现在behaviour_lib中动作节点的初始化函数增加了参数scene用于调用接口；tasks中给出了要完成的任务demo
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Antiman-cmyk
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110
README.md
110
README.md
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@ -7,4 +7,112 @@
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from scene_utils import control
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control.init_world(scene_num=1, mapID=3)
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```
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当前只有一个咖啡馆场景。加载操作只需要执行一遍，当引擎进入相应场景后，可以用`control.reset()`重置场景。
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当前只有一个咖啡馆场景。加载操作只需要执行一遍，当引擎进入相应场景后，可以用`control.reset()`重置场景。
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2. 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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@ -5,7 +5,7 @@
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// parallel 2:
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// act action3(int a, float b)
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// act action4()
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sequence{
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selector{
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cond CoffeeCupFound()
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@ -1,21 +1,20 @@
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import py_trees as ptree
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from typing import Any
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class CoffeeCupFound(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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class CoffeeCupFound(ptree.behaviour.Behaviour):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> ptree.common.Status:
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print('Start checking IsChatting...')
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print("Start checking IsChatting...")
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return ptree.common.Status.SUCCESS
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def terminate(self, new_status: ptree.common.Status) -> None:
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return super().terminate(new_status)
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@ -3,7 +3,7 @@ from typing import Any
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class CoffeeCupGrasped(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class CoffeeCupPlaced(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class DestinationAReached(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class FindCoffeeCup(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class Grasp(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class GraspCoffeeCup(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class Istask(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class Move(ptree.behaviour.Behaviour):
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def __init__(self, name: str, a, b, c, d):
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def __init__(self, name: str, scene, a, b, c, d):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class PlaceCoffeeCup(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class ReachDestinationA(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class SeqTest(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -3,7 +3,7 @@ from typing import Any
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class TestTask(ptree.behaviour.Behaviour):
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def __init__(self, name: str):
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def __init__(self, name: str, scene):
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super().__init__(name)
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def setup(self, **kwargs: Any) -> None:
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@ -12,7 +12,7 @@ else:
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from ptmlLexer import ptmlLexer as Lexer
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def load(ptml_path: str, behaviour_lib_path: str):
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def load(scene, ptml_path: str, behaviour_lib_path: str):
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"""_summary_
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Args:
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@ -40,7 +40,7 @@ def load(ptml_path: str, behaviour_lib_path: str):
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tree = parser.root()
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walker = ParseTreeWalker()
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ptml = ptmlTranslator() # listener mode
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ptml = ptmlTranslator(scene, behaviour_lib_path) # listener mode
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walker.walk(ptml, tree)
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return ptml.bt_root
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@ -1,4 +1,4 @@
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# Generated from ./ptml.g4 by ANTLR 4.13.0
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# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
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from antlr4 import *
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from io import StringIO
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import sys
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@ -111,7 +111,7 @@ class ptmlLexer(Lexer):
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def __init__(self, input=None, output:TextIO = sys.stdout):
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super().__init__(input, output)
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self.checkVersion("4.13.0")
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self.checkVersion("4.13.1")
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self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache())
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self._actions = None
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self._predicates = None
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# Generated from ./ptml.g4 by ANTLR 4.13.0
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# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
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from antlr4 import *
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if "." in __name__:
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from .ptmlParser import ptmlParser
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# Generated from ./ptml.g4 by ANTLR 4.13.0
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# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
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# encoding: utf-8
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from antlr4 import *
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from io import StringIO
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@ -83,7 +83,7 @@ class ptmlParser ( Parser ):
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def __init__(self, input:TokenStream, output:TextIO = sys.stdout):
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super().__init__(input, output)
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self.checkVersion("4.13.0")
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self.checkVersion("4.13.1")
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self._interp = ParserATNSimulator(self, self.atn, self.decisionsToDFA, self.sharedContextCache)
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self._predicates = None
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@ -20,10 +20,12 @@ class ptmlTranslator(ptmlListener):
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ptmlListener (_type_): _description_
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"""
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def __init__(self) -> None:
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def __init__(self, scene, behaviour_lib_path) -> None:
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super().__init__()
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self.bt_root = None
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self.stack = []
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self.scene = scene
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self.behaviour_lib_path = behaviour_lib_path
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# Enter a parse tree produced by ptmlParser#root.
