
||||||
self.g = self.rhs.copy()
|
|
||||||
self.path = []
|
|
||||||
|
|
||||||
def set_map(self, map_):
|
|
||||||
'''
|
|
||||||
设置map 和 cost_map
|
|
||||||
'''
|
|
||||||
self.map = map_
|
|
||||||
self.X = map_.shape[0]
|
|
||||||
self.Y = map_.shape[1]
|
|
||||||
self.compute_cost_map()
|
|
||||||
|
|
||||||
def reset(self):
|
|
||||||
'''
|
|
||||||
(完成一次导航后)
|
|
||||||
重置 1.环境变量
|
|
||||||
2.dstar_lite变量
|
|
||||||
'''
|
|
||||||
# env reset
|
|
||||||
self.map = self.background.copy()
|
|
||||||
self.compute_cost_map()
|
|
||||||
self.dyna_obs_list.clear()
|
|
||||||
self.path.clear()
|
|
||||||
# dstar_lite reset
|
|
||||||
self.s_start = None
|
|
||||||
self.s_goal = None
|
|
||||||
self.s_last = None
|
|
||||||
self.U = PriorityQueue()
|
|
||||||
self.k_m = 0
|
|
||||||
self.rhs = np.ones((self.X, self.Y)) * np.inf
|
|
||||||
self.g = self.rhs.copy()
|
|
||||||
|
|
||||||
def calculate_key(self, s: (int, int)):
|
|
||||||
'''
|
|
||||||
计算 位置s 的 key1, key2
|
|
||||||
:returns：
|
|
||||||
Priority(k1, k2): 可比较的对象
|
|
||||||
'''
|
|
||||||
k1 = min(self.g[s], self.rhs[s]) + heuristic(self.s_start, s) + self.k_m
|
|
||||||
k2 = min(self.g[s], self.rhs[s])
|
|
||||||
return Priority(k1, k2)
|
|
||||||
|
|
||||||
def c(self, u: (int, int), v: (int, int), v_old=None) -> float:
|
|
||||||
'''
|
|
||||||
计算节点间的 路径代价 和 目标位置代价 (目标位置代价为0时采用路径代价)
|
|
||||||
(因为是终点->起点的扩展方向，因此v是node，u是v扩展的neighbor)
|
|
||||||
Args:
|
|
||||||
u: from pos
|
|
||||||
v: to pos
|
|
||||||
v_old: 指定的v的类型
|
|
||||||
'''
|
|
||||||
if v_old:
|
|
||||||
obj_cost = self.object_to_cost[v_old]
|
|
||||||
else:
|
|
||||||
obj_cost = self.cost_map[v]
|
|
||||||
if obj_cost > 0:
|
|
||||||
return obj_cost
|
|
||||||
return heuristic(u, v)
|
|
||||||
|
|
||||||
def contain(self, u: (int, int)):
|
|
||||||
'''
|
|
||||||
判断 节点u 是否在队列中
|
|
||||||
'''
|
|
||||||
return u in self.U.nodes
|
|
||||||
|
|
||||||
def update_vertex(self, u: (int, int)):
|
|
||||||
'''
|
|
||||||
判定节点状态, 更新队列
|
|
||||||
不一致且在队列 --> 更新key
|
|
||||||
不一致且不在队列 --> 计算key并加入队列
|
|
||||||
一致且在队列 --> 移出队列
|
|
||||||
'''
|
|
||||||
if self.g[u] != self.rhs[u] and self.contain(u):
|
|
||||||
self.U.update(u, self.calculate_key(u))
|
|
||||||
elif self.g[u] != self.rhs[u] and not self.contain(u):
|
|
||||||
self.U.insert(u, self.calculate_key(u))
|
|
||||||
elif self.g[u] == self.rhs[u] and self.contain(u):
|
|
||||||
self.U.remove(u)
|
|
||||||
|
|
||||||
def compute_shortest_path(self):
|
|
||||||
'''
|
|
||||||
计算最短路径
|
|
||||||
'''
|
|
||||||
while self.U.top_key() < self.calculate_key(self.s_start) or self.rhs[self.s_start] > self.g[self.s_start]:
|
|
||||||
u = self.U.top()
|
|
||||||
k_old = self.U.top_key()
|
|
||||||
k_new = self.calculate_key(u)
|
|
||||||
if k_old < k_new:
|
|
||||||
self.U.update(u, k_new)
|
|
||||||
elif self.g[u] > self.rhs[u]: # 过一致
|
|
||||||
self.g[u] = self.rhs[u]
|
|
||||||
