394 lines
13 KiB
Python
394 lines
13 KiB
Python
import time
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import grpc
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import numpy as np
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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 image_extract(camera_data):
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image = camera_data.images[0]
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return np.frombuffer(image.data, dtype=image.dtype).reshape(
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(image.height, image.width, image.channels)
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)
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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 移动到6, 11-12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","关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘"]
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self.op_act_num = [0,3,4,6,3,2,0,1,0,0,0,0,0]
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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]],[[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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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 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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stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID))
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# reset world
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init_world()
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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, velocity=150, dis_limit=100):
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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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v = [X, Y, Yaw - 90, velocity, dis_limit]
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print(v)
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action = 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=v
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)
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scene_info = stub.Do(action)
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return scene_info
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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 image_extract(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 image_extract(camera_data)
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else:
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return camera_data
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def get_camera_segment(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_Segment], scene=self.sceneID
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)
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)
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if image_only:
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return image_extract(camera_data)
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else:
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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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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 op_task_execute(self,op_type):
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self.control_robot_action(0, 1, "开始"+self.op_dialog[op_type]) # 开始制作咖啡
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if op_type>=8:
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result = self.control_robot_action(self.op_typeToAct[op_type][0], self.op_typeToAct[op_type][1])
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else:
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result = self.control_robot_action(op_type, 1) #
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self.control_robot_action(0, 2)
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if result:
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if self.op_act_num[op_type]>0:
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for i in range(2,2+self.op_act_num[op_type]):
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self.control_robot_action(op_type,i)
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self.control_robot_action(0, 2)
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self.control_robot_action(0, 1, "成功"+self.op_dialog[op_type])
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else:
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self.control_robot_action(0, 1, self.op_dialog[op_type]+"失败")
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def move_task_area(self,op_type=1):
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if op_type>=8 and op_type<=10:
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v_list = self.op_v_list[6]
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else:
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v_list = self.op_v_list[op_type]
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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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print("------------------move_task_area----------------------")
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print("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, 60, 0]
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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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def test_move(self):
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v_list = [[0, 880], [250, 1200], [-55, 750], [70, -200]]
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scene = self.status
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for walk_v in v_list:
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walk_v = walk_v + [scene.rotation.Yaw - 90, 600, 100]
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print("walk_v", walk_v)
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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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print(scene.info)
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