909 lines
37 KiB
Python
909 lines
37 KiB
Python
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 numpy as np
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import matplotlib.pyplot as plt
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from robowaiter.proto import camera
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from robowaiter.proto import semantic_map
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from robowaiter.algos.navigator.navigate import Navigator
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import math
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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 copy
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import os
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from robowaiter.utils import get_root_path
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root_path = get_root_path()
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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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new_event_list = []
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signal_event_list = []
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# show_bubble = True
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event_signal = "None"
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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": {'At(Robot,Bar)', 'Is(AC,Off)',
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'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Bar)',
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#'Exist(Softdrink)', 'On(Softdrink,Table1)',
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'},
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"obj_mem":{},
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"customer_mem":{},
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"served_mem":{},
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"greeted_customers":set(),
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"attention":{},
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"serve_state":{},
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"chat_history":{},
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"wait_history":set(),
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"anomaly": None
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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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self.show_bubble = True
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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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self.robot_changed = False
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self.last_event_time = 0
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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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# 动画控制的执行步骤数
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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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# 动画控制的执行区域坐标
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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]} # 任务类型到行动的映射
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self.obj_loc = [300.5, -140.0,114] # 空调面板位置
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# AEM
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self.visited = set()
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self.all_frontier_list = set()
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self.semantic_map = semantic_map
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self.auto_map = np.ones((800, 1550))
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self.filename = os.path.join(root_path, 'robowaiter/proto/map_1.pkl')
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with open(self.filename, 'rb') as file:
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self.map_file = pickle.load(file)
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# tool register
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self.all_loc_en = ['bar', 'Table', 'sofa', 'stove', 'Gate', 'light switch', 'airconditioner switch', 'cabinet', 'bathroom', 'window', 'audio',
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'lounge area', 'workstation', 'service counter', 'cashier counter', 'corner', 'cake display', 'ChargingStations',
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'refrigerator', 'bookshelf']
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self.loc_map_en = {'bar': {'工作台', '服务台', '收银台', '蛋糕柜'}, 'Table': {'大门', '休闲区', '墙角'},