self.U.remove(u)
|
|
||||||
pred = self.get_neighbors(u)
|
|
||||||
for s in pred:
|
|
||||||
if s != self.s_goal:
|
|
||||||
self.rhs[s] = min(self.rhs[s], self.c(s, u) + self.g[u])
|
|
||||||
self.update_vertex(s)
|
|
||||||
else: # 欠一致
|
|
||||||
g_old = self.g[u]
|
|
||||||
self.g[u] = float('inf')
|
|
||||||
pred = self.get_neighbors(u)
|
|
||||||
for s in pred + [u]:
|
|
||||||
if self.rhs[s] == self.c(s, u) + g_old:
|
|
||||||
if s != self.s_goal:
|
|
||||||
succ = self.get_neighbors(s)
|
|
||||||
self.rhs[s] = min([self.c(s, s_) + self.g[s_] for s_ in succ])
|
|
||||||
self.update_vertex(s)
|
|
||||||
|
|
||||||
def _planning(self, s_start, s_goal, dyna_obs, step_num=None, debug=False):
|
|
||||||
'''
|
|
||||||
规划路径(实际实现)
|
|
||||||
Args:
|
|
||||||
dyna_obs: 动态障碍物位置列表
|
|
||||||
step_num: 单次移动步数
|
|
||||||
'''
|
|
||||||
# 确保目标合法
|
|
||||||
if not self.in_bounds_without_obstacle(s_goal):
|
|
||||||
return None
|
|
||||||
# 第一次规划需要初始化rhs并将goal加入队列，计算最短路径
|
|
||||||
if self.s_goal is None:
|
|
||||||
self.s_start = tuple(s_start)
|
|
||||||
self.s_goal = tuple(s_goal)
|
|
||||||
self.s_last = tuple(s_start)
|
|
||||||
self.rhs[tuple(s_goal)] = 0
|
|
||||||
self.U.insert(tuple(s_goal), Priority(k1=heuristic(tuple(s_start), tuple(s_goal)), k2=0))
|
|
||||||
self.compute_shortest_path() # 计算最短路径
|
|
||||||
self.path = self.get_path()
|
|
||||||
# 后续规划只更新起点，直接使用原路径(去掉已走过部分)
|
|
||||||
else:
|
|
||||||
self.s_start = tuple(s_start)
|
|
||||||
self.path = self.path[step_num:]
|
|
||||||
# 根据obs更新map, cost_map, edge_cost
|
|
||||||
changed_pos = self.update_map(dyna_obs=dyna_obs)
|
|
||||||
if changed_pos:
|
|
||||||
self.update_cost_map(changed_pos)
|
|
||||||
self.update_edge_costs(changed_pos)
|
|
||||||
# 若地图改变，重新计算最短路径
|
|
||||||
self.compute_shortest_path()
|
|
||||||
self.path = self.get_path()
|
|
||||||
|
|
||||||
# TODO: 误差抖动使robot没有到达路径上的点，导致新起点的rhs=∞，可能导致get_path失败 ( 当前版本没有该问题 )
|
|
||||||
# assert (self.rhs[self.s_start] != float('inf')), "There is no known path!"
|
|
||||||
# self.path = self.get_path(step_num)
|
|
||||||
# # debug
|
|
||||||
# if debug:
|
|
||||||
# pass
|
|
||||||
return self.path
|
|
||||||
|
|
||||||
def planning(self, s_start, s_goal, dyna_obs, step_num=None, debug=False):
|
|
||||||
'''
|
|
||||||
路径规划(供外部调用，处理实际坐标和地图坐标的转换)
|
|
||||||
'''
|
|
||||||
# 实际坐标 -> 地图坐标
|
|
||||||
s_start = self.real2map(s_start)
|
|
||||||
s_goal = self.real2map(s_goal)
|
|
||||||
for i in range(len(dyna_obs)):
|
|
||||||
dyna_obs[i] = self.real2map(dyna_obs[i])
|
|
||||||
|
|
||||||
self._planning(s_start, s_goal, dyna_obs, step_num, debug)
|
|
||||||
|
|
||||||
# 地图坐标->实际坐标
|
|
||||||
path = [self.map2real(node) for node in self.path]
|
|
||||||
return path
|
|
||||||
|
|
||||||
def get_path(self):
|
|
||||||
'''
|
|
||||||
得到路径
|
|
||||||
Args:
|
|
||||||
step_num: 路径步数 (None表示返回完整路径)
|
|
||||||
return:
|
|
||||||
path: [(x, y), ...]
