主动探索
This commit is contained in:
ChenXL97
parent
3c643b4091
commit
ee25917bc2
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@ -1,11 +1,15 @@
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#!/usr/bin/env python3
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# -*- encoding: utf-8 -*-
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# enconding = utf8
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import math
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import os
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import pickle
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import sys
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import time
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import grpc
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from explore import Explore
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import camera
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import semantic_map
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sys.path.append('./')
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sys.path.append('../')
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@ -14,8 +18,8 @@ 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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from robowaiter.proto import GrabSim_pb2
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from robowaiter.proto import GrabSim_pb2_grpc
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import GrabSim_pb2_grpc
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import GrabSim_pb2
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channel = grpc.insecure_channel('localhost:30001', options=[
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('grpc.max_send_message_length', 1024 * 1024 * 1024),
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@ -24,6 +28,10 @@ channel = grpc.insecure_channel('localhost:30001', options=[
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sim_client = GrabSim_pb2_grpc.GrabSimStub(channel)
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visited = set()
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all_frontier_list = set()
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'''
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初始化，卸载已经加载的关卡，清除所有机器人
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'''
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@ -68,12 +76,13 @@ def SetWorld(map_id=0, scene_num=1):
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def Observe(scene_id=0):
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print('------------------show_env_info----------------------')
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scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id))
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print(
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f"location:{[scene.location]}, rotation:{scene.rotation}\n",
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f"joints number:{len(scene.joints)}, fingers number:{len(scene.fingers)}\n",
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f"objects number: {len(scene.objects)}, walkers number: {len(scene.walkers)}\n"
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f"timestep:{scene.timestep}, timestamp:{scene.timestamp}\n"
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f"collision:{scene.collision}, info:{scene.info}")
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# print(
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# f"location:{[scene.location]}, rotation:{scene.rotation}\n",
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# f"joints number:{len(scene.joints)}, fingers number:{len(scene.fingers)}\n",
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# f"objects number: {len(scene.objects)}, walkers number: {len(scene.walkers)}\n"
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# f"timestep:{scene.timestep}, timestamp:{scene.timestamp}\n"
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# f"collision:{scene.collision}, info:{scene.info}")
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return scene
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'''
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@ -100,33 +109,152 @@ def Reset(scene_id=0):
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yaw:机器人朝向;
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velocity:速度,>0代表移动,<0代表瞬移,=0代表只查询;
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dis:最终达到的位置距离目标点最远距离,如果超过此距离则目标位置不可达
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"""
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def navigation_move(v_list, scene_id=0, map_id=11):
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# def navigation_test(scene_id=0, map_id=11):
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# print('------------------navigation_move----------------------')
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# scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id))
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# walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
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# print("position:", walk_value)
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#
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# if map_id == 11: # coffee
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# v_list = [[237, 495], [232, 495], [227, 490]]
