{"id":115753,"date":"2026-10-13T10:09:34","date_gmt":"2026-10-13T02:09:34","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/115753.html"},"modified":"2026-10-13T10:09:34","modified_gmt":"2026-10-13T02:09:34","slug":"%e3%80%90%e7%a7%91%e6%b2%83%e6%96%af-%e5%85%ab%e7%95%8c%e3%80%91-%e7%a7%91%e6%b2%83%e6%96%af%e5%85%ab%e7%95%8c%e5%bc%80%e6%ba%90%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%9c%ba%e6%99%af%e6%b7%b1%e5%ba%a6","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/115753.html","title":{"rendered":"\u3010\u79d1\u6c83\u65af-\u516b\u754c\u3011- \u79d1\u6c83\u65af\u516b\u754c\u5f00\u6e90\u673a\u5668\u4eba\u573a\u666f\u6df1\u5ea6\u4f53\u9a8c"},"content":{"rendered":"<hr \/>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020929-6acd92d9c9ca3.png\" alt=\"\u79d1\u6c83\u65af\u516b\u754c\u5f00\u53d1\u8005\u5f00\u6e90\u5171\u521b\u5927\u8d5b\" \/><\/p>\n<hr \/>\n<h4>\u79d1\u6c83\u65af\u516b\u754c\u5f00\u6e90\u673a\u5668\u4eba\u573a\u666f\u6df1\u5ea6\u4f53\u9a8c<\/h4>\n<ul>\n<li>\u5f15\u8a00<\/li>\n<li>\u4e00\u3001\u516b\u754c &#8211; \u4ecb\u7ecd<\/li>\n<li>\u4e8c\u3001\u516b\u754c\u5230\u5bb6\u7b2c\u4e00\u6b65<\/li>\n<li>\u4e09\u3001\u5f00\u53d1\u73af\u5883\u914d\u7f6e<\/li>\n<li>\n<ul>\n<li>3.1 \u5f00\u6e90\u4ed3\u5e93\u4e0b\u8f7d<\/li>\n<li>3.2 \u5f00\u53d1\u73af\u5883\u8bf4\u660e<\/li>\n<li>3.3 \u7b2c\u4e00\u4e2a\u7a0b\u5e8f\u6d4b\u8bd5<\/li>\n<\/ul>\n<\/li>\n<li>\u56db\u3001\u5404\u79cdDemo \u6d4b\u8bd5<\/li>\n<li>\n<ul>\n<li>4.1 \u65b0\u624b\u4e0a\u8def<\/li>\n<li>4.2 Python \u7248\u672c\u73a9\u5177\u914d\u9001\u793a\u4f8b<\/li>\n<li>4.3 Python \u684c\u9762\u6574\u7406\u793a\u4f8b<\/li>\n<li>4.4 Python \u7384\u5173\u978b\u5b50\u6574\u7406<\/li>\n<li>4.5 Python \u73a9\u5177\u6536\u7eb3\u6574\u7406<\/li>\n<\/ul>\n<\/li>\n<li>\u4e94\u3001\u521b\u610f\u573a\u666f\u6d4b\u8bd5<\/li>\n<li>\n<ul>\n<li>5.1 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u73a9\u5177\u6536\u7eb3\u5b8c\u6574\u4f18\u5316\u7248&#xff09;<\/li>\n<li>\n<ul>\n<li>5.1.1 \u811a\u672c\u529f\u80fd<\/li>\n<li>5.1.2 \u5b8c\u6574\u6267\u884c\u94fe\u8def&#xff1a;<\/li>\n<li>5.1.3 \u76ee\u5f55\u4e0e\u7ed3\u6784<\/li>\n<li>5.1.4 \u914d\u7f6e\u533a<\/li>\n<li>5.1.5 \u547d\u4ee4\u884c\u53c2\u6570<\/li>\n<li>5.1.6 \u91cd\u8bd5\u7b56\u7565\u603b\u7ed3<\/li>\n<li>5.1.7 \u8fd0\u884c\u65b9\u5f0f&#xff1a;<\/li>\n<\/ul>\n<\/li>\n<li>5.2 \u9910\u684c\u7eb8\u5dfe\u9001\u7269\u4efb\u52a1<\/li>\n<li>\n<ul>\n<li>5.2.1 \u811a\u672c\u529f\u80fd<\/li>\n<li>5.2.2 \u6267\u884c\u94fe\u8def<\/li>\n<li>5.2.3 \u811a\u672c\u7ed3\u6784<\/li>\n<li>5.2.4 \u529f\u80fd\u6982\u89c8<\/li>\n<li>5.2.5 \u914d\u7f6e\u533a<\/li>\n<li>5.2.6 \u547d\u4ee4\u884c\u53c2\u6570<\/li>\n<li>5.2.7 \u8fd0\u884c\u65b9\u5f0f<\/li>\n<\/ul>\n<\/li>\n<li>5.3 \u516b\u754c\u673a\u5668\u4eba\u6574\u7406\u7384\u5173\u978b\u5b50\u4ee3\u7801\u793a\u4f8b<\/li>\n<li>\n<ul>\n<li>5.3.1 \u811a\u672c\u529f\u80fd<\/li>\n<li>5.3.2 \u6267\u884c\u94fe\u8def<\/li>\n<li>5.3.3\u811a\u672c\u7ed3\u6784<\/li>\n<li>5.3.4 \u529f\u80fd\u6982\u89c8<\/li>\n<li>5.3.5 \u914d\u7f6e\u533a<\/li>\n<li>5.3.6 \u547d\u4ee4\u884c\u53c2\u6570<\/li>\n<li>5.2.7 \u8fd0\u884c\u65b9\u5f0f<\/li>\n<\/ul>\n<\/li>\n<li>5.4 \u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406<\/li>\n<li>\n<ul>\n<li>5.4.1 \u811a\u672c\u529f\u80fd<\/li>\n<li>5.4.2 \u6267\u884c\u94fe\u8def<\/li>\n<li>5.4.3 \u811a\u672c\u7ed3\u6784<\/li>\n<li>5.4.4 \u529f\u80fd\u6982\u89c8<\/li>\n<li>5.4.5 \u914d\u7f6e\u533a<\/li>\n<li>5.4.6 \u547d\u4ee4\u884c\u53c2\u6570<\/li>\n<li>5.4.7 \u8fd0\u884c\u65b9\u5f0f<\/li>\n<\/ul>\n<\/li>\n<li>5.5 \u73a9\u5177\u6536\u7eb3\u548c\u978b\u5b50\u6574\u7406<\/li>\n<li>\n<ul>\n<li>5.5.1 \u811a\u672c\u529f\u80fd<\/li>\n<li>5.5.2\u6267\u884c\u94fe\u8def<\/li>\n<li>5.5.3 \u811a\u672c\u7ed3\u6784<\/li>\n<li>5.5.4 \u529f\u80fd\u6982\u89c8<\/li>\n<li>5.5.5 \u914d\u7f6e\u533a<\/li>\n<li>5.5.6 \u547d\u4ee4\u884c\u53c2\u6570<\/li>\n<li>5.5.7 \u8fd0\u884c\u65b9\u5f0f<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li>\u516d\u3001\u6d4b\u8bc4\u5c0f\u7ed3<\/li>\n<\/ul>\n<hr \/>\n<h2>\u5f15\u8a00<\/h2>\n<p>CSDN \u63a8\u9001\u4e86\u300c\u79d1\u6c83\u65af\u516b\u754c\u5f00\u53d1\u8005\u5f00\u6e90\u5171\u521b\u5927\u8d5b\u300d\u7684\u8c03\u67e5\u95ee\u5377\u4fe1\u606f&#xff0c;\u91cc\u9762\u9644\u6709\u4e00\u4efd\u79d1\u6c83\u65af\u673a\u5668\u4eba\u6d4b\u8bc4\u5f81\u6587\u7684\u8c03\u67e5\u95ee\u5377\u94fe\u63a5\u3002\u5f53\u65f6\u53ea\u662f\u987a\u624b\u586b\u5199\u4e86\u4e00\u4e0b&#xff0c;\u586b\u5b8c\u4fbf\u6ca1\u518d\u653e\u5728\u5fc3\u4e0a\u3002\u6ca1\u60f3\u5230\u8fc7\u4e86\u4e00\u6bb5\u65f6\u95f4&#xff0c;CSDN \u7684\u5de5\u4f5c\u4eba\u5458\u8054\u7cfb\u5230\u6211&#xff0c;\u544a\u77e5\u6211\u88ab\u79d1\u6c83\u65af\u9009\u4e2d&#xff0c;\u6210\u4e3a\u53c2\u4e0e\u6d4b\u8bc4\u7684KOL\u4e4b\u4e00\u3002\u8bf4\u5b9e\u8bdd&#xff0c;\u6211\u4ece\u672a\u60f3\u8fc7\u81ea\u5df1\u4e5f\u80fd\u6709\u8fd9\u6837\u7684\u673a\u4f1a&#xff0c;\u5fc3\u91cc\u65e2\u60ca\u559c\u53c8\u671f\u5f85&#xff0c;\u5fcd\u4e0d\u4f4f\u8fde\u58f0\u611f\u53f9\u3002 \u5728\u516b\u754c\u5f00\u6e90\u673a\u5668\u4eba\u6b63\u5f0f\u5230\u624b\u4e4b\u524d&#xff0c;\u6211\u5148\u53bb\u79d1\u6c83\u65af\u5b98\u7f51\u505a\u4e86\u4e00\u756a\u529f\u8bfe&#xff1a;\u4e86\u89e3\u5b83\u7684\u6838\u5fc3\u53c2\u6570\u3001\u5916\u89c2\u8bbe\u8ba1\u3001\u5f00\u6e90\u751f\u6001\u4ee5\u53ca\u6240\u652f\u6301\u7684\u73af\u5883\u7b49\u4fe1\u606f\u3002\u5f53\u65f6\u5fc3\u91cc\u5c31\u5728\u60f3&#xff0c;\u8fd9\u53f0\u673a\u5668\u4eba\u4e2a\u5934\u4e0d\u5c0f&#xff0c;\u5f00\u6e90\u80fd\u529b\u53c8\u4e30\u5bcc&#xff0c;\u60f3\u5fc5\u4f1a\u975e\u5e38\u597d\u73a9\u3002\u4e8b\u5b9e\u8bc1\u660e&#xff0c;\u7b49\u5b83\u771f\u6b63\u5230\u624b\u4e4b\u540e&#xff0c;\u679c\u7136\u6ca1\u6709\u8ba9\u6211\u5931\u671b&#xff01;<\/p>\n<hr \/>\n<h2>\u4e00\u3001\u516b\u754c &#8211; \u4ecb\u7ecd<\/h2>\n<hr \/>\n<p>\u5728\u4e2d\u79cb\u5047\u671f\u7b2c\u4e00\u5929&#xff0c;\u516b\u754c\u5230\u4e86\u3002\u56e0\u4e3a\u4e0a\u4e00\u4f4dKOL\u5df2\u7ecf\u5b8c\u6210\u4e86\u6d4b\u8bc4&#xff0c;\u6240\u4ee5\u8fd9\u53f0\u516b\u754c\u662f\u7ecf\u8fc7\u4e00\u8f6e\u6d41\u8f6c\u540e\u5230\u6211\u624b\u4e0a\u7684\u3002\u6536\u5230\u5feb\u9012\u65f6&#xff0c;\u5305\u88c5\u7bb1\u6bd4\u9884\u60f3\u4e2d\u5927\u4e0d\u5c11&#xff0c;\u5916\u7bb1\u4e0a\u5370\u7740\u79d1\u6c83\u65af\u7684\u54c1\u724c\u6807\u8bc6\u548c\u516b\u754c\u7684\u578b\u53f7\u4fe1\u606f&#xff0c;\u6574\u4f53\u4fdd\u62a4\u5f97\u5f88\u5230\u4f4d&#xff0c;\u56db\u5468\u90fd\u6709\u6ce1\u6cab\u7f13\u51b2&#xff0c;\u770b\u5f97\u51fa\u5b98\u65b9\u5728\u8fd0\u8f93\u73af\u8282\u8003\u8651\u5f97\u5f88\u5468\u5168\u3002<\/p>\n<p>\u62c6\u5f00\u5916\u7bb1&#xff0c;\u91cc\u9762\u662f\u4e24\u5c42\u7ed3\u6784&#xff1a;\u4e0a\u5c42\u662f\u914d\u4ef6\u76d2&#xff0c;\u4e0b\u5c42\u662f\u4e3b\u673a\u3002\u914d\u4ef6\u76d2\u91cc\u6574\u9f50\u5730\u653e\u7740\u73a9\u5177\u6536\u7eb3\u7b50\u3001\u5145\u7535\u5e95\u5ea7\u3002\u4e3b\u673a\u88ab\u539a\u5b9e\u7684\u9632\u5c18\u888b\u5305\u88f9\u7740&#xff0c;\u53d6\u51fa\u65f6\u80fd\u660e\u663e\u611f\u53d7\u5230\u5b83\u7684\u5206\u91cf\u2014\u2014\u6574\u673a\u7528\u6599\u624e\u5b9e&#xff0c;\u5916\u58f3\u662f\u78e8\u7802\u8d28\u611f\u7684\u5de5\u7a0b\u5851\u6599&#xff0c;\u8fb9\u89d2\u5904\u7406\u5f97\u6bd4\u8f83\u5706\u6da6&#xff0c;\u6ca1\u6709\u6bdb\u523a\u611f&#xff0c;\u505a\u5de5\u5c5e\u4e8e\u673a\u5668\u4eba\u91cc\u6bd4\u8f83\u8bb2\u7a76\u7684\u90a3\u4e00\u6863\u3002<\/p>\n<p>\u628a\u516b\u754c\u79fb\u9664\u5305\u88c5&#xff0c;\u63a8\u51fa\u5305\u88c5\u7bb1&#xff0c;\u7b2c\u4e00\u773c\u5370\u8c61\u5c31\u662f\u300c\u5927\u300d\u3002\u5b83\u7684\u5e95\u76d8\u6bd4\u5e38\u89c1\u7684\u626b\u5730\u673a\u5668\u4eba\u5bbd\u51fa\u4e00\u5708\u3002\u673a\u8eab\u6b63\u9762\u6709\u4e00\u5757\u5c0f\u5c4f\u5e55&#xff0c;\u5f00\u673a\u540e\u4f1a\u663e\u793a\u7cfb\u7edf\u72b6\u6001\u548c\u57fa\u7840\u4ea4\u4e92\u4fe1\u606f&#xff0c;\u8fdb\u5165\u9996\u9875\u4e4b\u540e\u5c4f\u5e55\u4e0a\u663e\u793a\u4e86\u516b\u4e2a\u529f\u80fd&#xff0c;\u4ee5\u53ca\u8bbe\u5907\u7684\u72b6\u6001\u4fe1\u606f\u3002\u6574\u4f53\u8bbe\u8ba1\u8bed\u8a00\u504f\u7b80\u6d01\u786c\u6717&#xff0c;\u79d1\u6280\u611f\u6bd4\u8f83\u5f3a\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020930-6acd92dae6ffa.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u5f00\u673a\u4e4b\u540e&#xff0c;\u7cfb\u7edf\u542f\u52a8\u901f\u5ea6\u5f88\u5feb&#xff0c;\u8fdb\u5165\u4e3b\u754c\u9762\u540e\u80fd\u770b\u5230\u57fa\u4e8e\u5f00\u6e90\u7cfb\u7edf\u5b9a\u5236\u7684\u684c\u9762\u73af\u5883\u3002\u521d\u6b65\u628a\u73a9\u4e0b\u6765&#xff0c;\u89e6\u63a7\u54cd\u5e94\u7075\u654f&#xff0c;\u83dc\u5355\u903b\u8f91\u6e05\u6670&#xff0c;\u5bf9\u5f00\u53d1\u8005\u6765\u8bf4\u4e0a\u624b\u95e8\u69db\u4e0d\u9ad8\u3002\u8003\u8651\u5230\u5b83\u540c\u65f6\u5177\u5907\u79fb\u52a8\u5e95\u76d8\u3001\u5f00\u653e\u63a5\u53e3\u548c\u53ef\u7f16\u7a0b\u80fd\u529b&#xff0c;\u8fd9\u53f0\u673a\u5668\u4eba\u7684\u53ef\u73a9\u6027\u786e\u5b9e\u6bd4\u666e\u901a\u5bb6\u7528\u673a\u5668\u4eba\u9ad8\u51fa\u4e00\u5927\u622a&#xff0c;\u4e5f\u8ba9\u6211\u5bf9\u540e\u7eed\u7684\u6df1\u5ea6\u6d4b\u8bc4\u66f4\u671f\u5f85\u4e86\u3002<\/p>\n<ul>\n<li>\u5916\u89c2\u4ecb\u7ecd<\/li>\n<\/ul>\n<table>\n<tr>\u90e8\u4f4d\u5916\u89c2\u63cf\u8ff0\u529f\u80fd\/\u8bbe\u8ba1\u8981\u70b9<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u6574\u4f53\u5f62\u6001<\/td>\n<td align=\"left\">\u5706\u67f1\u5f62\u5e95\u5ea7 &#043; \u76f4\u7acb\u5f0f\u673a\u8eab&#xff0c;\u914d\u8272\u4ee5\u7c73\u767d&#043;\u6df1\u7070\u9ed1\u4e3a\u4e3b&#xff0c;\u5e95\u90e8\u5e26\u84dd\u8272\u73af\u5f62\u6c1b\u56f4\u706f<\/td>\n<td align=\"left\">\u4eba\u5f62\u5316\u6bd4\u4f8b&#xff0c;\u517c\u987e\u7a33\u5b9a\u6027\u548c\u901a\u8fc7\u6027&#xff1b;\u89c6\u89c9\u4e0a\u4eb2\u548c&#xff0c;\u9002\u5408\u5bb6\u5ead\/\u529e\u516c\u573a\u666f<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u673a\u8eab\u5c3a\u5bf8<\/td>\n<td align=\"left\">\u76f4\u5f84 465 mm \u00d7 \u9ad8\u5ea6 850~1290 mm<\/td>\n<td align=\"left\">\u9ad8\u5ea6\u53ef\u5347\u964d&#xff0c;\u7ad9\u7acb\u65f6\u63a5\u8fd1\u6210\u4eba\u8170\u90e8\u5230\u80f8\u90e8\u4e4b\u95f4<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5934\u90e8<\/td>\n<td align=\"left\">\u9876\u90e8\u6a21\u5757\u5316\u8bbe\u8ba1&#xff0c;\u542b\u9ed1\u8272\u5149\u8026\u533a\u3001\u8bed\u97f3\u6a21\u7ec4\u5b54\u9635\u3001\u9876\u90e8\u6563\u70ed\u683c\u6805<\/td>\n<td align=\"left\">\u627f\u8f7d\u5934\u90e8 RGBD \u76f8\u673a\u3001\u8bed\u97f3\u62fe\u97f3\u3001\u5149\u8026\u78b0\u649e\u68c0\u6d4b<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5934\u90e8 RGBD \u76f8\u673a<\/td>\n<td align=\"left\">\u9876\u90e8\u524d\u65b9\u4e00\u4e2a\u9ed1\u8272\u65b9\u5757\u76f8\u673a\u6a21\u7ec4<\/td>\n<td align=\"left\">\u7528\u4e8e\u5934\u90e8\u89c6\u89d2\u7684\u573a\u666f\u611f\u77e5\u3001VLM \u611f\u77e5\u3001\u653e\u7f6e\u6846\u8bc6\u522b<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u624b\u90e8 RGBD \u76f8\u673a<\/td>\n<td align=\"left\">\u673a\u68b0\u81c2\u672b\u7aef\u9760\u8fd1\u5939\u722a\u7684\u4f4d\u7f6e&#xff0c;\u4e00\u4e2a\u5c0f\u578b\u76f8\u673a\u6a21\u7ec4<\/td>\n<td align=\"left\">\u7528\u4e8e\u6293\u53d6\u524d\u7684\u8fd1\u8ddd\u79bb\u89c2\u6d4b&#xff08;ARM \u89c6\u89d2&#xff09;<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u673a\u68b0\u81c2<\/td>\n<td align=\"left\">\u6df1\u7070\u9ed1\u8272\u516d\u81ea\u7531\u5ea6\u673a\u68b0\u81c2&#xff0c;\u4f4d\u4e8e\u673a\u8eab\u6b63\u9762\u4e0a\u534a\u90e8\u5206&#xff0c;\u53ef\u6298\u53e0\u6536\u7eb3<\/td>\n<td align=\"left\">\u81c2\u5c55 800 mm&#xff0c;\u7528\u4e8e\u6293\u53d6\u3001\u653e\u7f6e\u3001\u7cbe\u7ec6\u64cd\u4f5c<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u672b\u7aef\u5939\u722a<\/td>\n<td align=\"left\">\u4e24\u6307\u5e73\u884c\u5f00\u5408\u5939\u722a&#xff0c;\u94f6\u7070\u8272&#xff0c;\u5939\u722a\u5185\u4fa7\u5e26\u4f20\u611f\u5668\u4e0e UV \u706f<\/td>\n<td align=\"left\">\u5f00\u5408\u884c\u7a0b 0~100 mm&#xff0c;\u53ef\u68c0\u6d4b\u6293\u7d27\/\u6ed1\u52a8\/\u6389\u843d&#xff0c;\u652f\u6301 UV \u6e05\u6d01<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u673a\u8eab\u4e3b\u4f53<\/td>\n<td align=\"left\">\u6b63\u9762\u4e3a\u9ed1\u8272\u9762\u677f&#xff08;\u5185\u5d4c 7 \u5bf8\u89e6\u6478\u5c4f&#xff09;&#xff0c;\u4fa7\u9762\u4e3a\u7c73\u767d\u8272\u5916\u58f3<\/td>\n<td align=\"left\">\u5c4f\u5e55\u7528\u4e8e\u4ea4\u4e92&#xff1b;\u5916\u58f3\u5185\u6709\u5d4c\u5165\u5f0f\u4e3b\u677f\u4e0e\u7b97\u529b\u6a21\u5757<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5347\u964d\u5e73\u53f0<\/td>\n<td align=\"left\">\u673a\u8eab\u4e2d\u6bb5\u53ef\u5347\u964d\u7684\u67f1\u72b6\u7ed3\u6784<\/td>\n<td align=\"left\">440 mm \u884c\u7a0b&#xff0c;\u901f\u5ea6 50 mm\/s&#xff0c;\u8ba9\u673a\u68b0\u81c2\u8986\u76d6 0~850 mm \u9ad8\u5ea6\u5e73\u9762<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5e95\u76d8<\/td>\n<td align=\"left\">\u5706\u5f62\u5e95\u5ea7 &#043; \u53cc\u9a71\u8f6e &#043; \u4e07\u5411\u8f6e&#xff0c;\u524d\u90e8\u6709\u6fc0\u5149\u96f7\u8fbe\u7a97\u53e3<\/td>\n<td align=\"left\">\u9759\u97f3\u53cc\u9a71\u5e95\u76d8&#xff0c;\u6700\u5c0f\u901a\u8fc7\u5bbd\u5ea6 60 cm&#xff0c;\u6700\u5927\u901f\u5ea6 0.4 m\/s<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6fc0\u5149\u96f7\u8fbe<\/td>\n<td align=\"left\">\u5e95\u76d8\u524d\u90e8\u4e00\u4e2a\u5706\u5f62\u7a97\u53e3<\/td>\n<td align=\"left\">dToF \u6fc0\u5149\u96f7\u8fbe&#xff0c;\u7528\u4e8e SLAM \u5efa\u56fe\u4e0e\u5bfc\u822a<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u907f\u969c\u4f20\u611f\u5668<\/td>\n<td align=\"left\">\u5e95\u76d8\u56db\u5468\u5206\u5e03\u9762\u9635 ToF\u3001\u7ebf\u6fc0\u5149\u3001\u649e\u677f<\/td>\n<td align=\"left\">\u591a\u6a21\u6001\u907f\u969c&#xff0c;\u4fdd\u969c\u79fb\u52a8\u5b89\u5168<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u4e0b\u89c6\u4f20\u611f\u5668<\/td>\n<td align=\"left\">\u5e95\u76d8\u5e95\u90e8 8 \u9897<\/td>\n<td align=\"left\">\u9632\u6b62\u8dcc\u843d\u3001\u68c0\u6d4b\u53f0\u9636<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5c4f\u5e55<\/td>\n<td align=\"left\">\u673a\u8eab\u6b63\u9762 7 \u5bf8\u89e6\u6478\u5c4f&#xff0c;\u591a\u70b9\u89e6\u63a7<\/td>\n<td align=\"left\">\u663e\u793a\u72b6\u6001\u3001\u4ea4\u4e92\u53cd\u9988\u3001\u5efa\u56fe\u63a7\u5236<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u8bed\u97f3\u6a21\u7ec4<\/td>\n<td align=\"left\">\u5934\u90e8\/\u673a\u8eab\u4e0a\u7684\u9ea6\u514b\u98ce\u9635\u5217\u548c\u626c\u58f0\u5668<\/td>\n<td align=\"left\">\u516d\u73af\u9ea6\u514b\u98ce &#043; \u5355\u58f0\u9053\u626c\u58f0\u5668&#xff0c;\u652f\u6301\u58f0\u7eb9\u8bc6\u522b<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5145\u7535\u6869<\/td>\n<td align=\"left\">\u9ed1\u8272\u5e95\u5ea7\u5f0f\u5145\u7535\u6869&#xff0c;\u5e26\u91d1\u5c5e\u89e6\u70b9\u548c\u5bfc\u5411\u69fd<\/td>\n<td align=\"left\">\u673a\u5668\u4eba\u81ea\u52a8\u56de\u5145\u5bf9\u63a5\u89e6\u70b9<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u7ebf\u7f06<\/td>\n<td align=\"left\">\u5145\u7535\u6869\u8fde\u63a5\u5230\u5899\u9762\u63d2\u5ea7<\/td>\n<td align=\"left\">\u5e38\u89c4 220V \u4f9b\u7535<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6574\u4f53\u98ce\u683c<\/td>\n<td align=\"left\">\u7b80\u6d01\u3001\u79d1\u6280\u611f\u3001\u5bb6\u7535\u5316&#xff0c;\u7b26\u5408\u79d1\u6c83\u65af\u4e00\u8d2f\u7684\u5de5\u4e1a\u8bbe\u8ba1\u8bed\u8a00<\/td>\n<td align=\"left\">\u9002\u5408\u5728\u5ba4\u5185\u73af\u5883\u4e2d\u957f\u671f\u653e\u7f6e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<ul>\n<li>\u5916\u89c2\u56fe\u7247 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020931-6acd92db1570c.jpg\" alt=\"\u516b\u754c\u539f\u56fe\" \/><\/li>\n<\/ul>\n<hr \/>\n<h2>\u4e8c\u3001\u516b\u754c\u5230\u5bb6\u7b2c\u4e00\u6b65<\/h2>\n<hr \/>\n<ul>\n<li>\n<p>1\u3001\u6062\u590d\u51fa\u5382\u8bbe\u7f6e \u5148\u6062\u590d\u51fa\u5382\u8bbe\u7f6e&#xff0c;\u907f\u514d\u88ab\u4e0a\u4e00\u4f4d KOL \u7684\u6570\u636e\u5f71\u54cd<\/p>\n<\/li>\n<li>\n<p>2\u3001\u81ea\u68c0 \u7b2c\u4e00\u6b65\u5c31\u662f\u901a\u8fc7\u5c4f\u5e55\u4e0a\u9762\u7684\u4e00\u952e\u68c0\u6d4b&#xff0c;\u68c0\u67e5\u516b\u754c\u7684\u5404\u4e2a\u786c\u4ef6\u3001\u4f20\u611f\u5668\u3001\u4ee5\u53ca\u8865\u5149\u706f&#xff0c;\u6fc0\u5149\u96f7\u8fbe\u7b49\u662f\u5426\u6b63\u5e38 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020931-6acd92dbc46ed.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<\/li>\n<li>\n<p>3\u3001\u5efa\u56fe \u7b2c\u4e8c\u6b65\u5c31\u662f\u8fde\u63a5 WIFI \u5efa\u56fe&#xff0c;\u540e\u7eed\u7684\u6240\u6709\u529f\u80fd\u90fd\u4f9d\u8d56\u8fd9\u4e2a\u5730\u56fe\u3002\u5bfc\u822a&#xff0c;\u5b9a\u4f4d\u7b49 \u5efa\u56fe\u6700\u597d\u662f\u5c06\u516b\u754c\u63a8\u56de\u5145\u7535\u6869\u540e\u5728\u6267\u884c&#xff0c;\u4ee5\u53ca\u5c06\u516b\u754c\u653e\u5230\u5899\u8fb9&#xff0c;\u4ed6\u5c06\u4ee5\u5145\u7535\u6869\u5f00\u59cb\u5efa\u56fe&#xff0c;\u4e0d\u60f3\u8ba9\u4ed6\u53bb\u7684\u5730\u65b9&#xff0c;\u53ef\u4ee5\u5173\u95e8&#xff0c;\u6216\u8005\u4f7f\u7528\u51f3\u5b50\u62e6\u622a\u5b83 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020931-6acd92dbe935c.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<\/li>\n<li>\n<p>4\u3001\u8bed\u4e49\u5730\u56fe\u793a\u4f8b \u7531\u4e8e\u5fd8\u8bb0\u62cd\u7167\u7559\u5b58&#xff0c;\u6240\u4ee5\u753b\u56fe\u793a\u610f\u4e00\u4e0b \u73a9\u5177\u6536\u7eb3\u533a&#xff0c;\u7384\u5173\u90fd\u662f\u5efa\u56fe\u5b8c\u6210\u4e4b\u540e\u624b\u52a8\u6539\u4e86\u4e00\u4e0b\u7684<\/p>\n<\/li>\n<\/ul>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020932-6acd92dc17efe.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<ul>\n<li>\n<p>5\u3001\u9762\u677f\u529f\u80fd\u6d4b\u8bd5 \u5b8c\u6210\u5efa\u56fe\u4e4b\u540e&#xff0c;\u6211\u4e5f\u5c06\u9762\u677f\u4e0a\u9762\u7684\u6240\u6709\u529f\u80fd\u90fd\u6d4b\u8bd5\u4e86\u4e00\u904d&#xff0c;\u4ee5\u53ca\u5c06\u6240\u6709\u76f8\u5173\u7684\u8bbe\u7f6e\u90fd\u770b\u4e86\u4e00\u904d&#xff0c;\u589e\u5f3a\u5bf9\u516b\u754c\u7684\u4e86\u89e3<\/p>\n<\/li>\n<li>\n<p>6\u3001\u53ef\u89c6\u5316\u63a7\u5236\u5e73\u53f0\u6d4b\u8bd5<\/p>\n<ul>\n<li>\n<p>\u53ef\u89c6\u5316\u5e73\u53f0\u94fe\u63a5 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020932-6acd92dc30db1.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<\/li>\n<li>\n<p>\u53ef\u89c6\u5316\u5e73\u53f0\u622a\u56fe <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020932-6acd92dc512a0.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<\/li>\n<li>\n<p>\u673a\u5668\u4eba\u63a7\u5236 \u6700\u5f00\u59cb\u6d4b\u8bd5\u7684\u65f6\u5019\u8fd8\u662f\u5728\u63a7\u5236\u673a\u5668\u4eba\u7684\u5404\u79cd\u57fa\u7840\u64cd\u4f5c <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020933-6acd92dd3c905.