|
|
||||||
'''
|
|
||||||
if self.s_start is None or self.s_goal == self.s_start:
|
|
||||||
return []
|
|
||||||
path = []
|
|
||||||
cur = self.s_start
|
|
||||||
# if step_num is None: # 得到完整路径
|
|
||||||
while cur != self.s_goal:
|
|
||||||
succ = self.get_neighbors(cur)
|
|
||||||
cur = succ[np.argmin([self.c(cur, s_) + self.g[s_] for s_ in succ])]
|
|
||||||
path.append(cur)
|
|
||||||
# else:
|
|
||||||
# for i in range(step_num):
|
|
||||||
# if cur == self.s_goal:
|
|
||||||
# break
|
|
||||||
# succ = self.get_neighbors(cur)
|
|
||||||
# cur = succ[np.argmin([self.c(cur, s_) + self.g[s_] for s_ in succ])]
|
|
||||||
# path.append(cur)
|
|
||||||
return path
|
|
||||||
|
|
||||||
def in_bounds_without_obstacle(self, pos):
|
|
||||||
'''
|
|
||||||
判断位置在地图范围内 且 不是静态障碍物
|
|
||||||
'''
|
|
||||||
(x, y) = pos
|
|
||||||
return 0 <= x < self.X and 0 <= y < self.Y and self.map[x, y] != self.object_to_idx["obstacle"]
|
|
||||||
|
|
||||||
def get_neighbors(self, pos, mode=8):
|
|
||||||
'''
|
|
||||||
获取邻居节点, 地图范围内
|
|
||||||
'''
|
|
||||||
(x_, y_) = pos
|
|
||||||
# results = [(x_+1,y_), (x_-1,y_), (x_, y_+1), (x_,y_-1)]
|
|
||||||
# if mode == 8:
|
|
||||||
neighbors = [(x_ + 1, y_), (x_ - 1, y_), (x_, y_ + 1), (x_, y_ - 1), (x_ + 1, y_ + 1), (x_ - 1, y_ + 1),
|
|
||||||
(x_ + 1, y_ - 1), (x_ - 1, y_ - 1)]
|
|
||||||
neighbors = filter(self.in_bounds_without_obstacle, neighbors) # 确保位置在地图范围内 且 不是静态障碍物
|
|
||||||
return list(neighbors)
|
|
||||||
|
|
||||||
def compute_cost_map(self):
|
|
||||||
# 计算当前地图的cost_map
|
|
||||||
self.cost_map = np.zeros(self.map.shape)
|
|
||||||
for idx, obj in self.idx_to_object.items():
|
|
||||||
self.cost_map[self.map == idx] = self.object_to_cost[obj]
|
|
||||||
|
|
||||||
def update_map(self, dyna_obs):
|
|
||||||
'''
|
|
||||||
更新地图 和 动态障碍物列表
|
|
||||||
Args:
|
|
||||||
dyna_obs: 当前动态障碍物位置列表 [(x,y), ...]
|
|
||||||
return:
|
|
||||||
update_obj: 改变的位置列表 [(x, y, obj_idx, obj_idx_old), ...]
