AIMA开放平台文档中心AimDK A2

7.14 部署态部分

7.14.1 整体介绍

A2部署态目前包含硅基送、毛笔字等功能。目前仅开放硅基送相关接口，帮助用户在不同场景下应用部署态功能。

7.14.2 进入/退出硅基送模式

接口名pb:/aimdk.protocol.EmbodiedService/SwitchEmbodiedMode
功能概述进入/退出硅基送模式
接口类型 HTTP JSON RPC
URLhttp://192.168.100.110:52181/rpc/aimdk.protocol.EmbodiedService/SwitchEmbodiedMode
入参
text
{
    "header": {},
    "mode": "EmbodiedTaskMode_ShopAssistant",
}
  • mode:固定填写EmbodiedTaskMode_ShopAssistant
出参
text
{
  "header": {
    "code": "0",
    "msg": "",
    "timestamp": {
      "seconds": "0",
      "nanos": 0,
      "ms_since_epoch": "1771990841418"
    },
    "task_id": "12345678",
    "type": "EmbodiedResType_Success ",
    "msg": "",
  }
}
  • task_id: 本次任务id
  • type: 接口调用是否成功 EmbodiedResType_Success 为成功，EmbodiedResType_Failure为失败
示例脚本examples/deployment_mode/SwitchEmbodiedMode.sh
备注直接通过接口进入硅基送模式时，需要手动关闭motion_player（ examples/motion_player/disable_motion_player.sh ），否则可能出现动作错误。

7.14.3 硅基送下订单

接口名pb:/aimdk.protocol.EmbodiedService/StartTask
功能概述下订单
接口类型 HTTP JSON RPC
URLhttp://192.168.100.110:52181/rpc/aimdk.protocol.EmbodiedService/StartTask
入参
text
{
    "header": {},
    "task_description": "",
    "task_params": {"bottle", "sku_snack", "delivery_give3", "NAME:甜橙"}
    "loop_num": 1
}
  • task_description:任务描述
  • task_params: 共四个参数，依次为：抓取物体prompt、抓取导航点名称、递送导航点名称（可在获取地图拓扑数据RPC接口获取导航点名称）、递送时用户名称（格式：NAME：xx)常用promopt有：toy, bottle, fruit, can, cube, bread等
  • loop_num:循环次数，可理解为下单个数。
出参
text
{
  "header": {
    "code": "0",
    "msg": "",
    "timestamp": {
      "seconds": "0",
      "nanos": 0,
      "ms_since_epoch": "1771990841418"
    },
    "task_id": 12345678,
    "type": "EmbodiedResType_Success ",
    "msg": "",
  }
}
  • task_id: 本次任务id
  • type: 接口调用是否成功 EmbodiedResType_Success 为成功，EmbodiedResType_Failure为失败
示例脚本examples/deployment_mode/StartAndControl.py
备注

7.14.4 硅基送控制订单

接口名pb:/aimdk.protocol.EmbodiedService/Control
功能概述控制订单
接口类型 HTTP JSON RPC
URLhttp://192.168.100.110:52181/rpc/pb:/aimdk.protocol.EmbodiedService/Control
入参
text
{
    "header": {},
    "task_id": 12345678,
    "type": {"bottle", "sku_snack", "delivery_give3", "NAME:甜橙"}
}
  • task_id:需要控制的订单id
  • type:控制当前订单状态。
EmbodiedControlType_Pause 暂停
EmbodiedControlType_Resume 复位
EmbodiedControlType_Cancel 取消
出参
text
{
  "header": {
    "code": "0",
    "msg": "",
    "timestamp": {
      "seconds": "0",
      "nanos": 0,
      "ms_since_epoch": "1771990841418"
    },
    "task_id": "12345678",
    "type": "EmbodiedResType_Success ",
    "msg": "",
  }
}
  • task_id: 本次任务id
  • type: 接口调用是否成功 EmbodiedResType_Success 为成功，EmbodiedResType_Failure为失败
示例脚本examples/deployment_mode/StartAndControl.py
备注