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<hr \/>\n<h2>\u4e09\u3001\u5f00\u53d1\u73af\u5883\u914d\u7f6e<\/h2>\n<hr \/>\n<h3>3.1 \u5f00\u6e90\u4ed3\u5e93\u4e0b\u8f7d<\/h3>\n<ul>\n<li>\n<p>\u4ed3\u5e93\u5730\u5740 &#xff1a;https:\/\/atomgit.com\/ecovacs-bajie\/bajie_sdk.git<\/p>\n<\/li>\n<li>\n<p>\u4ed3\u5e93\u7ed3\u6784 &#xff1a;<\/p>\n<p> bajie_sdk\/<br \/>\n\u251c\u2500\u2500 python\/<br \/>\n\u2502   \u251c\u2500\u2500 beginner_journey\/   # \u4ece\u8fde\u63a5\u5230\u6293\u653e\u95ed\u73af\u7684 Notebook \u8bfe\u7a0b<br \/>\n\u2502   \u251c\u2500\u2500 desk_demo\/          # \u684c\u9762\u6574\u7406<br \/>\n\u2502   \u251c\u2500\u2500 delivery_demo\/      # \u73a9\u5177\u9012\u9001<br \/>\n\u2502   \u251c\u2500\u2500 shoe_sorting\/       # \u978b\u5c65\u6574\u7406<br \/>\n\u2502   \u251c\u2500\u2500 toy_storage\/        # \u73a9\u5177\u6536\u7eb3<br \/>\n\u2502   \u2514\u2500\u2500 bajie_sdk-3.0.0-*.whl  # x86_64 \/ aarch64 Python SDK<br \/>\n\u251c\u2500\u2500 cpp\/<br \/>\n\u2502   \u251c\u2500\u2500 depend\/             # \u516c\u5f00\u5934\u6587\u4ef6\u4e0e\u9884\u7f16\u8bd1\u52a8\u6001\u5e93<br \/>\n\u2502   \u251c\u2500\u2500 desk_demo\/          # \u684c\u9762\u6574\u7406<br \/>\n\u2502   \u251c\u2500\u2500 delivery_demo\/      # \u73a9\u5177\u9012\u9001<br \/>\n\u2502   \u251c\u2500\u2500 shoe_sorting_demo\/  # \u978b\u5c65\u6574\u7406<br \/>\n\u2502   \u2514\u2500\u2500 toy_storage_demo\/   # \u73a9\u5177\u6536\u7eb3<br \/>\n\u251c\u2500\u2500 img\/                    # \u9879\u76ee\u4e0e\u573a\u666f\u56fe\u7247<br \/>\n\u251c\u2500\u2500 LICENSE<br \/>\n\u2514\u2500\u2500 NOTICE\n <\/li>\n<li>\n<p>\u4ed3\u5e93\u56fe\u7247 &#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020933-6acd92dd77b01.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h3>3.2 \u5f00\u53d1\u73af\u5883\u8bf4\u660e<\/h3>\n<table>\n<tr>\u9879\u76ee\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"center\">\u64cd\u4f5c\u7cfb\u7edf<\/td>\n<td align=\"center\">Windows10 \u4e0b Vmware \u865a\u62df\u673a \u5b89\u88c5\u7684 Ubuntu 22.04<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u7f16\u7a0b\u8bed\u8a00<\/td>\n<td align=\"center\">Python 3.10.12<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">SDK \u7248\u672c<\/td>\n<td align=\"center\">3.0.0<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u516b\u754c SDK<\/td>\n<td align=\"center\">bajie_sdk-3.0.0-cp310-cp310-linux_x86_64.whl<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u5b89\u88c5SDK<\/td>\n<td align=\"center\">python3 -m pip install .\/bajie_sdk-3.0.0-cp310-cp310-linux_aarch64.whl<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u9a8c\u8bc1\u5b89\u88c5<\/td>\n<td align=\"center\">python3 -c \u201cimport bajie_sdk; from importlib.metadata import version; print(\u2018ok\u2019, bajie_sdk.name, version(\u2018bajie-sdk\u2019))\u201d<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h3>3.3 \u7b2c\u4e00\u4e2a\u7a0b\u5e8f\u6d4b\u8bd5<\/h3>\n<p>\u6211\u6839\u636e Clone \u4e0b\u6765\u7684\u5f00\u53d1\u6587\u6863\u6b65\u9aa4\u8d70\u4e86\u4e00\u4e0b&#xff0c;\u51c6\u5907\u5f00\u59cb\u6d4b\u8bd5&#xff0c;\u5f00\u59cb\u8fd0\u884c\u7a0b\u5e8f\u65f6\u624d\u53d1\u73b0&#xff0c;\u6240\u6709\u7684\u64cd\u4f5c\u5fc5\u987b\u5148\u79bb\u5f00\u5145\u7535\u6869&#xff0c;\u4ee5\u53ca\u5728\u7a7a\u95f2\u6ca1\u6709\u4efb\u52a1\u65f6&#xff0c;\u624d\u80fd\u6267\u884c\u5404\u79cd\u64cd\u4f5c&#xff1b;\u6240\u4ee5\u540e\u9762\u6bcf\u6b21\u505a\u6d4b\u8bd5\u524d&#xff0c;\u6211\u8fd9\u8fb9\u90fd\u52a0\u4e86\u662f\u5426\u5728\u516b\u754c\u673a\u5668\u4eba\u5145\u7535\u6869\u4e0a&#xff0c;\u516b\u754c\u673a\u5668\u4eba\u662f\u5426\u7a7a\u95f2\u4ee5\u53ca\u516b\u754c\u673a\u5668\u4eba\u7684\u7535\u91cf\u5224\u65ad<\/p>\n<p><span class=\"token keyword\">from<\/span> bajie_sdk <span class=\"token keyword\">import<\/span> BajieRobot<br \/>\n<span class=\"token keyword\">import<\/span> math<\/p>\n<p>robot <span class=\"token operator\">&#061;<\/span> BajieRobot<span class=\"token punctuation\">(<\/span>ws_url<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;ws:\/\/192.168.31.179:9900\/)  # \u6216 ws_url&#061;&#034;<\/span>ws<span class=\"token punctuation\">:<\/span><span class=\"token operator\">\/\/<\/span><span class=\"token operator\">&lt;<\/span>IP<span class=\"token operator\">&gt;<\/span><span class=\"token punctuation\">:<\/span><span class=\"token number\">9900<\/span><span class=\"token operator\">\/<\/span>&#034;<br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token keyword\">not<\/span> robot<span class=\"token punctuation\">.<\/span>Connect<span class=\"token punctuation\">(<\/span>timeout_sec<span class=\"token operator\">&#061;<\/span><span class=\"token number\">8.0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token keyword\">raise<\/span> RuntimeError<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u8fde\u63a5\u5931\u8d25&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>info <span class=\"token operator\">&#061;<\/span> robot<span class=\"token punctuation\">.<\/span>eco_robotInfo<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u7535\u91cf:&#034;<\/span><span class=\"token punctuation\">,<\/span> info<span class=\"token punctuation\">.<\/span>battery<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u5de5\u4f5c\u72b6\u6001:&#034;<\/span><span class=\"token punctuation\">,<\/span> info<span class=\"token punctuation\">.<\/span>workState<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u5f02\u5e38\u544a\u8b66:&#034;<\/span><span class=\"token punctuation\">,<\/span> info<span class=\"token punctuation\">.<\/span>alarm<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u5730\u56fe\u5750\u6807:&#034;<\/span><span class=\"token punctuation\">,<\/span> info<span class=\"token punctuation\">.<\/span>pos<span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># \u539f\u5730\u65cb\u8f6c\u4e00\u5708&#xff08;360\u00b0 &#061; 2\u03c0 rad&#xff09;&#xff0c;\u65e0\u9700\u5730\u56fe<\/span><br \/>\nst <span class=\"token operator\">&#061;<\/span> robot<span class=\"token punctuation\">.<\/span>eco_moveChassis<span class=\"token punctuation\">(<\/span>move_distance<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> move_angle<span class=\"token operator\">&#061;<\/span><span class=\"token number\">2<\/span> <span class=\"token operator\">*<\/span> math<span class=\"token punctuation\">.<\/span>pi<span class=\"token punctuation\">,<\/span> timeout_sec<span class=\"token operator\">&#061;<\/span><span class=\"token number\">30.0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token keyword\">print<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\u65cb\u8f6c\u5b8c\u6210:&#034;<\/span><span class=\"token punctuation\">,<\/span> st<span class=\"token punctuation\">.<\/span>task_id<span class=\"token punctuation\">,<\/span> st<span class=\"token punctuation\">.<\/span>error_info<span class=\"token punctuation\">.<\/span>code<span class=\"token punctuation\">)<\/span><br \/>\nrobot<span class=\"token punctuation\">.<\/span>Disconnect<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u6253\u5370\u65e5\u5fd7\u5982\u4e0b<\/p>\n<p>[bajie_sdk] WebSocket \u5df2\u8fde\u63a5&#xff08;192.168.31.179:9900&#xff09;<br \/>\nConnect: \u7b49\u5f85 robot_info \u63a8\u9001\u4e0a\u62a5&#xff08;\u6700\u591a 8s&#xff09;&#8230;<br \/>\nConnect: robot_info \u63a5\u6536\u5b8c\u6bd5<br \/>\n\u7535\u91cf: BatteryInfo(value&#061;98, isCharge&#061;0, mode&#061;3)<br \/>\n\u5de5\u4f5c\u72b6\u6001: WorkState(task_id&#061;&#039;&#039;, name&#061;&#039;&#039;, cmd&#061;&#039;idle&#039;)<br \/>\n\u5f02\u5e38\u544a\u8b66: []<br \/>\n\u5730\u56fe\u5750\u6807: Position(room&#061;&#039;\u5ba2\u5385&#039;, x&#061;1.3967406749725342, y&#061;0.18024346232414246, yaw&#061;-1.8191909790039062)<br \/>\n\u65cb\u8f6c\u5b8c\u6210: chassis_move_1745712345678_1 0<br \/>\n[bajie_sdk] WebSocket \u8fde\u63a5\u5df2\u5173\u95ed<\/p>\n<hr \/>\n<h2>\u56db\u3001\u5404\u79cdDemo \u6d4b\u8bd5<\/h2>\n<hr \/>\n<h3>4.1 \u65b0\u624b\u4e0a\u8def<\/h3>\n<table>\n<tr>\u9636\u6bb5Notebook\u4f60\u4f1a\u83b7\u5f97\u4ec0\u4e48<\/tr>\n<tbody>\n<tr>\n<td align=\"center\">\u8ba4\u77e5<\/td>\n<td align=\"center\">00_\u8ba4\u8bc6\u516b\u754c\u673a\u5668\u4eba\u4e0eSDK.ipynb<\/td>\n<td align=\"center\">SDK \u548c\u673a\u5668\u4eba\u4efb\u52a1\u7684\u57fa\u672c\u5fc3\u667a\u6a21\u578b<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u73af\u5883<\/td>\n<td align=\"center\">01_\u51c6\u5907\u73af\u5883\u4e0e\u5b89\u88c5SDK.ipynb<\/td>\n<td align=\"center\">Python\u3001wheel\u3001\u5bfc\u5165\u9a8c\u8bc1<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u8fde\u63a5<\/td>\n<td align=\"center\">02_\u7b2c\u4e00\u6b21\u8fde\u63a5\u673a\u5668\u4eba.ipynb<\/td>\n<td align=\"center\">\u8fde\u63a5\u3001\u65ad\u5f00\u3001\u57fa\u7840\u72b6\u6001<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u67e5\u8be2<\/td>\n<td align=\"center\">03_\u5b66\u4f1a\u67e5\u63a5\u53e3\u548c\u5b57\u6bb5.ipynb<\/td>\n<td align=\"center\">\u81ea\u5df1\u67e5\u65b9\u6cd5\u3001\u67e5\u7c7b\u578b\u3001\u751f\u6210 JSON \u6a21\u677f<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u5b89\u5168<\/td>\n<td align=\"center\">04_\u673a\u5668\u4eba\u72b6\u6001\u4e0e\u5b89\u5168\u68c0\u67e5.ipynb<\/td>\n<td align=\"center\">\u4efb\u52a1\u524d checklist<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u611f\u77e5<\/td>\n<td align=\"center\">05_\u62cd\u7167\u4e0e\u56fe\u50cf\u7406\u89e3.ipynb\u300106_\u5f00\u653e\u8bcd\u68c0\u6d4b\u5165\u95e8.ipynb<\/td>\n<td align=\"center\">\u62cd\u7167\u3001\u770b\u56fe\u3001\u68c0\u6d4b\u6846<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u884c\u52a8<\/td>\n<td align=\"center\">07_\u5bfc\u822a\u4e0e\u57fa\u7840\u672c\u4f53\u63a7\u5236.ipynb\u300108_\u540c\u6b65\u4efb\u52a1_\u5f02\u6b65\u56de\u8c03\u4e0e\u4efb\u52a1\u63a7\u5236.ipynb<\/td>\n<td align=\"center\">mission\u3001\u4efb\u52a1\u63a7\u5236\u3001\u56de\u8c03<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u95ed\u73af<\/td>\n<td align=\"center\">09_\u6293\u53d6\u653e\u7f6e\u6700\u5c0f\u95ed\u73af.ipynb<\/td>\n<td align=\"center\">\u4ece\u68c0\u6d4b\u5230\u6293\u653e\u7684\u6700\u5c0f\u94fe\u8def<\/td>\n<\/tr>\n<tr>\n<td align=\"center\">\u8fc1\u79fb<\/td>\n<td align=\"center\">10_\u8fdb\u9636\u4efb\u52a1\u4e0e\u73b0\u6709Demo\u5bfc\u8bfb.ipynb<\/td>\n<td align=\"center\">\u8bfb\u61c2\u73b0\u6709 demo \u5e76\u8fc1\u79fb\u5230\u811a\u672c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u4e00\u5f00\u59cb\u6211\u4ee5\u4e3a&#xff1a;<\/p>\n<ul>\n<li>SDK \u5c31\u662f\u4e00\u5806\u51fd\u6570&#xff0c;\u8c03\u5c31\u5b8c\u4e8b\u3002<\/li>\n<li>\u8fde\u4e0a\u673a\u5668\u4eba&#xff0c;\u53d1\u547d\u4ee4&#xff0c;\u673a\u5668\u4eba\u5c31\u52a8\u3002<\/li>\n<li>\u51fa\u9519\u4e86\u770b\u62a5\u9519\u5c31\u884c\u3002<\/li>\n<\/ul>\n<p>\u5b66\u5b8c\u4e4b\u540e\u53d1\u73b0&#xff1a;<\/p>\n<ul>\n<li>SDK \u5206\u4e24\u7c7b\u80fd\u529b&#xff0c;\u8d70\u7684\u534f\u8bae\u90fd\u4e0d\u4e00\u6837&#xff1a;\n<ul>\n<li>Mission \u7c7b&#xff1a;\u5bfc\u822a\u3001\u62cd\u7167\u3001\u6293\u53d6\u3001\u653e\u7f6e\u3001\u672c\u4f53\u63a7\u5236 \u2192 \u8d70 WebSocket&#xff0c;\u4f1a\u4ea7\u751f task_id&#xff0c;\u8981\u7b49 finish\u3002<\/li>\n<li>\u611f\u77e5\u7c7b&#xff1a;OVD \u68c0\u6d4b\u3001VLM \u611f\u77e5\u3001embedding\u3001\u76f8\u4f3c\u5ea6 \u2192 \u8d70 HTTP&#xff0c;\u4e0d\u4ea7\u751f mission\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\u673a\u5668\u4eba\u662f\u7269\u7406\u8bbe\u5907&#xff0c;\u4e0d\u662f\u7eaf\u8f6f\u4ef6\u3002\u547d\u4ee4\u53d1\u51fa\u53bb\u4e4b\u540e\u8981\u7b49\u5b83\u771f\u7684\u6267\u884c\u5b8c\u3002<\/li>\n<li>\u51fa\u9519\u4e0d\u53ea\u662f\u4ee3\u7801\u95ee\u9898&#xff0c;\u8fd8\u53ef\u80fd\u662f\u7535\u91cf\u3001\u544a\u8b66\u3001\u5730\u56fe\u3001\u5145\u7535\u72b6\u6001\u3001\u573a\u5730\u969c\u788d\u3002<\/li>\n<li>\u8fde\u7684 IP \u4e0d\u662f\u5c4f\u5e55\u4e0a\u7684\u5b89\u5353 IP&#xff0c;\u800c\u662f Linux \u677f IP&#xff0c;\u9ed8\u8ba4 ws:\/\/10.10.10.11:9900\/\u3002<\/li>\n<\/ul>\n<hr \/>\n<h3>4.2 Python \u7248\u672c\u73a9\u5177\u914d\u9001\u793a\u4f8b<\/h3>\n<p>delivery_demo \u662f\u4e00\u4e2a\u7ed3\u6784\u6e05\u6670\u3001\u6709\u91cd\u8bd5\u3001\u6709\u5f02\u5e38\u5904\u7406\u3001\u6709\u8bed\u97f3\u53cd\u9988\u7684\u5b8c\u6574\u4e1a\u52a1\u6d41\u7a0b\u793a\u4f8b\u3002 \u5b83\u5c55\u793a\u4e86\u4ece\u201c\u4f1a\u8c03\u5355\u4e2a eco_* \u63a5\u53e3\u201d\u5230\u201c\u80fd\u7f16\u6392\u4e00\u4e2a\u771f\u5b9e\u673a\u5668\u4eba\u4efb\u52a1\u201d\u7684\u8de8\u8d8a&#xff0c;\u662f\u5b66\u4e60 SDK \u9ad8\u9636\u7528\u6cd5\u7684\u6700\u4f73\u5165\u53e3\u4e4b\u4e00\u3002<\/p>\n<ul>\n<li>\n<p>\u529f\u80fd\u6982\u89c8<\/p>\n<table>\n<tr>\u6b65\u9aa4\u80fd\u529b<\/tr>\n<tbody>\n<tr>\n<td>1<\/td>\n<td>\u539f\u5730\u627e\u73a9\u5177&#xff1a;eco_findObject<\/td>\n<\/tr>\n<tr>\n<td>2<\/td>\n<td>\u624b\u90e8\u89c2\u6d4b&#xff1a;eco_lookto(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td>3<\/td>\n<td>\u624b\u90e8\u62cd\u7167&#xff1a;eco_captureImages(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td>4<\/td>\n<td>OVD \u8bc6\u522b&#xff1a;eco_detect_objects<\/td>\n<\/tr>\n<tr>\n<td>5<\/td>\n<td>\u7cbe\u51c6\u6293\u53d6&#xff1a;eco_pick<\/td>\n<\/tr>\n<tr>\n<td>6<\/td>\n<td>\u8bed\u4e49\u5bfc\u822a\u5230\u684c\u5b50&#xff1a;eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td>7<\/td>\n<td>\u5934\u90e8\u62cd\u7167&#xff1a;eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td>8<\/td>\n<td>PutWhere \u63a8\u8350&#xff1a;eco_put_where_summary<\/td>\n<\/tr>\n<tr>\n<td>9<\/td>\n<td>\u8bed\u4e49\u653e\u7f6e&#xff1a;eco_place_with_view<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/li>\n<li>\n<p>\u76ee\u5f55\u7ed3\u6784\u4e0e\u804c\u8d23<\/p>\n<p> delivery_demo\/<br \/>\n\u251c\u2500\u2500 delivery_demo.py   # CLI \u5165\u53e3&#xff0c;\u53c2\u6570\u89e3\u6790<br \/>\n\u251c\u2500\u2500 workflow.py        # \u6d41\u7a0b\u7f16\u6392&#xff1a;\u8fde\u63a5\u3001\u5355\u8f6e\u6267\u884c\u3001\u91cd\u8bd5\u3001\u6536\u5c3e<br \/>\n\u251c\u2500\u2500 planning.py        # \u641c\u7d22\u4e0e\u4f4d\u59ff\u9009\u62e9<br \/>\n\u251c\u2500\u2500 execution.py       # \u89c2\u6d4b\u3001\u6293\u53d6\u3001\u5bfc\u822a\u3001\u653e\u7f6e\u7684\u5177\u4f53\u6267\u884c<br \/>\n\u251c\u2500\u2500 models.py          # \u914d\u7f6e\u6570\u636e\u7ed3\u6784 DeliveryConfig<br \/>\n\u251c\u2500\u2500 errors.py          # \u5f02\u5e38\u5b9a\u4e49<br \/>\n\u2514\u2500\u2500 README.md          # \u4f7f\u7528\u8bf4\u660e\n <\/li>\n<li>\n<p>\u91cd\u8bd5\u7b56\u7565<\/p>\n<ul>\n<li>\u641c\u7d22\u4e0d\u5230\u73a9\u5177\u65f6&#xff0c;\u4f1a\u6267\u884c eco_finishRobotPose&#xff0c;\u7136\u540e\u6b63\u5e38\u7ed3\u675f\u914d\u9001\u6d41\u7a0b\u3002<\/li>\n<li>\u6293\u53d6\u6d41\u7a0b\u6700\u591a\u91cd\u8bd5 3 \u6b21\u3002\u6bcf\u6b21\u91cd\u8bd5\u90fd\u4f1a\u91cd\u65b0\u6267\u884c\u624b\u90e8\u89c2\u6d4b\u3001\u624b\u90e8\u62cd\u7167\u3001OVD \u8bc6\u522b\u548c\u7cbe\u51c6\u6293\u53d6\u3002<\/li>\n<li>\u6293\u53d6\u4e2d\u9047\u5230 36897\/\u7269\u4f53\u6389\u843d\u65f6&#xff0c;\u4ec5\u5224\u5b9a\u4e3a\u672c\u6b21\u6293\u53d6\u5c1d\u8bd5\u5931\u8d25&#xff0c;\u7ee7\u7eed\u8fdb\u5165\u4e0b\u4e00\u6b21\u6293\u53d6\u91cd\u8bd5\u3002<\/li>\n<li>\u6293\u53d6\u6210\u529f\u540e\u624d\u4f1a\u6267\u884c\u8bed\u4e49\u5bfc\u822a\u5230\u684c\u5b50\u3002<\/li>\n<li>\u653e\u7f6e\u6d41\u7a0b\u6700\u591a\u91cd\u8bd5 3 \u6b21\u3002\u6bcf\u6b21\u91cd\u8bd5\u90fd\u4f1a\u91cd\u65b0\u6267\u884c\u5934\u90e8\u62cd\u7167\u3001PutWhere \u63a8\u8350\u548c\u8bed\u4e49\u653e\u7f6e\u3002<\/li>\n<li>\u82e5\u8fde\u7eed 3 \u6b21\u6293\u53d6\u5931\u8d25\u6216\u8fde\u7eed 3 \u6b21\u653e\u7f6e\u5931\u8d25&#xff0c;\u6d41\u7a0b\u629b\u51fa RobotMissionError \u5e76\u7ed3\u675f\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8fd0\u884c\u65b9\u5f0f \u5728\u4ed3\u5e93\u6839\u76ee\u5f55\u6267\u884c&#xff1a;<\/p>\n<p> python3 bajie_demo\/python\/delivery_demo\/delivery_demo.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;ws-url ws:\/\/10.10.10.12:9900\/\n <\/li>\n<\/ul>\n<hr \/>\n<h3>4.3 Python \u684c\u9762\u6574\u7406\u793a\u4f8b<\/h3>\n<p>desk_demo \u662f\u4e00\u4e2a VLM \u9a71\u52a8\u7684\u684c\u9762\u6574\u7406\u95ed\u73af&#xff1a; \u611f\u77e5 \u2192 \u89c4\u5212 \u2192 \u6267\u884c \u2192 \u8bc4\u5224 \u2192 \u4e0d\u8fbe\u6807\u5c31\u518d\u6765\u4e00\u8f6e\u3002 \u5b83\u5c55\u793a\u4e86\u4ece\u201c\u4f1a\u8c03\u5355\u4e2a\u63a5\u53e3\u201d\u5230\u201c\u80fd\u7f16\u6392\u5e26 AI \u51b3\u7b56\u7684\u5b8c\u6574\u673a\u5668\u4eba\u4efb\u52a1\u201d\u7684\u8de8\u8d8a&#xff0c;\u662f\u51e0\u4e2a demo \u91cc\u6700\u503c\u5f97\u7cbe\u8bfb\u7684\u4e00\u4e2a\u3002<\/p>\n<ul>\n<li>\n<p>\u529f\u80fd\u6982\u89c8<\/p>\n<table>\n<tr>\u6b65\u9aa4\u80fd\u529b\u5bf9\u5e94\u63a5\u53e3<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">1<\/td>\n<td align=\"left\">\u91cd\u5b9a\u4f4d<\/td>\n<td align=\"left\">eco_relocate<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">2<\/td>\n<td align=\"left\">\u51c6\u5907\u59ff\u6001<\/td>\n<td align=\"left\">eco_prepareRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u8bed\u4e49\u5bfc\u822a\u5230\u684c\u5b50<\/td>\n<td align=\"left\">eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">4<\/td>\n<td align=\"left\">\u5347\u9ad8\u673a\u8eab<\/td>\n<td align=\"left\">eco_setRobotHeight(0.44)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">5<\/td>\n<td align=\"left\">\u5934\u90e8\u9009\u89d2&#xff08;\u591a\u89d2\u5ea6\u91c7\u6837&#xff09;<\/td>\n<td align=\"left\">eco_setRobotHead &#043; eco_captureImages &#043; eco_vlm_suggest_angle<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">6<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">7<\/td>\n<td align=\"left\">VLM \u684c\u9762\u611f\u77e5<\/td>\n<td align=\"left\">eco_vlm_perception<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">8<\/td>\n<td align=\"left\">VLM \u6574\u7406\u89c4\u5212<\/td>\n<td align=\"left\">eco_vlm_desk_sort_plan<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">9<\/td>\n<td align=\"left\">6D \u59ff\u6001\u8ba1\u7b97<\/td>\n<td align=\"left\">eco_computeObjectPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">10<\/td>\n<td align=\"left\">\u624b\u81c2\u5bf9\u51c6<\/td>\n<td align=\"left\">eco_lookto(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">11<\/td>\n<td align=\"left\">\u624b\u81c2\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">12<\/td>\n<td align=\"left\">bbox \u5339\u914d<\/td>\n<td align=\"left\">eco_vlm_match<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">13<\/td>\n<td align=\"left\">\u6293\u53d6<\/td>\n<td align=\"left\">eco_pick<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">14<\/td>\n<td align=\"left\">\u7cbe\u51c6\u653e\u7f6e<\/td>\n<td align=\"left\">eco_place_3D<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">15<\/td>\n<td align=\"left\">\u5bb9\u5668\u653e\u7f6e<\/td>\n<td