EmbodiedAI
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RoboWaiter
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Merge branch 'main' of github.com:HPCL-EI/RoboWaiter

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ChenXL97 2023-11-09 08:50:20 +08:00
parent 5c893d72e1 9eee9a9f6d
commit ced6f521f5
2 changed files with 33 additions and 17 deletions
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36
robowaiter/scene/scene.py
View File

@ -72,9 +72,11 @@ class Scene:
self.robot = robot self.robot = robot
# myx op # myx op
self.op_dialog = ["","制作咖啡","倒水","夹点心","拖地","擦桌子","关闭窗帘","关筒灯","开大厅灯","搬椅子","打开窗帘","关大厅灯","开筒灯"] # 1-7 正常执行, 8-10 移动到6, 11-12不需要移动
self.op_act_num = [0,3,4,6,3,2,0,0,0,1,0,0,0] self.op_dialog = ["","制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子","关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘"]
self.op_v_list = [[[0.0,0.0]],[[250.0, 310.0]],[[-70.0, 480.0]],[[250.0, 630.0]],[[260.0, 1120.0]],[[300.0, -220.0]],[[0.0, -70.0]]] self.op_act_num = [0,3,4,6,3,2,0,1,0,0,0,0,0]
self.op_v_list = [[[0.0,0.0]],[[250.0, 310.0]],[[-70.0, 480.0]],[[250.0, 630.0]],[[-70.0, 740.0]],[[260.0, 1120.0]],[[300.0, -220.0]],[[0.0, -70.0]]]
self.op_typeToAct = {8:[6,2],9:[6,3],10:[6,4],11:[8,1],12:[8,2]}
def _reset(self): def _reset(self):
@ -339,29 +341,37 @@ class Scene:
print(scene.info) print(scene.info)
return False return False
def op_task_execute(self,task_type): def op_task_execute(self,op_type):
self.control_robot_action(0, 1, "开始"+self.op_dialog[task_type]) # 开始制作咖啡 self.control_robot_action(0, 1, "开始"+self.op_dialog[op_type]) # 开始制作咖啡
result = self.control_robot_action(task_type, 1) # if op_type>=8:
result = self.control_robot_action(self.op_typeToAct[op_type][0], self.op_typeToAct[op_type][1])
else:
result = self.control_robot_action(op_type, 1) #
self.control_robot_action(0, 2) self.control_robot_action(0, 2)
if result: if result:
if self.op_act_num[task_type]>0: if self.op_act_num[op_type]>0:
for i in range(2,2+self.op_act_num[task_type]): for i in range(2,2+self.op_act_num[op_type]):
self.control_robot_action(task_type,i) self.control_robot_action(op_type,i)
self.control_robot_action(0, 2) self.control_robot_action(0, 2)
self.control_robot_action(0, 1, "成功"+self.op_dialog[task_type]) self.control_robot_action(0, 1, "成功"+self.op_dialog[op_type])
else: else:
self.control_robot_action(0, 1, self.op_dialog[task_type]+"失败") self.control_robot_action(0, 1, self.op_dialog[op_type]+"失败")
def move_task_area(self,op_type=0): def move_task_area(self,op_type=1):
if op_type>=8 and op_type<=10:
v_list = self.op_v_list[6]
else:
v_list = self.op_v_list[op_type]
scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID)) scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw] walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
print("------------------move_task_area----------------------") print("------------------move_task_area----------------------")
print("position:", walk_value,"开始任务:",self.op_dialog[op_type]) print("position:", walk_value,"开始任务:",self.op_dialog[op_type])
for walk_v in self.op_v_list[op_type]: for walk_v in v_list:
walk_v = walk_v + [scene.rotation.Yaw, 60, 0] walk_v = walk_v + [scene.rotation.Yaw, 60, 0]
action = GrabSim_pb2.Action( action = GrabSim_pb2.Action(
scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v
) )
scene = stub.Do(action) scene = stub.Do(action)

14
robowaiter/scene/tasks/VLM.py
View File

@ -17,10 +17,16 @@ class SceneVLM(Scene):
def _reset(self): def _reset(self):
pass pass
# def _run(self, op_type=1): def _run(self, op_type=1):
# self.move_task_area(op_type) # 12个操作顺序测试
# self.op_task_execute(op_type) # for i in range(1,13):
# if i<=10:
# self.move_task_area(i)
# self.op_task_execute(i)
if op_type<=10:
self.move_task_area(op_type)
self.op_task_execute(op_type)
def _step(self): def _step(self):
pass pass