529 lines
20 KiB
Python
529 lines
20 KiB
Python
import time
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import grpc
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import numpy as np
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import matplotlib.pyplot as plt
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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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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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animation_step = [4, 5, 7, 3, 3]
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loc_offset = [-700, -1400]
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def init_world(scene_num=1, mapID=11):
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stub.SetWorld(GrabSim_pb2.BatchMap(count=scene_num, mapID=mapID))
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time.sleep(3) # wait for the map to load
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def show_image(camera_data):
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print('------------------show_image----------------------')
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#获取第0张照片
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im = camera_data.images[0]
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#使用numpy(np) 数值类型矩阵的frombuffer，将im.data以流的形式（向量的形式）读入，在变型reshape成三位矩阵的形式(长度，宽度，深度)即三阶张量
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d = np.frombuffer(im.data, dtype=im.dtype).reshape((im.height, im.width, im.channels))
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#matplotlib中的plt方法 对矩阵d 进行图形绘制，如果 深度相机拍摄的带深度的图片（图片名字中有depth信息），则转换成黑白图即灰度图
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plt.imshow(d, cmap="gray" if "depth" in im.name.lower() else None)
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#图像展示在屏幕上
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plt.show()
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return d
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class Scene:
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robot = None
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event_list = []
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show_bubble = False
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default_state = {
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"map": {
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"2d": None,
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"obj_pos": {}
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},
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"chat_list": [], # 未处理的顾客的对话, (顾客的位置,顾客对话的内容)
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"sub_goal_list": [], # 子目标列表
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"status": None, # 仿真器中的观测信息，见下方详细解释
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"condition_set": set()
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}
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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,robot=None, sceneID=0):
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self.sceneID = sceneID
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self.use_offset = False
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self.start_time = time.time()
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self.time = 0
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self.sub_task_seq = None
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# init robot
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if robot:
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robot.set_scene(self)
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robot.load_BT()
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self.robot = robot
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# myx op
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# 1-7 正常执行, 8-10 控灯操作移动到6, 11-12窗帘操作不需要移动,
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self.op_dialog = ["","制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子", # 1-7
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"关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘", # 8-12
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"调整空调开关","调高空调温度","调低空调温度", # 13-15
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"抓握物体","放置物体"] # 16-17
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self.op_act_num = [0,3,4,6,3,2,0,1,
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0,0,0,0,0,
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0,0,0,
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0,0]
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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]],
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[[0.0, -70.0]]]
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self.op_typeToAct = {8:[6,2],9:[6,3],10:[6,4],11:[8,1],12:[8,2]}
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# 空调面板位置
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self.obj_loc = [[300.5, -140.0,114]]
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def reset(self):
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# 基类reset，默认执行仿真器初始化操作
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self.reset_sim()
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# reset state
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self.state = self.default_state
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print("场景初始化完成")
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self._reset()
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self.running = True
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def run(self):
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# 基类run
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self._run()
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# 运行并由robot打印每步信息
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while True:
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self.step()
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def step(self):
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# 基类step，默认执行行为树tick操作
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self.time = time.time() - self.start_time
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self.deal_event()
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self._step()
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self.robot.step()
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def deal_event(self):
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if len(self.event_list)>0:
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next_event = self.event_list[0]
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t,func = next_event
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if self.time >= t:
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print(f'event: {t}, {func.__name__}')
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self.event_list.pop(0)
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func()
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def create_chat_event(self,sentence):
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def customer_say():
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print(f'顾客说：{sentence}')
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if self.show_bubble:
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self.chat_bubble(f'顾客说：{sentence}')
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self.state['chat_list'].append(f'{sentence}')
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return customer_say
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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_sim(self):
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# reset world
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init_world()
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stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID))
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def _reset(self):
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# 场景自定义的reset
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pass
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def _run(self):
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# 场景自定义的run
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pass
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def _step(self):
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# 场景自定义的step
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pass
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def walker_control_generator(self, walkerID, autowalk, speed, X, Y, Yaw):
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if self.use_offset:
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X, Y = X + loc_offset[0], Y + loc_offset[1]
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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 walk_to(self, X, Y, Yaw=None, velocity=200, dis_limit=0):
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walk_v = [X,Y,Yaw,velocity,dis_limit]
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action = GrabSim_pb2.Action(
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scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v
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)
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scene = stub.Do(action)
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return scene
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def reachable_check(self, X, Y, Yaw):
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if self.use_offset:
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X, Y = X + loc_offset[0], Y + loc_offset[1]
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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.use_offset:
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X, Y = X + loc_offset[0], Y + loc_offset[1]
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if self.reachable_check(X, Y, Yaw):
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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=0,
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pose=GrabSim_pb2.Pose(
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X=X, Y=Y, Yaw=Yaw
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), # Parameter id is useless
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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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def remove_walker(self, *args): # take single walkerID or a list of walkerIDs
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remove_list = []
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if isinstance(args[0], list):
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remove_list = args[0]
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else:
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for walkerID in args:
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# walkerID is the index of the walker in status.walkers.