align=\"left\">eco_place_in<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">16<\/td>\n<td align=\"left\">\u6574\u7406\u6548\u679c\u8bc4\u5224<\/td>\n<td align=\"left\">eco_vlm_judge<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">17<\/td>\n<td align=\"left\">\u673a\u68b0\u81c2\u5f52\u4f4d<\/td>\n<td align=\"left\">eco_setRobotArmMode(ARM_HOME)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">18<\/td>\n<td align=\"left\">\u7ed3\u675f\u59ff\u6001<\/td>\n<td align=\"left\">eco_finishRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">19<\/td>\n<td align=\"left\">\u8bed\u97f3\u64ad\u62a5<\/td>\n<td align=\"left\">eco_robotSpeech<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/li>\n<li>\n<p>\u76ee\u5f55\u7ed3\u6784\u4e0e\u804c\u8d23<\/p>\n<p> desk_demo\/<br \/>\n\u251c\u2500\u2500 desk_demo.py       # CLI \u5165\u53e3&#xff0c;\u53c2\u6570\u89e3\u6790<br \/>\n\u251c\u2500\u2500 workflow.py        # \u4e3b\u5de5\u4f5c\u6d41&#xff1a;\u91cd\u5b9a\u4f4d\u3001\u51c6\u5907\u59ff\u6001\u3001\u5faa\u73af\u3001\u7ed3\u675f\u59ff\u6001<br \/>\n\u251c\u2500\u2500 perception.py      # \u611f\u77e5\u5de5\u4f5c\u6d41&#xff1a;\u5bfc\u822a\u3001\u5347\u9ad8\u3001\u9009\u89d2\u3001\u62cd\u7167\u3001VLM \u611f\u77e5<br \/>\n\u251c\u2500\u2500 planning.py        # \u89c4\u5212&#xff1a;eco_vlm_desk_sort_plan \u2192 intent_steps<br \/>\n\u251c\u2500\u2500 execution.py       # \u6267\u884c&#xff1a;6D \u59ff\u6001\u3001\u89c2\u6d4b\u3001bbox \u5339\u914d\u3001\u6293\u53d6\u3001\u653e\u7f6e<br \/>\n\u251c\u2500\u2500 judge.py           # \u8bc4\u5224&#xff1a;eco_vlm_judge<br \/>\n\u251c\u2500\u2500 models.py          # DeskConfig<br \/>\n\u251c\u2500\u2500 errors.py          # DeskDemoError \u53ca\u5b50\u7c7b<br \/>\n\u251c\u2500\u2500 retry_utils.py     # \u7edf\u4e00\u91cd\u8bd5 &#043; \u9519\u8bef\u7801\u5206\u7c7b<br \/>\n\u251c\u2500\u2500 speech.py          # \u56fa\u5b9a\u6587\u6848\u8bed\u97f3\u64ad\u62a5<br \/>\n\u251c\u2500\u2500 grab_items.py      # \u8bfb\u53d6\u53ef\u6293\u6e05\u5355&#xff0c;\u62fc\u63a5 memory_input<br \/>\n\u251c\u2500\u2500 grab_items.md      # \u53ef\u6293\u7269\u54c1\u6e05\u5355<br \/>\n\u251c\u2500\u2500 ref_utils.py       # \u5de5\u5177&#xff1a;task_id\u3001JSON \u8bfb\u5199\u3001RGB \u8f6c\u6362<br \/>\n\u2514\u2500\u2500 README.md          # \u4f7f\u7528\u8bf4\u660e\n <\/li>\n<li>\n<p>\u8fd0\u884c\u65b9\u5f0f<\/p>\n<ul>\n<li>\n<p>\u524d\u7f6e\u6761\u4ef6<\/p>\n<ul>\n<li>\u4ee3\u7801\u4e0e SDK \u90e8\u7f72\u4f4d\u7f6e\u4e00\u81f4&#xff08;\u540c\u5728 PC \u6216\u540c\u5728\u673a\u5668\u4eba\u677f\u7aef&#xff09;\u3002<\/li>\n<li>\u5df2\u5b8c\u6210\u8bed\u4e49\u5efa\u56fe\u3002<\/li>\n<li>\u673a\u8eab\u7535\u91cf &gt; 30%&#xff0c;\u4e14\u672a\u5904\u4e8e\u5145\u7535\u72b6\u6001\u3002<\/li>\n<li>PC \u7aef\u89e6\u53d1\u65f6&#xff0c;PC \u548c\u673a\u5668\u4eba\u8fde\u540c\u4e00\u4e2a WiFi\u3002<\/li>\n<li>\u51c6\u5907\u53ef\u6293\u7269\u54c1&#xff1a;\u5c0f\u578b\u73a9\u5076\u3001\u95f9\u949f\u3001\u9a6c\u514b\u7b14\u3001\u9b54\u65b9&#xff08;\u975e\u8d35\u91cd\u3001\u975e\u6613\u788e&#xff09;\u3002<\/li>\n<li>\u5982\u679c\u7528\u7684\u662f Qwen \u7cfb\u5217\u6a21\u578b&#xff0c;\u6ce8\u610f\u5b83\u53ef\u80fd\u628a \u623f\u95f40\u7684\u684c\u5b501 \u5199\u6210 \u623f\u95f4 0\u7684\u684c\u5b50 1&#xff0c;\u5bfc\u81f4\u533a\u57df\u5339\u914d\u5931\u8d25\u3002\u5efa\u8bae\u5728\u53ef\u89c6\u5316\u5e73\u53f0\u628a\u5bb6\u5177\u540d\u6539\u6210\u4e0d\u542b\u6570\u5b57\u7684&#xff0c;\u5982 \u4e66\u684c\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>PC \u7aef\u8fd0\u884c<\/p>\n<p> <span class=\"token builtin class-name\">cd<\/span> bajie_demo\/python\/desk_demo<\/p>\n<p>python3 desk_demo.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;ws-url ws:\/\/192.168.1.107:9900\/ <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;area-name <span class=\"token string\">&#034;\u623f\u95f40\u7684\u684c\u5b501&#034;<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;user-input <span class=\"token string\">&#034;\u628a\u73a9\u5076\u653e\u5230\u65e5\u5386\u524d\u9762&#034;<\/span>\n <\/li>\n<li>\n<p>\u673a\u5668\u4eba\u7aef\u8fd0\u884c<\/p>\n<p> <span class=\"token builtin class-name\">cd<\/span> bajie_demo\/python\/desk_demo<\/p>\n<p>python3 desk_demo.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;ws-url ws:\/\/127.0.0.1:9900\/ <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;area-name <span class=\"token string\">&#034;\u623f\u95f40\u7684\u684c\u5b501&#034;<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;user-input <span class=\"token string\">&#034;\u628a\u73a9\u5076\u653e\u5230\u65e5\u5386\u524d\u9762&#034;<\/span>\n <\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<hr \/>\n<h3>4.4 Python \u7384\u5173\u978b\u5b50\u6574\u7406<\/h3>\n<p>shoe_sorting \u662f\u4e00\u4e2a \u978b\u5b50\u6210\u5bf9\u6574\u7406 \u7684\u5b8c\u6574\u793a\u4f8b&#xff1a; SHOE \u68c0\u6d4b \u2192 \u914d\u5bf9 \u2192 \u7ebf\u9762\u6295\u5f71 \u2192 \u6446\u653e\u89c4\u5212 \u2192 \u81ea\u5b9a\u4e49\u8de8\u89c6\u56fe\u5339\u914d \u2192 \u6293\u53d6 \u2192 6D \u653e\u7f6e\u3002 \u5b83\u7684\u6838\u5fc3\u4e0d\u662f\u201c\u6293\u4e00\u4e2a\u4e1c\u897f\u201d&#xff0c;\u800c\u662f \u6210\u5bf9\u8bc6\u522b &#043; \u8de8\u89c6\u56fe\u5339\u914d &#043; \u6309\u7ebf\u9762\u6446\u653e&#xff0c;\u662f\u51e0\u4e2a demo \u91cc\u611f\u77e5\u94fe\u8def\u6700\u7ec6\u3001\u6700\u9002\u5408\u5b66\u89c6\u89c9\u5339\u914d\u4e0e\u89c4\u5212\u7684\u4e00\u4e2a\u3002<\/p>\n<ul>\n<li>\n<p>\u5b8c\u6574\u94fe\u8def&#xff1a;<\/p>\n<p> \u53d6\u6d88\u4efb\u52a1 \u2192 \u51c6\u5907\u59ff\u6001<br \/>\n\u2192 \u89e3\u6790\u6574\u7406\u533a\u57df&#xff08;\u8bed\u4e49\u533a\u57df \u6216 \u4e34\u65f6\u521b\u5efa&#xff09;<br \/>\n\u2192 \u5faa\u73af&#xff08;\u6700\u591a 3 \u6b21\u89c4\u5212\u5c1d\u8bd5&#xff09;&#xff1a;<br \/>\n    \u8bed\u4e49\u5bfc\u822a\u5230\u533a\u57df<br \/>\n    \u5934\u90e8\u62cd\u7167<br \/>\n    SHOE OVD \u68c0\u6d4b\u978b\u5b50<br \/>\n    \u978b\u5b50\u914d\u5bf9&#xff08;\u6807\u7b7e\u4f18\u5148 &#043; pairwise \u515c\u5e95&#xff09;<br \/>\n    \u7ebf\u9762\u6295\u5f71 &#043; \u6446\u653e\u89c4\u5212 eco_shoe_placement_plan<br \/>\n    \u9010\u6b65\u9aa4\u6267\u884c&#xff1a;<br \/>\n      \u624b\u81c2\u5bf9\u51c6 \u2192 \u624b\u81c2\u62cd\u7167 \u2192 \u81c2\u56fe\u68c0\u6d4b \u2192 \u8de8\u89c6\u56fe\u5339\u914d \u2192 \u6293\u53d6 \u2192 6D \u653e\u7f6e<br \/>\n\u2192 \u7ed3\u675f\u59ff\u6001 \u2192 \u6e05\u7406\u4e34\u65f6\u8bed\u4e49\u533a\u57df\n <\/li>\n<li>\n<p>\u529f\u80fd\u6982\u89c8<\/p>\n<table>\n<tr>\u6b65\u9aa4\u80fd\u529b\u5bf9\u5e94\u63a5\u53e3<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">1<\/td>\n<td align=\"left\">\u53d6\u6d88\u6240\u6709\u4efb\u52a1<\/td>\n<td align=\"left\">eco_cancelAllMissions<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">2<\/td>\n<td align=\"left\">\u51c6\u5907\u59ff\u6001<\/td>\n<td align=\"left\">eco_prepareRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u89e3\u6790\/\u521b\u5efa\u6574\u7406\u533a\u57df<\/td>\n<td align=\"left\">eco_manageSemanticMap(QUERY\/ADD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">4<\/td>\n<td align=\"left\">\u8bed\u4e49\u5bfc\u822a<\/td>\n<td align=\"left\">eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">5<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">6<\/td>\n<td align=\"left\">SHOE \u68c0\u6d4b<\/td>\n<td align=\"left\">eco_detect_objects(entry&#061;OvdEndpoint.SHOE)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">7<\/td>\n<td align=\"left\">\u978b\u5b50\u914d\u5bf9<\/td>\n<td align=\"left\">eco_pairwise &#043; \u81ea\u5b9a\u4e49 pair_shoes<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">8<\/td>\n<td align=\"left\">\u7ebf\u9762\u6295\u5f71<\/td>\n<td align=\"left\">project_place_line_and_plane<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">9<\/td>\n<td align=\"left\">\u6446\u653e\u89c4\u5212<\/td>\n<td align=\"left\">eco_shoe_placement_plan<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">10<\/td>\n<td align=\"left\">6D \u59ff\u6001<\/td>\n<td align=\"left\">eco_computeObjectPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">11<\/td>\n<td align=\"left\">\u624b\u81c2\u5bf9\u51c6<\/td>\n<td align=\"left\">eco_lookto(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">12<\/td>\n<td align=\"left\">\u624b\u81c2\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">13<\/td>\n<td align=\"left\">\u81c2\u56fe\u68c0\u6d4b<\/td>\n<td align=\"left\">eco_detect_objects(entry&#061;OvdEndpoint.SHOE)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">14<\/td>\n<td align=\"left\">\u8de8\u89c6\u56fe\u5339\u914d<\/td>\n<td align=\"left\">\u81ea\u5b9a\u4e49 custom_match_obj_views<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">15<\/td>\n<td align=\"left\">\u6293\u53d6<\/td>\n<td align=\"left\">eco_pick<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">16<\/td>\n<td align=\"left\">6D \u653e\u7f6e<\/td>\n<td align=\"left\">eco_place_3D<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">17<\/td>\n<td align=\"left\">\u7ed3\u675f\u59ff\u6001<\/td>\n<td align=\"left\">eco_prepareRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">18<\/td>\n<td align=\"left\">\u6e05\u7406\u4e34\u65f6\u533a\u57df<\/td>\n<td align=\"left\">eco_manageSemanticMap(DELETE)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">19<\/td>\n<td align=\"left\">\u8bed\u97f3\u64ad\u62a5<\/td>\n<td align=\"left\">eco_robotSpeech<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/li>\n<li>\n<p>\u76ee\u5f55\u7ed3\u6784\u4e0e\u804c\u8d23<\/p>\n<p> shoe_sorting\/<br \/>\n\u251c\u2500\u2500 shoe_sorting_demo.py   # \u5165\u53e3 &#043; \u4e3b\u6d41\u7a0b\u7f16\u6392<br \/>\n\u251c\u2500\u2500 planning.py            # \u914d\u5bf9\u3001\u7ebf\u9762\u6295\u5f71\u3001\u6446\u653e\u89c4\u5212<br \/>\n\u251c\u2500\u2500 execution.py           # \u5bf9\u51c6\u3001\u6293\u53d6\u3001\u653e\u7f6e\u3001\u91cd\u8bd5<br \/>\n\u251c\u2500\u2500 matching.py            # \u81ea\u5b9a\u4e49\u8de8\u89c6\u56fe\u5339\u914d&#xff08;6D &#043; \u65b9\u5411 &#043; \u89c6\u89c9&#xff09;<br \/>\n\u251c\u2500\u2500 pairing.py             # \u978b\u5b50\u914d\u5bf9&#xff08;\u6807\u7b7e\u4f18\u5148 &#043; pairwise \u515c\u5e95&#xff09;<br \/>\n\u251c\u2500\u2500 visualize_plans.py     # \u53ef\u89c6\u5316&#xff1a;\u914d\u5bf9\u3001\u89c4\u5212\u3001\u7ebf\u9762\u6295\u5f71<br \/>\n\u2514\u2500\u2500 README.md              # \u4f7f\u7528\u8bf4\u660e\n <\/li>\n<li>\n<p>\u5206\u5c42\u601d\u8def&#xff1a;<\/p>\n<table>\n<tr>\u5c42\u6587\u4ef6\u804c\u8d23<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u5165\u53e3\/\u7f16\u6392\u5c42<\/td>\n<td align=\"left\">shoe_sorting_demo.py<\/td>\n<td align=\"left\">\u53c2\u6570\u89e3\u6790\u3001\u533a\u57df\u89e3\u6790\u30013 \u6b21\u89c4\u5212\u5faa\u73af\u3001\u9010\u6b65\u9aa4\u6267\u884c<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u89c4\u5212\u5c42<\/td>\n<td align=\"left\">planning.py<\/td>\n<td align=\"left\">\u914d\u5bf9\u3001\u7ebf\u9762\u6295\u5f71\u3001eco_shoe_placement_plan<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6267\u884c\u5c42<\/td>\n<td align=\"left\">execution.py<\/td>\n<td align=\"left\">\u5bf9\u51c6\u3001\u6293\u53d6\u3001\u653e\u7f6e\u3001mission_retry<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5339\u914d\u5c42<\/td>\n<td align=\"left\">matching.py<\/td>\n<td align=\"left\">\u81ea\u5b9a\u4e49\u8de8\u89c6\u56fe\u5339\u914d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u914d\u5bf9\u5c42<\/td>\n<td align=\"left\">pairing.py<\/td>\n<td align=\"left\">\u978b\u5b50\u914d\u5bf9<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u53ef\u89c6\u5316\u5c42<\/td>\n<td align=\"left\">visualize_plans.py<\/td>\n<td align=\"left\">\u753b\u914d\u5bf9\u7ebf\u3001\u89c4\u5212\u6846\u3001\u7ebf\u9762\u6295\u5f71<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/li>\n<li>\n<p>\u8fd0\u884c\u65b9\u5f0f<\/p>\n<ul>\n<li>\n<p>\u524d\u7f6e\u6761\u4ef6<\/p>\n<ul>\n<li>\u5df2\u5b8c\u6210\u8bed\u4e49\u5efa\u56fe&#xff0c;\u673a\u8eab\u7535\u91cf &gt; 30%\u3002<\/li>\n<li>\u5728\u53ef\u89c6\u5316\u5e73\u53f0\u8bed\u4e49\u5730\u56fe\u6a21\u5757&#xff0c;\u70b9\u51fb\u201c\u978b\u5b50\u6574\u7406\u201d&#xff0c;\u5212\u51fa\u978b\u5b50\u6574\u7406\u533a\u57df\u3002<\/li>\n<li>area_name \u586b\u8bed\u4e49\u5730\u56fe\u4e2d\u7684\u533a\u57df\u540d&#xff08;\u5355\u4e2a&#xff0c;\u975e\u5bb6\u5177&#xff09;&#xff0c;\u5982\u201c\u7384\u5173\u201d\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>PC \u7aef\u8fd0\u884c<\/p>\n<p> <span class=\"token builtin class-name\">cd<\/span> bajie_demo\/python<\/p>\n<p>python3 <span class=\"token parameter variable\">-m<\/span> shoe_sorting.shoe_sorting_demo <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;ws-url ws:\/\/192.168.1.107:9900\/ <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;area-name <span class=\"token string\">&#034;\u7384\u5173&#034;<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;vis-out \/tmp\/shoe_vis\n <\/li>\n<li>\n<p>\u673a\u5668\u4eba\u7aef\u8fd0\u884c<\/p>\n<p> python3 <span class=\"token parameter variable\">-m<\/span> shoe_sorting.shoe_sorting_demo <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;ws-url ws:\/\/127.0.0.1:9900\/ <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;area-name <span class=\"token string\">&#034;\u7384\u5173&#034;<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;vis-out \/tmp\/shoe_vis\n <\/li>\n<li>\n<p>\u53c2\u6570\u8bf4\u660e<\/p>\n<table>\n<tr>\u53c2\u6570\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">&#8211;ws-url<\/td>\n<td align=\"left\">SDK \u9ed8\u8ba4<\/td>\n<td align=\"left\">\u673a\u5668\u4eba WebSocket \u5730\u5740<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;area-name<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">\u8bed\u4e49\u533a\u57df\u540d&#xff1b;\u7559\u7a7a\u5219\u6574\u7406\u673a\u5668\u4eba\u6b63\u524d\u65b9\u533a\u57df<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;vis-out<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">\u53ef\u89c6\u5316\u524d\u7f00&#xff0c;\u4f1a\u751f\u6210 PREFIX_pairs.png\u3001PREFIX_plan.png\u3001PREFIX_placement.png<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;no-voice<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u7981\u7528\u8bed\u97f3\u64ad\u62a5<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>demo \u8fd0\u884c\u53d1\u73b0\u95ee\u9898 \u978b\u5b50\u591a\u4e86\u4e0d\u80fd\u5b8c\u5168\u914d\u5bf9&#xff0c;\u978b\u5b50\u6570\u91cf\u4f1a\u8bc6\u522b\u5931\u8d25\u6709\u5dee\u8ddd&#xff0c;\u8fd8\u6709\u5c31\u662f\u978b\u5b50\u4e0d\u80fd\u5b8c\u5168\u6446\u653e\u5230\u4e00\u6761\u76f4\u7ebf\u4e0a\u53bb&#xff0c;\u4ee5\u53ca\u978b\u5b50\u6293\u53d6\u4f1a\u6709\u95ee\u9898<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h3>4.5 Python \u73a9\u5177\u6536\u7eb3\u6574\u7406<\/h3>\n<p>toy_storage \u662f\u4e00\u4e2a \u5faa\u73af\u6536\u7eb3\u73a9\u5177 \u7684\u5b8c\u6574\u793a\u4f8b&#xff1a; \u641c\u7d22\u7b50 \u2192 \u641c\u7d22\u73a9\u5177&#xff08;\u8fc7\u6ee4\u7b50\u5185&#xff09;\u2192 \u6293\u53d6 \u2192 \u653e\u7f6e \u2192 \u518d\u641c \u2192 \u76f4\u5230\u627e\u4e0d\u5230\u73a9\u5177\u3002 \u5b83\u7684\u6838\u5fc3\u662f filter_boxes \u9632\u91cd\u590d &#043; \u6293\u53d6\/\u653e\u7f6e\u53cc\u91cd\u91cd\u8bd5 &#043; \u5faa\u73af\u76f4\u5230\u6e05\u7a7a&#xff0c;\u662f\u5b66\u4e60\u201c\u81ea\u52a8\u5316\u6d41\u6c34\u7ebf\u5f0f\u673a\u5668\u4eba\u4efb\u52a1\u201d\u7684\u6700\u4f73\u5165\u53e3\u3002<\/p>\n<ul>\n<li>\n<p>\u5b8c\u6574\u94fe\u8def&#xff1a;<\/p>\n<p> \u91cd\u5b9a\u4f4d<br \/>\n\u2192 \u5faa\u73af&#xff08;\u6700\u591a max_rounds \u8f6e&#xff09;&#xff1a;<br \/>\n    \u641c\u7d22\u6536\u7eb3\u7b50 eco_findObject<br \/>\n    \u641c\u7d22\u73a9\u5177&#xff08;\u8fc7\u6ee4\u7b50\u5185&#xff09;eco_findObject(filter_boxes&#061;&#8230;)<br \/>\n    \u6293\u53d6&#xff08;\u6700\u591a 3 \u6b21&#xff09;&#xff1a;<br \/>\n      \u624b\u81c2\u5f52\u4f4d \u2192 \u624b\u90e8\u89c2\u6d4b \u2192 \u624b\u81c2\u62cd\u7167 \u2192 OVD \u68c0\u6d4b \u2192 \u7cbe\u51c6\u6293\u53d6<br \/>\n    \u653e\u7f6e&#xff08;\u6700\u591a 3 \u6b21&#xff09;&#xff1a;<br \/>\n      \u5934\u90e8\u89c2\u6d4b \u2192 \u5934\u90e8\u62cd\u7167 \u2192 PutWhere \u6458\u8981 \u2192 \u8bed\u4e49\u653e\u7f6e<br \/>\n\u2192 \u627e\u4e0d\u5230\u73a9\u5177 \u2192 \u7ed3\u675f\u59ff\u6001\n <\/li>\n<li>\n<p>\u529f\u80fd\u6982\u89c8<\/p>\n<table>\n<tr>\u6b65\u9aa4\u80fd\u529b\u5bf9\u5e94\u63a5\u53e3<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">0<\/td>\n<td align=\"left\">\u91cd\u5b9a\u4f4d<\/td>\n<td align=\"left\">eco_relocate<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">1<\/td>\n<td align=\"left\">\u641c\u7d22\u6536\u7eb3\u7b50<\/td>\n<td align=\"left\">eco_findObject<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">2<\/td>\n<td align=\"left\">\u641c\u7d22\u73a9\u5177&#xff08;\u8fc7\u6ee4\u7b50\u5185&#xff09;<\/td>\n<td align=\"left\">eco_findObject(filter_boxes&#061;&#8230;)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u624b\u81c2\u5f52\u4f4d<\/td>\n<td align=\"left\">eco_setRobotArmMode(ARM_HOME)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">4<\/td>\n<td align=\"left\">\u624b\u90e8\u89c2\u6d4b\u73a9\u5177<\/td>\n<td align=\"left\">eco_lookto(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">5<\/td>\n<td align=\"left\">\u624b\u81c2\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">6<\/td>\n<td align=\"left\">OVD \u68c0\u6d4b\u73a9\u5177<\/td>\n<td align=\"left\">eco_detect_objects<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">7<\/td>\n<td align=\"left\">\u7cbe\u51c6\u6293\u53d6<\/td>\n<td align=\"left\">eco_pick<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">8<\/td>\n<td align=\"left\">\u5934\u90e8\u89c2\u6d4b\u6536\u7eb3\u7b50<\/td>\n<td align=\"left\">eco_lookto(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">9<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">10<\/td>\n<td align=\"left\">PutWhere \u6458\u8981<\/td>\n<td align=\"left\">eco_put_where_summary<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">11<\/td>\n<td align=\"left\">\u8bed\u4e49\u653e\u7f6e<\/td>\n<td align=\"left\">eco_place_in<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">12<\/td>\n<td align=\"left\">\u7ed3\u675f\u59ff\u6001<\/td>\n<td align=\"left\">eco_finishRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">13<\/td>\n<td align=\"left\">\u8bed\u97f3\u64ad\u62a5<\/td>\n<td align=\"left\">eco_robotSpeech<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/li>\n<li>\n<p>\u76ee\u5f55\u7ed3\u6784\u4e0e\u804c\u8d23<\/p>\n<p> toy_storage\/<br \/>\n\u251c\u2500\u2500 toy_storage_demo.py   # CLI \u5165\u53e3&#xff0c;\u53c2\u6570\u89e3\u6790<br \/>\n\u251c\u2500\u2500 workflow.py           # \u6d41\u7a0b\u7f16\u6392&#xff1a;\u8fde\u63a5\u3001\u8f6e\u6b21\u5faa\u73af\u3001\u6536\u5c3e<br \/>\n\u251c\u2500\u2500 planning.py           # \u641c\u7d22\u4e0e\u4f4d\u59ff\u9009\u62e9<br \/>\n\u251c\u2500\u2500 execution.py          # \u89c2\u6d4b\u3001\u6293\u53d6\u3001\u653e\u7f6e\u6267\u884c<br \/>\n\u251c\u2500\u2500 models.py             # ToyStorageConfig<br \/>\n\u251c\u2500\u2500 errors.py             # ToyStorageError \u53ca\u5b50\u7c7b<br \/>\n\u2514\u2500\u2500 README.md             # \u4f7f\u7528\u8bf4\u660e\n <\/li>\n<li>\n<p>\u5206\u5c42\u601d\u8def&#xff1a;<\/p>\n<table>\n<tr>\u5c42\u6587\u4ef6\u804c\u8d23<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">\u5165\u53e3\u5c42<\/td>\n<td align=\"left\">toy_storage_demo.py<\/td>\n<td align=\"left\">\u89e3\u6790\u53c2\u6570&#xff0c;\u6784\u9020 ToyStorageConfig&#xff0c;\u8c03\u7528 toy_storage<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u7f16\u6392\u5c42<\/td>\n<td align=\"left\">workflow.py<\/td>\n<td align=\"left\">\u91cd\u5b9a\u4f4d\u3001\u8f6e\u6b21\u5faa\u73af\u3001\u6293\u53d6\/\u653e\u7f6e\u91cd\u8bd5\u3001\u7ed3\u675f\u59ff\u6001<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u89c4\u5212\u5c42<\/td>\n<td align=\"left\">planning.py<\/td>\n<td align=\"left\">\u641c\u7d22\u3001\u4f4d\u59ff\u9009\u62e9\u3001filter_boxes \u6784\u9020<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6267\u884c\u5c42<\/td>\n<td align=\"left\">execution.py<\/td>\n<td align=\"left\">\u624b\u81c2\u5f52\u4f4d\u3001\u89c2\u6d4b\u3001\u62cd\u7167\u3001\u68c0\u6d4b\u3001\u6293\u53d6\u3001\u653e\u7f6e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u914d\u7f6e\u5c42<\/td>\n<td align=\"left\">models.py<\/td>\n<td align=\"left\">ToyStorageConfig<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5f02\u5e38\u5c42<\/td>\n<td align=\"left\">errors.py<\/td>\n<td align=\"left\">ToyStorageError \u53ca\u5b50\u7c7b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/li>\n<li>\n<p>\u8fd0\u884c\u65b9\u5f0f<\/p>\n<ul>\n<li>\n<p>PC \u7aef\u8fd0\u884c<\/p>\n<p> python3 bajie_demo\/python\/toy_storage\/toy_storage_demo.