EmbodiedAI
/
RoboWaiter
mirror of https://github.com/HPCL-EI/RoboWaiter.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Update VLM.py

This commit is contained in:
Netceor 2023-11-15 13:16:40 +08:00 committed by GitHub
parent 1748507f8f
commit 67f501182e
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 28 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

56
robowaiter/scene/tasks/VLM.py
View File

@ -57,34 +57,34 @@ class SceneVLM(Scene):
# 流程测试 # 流程测试
# 抓握放置:抓吧台前生成的酸奶，放到抹布桌上 # 抓握放置:抓吧台前生成的酸奶，放到抹布桌上
self.gen_obj() # self.gen_obj()
self.move_task_area(16, obj_id=0) # self.move_task_area(16, obj_id=0)
self.op_task_execute(16, obj_id=0) # self.op_task_execute(16, obj_id=0)
pos = [340.0, 900.0, 99.0] # pos = [340.0, 900.0, 99.0]
self.move_task_area(17, release_pos=pos) # self.move_task_area(17, release_pos=pos)
self.op_task_execute(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 # # 做咖啡:做完的咖啡放到水杯桌上
self.move_task_area(1) # self.move_task_area(1)
self.op_task_execute(1) # self.op_task_execute(1)
#
self.find_obj("CoffeeCup") # self.find_obj("CoffeeCup")
#
self.move_task_area(16, obj_id=275) # self.move_task_area(16, obj_id=275)
self.op_task_execute(16, obj_id=275) # self.op_task_execute(16, obj_id=275)
pos = [-70.0, 500.0, 107] # pos = [-70.0, 500.0, 107]
self.move_task_area(17, release_pos=pos) # self.move_task_area(17, release_pos=pos)
self.op_task_execute(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 # # 倒水:倒完的水放到旁边桌子上
self.move_task_area(2) # self.move_task_area(2)
self.op_task_execute(2) # self.op_task_execute(2)
#
self.move_task_area(16, obj_id=190) # self.move_task_area(16, obj_id=190)
self.op_task_execute(16, obj_id=190) # self.op_task_execute(16, obj_id=190)
pos = [-55.0, 0.0, 107] # pos = [-55.0, 0.0, 107]
self.move_task_area(17, release_pos=pos) # self.move_task_area(17, release_pos=pos)
self.op_task_execute(17, release_pos=pos) # self.op_task_execute(17, release_pos=pos)
pass pass
def _step(self): def _step(self):