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# else:
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# v_list = [[0.0, 0.0]]
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#
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# for walk_v in v_list:
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# walk_v = walk_v + [scene.rotation.Yaw - 90, 60, 0]
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# print("walk_v", walk_v)
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# action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
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# scene = sim_client.Do(action)
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# print(scene.info)
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def navigation_move(cur_objs, objs_name_set, v_list, scene_id=0, map_id=11):
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print('------------------navigation_move----------------------')
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scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id))
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walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
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print("position:", walk_value)
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# if map_id == 11: # coffee
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# v_list = [[0, 880], [250, 1200], [-55, 750], [70, -200]]
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# else:
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# v_list = [[0.0, 0.0]]
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for walk_v in v_list:
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walk_v = walk_v + [scene.rotation.Yaw - 90, 60, 0]
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walk_v = walk_v + [scene.rotation.Yaw - 90, 250, 60]
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print("walk_v", walk_v)
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action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
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scene = sim_client.Do(action)
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cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, objs_name_set)
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# if scene.info == "Unreachable":
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print(scene.info)
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return cur_objs, objs_name_set
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def isOutMap(pos, min_x=-350, max_x=600, min_y=-400, max_y=1450):
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if pos[0] <= min_x or pos[0] >= max_x or pos[1] <= min_y or pos[1] >= \
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max_y:
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return True
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return False
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def real2map(x, y):
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'''
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实际坐标->地图坐标 (向下取整)
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'''
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# x = round((x - self.min_x) / self.scale_ratio)
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# y = round((y - self.min_y) / self.scale_ratio)
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x = math.floor((x + 350) / 5)
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y = math.floor((y + 400) / 5)
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return x, y
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def explore(map, cur_pos, explore_range):
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for i in range(cur_pos[0] - explore_range, cur_pos[0] + explore_range + 1):
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for j in range(cur_pos[1] - explore_range, cur_pos[1] + explore_range + 1):
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if isOutMap((i, j)):
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continue
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x, y = real2map(i, j)
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if map[x, y] == 0:
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visited.add((i, j))
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for i in range(cur_pos[0] - explore_range, cur_pos[0] + explore_range + 1):
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for j in range(cur_pos[1] - explore_range, cur_pos[1] + explore_range + 1):
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if isOutMap((i, j)):
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continue
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x, y = real2map(i, j)
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if map[x, y] == 0:
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if isNewFrontier((i, j), map):
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all_frontier_list.add((i, j))
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if len(all_frontier_list) <= 400:
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free_list = list(visited)
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free_array = np.array(free_list)
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print(f"探索完成！以下是场景中可以到达的点：{free_array}；其余点均是障碍物不可达")
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return None
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return getNearestFrontier(cur_pos, all_frontier_list)