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def enterRoot(self, ctx: ptmlParser.RootContext):
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@ -91,24 +93,20 @@ class ptmlTranslator(ptmlListener):
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args = "".join(args)
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# dynamic import
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if "." in __name__: # in package
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behaviour_lib_config = "ptml/behaviour_lib"
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else:
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behaviour_lib_config = "./behaviour_lib"
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import sys
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sys.path.append(behaviour_lib_config)
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sys.path.append(self.behaviour_lib_path)
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exec("from {} import {}".format(name, name))
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#
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tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid()
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node = None
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node = eval("{}('{}', {})".format(name, tag, args))
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node = eval(
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"{}('{}', scene, {})".format(name, tag, args), {"scene": self.scene, **locals()}
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)
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# connect
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self.stack[-1].add_child(node)
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# print(self.stack)
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# Exit a parse tree produced by ptmlParser#action_sign.
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def exitAction_sign(self, ctx: ptmlParser.Action_signContext):
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import os
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import py_trees as ptree
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from scene_utils import control
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from ptmlCompiler import load
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@ -10,9 +11,12 @@ if __name__ == '__main__':
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ptml_path = os.path.join(project_path, 'CoffeeDelivery.ptml')
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behavior_lib_path = os.path.join(project_path, 'behaviour_lib')
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scene = control.Scene(sceneID=0)
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# load
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bt = load(ptml_path, behavior_lib_path)
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scene.load_BT(ptml_path, behavior_lib_path)
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# ptree.display.render_dot_tree(bt)
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# build and tick
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bt = ptree.trees.BehaviourTree(bt)
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scene.BT = ptree.trees.BehaviourTree(scene.BT)
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# todo: tick this bt
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print(scene.BT)
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@ -18,6 +18,7 @@ channel = grpc.insecure_channel(
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stub = GrabSim_pb2_grpc.GrabSimStub(channel)
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animation_step = [4, 5, 7, 3, 3]
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loc_offset = [-700, -1400]
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def init_world(scene_num, mapID):
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time.sleep(3) # wait for the map to load
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def walker_control_generator(walkerID, autowalk, speed, X, Y, Yaw):
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return GrabSim_pb2.WalkerControls.WControl(
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id=walkerID,
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autowalk=autowalk,
