diff --git a/robowaiter/algos/explore/AEM.py b/robowaiter/algos/explore/AEM.py index 9b00980..60c5948 100644 --- a/robowaiter/algos/explore/AEM.py +++ b/robowaiter/algos/explore/AEM.py @@ -1,11 +1,15 @@ #!/usr/bin/env python3 # -*- encoding: utf-8 -*- # enconding = utf8 +import math +import os +import pickle import sys import time import grpc -from explore import Explore +import camera +import semantic_map sys.path.append('./') sys.path.append('../') @@ -14,8 +18,8 @@ import matplotlib.pyplot as plt import numpy as np from mpl_toolkits.axes_grid1 import make_axes_locatable -from robowaiter.proto import GrabSim_pb2 -from robowaiter.proto import GrabSim_pb2_grpc +import GrabSim_pb2_grpc +import GrabSim_pb2 channel = grpc.insecure_channel('localhost:30001', options=[ ('grpc.max_send_message_length', 1024 * 1024 * 1024), @@ -24,6 +28,10 @@ channel = grpc.insecure_channel('localhost:30001', options=[ sim_client = GrabSim_pb2_grpc.GrabSimStub(channel) +visited = set() +all_frontier_list = set() + + ''' 初始化，卸载已经加载的关卡，清除所有机器人 ''' @@ -68,12 +76,13 @@ def SetWorld(map_id=0, scene_num=1): 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}") + # 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}") + return scene ''' @@ -100,33 +109,152 @@ def Reset(scene_id=0): 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(v_list, scene_id=0, map_id=11): +# def navigation_test(scene_id=0, map_id=11): +# 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 = [[237, 495], [232, 495], [227, 490]] +# else: +# v_list = [[0.0, 0.0]] +# +# for walk_v in v_list: +# walk_v = walk_v + [scene.rotation.Yaw - 90, 60, 0] +# 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) + + +def navigation_move(cur_objs, objs_name_set, v_list, scene_id=0, map_id=11): 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, 60, 0] + walk_v = walk_v + [scene.rotation.Yaw - 90, 250, 60] 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) + cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, objs_name_set) + # if scene.info == "Unreachable": print(scene.info) + return cur_objs, objs_name_set + + +def isOutMap(pos, min_x=-350, max_x=600, min_y=-400, max_y=1450): + if pos[0] <= min_x or pos[0] >= max_x or pos[1] <= min_y or pos[1] >= \ + max_y: + return True + return False + + +def real2map(x, y): + ''' + 实际坐标->地图坐标 (向下取整) + ''' + # x = round((x - self.min_x) / self.scale_ratio) + # y = round((y - self.min_y) / self.scale_ratio) + x = math.floor((x + 350) / 5) + y = math.floor((y + 400) / 5) + return x, y + + +def explore(map, cur_pos, explore_range): + for i in range(cur_pos[0] - explore_range, cur_pos[0] + explore_range + 1): + for j in range(cur_pos[1] - explore_range, cur_pos[1] + explore_range + 1): + if isOutMap((i, j)): + continue + x, y = real2map(i, j) + if map[x, y] == 0: + visited.add((i, j)) + for i in range(cur_pos[0] - explore_range, cur_pos[0] + explore_range + 1): + for j in range(cur_pos[1] - explore_range, cur_pos[1] + explore_range + 1): + if isOutMap((i, j)): + continue + x, y = real2map(i, j) + if map[x, y] == 0: + if isNewFrontier((i, j), map): + all_frontier_list.add((i, j)) + if len(all_frontier_list) <= 400: + free_list = list(visited) + free_array = np.array(free_list) + print(f"探索完成！