|
|
||||||
'''
|
|
||||||
# dyna_obs没有变化 (集合set可以忽略元素在列表中的位置)
|
|
||||||
if set(dyna_obs) == set(self.dyna_obs_list):
|
|
||||||
return []
|
|
||||||
|
|
||||||
# 新旧dyna_obs占用位置列表
|
|
||||||
old_obs_occupy = []
|
|
||||||
new_obs_occupy = []
|
|
||||||
for pos in self.dyna_obs_list:
|
|
||||||
old_obs_occupy.extend(self.get_occupy_pos(pos))
|
|
||||||
for pos in dyna_obs:
|
|
||||||
new_obs_occupy.extend(self.get_occupy_pos(pos))
|
|
||||||
old_obs_occupy = [pos for i, pos in enumerate(old_obs_occupy) if pos not in old_obs_occupy[:i]] # 去除重复位置
|
|
||||||
new_obs_occupy = [pos for i, pos in enumerate(new_obs_occupy) if pos not in new_obs_occupy[:i]] # 去除重复位置
|
|
||||||
|
|
||||||
# 转变为free 和 转变为obs的位置列表
|
|
||||||
changed_free = [pos for pos in old_obs_occupy if pos not in new_obs_occupy]
|
|
||||||
changed_obs = [pos for pos in new_obs_occupy if pos not in old_obs_occupy]
|
|
||||||
|
|
||||||
# 更新地图，计算changed_pos
|
|
||||||
changed_pos = []
|
|
||||||
for (x, y) in changed_free:
|
|
||||||
self.map[x, y] = self.object_to_idx['free']
|
|
||||||
changed_pos.append((x, y, self.object_to_idx["free"], self.object_to_idx["dynamic obstacle"]))
|
|
||||||
for (x, y) in changed_obs:
|
|
||||||
self.map[x, y] = self.object_to_idx['dynamic obstacle']
|
|
||||||
changed_pos.append((x, y, self.object_to_idx["dynamic obstacle"], self.object_to_idx["free"]))
|
|
||||||
|
|
||||||
# 更新动态障碍物列表
|
|
||||||
self.dyna_obs_list = dyna_obs
|
|
||||||
|
|
||||||
return changed_pos
|
|
||||||
|
|
||||||
def get_occupy_pos(self, obs_pos):
|
|
||||||
'''
|
|
||||||
根据dyna_obs中心位置，计算其占用的所有网格位置
|
|
||||||
'''
|
|
||||||
(x, y) = obs_pos
|
|
||||||
occupy_pos = []
|
|
||||||
for i in range(x-self.dyna_obs_radius, x+self.dyna_obs_radius+1):
|
|
||||||
for j in range(y-self.dyna_obs_radius, y+self.dyna_obs_radius+1):
|
|
||||||
occupy_pos.append((i, j))
|
|
||||||
occupy_pos = filter(self.in_bounds_without_obstacle, occupy_pos) # 确保位置在地图范围内 且 不是静态障碍物
|
|
||||||
return list(occupy_pos)
|
|
||||||
|
|
||||||
def update_cost_map(self, changed_pos):
|
|
||||||
'''
|
|
||||||
更新cost_map
|
|
||||||
Args:
|
|
||||||
changed_pos: 改变的位置列表 [x, y, idx]
|
|
||||||
'''
|
|
||||||
for (x, y, idx, _) in changed_pos:
|
|
||||||
self.cost_map[x, y] = self.object_to_cost[self.idx_to_object[idx]]
|
|
||||||
|
|
||||||
def update_edge_costs(self, changed_pos):
|
|
||||||
'''
|
|
||||||
重新计算edge_cost，更新受影响节点的rhs
|
|
||||||
Args:
|
|
||||||
changed_pos: 改变的位置列表 [(x, y, obj_idx_new, obj_idx_old)]
|
|
||||||
'''
|
|
||||||
if not changed_pos: return
|
|
||||||
self.k_m += heuristic(self.s_last, self.s_start, name='euclidean') # 使用欧式距离 更新km
|
|
||||||
self.s_last = self.s_start
|
|
||||||
for pos in changed_pos:
|
|
||||||
v = (pos[0], pos[1]) # to pos
|
|
||||||
v_old = self.idx_to_object[pos[3]] # 位置v的旧类型
|
|
||||||
pred_v = self.get_neighbors(v)
|
|
||||||
for u in pred_v:
|
|
||||||
c_old = self.c(u, v, v_old=v_old)
|
|
||||||
c_new = self.c(u, v)
|
|
||||||
if c_old > c_new and u != self.s_goal:
|
|
||||||
self.rhs[u] = min(self.rhs[u], self.c(u, v) + self.g[v])
|
|
||||||
elif self.rhs[u] == c_old + self.g[v] and u != self.s_goal:
|
|
||||||
succ_u = self.get_neighbors(u)
|
|
||||||
self.rhs[u] = min([self.c(u, s_) + self.g[s_] for s_ in succ_u])
|
|
||||||
self.update_vertex(u)
|
|
||||||
|
|
||||||
def map2real(self, pos):
|
|
||||||
'''
|
|
||||||
地图坐标->实际坐标
|
|
||||||
'''
|
|
||||||
x = pos[0] * self.scale_ratio + self.x_min
|
|
||||||
y = pos[1] * self.scale_ratio + self.y_min
|
|
||||||
return tuple((x, y))
|
|
||||||
|
|
||||||
def real2map(self, pos, approximation='round'):
|
|
||||||
'''
|
|
||||||
实际坐标->地图坐标
|
|
||||||
'''
|
|
||||||
if approximation == 'round': # 四舍五入
|
|
||||||
x = round((pos[0] - self.x_min) / self.scale_ratio)
|
|
||||||
y = round((pos[1] - self.y_min) / self.scale_ratio)
|
|
||||||
elif approximation == 'low': # 向下取整
|
|
||||||
x = math.floor((pos[0] - self.x_min) / self.scale_ratio)
|
|
||||||
y = math.floor((pos[1] - self.y_min) / self.scale_ratio)
|
|
||||||
else:
|
|
||||||
raise Exception("Wrong approximation!")
