增加了许多场景中能抓取的饮料，初始场景丰富了物品
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Caiyishuai
parent
e89677a89e
commit
58a87fa97c
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@ -15,8 +15,12 @@ class Bahavior(ptree.behaviour.Behaviour):
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scene = None
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print_name_prefix = ""
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tables_for_placement = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3',"BrightTable6"}
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all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
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'VacuumCup'}
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# all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
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# 'VacuumCup'}
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all_object = {
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'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup',
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'Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater'}
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# BrightTable5 = Table4
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tables_for_guiding = {"QuietTable1","QuietTable2",
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@ -48,6 +48,9 @@ class PutDown(Act):
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Act.num_of_obj_on_place[self.target_place]+=1
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self.scene.move_task_area(op_type, release_pos=release_pos)
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if self.target_obj == "Chips":
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release_pos[2] +=3
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self.scene.op_task_execute(op_type, release_pos=release_pos)
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if self.scene.take_picture:
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self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1)
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@ -88,6 +88,8 @@ class Scene:
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'Exist(Softdrink)',
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# 'On(Yogurt,Bar)','On(BottledDrink,Bar)',
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# 'Exist(Softdrink)', 'On(Softdrink,Table1)',
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'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)'
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'},
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@ -793,25 +795,68 @@ class Scene:
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scene = self.status
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ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
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obj_list = [
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GrabSim_pb2.ObjectList.Object(x=190, y=40, z=87, roll=0, pitch=0, yaw=0,
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type=38), #矿泉水
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 75, z=95, roll=0, pitch=0, yaw=0,
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type=48), # 48是薯片
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# GrabSim_pb2.ObjectList.Object(x=190, y=40, z=87, roll=0, pitch=0, yaw=0,
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# type=48), #48是薯片
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 65, z=95, roll=0, pitch=0, yaw=0,
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type=37), #37是NFC果汁
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 55, z=95, roll=0, pitch=0, yaw=0,
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type=8), #8是贝尔纳松
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 45, z=95, roll=0, pitch=0, yaw=0,
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type=6), #6是AD钙奶
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 35, z=95, roll=0, pitch=0, yaw=0,
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type=9), #9是冰红(瓶)
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 25, z=95, roll=0, pitch=0, yaw=0,
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type=5), # 5是酸奶
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 30, z=95, roll=0, pitch=0, yaw=0,
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# type=13),
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z=95, roll=0, pitch=0, yaw=0,
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# type=5), #48是薯片，6是AD钙奶
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z=95, roll=0, pitch=0, yaw=0,
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type=57),
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
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# type=48),
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# GrabSim_pb2.ObjectList.Object(x=340, y=960, z=88, roll=0, pitch=0, yaw=90, type=7),
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# GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=90, type=9),
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GrabSim_pb2.ObjectList.Object(x=320, y=400, z=95, roll=0, pitch=0, yaw=0,
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type=20),
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# 斜桌三瓶冰红茶
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GrabSim_pb2.ObjectList.Object(x=340, y=965, z=88, roll=0, pitch=0, yaw=90, type=4),
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GrabSim_pb2.ObjectList.Object(x=320, y=940, z=88, roll=0, pitch=0, yaw=90, type=4),
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GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=4),
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# GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=38), #矿泉水
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GrabSim_pb2.ObjectList.Object(x=370, y=1000, z=88, roll=0, pitch=0, yaw=90, type=1), #香蕉
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GrabSim_pb2.ObjectList.Object(x=380, y=1000, z=88, roll=0, pitch=0, yaw=90, type=65), # 番茄
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GrabSim_pb2.ObjectList.Object(x=380, y=1020, z=88, roll=0, pitch=0, yaw=90, type=42), # 山竹
