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simAGV/logic/agv/testAPI.py

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from fastapi import APIRouter
from starlette.requests import Request
from tortoise.queryset import QuerySet, Prefetch
from models.agv import (
Agv
)
from models.warehouse import (
Hole,
Vacancy
)
from helper import respond_to
from tortoise.contrib.pydantic import pydantic_model_creator
import requests
from typing import List
import threading
from plc.tools import (
bytes_to_int_list,
float2intList,
intList2Float
)
import struct
import time
import math
from pydantic import BaseModel
from typing import Optional
from conf import setting
from cam.getParam import getParam
from cam.axis import (
labelMapBigDisk,
labelMapLittleDisk,
labelMapLittleBox,
labelMapBigBox
)
from plc.cmd import(
cmd_type,
setSubPaths,
pass_door,
setLayer,
moveArm,
taskNum,
setTasks,
clear_batch,
readStatus,
write_batch,
write_batch_float,
#Cam related
readCamStatus,
setCamIntList,
camDone,
doorReady,
write_task_batch
)
from algorithm.genpath import (
genPath,
getAgvStop
)
import traceback
from .views import (
clear_batch,
clearCmd,
clearHoles,
returnBox,
putAllTask,
getAllTask
)
#second capture count
CNT = 0
LASTITEM = None
LASTX = None
LASTY = None
LABELMAP = []
class OrderM(BaseModel):
ordertype: int
layer: int
stop: str
class FullOrder(BaseModel):
ordertype_start: int
layer_start: int
stop_start: str
ordertype_end: int
layer_end: int
stop_end: str
agv_test_router = APIRouter(prefix='/agv')
@agv_test_router.post("/singlestep", summary='整单测试')
async def test3(request: Request, orderm: OrderM):
clear_batch()
orderType = orderm.ordertype
layer = orderm.layer
end = orderm.stop
vl_output = []
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = orderType
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layer
#手臂是否需要动作
vl_output[3] = 2
#D21010-D21059
#AGV站点号
# vl_output[10] = 311
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
clearCmd()
return respond_to(data={"status": "Hello World!"})
@agv_test_router.post("/oneround", summary='一轮测试')
async def test4(request: Request, fullOrder: FullOrder):
orderType = fullOrder.ordertype_start
layer = fullOrder.layer_start
end = fullOrder.stop_start
vl_output = []
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = orderType
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layer
#手臂是否需要动作
vl_output[3] = 2
#D21010-D21059
#AGV站点号
# vl_output[10] = 311
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
clearCmd()
#second round
orderType = fullOrder.ordertype_end
layer = fullOrder.layer_end
end = fullOrder.stop_end
vl_output = []
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = orderType
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layer
#手臂是否需要动作
vl_output[3] = 2
#D21010-D21059
#AGV站点号
# vl_output[10] = 311
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
clearCmd()
return respond_to(data={"status": "Hello World!"})
@agv_test_router.get('/float', summary="浮点测试")
async def floatTest(request: Request):
xStatus = readCamStatus()
# xStatus = readXStatus()[0]
xStatus = list(xStatus)
xValue = intList2Float(xStatus[0:2])
print("xValue: ", xValue)
yValue = intList2Float(xStatus[2:4])
print("yValue: ", yValue)
zValue = intList2Float(xStatus[4:6])
print("zValue: ", zValue)
rValue = intList2Float(xStatus[6:8])
print("rValue: ", rValue)
DDXList = float2intList(5.12)