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speed=speed,
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pose=GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw),
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)
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def image_extract(camera_data):
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image = camera_data.images[0]
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return np.frombuffer(image.data, dtype=image.dtype).reshape(
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collision: str, info: str
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"""
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def __init__(self, sceneID):
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def __init__(self, sceneID=0):
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self.sceneID = sceneID
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self.use_offset = True
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self.BT = None
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self.reset()
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@property
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def status(self):
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@ -67,7 +59,19 @@ class Scene:
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def reset(self):
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stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID))
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def walk_to(self, X, Y, Yaw, velocity, dis_limit):
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def walker_control_generator(self, walkerID, autowalk, speed, X, Y, Yaw):
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if self.use_offset:
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X, Y = X + loc_offset[0], Y + loc_offset[1]
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return GrabSim_pb2.WalkerControls.WControl(
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id=walkerID,
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autowalk=autowalk,
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speed=speed,
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pose=GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw),
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)
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def walk_to(self, X, Y, Yaw, velocity=150, dis_limit=100):
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if self.use_offset:
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X, Y = X + loc_offset[0], Y + loc_offset[1]
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stub.Do(
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GrabSim_pb2.Action(
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scene=self.sceneID,
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@ -77,6 +81,8 @@ class Scene:
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)
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def reachable_check(self, X, Y, Yaw):
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if self.use_offset:
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X, Y = X + loc_offset[0], Y + loc_offset[1]
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navigation_info = stub.Do(
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GrabSim_pb2.Action(
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scene=self.sceneID,
|
||||
|
|
@ -90,6 +96,8 @@ class Scene:
|
|||
return True
|
||||
|
||||
def add_walker(self, X, Y, Yaw):
|
||||
if self.use_offset:
|
||||
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
||||
if self.reachable_check(X, Y, Yaw):
|
||||
stub.AddWalker(
|
||||
GrabSim_pb2.WalkerList(
|
||||
|
|
@ -133,7 +141,9 @@ class Scene:
|
|||
)
|
||||
)
|
||||
|
||||
def add_object(self, X, Y, Yaw, Z, type):
|
||||
def add_object(self, type, X, Y, Z, Yaw=0):
|
||||
if self.use_offset:
|
||||
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
||||
stub.AddObjects(
|
||||
GrabSim_pb2.ObjectList(
|
||||
objects=[
|
||||
|
|
@ -173,29 +183,38 @@ class Scene:
|
|||
)
|
||||
)
|
||||
|
||||
def get_camera_color(self):
|
||||
def get_camera_color(self, image_only=True):
|
||||
camera_data = stub.Capture(
|
||||
GrabSim_pb2.CameraList(
|
||||
cameras=[GrabSim_pb2.CameraName.Head_Color], scene=self.sceneID
|
||||
)
|
||||
)
|
||||
return image_extract(camera_data)
|
||||
