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仿真环境下实现场景切换、定位物体和导航行走

news 2025/2/27 6:05:15

1. 代码（以微波炉为例）

from ai2thor.controller import Controller
import math
import randomdef distance_2d(pos1, pos2):"""计算两点之间的二维欧几里得距离（忽略Z轴）"""return math.sqrt((pos1['x'] - pos2['x']) ** 2 + (pos1['y'] - pos2['y']) ** 2)def get_reachable_positions(controller):"""获取所有可达位置"""reachable_positions = controller.step(action="GetReachablePositions").metadata["actionReturn"]return [{k: pos[k] for k in ['x', 'y']} for pos in reachable_positions]def move_towards_target_2d(controller, target_position):"""导航到目标位置（仅考虑X和Y坐标）"""max_attempts = 5attempt = 0while attempt < max_attempts:current_position = {k: controller.last_event.metadata["agent"]["position"][k] for k in ['x', 'y']}if distance_2d(current_position, target_position) <= 0.5:  # 目标精度为0.5米print("到达目标附近")return Truediff_x = target_position['x'] - current_position['x']diff_y = target_position['y'] - current_position['y']if abs(diff_x) > abs(diff_y):action = "MoveRight" if diff_x > 0 else "MoveLeft"else:action = "MoveAhead" if diff_y > 0 else "MoveBack"event = controller.step(action=action, moveMagnitude=0.5)print(f"移动：{action}{event.metadata['lastActionSuccess']}")if not event.metadata["lastActionSuccess"]:print(f"移动失败：{event.metadata['errorMessage']}")possible_actions = ["MoveRight", "MoveLeft", "MoveAhead", "MoveBack"]possible_actions.remove(action)  # 移除当前尝试失败的动作random_action = random.choice(possible_actions)event = controller.step(action=random_action, moveMagnitude=0.5)if not event.metadata["lastActionSuccess"]:print(f"尝试反方向移动也失败了：{event.metadata['errorMessage']}")back_action = "MoveBack" if diff_y > 0 else "MoveAhead"controller.step(action=back_action, moveMagnitude=0.5)attempt += 1continueelse:print(f"新方向移动成功：{random_action}")print("不知道如何抵达")return Falsedef manual_movement(controller):"""手动控制移动"""while True:user_input = input("请输入移动指令（WASD键分别代表上、左、下、右），输入Q退出手动模式：").upper()if user_input == 'Q':print("退出手动模式")breakelif user_input in ['W', 'A', 'S', 'D']:action_map = {'W': 'MoveAhead', 'A': 'MoveLeft', 'S': 'MoveBack', 'D': 'MoveRight'}action = action_map[user_input]event = controller.step(action=action, moveMagnitude=0.5)if event.metadata["lastActionSuccess"]:print(f"{action} 成功！")else:print(f"{action} 失败：{event.metadata['errorMessage']}")else:print("无效输入，请重新输入")controller = Controller(width=1280,height=720,fieldOfView=110,visibilityDistance=5,renderInstanceSegmentation=True
)scenes = ["FloorPlan1", "FloorPlan201", "FloorPlan301", "FloorPlan401"]
scene_names = ["厨房", "客厅", "卧室", "浴室"]while True:scene_choice = input("请输入场景编号（1-厨房，2-客厅，3-卧室，4-浴室），输入'Q'进入手动模式：")if scene_choice.lower() == 'q':print("进入手动模式")manual_movement(controller)continuetry:scene_number = int(scene_choice)if scene_number < 1 or scene_number > 4:raise ValueError()except ValueError:print("无效的输入，请重新输入")continueselected_scene = scenes[scene_number - 1]selected_scene_name = scene_names[scene_number - 1]controller.reset(selected_scene)reachable_positions = get_reachable_positions(controller)microwaves = [obj for obj in controller.last_event.metadata["objects"] if obj["objectType"] == "Microwave"]if len(microwaves) > 0:target = microwaves[0]target_position = {'x': target["position"]['x'], 'y': target["position"]['y']}print(f"{selected_scene_name}中目标微波炉位置: {target_position}")success = move_towards_target_2d(controller, target_position)if success:# 抓取动作event = controller.step(action="PickupObject", objectId=target["objectId"])if event.metadata["lastActionSuccess"]:print(f"{selected_scene_name}中抓取成功！")else:print(f"{selected_scene_name}中抓取失败：{event.metadata['errorMessage']}")else:print(f"{selected_scene_name}中没有微波炉")controller.stop()