print("DDXList: ", DDXList)
DDYList = float2intList(3.14)
print("DDYList: ", DDYList)
Delta = DDXList + DDYList
setCamIntList(Delta)
return respond_to(data={"status": "Hello World!"})
@agv_test_router.get('/singlemove', summary="单只取放")
async def singleMove(request: Request):
global CNT
global LABELMAP
# clear all register related in PLC
clear_batch()
CNT = 0
LABELMAP = []
layerSrc = 3
end = "01-0111-03-02"
tasktype = 3
if 1 == tasktype:
# little box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapLittleBox
elif 3 == tasktype:
# big box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapBigBox
else:
print("Cannot Match")
print("LABELMAP: ", LABELMAP)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = 5
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layerSrc
#手臂是否需要动作
vl_output[3] = 1
#小框
vl_output[4] = 1
#D21010-D21059
#AGV站点号
# vl_output[10] = 311
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = []
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
# #混合任务
# move7(vl_output)
#大白瓶单次
move8(vl_output)
print("T2: ", vl_output)
write_task_batch(vl_output)
clearCmd()
if 1 == tasktype or 3 == tasktype:
returnBox(paths[-1], layerSrc)
clearCmd()
return respond_to(data={"status": "Hello World!"})
@agv_test_router.get('/simshceduler', summary="模拟调度命令")
async def simShceduler():
await clearHoles()
assignmentCmd = [
{
"01-0113-3-2": {
"cap": 40,
"name": "大白瓶",
"action": 5,
"bottle": 60,
"height": 180,
"orderid": "tr43frr",
"traynum": "1X01",
"quantity": 1,
"typetask": 3,
"coordinates": "01-0111-3-2"
}
},
{
"01-0113-3-5": {
"cap": 70,
"name": "无水亚硫酸钠",
"action": 5,
"bottle": 60,
"height": 150,
"orderid": "tr43frr",
"traynum": "1X02",
"quantity": 1,
"typetask": 3,
"coordinates": "01-0111-3-5"
}
}
]
wholeBoxLabel = None
wholeBoxTask = None
taskDic = {}
#Combine all task in same box
for task in assignmentCmd:
print("Task: ", task)
destLabel = list(task.keys())[0]
parts = task[destLabel]["coordinates"].split("-")
# change label '01-0154-1-1' -> '01-0154-1'
if len(parts) > 3:
taskLabel = "-".join(parts[0:3])
else:
wholeBoxLabel = "-".join(parts)
wholeBoxTask = task
continue
try:
taskDic[taskLabel].append(task)
except:
taskDic[taskLabel] = [task]
taskDicKeys = list(taskDic.keys())
taskDicKeys.sort()
#Whole get task will put at the end of task list
if wholeBoxLabel and wholeBoxTask:
taskDic[wholeBoxLabel] = [wholeBoxTask]
taskDicKeys.append(wholeBoxLabel)
for key in taskDicKeys:
await getAllTask(taskDic[key])
#where to put in AGV plate in getting task !!!
#where to get from AGV plate in putting task !!!
#################
### put whole task!
#################
wholeBoxLabel = None
wholeBoxTask = None
taskDic = {}
#Combine all task in same box
for task in assignmentCmd:
print("Task: ", task)
destLabel = list(task.keys())[0]
parts = destLabel.split("-")
# change label '01-0154-1-1' -> '01-0154-1'
if len(parts) > 3:
taskLabel = "-".join(parts[0:3])
else:
wholeBoxLabel = "-".join(parts)
wholeBoxTask = task
continue
try:
taskDic[taskLabel].append(task)
except:
taskDic[taskLabel] = [task]
taskDicKeys = list(taskDic.keys())
taskDicKeys.sort()
#Whole get task will put at the end of task list
if wholeBoxLabel and wholeBoxTask:
taskDic[wholeBoxLabel] = [wholeBoxTask]
taskDicKeys.insert(0, wholeBoxLabel)
for key in taskDicKeys:
await putAllTask(taskDic[key])
await clearHoles()
return respond_to(data={"status": "Hello World!"})
@agv_test_router.get('/t1', summary="接驳台整箱到货架")
async def t1():
clear_batch()
orderType = 1
layer = 2
end = "01-0067-2"
vl_output = []
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = orderType
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layer
#手臂是否需要动作
vl_output[3] = 2
#D21010-D21059
#AGV站点号
# vl_output[10] = 311
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
clearCmd()
#######################
orderType = 2
layer = 3
end = "01-0113-3"
vl_output = []
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = orderType
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layer
#手臂是否需要动作
vl_output[3] = 2
#D21010-D21059
#AGV站点号
# vl_output[10] = 311
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T2: ", vl_output)
write_batch(vl_output)
clearCmd()
return respond_to(data={"status": "Hello World!"})
@agv_test_router.get('/t2', summary="货架整箱到接驳台")
async def t2():
clear_batch()
orderType = 1
layer = 3
end = "01-0113-3"
vl_output = []
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = orderType
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layer
#手臂是否需要动作
vl_output[3] = 2
#D21010-D21059
#AGV站点号
# vl_output[10] = 311
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
clearCmd()
#######################
orderType = 2
layer = 2
end = "01-0067-2"
vl_output = []
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = orderType
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layer
#手臂是否需要动作
vl_output[3] = 2
#D21010-D21059
#AGV站点号
# vl_output[10] = 311
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T2: ", vl_output)
write_batch(vl_output)
clearCmd()
return respond_to(data={"status": "Hello World!"})
@agv_test_router.get('/t3', summary="接驳台取单只到货架")
async def t3():
clear_batch()
global CNT
global LABELMAP
# clear all register related in PLC
clear_batch()
CNT = 0
LABELMAP = []
layerSrc = 2
end = "01-0066-02-02"
tasktype = 3
if 1 == tasktype:
# little box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapLittleBox
elif 3 == tasktype:
# big box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapBigBox
else:
print("Cannot Match")
print("LABELMAP: ", LABELMAP)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = 1
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layerSrc
#手臂是否需要动作
vl_output[3] = 1
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = []
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
#大白瓶单次取
move8(vl_output)
print("T2: ", vl_output)
write_task_batch(vl_output)
clearCmd()
if 1 == tasktype or 3 == tasktype:
returnBox(paths[-1], layerSrc)
clearCmd()
#######################
CNT = 0
LABELMAP = []
layerSrc = 3
end = "01-0111-03-02"
tasktype = 3
if 1 == tasktype:
# little box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapLittleBox
elif 3 == tasktype:
# big box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapBigBox
else:
print("Cannot Match")
print("LABELMAP: ", LABELMAP)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = 1
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layerSrc
#手臂是否需要动作
vl_output[3] = 1
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = []
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
#大白瓶单次取
move9(vl_output)
print("T2: ", vl_output)
write_task_batch(vl_output)
clearCmd()
if 1 == tasktype or 3 == tasktype:
returnBox(paths[-1], layerSrc)
clearCmd()
@agv_test_router.get('/t4', summary="货架取单只到接驳台")
async def t4():
global CNT