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'sofa': {'餐桌', '窗户', '音响', '休闲区', '墙角', '书架'},
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'stove': {'吧台', '橱柜', '工作台', '服务台', '收银台', '蛋糕柜', '冰箱'},
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'Gate': {'吧台', '灯开关', '空调开关', '卫生间', '墙角'}, 'light switch': {'大门', '空调开关', '卫生间', '墙角'},
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'airconditioner switch': {'大门', '灯开关', '卫生间', '墙角'},
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'cabinet': {'灶台', '吧台', '工作台', '服务台', '收银台', '蛋糕柜', '充电处', '冰箱'}, 'bathroom': {'大门', '墙角'},
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'window': {'餐桌', '沙发', '休闲区'}, 'audio': {'餐桌', '沙发', '休闲区', '墙角', '书架'},
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'lounge area': {'沙发', '餐桌', '墙角', '书架', '音响'}, 'workstation': {'吧台', '服务台', '收银台'},
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'service counter': {'吧台', '工作台', '收银台'}, 'cashier counter': {'吧台', '工作台', '服务台'},
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'corner': {'卫生间', '沙发', '灯开关', '空调开关', '音响', '休闲区', '书架'},
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'cake display': {'吧台', '橱柜', '服务台', '收银台', '冰箱'},
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'ChargingStations': {'吧台', '餐桌', '沙发', '休闲区', '工作台', '服务台', '收银台', '墙角', '书架'},
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'refrigerator': {'吧台', '服务台', '蛋糕柜'}, 'bookshelf': {'餐桌', '沙发', '窗户', '休闲区', '墙角'}}
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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 = copy.deepcopy(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.deal_new_event()
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self.deal_signal_event()
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self._step()
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self.robot_changed = self.robot.step()
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def deal_new_event(self):
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if len(self.new_event_list)>0:
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next_event = self.new_event_list[0]
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t,func,args = 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.new_event_list.pop(0)
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func(*args)
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def deal_signal_event(self):
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if len(self.signal_event_list)>0:
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next_event = self.signal_event_list[0]
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t, func,args = next_event
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if t < 0: #一直等待机器人行动，直到机器人无行动
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if self.robot_changed:
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return
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if (t >= 0) and (self.time - self.last_event_time < t):
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return
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print(f'event: {t}, {func.__name__}')
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self.signal_event_list.pop(0)
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self.last_event_time = self.time
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func(*args)
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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'{sentence}')
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if self.show_bubble:
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self.chat_bubble(f'{sentence}')
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self.state['chat_list'].append(f'{sentence}')
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return customer_say
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def set_goal(self,goal):
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g = eval("{'" + goal + "'}")
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def set_sub_task():
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self.state['chat_list'].append(("Goal",g))
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return set_sub_task
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def new_set_goal(self,goal):
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g = eval("{'" + goal + "'}")
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self.state['chat_list'].append(("Goal",g))