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# Since status.walkers is a list, some walkerIDs would change after removing a walker.
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remove_list.append(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 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, type, X, Y, Z, Yaw=0):
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if self.use_offset:
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X, Y = X + loc_offset[0], Y + loc_offset[1]
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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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def remove_object(self, *args): # refer to remove_walker
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remove_list = []
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if isinstance(args[0], list):
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remove_list = args[0]
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else:
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for objectID in args:
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remove_list.append(objectID)
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stub.RemoveObjects(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID))
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def clean_object(self):
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stub.CleanObjects(GrabSim_pb2.SceneID(value=self.sceneID))
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def grasp(self, handID, objectID):
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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.Grasp,
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values=[handID, objectID],
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)
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)
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def release(self, handID):
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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.Release,
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values=[handID],
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)
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)
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def get_camera_color(self, image_only=True):
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camera_data = stub.Capture(
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GrabSim_pb2.CameraList(
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cameras=[GrabSim_pb2.CameraName.Head_Color], scene=self.sceneID
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)
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)
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if image_only:
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return show_image(camera_data)
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else:
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return camera_data
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def get_camera_depth(self, image_only=True):
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camera_data = stub.Capture(
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GrabSim_pb2.CameraList(
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cameras=[GrabSim_pb2.CameraName.Head_Depth], scene=self.sceneID
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)
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)
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if image_only:
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return show_image(camera_data)
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else:
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return camera_data
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def get_camera_segment(self, show=True):
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camera_data = stub.Capture(
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GrabSim_pb2.CameraList(
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cameras=[GrabSim_pb2.CameraName.Head_Segment], scene=self.sceneID
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)
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)
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if show:
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show_image(camera_data)
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return camera_data
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def chat_bubble(self, message):
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stub.ControlRobot(
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GrabSim_pb2.ControlInfo(
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scene=self.sceneID, type=0, action=1, content=message
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)
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)
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def animation_control(self, animation_type):
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# animation_type: 1:make coffee 2: pour water 3: grab food 4: mop floor 5: clean table
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scene = stub.ControlRobot(
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GrabSim_pb2.ControlInfo(scene=self.sceneID, type=animation_type, action=1)
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)
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if scene.info == "action success":
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for i in range(2, animation_step[animation_type - 1] + 1):
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stub.ControlRobot(
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GrabSim_pb2.ControlInfo(
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scene=self.sceneID, type=animation_type, action=i
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)
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)
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def animation_reset(self):
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stub.ControlRobot(GrabSim_pb2.ControlInfo(scene=self.sceneID, type=0, action=0))
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# 手指移动到指定位置
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def ik_control_joints(self, handNum=2, x=30, y=40, z=80):
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# print('------------------ik_control_joints----------------------')
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# IK控制,双手, 1左手, 2右手; 暂时只动右手
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HandPostureObject = [GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=handNum, x=x, y=y, z=z, roll=0, pitch=0, yaw=0),
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# GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=1, x=0, y=0, z=0, roll=0, pitch=0, yaw=0),
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]
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temp = stub.GetIKControlInfos(GrabSim_pb2.HandPostureInfos(scene=self.sceneID, handPostureObjects=HandPostureObject))
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# 移动到进行操作任务的指定地点
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def move_task_area(self,op_type):
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if op_type==11 or op_type==12: # 开关窗帘不需要移动
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return
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scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
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if op_type < 8:
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v_list = self.op_v_list[op_type]
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if op_type>=8 and op_type<=10: # 控灯
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v_list = self.op_v_list[6]
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if op_type in [13,14,15]: # 空调
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v_list = [[240, -140.0]] # KongTiao [300.5, -140.0] # 250