|
|
||||||
return tuple((x, y))
|
|
||||||
|
|
||||||
def draw_graph(self, step_num):
|
|
||||||
# 清空当前figure内容，保留figure对象
|
|
||||||
plt.clf()
|
|
||||||
# for stopping simulation with the esc key. 按esc结束
|
|
||||||
plt.gcf().canvas.mpl_connect(
|
|
||||||
'key_release_event',
|
|
||||||
lambda event: [exit(0) if event.key == 'escape' else None])
|
|
||||||
|
|
||||||
# 缩放坐标偏移量
|
|
||||||
offset = (self.x_min / self.scale_ratio, self.x_max / self.scale_ratio,
|
|
||||||
self.y_min / self.scale_ratio, self.y_max / self.scale_ratio,)
|
|
||||||
|
|
||||||
# 画地图: X行Y列，第一行在下面
|
|
||||||
# 范围: 横向Y[-80,290] 纵向X[-70,120]
|
|
||||||
plt.imshow(self.map, cmap='binary', alpha=0.5, origin='lower',
|
|
||||||
extent=(offset[2], offset[3],
|
|
||||||
offset[0], offset[1]))
|
|
||||||
# 画起点和目标
|
|
||||||
plt.plot(self.s_start[1] + offset[2], self.s_start[0] + offset[0], "xr")
|
|
||||||
plt.plot(self.s_goal[1] + offset[2], self.s_goal[0] + offset[0], "xr")
|
|
||||||
|
|
||||||
# 画搜索路径
|
|
||||||
plt.plot([y + offset[2] for (x, y) in self.path],
|
|
||||||
[x + offset[0] for (x, y) in self.path], "-g")
|
|
||||||
|
|
||||||
# 画移动路径
|
|
||||||
next_step = min(step_num, len(self.path))
|
|
||||||
# plt.plot([self.s_start[1] + offset[2], self.path[next_step-1][1] + offset[2]],
|
|
||||||
# [self.s_start[0] + offset[0], self.path[next_step-1][0] + offset[0]], "-r")
|
|
||||||
plt.plot([y + offset[2] for (x, y) in self.path[:next_step]],
|
|
||||||
[x + offset[0] for (x, y) in self.path[:next_step]], "-r")
|
|
||||||
|
|
||||||
plt.xlabel('y', loc='right')
|
|
||||||
plt.ylabel('x', loc='top')
|
|
||||||
plt.grid(color='black', linestyle='-', linewidth=0.5)
|
|
||||||
plt.pause(0.3)
|
|
||||||
Binary file not shown.
