HTTP/2 200 server: GitHub.com content-type: text/plain; charset=utf-8 last-modified: Sun, 28 May 2023 09:05:55 GMT access-control-allow-origin: * strict-transport-security: max-age=31556952 etag: W/"64731973-14fe" expires: Thu, 01 Jan 2026 00:50:37 GMT cache-control: max-age=600 content-encoding: gzip x-proxy-cache: MISS x-github-request-id: 32B1:3FD64F:BBFBB9:D39EAE:6955C285 accept-ranges: bytes age: 0 date: Thu, 01 Jan 2026 00:40:37 GMT via: 1.1 varnish x-served-by: cache-bom-vanm7210094-BOM x-cache: MISS x-cache-hits: 0 x-timer: S1767228038.586280,VS0,VE211 vary: Accept-Encoding x-fastly-request-id: 8d08ceceecc742aa59c01d48b556ef0708aaa404 content-length: 1474 # Python 2D robot control script import numpy as np from perception_utils import is_obj_visible, get_visible_obj_names, get_loc_names, get_robot_pos_and_angle from action_utils import goto_pos, goto_loc, pick_obj, place_at_obj, place_at_pos, say from plan_utils import transform_traj, parse_position, parse_loc_name, parse_obj_name # make the robot go in a 1m square two times around the current pose. traj = parse_position('a 1m square around the current pose with 4 points') say('ok - moving twice in a 1m square around where I am') for _ in range(2): follow_traj(traj, speed=0.5) # do the same motion but with a bigger square. traj = transform_traj('make it bigger by 1.5', traj_pts=traj) say('no problem - making the square bigger by 1.5 times') follow_traj(traj, speed=0.5) # do the same motion but faster say('no problem - go faster') follow_traj(traj, speed=0.75) # go in a 1.5m circle around the table. traj = parse_position('a 1.5m circle around the table with 20 points') follow_traj(traj, speed=0.5) # do the same motion but slower say('no problem - go slower') follow_traj(traj, speed=0.25) # do it again but slightly moved to the right. traj = transform_traj('move to the right by 0.5m', traj_pts=traj) say('got it - moving the square to the right by 0.5m') follow_traj(traj, speed=0.5) # now do it backwards. traj = transform_traj('reverse it', traj_pts=traj) say('sure thing - moving backwards through the square') follow_traj(traj, speed=0.5) # go to the middle of the chairs as fast as you can. target_pos = parse_position('a point in the middle of the chairs') say('ok - going to the middle of the chairs') goto_pos(target_pos, speed=1) # take the marker from the cart and put it in the second container from the left on the table. say('sure - moving the marker on the cart into the second container from the left on the table') marker_loc = 'cart' goto_loc(marker_loc); pick_obj('marker') goto_loc('table'); container_name = parse_obj_name('the second container from the left', f'objects = {get_visible_obj_names()}') place_at_obj(container_name) # move the coke can on the table a bit to the left of the mug on the desk. coke_loc = 'table' goto_loc(coke_loc); pick_obj('coke can') mug_loc = 'desk' goto_loc(mug_loc); target_pos = parse_position('a point 5cm to the left of the mug') place_at_pos(target_pos) # is there a coke can on the chair. goto_loc('chair') if is_obj_visible('coke can', loc='chair'): say('Yes - there is a coke can on the chair') else: say('No - there is no coke can on the chair') # are there snacks on the countertop. snacks_loc = 'countertop' goto_loc(snacks_loc); snack_names = parse_obj_name('the snacks', f'objects = {get_visible_obj_names()}') if len(snack_names) > 0: say('Yes - there are snacks on the countertop') else: say('No - there are no snacks on the countertop') # move the coke can on the table a bit to the left. coke_loc = 'table' goto_loc(coke_loc) target_pos = parse_position('a point 5cm to the left of the coke can') goto_loc(coke_loc); pick_obj('coke can') place_at_pos(target_pos) # here is my desk. say('ok') my_desk_pos, my_desk_angle = get_robot_pos_and_angle() # get a carbonated drink from the desk and bring it to my desk. say('sure - bringing a carbonated drink from the desk to your desk') carbonated_drink_loc = 'desk' goto_loc(carbonated_drink_loc); carbonated_drink_name = parse_obj_name('a carbonated drink', f'objects = {get_visible_obj_names()}') goto_loc(carbonated_drink_pos); pick_obj(carbonated_drink_name) goto_pos(my_desk_pos, angle=my_desk_angle) # the snacks are on the cart and the plate is on the countertop. snack_loc = 'cart' plate_loc = 'countertop' say('got it') # put the snacks on the plate. say('got it - taking the snacks from the cart and putting them in the plate on the countertop') goto_loc(snack_loc); snack_names = parse_obj_name('the snacks', f'objects = {get_visible_obj_names()}') for snack_name in snack_names: goto_loc(snack_loc); pick_obj(snack_name) goto_loc(plate_loc) place_at_obj('plate') # keep looking until you see an apple on the table. say('ok - I\'ll keep looking for an apple on the table.') goto_loc('table') while True: if is_obj_visible('apple', loc='table'): break say('I see an apple') # go in a square around the current position one step at a time. say('sure - going in a square around where I am one step at a time') traj = parse_position('a 1m square around the current pose with 4 points') for pos in traj: goto_pos(pos) # this is the shopping cart. shopping_cart_pos, shopping_cart_angle = get_robot_pos_and_angle() shopping_cart_name = 'shopping cart' say('ok') # the vegetables are on the shelf. vegetable_loc = 'shelf' say('ok') # put the vegetables on the shopping cart. say('got it - putting vegetables from the shelf to the shopping cart') goto_loc(vegetable_loc); vegetable_names = parse_obj_name('the vegetables', f'objects = {get_visible_obj_names()}') for vegetable_name in vegetable_names: goto_loc(vegetable_loc); pick_obj(vegetable_name) goto_pos(shopping_cart_pos, angle=shopping_cart_angle) place_at_obj(shopping_cart_name) # keep checking for books on the boookshelf and tell me how many are there each time. while True: goto_loc('boookshelf'); book_names = parse_obj_name('the books', f'objects = {get_visible_obj_names()}') say('there are {len(book_names)} books on the bookshelf')