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GrabSim_pb2.ObjectList.Object(x=360, y=1020, z=88, roll=0, pitch=0, yaw=90, type=27), # 橙子
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# BrightTable2
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# GrabSim_pb2.ObjectList.Object(x=-30, y=1000, z=35, roll=0, pitch=0, yaw=90, type=64), #西瓜
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GrabSim_pb2.ObjectList.Object(x=-15, y=1050, z=40, roll=0, pitch=0, yaw=90, type=17), #a午餐盒
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# 保温杯
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GrabSim_pb2.ObjectList.Object(x=-102, y=10, z=90, roll=0, pitch=0, yaw=90, type=7),
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 70, z=95, roll=0, pitch=0, yaw=0,
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# type=9),
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# Table3上由两套军旗，一个模仿
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GrabSim_pb2.ObjectList.Object(x=-115, y=200, z=85, roll=0, pitch=0, yaw=90, type=26), # Chess
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GrabSim_pb2.ObjectList.Object(x=-130, y=225, z=85, roll=0, pitch=0, yaw=90, type=55), # 玩具狗
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GrabSim_pb2.ObjectList.Object(x=-110, y=225, z=85, roll=0, pitch=0, yaw=90, type=56), #玩具熊
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GrabSim_pb2.ObjectList.Object(x=-115, y=250, z=85, roll=0, pitch=0, yaw=90, type=26), # Chess
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GrabSim_pb2.ObjectList.Object(x=-115, y=280, z=85, roll=0, pitch=0, yaw=90, type=35), # Chess
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GrabSim_pb2.ObjectList.Object(x=-115, y=280, z=85, roll=0, pitch=0, yaw=90, type=35), # 魔方
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# 靠窗边的桌子上
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GrabSim_pb2.ObjectList.Object(x=-400, y=520, z=70, roll=0, pitch=0, yaw=0, type=63), # 小说
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GrabSim_pb2.ObjectList.Object(x=-410, y=550, z=70, roll=0, pitch=0, yaw=0, type=59), # 围巾
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GrabSim_pb2.ObjectList.Object(x=-395, y=570, z=70, roll=0, pitch=0, yaw=0, type=18), # 手镯
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]
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scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
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@ -823,13 +868,13 @@ class Scene:
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scene = self.status
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# 低头
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# value = [0] * 21
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# for i in range(21):
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# value[i] = self.status.joints[i].angle
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# value[5] = 30
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# action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value)
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# scene = stub.Do(action)
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# time.sleep(1.0)
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value = [0] * 21
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for i in range(21):
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value[i] = self.status.joints[i].angle
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value[5] = 30
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action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.RotateJoints, values=value)
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scene = stub.Do(action)
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time.sleep(1.0)
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if self.take_picture:
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self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio)
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@ -916,6 +961,7 @@ class Scene:
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# 执行过程: Robot输出"开始(任务名)" -> 按步骤数执行任务 -> Robot输出成功或失败的对话
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def op_task_execute(self, op_type, obj_id=0, release_pos=[247.0, 520.0, 100.0]):
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#id = 196 # Glass = 188+x, Plate = 150+x
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self.control_robot_action(0, 1, "开始" + self.op_dialog[op_type]) # 输出正在执行的任务
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if op_type < 8:
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if self.take_picture:
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@ -114,12 +114,12 @@ class SceneVLM(Scene):
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#
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# self.find_obj("Plate")
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# #
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# id = 158
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# self.move_task_area(16, obj_id=id)
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# self.op_task_execute(16, obj_id=id)
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# pos = [-70.0, 500.0, 107] # 107 98
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# self.move_task_area(17, release_pos=pos)
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# self.op_task_execute(17, release_pos=pos)
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id = 0
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self.move_task_area(16, obj_id=id)
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self.op_task_execute(16, obj_id=id)
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pos = [-70.0, 500.0, 111] # 107 98
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self.move_task_area(17, release_pos=pos)
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self.op_task_execute(17, release_pos=pos)
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#
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# # 倒水:倒完的水放到旁边桌子上
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# self.move_task_area(2)
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