|
|
@ -1,78 +0,0 @@
|
||||||
#!/usr/bin/env python3
|
|
||||||
# -*- encoding: utf-8 -*-
|
|
||||||
import math
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
|
|
||||||
import matplotlib.pyplot as plt
|
|
||||||
import numpy as np
|
|
||||||
from mpl_toolkits.axes_grid1 import make_axes_locatable
|
|
||||||
from scene_utils import Scene
|
|
||||||
|
|
||||||
|
|
||||||
from dstar_lite import DStarLite
|
|
||||||
|
|
||||||
class Navigator:
|
|
||||||
'''
|
|
||||||
导航类
|
|
||||||
'''
|
|
||||||
|
|
||||||
def __init__(self, scene, area_range, map, scale_ratio=5):
|
|
||||||
self.scene = scene
|
|
||||||
self.area_range = area_range # 地图实际坐标范围 xmin, xmax, ymin, ymax
|
|
||||||
self.map = map # 缩放并离散化的地图 array(X,Y)
|
|
||||||
self.scale_ratio = scale_ratio # 地图缩放率
|
|
||||||
self.step_length = 50 # 步长(单次移动)
|
|
||||||
self.step_num = self.step_length // self.scale_ratio # 单次移动地图格数
|
|
||||||
self.v = 200 # 速度
|
|
||||||
self.step_time = self.step_length/self.v + 0.1 # 单步移动时长
|
|
||||||
|
|
||||||
|
|
||||||
self.planner = DStarLite(area_range=area_range, map=map, scale_ratio=scale_ratio)
|
|
||||||
|
|
||||||
|
|
||||||
@staticmethod
|
|
||||||
def is_reached(pos: np.array((float, float)), goal: np.array((float, float)), dis_limit=25):
|
|
||||||
'''
|
|
||||||
判断是否到达目标
|
|
||||||
'''
|
|
||||||
dis = np.linalg.norm(pos - goal)
|
|
||||||
return dis < dis_limit
|
|
||||||
|
|
||||||
def reset_goal(self, goal:(float, float)):
|
|
||||||
# TODO: 使目标可达
|
|
||||||
# 目标在障碍物上：从目标开始方形向外扩展，直到找到可行点
|
|
||||||
# 目标在地图外面：起点和目标连线最靠近目标的可行点
|
|
||||||
pass
|
|
||||||
|
|
||||||
def navigate(self, goal: (float, float), animation=True):
|
|
||||||
'''
|
|
||||||
单次导航，直到到达目标
|
|
||||||
'''
|
|
||||||
|
|
||||||
pos = np.array((self.scene.status.location.X, self.scene.status.location.Y)) # 机器人当前: 位置 和 朝向
|
|
||||||
yaw = self.scene.status.rotation.Yaw
|
|
||||||
print('------------------navigation_start----------------------')
|
|
||||||
while not self.is_reached(pos, goal):
|
|
||||||
dyna_obs = [(walker.pose.X, walker.pose.Y) for walker in self.scene.status.walkers] # 动态障碍物(顾客)位置列表
|
|
||||||
path = self.planner.planning(pos, goal, dyna_obs, step_num=self.step_num)
|
|
||||||
if path:
|
|
||||||
next_step = min(self.step_num, len(path))
|
|
||||||
(next_x, next_y) = path[next_step-1]
|
|
||||||
print('plan pos:', (next_x, next_y), end=' ')
|
|
||||||
self.scene.walk_to(next_x, next_y, yaw, velocity=self.v)
|
|
||||||
if animation:
|
|
||||||
self.planner.draw_graph(self.step_num) # 画出搜索路径
|
|
||||||
time.sleep(self.step_time)
|
|
||||||
pos = np.array((self.scene.status.location.X, self.scene.status.location.Y))
|
|
||||||
print('reach pos:', pos)
|
|
||||||
|
|
||||||
self.planner.reset() # 完成一轮导航，重置变量
|
|
||||||
|
|
||||||
if self.is_reached(pos, goal):
|
|
||||||
print('The robot has achieved goal !!')