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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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stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
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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=100, 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 walker_walk_to(self,walkerID,X,Y,speed=50,Yaw=0):
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self.control_walker(
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[self.walker_control_generator(walkerID=walkerID, autowalk=False, speed=speed, X=X, Y=Y, Yaw=Yaw)])
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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,id,x,y,yaw=0,v=0,scope=100):
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loc = [x,y,yaw,v,scope]
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action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc)
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scene = stub.Do(action)
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# print(scene.info)
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walker_list=[]
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if (str(scene.info).find('unreachable') > -1):
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print('当前位置不可达,无法初始化NPC')
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else:
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walker_list.append(
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GrabSim_pb2.WalkerList.Walker(id=id, pose=GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=loc[2])))
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stub.AddWalker(GrabSim_pb2.WalkerList(walkers=walker_list, scene=self.sceneID))
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w = self.status.walkers
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num_customer = len(w)
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self.state["customer_mem"][w[-1].name] = num_customer-1
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def walker_index2mem(self,index):
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for mem,i in self.state["customer_mem"].items():
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if index == i:
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return mem
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def add_walkers(self,walker_loc=[[0, 880], [250, 1200], [-55, 750], [70, -200]]):
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print('------------------add_walkers----------------------')
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for i,walker in enumerate(walker_loc):
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if len(walker)==2:
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self.add_walker(i,walker[0],walker[1])
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elif len(walker)==3:
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self.add_walker(walker[0], walker[1], walker[2])
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elif len(walker) == 4:
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self.add_walker(walker[0], walker[1], walker[2], walker[3])
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elif len(walker) == 5:
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self.add_walker(walker[0], walker[1], walker[2], walker[3], walker[4])
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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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self.state["customer_mem"] = {}
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w = self.status.walkers
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for i in range(len(w)):
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self.state["customer_mem"][w[i].name] = i
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def remove_walkers(self,IDs=[0]):
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s = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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scene = stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID))
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time.sleep(2)
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self.state["customer_mem"] = {}
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w = self.status.walkers
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for i in range(len(w)):
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self.state["customer_mem"][w[i].name] = i
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return
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def clean_walkers(self):