以下是场景中可以到达的点：{free_array}；其余点均是障碍物不可达") + return None + return getNearestFrontier(cur_pos, all_frontier_list) + + +def isNewFrontier(pos, map): + around_nodes = [(pos[0], pos[1] + 1), (pos[0], pos[1] - 1), (pos[0] - 1, pos[1]), (pos[0] + 1, pos[1])] + + for node in around_nodes: + x, y = real2map(node[0], node[1]) + if node not in visited and map[x, y] == 0: + return True + if (pos[0], pos[1]) in all_frontier_list: + all_frontier_list.remove((pos[0], pos[1])) + return False + + +# def reachable(pos, map): +# # scene = sim_client.Observe(GrabSim_pb2.SceneID(value=0)) +# # # x, y = real2map(self.area_range[0], self.area_range[2], self.scale_ratio, pos[0], pos[1]) +# # # if self.map[x, y] == 1: +# # # return True +# # # else: +# # # return False +# # loc = pos + [0, 0, 5] +# # action = GrabSim_pb2.Action(scene=0, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc) +# # scene = sim_client.Do(action) +# # # print(scene.info) +# # if (str(scene.info).find('Unreachable') > -1): +# # return False +# # else: +# # return True +# if map[pos[0], pos[1]] == 0: +# return True +# else: +# return False +def getDistance(pos1, pos2): + return math.sqrt((pos1[0] - pos2[0]) ** 2 + (pos1[1] - pos2[1]) ** 2) + + +def getNearestFrontier(cur_pos, frontiers): + dis_min = sys.maxsize + frontier_best = None + for frontier in frontiers: + dis = getDistance(frontier, cur_pos) + if dis <= dis_min: + dis_min = dis + frontier_best = frontier + return frontier_best if __name__ == '__main__': map_id = 11 # 地图编号 scene_num = 1 # 场景数量 node_list = [] # 探索点 - explorer = Explore(_explore_range=100) + explore_range = 240 # 机器人感知范围（以机器人为中心，边长为2 * _explore_range的正方形） + cur_objs = [] + objs_name_set = set() + + file_name = 'map_5.pkl' + if os.path.exists(file_name): + with open(file_name, 'rb') as file: + map = pickle.load(file) print('------------ 初始化加载场景 ------------') Init() @@ -136,20 +264,28 @@ if __name__ == '__main__': for i in range(scene_num): print('------------ 场景操作 ------------') - Observe(i) + scene = Observe(i) Reset(i) print('------------ 自主探索 ------------') - while True: + cur_objs = semantic_map.navigation_move(cur_objs,i, map_id) + print("物品列表如下：") + print(cur_objs) - # scene = sim_client.Observe(GrabSim_pb2.SceneID(value=0)) - # cur_pos =[int(scene.location.X), int(scene.location.Y), int(scene.rotation.Yaw)] - goal = explorer.explore(cur_pos) # cur_pos 指的是当前机器人的位置，场景中应该也有接口可以获取 - if goal is None: - break - node_list.append(goal) - cur_pos = goal - navigation_move(i, map_id, node_list) + + # cur_pos = [int(scene.location.X), int(scene.location.Y)] + # # print(reachable([237,490])) + # # navigation_move([[237,490]], i, map_id) + # # navigation_test(i,map_id) + # while True: + # goal = explore(map, cur_pos, explore_range) # cur_pos 指的是当前机器人的位置，场景中应该也有接口可以获取 + # if goal is None: + # break + # node_list.append(goal) + # # print(goal) + # cur_objs, objs_name_set= navigation_move(cur_objs, objs_name_set, [[goal[0], goal[1]]], i, map_id) + # print(cur_objs) + # cur_pos = goal # TODO：node_list就是机器人拍照的点，目前没有设置拍照角度，需要机器人到达一个拍照点后，前后左右各拍一张照片然后获取语义信息 diff --git a/robowaiter/algos/explore/camera.py b/robowaiter/algos/explore/camera.py new file mode 100644 index 0000000..8cdb8b1 --- /dev/null +++ b/robowaiter/algos/explore/camera.py @@ -0,0 +1,281 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +# enconding = utf8 +import json +import string +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 + +import GrabSim_pb2_grpc +import 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) +objects_dic = {} + +''' +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}") + return scene + + +''' +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))" + + +''' +根据传入的部位名字，获取相机数据 +''' + + +def