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def isNewFrontier(pos, map):
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around_nodes = [(pos[0], pos[1] + 1), (pos[0], pos[1] - 1), (pos[0] - 1, pos[1]), (pos[0] + 1, pos[1])]
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for node in around_nodes:
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x, y = real2map(node[0], node[1])
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if node not in visited and map[x, y] == 0:
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return True
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if (pos[0], pos[1]) in all_frontier_list:
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all_frontier_list.remove((pos[0], pos[1]))
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return False
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# def reachable(pos, map):
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# # scene = sim_client.Observe(GrabSim_pb2.SceneID(value=0))
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# # # x, y = real2map(self.area_range[0], self.area_range[2], self.scale_ratio, pos[0], pos[1])
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# # # if self.map[x, y] == 1:
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# # # return True
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# # # else:
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# # # return False
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# # loc = pos + [0, 0, 5]
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# # action = GrabSim_pb2.Action(scene=0, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc)
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# # scene = sim_client.Do(action)
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# # # print(scene.info)
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# # if (str(scene.info).find('Unreachable') > -1):
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# # return False
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# # else:
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# # return True
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# if map[pos[0], pos[1]] == 0:
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# return True
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# else:
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# return False
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def getDistance(pos1, pos2):
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return math.sqrt((pos1[0] - pos2[0]) ** 2 + (pos1[1] - pos2[1]) ** 2)
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def getNearestFrontier(cur_pos, frontiers):
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dis_min = sys.maxsize
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frontier_best = None
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for frontier in frontiers:
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dis = getDistance(frontier, cur_pos)
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if dis <= dis_min:
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dis_min = dis
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frontier_best = frontier
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return frontier_best
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if __name__ == '__main__':
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map_id = 11 # 地图编号
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scene_num = 1 # 场景数量
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node_list = [] # 探索点
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explorer = Explore(_explore_range=100)
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explore_range = 240 # 机器人感知范围（以机器人为中心，边长为2 * _explore_range的正方形）
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cur_objs = []
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objs_name_set = set()
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file_name = 'map_5.pkl'
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if os.path.exists(file_name):
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with open(file_name, 'rb') as file:
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map = pickle.load(file)
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print('------------ 初始化加载场景 ------------')
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Init()
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@ -136,20 +264,28 @@ if __name__ == '__main__':
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for i in range(scene_num):
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print('------------ 场景操作 ------------')
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Observe(i)
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scene = Observe(i)
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Reset(i)
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print('------------ 自主探索 ------------')
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while True:
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cur_objs = semantic_map.navigation_move(cur_objs,i, map_id)
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print("物品列表如下：")
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print(cur_objs)
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# scene = sim_client.Observe(GrabSim_pb2.SceneID(value=0))