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,4 +0,0 @@
|
||||||
### dstar_lite.py ——Dstar lite算法文件
|
|
||||||
### navigate.py ——导航类
|
|
||||||
### test.py ——测试文件
|
|
||||||
### map_5.pkl ——离散化地图文件
|
|
||||||
|
|
@ -1,72 +0,0 @@
|
||||||
import os
|
|
||||||
import pickle
|
|
||||||
import time
|
|
||||||
import random
|
|
||||||
|
|
||||||
import matplotlib.pyplot as plt
|
|
||||||
import numpy as np
|
|
||||||
|
|
||||||
from scene_utils import Scene # TODO: 文件名改成Scene.py
|
|
||||||
from navigate import Navigator
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
|
|
||||||
file_name = 'map_5.pkl'
|
|
||||||
if os.path.exists(file_name):
|
|
||||||
with open(file_name, 'rb') as file:
|
|
||||||
map = pickle.load(file)
|
|
||||||
|
|
||||||
Scene.init_world(1, 3)
|
|
||||||
scene = Scene.Scene(sceneID=0)
|
|
||||||
|
|
||||||
navigator = Navigator(scene=scene, area_range=[-350, 600, -400, 1450], map=map)
|
|
||||||
|
|
||||||
'''场景1: 无行人环境 robot到达指定目标'''
|
|
||||||
# goal = np.array((-100, 700))
|
|
||||||
|
|
||||||
|
|
||||||
'''场景2: 静止行人环境 robot到达指定目标'''
|
|
||||||
# scene.clean_walker()
|
|
||||||
# scene.add_walker(50, 300, 0)
|
|
||||||
# scene.add_walker(-50, 500, 0)
|
|
||||||
# goal = np.array((-100, 700))
|
|
||||||
|
|
||||||
'''场景3: 移动行人环境 robot到达指定目标'''
|
|
||||||
scene.clean_walker()
|
|
||||||
scene.add_walker(50, 300, 0)
|
|
||||||
scene.add_walker(-50, 500, 0)
|
|
||||||
scene.control_walker([scene.walker_control_generator(walkerID=0, autowalk=False, speed=20, X=-50, Y=600, Yaw=0)])
|
|
||||||
scene.control_walker([scene.walker_control_generator(walkerID=1, autowalk=False, speed=20, X=100, Y=150, Yaw=0)])
|
|
||||||
goal = np.array((-100, 700))
|
|
||||||
|
|
||||||
'''场景4: 行人自由移动 robot到达指定目标'''
|
|
||||||
# # TODO: autowalk=True仿真器会闪退 ???
|
|
||||||
# scene.clean_walker()
|
|
||||||
# scene.add_walker(50, 300, 0)
|
|
||||||
# scene.add_walker(-50, 500, 0)
|
|
||||||
# scene.control_walker([scene.walker_control_generator(walkerID=0, autowalk=True, speed=20, X=0, Y=0, Yaw=0)])
|
|
||||||
# scene.control_walker([scene.walker_control_generator(walkerID=1, autowalk=True, speed=20, X=0, Y=0, Yaw=0)])
|
|
||||||
# time.sleep(5)
|
|
||||||
# goal = np.array((-100, 700))
|
|
||||||
|
|
||||||
navigator.navigate(goal, animation=False)
|
|
||||||
|
|
||||||
scene.clean_walker()
|
|
||||||
print(scene.status.collision) # TODO: 不显示碰撞信息 ???
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,95 +0,0 @@
|
||||||
|
|
||||||
#叶结点
|
|
||||||
class Leaf:
|
|
||||||
def __init__(self,type,content,mincost):
|
|
||||||
self.type=type
|
|
||||||
self.content=content #conditionset or action
|
|
||||||
self.parent=None
|
|
||||||
self.parent_index=0
|
|
||||||
self.mincost=mincost
|
|
||||||
|
|
||||||
# tick 叶节点，返回返回值以及对应的条件或行动对象self.content
|
|
||||||
def tick(self,state):
|
|
||||||
if self.type=='cond':
|
|
||||||
if self.content <= state:
|
|
||||||
return 'success',self.content
|
|
||||||
else:
|
|
||||||
return 'failure',self.content
|
|
||||||
if self.type=='act':
|
|
||||||
if self.content.pre<=state:
|
|
||||||
return 'running',self.content #action
|
|
||||||
else:
|
|
||||||
return 'failure',self.content
|
|
||||||
|
|
||||||
def __str__(self):
|
|
||||||
print( self.content)
|
|
||||||
return ''
|
|
||||||
|
|
||||||
def print_nodes(self):
|
|
||||||
print(self.content)
|
|
||||||
|
|
||||||
def count_size(self):
|
|
||||||
return 1
|
|
||||||
|
|
||||||
|
|
||||||
#可能包含控制结点的行为树
|
|
||||||
class ControlBT:
|
|
||||||
def __init__(self,type):
|
|
||||||
self.type=type
|
|
||||||
self.children=[]
|
|
||||||
self.parent=None
|
|
||||||
self.parent_index=0
|
|
||||||
|
|
||||||
|
|
||||||
def add_child(self,subtree_list):
|
|
||||||