get_camera(part, scene_id=0): + print('------------------get_camera----------------------') + action = GrabSim_pb2.CameraList(cameras=part, scene=scene_id) + return sim_client.Capture(action) + + +''' +显示相机画面 +''' + + +def show_image(img_data, scene): + print('------------------show_image----------------------') + im = img_data.images[0] + + # 相机内参矩阵 + in_matrix = np.array( + [[im.parameters.fx, 0, im.parameters.cx], [0, im.parameters.fy, im.parameters.cy], [0, 0, 1]]) + + # 相机外参矩阵 + out_matrix = np.array(im.parameters.matrix).reshape((4, 4)) + + # # 旋转矩阵 + # rotation_matrix = out_matrix[0:3, 0:3] + # + # # 平移矩阵 + # translation_matrix = out_matrix[0:3, -1].reshape(3, 1) + + # 像素坐标 + # pixel_point = np.array([403, 212, 1]).reshape(3, 1) + pixel_x = 404 + pixel_y = 212 + depth = 369 + + # 将像素坐标转换为归一化设备坐标 + normalized_x = (pixel_x - im.parameters.cx) / im.parameters.fx + normalized_y = (pixel_y - im.parameters.cy) / im.parameters.fy + + # 将归一化设备坐标和深度值转换为相机坐标 + camera_x = normalized_x * depth + camera_y = normalized_y * depth + camera_z = depth + + # 构建相机坐标向量 + camera_coordinates = np.array([camera_x, camera_y, camera_z, 1]) + # print("物体相对相机坐标的齐次坐标: ", camera_coordinates) + + # 将相机坐标转换为机器人底盘坐标 + robot_coordinates = np.dot(out_matrix, camera_coordinates)[:3] + # print("物体的相对底盘坐标为:", robot_coordinates) + + # 将物体相对机器人底盘坐标转为齐次坐标 + robot_homogeneous_coordinates = np.array([robot_coordinates[0], -robot_coordinates[1], robot_coordinates[2], 1]) + # print("物体的相对底盘的齐次坐标为:", robot_homogeneous_coordinates) + + # 机器人坐标 + X = scene.location.X + Y = scene.location.Y + Z = 0.0 + + # 机器人旋转信息 + Roll = 0.0 + Pitch = 0.0 + Yaw = scene.rotation.Yaw + + # 构建平移矩阵 + T = np.array([[1, 0, 0, X], + [0, 1, 0, Y], + [0, 0, 1, Z], + [0, 0, 0, 1]]) + + # 构建旋转矩阵 + Rx = np.array([[1, 0, 0, 0], + [0, np.cos(Roll), -np.sin(Roll), 0], + [0, np.sin(Roll), np.cos(Roll), 0], + [0, 0, 0, 1]]) + + Ry = np.array([[np.cos(Pitch), 0, np.sin(Pitch), 0], + [0, 1, 0, 0], + [-np.sin(Pitch), 0, np.cos(Pitch), 0], + [0, 0, 0, 1]]) + + Rz = np.array([[np.cos(np.radians(Yaw)), -np.sin(np.radians(Yaw)), 0, 0], + [np.sin(np.radians(Yaw)), np.cos(np.radians(Yaw)), 0, 0], + [0, 0, 1, 0], + [0, 0, 0, 1]]) + + R = np.dot(Rz, np.dot(Ry, Rx)) + + # 构建机器人的变换矩阵 + T_robot = np.dot(T, R) + # print(T_robot) + + # 将物体的坐标从机器人底盘坐标系转换到世界坐标系 + world_coordinates = np.dot(T_robot, robot_homogeneous_coordinates)[:3] + # print("物体的世界坐标：", world_coordinates) + + # 世界偏移后的坐标 + world_offest_coordinates = [world_coordinates[0] + 700, world_coordinates[1] + 1400, world_coordinates[2]] + # print("物体世界偏移的坐标: ", world_offest_coordinates) + # world_point = world_coordinates + np.array([]) + # print("物体的世界坐标为：", ) + + # # 相对机器人的世界坐标 + # world_point = rotation_matrix.T @ (in_matrix.T * 369 @ pixel_point - translation_matrix) + + + # print(world_point) + + # print(in_matrix @ out_matrix @ obj_world) + # + 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 save_obj_info(img_data, objs_name): + items = img_data.info.split(";") + dictionary = {} + for item in items: + key, value = item.split(":") + dictionary[int(key)] = value + + im = img_data.images[0] + d = np.frombuffer(im.data, dtype=im.dtype).reshape((im.height, im.width, im.channels)) + arr_flat = d.ravel() + for id in arr_flat: + if id not in dictionary: + print(id) + else: + objs_name.add(dictionary[id]) + return objs_name + + +def get_semantic_map(camera, cur_objs, objs_name): + scene = Observe(0) + objs = scene.objects._values + img_data = get_camera([camera]) + show_image(img_data, scene) + objs_name = save_obj_info(img_data, objs_name) + for obj_name in list(objs_name): + for obj in objs: + if obj.name == obj_name and obj not in cur_objs: + cur_objs.append(obj) + break + return cur_objs, objs_name + + +if __name__ == '__main__': + map_id = 11 # 地图编号 + scene_num = 1 # 场景数量 + cur_objs = [] + + 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 ------------') + scene = Observe(i) + + Reset(i) + + print('------------ 相机捕获 ------------') + Reset(i) + time.sleep(1.0) + + # print(get_semantic_map(GrabSim_pb2.CameraName.Head_Segment,cur_objs)) + + for camera_name in [GrabSim_pb2.CameraName.Head_Depth]: + img_data = get_camera([camera_name], i) + show_image(img_data, scene) + # for camera_name in [GrabSim_pb2.CameraName.Waist_Color, GrabSim_pb2.CameraName.Waist_Depth]: + # img_data = get_camera([camera_name], i) + # show_image(img_data, 2) diff --git a/robowaiter/algos/explore/explore.py b/robowaiter/algos/explore/explore.py deleted file mode 100644 index 021237a..0000000 --- a/robowaiter/algos/explore/explore.py +++ /dev/null @@ -1,91 +0,0 @@ -import math -import sys - -import numpy as np - - -# from rrt import RRT -# from rrt_star import RRTStar - - -# def real2map(min_x, min_y, scale_ratio, x, y): -# ''' -# 实际坐标->地图坐标 (向下取整) -# ''' -# # x = round((x - self.min_x) / self.scale_ratio) -# # y = round((y - self.min_y) / self.scale_ratio) -# x = math.floor((x - min_x) / scale_ratio) -# y = math.floor((y - min_y) / scale_ratio) -# return x, y - - -def getDistance(pos1, pos2): - return math.sqrt((pos1[0] - pos2[0]) ** 2 + (pos1[1] - pos2[1]) ** 2) - - -def getNearestFrontier(cur_pos, frontiers): - dis_min = sys.maxsize - frontier_best = None - for frontier in frontiers: - dis = getDistance(frontier, cur_pos) - if dis <= dis_min: - dis_min = dis - frontier_best = frontier - return frontier_best - - -class Explore: - def __init__(self, _explore_range): - self.explore_range = _explore_range # 机器人感知范围（以机器人为中心，边长为2 * _explore_range的正方形） - self.visited = set() - self.all_frontier_list = set() - - def explore(self, cur_pos): - for i in range(cur_pos[0] - self.explore_range, cur_pos[0] + self.explore_range + 1): - for j in range(cur_pos[1] - self.explore_range, cur_pos[1] + self.explore_range + 1): - # if self.isOutMap((i, j)): - # continue - # x, y = real2map(self.area_range[0], self.area_range[2], self.scale_ratio, i, j) - # if self.map[x, y] == 0: - if self.reachable((i, j)): - self.visited.add((i, j)) - for i in range(cur_pos[0] - self.explore_range, cur_pos[0] + self.explore_range + 1): - for j in range(cur_pos[1] - self.explore_range, cur_pos[1] + self.explore_range + 1): - # if self.isOutMap((i, j)): - # continue - # x, y = real2map(self.area_range[0], self.area_range[2], self.scale_ratio, i, j) - if self.reachable((i, j)): - if self.isNewFrontier((i, j)): - self.all_frontier_list.add((i, j)) - if len(self.all_frontier_list) == 0: - free_list = list(self.visited) - free_array = np.array(free_list) - print(f"探索完成！以下是场景中可以到达的点：{free_array}；其余点均是障碍物不可达") - return None - return getNearestFrontier(cur_pos, self.all_frontier_list) - - def isNewFrontier(self, pos): - around_nodes = [(pos[0], pos[1] + 1), (pos[0], pos[1] - 1), (pos[0] - 1, pos[1]), (pos[0] + 1, pos[1])] - - for node in around_nodes: - if node not in self.visited and self.reachable(node): - return True - if (pos[0], pos[1]) in self.all_frontier_list: - self.all_frontier_list.remove((pos[0], pos[1])) - return False - - def reachable(self, pos): - # x, y = real2map(self.area_range[0], self.area_range[2], self.scale_ratio, pos[0], pos[1]) - # if self.map[x, y] == 1: - # return True - # else: - # return False - - # TODO: 调用reachable_check函数 - pass - - # def isOutMap(self, pos): - # if pos[0] <= self.area_range[0] or pos[0] >= self.area_range[1] or pos[1] <= self.area_range[2] or pos[1] >= \ - # self.area_range[3]: - # return True - # return False diff --git a/robowaiter/algos/explore/map_5.pkl b/robowaiter/algos/explore/map_5.pkl new file mode 100644 index 0000000..7b49370 Binary files /dev/null and b/robowaiter/algos/explore/map_5.pkl differ diff --git a/robowaiter/algos/explore/semantic_map.py b/robowaiter/algos/explore/semantic_map.py new file mode 100644 index 0000000..b8a6710 --- /dev/null +++ b/robowaiter/algos/explore/semantic_map.py @@ -0,0 +1,146 @@ +#!/usr/bin/env python3 +# -*- encoding: utf-8 -*- +# enconding = utf8 +import sys +import time +import grpc + +import camera + +sys.path.append('./') +sys.path.append('../') + +import matplotlib.pyplot as plt +import numpy as np +from mpl_toolkits.axes_grid1 import make_axes_locatable + +import GrabSim_pb2_grpc +import 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(cur_objs, 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) + objs_name_set = set() + + if map_id == 11: # coffee + v_list = [[247,520], [247, 700], [270, 1100], [55, 940], [30, 900], [30, 520], [160, -165], [247, 0],[247, 520]] + else: + v_list = [[0.0, 0.0]] + + for walk_v in v_list: + walk_v = walk_v + [scene.rotation.Yaw - 90, 200, 10] + 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) + cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, objs_name_set) + print(scene.info) + return cur_objs + + +if __name__ == '__main__': + map_id = 11 # 地图编号 + scene_num = 1 # 场景数量 + cur_objs = [] + + 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 ------------') + cur_objs = navigation_move(cur_objs, i, map_id) + print(cur_objs) diff --git a/robowaiter/behavior_lib/act/DealChat.py b/robowaiter/behavior_lib/act/DealChat.py index 1204cfe..f95b1dd 100644 --- a/robowaiter/behavior_lib/act/DealChat.py +++ b/robowaiter/behavior_lib/act/DealChat.py @@ -6,14 +6,20 @@ from robowaiter.llm_client.ask_llm import ask_llm class DealChat(Act): def __init__(self): super().__init__() + self.chat_history = "" def _update(self) -> ptree.common.Status: # if self.scene.status? chat = self.scene.state['chat_list'].pop() + self.chat_history += chat + '\n' - res_dict = ask_llm(chat) + res_dict = ask_llm(self.chat_history) answer = res_dict["Answer"] - goal = eval(res_dict["Goal"]) + self.chat_history += answer + '\n' + + goal = res_dict["Goal"] + if goal and "{" not in goal: + goal = {str(goal)} if goal is not None: print(f'goal：{goal}') diff --git a/robowaiter/llm_client/ask_llm.py b/robowaiter/llm_client/ask_llm.py index d746cd5..5cea889 100644 --- a/robowaiter/llm_client/ask_llm.py +++ b/robowaiter/llm_client/ask_llm.py @@ -4,6 +4,8 @@ import requests import urllib3 from robowaiter.utils import get_root_path from robowaiter.llm_client.single_round import single_round +from robowaiter.llm_client.tool_api import run_conversation + ######################################## # 该文件实现了与大模型的简单通信 ######################################## @@ -22,7 +24,9 @@ def ask_llm(question): if question in test_questions_dict: ans = test_questions_dict[question] else: - ans = single_round(question) + ans = run_conversation(question, stream=False) + + # ans = single_round(question) print(f"大模型输出： {ans}") return ans diff --git a/robowaiter/llm_client/multi_rounds.py b/robowaiter/llm_client/multi_rounds.py index a81b50c..ca3e09c 100644 --- a/robowaiter/llm_client/multi_rounds.py +++ b/robowaiter/llm_client/multi_rounds.py @@ -1,6 +1,6 @@ import requests import urllib3 - +from robowaiter.llm_client.tool_api import run_conversation ######################################## # 该文件实现了与大模型的简单通信、多轮对话，输入end表示对话结束 ######################################## @@ -20,8 +20,8 @@ while k!