if image_only:
|
||||
return image_extract(camera_data)
|
||||
else:
|
||||
return camera_data
|
||||
|
||||
def get_camera_depth(self):
|
||||
def get_camera_depth(self, image_only=True):
|
||||
camera_data = stub.Capture(
|
||||
GrabSim_pb2.CameraList(
|
||||
cameras=[GrabSim_pb2.CameraName.Head_Depth], scene=self.sceneID
|
||||
)
|
||||
)
|
||||
return image_extract(camera_data)
|
||||
if image_only:
|
||||
return image_extract(camera_data)
|
||||
else:
|
||||
return camera_data
|
||||
|
||||
def get_camera_segment(self):
|
||||
def get_camera_segment(self, image_only=True):
|
||||
camera_data = stub.Capture(
|
||||
GrabSim_pb2.CameraList(
|
||||
cameras=[GrabSim_pb2.CameraName.Head_Segment], scene=self.sceneID
|
||||
)
|
||||
)
|
||||
return image_extract(camera_data)
|
||||
if image_only:
|
||||
return image_extract(camera_data)
|
||||
else:
|
||||
return camera_data
|
||||
|
||||
def chat_bubble(self, message):
|
||||
stub.ControlRobot(
|
||||
|
|
@ -220,5 +239,5 @@ class Scene:
|
|||
def animation_reset(self):
|
||||
stub.ControlRobot(GrabSim_pb2.ControlInfo(scene=self.sceneID, type=0, action=0))
|
||||
|
||||
def load_BT(self, ptml_path):
|
||||
self.BT = ptmlCompiler.load(ptml_path, "ptml/behaviour_lib")
|
||||
def load_BT(self, ptml_path, behaviour_lib_path):
|
||||
self.BT = ptmlCompiler.load(self, ptml_path, behaviour_lib_path)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,20 @@
|
|||
"""
|
||||
环境主动探索和记忆
|
||||
要求输出探索结果（语义地图）对环境重点信息记忆。生成环境的语义拓扑地图，和不少于10个环境物品的识别和位置记忆，可以是图片或者文字或者格式化数据。
|
||||
"""
|
||||
|
||||
from scene_utils import control
|
||||
|
||||
# control.init_world(1, 3)
|
||||
|
||||
scene = control.Scene(sceneID=0)
|
||||
|
||||
scene.reset()
|
||||
scene.add_object(0, 570, 1600, 85.5) # type与物品编号对应，具体参考README.md
|
||||
scene.add_object(1, 570, 1630, 85.5)
|
||||
scene.add_object(2, 570, 1660, 85.5)
|
||||
scene.add_object(3, 580, 1680, 85.5)
|
||||
|
||||
# todo: 探索并获得语义地图
|
||||
|
||||
print(scene.status.objects) # 全部的物品信息，包括名称、位置等，与获得的语义地图进行对比
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
"""
|
||||
在特定环境下，机器人发现目标，可自主完成任务
|
||||
1. 打扫地面：地面有垃圾，机器人主动扫地、清理地面垃圾
|
||||
2. 收拾桌子：桌子上的污渍，机器人主动擦桌子
|
||||
3. 摆椅子：椅子不正，机器人主动摆正椅子
|
||||
4. 开灯：室内光线暗，机器人主动打开房屋的灯
|
||||
"""
|
||||
|
||||
# todo: 通过行为树控制自动任务
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
"""
|
||||
具身多轮对话
|
||||
点餐（order）的对话，咖啡厅服务员可以为客人（NPC）完成点餐基本对话
|
||||
场景对话（GQA）结合场景：询问卫生间、附近娱乐场所（数据来源自主定义）
|
||||
开始条件：顾客NPC发出点餐指令
|
||||
结束条件：顾客NPC发出指令，表示不再需要服务
|
||||
"""
|
||||
|
||||
# todo: 使用大模型进行对话，获得指令信息，适时结束对话
|
||||
# order = {...}
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
"""
|
||||
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。
|
||||
|
||||
"""
|
||||
|
||||
from scene_utils import control
|
||||
|
||||
# control.init_world(1, 3)
|
||||
|
||||
scene = control.Scene(sceneID=0)
|
||||
|
||||
scene.reset()
|
||||
|
||||
# todo: 接收点单信息，大模型生成任务规划
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
"""
|
||||
视觉语言操作
|
||||
机器人根据指令人的指令调节空调，自主探索环境导航到目标点，通过手臂的运动规划能力操作空调，比如开关按钮、调温按钮、显示面板
|
||||
"""
|
||||
|
||||
import time
|
||||
from scene_utils import control
|
||||
|
||||
# control.init_world(1, 3)
|
||||
|
||||
scene = control.Scene(sceneID=0)
|
||||
|
||||
scene.reset()
|
||||
|
||||
# 空调操作
|
||||
scene.walk_to(950, 1260, 90) # 没法转向？
|
||||
# todo: 手臂操作
|
||||
time.sleep(5)
|
||||
scene.walk_to(947, 1900, 0)
|
||||
|
||||
# 物品挪动
|
||||
# todo: 视觉导航至目标点，操作手臂至可抓位置
|
||||
"""
|
||||
scene.grasp(1, your_objectID)
|
||||
"""
|
||||
# todo: 视觉导航至目标点，找准释放位置
|
||||
"""
|
||||
scene.release(1)
|
||||
"""
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
"""
|
||||
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
|
||||
"""
|
||||
|
||||
from scene_utils import control
|
||||
|
||||
# control.init_world(1, 3)
|
||||
|
||||
scene = control.Scene(sceneID=0)
|
||||
|
||||
# 实现单顾客领位
|
||||
scene.reset()
|
||||
scene.add_walker(1085, 2630, 220)
|
||||
scene.control_walker([scene.walker_control_generator(0, False, 100, 755, 1900, 180)])
|
||||
|
||||
# todo: 监测到顾客靠近，打招呼，对话，识别获取空闲餐桌位置
|
||||
# 可以使用scene.chat_bubble(message)函数实现对话
|
||||
|
||||
"""
|
||||
scene.walk_to(your_free_table_location)
|
||||
time.sleep(5)
|
||||
scene.control_walker([scene.walker_control_generator(your_free_table_location)])
|
||||
"""
|
||||
|
||||
reach = True
|
||||
if reach:
|
||||
scene.chat_bubble("请问您想喝点什么？")
|
||||
|
||||
print(scene.status.walkers)
|
||||
Loading…
Reference in New Issue