EmbodiedAI
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RoboWaiter
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新增抹布桌的物品抓放

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Netceor 2023-11-14 14:42:03 +08:00 committed by GitHub
parent 01c111db42
commit e6cd1e337b
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1 changed files with 24 additions and 12 deletions
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36
robowaiter/scene/scene.py
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@ -418,10 +418,12 @@ class Scene:
def gen_obj(self,h=100):
# 4;冰红(盒) 5;酸奶 7:保温杯 9;冰红(瓶) 13:代语词典 14:cake 61:甜牛奶
type= 9 #9
scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z = h, roll=0, pitch=0, yaw=0, type=type)]
obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=9),
# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
GrabSim_pb2.ObjectList.Object(x=300, y=935, z = 88, roll=0, pitch=0, yaw=0, type=7),
]
scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
time.sleep(1.0)
@ -434,11 +436,17 @@ class Scene:
# Robot
obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
walk_v = [obj_x+50, obj_y] + [180, 180, 0]
if obj_y>=820 and obj_y<= 1200 and obj_x>=240 and obj_x<= 500: # 物品位于斜的抹布桌上 ([240,500],[820,1200])
walk_v = [obj_x+40, obj_y-35, 130, 180, 0]
obj_x += 3
obj_y += 2.5
# walk_v = [obj_x,obj_y-30,130, 180, 0]
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
scene = stub.Do(action)
time.sleep(1.0)
# Finger
self.ik_control_joints(2, obj_x-9, obj_y+0.5, obj_z) # -10, 0, 0
self.ik_control_joints(2, obj_x-9, obj_y, obj_z) # -10, 0, 0
time.sleep(3.0)
# Grasp Obj
print('------------------grasp_obj----------------------')
@ -461,9 +469,6 @@ class Scene:
angle[0] = 15
angle[19] = -15
angle[20] = -30
for i in range(18,21):
print("name:",scene.joints[i].name,"angle:",scene.joints[i].angle)
# print("angle:",angle)
action = GrabSim_pb2.Action(scene=self.sceneID,action=GrabSim_pb2.Action.ActionType.RotateJoints, # 弯腰
values=angle)
scene = stub.Do(action)
@ -471,13 +476,20 @@ class Scene:
def release_obj(self,release_pos):
print("------------------Move to Realese Position----------------------")
walk_v = [release_pos[i] for i in range(2)]
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v + [180,180,0])
walk_v = [release_pos[i] for i in range(2)] + [180,180,0]
if release_pos==[300.0, 935.0, 98.0]:
walk_v[2] = 130
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
scene = stub.Do(action)
print("------------------release_obj----------------------")
self.ik_control_joints(2, release_pos[0] - 80, release_pos[1], release_pos[2])
time.sleep(2.0)
self.robo_stoop_parallel()
if release_pos==[300.0, 935.0, 98.0]:
self.ik_control_joints(2, release_pos[0], release_pos[1], release_pos[2])
time.sleep(2.0)
else:
self.ik_control_joints(2, release_pos[0] - 80, release_pos[1], release_pos[2])
time.sleep(2.0)
self.robo_stoop_parallel()
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Release, values=[1])
scene = stub.Do(action)
@ -487,7 +499,7 @@ class Scene:
return True
# 执行过程：输出"开始(任务名)" -> 按步骤数执行任务 -> Robot输出成功或失败的对话
def op_task_execute(self,op_type,obj_id=0,yaw=180,release_pos=[240,-140]):
def op_task_execute(self,op_type,obj_id=0,release_pos=[240,-140]):
self.control_robot_action(0, 1, "开始"+self.op_dialog[op_type]) # 开始制作咖啡
if op_type in [13,14,15]: # 调整空调:13代表按开关,14升温,15降温
result = self.adjust_kongtiao(op_type)