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print("------------------move_task_area----------------------")
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print("Current Position:", walk_value,"开始任务:",self.op_dialog[op_type])
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for walk_v in v_list:
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walk_v = walk_v + [scene.rotation.Yaw, 180, 0]
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walk_v[2] = 0 if (op_type in [13,14,15]) else scene.rotation.Yaw # 空调操作朝向墙面
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action = GrabSim_pb2.Action(
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scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v
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)
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scene = stub.Do(action)
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print("After Walk Position:",[scene.location.X, scene.location.Y, scene.rotation.Yaw])
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# 相应的行动，由主办方封装
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def control_robot_action(self, type=0, action=0, message="你好"):
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scene = stub.ControlRobot(
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GrabSim_pb2.ControlInfo(
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scene=self.sceneID, type=type, action=action, content=message
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)
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)
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if str(scene.info).find("Action Success") > -1:
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print(scene.info)
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return True
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else:
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print(scene.info)
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return False
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def adjust_kongtiao(self,op_type):
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obj_loc = self.obj_loc[0][:]
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obj_loc[2] -= 5
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print("obj_loc:",obj_loc)
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if op_type == 13: obj_loc[1] -= 2
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if op_type == 14: obj_loc[1] -= 0
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if op_type == 15: obj_loc[1] += 2
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self.ik_control_joints(2, obj_loc[0], obj_loc[1], obj_loc[2])
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time.sleep(3.0)
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self.robo_recover()
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return True
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def gen_obj(self,type=5,h=100):
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# 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
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# type= 5 #9
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scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
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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=type),
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
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# GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=9),
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]
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scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
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time.sleep(1.0)
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def grasp_obj(self,obj_id,hand_id=1):
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# Move to Obj
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print('------------------moveTo_obj----------------------')
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scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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obj_info = scene.objects[obj_id]
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# Robot
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obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
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walk_v = [obj_x+50, obj_y] + [180, 180, 0]
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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])
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walk_v = [obj_x+40, obj_y-35, 130, 180, 0]
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obj_x += 3
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obj_y += 2.5
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# walk_v = [obj_x,obj_y-30,130, 180, 0]
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action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
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scene = stub.Do(action)
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time.sleep(1.0)
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# Finger
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self.ik_control_joints(2, obj_x-9, obj_y, obj_z) # -10, 0, 0
|
||
time.sleep(3.0)
|
||
# Grasp Obj
|
||
print('------------------grasp_obj----------------------')
|
||
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Grasp, values=[hand_id, obj_id])
|
||
scene = stub.Do(action)
|
||
time.sleep(4)
|
||
return True
|
||
|
||
# robot的肢体恢复原位
|
||
def robo_recover(self):
|
||
action = GrabSim_pb2.Action(scene=self.sceneID,action=GrabSim_pb2.Action.ActionType.RotateJoints, # 恢复原位
|
||
values=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
|
||
scene = stub.Do(action)
|
||
|
||
|
||
def robo_stoop_parallel(self):
|
||
# 0-3是躯干，4-6是脖子和头，7-13是左胳膊，14-20是右胳膊
|
||
scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
|
||
angle = [scene.joints[i].angle for i in range(21)]
|
||
angle[0] = 15
|
||
angle[19] = -15
|
||
angle[20] = -30
|
||
action = GrabSim_pb2.Action(scene=self.sceneID,action=GrabSim_pb2.Action.ActionType.RotateJoints, # 弯腰
|
||
values=angle)
|
||
scene = stub.Do(action)
|
||
time.sleep(1.0)
|
||
|
||
def release_obj(self,release_pos):
|
||
print("------------------Move to Realese Position----------------------")
|
||
walk_v = [release_pos[i] for i in range(2)] + [180,180,0]
|
||
if release_pos==[340.0, 900.0, 99.0]:
|
||
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----------------------")
|
||
if release_pos==[340.0, 900.0, 99.0]:
|
||
self.ik_control_joints(2, 300.0, 935, 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)
|
||
time.sleep(2.0)
|
||
self.robo_recover()
|
||
|
||
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,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)
|
||
elif op_type ==16:
|
||
result = self.grasp_obj(obj_id)
|
||
elif op_type ==17:
|
||
result = self.release_obj(release_pos)
|
||
elif op_type>=8:
|
||
result = self.control_robot_action(self.op_typeToAct[op_type][0], self.op_typeToAct[op_type][1])
|
||
print("result:",result)
|
||
else:
|
||
result = self.control_robot_action(op_type, 1) #
|
||
self.control_robot_action(0, 2)
|
||
if result:
|
||
if self.op_act_num[op_type]>0:
|
||
for i in range(2,2+self.op_act_num[op_type]):
|
||
self.control_robot_action(op_type,i)
|
||
self.control_robot_action(0, 2)
|
||
# self.control_robot_action(0, 1, "成功"+self.op_dialog[op_type])
|
||
# else:
|
||
# self.control_robot_action(0, 1, self.op_dialog[op_type]+"失败")
|
||
|
||
def test_move(self):
|
||
v_list = [[0, 880], [250, 1200], [-55, 750], [70, -200]]
|
||
scene = self.status
|
||
for walk_v in v_list:
|
||
walk_v = walk_v + [scene.rotation.Yaw - 90, 600, 100]
|
||
print("walk_v", walk_v)
|
||
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
|
||
scene = stub.Do(action)
|
||
print(scene.info)
|
||
|
||
|