for subtree in subtree_list:
|
|
||||||
self.children.append(subtree)
|
|
||||||
subtree.parent=self
|
|
||||||
subtree.parent_index=len(self.children)-1
|
|
||||||
|
|
||||||
# tick行为树，根据不同控制结点逻辑tick子结点
|
|
||||||
def tick(self,state):
|
|
||||||
if len(self.children) < 1:
|
|
||||||
print("error,no child")
|
|
||||||
if self.type =='?':#选择结点，即或结点
|
|
||||||
for child in self.children:
|
|
||||||
val,obj=child.tick(state)
|
|
||||||
if val=='success':
|
|
||||||
return val,obj
|
|
||||||
if val=='running':
|
|
||||||
return val,obj
|
|
||||||
return 'failure','?fails'
|
|
||||||
if self.type =='>':#顺序结点，即与结点
|
|
||||||
for child in self.children:
|
|
||||||
val,obj=child.tick(state)
|
|
||||||
if val=='failure':
|
|
||||||
return val,obj
|
|
||||||
if val=='running':
|
|
||||||
return val,obj
|
|
||||||
return 'success', '>success'
|
|
||||||
if self.type =='act':#行动结点
|
|
||||||
return self.children[0].tick(state)
|
|
||||||
if self.type =='cond':#条件结点
|
|
||||||
return self.children[0].tick(state)
|
|
||||||
|
|
||||||
def getFirstChild(self):
|
|
||||||
return self.children[0]
|
|
||||||
|
|
||||||
def __str__(self):
|
|
||||||
print(self.type+'\n')
|
|
||||||
for child in self.children:
|
|
||||||
print (child)
|
|
||||||
return ''
|
|
||||||
|
|
||||||
def print_nodes(self):
|
|
||||||
print(self.type)
|
|
||||||
for child in self.children:
|
|
||||||
child.print_nodes()
|
|
||||||
|
|
||||||
# 递归统计树中结点数
|
|
||||||
def count_size(self):
|
|
||||||
result=1
|
|
||||||
for child in self.children:
|
|
||||||
result+= child.count_size()
|
|
||||||
return result
|
|
||||||
|
|
||||||
|
|
@ -1,59 +0,0 @@
|
||||||
selector{
|
|
||||||
cond At(Table,Coffee)
|
|
||||||
selector{
|
|
||||||
cond At(Robot,Table), Holding(Coffee)
|
|
||||||
act PutDown(Table,Coffee)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond At(Robot,Coffee), NotHolding, At(Robot,Table)
|
|
||||||
act PickUp(Coffee)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond Available(Table), Holding(Coffee)
|
|
||||||
act MoveTo(Table)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond At(Robot,Coffee), At(Robot,Table), Holding(VacuumCup)
|
|
||||||
act PutDown(Table,VacuumCup)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond At(Robot,CoffeeMachine), NotHolding, At(Robot,Table)
|
|
||||||
act OpCoffeeMachine
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond At(Robot,Coffee), Available(Table), NotHolding
|
|
||||||
act PickUp(Coffee)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond At(Robot,CoffeeMachine), At(Robot,Table), Holding(VacuumCup)
|
|
||||||
act PutDown(Table,VacuumCup)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond Available(Table), Available(Coffee), NotHolding
|
|
||||||
act MoveTo(Coffee)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond Available(Table), At(Robot,CoffeeMachine), NotHolding
|
|
||||||
act OpCoffeeMachine
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond Available(Table), Available(Coffee), At(Robot,Table), Holding(VacuumCup)
|
|
||||||
act PutDown(Table,VacuumCup)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond Available(Table), NotHolding, Available(CoffeeMachine)
|
|
||||||
act MoveTo(CoffeeMachine)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond Available(Table), Available(Coffee), Holding(VacuumCup)
|
|
||||||
act MoveTo(Table)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond Available(Table), Available(CoffeeMachine), At(Robot,Table), Holding(VacuumCup)
|
|
||||||
act PutDown(Table,VacuumCup)
|
|
||||||
}
|
|
||||||
selector{
|
|
||||||
cond Available(Table), Available(CoffeeMachine), Holding(VacuumCup)
|
|
||||||
act MoveTo(Table)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue