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新增抹布桌的抓放

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Netceor 2023-11-14 14:55:07 +08:00 committed by GitHub
parent e6cd1e337b
commit 71f758e9df
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1 changed files with 3 additions and 4 deletions
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7
robowaiter/scene/tasks/VLM.py
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@ -30,11 +30,10 @@ class SceneVLM(Scene):
# 16: 抓操作需要传入物品id，17: 放操作需要传入放置位置周围的空地区域(桌边而不是桌上)
# if op_type == 16:
# self.gen_obj()
# self.op_task_execute(op_type, obj_id=1)
# op_type = 17
# self.op_task_execute(op_type, obj_id=0)
# # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 70.0], 水杯桌:[-70.0, 500.0, 107]
# # 桌子1:[-55.0, 0.0, 107],桌子2:[-55.0, 150.0, 107], 抹布桌:[300.0, 935.0, 98.0]
# if op_type == 17: self.op_task_execute(op_type, release_pos=[300.0, 935.0, 98.0]) #[325.0, 860.0, 100]
# # 桌子1:[-55.0, 0.0, 107],桌子2:[-55.0, 150.0, 107], 抹布桌:[340.0, 900.0, 98.0]
# if op_type == 17: self.op_task_execute(op_type, release_pos=[340.0, 900.0, 99.0]) #[325.0, 860.0, 100]
# if op_type not in [16,17]:
# self.move_task_area(op_type)
# self.op_task_execute(op_type)