EmbodiedAI
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RoboWaiter
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This commit is contained in:
liwang_zhang 2023-11-20 22:36:41 +08:00
parent 58ad1b7304
commit 84a45e941f
1 changed files with 2 additions and 0 deletions
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robowaiter/scene/scene.py
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@ -927,6 +927,7 @@ class Scene:
if not cur_objs: if not cur_objs:
walk_v = [scene.location.X, scene.location.Y + 1] walk_v = [scene.location.X, scene.location.Y + 1]
yaw = Navigator.get_yaw(walk_value, walk_v) yaw = Navigator.get_yaw(walk_value, walk_v)
yaw = math.degrees(yaw)
walk_v = walk_value + [yaw, 250, 10] walk_v = walk_value + [yaw, 250, 10]
print("walk_v", walk_v) print("walk_v", walk_v)
action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
@ -948,6 +949,7 @@ class Scene:
else: else:
for walk_v in v_list: for walk_v in v_list:
yaw = Navigator.get_yaw(walk_value, walk_v) yaw = Navigator.get_yaw(walk_value, walk_v)
yaw = math.degrees(yaw)
walk_v = walk_v + [yaw, 250, 10] walk_v = walk_v + [yaw, 250, 10]
print("walk_v", walk_v) print("walk_v", walk_v)
action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v) action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)