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scene = stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
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self.state["customer_mem"]={}
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return scene
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def control_walker(self, walkerID,autowalk,speed,X,Y,Yaw=0):
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if not isinstance(walkerID, int):
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walkerID = self.walker_index2mem(walkerID)
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pose = GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw)
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scene = stub.ControlWalkers(
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GrabSim_pb2.WalkerControls(controls=[GrabSim_pb2.WalkerControls.WControl(id=walkerID, autowalk=autowalk, speed=speed, pose=pose)], scene=self.sceneID)
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)
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return scene
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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_walkers_and_say(self, control_list_ls):
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""" 同时处理行人的行走和对话
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control_list_ls =[walkerID,autowalk,speed,X,Y,Yaw,cont]
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"""
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control_list= []
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for control in control_list_ls:
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if control[-1]!= None:
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walkerID = control[0]
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if not isinstance(walkerID, int):
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walkerID = self.walker_index2mem(walkerID)
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# cont = self.status.walkers[walkerID].name + ":"+control[-1]
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# self.control_robot_action(control[walkerID], 3, cont)
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self.customer_say(walkerID,control[-1])
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control_list.append(self.walker_control_generator(walkerID=control[0], autowalk=control[1], speed=control[2], X=control[3], Y=control[4], Yaw=control[5]))
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# 收集没有对话的统一控制
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scene = stub.ControlWalkers(
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GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
|
||
)
|
||
return scene
|
||
|
||
def control_walkers(self,walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True):
|
||
"""pose:表示行人的终止位置姿态"""
|
||
scene = self.status
|
||
walker_loc = walker_loc
|
||
controls = []
|
||
for i in range(len(walker_loc)):
|
||
loc = walker_loc[i]
|
||
is_autowalk = is_autowalk
|
||
pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180)
|
||
controls.append(GrabSim_pb2.WalkerControls.WControl(id=i, autowalk=is_autowalk, speed=80, pose=pose))
|
||
scene = stub.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=self.sceneID))
|
||
return scene
|
||
|
||
def control_joints(self, angles):
|
||
stub.Do(
|
||
GrabSim_pb2.Action(
|
||
scene=self.sceneID,
|
||
action=GrabSim_pb2.Action.ActionType.RotateJoints,
|
||
values=angles,
|
||
)
|
||
)
|
||
|
||
def add_object(self, type, X, Y, Z, Yaw=0):
|
||
if self.use_offset:
|
||
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
||
stub.AddObjects(
|
||
GrabSim_pb2.ObjectList(
|
||
objects=[
|
||
GrabSim_pb2.ObjectList.Object(x=X, y=Y, yaw=Yaw, z=Z, type=type)
|
||
],
|
||
scene=self.sceneID,
|
||
)
|
||
)
|
||
|
||
def remove_object(self, *args): # refer to remove_walker
|
||
remove_list = []
|
||
if isinstance(args[0], list):
|
||
remove_list = args[0]
|
||
else:
|
||
for objectID in args:
|
||
remove_list.append(objectID)
|
||
stub.RemoveObjects(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID))
|
||
|
||
def clean_object(self):
|
||
stub.CleanObjects(GrabSim_pb2.SceneID(value=self.sceneID))
|
||
|
||
def grasp(self, handID, objectID):
|
||
stub.Do(
|
||
GrabSim_pb2.Action(
|
||
scene=self.sceneID,
|
||
action=GrabSim_pb2.Action.ActionType.Grasp,
|
||
values=[handID, objectID],
|
||
)
|
||
)
|
||
|
||
def release(self, handID):
|
||
stub.Do(
|
||
GrabSim_pb2.Action(
|
||
scene=self.sceneID,
|
||
action=GrabSim_pb2.Action.ActionType.Release,
|
||
values=[handID],
|
||
)
|
||
)
|
||
|
||
def get_camera_color(self, image_only=True):
