demo
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Antiman-cmyk
parent
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@ -4,9 +4,6 @@ import sys
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import time
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import grpc
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sys.path.append('./')
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sys.path.append('../')
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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@ -5,9 +5,6 @@ import sys
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import time
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import grpc
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sys.path.append('./')
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sys.path.append('../')
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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@ -4,9 +4,6 @@ import sys
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import time
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import grpc
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sys.path.append('./')
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sys.path.append('../')
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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@ -4,9 +4,6 @@ import sys
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import time
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import grpc
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sys.path.append('./')
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sys.path.append('../')
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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@ -5,9 +5,6 @@ import sys
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import time
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import grpc
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sys.path.append('./')
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sys.path.append('../')
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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@ -4,9 +4,6 @@ import sys
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import time
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import grpc
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sys.path.append('./')
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sys.path.append('../')
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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@ -4,9 +4,6 @@ import sys
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import time
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import grpc
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sys.path.append('./')
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sys.path.append('../')
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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@ -4,9 +4,6 @@ import sys
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import time
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import grpc
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sys.path.append('./')
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sys.path.append('../')
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import matplotlib.pyplot as plt
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import numpy as np
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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@ -72,7 +69,9 @@ def clean_walkers(scene_id=0):
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def walker_test(scene_id=0):
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add_walker(scene_id)
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control_walkers(scene_id)
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print(sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id)).walkers)
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remove_walkers(scene_id)
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print(sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id)).walkers)
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clean_walkers(scene_id)
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return
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@ -0,0 +1,2 @@
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from . import GrabSim_pb2
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from . import GrabSim_pb2_grpc
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@ -0,0 +1 @@
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from . import control
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@ -0,0 +1,128 @@
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import gym
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import grpc
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from proto import GrabSim_pb2
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from proto import GrabSim_pb2_grpc
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channel = grpc.insecure_channel(
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"localhost:30001",
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options=[
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("grpc.max_send_message_length", 1024 * 1024 * 1024),
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("grpc.max_receive_message_length", 1024 * 1024 * 1024),
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],
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)
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stub = GrabSim_pb2_grpc.GrabSimStub(channel)
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def init_world(scene_num, mapID):
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stub.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=mapID))
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class Scene:
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"""
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status:
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location: Dict[X: float, Y: float]
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rotation: Dict[Yaw: float]
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joints: List[Dict[name: str, location: Dict[X: float, Y: float, Z: float]]]
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fingers: List[Dict[name: str, location: List[3 * Dict[X: float, Y: float, Z: float]]]]
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objects[:-1]: List[Dict[name: str, location: Dict[X: float, Y: float, Z: float]]]
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objects[-1]: Dict[name: "Hand", boxes: List[Dict[diagonals: List[4 * Dict[X0: float, Y0: float, Z0: float, X1: float, Y1: float, Z1: float]]]]]
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walkers: List[name: str, pose: Dict[X: float, Y: float, Yaw: float], speed: float, target: Dict[X: float, Y: float, Yaw: float]]
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timestamp: int, timestep: int
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collision: str, info: str
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"""
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def __init__(self, sceneID):
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self.sceneID = sceneID
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self.walkerID_set = set()
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self.reset()
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@property
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def status(self):
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return stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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def reset(self):
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stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID))
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def walk_to(self, X, Y, Yaw, velocity, dis_limit):
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stub.Do(
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GrabSim_pb2.Action(
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scene=self.sceneID,
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action=GrabSim_pb2.Action.ActionType.WalkTo,
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values=[X, Y, Yaw, velocity, dis_limit],
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)
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)
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def reachable_check(self, X, Y, Yaw):
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navigation_info = stub.Do(
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GrabSim_pb2.Action(
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scene=self.sceneID,
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action=GrabSim_pb2.Action.ActionType.WalkTo,
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values=[X, Y, Yaw],
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)
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).info
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if navigation_info == "Unreachable":
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return False
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else:
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return True
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def add_walker(self, X, Y, Yaw):
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if self.reachable_check(X, Y, Yaw):
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walkerID = 0 if not self.walkerID_set else max(self.walkerID_set) + 1
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stub.AddWalker(
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GrabSim_pb2.WalkerList(
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walkers=[
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GrabSim_pb2.WalkerList.Walker(
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id=walkerID, pose=GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw)
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)
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],
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scene=self.sceneID,
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)
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)
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self.walkerID_set.add(walkerID)
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return walkerID
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else:
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return None
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def remove_walker(self, *args):
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remove_list = []
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for walkerID in args:
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if walkerID in self.walkerID_set:
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remove_list.append(walkerID)
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self.walkerID_set.remove(walkerID)
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stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID))
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def clean_walker(self):
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stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
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def walker_control_generator(self, walkerID, autowalk, speed, X, Y, Yaw):
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return GrabSim_pb2.WalkerControls.WControl(
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id=walkerID,
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autowalk=autowalk,
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speed=speed,
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pose=GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw),
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)
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def control_walker(self, control_list):
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stub.ControlWalkers(
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GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
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)
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def control_joints(self, angles):
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stub.Do(
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GrabSim_pb2.Action(
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scene=self.sceneID,
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action=GrabSim_pb2.Action.ActionType.RotateJoints,
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values=angles,
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)
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)
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def add_object(self, X, Y, Yaw, Z, type):
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stub.AddObjects(
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GrabSim_pb2.ObjectList(
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objects=[
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GrabSim_pb2.ObjectList.Object(x=X, y=Y, yaw=Yaw, z=Z, type=type)
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],
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scene=self.sceneID,
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)
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)
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