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;ws-url ws:\/\/10.10.10.12:9900\/ <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;max-rounds <span class=\"token number\">1<\/span>\n <\/li>\n<li>\n<p>\u673a\u5668\u4eba\u7aef\u8fd0\u884c<\/p>\n<p> python3 bajie_demo\/python\/toy_storage\/toy_storage_demo.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;ws-url ws:\/\/127.0.0.1:9900\/ <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;max-rounds <span class=\"token number\">1<\/span><\/p>\n<p>\u628a\u793a\u4f8b IP \u6362\u6210\u673a\u5668\u4eba\u5b9e\u9645 Linux \u677f IP&#xff1b;\u673a\u5668\u4eba\u672c\u673a\u8fd0\u884c\u7528 127.0.0.1\u3002<\/p>\n<\/li>\n<li>\n<p>\u53c2\u6570\u8bf4\u660e<\/p>\n<table>\n<tr>\u53c2\u6570\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">&#8211;ws-url<\/td>\n<td align=\"left\">SDK \u9ed8\u8ba4<\/td>\n<td align=\"left\">\u673a\u5668\u4eba WebSocket \u5730\u5740<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;user-id<\/td>\n<td align=\"left\">toy_demo_user<\/td>\n<td align=\"left\">PutWhere \u8bf7\u6c42\u91cc\u7684\u7528\u6237\u6807\u8bc6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;area-name<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">\u53ef\u9009\u8bed\u4e49\u533a\u57df\u540d&#xff1b;\u4e0d\u4f20\u8868\u793a\u5168\u5c40\u641c\u7d22<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;direction<\/td>\n<td align=\"left\">\u91cc<\/td>\n<td align=\"left\">\u8bed\u4e49\u653e\u7f6e\u65b9\u5411<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;carrier<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">PutWhere \u7684 carrier \u5b57\u6bb5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;carrier-direct<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">PutWhere \u7684 carrier_direct \u5b57\u6bb5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;pick-index<\/td>\n<td align=\"left\">0<\/td>\n<td align=\"left\">OVD \u7ed3\u679c\u4e2d\u7528\u4e8e\u6293\u53d6\u7684\u76ee\u6807\u7d22\u5f15<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;search-pose-index<\/td>\n<td align=\"left\">-1<\/td>\n<td align=\"left\">search \u8fd4\u56de\u591a\u4f4d\u59ff\u65f6\u7684\u9009\u62e9\u7d22\u5f15&#xff08;\u6700\u540e\u4e00\u4e2a&#xff09;<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;connect-timeout-sec<\/td>\n<td align=\"left\">15.0<\/td>\n<td align=\"left\">\u8fde\u63a5\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;max-rounds<\/td>\n<td align=\"left\">0<\/td>\n<td align=\"left\">\u6700\u5927\u8f6e\u6570&#xff1b;0 \u8868\u793a\u65e0\u9650\u5faa\u73af\u76f4\u5230 Ctrl&#043;C<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u89c6\u9891\u793a\u4f8b<\/p>\n<\/p>\n<p>\u516b\u754c \u79d1\u6c83\u65af\u9996\u6b3e\u5f00\u6e90\u673a\u5668\u4eba<\/p>\n<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h2>\u4e94\u3001\u521b\u610f\u573a\u666f\u6d4b\u8bd5<\/h2>\n<hr \/>\n<h3>5.1 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u73a9\u5177\u6536\u7eb3\u5b8c\u6574\u4f18\u5316\u7248&#xff09;<\/h3>\n<h4>5.1.1 \u811a\u672c\u529f\u80fd<\/h4>\n<p>\u8fd9\u662f\u4e00\u4e2a \u9762\u5411\u771f\u5b9e\u673a\u5668\u4eba\u7684\u5b8c\u6574\u73a9\u5177\u6536\u7eb3\u4efb\u52a1\u811a\u672c&#xff1a; \u8fde\u63a5 \u2192 \u72b6\u6001\u68c0\u67e5 \u2192 \u4e0b\u6869 \u2192 \u626b\u89c6\u8bc6\u522b\u6536\u7eb3\u7b50 \u2192 \u4e24\u9636\u6bb5\u6536\u7eb3 \u2192 \u51c6\u5907\u56de\u5145 \u2192 \u56de\u5bb6\u5145\u7535\u3002 \u5b83\u4e0d\u53ea\u662f\u4e00\u4e2a demo&#xff0c;\u800c\u662f\u4e00\u4e2a\u53ef\u4ee5\u76f4\u63a5\u8dd1\u5728\u673a\u5668\u4eba\u4e0a\u7684\u751f\u4ea7\u5316\u811a\u672c&#xff0c;\u5c55\u793a\u4e86\u4ece\u201c\u4f1a\u8c03 SDK\u201d\u5230\u201c\u80fd\u7f16\u6392\u5b8c\u6574\u4efb\u52a1\u201d\u7684\u8de8\u8d8a\u3002<\/p>\n<h4>5.1.2 \u5b8c\u6574\u6267\u884c\u94fe\u8def&#xff1a;<\/h4>\n<p>&#096;&#096;&#096;text<br \/>\n[1\/6] \u8fde\u63a5\u673a\u5668\u4eba<br \/>\n  \u2193<br \/>\n[2\/6] \u72b6\u6001\u68c0\u67e5&#xff1a;\u7535\u91cf \u2265 30%\u3001\u7a7a\u95f2\u3001\u544a\u8b66\u3001\u5730\u56fe\u3001\u662f\u5426\u5728\u5145\u7535<br \/>\n  \u2193<br \/>\n[3.1] \u4e0b\u6869\u5224\u65ad&#xff1a;\u5728\u5145\u7535\u6869\u4e0a \u6216 \u7535\u91cf \u2265 99.5% \u2192 \u4e0b\u6869<br \/>\n  \u2193<br \/>\n[3.2] \u8d70\u5230\u73a9\u5177\u6536\u7eb3\u533a &#043; \u539f\u5730\u65cb\u8f6c 360\u00b0&#xff08;\u6bcf 60\u00b0 \u62cd\u4e00\u5f20\u5934\u90e8\u56fe&#xff09;\u8bc6\u522b\u6536\u7eb3\u7b50<br \/>\n  \u2193<br \/>\n[3.3] \u6536\u62fe\u73a9\u5177\u6536\u7eb3\u533a\u9644\u8fd1\u7684\u73a9\u5177&#xff08;\u5168\u5c40\u641c\u7d22&#xff0c;\u6392\u9664\u7b50\u5185&#xff09;<br \/>\n  \u2193<br \/>\n[3.4] \u5168\u5c40\u626b\u63cf\u5176\u4ed6\u533a\u57df\u73a9\u5177&#xff0c;\u4e00\u8d77\u6574\u7406\u5230\u6536\u7eb3\u7b50<br \/>\n  \u2193<br \/>\n[3.5] \u73a9\u5177\u6536\u7eb3\u5b8c\u6210&#xff0c;\u6062\u590d\u7ed3\u675f\u59ff\u6001<br \/>\n  \u2193<br \/>\n[END] \u56de\u5bb6\u5145\u7535&#xff08;\u6700\u591a\u91cd\u8bd5 3 \u6b21&#xff09;<br \/>\n&#096;&#096;&#096;<\/p>\n<h4>5.1.3 \u76ee\u5f55\u4e0e\u7ed3\u6784<\/h4>\n<p>\u5355\u6587\u4ef6&#xff0c;\u5185\u90e8\u6309\u529f\u80fd\u5206\u6210\u82e5\u5e72\u5757&#xff1a;<\/p>\n<p>&#096;&#096;&#096;text<br \/>\n\u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u73a9\u5177\u6536\u7eb3\u5b8c\u6574\u4f18\u5316\u7248&#xff09;.py<br \/>\n\u251c\u2500\u2500 \u65e5\u5fd7\u6a21\u5757&#xff08;_LogColor \/ _LogLevel \/ Logger&#xff09;<br \/>\n\u251c\u2500\u2500 \u914d\u7f6e\u533a&#xff08;ROBOT_IP \/ DEFAULT_WS_URL \/ \u626b\u89c6\u53c2\u6570 \/ \u91cd\u8bd5\u53c2\u6570&#xff09;<br \/>\n\u251c\u2500\u2500 \u901a\u7528\u5de5\u5177&#xff08;print_section \/ check_mission_status \/ sleep_with_countdown \/ is_robot_charging \/ _safe_rotate&#xff09;<br \/>\n\u251c\u2500\u2500 \u5f02\u5e38 &amp; \u641c\u7d22&#xff08;ToyMissionError \/ search_pose \/ select_pose \/ to_filter_box&#xff09;<br \/>\n\u251c\u2500\u2500 \u6293\u53d6 \/ \u653e\u7f6e&#xff08;reset_arm_home \/ hand_observe \/ arm_capture_and_pick \/ head_place_flow \/ \u91cd\u8bd5\u5305\u88c5&#xff09;<br \/>\n\u251c\u2500\u2500 \u91cd\u5b9a\u4f4d \/ \u7ed3\u675f\u59ff\u6001 \/ \u8bed\u97f3&#xff08;do_relocate \/ do_finish_pose \/ speak&#xff09;<br \/>\n\u251c\u2500\u2500 3.2 \u626b\u89c6&#xff08;_detect_basket_in_frame \/ do_scan_basket&#xff09;<br \/>\n\u251c\u2500\u2500 \u6536\u7eb3\u7b50 6D \u4f4d\u59ff&#xff08;_compute_basket_pose_from_scan \/ _resolve_basket_pose&#xff09;<br \/>\n\u251c\u2500\u2500 \u901a\u7528\u6536\u62fe\u5faa\u73af&#xff08;_pick_and_place_one_toy \/ _tidy_loop&#xff09;<br \/>\n\u251c\u2500\u2500 3.3 \u73a9\u5177\u6536\u7eb3\u533a\u6536\u62fe&#xff08;do_step_3_tidy_toys&#xff09;<br \/>\n\u251c\u2500\u2500 3.4 \u5168\u5c40\u626b\u63cf&#xff08;do_step_4_global_scan&#xff09;<br \/>\n\u251c\u2500\u2500 3.5 \u51c6\u5907\u56de\u5145&#xff08;do_step_5_ready_recharge&#xff09;<br \/>\n\u251c\u2500\u2500 1\/2\/3.1 \u8fde\u63a5 \/ \u72b6\u6001\u68c0\u67e5 \/ \u4e0b\u6869&#xff08;do_connect \/ do_preflight \/ do_step_1_leave_and_forward&#xff09;<br \/>\n\u251c\u2500\u2500 END \u56de\u5145&#xff08;do_end_recharge&#xff09;<br \/>\n\u2514\u2500\u2500 \u4e3b\u6d41\u7a0b&#xff08;parse_args \/ main&#xff09;<br \/>\n&#096;&#096;&#096;<\/p>\n<h4>5.1.4 \u914d\u7f6e\u533a<\/h4>\n<p>| \u914d\u7f6e\u9879 | \u9ed8\u8ba4\u503c | \u8bf4\u660e |<br \/>\n|:&#8212;|:&#8212;|:&#8212;|<br \/>\n| &#096;ROBOT_IP&#096; | &#096;192.168.31.179&#096; | \u673a\u5668\u4eba IP |<br \/>\n| &#096;DEFAULT_WS_URL&#096; | &#096;ws:\/\/192.168.31.179:9900\/&#096; | WebSocket \u5730\u5740 |<br \/>\n| &#096;DEFAULT_MIN_BATTERY&#096; | &#096;30.0&#096; | \u6700\u4f4e\u7535\u91cf |<br \/>\n| &#096;DEFAULT_CONNECT_TIMEOUT&#096; | &#096;8.0&#096; | \u8fde\u63a5\u8d85\u65f6 |<br \/>\n| &#096;DEFAULT_REFRESH_TIMEOUT&#096; | &#096;5.0&#096; | \u72b6\u6001\u5237\u65b0\u8d85\u65f6 |<br \/>\n| &#096;MISSION_TIMEOUT&#096; | &#096;60.0&#096; | \u5355\u6b21 mission \u8d85\u65f6 |<br \/>\n| &#096;RECHARGE_TIMEOUT&#096; | &#096;300.0&#096; | \u56de\u5145\u8d85\u65f6 |<br \/>\n| &#096;RECHARGE_MAX_RETRY&#096; | &#096;3&#096; | \u56de\u5145\u6700\u5927\u91cd\u8bd5 |<br \/>\n| &#096;RECHARGE_RETRY_INTERVAL&#096; | &#096;10&#096; | \u56de\u5145\u91cd\u8bd5\u95f4\u9694 |<br \/>\n| &#096;DEFAULT_TOY_AREA&#096; | &#096;\u73a9\u5177\u6536\u7eb3\u533a&#096; | \u9ed8\u8ba4\u8bed\u4e49\u533a\u57df\u540d |<br \/>\n| &#096;SCAN_STEP_DEG&#096; | &#096;60.0&#096; | \u626b\u89c6\u6b65\u8fdb\u89d2\u5ea6 |<br \/>\n| &#096;SCAN_STEPS&#096; | &#096;6&#096; | \u626b\u89c6\u6b65\u6570&#xff08;360\/60&#xff09; |<br \/>\n| &#096;SCAN_MAX_ANGLE_PER_CALL&#096; | &#096;170\u00b0&#096; | \u5355\u6b21\u65cb\u8f6c\u6700\u5927\u89d2\u5ea6 |<br \/>\n| &#096;BASKET_LABEL&#096; | &#096;\u6536\u7eb3\u7b50&#096; | \u6536\u7eb3\u7b50\u6807\u7b7e |<br \/>\n| &#096;TOY_LABEL&#096; | &#096;\u73a9\u5177&#096; | \u73a9\u5177\u6807\u7b7e |<br \/>\n| &#096;BASKET_DETECT_TIMEOUT&#096; | &#096;15.0&#096; | \u6536\u7eb3\u7b50\u68c0\u6d4b\u8d85\u65f6 |<br \/>\n| &#096;MAX_GRAB_RETRIES&#096; | &#096;3&#096; | \u6293\u53d6\u6700\u5927\u91cd\u8bd5 |<br \/>\n| &#096;MAX_PLACE_RETRIES&#096; | &#096;3&#096; | \u653e\u7f6e\u6700\u5927\u91cd\u8bd5 |<br \/>\n| &#096;BATTERY_FULL_THRESHOLD&#096; | &#096;99.5&#096; | \u7535\u91cf\u89c6\u4e3a\u201c\u6ee1\u201d\u7684\u9608\u503c |<br \/>\n| &#096;_SLEEP_BETWEEN_MISSIONS&#096; | &#096;2.0&#096; | mission \u95f4\u4f11\u7720 |<\/p>\n<h4>5.1.5 \u547d\u4ee4\u884c\u53c2\u6570<\/h4>\n<p>| \u53c2\u6570 | \u9ed8\u8ba4\u503c | \u8bf4\u660e |<br \/>\n|:&#8212;|:&#8212;|:&#8212;|<br \/>\n| &#096;&#8211;ws-url&#096; | &#096;ws:\/\/192.168.31.179:9900\/&#096; | WebSocket \u5730\u5740 |<br \/>\n| &#096;&#8211;min-battery&#096; | &#096;30.0&#096; | \u6700\u4f4e\u7535\u91cf |<br \/>\n| &#096;&#8211;connect-timeout&#096; | &#096;8.0&#096; | \u8fde\u63a5\u8d85\u65f6 |<br \/>\n| &#096;&#8211;area-name&#096; | &#096;\u73a9\u5177\u6536\u7eb3\u533a&#096; | \u73a9\u5177\u6536\u7eb3\u533a\u8bed\u4e49\u533a\u57df\u540d |<br \/>\n| &#096;&#8211;recharge-retry&#096; | &#096;3&#096; | \u56de\u5145\u6700\u5927\u91cd\u8bd5 |<br \/>\n| &#096;&#8211;max-rounds&#096; | &#096;0&#096; | 3.3 \u6700\u5927\u8f6e\u6570&#xff08;0&#061;\u65e0\u9650&#xff09; |<br \/>\n| &#096;&#8211;global-max-rounds&#096; | &#096;0&#096; | 3.4 \u6700\u5927\u8f6e\u6570&#xff08;0&#061;\u65e0\u9650&#xff09; |<br \/>\n| &#096;&#8211;pick-index&#096; | &#096;0&#096; | OVD \u6293\u53d6\u76ee\u6807\u7d22\u5f15 |<br \/>\n| &#096;&#8211;search-pose-index&#096; | &#096;-1&#096; | search \u4f4d\u59ff\u7d22\u5f15 |<br \/>\n| &#096;&#8211;carrier&#096; | &#096;&#034;&#034;&#096; | PutWhere carrier |<br \/>\n| &#096;&#8211;carrier-direct&#096; | &#096;&#034;&#034;&#096; | PutWhere carrier_direct |<br \/>\n| &#096;&#8211;scan-step-deg&#096; | &#096;60.0&#096; | \u626b\u89c6\u6b65\u8fdb\u89d2\u5ea6 |<br \/>\n| &#096;&#8211;skip-step-33&#096; | &#096;False&#096; | \u8df3\u8fc7 3.3 |<br \/>\n| &#096;&#8211;skip-step-34&#096; | &#096;False&#096; | \u8df3\u8fc7 3.4 |<br \/>\n| &#096;&#8211;skip-step-35&#096; | &#096;False&#096; | \u8df3\u8fc7 3.5 |<br \/>\n| &#096;&#8211;skip-preflight&#096; | &#096;False&#096; | \u8df3\u8fc7\u72b6\u6001\u68c0\u67e5 |<br \/>\n| &#096;&#8211;no-speech&#096; | &#096;False&#096; | \u5173\u95ed\u8bed\u97f3 |<br \/>\n| &#096;&#8211;speech&#096; | &#096;False&#096; | \u663e\u5f0f\u5f00\u542f\u8bed\u97f3 |<br \/>\n| &#096;&#8211;yes&#096; \/ &#096;-y&#096; | &#096;False&#096; | \u8df3\u8fc7\u786e\u8ba4 |<br \/>\n| &#096;&#8211;no-color&#096; | &#096;False&#096; | \u5173\u95ed\u65e5\u5fd7\u989c\u8272 |<br \/>\n| &#096;&#8211;log-level&#096; | &#096;INFO&#096; | \u65e5\u5fd7\u7ea7\u522b |<\/p>\n<h4>5.1.6 \u91cd\u8bd5\u7b56\u7565\u603b\u7ed3<\/h4>\n<p>| \u9636\u6bb5 | \u6700\u5927\u6b21\u6570 | \u5931\u8d25\u5904\u7406 |<br \/>\n|:&#8212;|:&#8212;|:&#8212;|<br \/>\n| \u8fde\u63a5 | 1 \u6b21 | \u5931\u8d25\u8fd4\u56de 1 |<br \/>\n| \u72b6\u6001\u68c0\u67e5 | 1 \u6b21 | \u5931\u8d25\u8fd4\u56de 2 |<br \/>\n| \u4e0b\u6869 | 1 \u6b21 | \u5931\u8d25\u8fd4\u56de 3 |<br \/>\n| \u5bfc\u822a\u5230\u6536\u7eb3\u533a | 1 \u6b21 | \u5931\u8d25\u8fd4\u56de None&#xff0c;3.3\/3.4 fallback |<br \/>\n| \u626b\u89c6\u65cb\u8f6c | \u6bcf\u6bb5 1 \u6b21 | \u5931\u8d25\u4e2d\u65ad\u626b\u89c6 |<br \/>\n| \u641c\u7d22\u73a9\u5177 | 1 \u6b21 | \u627e\u4e0d\u5230 \u2192 &#096;eco_finishRobotPose&#096; \u2192 \u6b63\u5e38\u7ed3\u675f |<br \/>\n| \u6293\u53d6 | 3 \u6b21 | \u6bcf\u6b21\u5b8c\u6574\u91cd\u505a |<br \/>\n| \u6293\u53d6\u4e2d\u7269\u4f53\u6389\u843d | \u8ba1\u5165 3 \u6b21 | \u53ea\u7b97\u672c\u6b21\u5931\u8d25 |<br \/>\n| \u653e\u7f6e | 3 \u6b21 | \u6bcf\u6b21\u5b8c\u6574\u91cd\u505a |<br \/>\n| \u8fde\u7eed 3 \u6b21\u5931\u8d25 | \u2014 | \u629b &#096;ToyMissionError&#096; |<br \/>\n| \u56de\u5145 | 3 \u6b21 | \u5931\u8d25\u8fd4\u56de 6 |<\/p>\n<h4>5.1.7 \u8fd0\u884c\u65b9\u5f0f&#xff1a;<\/h4>\n<p>&#096;&#096;&#096;text<br \/>\n    python3 toy_mission_v3.py<br \/>\n    python3 toy_mission_v3.py &#8211;yes                       # \u8df3\u8fc7\u786e\u8ba4<br \/>\n    python3 toy_mission_v3.py &#8211;no-speech                 # \u5173\u95ed\u673a\u5668\u4eba\u8bed\u97f3<br \/>\n    python3 toy_mission_v3.py &#8211;skip-step-34              # \u53ea\u505a\u6536\u7eb3\u533a<br \/>\n    python3 toy_mission_v3.py &#8211;global-max-rounds 20      # \u9650\u5236\u5168\u5c40\u8f6e\u6570<br \/>\n    python3 toy_mission_v3.py &#8211;log-level DEBUG           # \u8c03\u8bd5\u65e5\u5fd7<br \/>\n    python3 toy_mission_v3.py &#8211;no-color                  # \u5173\u95ed\u65e5\u5fd7\u989c\u8272<br \/>\n&#096;&#096;&#096;<\/p>\n<hr \/>\n<h3>5.2 \u9910\u684c\u7eb8\u5dfe\u9001\u7269\u4efb\u52a1<\/h3>\n<h4>5.2.1 \u811a\u672c\u529f\u80fd<\/h4>\n<p>\u8fd9\u662f\u4e00\u4e2a \u9762\u5411\u771f\u5b9e\u673a\u5668\u4eba\u7684\u9910\u684c\u7eb8\u5dfe\u9001\u7269\u4efb\u52a1\u811a\u672c&#xff1a; \u8fde\u63a5 \u2192 \u72b6\u6001\u68c0\u67e5 \u2192 \u4e0b\u6869 \u2192 \u9910\u684c\u6293\u7eb8\u5dfe \u2192 \u5367\u5ba4\u653e\u5e8a\u5934\u67dc \u2192 \u7ed3\u675f\u59ff\u6001 \u2192 \u56de\u5bb6\u5145\u7535\u3002 \u5b83\u5c55\u793a\u4e86\u4ece\u201c\u4f1a\u8c03 SDK\u201d\u5230\u201c\u80fd\u7f16\u6392\u5b8c\u6574\u9001\u7269\u4efb\u52a1\u201d\u7684\u8de8\u8d8a&#xff0c;\u662f\u5b66\u4e60 \u53d6\u7269\u2014\u9001\u7269\u95ed\u73af \u7684\u6700\u4f73\u5165\u53e3\u3002<\/p>\n<p>\u4e00\u53e5\u8bdd&#xff1a;\u8ba9\u673a\u5668\u4eba\u4e0b\u6869 \u2192 \u8d70\u5230\u9910\u684c \u2192 \u8bc6\u522b\u5e76\u6293\u8d77\u7eb8\u5dfe \u2192 \u8d70\u5230\u5367\u5ba4 \u2192 \u5bf9\u51c6\u5e8a\u5934\u67dc \u2192 \u628a\u7eb8\u5dfe\u653e\u5230\u5e8a\u5934\u67dc\u53f0\u9762 \u2192 \u6062\u590d\u7ed3\u675f\u59ff\u6001 \u2192 \u56de\u5bb6\u5145\u7535\u3002<\/p>\n<p>\u8fd9\u662f\u4e00\u4e2a\u5178\u578b\u7684\u201c\u53d6\u7269\u2014\u9001\u7269\u201d\u4efb\u52a1&#xff0c;\u504f\u5411\u201c\u5bb6\u5c45\u573a\u666f\u201d&#xff1a;<\/p>\n<ul>\n<li>\u8d77\u70b9&#xff1a;\u9910\u684c&#xff08;\u8bed\u4e49\u533a\u57df&#xff09;<\/li>\n<li>\u76ee\u6807\u7269&#xff1a;\u7eb8\u5dfe<\/li>\n<li>\u7ec8\u70b9&#xff1a;\u5367\u5ba4\u5e8a\u5934\u67dc&#xff08;\u8bed\u4e49\u533a\u57df &#043; \u5bb6\u5177&#xff09;<\/li>\n<li>\u653e\u7f6e\u9762&#xff1a;\u5e8a\u5934\u67dc\u53f0\u9762<\/li>\n<\/ul>\n<h4>5.2.2 \u6267\u884c\u94fe\u8def<\/h4>\n<p>[1\/6] \u8fde\u63a5\u673a\u5668\u4eba&#xff08;ws:\/\/192.168.31.179:9900\/&#xff09;<br \/>\n  \u2193<br \/>\n[2\/6] \u72b6\u6001\u68c0\u67e5&#xff08;\u7535\u91cf \u2265 30%\u3001\u7a7a\u95f2\u3001\u544a\u8b66\u3001\u5730\u56fe\u5750\u6807\u3001\u662f\u5426\u5145\u7535&#xff09;<br \/>\n  \u2193<br \/>\n[3.1] \u4e0b\u6869\u5224\u65ad&#xff08;\u5728\u5145\u7535\u6869\u4e0a \u6216 \u7535\u91cf \u2265 99.5% \u2192 eco_leaveDock&#xff09;<br \/>\n  \u2193<br \/>\n\u250c\u2500\u2500 \u7b2c N \u5305\u7eb8\u5dfe&#xff08;N &#061; 1..max_tissues&#xff09;\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n\u2502                                                          \u2502<br \/>\n\u2502 [3.2] \u8d70\u5230\u9910\u684c&#xff08;eco_navigateToSemanticArea&#xff09;              \u2502<br \/>\n\u2502       \u2193                                                  \u2502<br \/>\n\u2502       \u5934\u90e8\u4fef\u89c6 &#043; \u62cd\u7167 &#043; OVD \u8bc6\u522b\u7eb8\u5dfe                       \u2502<br \/>\n\u2502       \u2193                                                  \u2502<br \/>\n\u2502 [3.3] eco_findObject \u641c\u7eb8\u5dfe 3D \u4f4d\u59ff \u2192 \u6293\u53d6&#xff08;\u6700\u591a 3 \u6b21&#xff09;    \u2502<br \/>\n\u2502       \u2193                                                  \u2502<br \/>\n\u2502 [3.4] \u8d70\u5230\u5367\u5ba4&#xff08;eco_navigateToSemanticArea&#xff09;              \u2502<br \/>\n\u2502       \u2193                                                  \u2502<br \/>\n\u2502       eco_findObject \u641c\u5e8a\u5934\u67dc 3D \u4f4d\u59ff                      \u2502<br \/>\n\u2502       \u2193                                                  \u2502<br \/>\n\u2502       \u5934\u90e8\u5bf9\u51c6\u5e8a\u5934\u67dc&#xff08;eco_lookto HEAD&#xff09;                    \u2502<br \/>\n\u2502       \u2193                                                  \u2502<br \/>\n\u2502       \u5934\u90e8\u62cd\u7167&#xff08;\u7528\u4e8e\u653e\u7f6e&#xff09;                                 \u2502<br \/>\n\u2502       \u2193                                                  \u2502<br \/>\n\u2502 [3.5] PutWhere \u751f\u6210\u653e\u7f6e\u6846 \u2192 eco_place_in&#xff08;\u6700\u591a 3 \u6b21&#xff09;      \u2502<br \/>\n\u2502                                                          \u2502<br \/>\n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br \/>\n  \u2193<br \/>\n[3.6] \u6062\u590d\u7ed3\u675f\u59ff\u6001&#xff08;eco_finishRobotPose&#xff09;<br \/>\n  \u2193<br \/>\n[END] \u56de\u5bb6\u5145\u7535&#xff08;eco_startRecharge&#xff0c;\u6700\u591a\u91cd\u8bd5 3 \u6b21&#xff09;<\/p>\n<h4>5.2.3 \u811a\u672c\u7ed3\u6784<\/h4>\n<p>\u5355\u6587\u4ef6&#xff0c;\u5185\u90e8\u6309\u529f\u80fd\u5206\u5757&#xff1a;<\/p>\n<p>\u9910\u684c\u7eb8\u5dfe\u9001\u5230\u5367\u5ba4.py<br \/>\n\u251c\u2500\u2500 \u65e5\u5fd7\u6a21\u5757&#xff08;_LogColor \/ _LogLevel \/ Logger&#xff09;<br \/>\n\u251c\u2500\u2500 \u914d\u7f6e\u533a&#xff08;ROBOT_IP \/ \u533a\u57df\u540d \/ \u6807\u7b7e \/ \u5934\u90e8\u89d2\u5ea6 \/ \u91cd\u8bd5\u53c2\u6570&#xff09;<br \/>\n\u251c\u2500\u2500 \u901a\u7528\u5de5\u5177&#xff08;print_section \/ check_mission_status \/ is_robot_charging \/ sleep_with_countdown \/ _bbox_score \/ _bbox_area&#xff09;<br \/>\n\u251c\u2500\u2500 \u5f02\u5e38 &amp; \u641c\u7d22&#xff08;DeliveryError \/ search_pose \/ select_pose \/ assert_search_ok&#xff09;<br \/>\n\u251c\u2500\u2500 \u6293\u53d6&#xff08;reset_arm_home \/ hand_observe \/ arm_capture_and_pick \/ _grab_with_retries&#xff09;<br \/>\n\u251c\u2500\u2500 3.2 \u8d70\u5230\u9910\u684c &#043; \u626b\u63cf\u8bc6\u522b\u7eb8\u5dfe&#xff08;do_scan_tissue&#xff09;<br \/>\n\u251c\u2500\u2500 3.3 \u6293\u53d6\u7eb8\u5dfe&#xff08;do_grab_tissue&#xff09;<br \/>\n\u251c\u2500\u2500 3.4 \u8d70\u5230\u5367\u5ba4 &#043; \u5bf9\u51c6\u5e8a\u5934\u67dc&#xff08;do_navigate_and_observe_nightstand&#xff09;<br \/>\n\u251c\u2500\u2500 3.5 \u653e\u5230\u5e8a\u5934\u67dc&#xff08;do_place_tissue_on_nightstand&#xff09;<br \/>\n\u251c\u2500\u2500 3.6 \u6062\u590d\u7ed3\u675f\u59ff\u6001&#xff08;do_step_finish_pose&#xff09;<br \/>\n\u251c\u2500\u2500 \u8bed\u97f3&#xff08;speak&#xff09;<br \/>\n\u251c\u2500\u2500 1\/2\/3.1 \u8fde\u63a5 \/ \u72b6\u6001\u68c0\u67e5 \/ \u4e0b\u6869&#xff08;do_connect \/ do_preflight \/ do_step_1_leave_dock&#xff09;<br \/>\n\u251c\u2500\u2500 END \u56de\u5bb6\u5145\u7535&#xff08;do_end_recharge&#xff09;<br \/>\n\u2514\u2500\u2500 \u4e3b\u6d41\u7a0b&#xff08;parse_args \/ main&#xff09;<\/p>\n<h4>5.2.4 \u529f\u80fd\u6982\u89c8<\/h4>\n<table>\n<tr>\u6b65\u9aa4\u80fd\u529b\u5bf9\u5e94\u63a5\u53e3<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">1<\/td>\n<td align=\"left\">\u8fde\u63a5\u673a\u5668\u4eba<\/td>\n<td align=\"left\">BajieRobot(ws_url).Connect()<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">2<\/td>\n<td align=\"left\">\u72b6\u6001\u68c0\u67e5<\/td>\n<td align=\"left\">eco_refreshRobotInfo \/ eco_robotBattery \/ eco_robotWorkState \/ eco_robotAlarm \/ eco_robotPosition \/ eco_robotMapInfo<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.1<\/td>\n<td align=\"left\">\u4e0b\u6869<\/td>\n<td align=\"left\">eco_leaveDock<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.2<\/td>\n<td align=\"left\">\u8d70\u5230\u9910\u684c<\/td>\n<td align=\"left\">eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.2<\/td>\n<td align=\"left\">\u5934\u90e8\u4fef\u89c6<\/td>\n<td align=\"left\">eco_setRobotHead<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.2<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.2<\/td>\n<td align=\"left\">OVD \u8bc6\u522b\u7eb8\u5dfe<\/td>\n<td align=\"left\">eco_detect_objects<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u641c\u7d22\u7eb8\u5dfe 3D \u4f4d\u59ff<\/td>\n<td align=\"left\">eco_findObject<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u624b\u90e8\u89c2\u6d4b<\/td>\n<td align=\"left\">eco_lookto(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u624b\u81c2\u62cd\u7167 &#043; OVD &#043; \u6293\u53d6<\/td>\n<td align=\"left\">eco_captureImages &#043; eco_detect_objects &#043; eco_pick<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.4<\/td>\n<td align=\"left\">\u8d70\u5230\u5367\u5ba4<\/td>\n<td align=\"left\">eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.4<\/td>\n<td align=\"left\">\u641c\u7d22\u5e8a\u5934\u67dc 3D \u4f4d\u59ff<\/td>\n<td align=\"left\">eco_findObject<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.4<\/td>\n<td align=\"left\">\u5934\u90e8\u5bf9\u51c6\u5e8a\u5934\u67dc<\/td>\n<td align=\"left\">eco_lookto(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.4<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.5<\/td>\n<td align=\"left\">PutWhere \u751f\u6210\u653e\u7f6e\u6846<\/td>\n<td align=\"left\">eco_put_where_summary<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.5<\/td>\n<td align=\"left\">\u8bed\u4e49\u653e\u7f6e<\/td>\n<td align=\"left\">eco_place_in<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.6<\/td>\n<td align=\"left\">\u6062\u590d\u7ed3\u675f\u59ff\u6001<\/td>\n<td align=\"left\">eco_finishRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">END<\/td>\n<td align=\"left\">\u56de\u5bb6\u5145\u7535<\/td>\n<td align=\"left\">eco_startRecharge<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5168\u7a0b<\/td>\n<td align=\"left\">\u8bed\u97f3\u64ad\u62a5<\/td>\n<td align=\"left\">eco_robotSpeech<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6536\u5c3e<\/td>\n<td align=\"left\">\u53d6\u6d88\u4efb\u52a1 &#043; \u65ad\u5f00<\/td>\n<td align=\"left\">eco_cancelAllMissions &#043; Disconnect<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.2.5 \u914d\u7f6e\u533a<\/h4>\n<table>\n<tr>\u914d\u7f6e\u9879\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">ROBOT_IP<\/td>\n<td align=\"left\">192.168.31.179<\/td>\n<td align=\"left\">\u673a\u5668\u4eba IP<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_WS_URL<\/td>\n<td align=\"left\">ws:\/\/192.168.31.179:9900\/<\/td>\n<td align=\"left\">WebSocket \u5730\u5740<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_MIN_BATTERY<\/td>\n<td align=\"left\">30.0<\/td>\n<td align=\"left\">\u6700\u4f4e\u7535\u91cf<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_CONNECT_TIMEOUT<\/td>\n<td align=\"left\">8.0<\/td>\n<td align=\"left\">\u8fde\u63a5\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_REFRESH_TIMEOUT<\/td>\n<td align=\"left\">5.0<\/td>\n<td align=\"left\">\u72b6\u6001\u5237\u65b0\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">MISSION_TIMEOUT<\/td>\n<td align=\"left\">60.0<\/td>\n<td align=\"left\">\u5355\u6b21 mission \u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RECHARGE_TIMEOUT<\/td>\n<td align=\"left\">300.0<\/td>\n<td align=\"left\">\u56de\u5145\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RECHARGE_MAX_RETRY<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u56de\u5145\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RECHARGE_RETRY_INTERVAL<\/td>\n<td align=\"left\">10<\/td>\n<td align=\"left\">\u56de\u5145\u91cd\u8bd5\u95f4\u9694<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_TABLE_AREA<\/td>\n<td align=\"left\">\u9910\u684c<\/td>\n<td align=\"left\">\u9910\u684c\u8bed\u4e49\u533a\u57df\u540d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_BEDROOM_AREA<\/td>\n<td align=\"left\">\u5367\u5ba4<\/td>\n<td align=\"left\">\u5367\u5ba4\u8bed\u4e49\u533a\u57df\u540d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">TISSUE_LABEL<\/td>\n<td align=\"left\">\u7eb8\u5dfe<\/td>\n<td align=\"left\">\u76ee\u6807\u7269\u6807\u7b7e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">NIGHTSTAND_LABEL<\/td>\n<td align=\"left\">\u5e8a\u5934\u67dc<\/td>\n<td align=\"left\">\u7528\u4e8e\u5728\u5367\u5ba4\u56fe\u50cf\u91cc\u627e\u5e8a\u5934\u67dc<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">NIGHTSTAND_CARRIER<\/td>\n<td align=\"left\">\u5e8a\u5934\u67dc<\/td>\n<td align=\"left\">PutWhere carrier<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">HEAD_LOOK_DOWN_RAD<\/td>\n<td align=\"left\">0.9<\/td>\n<td align=\"left\">\u5934\u90e8\u4fef\u89c6\u89d2\u5ea6&#xff08;\u5f27\u5ea6&#xff09;<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">MAX_GRAB_RETRIES<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u6293\u53d6\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">MAX_PLACE_RETRIES<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u653e\u7f6e\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">BATTERY_FULL_THRESHOLD<\/td>\n<td align=\"left\">99.5<\/td>\n<td align=\"left\">\u7535\u91cf\u89c6\u4e3a\u201c\u6ee1\u201d\u7684\u9608\u503c<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">_SLEEP_BETWEEN_MISSIONS<\/td>\n<td align=\"left\">2.0<\/td>\n<td align=\"left\">mission \u95f4\u4f11\u7720<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.2.6 \u547d\u4ee4\u884c\u53c2\u6570<\/h4>\n<table>\n<tr>\u53c2\u6570\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">&#8211;ws-url<\/td>\n<td align=\"left\">ws:\/\/192.168.31.179:9900\/<\/td>\n<td align=\"left\">WebSocket \u5730\u5740<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;min-battery<\/td>\n<td align=\"left\">30.0<\/td>\n<td align=\"left\">\u6700\u4f4e\u7535\u91cf<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;connect-timeout<\/td>\n<td align=\"left\">8.0<\/td>\n<td align=\"left\">\u8fde\u63a5\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;table-area<\/td>\n<td align=\"left\">\u9910\u684c<\/td>\n<td align=\"left\">\u9910\u684c\u8bed\u4e49\u533a\u57df\u540d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;bedroom-area<\/td>\n<td align=\"left\">\u5367\u5ba4<\/td>\n<td align=\"left\">\u5367\u5ba4\u8bed\u4e49\u533a\u57df\u540d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;recharge-retry<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u56de\u5145\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;max-tissues<\/td>\n<td align=\"left\">1<\/td>\n<td align=\"left\">\u6700\u591a\u9001\u51e0\u5305\u7eb8\u5dfe<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;search-pose-index<\/td>\n<td align=\"left\">-1<\/td>\n<td align=\"left\">search \u4f4d\u59ff\u7d22\u5f15<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;carrier<\/td>\n<td align=\"left\">\u5e8a\u5934\u67dc<\/td>\n<td align=\"left\">PutWhere carrier<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;carrier-direct<\/td>\n<td align=\"left\">\u4e0a<\/td>\n<td align=\"left\">PutWhere carrier_direct<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-step-33<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7 3.3 \u6293\u53d6\u7eb8\u5dfe<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-step-34<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7 3.4 \u8d70\u5230\u5367\u5ba4<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-step-35<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7 3.5 \u653e\u7f6e\u7eb8\u5dfe<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-step-36<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7 3.6 \u6062\u590d\u7ed3\u675f\u59ff\u6001<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-preflight<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7\u72b6\u6001\u68c0\u67e5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;no-speech<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u5173\u95ed\u8bed\u97f3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;speech<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u663e\u5f0f\u5f00\u542f\u8bed\u97f3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;yes \/ -y<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7\u786e\u8ba4<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;no-color<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u5173\u95ed\u65e5\u5fd7\u989c\u8272<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;log-level<\/td>\n<td align=\"left\">INFO<\/td>\n<td align=\"left\">\u65e5\u5fd7\u7ea7\u522b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.2.7 \u8fd0\u884c\u65b9\u5f0f<\/h4>\n<p>python3 \u9910\u684c\u7eb8\u5dfe\u9001\u5230\u5367\u5ba4.py <span class=\"token comment\"># \u57fa\u672c\u8fd0\u884c<\/span><\/p>\n<p>python3 \u9910\u684c\u7eb8\u5dfe\u9001\u5230\u5367\u5ba4.py <span class=\"token parameter variable\">&#8211;yes<\/span> <span class=\"token comment\"># \u8df3\u8fc7\u786e\u8ba4<\/span><\/p>\n<p>python3 \u9910\u684c\u7eb8\u5dfe\u9001\u5230\u5367\u5ba4.py <span class=\"token parameter variable\">&#8211;yes<\/span> &#8211;no-speech<span class=\"token comment\"># \u5173\u95ed\u8bed\u97f3<\/span><\/p>\n<p>python3 \u9910\u684c\u7eb8\u5dfe\u9001\u5230\u5367\u5ba4.py <span class=\"token parameter variable\">&#8211;yes<\/span> &#8211;table-area <span class=\"token string\">&#034;\u9910\u5385\u684c\u5b50&#034;<\/span> &#8211;bedroom-area <span class=\"token string\">&#034;\u4e3b\u5367&#034;<\/span><span class=\"token comment\"># \u81ea\u5b9a\u4e49\u533a\u57df\u540d<\/span><\/p>\n<p>python3 \u9910\u684c\u7eb8\u5dfe\u9001\u5230\u5367\u5ba4.py <span class=\"token parameter variable\">&#8211;yes<\/span> &#8211;max-tissues <span class=\"token number\">3<\/span><span class=\"token comment\"># \u9001\u591a\u5305\u7eb8\u5dfe<\/span><\/p>\n<hr \/>\n<h3>5.3 \u516b\u754c\u673a\u5668\u4eba\u6574\u7406\u7384\u5173\u978b\u5b50\u4ee3\u7801\u793a\u4f8b<\/h3>\n<h4>5.3.1 \u811a\u672c\u529f\u80fd<\/h4>\n<p>\u8fd9\u662f\u4e00\u4e2a \u9762\u5411\u771f\u5b9e\u673a\u5668\u4eba\u7684\u7384\u5173\u978b\u5b50\u6574\u7406\u811a\u672c&#xff1a; \u8fde\u63a5 \u2192 \u72b6\u6001\u68c0\u67e5 \u2192 \u4e0b\u6869 \u2192 \u7384\u5173\u5bfc\u822a \u2192 SHOE \u68c0\u6d4b \u2192 \u914d\u5bf9 \u2192 \u89c4\u5212 \u2192 \u9010\u53ea\u6293\u653e \u2192 \u7ed3\u675f\u59ff\u6001 \u2192 \u56de\u5bb6\u5145\u7535\u3002 \u5b83\u628a shoe_sorting demo \u7684\u5206\u5c42\u903b\u8f91\u6574\u5408\u6210\u5355\u6587\u4ef6&#xff0c;\u5e76\u52a0\u4e0a\u72b6\u6001\u68c0\u67e5\u3001\u4e0b\u6869\u3001\u53ef\u9009\u73a9\u5177\u533a\u3001\u56de\u5145&#xff0c;\u662f\u5b66\u4e60 \u6210\u5bf9\u6574\u7406 &#043; \u8de8\u89c6\u56fe\u5339\u914d &#043; \u7ebf\u9762\u89c4\u5212 \u7684\u6700\u4f73\u5165\u53e3\u3002<\/p>\n<p>\u4e00\u53e5\u8bdd&#xff1a;\u8ba9\u673a\u5668\u4eba\u8d70\u5230\u7384\u5173&#xff0c;\u7528 SHOE \u68c0\u6d4b\u8bc6\u522b\u978b\u5b50&#xff0c;\u6309\u201c\u6210\u5bf9 &#043; \u524d\u6cbf\u7ebf\u65b9\u5411\u201d\u89c4\u5212\u6446\u653e&#xff0c;\u9010\u53ea\u6293\u8d77\u6765\u653e\u5230\u6307\u5b9a\u533a\u57df&#xff0c;\u6700\u540e\u6062\u590d\u59ff\u6001\u5e76\u56de\u5bb6\u5145\u7535\u3002<\/p>\n<h4>5.3.2 \u6267\u884c\u94fe\u8def<\/h4>\n<p>[1] \u8fde\u63a5\u673a\u5668\u4eba&#xff08;ws:\/\/192.168.31.179:9900\/&#xff09;<br \/>\n  \u2193<br \/>\n[2] \u72b6\u6001\u68c0\u67e5&#xff08;\u7535\u91cf \u2265 30%\u3001\u7a7a\u95f2\u3001\u544a\u8b66\u3001\u5730\u56fe\u5750\u6807\u3001\u662f\u5426\u5145\u7535&#xff09;<br \/>\n  \u2193<br \/>\n[3.1] \u5728\u5145\u7535\u6869 \u6216 \u7535\u91cf 100% \u2192 \u4e0b\u6869 eco_leaveDock&#xff1b;\u5426\u5219\u8df3\u8fc7<br \/>\n  \u2193<br \/>\n[3.2] &#xff08;\u53ef\u9009&#xff09;\u5bfc\u822a\u5230\u73a9\u5177\u6574\u7406\u533a<br \/>\n  \u2193<br \/>\n[3.3] \u7384\u5173\u978b\u5b50\u6574\u7406&#xff1a;<br \/>\n      cancelAllMissions &#043; prepareRobotPose<br \/>\n      resolve_organize_area&#xff08;\u8bed\u4e49\u533a\u57df \u6216 \u4e34\u65f6\u521b\u5efa&#xff09;<br \/>\n      \u250c\u2500\u2500 \u89c4\u5212\u5c1d\u8bd5 1..3 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n      \u2502  \u5bfc\u822a\u5230\u7384\u5173                                    \u2502<br \/>\n      \u2502  \u5934\u90e8\u62cd\u7167                                      \u2502<br \/>\n      \u2502  SHOE \u68c0\u6d4b\u978b\u5b50                                 \u2502<br \/>\n      \u2502  \u978b\u5b50\u914d\u5bf9&#xff08;name \u5206\u7ec4 &#043; pairwise \u515c\u5e95&#xff09;          \u2502<br \/>\n      \u2502  \u6293\u653e\u89c4\u5212 eco_shoe_placement_plan              \u2502<br \/>\n      \u2502  \u9010\u6b65\u9aa4\u6267\u884c&#xff1a;                                   \u2502<br \/>\n      \u2502    \u81c2\u5bf9\u51c6 \u2192 \u81c2\u62cd \u2192 \u81c2\u68c0 \u2192 \u8de8\u89c6\u5339\u914d \u2192 \u6293 \u2192 \u653e    \u2502<br \/>\n      \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br \/>\n  \u2193<br \/>\n[3.3 \u6536\u5c3e] \u6062\u590d\u7ed3\u675f\u59ff\u6001<br \/>\n  \u2193<br \/>\n[END] \u56de\u5bb6\u5145\u7535&#xff08;\u6700\u591a 3 \u6b21&#xff09;<\/p>\n<h4>5.3.3\u811a\u672c\u7ed3\u6784<\/h4>\n<p>\u5355\u6587\u4ef6&#xff0c;\u5185\u90e8\u6309\u529f\u80fd\u5206\u5757&#xff1a;<\/p>\n<p>\u516b\u754c\u673a\u5668\u4eba\u6574\u7406\u7384\u5173\u978b\u5b50.py<br \/>\n\u251c\u2500\u2500 \u914d\u7f6e\u533a&#xff08;DEFAULT_CARRIER_BOX \/ DEFAULT_FRONT_EDGE \/ SHOE_MATCHING_CONFIG&#xff09;<br \/>\n\u251c\u2500\u2500 \u65e5\u5fd7 &amp; \u8bed\u97f3&#xff08;log \/ say&#xff09;<br \/>\n\u251c\u2500\u2500 \u6570\u5b66\u5de5\u5177&#xff08;quat_wxyz_to_rotmat \/ rotmat_to_quatf \/ normalize_or_raise \/ bbox_center \/ _bbox_key \/ _relative_to_map \/ _quat_x_axis_yaw&#xff09;<br \/>\n\u251c\u2500\u2500 Mission \u72b6\u6001\u4e0e\u91cd\u8bd5&#xff08;mission_succeeded \/ mission_retry&#xff09;<br \/>\n\u251c\u2500\u2500 \u72b6\u6001\u68c0\u67e5&#xff08;check_status&#xff09;<br \/>\n\u251c\u2500\u2500 \u8bed\u4e49\u533a\u57df\u89e3\u6790&#xff08;resolve_organize_area&#xff09;<br \/>\n\u251c\u2500\u2500 \u978b\u5b50\u914d\u5bf9&#xff08;pair_shoes&#xff09;<br \/>\n\u251c\u2500\u2500 \u5934\u56fe\u53c2\u8003\u6846\u5f52\u7ea6&#xff08;head_image_ref_bboxes_for_move_steps&#xff09;<br \/>\n\u251c\u2500\u2500 \u6293\u653e\u89c4\u5212&#xff08;get_shoe_move_steps&#xff09;<br \/>\n\u251c\u2500\u2500 \u8de8\u89c6\u56fe\u5339\u914d&#xff08;_long_axis_xoy \/ cosine_similarity \/ _batch_extract_pose_and_emb \/ _score_candidate \/ custom_match_obj_views&#xff09;<br \/>\n\u251c\u2500\u2500 \u653e\u7f6e\u4f4d\u59ff\u8ba1\u7b97&#xff08;front_edge_horizontal_x_axis \/ place_quat_from_front_edge \/ place_position_pixel_ray_ground_z0&#xff09;<br \/>\n\u251c\u2500\u2500 \u6293\u53d6&#xff08;pick_with_arm_review \/ NamedBboxWithShoe&#xff09;<br \/>\n\u251c\u2500\u2500 \u5355\u6b65\u6267\u884c&#xff08;execute_pick_and_place&#xff09;<br \/>\n\u251c\u2500\u2500 \u4e3b\u6d41\u7a0b&#xff08;shoe_sort&#xff09;<br \/>\n\u2514\u2500\u2500 CLI&#xff08;main&#xff09;<\/p>\n<h4>5.3.4 \u529f\u80fd\u6982\u89c8<\/h4>\n<table>\n<tr>\u6b65\u9aa4\u80fd\u529b\u5bf9\u5e94\u63a5\u53e3<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">1<\/td>\n<td align=\"left\">\u8fde\u63a5\u673a\u5668\u4eba<\/td>\n<td align=\"left\">BajieRobot(ws_url).Connect()<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">2<\/td>\n<td align=\"left\">\u72b6\u6001\u68c0\u67e5<\/td>\n<td align=\"left\">eco_refreshRobotInfo \/ eco_robotBattery \/ eco_robotWorkState \/ eco_robotAlarm \/ eco_robotPosition \/ eco_robotMapInfo<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.1<\/td>\n<td align=\"left\">\u4e0b\u6869<\/td>\n<td align=\"left\">eco_leaveDock<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.2<\/td>\n<td align=\"left\">\u5bfc\u822a\u5230\u73a9\u5177\u6574\u7406\u533a&#xff08;\u53ef\u9009&#xff09;<\/td>\n<td align=\"left\">eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u53d6\u6d88\u4efb\u52a1 &#043; \u51c6\u5907\u59ff\u6001<\/td>\n<td align=\"left\">eco_cancelAllMissions \/ eco_prepareRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u89e3\u6790\/\u521b\u5efa\u6574\u7406\u533a\u57df<\/td>\n<td align=\"left\">eco_manageSemanticMap(QUERY\/ADD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u5bfc\u822a\u5230\u7384\u5173<\/td>\n<td align=\"left\">eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">SHOE \u68c0\u6d4b\u978b\u5b50<\/td>\n<td align=\"left\">eco_detect_objects(entry&#061;OvdEndpoint.SHOE)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u978b\u5b50\u914d\u5bf9<\/td>\n<td align=\"left\">eco_pairwise &#043; \u81ea\u5b9a\u4e49 pair_shoes<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u7ebf\u9762\u6295\u5f71<\/td>\n<td align=\"left\">project_place_line_and_plane<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u6293\u653e\u89c4\u5212<\/td>\n<td align=\"left\">eco_shoe_placement_plan<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">6D \u59ff\u6001<\/td>\n<td align=\"left\">eco_computeObjectPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u89c6\u89c9\u7279\u5f81<\/td>\n<td align=\"left\">eco_build_embeddings<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u624b\u81c2\u5bf9\u51c6<\/td>\n<td align=\"left\">eco_lookto(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u624b\u81c2\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u81c2\u56fe\u68c0\u6d4b<\/td>\n<td align=\"left\">eco_detect_objects(entry&#061;OvdEndpoint.SHOE)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u8de8\u89c6\u56fe\u5339\u914d<\/td>\n<td align=\"left\">\u81ea\u5b9a\u4e49 custom_match_obj_views<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u6293\u53d6<\/td>\n<td align=\"left\">eco_pick<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">6D \u653e\u7f6e<\/td>\n<td align=\"left\">eco_place_3D<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6536\u5c3e<\/td>\n<td align=\"left\">\u6062\u590d\u7ed3\u675f\u59ff\u6001<\/td>\n<td align=\"left\">eco_prepareRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">END<\/td>\n<td align=\"left\">\u56de\u5bb6\u5145\u7535<\/td>\n<td align=\"left\">eco_startRecharge<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5168\u7a0b<\/td>\n<td align=\"left\">\u8bed\u97f3\u64ad\u62a5<\/td>\n<td align=\"left\">eco_robotSpeech<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6536\u5c3e<\/td>\n<td align=\"left\">\u53d6\u6d88\u4efb\u52a1 &#043; \u6e05\u7406\u4e34\u65f6\u533a\u57df &#043; \u65ad\u5f00<\/td>\n<td align=\"left\">eco_cancelAllMissions \/ eco_manageSemanticMap(DELETE) \/ Disconnect<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.3.5 \u914d\u7f6e\u533a<\/h4>\n<table>\n<tr>\u914d\u7f6e\u9879\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">DEFAULT_CARRIER_BOX<\/td>\n<td align=\"left\">[[1.2,0.6,0],[1.2,-0.6,0],[0.6,-0.6,0],[0.6,0.6,0]]<\/td>\n<td align=\"left\">\u9ed8\u8ba4\u653e\u7f6e\u533a\u591a\u8fb9\u5f62<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_FRONT_EDGE<\/td>\n<td align=\"left\">[[0.6,-0.6,0],[0.6,0.6,0]]<\/td>\n<td align=\"left\">\u9ed8\u8ba4\u524d\u6cbf\u7ebf<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_TOY_AREA<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">\u73a9\u5177\u6574\u7406\u533a&#xff08;\u7559\u7a7a\u8df3\u8fc7&#xff09;<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">SHOE_MATCHING_CONFIG<\/td>\n<td align=\"left\">\u89c1\u4e0b<\/td>\n<td align=\"left\">\u8de8\u89c6\u56fe\u5339\u914d\u6743\u91cd<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>SHOE_MATCHING_CONFIG&#xff1a;<\/p>\n<table>\n<tr>\u5b57\u6bb5\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">spatial_sigma<\/td>\n<td align=\"left\">0.8<\/td>\n<td align=\"left\">\u7a7a\u95f4\u8ddd\u79bb\u9ad8\u65af \u03c3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">direction_sigma_deg<\/td>\n<td align=\"left\">80.0<\/td>\n<td align=\"left\">\u65b9\u5411\u89d2\u9ad8\u65af \u03c3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">w_spatial<\/td>\n<td align=\"left\">0.40<\/td>\n<td align=\"left\">\u7a7a\u95f4\u8ddd\u79bb\u6743\u91cd<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">w_direction<\/td>\n<td align=\"left\">0.30<\/td>\n<td align=\"left\">\u65b9\u5411\u6743\u91cd<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">w_visual<\/td>\n<td align=\"left\">0.30<\/td>\n<td align=\"left\">\u89c6\u89c9\u76f8\u4f3c\u5ea6\u6743\u91cd<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">combined_score_threshold<\/td>\n<td align=\"left\">0.10<\/td>\n<td align=\"left\">\u5339\u914d\u6700\u4f4e\u5206\u9608\u503c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.3.6 \u547d\u4ee4\u884c\u53c2\u6570<\/h4>\n<table>\n<tr>\u53c2\u6570\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">&#8211;ws-url<\/td>\n<td align=\"left\">ws:\/\/192.168.31.179:9900\/<\/td>\n<td align=\"left\">\u673a\u5668\u4eba WebSocket \u5730\u5740<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;area-name<\/td>\n<td align=\"left\">\u7384\u5173<\/td>\n<td align=\"left\">\u8bed\u4e49\u533a\u57df\u540d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;toy-area-name<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">\u53ef\u9009\u7684\u73a9\u5177\u6574\u7406\u533a&#xff0c;\u5148\u53bb\u8fd9\u91cc\u518d\u53bb\u7384\u5173<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;min-battery<\/td>\n<td align=\"left\">30<\/td>\n<td align=\"left\">\u6700\u4f4e\u7535\u91cf<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;no-voice<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u5173\u95ed\u8bed\u97f3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.2.7 \u8fd0\u884c\u65b9\u5f0f<\/h4>\n<p><span class=\"token comment\">### \u57fa\u672c\u8fd0\u884c<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u6574\u7406\u7384\u5173\u978b\u5b50.py<br \/>\n<span class=\"token comment\">### \u6307\u5b9a IP<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u6574\u7406\u7384\u5173\u978b\u5b50.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;ws-url ws:\/\/192.168.31.179:9900\/<br \/>\n<span class=\"token comment\">### \u6307\u5b9a\u533a\u57df<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u6574\u7406\u7384\u5173\u978b\u5b50.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;area-name <span class=\"token string\">&#034;\u7384\u5173&#034;<\/span><br \/>\n<span class=\"token comment\">### \u5148\u53bb\u73a9\u5177\u533a\u518d\u53bb\u7384\u5173<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u6574\u7406\u7384\u5173\u978b\u5b50.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;toy-area-name <span class=\"token string\">&#034;\u73a9\u5177\u6536\u7eb3\u533a&#034;<\/span><br \/>\n<span class=\"token comment\">### \u5173\u95ed\u8bed\u97f3<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u6574\u7406\u7384\u5173\u978b\u5b50.py &#8211;no-voice<br \/>\n<span class=\"token comment\">### \u63d0\u9ad8\u7535\u91cf\u9608\u503c<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u6574\u7406\u7384\u5173\u978b\u5b50.py &#8211;min-battery <span class=\"token number\">50<\/span><\/p>\n<hr \/>\n<h3>5.4 \u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406<\/h3>\n<h4>5.4.1 \u811a\u672c\u529f\u80fd<\/h4>\n<p>\u8fd9\u662f\u4e00\u4e2a \u9762\u5411\u771f\u5b9e\u673a\u5668\u4eba\u7684\u9910\u684c\u73a9\u5177\u6536\u7eb3\u4efb\u52a1\u811a\u672c&#xff1a; \u8fde\u63a5 \u2192 \u72b6\u6001\u68c0\u67e5 \u2192 \u4e0b\u6869 \u2192 \u9910\u684c\u5bfc\u822a \u2192 \u684c\u9762\u626b\u63cf \u2192 \u5faa\u73af\u6293\u653e \u2192 \u7ed3\u675f\u59ff\u6001 \u2192 \u56de\u5bb6\u5145\u7535\u3002 \u5b83\u5c55\u793a\u4e86\u4ece\u201c\u4f1a\u8c03 SDK\u201d\u5230\u201c\u80fd\u7f16\u6392\u5b8c\u6574\u6536\u7eb3\u4efb\u52a1\u201d\u7684\u8de8\u8d8a&#xff0c;\u662f\u5b66\u4e60 \u684c\u9762\u626b\u63cf &#043; \u5faa\u73af\u6293\u653e &#043; \u9632\u91cd\u590d \u7684\u6700\u4f73\u5165\u53e3\u3002<\/p>\n<p>\u4e00\u53e5\u8bdd&#xff1a;\u8ba9\u673a\u5668\u4eba\u4e0b\u6869 \u2192 \u8d70\u5230\u9910\u684c \u2192 \u626b\u63cf\u684c\u9762\u8bc6\u522b\u73a9\u5177 \u2192 \u9010\u4e2a\u6293\u8d77\u73a9\u5177 \u2192 \u9001\u5230\u73a9\u5177\u6536\u7eb3\u533a\u653e\u8fdb\u6536\u7eb3\u7b50 \u2192 \u6062\u590d\u7ed3\u675f\u59ff\u6001 \u2192 \u56de\u5bb6\u5145\u7535\u3002<\/p>\n<h4>5.4.2 \u6267\u884c\u94fe\u8def<\/h4>\n<p>[1\/6] \u8fde\u63a5\u673a\u5668\u4eba&#xff08;ws:\/\/192.168.31.179:9900\/&#xff09;<br \/>\n  \u2193<br \/>\n[2\/6] \u72b6\u6001\u68c0\u67e5&#xff08;\u7535\u91cf \u2265 30%\u3001\u7a7a\u95f2\u3001\u544a\u8b66\u3001\u5730\u56fe\u5750\u6807\u3001\u662f\u5426\u5145\u7535&#xff09;<br \/>\n  \u2193<br \/>\n[3.1] \u4e0b\u6869\u5224\u65ad&#xff08;\u5728\u5145\u7535\u6869 \u6216 \u7535\u91cf \u2265 99.5% \u2192 eco_leaveDock&#xff09;<br \/>\n  \u2193<br \/>\n[3.2] \u8d70\u5230\u9910\u684c\u524d &#043; \u5934\u90e8\u4fef\u89c6 &#043; \u684c\u9762\u626b\u63cf\u8bc6\u522b\u73a9\u5177<br \/>\n  \u2193<br \/>\n[3.3] \u9010\u4e2a\u6293\u53d6\u73a9\u5177 \u2192 \u9001\u5f80\u73a9\u5177\u6536\u7eb3\u7b50&#xff1a;<br \/>\n      \u641c\u6536\u7eb3\u7b50 \u2192 \u641c\u73a9\u5177&#xff08;\u6392\u9664\u7b50\u5185&#xff09;\u2192 \u6293\u53d6&#xff08;\u6700\u591a 3 \u6b21&#xff09;\u2192 \u653e\u7f6e&#xff08;\u6700\u591a 3 \u6b21&#xff09;<br \/>\n      \u5faa\u73af\u76f4\u5230\u684c\u9762\u65e0\u73a9\u5177\u6216\u8fbe\u5230 max_toys<br \/>\n  \u2193<br \/>\n[3.4] \u6062\u590d\u7ed3\u675f\u59ff\u6001<br \/>\n  \u2193<br \/>\n[END] \u56de\u5bb6\u5145\u7535&#xff08;\u6700\u591a 3 \u6b21&#xff09;<\/p>\n<h4>5.4.3 \u811a\u672c\u7ed3\u6784<\/h4>\n<p>\u5355\u6587\u4ef6&#xff0c;\u5185\u90e8\u6309\u529f\u80fd\u5206\u5757&#xff1a;<\/p>\n<p>\u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406&#xff09;.py<br \/>\n\u251c\u2500\u2500 \u65e5\u5fd7\u6a21\u5757&#xff08;_LogColor \/ _LogLevel \/ Logger&#xff09;<br \/>\n\u251c\u2500\u2500 \u914d\u7f6e\u533a&#xff08;ROBOT_IP \/ \u533a\u57df\u540d \/ \u6807\u7b7e \/ \u5934\u90e8\u89d2\u5ea6 \/ \u91cd\u8bd5\u53c2\u6570&#xff09;<br \/>\n\u251c\u2500\u2500 \u901a\u7528\u5de5\u5177&#xff08;print_section \/ check_mission_status \/ is_robot_charging \/ sleep_with_countdown \/ _bbox_score \/ _bbox_area \/ _safe_rotate&#xff09;<br \/>\n\u251c\u2500\u2500 \u5f02\u5e38 &amp; \u641c\u7d22&#xff08;TableTidyError \/ search_pose \/ select_pose \/ assert_search_ok \/ to_filter_box&#xff09;<br \/>\n\u251c\u2500\u2500 \u6293\u53d6&#xff08;reset_arm_home \/ hand_observe \/ arm_capture_and_pick \/ _grab_with_retries&#xff09;<br \/>\n\u251c\u2500\u2500 \u653e\u7f6e&#xff08;head_place_flow \/ _place_with_retries&#xff09;<br \/>\n\u251c\u2500\u2500 \u7ed3\u675f\u59ff\u6001 &amp; \u8bed\u97f3&#xff08;do_finish_pose \/ speak&#xff09;<br \/>\n\u251c\u2500\u2500 3.2 \u8d70\u5230\u9910\u684c &#043; \u684c\u9762\u626b\u63cf&#xff08;_set_head_down \/ _detect_toys_in_frame \/ do_scan_table_toys&#xff09;<br \/>\n\u251c\u2500\u2500 3.3 \u9010\u4e2a\u6293\u53d6\u73a9\u5177 \u2192 \u6536\u7eb3\u7b50&#xff08;_resolve_basket_pose \/ do_step_3_tidy_table_toys&#xff09;<br \/>\n\u251c\u2500\u2500 3.4 \u6062\u590d\u7ed3\u675f\u59ff\u6001&#xff08;do_step_4_finish_pose&#xff09;<br \/>\n\u251c\u2500\u2500 1\/2\/3.1 \u8fde\u63a5 \/ \u72b6\u6001\u68c0\u67e5 \/ \u4e0b\u6869&#xff08;do_connect \/ do_preflight \/ do_step_1_leave_and_forward&#xff09;<br \/>\n\u251c\u2500\u2500 END \u56de\u5bb6\u5145\u7535&#xff08;do_end_recharge&#xff09;<br \/>\n\u2514\u2500\u2500 \u4e3b\u6d41\u7a0b&#xff08;parse_args \/ main&#xff09;<\/p>\n<h4>5.4.4 \u529f\u80fd\u6982\u89c8<\/h4>\n<table>\n<tr>\u6b65\u9aa4\u80fd\u529b\u5bf9\u5e94\u63a5\u53e3<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">1<\/td>\n<td align=\"left\">\u8fde\u63a5\u673a\u5668\u4eba<\/td>\n<td align=\"left\">BajieRobot(ws_url).Connect()<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">2<\/td>\n<td align=\"left\">\u72b6\u6001\u68c0\u67e5<\/td>\n<td align=\"left\">eco_refreshRobotInfo \/ eco_robotBattery \/ eco_robotWorkState \/ eco_robotAlarm \/ eco_robotPosition \/ eco_robotMapInfo<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.1<\/td>\n<td align=\"left\">\u4e0b\u6869<\/td>\n<td align=\"left\">eco_leaveDock<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.2<\/td>\n<td align=\"left\">\u8d70\u5230\u9910\u684c<\/td>\n<td align=\"left\">eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.2<\/td>\n<td align=\"left\">\u5934\u90e8\u4fef\u89c6<\/td>\n<td align=\"left\">eco_setRobotHead(0.9)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.2<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.2<\/td>\n<td align=\"left\">OVD \u8bc6\u522b\u73a9\u5177<\/td>\n<td align=\"left\">eco_detect_objects<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u641c\u6536\u7eb3\u7b50<\/td>\n<td align=\"left\">eco_findObject<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u641c\u684c\u9762\u73a9\u5177&#xff08;\u6392\u9664\u7b50\u5185&#xff09;<\/td>\n<td align=\"left\">eco_findObject(filter_boxes&#061;&#8230;)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u624b\u81c2\u5f52\u4f4d<\/td>\n<td align=\"left\">eco_setRobotArmMode(ARM_HOME)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u624b\u90e8\u89c2\u6d4b<\/td>\n<td align=\"left\">eco_lookto(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u624b\u81c2\u62cd\u7167 &#043; OVD &#043; \u6293\u53d6<\/td>\n<td align=\"left\">eco_captureImages &#043; eco_detect_objects &#043; eco_pick<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u5934\u90e8\u89c2\u6d4b\u6536\u7eb3\u7b50<\/td>\n<td align=\"left\">eco_lookto(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">PutWhere \u6458\u8981<\/td>\n<td align=\"left\">eco_put_where_summary<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.3<\/td>\n<td align=\"left\">\u8bed\u4e49\u653e\u7f6e<\/td>\n<td align=\"left\">eco_place_in<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.4<\/td>\n<td align=\"left\">\u6062\u590d\u7ed3\u675f\u59ff\u6001<\/td>\n<td align=\"left\">eco_finishRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">END<\/td>\n<td align=\"left\">\u56de\u5bb6\u5145\u7535<\/td>\n<td align=\"left\">eco_startRecharge<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5168\u7a0b<\/td>\n<td align=\"left\">\u8bed\u97f3\u64ad\u62a5<\/td>\n<td align=\"left\">eco_robotSpeech<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6536\u5c3e<\/td>\n<td align=\"left\">\u53d6\u6d88\u4efb\u52a1 &#043; \u65ad\u5f00<\/td>\n<td align=\"left\">eco_cancelAllMissions &#043; Disconnect<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.4.5 \u914d\u7f6e\u533a<\/h4>\n<table>\n<tr>\u914d\u7f6e\u9879\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">ROBOT_IP<\/td>\n<td align=\"left\">192.168.31.179<\/td>\n<td align=\"left\">\u673a\u5668\u4eba IP<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_WS_URL<\/td>\n<td align=\"left\">ws:\/\/192.168.31.179:9900\/<\/td>\n<td align=\"left\">WebSocket \u5730\u5740<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_MIN_BATTERY<\/td>\n<td align=\"left\">30.0<\/td>\n<td align=\"left\">\u6700\u4f4e\u7535\u91cf<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_CONNECT_TIMEOUT<\/td>\n<td align=\"left\">8.0<\/td>\n<td align=\"left\">\u8fde\u63a5\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_REFRESH_TIMEOUT<\/td>\n<td align=\"left\">5.0<\/td>\n<td align=\"left\">\u72b6\u6001\u5237\u65b0\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">MISSION_TIMEOUT<\/td>\n<td align=\"left\">60.0<\/td>\n<td align=\"left\">\u5355\u6b21 mission \u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RECHARGE_TIMEOUT<\/td>\n<td align=\"left\">300.0<\/td>\n<td align=\"left\">\u56de\u5145\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RECHARGE_MAX_RETRY<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u56de\u5145\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RECHARGE_RETRY_INTERVAL<\/td>\n<td align=\"left\">10<\/td>\n<td align=\"left\">\u56de\u5145\u91cd\u8bd5\u95f4\u9694<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_TABLE_AREA<\/td>\n<td align=\"left\">\u9910\u684c<\/td>\n<td align=\"left\">\u9910\u684c\u8bed\u4e49\u533a\u57df\u540d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_BASKET_AREA<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3\u533a<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3\u533a\u8bed\u4e49\u533a\u57df\u540d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">SCAN_STEP_DEG<\/td>\n<td align=\"left\">60.0<\/td>\n<td align=\"left\">\u626b\u89c6\u6b65\u8fdb\u89d2\u5ea6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">SCAN_MAX_ANGLE_PER_CALL<\/td>\n<td align=\"left\">170\u00b0<\/td>\n<td align=\"left\">\u5355\u6b21\u65cb\u8f6c\u6700\u5927\u89d2\u5ea6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">BASKET_LABEL<\/td>\n<td align=\"left\">\u6536\u7eb3\u7b50<\/td>\n<td align=\"left\">\u6536\u7eb3\u7b50\u6807\u7b7e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">TOY_LABEL<\/td>\n<td align=\"left\">\u73a9\u5177<\/td>\n<td align=\"left\">\u73a9\u5177\u6807\u7b7e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">TABLE_SCAN_ATTEMPTS<\/td>\n<td align=\"left\">2<\/td>\n<td align=\"left\">\u684c\u9762\u626b\u63cf\u5c1d\u8bd5\u6b21\u6570<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">MAX_GRAB_RETRIES<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u6293\u53d6\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">MAX_PLACE_RETRIES<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u653e\u7f6e\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">BATTERY_FULL_THRESHOLD<\/td>\n<td