293 lines
9.2 KiB
Python
293 lines
9.2 KiB
Python
#!/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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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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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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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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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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导航移动
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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_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, 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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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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AcquireAvailableMaps()
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SetWorld(map_id, scene_num)
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time.sleep(5.0)
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for i in range(scene_num):
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print('------------ 场景操作 ------------')
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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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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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# 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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