global LABELMAP
clear_batch()
#######################
CNT = 0
LABELMAP = []
layerSrc = 3
end = "01-0111-03-02"
tasktype = 3
if 1 == tasktype:
# little box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapLittleBox
elif 3 == tasktype:
# big box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapBigBox
else:
print("Cannot Match")
print("LABELMAP: ", LABELMAP)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = 1
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layerSrc
#手臂是否需要动作
vl_output[3] = 1
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = []
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
#大白瓶单次取
move8(vl_output)
print("T2: ", vl_output)
write_task_batch(vl_output)
clearCmd()
if 1 == tasktype or 3 == tasktype:
returnBox(paths[-1], layerSrc)
clearCmd()
#######################
# clear all register related in PLC
clear_batch()
CNT = 0
LABELMAP = []
layerSrc = 2
end = "01-0066-02-02"
tasktype = 3
if 1 == tasktype:
# little box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapLittleBox
elif 3 == tasktype:
# big box
LABELMAP = labelMapBigDisk + labelMapLittleDisk + labelMapBigBox
else:
print("Cannot Match")
print("LABELMAP: ", LABELMAP)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
#任务类型
vl_output[0] = 1
#是否经过玻璃门
vl_output[1] = 2
#取框层数
vl_output[2] = layerSrc
#手臂是否需要动作
vl_output[3] = 1
status = readStatus()
start = status[2]
startStop = getAgvStop(start)
paths = []
paths = genPath(startStop, end)
print("Path: ", paths)
cnt = 10
for path in paths:
vl_output[cnt] = path
cnt = cnt + 1
print("T1: ", vl_output)
write_batch(vl_output)
vl_output = []
# for _ in range(100):
for _ in range(100):
vl_output.append(0)
#大白瓶单次取
move9(vl_output)
print("T2: ", vl_output)
write_task_batch(vl_output)
clearCmd()
if 1 == tasktype or 3 == tasktype:
returnBox(paths[-1], layerSrc)
clearCmd()
def move1(vl_output):
# 黑瓶 碘酸钾
###############
# backward
vl_output[0] = 6
#任务1 get
vl_output[1] = 102
#put
vl_output[2] = 305
#height
vl_output[3] = 117
#diameter
vl_output[4] = 50
#任务2 get
vl_output[5] = 305
#put
vl_output[6] = 205
#height
vl_output[7] = 117
#diameter
vl_output[8] = 50
#任务3 get
vl_output[9] = 205
#put
vl_output[10] = 206
#height
vl_output[11] = 117
#diameter
vl_output[12] = 50
###############
# forward
#任务1 get
vl_output[13] = 206
#put
vl_output[14] = 205
#height
vl_output[15] = 117
#diameter
vl_output[16] = 50
#任务2 get
vl_output[17] = 205
#put
vl_output[18] = 305
#height
vl_output[19] = 117
#diameter
vl_output[20] = 50
#任务3 get
vl_output[21] = 305
#put
vl_output[22] = 102
#height
vl_output[23] = 117
#diameter
vl_output[24] = 50
return vl_output
def move2(vl_output):
# 红盖 钙X酸
###############
# backward
vl_output[0] = 6
#任务1 get
vl_output[1] = 102
#put
vl_output[2] = 305
#height
vl_output[3] = 90
#diameter
vl_output[4] = 50
#任务2 get
vl_output[5] = 305
#put
vl_output[6] = 205
#height
vl_output[7] = 90
#diameter
vl_output[8] = 50
#任务3 get
vl_output[9] = 205
#put
vl_output[10] = 206
#height
vl_output[11] = 90
#diameter
vl_output[12] = 50
###############
# forward
#任务1 get
vl_output[13] = 206
#put
vl_output[14] = 205
#height
vl_output[15] = 90
#diameter
vl_output[16] = 50
#任务2 get
vl_output[17] = 205
#put
vl_output[18] = 305
#height
vl_output[19] = 90
#diameter
vl_output[20] = 50
#任务3 get
vl_output[21] = 305
#put
vl_output[22] = 102
#height
vl_output[23] = 90
#diameter
vl_output[24] = 50
return vl_output