|
||
camera_data = stub.Capture(
|
||
GrabSim_pb2.CameraList(
|
||
cameras=[GrabSim_pb2.CameraName.Head_Color], scene=self.sceneID
|
||
)
|
||
)
|
||
if image_only:
|
||
return show_image(camera_data)
|
||
else:
|
||
return camera_data
|
||
|
||
def get_camera_depth(self, image_only=True):
|
||
camera_data = stub.Capture(
|
||
GrabSim_pb2.CameraList(
|
||
cameras=[GrabSim_pb2.CameraName.Head_Depth], scene=self.sceneID
|
||
)
|
||
)
|
||
if image_only:
|
||
return show_image(camera_data)
|
||
else:
|
||
return camera_data
|
||
|
||
def get_camera_segment(self, show=True):
|
||
camera_data = stub.Capture(
|
||
GrabSim_pb2.CameraList(
|
||
cameras=[GrabSim_pb2.CameraName.Head_Segment], scene=self.sceneID
|
||
)
|
||
)
|
||
if show:
|
||
show_image(camera_data)
|
||
|
||
return camera_data
|
||
|
||
def chat_bubble(self, message):
|
||
stub.ControlRobot(
|
||
GrabSim_pb2.ControlInfo(
|
||
scene=self.sceneID, type=0, action=1, content=message.strip()
|
||
)
|
||
)
|
||
|
||
def walker_bubble(self, name, message):
|
||
talk_content = name + ":" + message
|
||
self.control_robot_action(0, 3, talk_content)
|
||
|
||
def customer_say(self,name,sentence,show_bubble=True):
|
||
if isinstance(name,int):
|
||
name = self.walker_index2mem(name)
|
||
|
||
# if not isinstance(walkerID, int):
|
||
# name = self.walker_index2mem(walkerID)
|
||
|
||
print(f'{name} say: {sentence}')
|
||
if self.show_bubble and show_bubble:
|
||
self.walker_bubble(name,sentence)
|
||
self.state['chat_list'].append((name,sentence))
|
||
|
||
# def control_robot_action(self, scene_id=0, type=0, action=0, message="你好"):
|
||
# print('------------------control_robot_action----------------------')
|
||
# scene = stub.ControlRobot(
|
||
# GrabSim_pb2.ControlInfo(scene=scene_id, type=type, action=action, content=message))
|
||
# if (str(scene.info).find("Action Success") > -1):
|
||
# print(scene.info)
|
||
# return True
|
||
# else:
|
||
# print(scene.info)
|
||
# return False
|
||
|
||
def animation_control(self, animation_type):
|
||
# animation_type: 1:make coffee 2: pour water 3: grab food 4: mop floor 5: clean table
|
||
scene = stub.ControlRobot(
|
||
GrabSim_pb2.ControlInfo(scene=self.sceneID, type=animation_type, action=1)
|
||
)
|
||
if scene.info == "action success":
|
||
for i in range(2, animation_step[animation_type - 1] + 1):
|
||
stub.ControlRobot(
|
||
GrabSim_pb2.ControlInfo(
|
||
scene=self.sceneID, type=animation_type, action=i
|
||
)
|
||
)
|
||
|
||
def animation_reset(self):
|
||
stub.ControlRobot(GrabSim_pb2.ControlInfo(scene=self.sceneID, type=0, action=0))
|
||
|
||
# 手指移动到指定位置
|
||
def ik_control_joints(self, handNum=2, x=30, y=40, z=80):
|
||
# print('------------------ik_control_joints----------------------')
|
||
# IK控制,双手, 1左手, 2右手; 暂时只动右手
|
||
HandPostureObject = [GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=handNum, x=x, y=y, z=z, roll=0, pitch=0, yaw=0),
|
||
# GrabSim_pb2.HandPostureInfos.HandPostureObject(handNum=1, x=0, y=0, z=0, roll=0, pitch=0, yaw=0),
|
||
]
|
||
temp = stub.GetIKControlInfos(GrabSim_pb2.HandPostureInfos(scene=self.sceneID, handPostureObjects=HandPostureObject))
|
||
|
||
|
||
def move_to_obj(self,obj_id):
|
||
scene = self.status
|
||
obj_info = scene.objects[obj_id]
|
||
# Robot
|
||
obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
|
||
walk_v = [obj_x + 50, obj_y] + [180, 180, 0]
|
||
if obj_y >= 820 and obj_y <= 1200 and obj_x >= 240 and obj_x <= 500: # 物品位于斜的抹布桌上 ([240,500],[820,1200])
|
||
walk_v = [obj_x + 40, obj_y - 35, 130, 180, 0]
|
||
obj_x += 3
|
||
obj_y += 2.5
|
||
walk_v[0]+=1
|
||
print("walk:",walk_v)
|
||
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
|
||
scene = stub.Do(action)
|
||
print("After Walk Position:", [scene.location.X, scene.location.Y, scene.rotation.Yaw])
|
||
|
||
|
||
# 移动到进行操作任务的指定地点
|
||
def move_task_area(self, op_type, obj_id=0, release_pos=[247.0, 520.0, 100.0]):
|
||
scene = self.status
|
||
cur_pos = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
|
||
print("Current Position:", cur_pos, "开始任务:", self.op_dialog[op_type])
|
||
if op_type == 11 or op_type == 12: # 开关窗帘不需要移动
|
||
return
|
||
print('------------------moveTo_Area----------------------')
|
||
if op_type < 8: # 动画控制相关任务的移动目标
|
||
walk_v = self.op_v_list[op_type] + [scene.rotation.Yaw, 180, 0]
|
||
if 8 <= op_type <= 10: # 控灯相关任务的移动目标
|
||
walk_v = self.op_v_list[6] + [scene.rotation.Yaw, 180, 0]
|
||
if op_type in [13,14,15]: # 空调相关任务的移动目标
|
||
walk_v = [240, -140.0] + [0, 180, 0]
|
||
if op_type == 16: # 抓握物体，移动到物体周围的可达区域
|
||
scene = self.status
|
||
obj_info = scene.objects[obj_id]
|
||
obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