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# cur_pos =[int(scene.location.X), int(scene.location.Y), int(scene.rotation.Yaw)]
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goal = explorer.explore(cur_pos) # cur_pos 指的是当前机器人的位置，场景中应该也有接口可以获取
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if goal is None:
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break
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node_list.append(goal)
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cur_pos = goal
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navigation_move(i, map_id, node_list)
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# cur_pos = [int(scene.location.X), int(scene.location.Y)]
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# # print(reachable([237,490]))
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# # navigation_move([[237,490]], i, map_id)
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# # navigation_test(i,map_id)
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# while True:
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# goal = explore(map, cur_pos, explore_range) # cur_pos 指的是当前机器人的位置，场景中应该也有接口可以获取
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# if goal is None:
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# break
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# node_list.append(goal)
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# # print(goal)
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# cur_objs, objs_name_set= navigation_move(cur_objs, objs_name_set, [[goal[0], goal[1]]], i, map_id)
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# print(cur_objs)
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# cur_pos = goal
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# TODO：node_list就是机器人拍照的点，目前没有设置拍照角度，需要机器人到达一个拍照点后，前后左右各拍一张照片然后获取语义信息
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@ -0,0 +1,281 @@
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#!/usr/bin/env python3
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# -*- encoding: utf-8 -*-
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# enconding = utf8
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import json
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import string
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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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import GrabSim_pb2_grpc
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import GrabSim_pb2
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channel = grpc.insecure_channel('localhost:30001', 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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sim_client = GrabSim_pb2_grpc.GrabSimStub(channel)
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objects_dic = {}
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'''
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初始化，卸载已经加载的关卡，清除所有机器人
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'''
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def Init():
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sim_client.Init(GrabSim_pb2.NUL())
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'''
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获取当前可加载的地图信息(地图名字、地图尺寸)
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'''
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def AcquireAvailableMaps():
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AvailableMaps = sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())
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print(AvailableMaps)
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'''
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1、根据mapID加载指定地图
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2、如果scene_num>1,则根据地图尺寸偏移后加载多个相同地图
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3、这样就可以在一个关卡中训练多个地图
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'''
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def SetWorld(map_id=0, scene_num=1):
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print('------------------SetWorld----------------------')
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world = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id))
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'''
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返回场景的状态信息
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1、返回机器人的位置和旋转
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2、返回各个关节的名字和旋转
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3、返回场景中标记的物品信息(名字、类型、位置、旋转)
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4、返回场景中行人的信息(名字、位置、旋转、速度)
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5、返回机器人手指和双臂的碰撞信息
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'''
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def Observe(scene_id=0):
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print('------------------show_env_info----------------------')
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scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id))
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# print(
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# f"location:{[scene.location]}, rotation:{scene.rotation}\n",
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# f"joints number:{len(scene.joints)}, fingers number:{len(scene.fingers)}\n",