align=\"left\">99.5<\/td>\n<td align=\"left\">\u7535\u91cf\u89c6\u4e3a\u201c\u6ee1\u201d\u7684\u9608\u503c<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">HEAD_LOOK_DOWN_RAD<\/td>\n<td align=\"left\">0.9<\/td>\n<td align=\"left\">\u5934\u90e8\u4fef\u89c6\u89d2\u5ea6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">_SLEEP_BETWEEN_MISSIONS<\/td>\n<td align=\"left\">2.0<\/td>\n<td align=\"left\">mission \u95f4\u4f11\u7720<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.4.6 \u547d\u4ee4\u884c\u53c2\u6570<\/h4>\n<table>\n<tr>\u53c2\u6570\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">&#8211;ws-url<\/td>\n<td align=\"left\">ws:\/\/192.168.31.179:9900\/<\/td>\n<td align=\"left\">WebSocket \u5730\u5740<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;min-battery<\/td>\n<td align=\"left\">30.0<\/td>\n<td align=\"left\">\u6700\u4f4e\u7535\u91cf<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;connect-timeout<\/td>\n<td align=\"left\">8.0<\/td>\n<td align=\"left\">\u8fde\u63a5\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;table-area<\/td>\n<td align=\"left\">\u9910\u684c<\/td>\n<td align=\"left\">\u9910\u684c\u8bed\u4e49\u533a\u57df\u540d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;basket-area<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3\u533a<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3\u533a\u8bed\u4e49\u533a\u57df\u540d<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;recharge-retry<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u56de\u5145\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;max-toys<\/td>\n<td align=\"left\">0<\/td>\n<td align=\"left\">\u6700\u591a\u6293\u53d6\u73a9\u5177\u6570&#xff08;0&#061;\u4e0d\u9650\u5236&#xff09;<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;search-pose-index<\/td>\n<td align=\"left\">-1<\/td>\n<td align=\"left\">search \u4f4d\u59ff\u7d22\u5f15<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;carrier<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">PutWhere carrier<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;carrier-direct<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">PutWhere carrier_direct<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-step-33<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7 3.3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-step-34<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7 3.4<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-preflight<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7\u72b6\u6001\u68c0\u67e5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;no-speech<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u5173\u95ed\u8bed\u97f3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;speech<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u663e\u5f0f\u5f00\u542f\u8bed\u97f3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;yes \/ -y<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7\u786e\u8ba4<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;no-color<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u5173\u95ed\u65e5\u5fd7\u989c\u8272<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;log-level<\/td>\n<td align=\"left\">INFO<\/td>\n<td align=\"left\">\u65e5\u5fd7\u7ea7\u522b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.4.7 \u8fd0\u884c\u65b9\u5f0f<\/h4>\n<p><span class=\"token comment\">### \u57fa\u672c\u8fd0\u884c<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406&#xff09;.py<br \/>\n<span class=\"token comment\">### \u8df3\u8fc7\u786e\u8ba4<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406&#xff09;.py <span class=\"token parameter variable\">&#8211;yes<\/span><br \/>\n<span class=\"token comment\">### \u5173\u95ed\u8bed\u97f3<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406&#xff09;.py <span class=\"token parameter variable\">&#8211;yes<\/span> &#8211;no-speech<br \/>\n<span class=\"token comment\">### \u81ea\u5b9a\u4e49\u533a\u57df<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406&#xff09;.py <span class=\"token parameter variable\">&#8211;yes<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;table-area <span class=\"token string\">&#034;\u9910\u5385\u684c\u5b50&#034;<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;basket-area <span class=\"token string\">&#034;\u73a9\u5177\u6536\u7eb3\u533a&#034;<\/span>#<span class=\"token comment\">## \u9650\u5236\u6700\u591a\u6293 3 \u4e2a<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406&#xff09;.py <span class=\"token parameter variable\">&#8211;yes<\/span> &#8211;max-toys <span class=\"token number\">3<\/span><br \/>\n<span class=\"token comment\">### \u53ea\u626b\u63cf\u4e0d\u6293\u53d6<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406&#xff09;.py <span class=\"token parameter variable\">&#8211;yes<\/span> &#8211;skip-step-33<br \/>\n<span class=\"token comment\">### \u8c03\u8bd5\u65e5\u5fd7<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406&#xff09;.py <span class=\"token parameter variable\">&#8211;yes<\/span> &#8211;log-level DEBUG<br \/>\n<span class=\"token comment\">### \u6307\u5b9a IP<\/span><br \/>\npython3 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u9910\u684c\u73a9\u5177\u6536\u7eb3\u6574\u7406&#xff09;.py &#8211;ws-url ws:\/\/192.168.1.107:9900\/<\/p>\n<hr \/>\n<h3>5.5 \u73a9\u5177\u6536\u7eb3\u548c\u978b\u5b50\u6574\u7406<\/h3>\n<h4>5.5.1 \u811a\u672c\u529f\u80fd<\/h4>\n<p>\u8fd9\u662f\u4e00\u4e2a \u9762\u5411\u771f\u5b9e\u673a\u5668\u4eba\u7684\u5bb6\u5ead\u6574\u7406\u4e00\u4f53\u5316\u811a\u672c&#xff1a; \u8fde\u63a5 \u2192 \u72b6\u6001\u68c0\u67e5 \u2192 \u4e0b\u6869 \u2192 \u73a9\u5177\u6536\u7eb3&#xff08;\u626b\u89c6 &#043; \u5faa\u73af\u6293\u653e&#xff09;\u2192 \u7b49\u5f85 \u2192 \u7384\u5173\u978b\u5b50\u6574\u7406&#xff08;\u626b\u89c6 &#043; \u914d\u5bf9 &#043; \u89c4\u5212 &#043; \u53ea\u6293\u540e\u8ddf&#xff09;\u2192 \u7ed3\u675f\u59ff\u6001 \u2192 \u56de\u5bb6\u5145\u7535\u3002 \u5b83\u628a\u73a9\u5177\u6536\u7eb3\u548c\u978b\u5b50\u6574\u7406\u4e32\u6210\u4e00\u6761\u5b8c\u6574\u94fe\u8def&#xff0c;\u5e76\u65b0\u589e\u4e86\u9636\u6bb5\u7b49\u5f85\u548c\u53ea\u6293\u540e\u8ddf&#xff0c;\u662f\u5b66\u4e60 \u591a\u9636\u6bb5\u4efb\u52a1\u7f16\u6392 &#043; \u978b\u5b50\u7cbe\u7ec6\u6293\u53d6 \u7684\u6700\u4f73\u5165\u53e3\u3002<\/p>\n<p>\u4e00\u53e5\u8bdd&#xff1a;\u8ba9\u673a\u5668\u4eba\u4e0b\u6869 \u2192 \u8d70\u5230\u73a9\u5177\u6536\u7eb3\u533a \u2192 360\u00b0 \u626b\u89c6\u8bc6\u522b\u6536\u7eb3\u7b50 \u2192 \u6536\u62fe\u73a9\u5177 \u2192 \u7b49\u5f85 1 \u5206\u949f \u2192 \u8d70\u5230\u7384\u5173 \u2192 360\u00b0 \u626b\u89c6\u627e\u978b \u2192 \u978b\u5b50\u914d\u5bf9 &#043; \u89c4\u5212 \u2192 \u9010\u53ea\u6293\u653e \u2192 \u6062\u590d\u7ed3\u675f\u59ff\u6001 \u2192 \u56de\u5bb6\u5145\u7535\u3002<\/p>\n<p>\u8fd9\u662f\u4e00\u4e2a\u4e24\u9636\u6bb5\u4e00\u4f53\u5316\u4efb\u52a1&#xff1a;<\/p>\n<table>\n<tr>\u9636\u6bb5\u4efb\u52a1\u76ee\u6807<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">A<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3<\/td>\n<td align=\"left\">\u628a\u6563\u843d\u73a9\u5177\u6536\u8fdb\u73a9\u5177\u6536\u7eb3\u7b50<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">B<\/td>\n<td align=\"left\">\u7b49\u5f85<\/td>\n<td align=\"left\">\u9759\u9ed8 60 \u79d2&#xff0c;\u7ed9\u673a\u5668\u4eba\/\u73af\u5883\u7f13\u51b2<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C<\/td>\n<td align=\"left\">\u7384\u5173\u978b\u5b50\u6574\u7406<\/td>\n<td align=\"left\">\u628a\u7384\u5173\u978b\u5b50\u6210\u5bf9\u6446\u653e\u6574\u9f50<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.5.2\u6267\u884c\u94fe\u8def<\/h4>\n<p>[1\/5] \u8fde\u63a5\u673a\u5668\u4eba&#xff08;ws:\/\/192.168.31.179:9900\/&#xff09;<br \/>\n  \u2193<br \/>\n[2\/5] \u72b6\u6001\u68c0\u67e5&#xff08;\u7535\u91cf \u2265 30%\u3001\u7a7a\u95f2\u3001\u544a\u8b66\u3001\u5730\u56fe\u5750\u6807\u3001\u662f\u5426\u5145\u7535&#xff09;<br \/>\n  \u2193<br \/>\n[3.1] \u4e0b\u6869\u5224\u65ad&#xff08;\u5728\u5145\u7535\u6869\u4e0a \u2192 eco_leaveDock&#xff09;<br \/>\n  \u2193<br \/>\n########## \u9636\u6bb5 A&#xff1a;\u73a9\u5177\u6536\u7eb3 ##########<br \/>\n[3.2] \u8d70\u5230\u73a9\u5177\u6536\u7eb3\u533a &#043; 360\u00b0 \u626b\u89c6\u8bc6\u522b\u6536\u7eb3\u7b50<br \/>\n[3.3] \u6536\u62fe\u73a9\u5177\u5230\u6536\u7eb3\u7b50&#xff1a;<br \/>\n      \u641c\u73a9\u5177&#xff08;\u6392\u9664\u7b50\u5185&#xff09;\u2192 \u6293\u53d6&#xff08;\u6700\u591a 3 \u6b21&#xff09;\u2192 \u653e\u7f6e&#xff08;\u6700\u591a 3 \u6b21&#xff09;<br \/>\n      \u5faa\u73af\u76f4\u5230\u65e0\u73a9\u5177\u6216\u8fbe\u5230 max_rounds<br \/>\n[3.4] \u7ed3\u675f\u59ff\u6001<br \/>\n  \u2193<br \/>\n########## \u9636\u6bb5 B&#xff1a;\u7b49\u5f85 60 \u79d2 ##########<br \/>\n  \u2193<br \/>\n########## \u9636\u6bb5 C&#xff1a;\u7384\u5173\u978b\u5b50\u6574\u7406 ##########<br \/>\n[4] \u5bfc\u822a\u5230\u7384\u5173<br \/>\n[4.1] \u539f\u5730 360\u00b0 \u626b\u89c6\u5bfb\u627e\u978b\u5b50<br \/>\n[5] \u5934\u90e8\u62cd\u7167 \u2192 SHOE \u68c0\u6d4b \u2192 \u978b\u5b50\u914d\u5bf9 \u2192 \u6293\u653e\u89c4\u5212<br \/>\n[6] \u5faa\u73af\u6267\u884c\u6bcf\u6b65&#xff1a;\u81c2\u5bf9\u51c6 \u2192 \u81c2\u62cd \u2192 \u81c2\u68c0 \u2192 \u8de8\u89c6\u5339\u914d \u2192 \u6293&#xff08;\u53ea\u6293\u540e\u8ddf&#xff09;\u2192 \u653e<br \/>\n[7] \u7ed3\u675f\u59ff\u6001 \u2192 \u6e05\u7406\u4e34\u65f6\u8bed\u4e49\u533a\u57df<br \/>\n  \u2193<br \/>\n[END] \u56de\u5bb6\u5145\u7535&#xff08;\u6700\u591a 3 \u6b21&#xff09;<\/p>\n<h4>5.5.3 \u811a\u672c\u7ed3\u6784<\/h4>\n<p>\u5355\u6587\u4ef6&#xff0c;\u5185\u90e8\u6309\u529f\u80fd\u5206\u5757&#xff1a;<\/p>\n<p>\u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py<br \/>\n\u251c\u2500\u2500 \u5168\u5c40\u914d\u7f6e&#xff08;ROBOT_IP \/ \u533a\u57df\u540d \/ \u6807\u7b7e \/ \u626b\u89c6\u53c2\u6570 \/ \u91cd\u8bd5\u53c2\u6570 \/ heel_half_only&#xff09;<br \/>\n\u251c\u2500\u2500 \u901a\u7528\u5de5\u5177&#xff08;log \/ print_section \/ say \/ sleep_with_countdown \/ check_mission_status \/ mission_succeeded&#xff09;<br \/>\n\u251c\u2500\u2500 \u6570\u5b66\u5de5\u5177&#xff08;quat_wxyz_to_rotmat \/ rotmat_to_quatf \/ normalize_or_raise \/ bbox_center \/ _bbox_key \/ _relative_to_map \/ _quat_x_axis_yaw \/ _bbox_score \/ _bbox_area&#xff09;<br \/>\n\u251c\u2500\u2500 \u5f02\u5e38 &amp; \u91cd\u8bd5&#xff08;HomeTidyError \/ safe_mission_call \/ mission_retry&#xff09;<br \/>\n\u251c\u2500\u2500 \u72b6\u6001\u68c0\u67e5&#xff08;is_robot_charging \/ do_preflight&#xff09;<br \/>\n\u251c\u2500\u2500 \u65cb\u8f6c\u5de5\u5177&#xff08;_safe_rotate&#xff09;<br \/>\n\u251c\u2500\u2500 \u641c\u7d22&#xff08;select_pose \/ assert_search_ok \/ search_pose \/ to_filter_box&#xff09;<br \/>\n\u2502<br \/>\n\u251c\u2500\u2500 &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; \u9636\u6bb5 A&#xff1a;\u73a9\u5177\u6536\u7eb3 &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n\u2502   \u251c\u2500\u2500 3.1 \u4e0b\u6869&#xff08;do_step_1_leave_dock&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 3.2 \u626b\u89c6\u8bc6\u522b\u6536\u7eb3\u7b50&#xff08;_detect_basket_in_frame \/ do_scan_basket \/ _compute_basket_pose_from_scan&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u73a9\u5177\u6293\u653e&#xff08;reset_arm_home \/ hand_observe \/ arm_capture_and_pick \/ head_place_flow \/ _grab_with_retries \/ _place_with_retries \/ do_finish_pose&#xff09;<br \/>\n\u2502   \u2514\u2500\u2500 3.3 \u6536\u62fe\u73a9\u5177&#xff08;do_step_3_tidy_toys&#xff09;<br \/>\n\u2502<br \/>\n\u251c\u2500\u2500 &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; \u9636\u6bb5 C&#xff1a;\u7384\u5173\u978b\u5b50\u6574\u7406 &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;<br \/>\n\u2502   \u251c\u2500\u2500 360\u00b0 \u626b\u89c6\u627e\u978b&#xff08;_detect_shoe_in_frame \/ do_scan_shoes_360&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u8bed\u4e49\u533a\u57df\u89e3\u6790&#xff08;resolve_organize_area&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u978b\u5b50\u914d\u5bf9&#xff08;pair_shoes&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u5934\u56fe\u53c2\u8003\u6846\u5f52\u7ea6&#xff08;head_image_ref_bboxes_for_move_steps&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u6293\u653e\u89c4\u5212&#xff08;get_shoe_move_steps&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u8de8\u89c6\u56fe\u5339\u914d&#xff08;_long_axis_xoy \/ cosine_similarity \/ _batch_extract_pose_and_emb \/ _score_candidate \/ custom_match_obj_views&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u653e\u7f6e\u4f4d\u59ff&#xff08;front_edge_horizontal_x_axis \/ place_quat_from_front_edge \/ place_position_pixel_ray_ground_z0&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u53ea\u6293\u540e\u8ddf&#xff08;_crop_bbox_to_heel_half \/ _estimate_heel_side_from_pose&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u6293\u53d6&#xff08;NamedBboxWithShoe \/ pick_with_arm_review&#xff09;<br \/>\n\u2502   \u251c\u2500\u2500 \u5355\u6b65\u6267\u884c&#xff08;execute_pick_and_place&#xff09;<br \/>\n\u2502   \u2514\u2500\u2500 \u978b\u5b50\u4e3b\u6d41\u7a0b&#xff08;do_step_shoe_sort&#xff09;<br \/>\n\u2502<br \/>\n\u251c\u2500\u2500 END \u56de\u5bb6\u5145\u7535&#xff08;do_end_recharge&#xff09;<br \/>\n\u2514\u2500\u2500 \u4e3b\u6d41\u7a0b&#xff08;parse_args \/ main&#xff09;<\/p>\n<h4>5.5.4 \u529f\u80fd\u6982\u89c8<\/h4>\n<table>\n<tr>\u6b65\u9aa4\u80fd\u529b\u5bf9\u5e94\u63a5\u53e3<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">1<\/td>\n<td align=\"left\">\u8fde\u63a5\u673a\u5668\u4eba<\/td>\n<td align=\"left\">BajieRobot(ws_url).Connect()<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">2<\/td>\n<td align=\"left\">\u72b6\u6001\u68c0\u67e5<\/td>\n<td align=\"left\">eco_refreshRobotInfo \/ eco_robotBattery \/ eco_robotWorkState \/ eco_robotAlarm \/ eco_robotPosition \/ eco_robotMapInfo<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">3.1<\/td>\n<td align=\"left\">\u4e0b\u6869<\/td>\n<td align=\"left\">eco_leaveDock<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.2<\/td>\n<td align=\"left\">\u8d70\u5230\u73a9\u5177\u6536\u7eb3\u533a<\/td>\n<td align=\"left\">eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.2<\/td>\n<td align=\"left\">360\u00b0 \u626b\u89c6\u8bc6\u522b\u6536\u7eb3\u7b50<\/td>\n<td align=\"left\">eco_moveChassis &#043; eco_captureImages &#043; eco_detect_objects<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.2<\/td>\n<td align=\"left\">\u7528\u626b\u89c6\u7f13\u5b58\u7b97\u6536\u7eb3\u7b50 6D \u4f4d\u59ff<\/td>\n<td align=\"left\">eco_computeObjectPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.3<\/td>\n<td align=\"left\">\u641c\u73a9\u5177&#xff08;\u6392\u9664\u7b50\u5185&#xff09;<\/td>\n<td align=\"left\">eco_findObject(filter_boxes&#061;&#8230;)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.3<\/td>\n<td align=\"left\">\u624b\u81c2\u5f52\u4f4d<\/td>\n<td align=\"left\">eco_setRobotArmMode(ARM_HOME)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.3<\/td>\n<td align=\"left\">\u624b\u90e8\u89c2\u6d4b<\/td>\n<td align=\"left\">eco_lookto(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.3<\/td>\n<td align=\"left\">\u624b\u81c2\u62cd\u7167 &#043; OVD &#043; \u6293\u53d6<\/td>\n<td align=\"left\">eco_captureImages &#043; eco_detect_objects &#043; eco_pick<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.3<\/td>\n<td align=\"left\">\u5934\u90e8\u89c2\u6d4b\u6536\u7eb3\u7b50<\/td>\n<td align=\"left\">eco_lookto(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.3<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.3<\/td>\n<td align=\"left\">PutWhere \u6458\u8981<\/td>\n<td align=\"left\">eco_put_where_summary<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.3<\/td>\n<td align=\"left\">\u8bed\u4e49\u653e\u7f6e<\/td>\n<td align=\"left\">eco_place_in<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">A-3.4<\/td>\n<td align=\"left\">\u7ed3\u675f\u59ff\u6001<\/td>\n<td align=\"left\">eco_finishRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">B<\/td>\n<td align=\"left\">\u7b49\u5f85 60 \u79d2<\/td>\n<td align=\"left\">time.sleep<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-4<\/td>\n<td align=\"left\">\u5bfc\u822a\u5230\u7384\u5173<\/td>\n<td align=\"left\">eco_navigateToSemanticArea<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-4.1<\/td>\n<td align=\"left\">360\u00b0 \u626b\u89c6\u627e\u978b<\/td>\n<td align=\"left\">eco_moveChassis &#043; eco_captureImages &#043; eco_detect_objects(entry&#061;SHOE)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-5<\/td>\n<td align=\"left\">\u5934\u90e8\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.HEAD)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-5<\/td>\n<td align=\"left\">SHOE \u68c0\u6d4b<\/td>\n<td align=\"left\">eco_detect_objects(entry&#061;OvdEndpoint.SHOE)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-5<\/td>\n<td align=\"left\">\u978b\u5b50\u914d\u5bf9<\/td>\n<td align=\"left\">eco_pairwise &#043; \u81ea\u5b9a\u4e49 pair_shoes<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-5<\/td>\n<td align=\"left\">\u7ebf\u9762\u6295\u5f71<\/td>\n<td align=\"left\">project_place_line_and_plane<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-5<\/td>\n<td align=\"left\">\u6293\u653e\u89c4\u5212<\/td>\n<td align=\"left\">eco_shoe_placement_plan<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-5<\/td>\n<td align=\"left\">6D \u59ff\u6001<\/td>\n<td align=\"left\">eco_computeObjectPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-5<\/td>\n<td align=\"left\">\u89c6\u89c9\u7279\u5f81<\/td>\n<td align=\"left\">eco_build_embeddings<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-6<\/td>\n<td align=\"left\">\u624b\u81c2\u5bf9\u51c6<\/td>\n<td align=\"left\">eco_lookto(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-6<\/td>\n<td align=\"left\">\u624b\u81c2\u62cd\u7167<\/td>\n<td align=\"left\">eco_captureImages(CameraType.ARM)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-6<\/td>\n<td align=\"left\">\u81c2\u56fe\u68c0\u6d4b<\/td>\n<td align=\"left\">eco_detect_objects(entry&#061;OvdEndpoint.SHOE)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-6<\/td>\n<td align=\"left\">\u8de8\u89c6\u56fe\u5339\u914d<\/td>\n<td align=\"left\">\u81ea\u5b9a\u4e49 custom_match_obj_views<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-6<\/td>\n<td align=\"left\">\u53ea\u6293\u540e\u8ddf<\/td>\n<td align=\"left\">_crop_bbox_to_heel_half &#043; _estimate_heel_side_from_pose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-6<\/td>\n<td align=\"left\">\u6293\u53d6<\/td>\n<td align=\"left\">eco_pick<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-6<\/td>\n<td