|
||
walk_v = [obj_x + 50, obj_y] + [180, 180, 0]
|
||
if 820 <= obj_y <= 1200 and 240 <= obj_x <= 500: # 物品位于斜的抹布桌上 ([240,500],[820,1200])
|
||
walk_v = [obj_x + 40, obj_y - 35, 130, 180, 0]
|
||
obj_x += 3
|
||
obj_y += 2.5
|
||
if op_type == 17: # 放置物体，移动到物体周围的可达区域
|
||
walk_v = release_pos[:-1] + [180, 180, 0]
|
||
if release_pos == [340.0, 900.0, 99.0]:
|
||
walk_v[2] = 130
|
||
# 移动到目标位置
|
||
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
|
||
scene = stub.Do(action)
|
||
print("After Walk Position:", [scene.location.X, scene.location.Y, scene.rotation.Yaw])
|
||
|
||
|
||
|
||
# 相应的行动，由主办方封装
|
||
def control_robot_action(self, type=0, action=0, message="你好"):
|
||
scene = stub.ControlRobot(
|
||
GrabSim_pb2.ControlInfo(
|
||
scene=self.sceneID, type=type, action=action, content=message
|
||
)
|
||
)
|
||
if str(scene.info).find("Action Success") > -1:
|
||
print(scene.info)
|
||
return True
|
||
else:
|
||
print(scene.info)
|
||
return False
|
||
|
||
# 调整空调开关、温度
|
||
def adjust_kongtiao(self,op_type):
|
||
obj_loc = self.obj_loc[:]
|
||
obj_loc[2] -= 5
|
||
if op_type == 13: obj_loc[1] -= 2
|
||
if op_type == 14: obj_loc[1] -= 0
|
||
if op_type == 15: obj_loc[1] += 2
|
||
self.ik_control_joints(2, obj_loc[0], obj_loc[1], obj_loc[2])
|
||
time.sleep(3.0)
|
||
self.robo_recover() # 恢复肢体关节
|
||
return True
|
||
|
||
def gen_obj(self,h=100):
|
||
# 4;冰红(盒) 5;酸奶 7:保温杯 9;冰红(瓶) 13:代语词典 14:cake 61:甜牛奶
|
||
scene = self.status
|
||
ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
|
||
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=5),
|
||
# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
|
||
# GrabSim_pb2.ObjectList.Object(x=340, y=960, z=88, roll=0, pitch=0, yaw=90, type=7),
|
||
# GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=90, type=9),
|
||
# GrabSim_pb2.ObjectList.Object(x=340, y=952, z=88, roll=0, pitch=0, yaw=90, type=4),
|
||
GrabSim_pb2.ObjectList.Object(x=-102, y=10, z=90, roll=0, pitch=0, yaw=90, type=7),
|
||
GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 70, z=95, roll=0, pitch=0, yaw=0, type=9),
|
||
|
||
]
|
||
scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
|
||
time.sleep(1.0)
|
||
|
||
# 实现抓握操作
|
||
def grasp_obj(self,obj_id,hand_id=1):
|
||
print('------------------adjust_joints----------------------')
|
||
scene = self.status
|
||
obj_info = scene.objects[obj_id]
|
||
obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
|
||
if obj_info.name=="CoffeeCup":
|
||
# obj_x += 1
|
||
# obj_y -= 1
|
||
# values = [0,0,0,0,0, 10,-25,-45,-45,-45]
|
||
# values= [-6, 0, 0, 0, 0, -6, 0, 45, 45, 45]
|
||
# stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values))
|
||
pass
|
||
if obj_info.name=="Glass":
|
||
pass
|
||
# Finger
|
||
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(3.0)
|
||
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)
|
||
|
||
# 恢复手指关节
|
||
def standard_finger(self):
|
||
values = [0,0,0,0,0, 0,0,0,0,0]
|
||
stub.Do(GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.Finger, values=values))
|
||
time.sleep(1.0)
|
||
|
||
# 弯腰以及手掌与放置面平齐
|
||
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 = self.status
|
||
angle = [scene.joints[i].angle for i in range(21)]
|
||
angle[0] = 15 # 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)
|
||
|
||
# 实现放置操作
|
||
def release_obj(self,release_pos):
|
||
print("------------------adjust_joints----------------------")
|
||
if release_pos==[340.0, 900.0, 99.0]:
|
||
self.ik_control_joints(2, release_pos[0]-40, release_pos[1]+35, 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()
|
||
print("------------------release_obj----------------------")
|
||
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() # 恢复肢体关节
|
||
self.standard_finger() # 恢复手指关节
|
||
return True
|
||
|
||
# 执行过程: Robot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=[247.0, 520.0, 100.0]):
|
||
self.control_robot_action(0, 1, "开始"+self.op_dialog[op_type]) # 输出正在执行的任务
|
||
if op_type < 8:
|
||
result = self.control_robot_action(op_type, 1)
|
||
if 8 <= op_type <= 12:
|
||
result = self.control_robot_action(self.op_typeToAct[op_type][0], self.op_typeToAct[op_type][1])
|
||
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)
|
||
if op_type == 16: # 抓握物体, 需要传入物品id
|
||
result = self.grasp_obj(obj_id)
|
||
if op_type == 17: # 放置物体, 放置物品, 需要传入放置地点
|
||
result = self.release_obj(release_pos)
|
||
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 find_obj(self,name):
|
||
for id, item in enumerate(self.status.objects):
|
||
if item.name == name:
|
||
print("name:",name,"id:",id,"X:",item.location.X,"Y:",item.location.Y,"Z:",item.location.Z,)
|
||
|