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# f"objects number: {len(scene.objects)}, walkers number: {len(scene.walkers)}\n"
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# f"timestep:{scene.timestep}, timestamp:{scene.timestamp}\n"
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# f"collision:{scene.collision}, info:{scene.info}")
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return scene
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'''
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重置场景
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1、重置桌子的宽度和高度
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2、清除生成的行人和物品
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3、重置关节角度、位置旋转
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4、清除碰撞信息
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5、重置场景中标记的物品
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'''
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def Reset(scene_id=0):
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print('------------------Reset----------------------')
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scene = sim_client.Reset(GrabSim_pb2.ResetParams(scene=scene_id))
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print(scene)
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# 如果场景支持调整桌子
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# sim_client.Reset(GrabSim_pb2.ResetParams(scene = scene_id, adjust = True, height = 100.0, width = 100.0))"
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'''
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根据传入的部位名字，获取相机数据
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'''
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def get_camera(part, scene_id=0):
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print('------------------get_camera----------------------')
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action = GrabSim_pb2.CameraList(cameras=part, scene=scene_id)
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return sim_client.Capture(action)
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'''
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显示相机画面
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'''
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def show_image(img_data, scene):
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print('------------------show_image----------------------')
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im = img_data.images[0]
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# 相机内参矩阵
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in_matrix = np.array(
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[[im.parameters.fx, 0, im.parameters.cx], [0, im.parameters.fy, im.parameters.cy], [0, 0, 1]])
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# 相机外参矩阵
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out_matrix = np.array(im.parameters.matrix).reshape((4, 4))
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# # 旋转矩阵
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# rotation_matrix = out_matrix[0:3, 0:3]
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#
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# # 平移矩阵
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# translation_matrix = out_matrix[0:3, -1].reshape(3, 1)
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# 像素坐标
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# pixel_point = np.array([403, 212, 1]).reshape(3, 1)
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pixel_x = 404
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pixel_y = 212
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depth = 369
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# 将像素坐标转换为归一化设备坐标
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normalized_x = (pixel_x - im.parameters.cx) / im.parameters.fx
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normalized_y = (pixel_y - im.parameters.cy) / im.parameters.fy
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# 将归一化设备坐标和深度值转换为相机坐标
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camera_x = normalized_x * depth
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camera_y = normalized_y * depth
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camera_z = depth
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# 构建相机坐标向量
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camera_coordinates = np.array([camera_x, camera_y, camera_z, 1])
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# print("物体相对相机坐标的齐次坐标: ", camera_coordinates)
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# 将相机坐标转换为机器人底盘坐标
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robot_coordinates = np.dot(out_matrix, camera_coordinates)[:3]
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# print("物体的相对底盘坐标为:", robot_coordinates)
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# 将物体相对机器人底盘坐标转为齐次坐标
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robot_homogeneous_coordinates = np.array([robot_coordinates[0], -robot_coordinates[1], robot_coordinates[2], 1])
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# print("物体的相对底盘的齐次坐标为:", robot_homogeneous_coordinates)
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||||
|
||||
# 机器人坐标
|
||||
X = scene.location.X
|
||||
Y = scene.location.Y
|
||||
Z = 0.0
|
||||
|
||||
# 机器人旋转信息
|
||||
Roll = 0.0
|
||||
Pitch = 0.0
|
||||
Yaw = scene.rotation.Yaw
|
||||
|
||||
# 构建平移矩阵
|
||||
T = np.array([[1, 0, 0, X],
|