='end': user_dict={"role": "user","content":question_now} data_memory.append(user_dict) #print(data_memory) - response = requests.post(url, headers=headers, json={"messages":data_memory, "repetition_penalty": 1.0}, verify=False) - answer=response.json()['choices'][n]['message']['content'] + response = run_conversation(str(data_memory)) + answer=str(response) print(answer) assistant_dict={"role": "assistant","content":answer} data_memory.append(assistant_dict) diff --git a/robowaiter/llm_client/tool_api.py b/robowaiter/llm_client/tool_api.py index 885283f..e8cc481 100644 --- a/robowaiter/llm_client/tool_api.py +++ b/robowaiter/llm_client/tool_api.py @@ -3,8 +3,8 @@ import json import openai from colorama import init, Fore from loguru import logger - -from tool_register import get_tools, dispatch_tool +import json +from robowaiter.llm_client.tool_register import get_tools, dispatch_tool import requests import json @@ -29,22 +29,21 @@ def get_response(**kwargs): functions = get_tools() -def run_conversation(query: str, stream=False, functions=None, max_retry=5): +def run_conversation(query: str, stream=False, max_retry=5): params = dict(model="chatglm3", messages=[{"role": "user", "content": query}], stream=stream) - if functions: - params["functions"] = functions + params["functions"] = functions response = get_response(**params) for _ in range(max_retry): if response["choices"][0]["message"].get("function_call"): function_call = response["choices"][0]["message"]["function_call"] + logger.info(f"Function Call Response: {function_call}") if "sub_task" in function_call["name"]: return { "Answer": "好的", - "Goal": function_call["arguments"] + "Goal": json.loads(function_call["arguments"])["goal"] } - logger.info(f"Function Call Response: {function_call}") function_args = json.loads(function_call["arguments"]) tool_response = dispatch_tool(function_call["name"], function_args) logger.info(f"Tool Call Response: {tool_response}") @@ -71,5 +70,5 @@ def run_conversation(query: str, stream=False, functions=None, max_retry=5): if __name__ == "__main__": - query = "关掉空调" - print(run_conversation(query, functions=functions, stream=False)) + query = "可以带我去吗" + print(run_conversation(query, stream=False)) diff --git a/robowaiter/llm_client/tool_register.py b/robowaiter/llm_client/tool_register.py index 60fe0d9..23850b7 100644 --- a/robowaiter/llm_client/tool_register.py +++ b/robowaiter/llm_client/tool_register.py @@ -40,7 +40,7 @@ def register_tool(func: callable): "params": tool_params } - print("[registered tool] " + pformat(tool_def)) + # print("[registered tool] " + pformat(tool_def)) _TOOL_HOOKS[tool_name] = func _TOOL_DESCRIPTIONS[tool_name] = tool_def @@ -126,13 +126,14 @@ def get_tools() -> dict: @register_tool def create_sub_task( - goal: Annotated[str, '子任务需要达到的目标条件集合', True] + goal: Annotated[str, '子任务需要达到的目标条件集合，例如{On(Coffee,Bar)}，{At(Robot,Table1)}，{Is(AC,Off)}', True] ) -> str: """ 当需要完成具身任务（如做咖啡，拿放物体，扫地，前往某位置）时，调用该函数，根据用户的提示进行意图理解，生成子任务的目标状态集合 `goal`（以一阶逻辑的形式表示），用户意图 - 做一杯咖啡,`goal`={On(Coffee,Bar)}, - 前往一号桌,`goal`={At(Robot,Table1)}, - 打开空调,`goal`={Is(AC,On)},。 + 做一杯咖啡,则该函数的参数为 "On(Coffee,Bar)", + 前往一号桌,则该函数的参数为 "At(Robot,Table1)", + 打开空调,则该函数的参数为 "Is(AC,On)",。 + 关空调,则该函数的参数为 "Is(AC,Off)",。 """ return goal @@ -142,7 +143,7 @@ def get_object_info( obj: Annotated[str, '需要获取信息的物体名称', True] ) -> str: """ - 获取场景中指定物体 `object` 的信息 + 获取场景中指定物体 `object` 的信息，如果`object` 是一个地点，例如洗手间，地方，则输出。如果`object`是一个咖啡，则输出。 """ near_object = None if obj == "Table": diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 25c64a2..2b603f2 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -335,6 +335,23 @@ class Scene: ) ) + # def walker_bubble(self, message): + # status = self.status + # walker_name = status.walkers[0].name + # talk_content = walker_name + ":" + message + # self.control_robot_action(0, 0, 3, talk_content) + + # def control_robot_action(self, scene_id=0, type=0, action=0, message="你好"): + # print('------------------control_robot_action----------------------') + # scene = stub.ControlRobot( + # GrabSim_pb2.ControlInfo(scene=scene_id, type=type, action=action, content=message)) + # if (str(scene.info).find("Action Success") > -1): + # print(scene.info) + # return True + # else: + # print(scene.info) + # return False + def animation_control(self, animation_type): # animation_type: 1:make coffee 2: pour water 3: grab food 4: mop floor 5: clean table scene = stub.ControlRobot( diff --git a/robowaiter/scene/tasks/GQA.py b/robowaiter/scene/tasks/GQA.py index 14f2323..ebe0311 100644 --- a/robowaiter/scene/tasks/GQA.py +++ b/robowaiter/scene/tasks/GQA.py @@ -16,14 +16,17 @@ class SceneGQA(Scene): 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("给我一杯咖啡")), - (20, self.create_chat_event("我要拿铁")), - (40, self.create_chat_event("再来一杯")), + (5, self.create_chat_event("洗手间在哪里")), + (12, self.create_chat_event("可以带我去吗")), ] def _reset(self): - self.add_walker(1085, 2630, 220) - self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)]) + self.clean_walker() + + + self.add_walker(50, 500, 0) + self.walker_bubble("洗手间在哪里") + # self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)]) def _run(self): @@ -39,4 +42,4 @@ if __name__ == '__main__': # create task task = SceneGQA(robot) task.reset() - task.run() \ No newline at end of file + task.run() diff --git a/robowaiter/scene/tasks/Open_tasks.py b/robowaiter/scene/tasks/Open_tasks.py index 0ba0c97..1a70218 100644 --- a/robowaiter/scene/tasks/Open_tasks.py +++ b/robowaiter/scene/tasks/Open_tasks.py @@ -46,4 +46,4 @@ if __name__ == '__main__': # create task task = SceneOT(robot) task.reset() - task.run() \ No newline at end of file + task.run() diff --git a/robowaiter/scene/tasks/Open_tasks_test.py b/robowaiter/scene/tasks/Open_tasks_test.py new file mode 100644 index 0000000..c39eb10 --- /dev/null +++ b/robowaiter/scene/tasks/Open_tasks_test.py @@ -0,0 +1,44 @@ +""" +人提出请求，机器人完成任务 +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。 + +""" + +# todo: 接收点单信息，大模型生成任务规划 + +from robowaiter.scene.scene import Scene + +class SceneOT(Scene): + + def __init__(self, robot): + super().__init__(robot) + # 在这里加入场景中发生的事件 + self.event_list = [ + # (5,self.create_chat_event("做一杯咖啡")), + (5,self.create_chat_event("感觉有点冷，可以关一下空调吗")), + ] + + def _reset(self): + self.add_walker(50, 300, 0) + # self.add_walker(1085, 2630, 220) + # self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)]) + + + def _run(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneOT(robot) + task.reset() + task.run()