align=\"left\">6D \u653e\u7f6e<\/td>\n<td align=\"left\">eco_place_3D<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-7<\/td>\n<td align=\"left\">\u6062\u590d\u7ed3\u675f\u59ff\u6001<\/td>\n<td align=\"left\">eco_prepareRobotPose<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">C-7<\/td>\n<td align=\"left\">\u6e05\u7406\u4e34\u65f6\u533a\u57df<\/td>\n<td align=\"left\">eco_manageSemanticMap(DELETE)<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">END<\/td>\n<td align=\"left\">\u56de\u5bb6\u5145\u7535<\/td>\n<td align=\"left\">eco_startRecharge<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u5168\u7a0b<\/td>\n<td align=\"left\">\u8bed\u97f3\u64ad\u62a5<\/td>\n<td align=\"left\">eco_robotSpeech<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">\u6536\u5c3e<\/td>\n<td align=\"left\">\u53d6\u6d88\u4efb\u52a1 &#043; \u65ad\u5f00<\/td>\n<td align=\"left\">eco_cancelAllMissions &#043; Disconnect<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.5.5 \u914d\u7f6e\u533a<\/h4>\n<table>\n<tr>\u914d\u7f6e\u9879\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">ROBOT_IP<\/td>\n<td align=\"left\">192.168.31.179<\/td>\n<td align=\"left\">\u673a\u5668\u4eba IP<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_WS_URL<\/td>\n<td align=\"left\">ws:\/\/192.168.31.179:9900\/<\/td>\n<td align=\"left\">WebSocket \u5730\u5740<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_MIN_BATTERY<\/td>\n<td align=\"left\">30.0<\/td>\n<td align=\"left\">\u6700\u4f4e\u7535\u91cf<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_CONNECT_TIMEOUT<\/td>\n<td align=\"left\">15.0<\/td>\n<td align=\"left\">\u8fde\u63a5\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_REFRESH_TIMEOUT<\/td>\n<td align=\"left\">5.0<\/td>\n<td align=\"left\">\u72b6\u6001\u5237\u65b0\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">MISSION_TIMEOUT<\/td>\n<td align=\"left\">60.0<\/td>\n<td align=\"left\">\u5355\u6b21 mission \u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RECHARGE_TIMEOUT<\/td>\n<td align=\"left\">300.0<\/td>\n<td align=\"left\">\u56de\u5145\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RECHARGE_MAX_RETRY<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u56de\u5145\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">RECHARGE_RETRY_INTERVAL<\/td>\n<td align=\"left\">10<\/td>\n<td align=\"left\">\u56de\u5145\u91cd\u8bd5\u95f4\u9694<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_TOY_AREA<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3\u533a<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3\u533a<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_SHOE_AREA<\/td>\n<td align=\"left\">\u7384\u5173<\/td>\n<td align=\"left\">\u7384\u5173\u978b\u5b50\u533a<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">SCAN_STEP_DEG<\/td>\n<td align=\"left\">60.0<\/td>\n<td align=\"left\">\u73a9\u5177\u626b\u89c6\u6b65\u8fdb\u89d2\u5ea6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">SHOE_SCAN_STEP_DEG<\/td>\n<td align=\"left\">60.0<\/td>\n<td align=\"left\">\u978b\u5b50\u626b\u89c6\u6b65\u8fdb\u89d2\u5ea6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">SCAN_MAX_ANGLE_PER_CALL<\/td>\n<td align=\"left\">170\u00b0<\/td>\n<td align=\"left\">\u5355\u6b21\u65cb\u8f6c\u6700\u5927\u89d2\u5ea6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">BASKET_LABEL<\/td>\n<td align=\"left\">\u6536\u7eb3\u7b50<\/td>\n<td align=\"left\">\u6536\u7eb3\u7b50\u6807\u7b7e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">TOY_LABEL<\/td>\n<td align=\"left\">\u73a9\u5177<\/td>\n<td align=\"left\">\u73a9\u5177\u6807\u7b7e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">SHOE_LABEL<\/td>\n<td align=\"left\">\u978b\u5b50<\/td>\n<td align=\"left\">\u978b\u5b50\u6807\u7b7e<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_CARRIER_BOX<\/td>\n<td align=\"left\">[[1.2,0.6,0],[1.2,-0.6,0],[0.6,-0.6,0],[0.6,0.6,0]]<\/td>\n<td align=\"left\">\u9ed8\u8ba4\u653e\u7f6e\u533a<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">DEFAULT_FRONT_EDGE<\/td>\n<td align=\"left\">[[0.6,-0.6,0],[0.6,0.6,0]]<\/td>\n<td align=\"left\">\u9ed8\u8ba4\u524d\u6cbf\u7ebf<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">SHOE_MATCHING_CONFIG<\/td>\n<td align=\"left\">\u89c1\u4e0b<\/td>\n<td align=\"left\">\u8de8\u89c6\u56fe\u5339\u914d\u6743\u91cd<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">STAGE_INTERVAL_SEC<\/td>\n<td align=\"left\">60<\/td>\n<td align=\"left\">\u73a9\u5177\u2192\u978b\u5b50\u95f4\u9694<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">MAX_GRAB_RETRIES<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u6293\u53d6\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">MAX_PLACE_RETRIES<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u653e\u7f6e\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">HEEL_HALF_ONLY_DEFAULT<\/td>\n<td align=\"left\">True<\/td>\n<td align=\"left\">\u978b\u5b50\u53ea\u6293\u540e\u8ddf\u90a3\u4e00\u534a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>SHOE_MATCHING_CONFIG&#xff1a;<\/p>\n<table>\n<tr>\u5b57\u6bb5\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">spatial_sigma<\/td>\n<td align=\"left\">0.8<\/td>\n<td align=\"left\">\u7a7a\u95f4\u8ddd\u79bb\u9ad8\u65af \u03c3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">direction_sigma_deg<\/td>\n<td align=\"left\">80.0<\/td>\n<td align=\"left\">\u65b9\u5411\u89d2\u9ad8\u65af \u03c3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">w_spatial<\/td>\n<td align=\"left\">0.40<\/td>\n<td align=\"left\">\u7a7a\u95f4\u8ddd\u79bb\u6743\u91cd<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">w_direction<\/td>\n<td align=\"left\">0.30<\/td>\n<td align=\"left\">\u65b9\u5411\u6743\u91cd<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">w_visual<\/td>\n<td align=\"left\">0.30<\/td>\n<td align=\"left\">\u89c6\u89c9\u76f8\u4f3c\u5ea6\u6743\u91cd<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">combined_score_threshold<\/td>\n<td align=\"left\">0.10<\/td>\n<td align=\"left\">\u5339\u914d\u6700\u4f4e\u5206\u9608\u503c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.5.6 \u547d\u4ee4\u884c\u53c2\u6570<\/h4>\n<table>\n<tr>\u53c2\u6570\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td align=\"left\">&#8211;ws-url<\/td>\n<td align=\"left\">ws:\/\/192.168.31.179:9900\/<\/td>\n<td align=\"left\">WebSocket \u5730\u5740<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;toy-area-name<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3\u533a<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3\u533a<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;shoe-area-name<\/td>\n<td align=\"left\">\u7384\u5173<\/td>\n<td align=\"left\">\u7384\u5173\u978b\u5b50\u533a<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;min-battery<\/td>\n<td align=\"left\">30.0<\/td>\n<td align=\"left\">\u6700\u4f4e\u7535\u91cf<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;connect-timeout<\/td>\n<td align=\"left\">15.0<\/td>\n<td align=\"left\">\u8fde\u63a5\u8d85\u65f6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;recharge-retry<\/td>\n<td align=\"left\">3<\/td>\n<td align=\"left\">\u56de\u5145\u6700\u5927\u91cd\u8bd5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;max-rounds<\/td>\n<td align=\"left\">0<\/td>\n<td align=\"left\">\u73a9\u5177\u6536\u7eb3\u6700\u5927\u8f6e\u6570&#xff08;0&#061;\u65e0\u9650&#xff09;<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;pick-index<\/td>\n<td align=\"left\">0<\/td>\n<td align=\"left\">OVD \u6293\u53d6\u76ee\u6807\u7d22\u5f15<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;search-pose-index<\/td>\n<td align=\"left\">-1<\/td>\n<td align=\"left\">search \u4f4d\u59ff\u7d22\u5f15<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;carrier<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">PutWhere carrier<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;carrier-direct<\/td>\n<td align=\"left\">&#034;&#034;<\/td>\n<td align=\"left\">PutWhere carrier_direct<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;scan-step-deg<\/td>\n<td align=\"left\">60.0<\/td>\n<td align=\"left\">\u73a9\u5177\u626b\u89c6\u6b65\u8fdb\u89d2\u5ea6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;shoe-scan-step-deg<\/td>\n<td align=\"left\">60.0<\/td>\n<td align=\"left\">\u978b\u5b50\u626b\u89c6\u6b65\u8fdb\u89d2\u5ea6<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;stage-interval<\/td>\n<td align=\"left\">60<\/td>\n<td align=\"left\">\u73a9\u5177\u2192\u978b\u5b50\u95f4\u9694\u79d2\u6570<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-toy<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7\u73a9\u5177\u9636\u6bb5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-shoe<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7\u978b\u5b50\u9636\u6bb5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;no-voice<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u5173\u95ed\u8bed\u97f3<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;skip-preflight<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7\u72b6\u6001\u68c0\u67e5<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;yes \/ -y<\/td>\n<td align=\"left\">False<\/td>\n<td align=\"left\">\u8df3\u8fc7\u786e\u8ba4<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;heel-half-only<\/td>\n<td align=\"left\">True<\/td>\n<td align=\"left\">\u978b\u5b50\u53ea\u6293\u540e\u8ddf\u90a3\u4e00\u534a&#xff08;\u9ed8\u8ba4\u5f00\u542f&#xff09;<\/td>\n<\/tr>\n<tr>\n<td align=\"left\">&#8211;no-heel-half<\/td>\n<td align=\"left\">\u2014<\/td>\n<td align=\"left\">\u978b\u5b50\u6293\u53d6\u4f7f\u7528\u5b8c\u6574 bbox<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>5.5.7 \u8fd0\u884c\u65b9\u5f0f<\/h4>\n<p><span class=\"token comment\">### \u57fa\u672c\u8fd0\u884c<\/span><br \/>\npython3 \u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py<br \/>\n<span class=\"token comment\">### \u8df3\u8fc7\u786e\u8ba4<\/span><br \/>\npython3 \u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py <span class=\"token parameter variable\">&#8211;yes<\/span><br \/>\n<span class=\"token comment\">### \u5173\u95ed\u8bed\u97f3<\/span><br \/>\npython3 \u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py <span class=\"token parameter variable\">&#8211;yes<\/span> &#8211;no-voice<br \/>\n<span class=\"token comment\">### \u81ea\u5b9a\u4e49\u533a\u57df<\/span><br \/>\npython3 \u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;toy-area-name <span class=\"token string\">&#034;\u73a9\u5177\u6536\u7eb3\u533a&#034;<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n  &#8211;shoe-area-name <span class=\"token string\">&#034;\u7384\u5173&#034;<\/span><br \/>\n<span class=\"token comment\">### \u53ea\u505a\u73a9\u5177<\/span><br \/>\npython3 \u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py &#8211;skip-shoe<br \/>\n<span class=\"token comment\">### \u53ea\u505a\u978b\u5b50<\/span><br \/>\npython3 \u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py &#8211;skip-toy<br \/>\n<span class=\"token comment\">### \u5173\u95ed\u53ea\u6293\u540e\u8ddf<\/span><br \/>\npython3 \u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py &#8211;no-heel-half<br \/>\n<span class=\"token comment\">### \u8c03\u6574\u9636\u6bb5\u95f4\u9694<\/span><br \/>\npython3 \u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py &#8211;stage-interval <span class=\"token number\">30<\/span><br \/>\n<span class=\"token comment\">### \u6307\u5b9a IP<\/span><br \/>\npython3 \u73a9\u5177 &#043; \u7384\u5173\u978b\u5b50 \u4e00\u4f53\u5316\u811a\u672c.py &#8211;ws-url ws:\/\/192.168.1.107:9900\/<\/p>\n<hr \/>\n<h2>\u516d\u3001\u6d4b\u8bc4\u5c0f\u7ed3<\/h2>\n<p>\u516b\u754c\u673a\u5668\u4eba SDK \u662f\u4e00\u5957\u9762\u5411\u771f\u5b9e\u7269\u7406\u673a\u5668\u4eba\u7684 Python \u5f00\u53d1\u5957\u4ef6&#xff0c;\u5b83\u4e0d\u53ea\u662f\u201c\u53d1\u547d\u4ee4\u2014\u6536\u7ed3\u679c\u201d\u7684\u63a5\u53e3\u96c6\u5408&#xff0c;\u800c\u662f\u4e00\u6574\u5957\u4ece\u611f\u77e5\u3001\u89c4\u5212\u3001\u6267\u884c\u5230\u8bc4\u5224\u7684\u5b8c\u6574\u80fd\u529b\u4f53\u7cfb\u3002 \u5b83\u5df2\u7ecf\u80fd\u505a\u5230&#xff1a;<\/p>\n<ul>\n<li>\u770b&#xff1a;eco_captureImages\u3001eco_detect_objects\u3001eco_vlm_perception<\/li>\n<li>\u60f3&#xff1a;eco_vlm_desk_sort_plan\u3001eco_shoe_placement_plan\u3001eco_findObject<\/li>\n<li>\u52a8&#xff1a;eco_moveChassis\u3001eco_navigateToSemanticArea\u3001eco_lookto<\/li>\n<li>\u6293\u653e&#xff1a;eco_pick\u3001eco_place_3D\u3001eco_place_in\u3001eco_place_with_view<\/li>\n<li>\u8bc4\u5224&#xff1a;eco_vlm_judge<\/li>\n<li>\u95ed\u73af&#xff1a;\u611f\u77e5 \u2192 \u89c4\u5212 \u2192 \u6267\u884c \u2192 \u8bc4\u5224 \u2192 \u518d\u89c4\u5212 \u4ece demo \u5230\u5355\u6587\u4ef6\u811a\u672c&#xff0c;\u5df2\u7ecf\u80fd\u8dd1\u901a&#xff1a;<\/li>\n<\/ul>\n<p>\u73a9\u5177\u6536\u7eb3 \/ \u7384\u5173\u978b\u5b50\u6574\u7406 \/ \u9910\u684c\u73a9\u5177\u6536\u7eb3 \/ \u7eb8\u5dfe\u9001\u7269 \/ \u684c\u9762\u6574\u7406 \/ \u73a9\u5177\u914d\u9001<\/p>\n<p>\u4e00\u53e5\u8bdd&#xff1a;\u5b83\u5df2\u7ecf\u5177\u5907\u201c\u8ba9\u673a\u5668\u4eba\u5b8c\u6210\u4e00\u4e2a\u771f\u5b9e\u5bb6\u5ead\u4efb\u52a1\u201d\u7684\u5b8c\u6574\u80fd\u529b&#xff0c;\u800c\u4e0d\u662f\u505c\u7559\u5728\u201c\u8c03\u901a\u4e00\u4e2a\u63a5\u53e3\u201d\u3002<\/p>\n<p>\u516b\u754c\u673a\u5668\u4eba SDK \u5df2\u7ecf\u5177\u5907\u4ece\u611f\u77e5\u3001\u89c4\u5212\u3001\u6267\u884c\u5230\u8bc4\u5224\u7684\u5b8c\u6574\u80fd\u529b&#xff0c;\u5b66\u4e60\u8def\u5f84\u6e05\u6670&#xff0c;demo \u5206\u5c42\u4f18\u79c0&#xff0c;\u9519\u8bef\u7801\u4f53\u7cfb\u5b8c\u5584&#xff0c;\u771f\u5b9e\u4efb\u52a1\u811a\u672c\u5df2\u80fd\u8dd1\u901a\u201c\u8fde\u63a5 \u2192 \u72b6\u6001\u68c0\u67e5 \u2192 \u4e0b\u6869 \u2192 \u4efb\u52a1 \u2192 \u7ed3\u675f\u59ff\u6001 \u2192 \u56de\u5145\u201d\u7684\u5b8c\u6574\u751f\u547d\u5468\u671f\u3002<\/p>\n<ul>\n<li>\u6211\u7684\u5efa\u8bae&#xff1a;\n<ul>\n<li>\u4f18 1\u3001\u5f00\u7bb1\u5373\u7528 2\u3001\u8bed\u4e49\u5bfc\u822a\u57fa\u672c\u4e0a\u65e0\u8bef&#xff0c;\u8fd9\u4e2a\u5f88\u597d 3\u3001\u6587\u6863\u8d44\u6599\u9f50\u5168&#xff0c;SDK \u5bf9\u5f00\u53d1\u8005\u53cb\u597d&#xff0c;\u547d\u540d\u6e05\u6670<\/li>\n<li>\u8865\u5145 1\u3001\u516b\u754c\u6ca1\u6709\u89c6\u9891\u6d41&#xff0c;\u8fd9\u4e2a\u4e0d\u592a\u53cb\u597d 2\u3001\u8865\u5149\u706f\u5e94\u8be5\u80fd\u4f7f\u7528\u63a5\u53e3\u4e3b\u52a8\u5f00\u542f&#xff0c;\u4f46\u662f\u53ea\u80fd\u5728\u9ed1\u6697\u60c5\u51b5\u4e0b\u4f7f\u7528&#xff1b; 3\u3001\u516b\u754c\u5bf9\u8bdd\u5e94\u8be5\u66f4\u666e\u9002\u4e00\u4e9b&#xff0c;\u6bcf\u6b21\u8fde\u7eed\u5bf9\u8bdd&#xff0c;\u516b\u754c\u7684\u56de\u590d\u5c31\u663e\u5f97\u5f88\u6ca1\u6709\u8010\u5fc3&#xff0c;\u6709\u60c5\u7eea&#xff1b; 4\u3001\u516b\u754c\u5e94\u8be5\u589e\u52a0\u5728 Windows \u73af\u5883\u4e0b\u53ef\u4ee5\u5f00\u53d1\u7684sdk&#xff0c;\u56e0\u4e3a\u80af\u5b9a\u6709\u5f00\u53d1\u8005\u5b58\u5728\u4e0d\u719f\u6089 Linux \u73af\u5883\u60c5\u51b5&#xff1b; 5\u3001\u673a\u5668\u5bfc\u822a\u4f1a\u5145\u7535\u6869\u65f6&#xff0c;\u68c0\u6d4b\u5145\u7535\u6869\u597d\u50cf\u662f\u901a\u8fc7\u7ea2\u5916\u68c0\u6d4b\u7684&#xff0c;\u7ea2\u5916\u6709\u4e2a\u5f88\u4e0d\u597d\u7684\u5730\u65b9&#xff0c;\u5c31\u662f\u5916\u90e8\u5149\u7ebf\u592a\u5f3a\u5f88\u5bb9\u6613\u5f71\u54cd&#xff1b;\u8fd9\u8fb9\u5728\u6253\u5f00\u7a97\u5e18\u7684\u60c5\u51b5\u4e0b\u6d4b\u8bd5\u4e0b\u6765&#xff0c;\u56de\u5145\u6210\u529f\u7387\u572860-70%\u5de6\u53f3&#xff0c;\u786e\u5b9e\u6709\u70b9\u4f4e\u4e86\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<hr \/>\n<p>\u300c\u4e00\u8d77\u6765\u52a0\u5165\u516b\u754c\u5f00\u6e90\u751f\u6001\u5427!\u516b\u754c\u5f00\u6e90\u793e\u533a: www.ecovacs-tech.com \u300d<\/p>\n<hr \/>\n","protected":false},"excerpt":{"rendered":"<p>\u79d1\u6c83\u65af\u516b\u754c\u5f00\u6e90\u673a\u5668\u4eba\u573a\u666f\u6df1\u5ea6\u4f53\u9a8c \u5f15\u8a00\u4e00\u3001\u516b\u754c &#8211; \u4ecb\u7ecd\u4e8c\u3001\u516b\u754c\u5230\u5bb6\u7b2c\u4e00\u6b65\u4e09\u3001\u5f00\u53d1\u73af\u5883\u914d\u7f6e3.1 \u5f00\u6e90\u4ed3\u5e93\u4e0b\u8f7d3.2 \u5f00\u53d1\u73af\u5883\u8bf4\u660e3.3 \u7b2c\u4e00\u4e2a\u7a0b\u5e8f\u6d4b\u8bd5 \u56db\u3001\u5404\u79cdDemo \u6d4b\u8bd54.1 \u65b0\u624b\u4e0a\u8def4.2 Python \u7248\u672c\u73a9\u5177\u914d\u9001\u793a\u4f8b4.3 Python \u684c\u9762\u6574\u7406\u793a\u4f8b4.4 Python \u7384\u5173\u978b\u5b50\u6574\u74064.5 Python \u73a9\u5177\u6536\u7eb3\u6574\u7406 \u4e94\u3001\u521b\u610f\u573a\u666f\u6d4b\u8bd55.1 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u73a9\u5177\u6536\u7eb3\u5b8c\u6574\u4f18\u5316\u7248&#xff09;5.1.1 \u811a\u672c\u529f\u80fd5.1.2 \u5b8c\u6574\u6267\u884c\u94fe\u8def&amp;#xff<\/p>\n","protected":false},"author":2,"featured_media":115743,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[13133,13134,3747,227,384],"topic":[],"class_list":["post-115753","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-13133","tag-13134","tag-3747","tag-227","tag-384"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u3010\u79d1\u6c83\u65af-\u516b\u754c\u3011- \u79d1\u6c83\u65af\u516b\u754c\u5f00\u6e90\u673a\u5668\u4eba\u573a\u666f\u6df1\u5ea6\u4f53\u9a8c - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/115753.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u3010\u79d1\u6c83\u65af-\u516b\u754c\u3011- \u79d1\u6c83\u65af\u516b\u754c\u5f00\u6e90\u673a\u5668\u4eba\u573a\u666f\u6df1\u5ea6\u4f53\u9a8c - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u79d1\u6c83\u65af\u516b\u754c\u5f00\u6e90\u673a\u5668\u4eba\u573a\u666f\u6df1\u5ea6\u4f53\u9a8c \u5f15\u8a00\u4e00\u3001\u516b\u754c - \u4ecb\u7ecd\u4e8c\u3001\u516b\u754c\u5230\u5bb6\u7b2c\u4e00\u6b65\u4e09\u3001\u5f00\u53d1\u73af\u5883\u914d\u7f6e3.1 \u5f00\u6e90\u4ed3\u5e93\u4e0b\u8f7d3.2 \u5f00\u53d1\u73af\u5883\u8bf4\u660e3.3 \u7b2c\u4e00\u4e2a\u7a0b\u5e8f\u6d4b\u8bd5 \u56db\u3001\u5404\u79cdDemo \u6d4b\u8bd54.1 \u65b0\u624b\u4e0a\u8def4.2 Python \u7248\u672c\u73a9\u5177\u914d\u9001\u793a\u4f8b4.3 Python \u684c\u9762\u6574\u7406\u793a\u4f8b4.4 Python \u7384\u5173\u978b\u5b50\u6574\u74064.5 Python \u73a9\u5177\u6536\u7eb3\u6574\u7406 \u4e94\u3001\u521b\u610f\u573a\u666f\u6d4b\u8bd55.1 \u516b\u754c\u673a\u5668\u4eba\u4efb\u52a1\u811a\u672c&#xff08;\u73a9\u5177\u6536\u7eb3\u5b8c\u6574\u4f18\u5316\u7248&#xff09;5.1.1 \u811a\u672c\u529f\u80fd5.1.2 \u5b8c\u6574\u6267\u884c\u94fe\u8def&amp;#xff\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/115753.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-10-13T02:09:34+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261013020929-6acd92d9c9ca3.png\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta 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