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RoboWaiter
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Update VLM.py

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Netceor 2023-11-15 13:16:40 +08:00 committed by GitHub
parent 1748507f8f
commit 67f501182e
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1 changed files with 28 additions and 28 deletions
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robowaiter/scene/tasks/VLM.py
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@ -57,34 +57,34 @@ class SceneVLM(Scene):
# 流程测试
# 抓握放置:抓吧台前生成的酸奶，放到抹布桌上
self.gen_obj()
self.move_task_area(16, obj_id=0)
self.op_task_execute(16, obj_id=0)
pos = [340.0, 900.0, 99.0]
self.move_task_area(17, release_pos=pos)
self.op_task_execute(17, release_pos=pos)
# 做咖啡:做完的咖啡放到水杯桌上
self.move_task_area(1)
self.op_task_execute(1)
self.find_obj("CoffeeCup")
self.move_task_area(16, obj_id=275)
self.op_task_execute(16, obj_id=275)
pos = [-70.0, 500.0, 107]
self.move_task_area(17, release_pos=pos)
self.op_task_execute(17, release_pos=pos)
# 倒水:倒完的水放到旁边桌子上
self.move_task_area(2)
self.op_task_execute(2)
self.move_task_area(16, obj_id=190)
self.op_task_execute(16, obj_id=190)
pos = [-55.0, 0.0, 107]
self.move_task_area(17, release_pos=pos)
self.op_task_execute(17, release_pos=pos)
# self.gen_obj()
# self.move_task_area(16, obj_id=0)
# self.op_task_execute(16, obj_id=0)
# pos = [340.0, 900.0, 99.0]
# self.move_task_area(17, release_pos=pos)
# self.op_task_execute(17, release_pos=pos)
#
# # 做咖啡:做完的咖啡放到水杯桌上
# self.move_task_area(1)
# self.op_task_execute(1)
#
# self.find_obj("CoffeeCup")
#
# self.move_task_area(16, obj_id=275)
# self.op_task_execute(16, obj_id=275)
# pos = [-70.0, 500.0, 107]
# self.move_task_area(17, release_pos=pos)
# self.op_task_execute(17, release_pos=pos)
#
# # 倒水:倒完的水放到旁边桌子上
# self.move_task_area(2)
# self.op_task_execute(2)
#
# self.move_task_area(16, obj_id=190)
# self.op_task_execute(16, obj_id=190)
# pos = [-55.0, 0.0, 107]
# self.move_task_area(17, release_pos=pos)
# self.op_task_execute(17, release_pos=pos)
pass
def _step(self):