EmbodiedAI
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RoboWaiter
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更新 AEM 地图路径

This commit is contained in:
Caiyishuai 2023-11-17 12:53:16 +08:00
parent 956203300b
commit b899599b04
2 changed files with 13 additions and 11 deletions
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1
robowaiter/robot/robot.py
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@ -37,6 +37,7 @@ class Robot(object):
def set_scene(self,scene): def set_scene(self,scene):
self.scene = scene self.scene = scene
def load_BT(self): def load_BT(self):
self.bt = load_bt_from_ptml(self.scene, self.ptml_path,self.behavior_lib_path) self.bt = load_bt_from_ptml(self.scene, self.ptml_path,self.behavior_lib_path)
sub_task_place_holder = find_node_by_name(self.bt.root,"SubTaskPlaceHolder()") sub_task_place_holder = find_node_by_name(self.bt.root,"SubTaskPlaceHolder()")

23
robowaiter/scene/scene.py
View File

@ -10,8 +10,9 @@ import math
from robowaiter.proto import GrabSim_pb2 from robowaiter.proto import GrabSim_pb2
from robowaiter.proto import GrabSim_pb2_grpc from robowaiter.proto import GrabSim_pb2_grpc
import os
from robowaiter.utils import get_root_path
root_path = get_root_path()
channel = grpc.insecure_channel( channel = grpc.insecure_channel(
"localhost:30001", "localhost:30001",
@ -111,24 +112,24 @@ class Scene:
self.all_frontier_list = set() self.all_frontier_list = set()
self.semantic_map = semantic_map self.semantic_map = semantic_map
self.auto_map = np.ones((800, 1550)) self.auto_map = np.ones((800, 1550))
self.filename = "../proto/map_1.pkl" self.filename = os.path.join(root_path, 'robowaiter/proto/map_1.pkl')
with open(self.filename, 'rb') as file: with open(self.filename, 'rb') as file:
self.map_file = pickle.load(file) self.map_file = pickle.load(file)
def reset(self): def reset(self):
# 基类reset，默认执行仿真器初始化操作 # 基类reset，默认执行仿真器初始化操作
self.reset_sim() self.reset_sim()
# reset state # reset state
self.state = self.default_state self.state = self.default_state
print("场景初始化完成") print("场景初始化完成")
self._reset() self._reset()
self.running = True self.running = True
def run(self): def run(self):
# 基类run # 基类run
@ -180,8 +181,8 @@ class Scene:
def reset_sim(self): def reset_sim(self):
# reset world # reset world
init_world() init_world()
stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID)) stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID))
stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
def _reset(self): def _reset(self):
# 场景自定义的reset # 场景自定义的reset