||||
[0, 1, 0, Y],
|
||||
[0, 0, 1, Z],
|
||||
[0, 0, 0, 1]])
|
||||
|
||||
# 构建旋转矩阵
|
||||
Rx = np.array([[1, 0, 0, 0],
|
||||
[0, np.cos(Roll), -np.sin(Roll), 0],
|
||||
[0, np.sin(Roll), np.cos(Roll), 0],
|
||||
[0, 0, 0, 1]])
|
||||
|
||||
Ry = np.array([[np.cos(Pitch), 0, np.sin(Pitch), 0],
|
||||
[0, 1, 0, 0],
|
||||
[-np.sin(Pitch), 0, np.cos(Pitch), 0],
|
||||
[0, 0, 0, 1]])
|
||||
|
||||
Rz = np.array([[np.cos(np.radians(Yaw)), -np.sin(np.radians(Yaw)), 0, 0],
|
||||
[np.sin(np.radians(Yaw)), np.cos(np.radians(Yaw)), 0, 0],
|
||||
[0, 0, 1, 0],
|
||||
[0, 0, 0, 1]])
|
||||
|
||||
R = np.dot(Rz, np.dot(Ry, Rx))
|
||||
|
||||
# 构建机器人的变换矩阵
|
||||
T_robot = np.dot(T, R)
|
||||
# print(T_robot)
|
||||
|
||||
# 将物体的坐标从机器人底盘坐标系转换到世界坐标系
|
||||
world_coordinates = np.dot(T_robot, robot_homogeneous_coordinates)[:3]
|
||||
# print("物体的世界坐标：", world_coordinates)
|
||||
|
||||
# 世界偏移后的坐标
|
||||
world_offest_coordinates = [world_coordinates[0] + 700, world_coordinates[1] + 1400, world_coordinates[2]]
|
||||
# print("物体世界偏移的坐标: ", world_offest_coordinates)
|
||||
# world_point = world_coordinates + np.array([])
|
||||
# print("物体的世界坐标为：", )
|
||||
|
||||
# # 相对机器人的世界坐标
|
||||
# world_point = rotation_matrix.T @ (in_matrix.T * 369 @ pixel_point - translation_matrix)
|
||||
|
||||
|
||||
# print(world_point)
|
||||
|
||||
# print(in_matrix @ out_matrix @ obj_world)
|
||||
#
|
||||
d = np.frombuffer(im.data, dtype=im.dtype).reshape((im.height, im.width, im.channels))
|
||||
plt.imshow(d, cmap="gray" if "depth" in im.name.lower() else None)
|
||||
plt.show()
|
||||
|
||||
|
||||
def save_obj_info(img_data, objs_name):
|
||||
items = img_data.info.split(";")
|
||||
dictionary = {}
|
||||
for item in items:
|
||||
key, value = item.split(":")
|
||||
dictionary[int(key)] = value
|
||||
|
||||
im = img_data.images[0]
|
||||
d = np.frombuffer(im.data, dtype=im.dtype).reshape((im.height, im.width, im.channels))
|
||||
arr_flat = d.ravel()
|
||||
for id in arr_flat:
|
||||
if id not in dictionary:
|
||||
print(id)
|
||||
else:
|
||||
objs_name.add(dictionary[id])
|
||||
return objs_name
|
||||
|
||||
|
||||
def get_semantic_map(camera, cur_objs, objs_name):
|
||||
scene = Observe(0)
|
||||
objs = scene.objects._values
|
||||
img_data = get_camera([camera])
|
||||
show_image(img_data, scene)
|
||||
objs_name = save_obj_info(img_data, objs_name)
|
||||
for obj_name in list(objs_name):
|
||||
for obj in objs:
|
||||
if obj.name == obj_name and obj not in cur_objs:
|
||||
cur_objs.append(obj)
|
||||
break
|
||||
return cur_objs, objs_name
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
map_id = 11 # 地图编号
|
||||
scene_num = 1 # 场景数量
|
||||
cur_objs = []
|
||||
|
||||
print('------------ 初始化加载场景 ------------')
|
||||
Init()
|
||||
AcquireAvailableMaps()
|
||||
SetWorld(map_id, scene_num)
|
||||
time.sleep(5.0)
|
||||
|
||||
for i in range(scene_num):
|
||||
print('------------ 场景操作 ------------')
|
||||
scene = Observe(i)
|
||||
|
||||
Reset(i)
|
||||
|
||||
print('------------ 相机捕获 ------------')
|
||||
Reset(i)
|
||||
time.sleep(1.0)
|
||||
|
||||
# print(get_semantic_map(GrabSim_pb2.CameraName.Head_Segment,cur_objs))
|
||||
|
||||
for camera_name in [GrabSim_pb2.CameraName.Head_Depth]:
|
||||
img_data = get_camera([camera_name], i)
|
||||
show_image(img_data, scene)
|
||||
# for camera_name in [GrabSim_pb2.CameraName.Waist_Color, GrabSim_pb2.CameraName.Waist_Depth]:
|
||||
# img_data = get_camera([camera_name], i)
|
||||
# show_image(img_data, 2)
|
||||
|
|
@ -1,91 +0,0 @@
|
|||
import math
|
||||
import sys
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
||||
# from rrt import RRT
|
||||
# from rrt_star import RRTStar
|
||||
|
||||
|
||||
# def real2map(min_x, min_y, scale_ratio, x, y):
|
||||
# '''
|
||||
# 实际坐标->地图坐标 (向下取整)
|
||||
# '''
|
||||
# # x = round((x - self.min_x) / self.scale_ratio)
|
||||
# # y = round((y - self.min_y) / self.scale_ratio)
|
||||
# x = math.floor((x - min_x) / scale_ratio)
|
||||
# y = math.floor((y - min_y) / scale_ratio)
|
||||
# return x, y
|
||||
|
||||
|
||||
def getDistance(pos1, pos2):
|
||||
return math.sqrt((pos1[0] - pos2[0]) ** 2 + (pos1[1] - pos2[1]) ** 2)
|
||||
|
||||
|
||||
def getNearestFrontier(cur_pos, frontiers):
|
||||
dis_min = sys.maxsize
|
||||
frontier_best = None
|
||||
for frontier in frontiers:
|
||||
dis = getDistance(frontier, cur_pos)
|
||||
if dis <= dis_min:
|
||||
dis_min = dis
|
||||
frontier_best = frontier
|
||||
return frontier_best
|
||||
|
||||
|
||||
class Explore:
|
||||
def __init__(self, _explore_range):
|
||||
self.explore_range = _explore_range # 机器人感知范围（以机器人为中心，边长为2 * _explore_range的正方形）
|
||||
self.visited = set()
|
||||
self.all_frontier_list = set()
|
||||
|
||||
def explore(self, cur_pos):
|
||||
for i in range(cur_pos[0] - self.explore_range, cur_pos[0] + self.explore_range + 1):
|
||||
for j in range(cur_pos[1] - self.explore_range, cur_pos[1] + self.explore_range + 1):
|
||||
# if self.isOutMap((i, j)):
|
||||
# continue
|
||||
# x, y = real2map(self.area_range[0], self.area_range[2], self.scale_ratio, i, j)
|
||||
# if self.map[x, y] == 0:
|
||||
if self.reachable((i, j)):
|
||||
self.visited.add((i, j))
|
||||
for i in range(cur_pos[0] - self.explore_range, cur_pos[0] + self.explore_range + 1):
|
||||
for j in range(cur_pos[1] - self.explore_range, cur_pos[1] + self.explore_range + 1):
|
||||
# if self.isOutMap((i, j)):
|
||||
# continue
|
||||
# x, y = real2map(self.area_range[0], self.area_range[2], self.scale_ratio, i, j)
|
||||
if self.reachable((i, j)):
|
||||