||
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)
|
||
|
||
def navigation_move(self, cur_objs, objs_name_set, cur_obstacle_world_points, v_list, map_ratio, db, scene_id=0, map_id=11):
|
||
print('------------------navigation_move----------------------')
|
||
scene = stub.Observe(GrabSim_pb2.SceneID(value=scene_id))
|
||
walk_value = [scene.location.X, scene.location.Y]
|
||
print("position:", walk_value)
|
||
|
||
if not cur_objs:
|
||
walk_v = [scene.location.X, scene.location.Y + 1]
|
||
yaw = Navigator.get_yaw(walk_value, walk_v)
|
||
walk_v = walk_value + [yaw, 250, 10]
|
||
print("walk_v", walk_v)
|
||
action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
|
||
scene = stub.Do(action)
|
||
cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs,
|
||
objs_name_set)
|
||
|
||
cur_obstacle_world_points = camera.get_obstacle_point(db, scene, cur_obstacle_world_points,map_ratio)
|
||
|
||
|
||
# if scene.info == "Unreachable":
|
||
print(scene.info)
|
||
|
||
# if map_id == 11: # coffee
|
||
# v_list = [[0, 880], [250, 1200], [-55, 750], [70, -200]]
|
||
# else:
|
||
# v_list = [[0.0, 0.0]]
|
||
|
||
else:
|
||
for walk_v in v_list:
|
||
yaw = Navigator.get_yaw(walk_value, walk_v)
|
||
walk_v = walk_v + [yaw, 250, 10]
|
||
print("walk_v", walk_v)
|
||
action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
|
||
scene = stub.Do(action)
|
||
|
||
cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs,
|
||
objs_name_set)
|
||
|
||
cur_obstacle_world_points = camera.get_obstacle_point(db, scene, cur_obstacle_world_points, map_ratio)
|
||
|
||
|
||
# if scene.info == "Unreachable":
|
||
print(scene.info)
|
||
return cur_objs, objs_name_set, cur_obstacle_world_points
|
||
|
||
def isOutMap(self, pos, min_x=-200, max_x=600, min_y=-250, max_y=1300):
|
||
if pos[0] <= min_x or pos[0] >= max_x or pos[1] <= min_y or pos[1] >= max_y:
|
||
return True
|
||
return False
|
||
|
||
def real2map(self, 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 + 200))
|
||
y = math.floor((y + 250))
|
||
return x, y
|
||
|
||
def explore(self, map, explore_range):
|
||
scene = stub.Observe(GrabSim_pb2.SceneID(value=0))
|
||
cur_pos = [int(scene.location.X), int(scene.location.Y)]
|
||
for i in range(cur_pos[0] - explore_range, cur_pos[0] + explore_range + 1):
|
||
for j in range(cur_pos[1] - explore_range, cur_pos[1] + explore_range + 1):
|
||
if self.isOutMap((i, j)):
|
||
continue
|
||
x, y = self.real2map(i, j)
|
||
if map[x, y] == 0:
|
||
self.visited.add((i, j))
|
||
self.auto_map[x][y] = 0
|
||
for i in range(cur_pos[0] - explore_range, cur_pos[0] + explore_range + 1):
|
||
for j in range(cur_pos[1] - explore_range, cur_pos[1] + explore_range + 1):
|
||
if self.isOutMap((i, j)):
|
||
continue
|
||
x, y = self.real2map(i, j)
|
||
if map[x, y] == 0:
|
||
if self.isNewFrontier((i, j), map):
|
||
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"主动探索完成！保存了二维地图与环境中重点物品语义信息！")
|
||
|
||
# # 画地图: X行Y列，第一行在下面
|
||
# plt.clf()
|
||
# plt.imshow(self.auto_map, cmap='binary', alpha=0.5, origin='lower',
|
||
# extent=(-250, 1300,
|
||
# -200, 600))
|
||
# plt.show()
|
||
# print("已绘制完成地图！！！")
|
||
|
||
return None
|
||
# # 画地图: X行Y列，第一行在下面
|
||
# plt.imshow(self.auto_map, cmap='binary', alpha=0.5, origin='lower',
|
||
# extent=(-250, 1300,
|
||
# -200, 600))
|
||
# plt.show()
|
||
# print("已绘制部分地图！")
|
||
return self.getNearestFrontier(cur_pos, self.all_frontier_list)
|
||
|
||
def isNewFrontier(self, pos, map):
|
||
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:
|
||
x, y = self.real2map(node[0], node[1])
|
||
if not self.isOutMap((node[0], node[1])) and node not in self.visited and map[x, y] == 0:
|
||
return True
|
||
if (pos[0], pos[1]) in self.all_frontier_list:
|
||
self.all_frontier_list.remove((pos[0], pos[1]))
|
||
return False
|
||
|
||
def getDistance(self, pos1, pos2):
|
||
return math.sqrt((pos1[0] - pos2[0]) ** 2 + (pos1[1] - pos2[1]) ** 2)
|
||
|
||
def getNearestFrontier(self, cur_pos, frontiers):
|
||
dis_min = sys.maxsize
|
||
frontier_best = None
|
||
for frontier in frontiers:
|
||
dis = self.getDistance(frontier, cur_pos)
|
||
if dis <= dis_min:
|
||
dis_min = dis
|
||
frontier_best = frontier
|
||
return frontier_best
|
||
|
||
|
||
|
||
def cal_distance_to_robot(self,objx,objy,objz):
|
||
scene = self.status
|
||
ginger_x, ginger_y, ginger_z = [int(scene.location.X), int(scene.location.Y),100]
|
||
return math.sqrt((ginger_x - objx) ** 2 + (ginger_y - objy) ** 2 + (ginger_z - objz) ** 2)
|
||
|
||
# 根据map文件判断是否可达
|
||
def reachable(self, pos):
|
||
x, y = self.real2map(pos[0], pos[1])
|
||
if self.map_file[x, y] == 0:
|
||
return True
|
||
else:
|
||
return False
|