if self.isNewFrontier((i, j)):
|
||||
self.all_frontier_list.add((i, j))
|
||||
if len(self.all_frontier_list) == 0:
|
||||
free_list = list(self.visited)
|
||||
free_array = np.array(free_list)
|
||||
print(f"探索完成！以下是场景中可以到达的点：{free_array}；其余点均是障碍物不可达")
|
||||
return None
|
||||
return getNearestFrontier(cur_pos, self.all_frontier_list)
|
||||
|
||||
def isNewFrontier(self, pos):
|
||||
around_nodes = [(pos[0], pos[1] + 1), (pos[0], pos[1] - 1), (pos[0] - 1, pos[1]), (pos[0] + 1, pos[1])]
|
||||
|
||||
for node in around_nodes:
|
||||
if node not in self.visited and self.reachable(node):
|
||||
return True
|
||||
if (pos[0], pos[1]) in self.all_frontier_list:
|
||||
self.all_frontier_list.remove((pos[0], pos[1]))
|
||||
return False
|
||||
|
||||
def reachable(self, pos):
|
||||
# x, y = real2map(self.area_range[0], self.area_range[2], self.scale_ratio, pos[0], pos[1])
|
||||
# if self.map[x, y] == 1:
|
||||
# return True
|
||||
# else:
|
||||
# return False
|
||||
|
||||
# TODO: 调用reachable_check函数
|
||||
pass
|
||||
|
||||
# def isOutMap(self, pos):
|
||||
# if pos[0] <= self.area_range[0] or pos[0] >= self.area_range[1] or pos[1] <= self.area_range[2] or pos[1] >= \
|
||||
# self.area_range[3]:
|
||||
# return True
|
||||
# return False
|
||||
Binary file not shown.
|
|
@ -0,0 +1,146 @@
|
|||
#!/usr/bin/env python3
|
||||
# -*- encoding: utf-8 -*-
|
||||
# enconding = utf8
|
||||
import sys
|
||||
import time
|
||||
import grpc
|
||||
|
||||
import camera
|
||||
|
||||
sys.path.append('./')
|
||||
sys.path.append('../')
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
from mpl_toolkits.axes_grid1 import make_axes_locatable
|
||||
|
||||
import GrabSim_pb2_grpc
|
||||
import GrabSim_pb2
|
||||
|
||||
channel = grpc.insecure_channel('localhost:30001', options=[
|
||||
('grpc.max_send_message_length', 1024 * 1024 * 1024),
|
||||
('grpc.max_receive_message_length', 1024 * 1024 * 1024)
|
||||
])
|
||||
|
||||
sim_client = GrabSim_pb2_grpc.GrabSimStub(channel)
|
||||
|
||||
'''
|
||||
初始化，卸载已经加载的关卡，清除所有机器人
|
||||
'''
|
||||
|
||||
|
||||
def Init():
|
||||
sim_client.Init(GrabSim_pb2.NUL())
|
||||
|
||||
|
||||
'''
|
||||
获取当前可加载的地图信息(地图名字、地图尺寸)
|
||||
'''
|
||||
|
||||
|
||||
def AcquireAvailableMaps():
|
||||
AvailableMaps = sim_client.AcquireAvailableMaps(GrabSim_pb2.NUL())
|
||||
print(AvailableMaps)
|
||||
|
||||
|
||||
'''
|
||||
1、根据mapID加载指定地图
|
||||
2、如果scene_num>1,则根据地图尺寸偏移后加载多个相同地图
|
||||
3、这样就可以在一个关卡中训练多个地图
|
||||
'''
|
||||
|
||||
|
||||
def SetWorld(map_id=0, scene_num=1):
|
||||
print('------------------SetWorld----------------------')
|
||||
world = sim_client.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=map_id))
|
||||
|
||||
|
||||
'''
|
||||
返回场景的状态信息
|
||||
1、返回机器人的位置和旋转
|
||||
2、返回各个关节的名字和旋转
|
||||
3、返回场景中标记的物品信息(名字、类型、位置、旋转)
|
||||
4、返回场景中行人的信息(名字、位置、旋转、速度)
|
||||
5、返回机器人手指和双臂的碰撞信息
|
||||
'''
|
||||
|
||||
|
||||
def Observe(scene_id=0):
|
||||
print('------------------show_env_info----------------------')
|
||||
scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id))
|
||||
print(
|
||||
f"location:{[scene.location]}, rotation:{scene.rotation}\n",
|
||||
f"joints number:{len(scene.joints)}, fingers number:{len(scene.fingers)}\n",
|
||||
f"objects number: {len(scene.objects)}, walkers number: {len(scene.walkers)}\n"
|
||||
f"timestep:{scene.timestep}, timestamp:{scene.timestamp}\n"
|
||||
f"collision:{scene.collision}, info:{scene.info}")
|
||||
|
||||
|
||||
'''
|
||||
重置场景
|
||||
1、重置桌子的宽度和高度
|
||||
2、清除生成的行人和物品
|
||||
3、重置关节角度、位置旋转
|
||||
4、清除碰撞信息
|
||||
5、重置场景中标记的物品
|
||||
'''
|
||||
|
||||
|
||||
def Reset(scene_id=0):
|
||||
print('------------------Reset----------------------')
|
||||
scene = sim_client.Reset(GrabSim_pb2.ResetParams(scene=scene_id))
|
||||
print(scene)
|
||||
|
||||
# 如果场景支持调整桌子
|
||||
# sim_client.Reset(GrabSim_pb2.ResetParams(scene = scene_id, adjust = True, height = 100.0, width = 100.0))"
|
||||
|
||||
|
||||
"""
|
||||
导航移动
|
||||
yaw:机器人朝向;
|
||||
velocity:速度,>0代表移动,<0代表瞬移,=0代表只查询;
|
||||
dis:最终达到的位置距离目标点最远距离,如果超过此距离则目标位置不可达
|
||||
"""
|
||||
|
||||
|
||||
def navigation_move(cur_objs, scene_id=0, map_id=0):
|
||||
print('------------------navigation_move----------------------')
|
||||
scene = sim_client.Observe(GrabSim_pb2.SceneID(value=scene_id))
|
||||
walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
|
||||
print("position:", walk_value)
|
||||
objs_name_set = set()
|
||||
|
||||
if map_id == 11: # coffee
|
||||
v_list = [[247,520], [247, 700], [270, 1100], [55, 940], [30, 900], [30, 520], [160, -165], [247, 0],[247, 520]]
|
||||
else:
|
||||
v_list = [[0.0, 0.0]]
|
||||
|
||||
for walk_v in v_list:
|
||||
walk_v = walk_v + [scene.rotation.Yaw - 90, 200, 10]
|
||||
print("walk_v", walk_v)
|
||||
action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
|
||||
scene = sim_client.Do(action)
|
||||
cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, objs_name_set)
|
||||
print(scene.info)
|
||||
return cur_objs
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
map_id = 11 # 地图编号
|
||||
scene_num = 1 # 场景数量
|
||||
cur_objs = []
|
||||
|
||||
print('------------ 初始化加载场景 ------------')
|
||||
Init()
|
||||
AcquireAvailableMaps()
|
||||
SetWorld(map_id, scene_num)
|
||||
time.sleep(5.0)
|
||||
|
||||
for i in range(scene_num):
|
||||
print('------------ 场景操作 ------------')
|
||||
Observe(i)
|
||||
Reset(i)
|
||||
|
||||
print('------------ 导航移动 ------------')
|
||||
cur_objs = navigation_move(cur_objs, i, map_id)
|
||||
print(cur_objs)
|
||||
Loading…
Reference in New Issue