def move3(vl_output):
# 乙醇
###############
# backward
vl_output[0] = 6
#任务1 get
vl_output[1] = 102
#put
vl_output[2] = 305
#height
vl_output[3] = 170
#diameter
vl_output[4] = 35
#任务2 get
vl_output[5] = 305
#put
vl_output[6] = 205
#height
vl_output[7] = 170
#diameter
vl_output[8] = 35
#任务3 get
vl_output[9] = 205
#put
vl_output[10] = 206
#height
vl_output[11] = 170
#diameter
vl_output[12] = 35
###############
# forward
#任务1 get
vl_output[13] = 206
#put
vl_output[14] = 205
#height
vl_output[15] = 170
#diameter
vl_output[16] = 35
#任务2 get
vl_output[17] = 205
#put
vl_output[18] = 305
#height
vl_output[19] = 170
#diameter
vl_output[20] = 35
#任务3 get
vl_output[21] = 305
#put
vl_output[22] = 102
#height
vl_output[23] = 170
#diameter
vl_output[24] = 35
return vl_output
def move4(vl_output):
vl_output[0] = 2
#任务1 get
vl_output[1] = 206
#put
vl_output[2] = 202
#height
vl_output[3] = 117
#diameter
vl_output[4] = 50
#任务1 get
vl_output[5] = 202
#put
vl_output[6] = 205
#height
vl_output[7] = 117
#diameter
vl_output[8] = 50
return vl_output
# 大白瓶
# 大白瓶
def move5(vl_output):
# 大白瓶
###############
# backward
vl_output[0] = 6
#任务1 get
vl_output[1] = 101
#put
vl_output[2] = 102
#height
vl_output[3] = 180
#diameter
vl_output[4] = 40
#任务2 get
vl_output[5] = 102
#put
vl_output[6] = 401
#height
vl_output[7] = 180
#diameter
vl_output[8] = 40
#任务3 get
vl_output[9] = 401
#put
vl_output[10] = 403
#height
vl_output[11] = 180
#diameter
vl_output[12] = 40
###############
# forward
#任务1 get
vl_output[13] = 403
#put
vl_output[14] = 406
#height
vl_output[15] = 180
#diameter
vl_output[16] = 40
#任务2 get
vl_output[17] = 406
#put
vl_output[18] = 404
#height
vl_output[19] = 180
#diameter
vl_output[20] = 40
#任务3 get
vl_output[21] = 404
#put
vl_output[22] = 102
#height
vl_output[23] = 180
#diameter
vl_output[24] = 40
return vl_output
#无水亚硫酸钠
def move6(vl_output):
#无水亚硫酸钠
vl_output[0] = 6
# # #任务1 get
vl_output[1] = 102
#put
vl_output[2] = 401
#height
vl_output[3] = 150
#diameter
vl_output[4] = 70
# # #任务2 get
vl_output[5] = 401
#put
vl_output[6] = 403
#height
vl_output[7] = 150
#diameter
vl_output[8] = 70
# # #任务3 get
vl_output[9] = 403
#put
vl_output[10] = 406
#height
vl_output[11] = 150
#diameter
vl_output[12] = 70
# # #任务4 get
vl_output[13] = 406
#put
vl_output[14] = 404
#height
vl_output[15] = 150
#diameter
vl_output[16] = 70
# # #任务5 get
vl_output[17] = 404
#put
vl_output[18] = 102
#height
vl_output[19] = 150
#diameter
vl_output[20] = 70
# # #任务6 get
vl_output[21] = 102
#put
vl_output[22] = 101
#height
vl_output[23] = 150
#diameter
vl_output[24] = 70
#混合任务
def move7(vl_output):
#混合任务
vl_output[0] = 8
# # #任务1 get
vl_output[1] = 102
#put
vl_output[2] = 401
#height
vl_output[3] = 160
#diameter
vl_output[4] = 55
# # #任务2 get
vl_output[5] = 401
#put
vl_output[6] = 403
#height
vl_output[7] = 160
#diameter
vl_output[8] = 55
# # #任务3 get
vl_output[9] = 403
#put
vl_output[10] = 406
#height
vl_output[11] = 160
#diameter
vl_output[12] = 55
# # #任务4 get
vl_output[13] = 406
#put
vl_output[14] = 404
#height
vl_output[15] = 160
#diameter
vl_output[16] = 55
# # #任务5 get
vl_output[17] = 404
#put
vl_output[18] = 102
#height
vl_output[19] = 160
#diameter
vl_output[20] = 55
# # #任务6 get
vl_output[21] = 102
#put
vl_output[22] = 101
#height
vl_output[23] = 160
#diameter
vl_output[24] = 55
#任务7 get
vl_output[25] = 206
#put
vl_output[26] = 202
#height
vl_output[27] = 117
#diameter
vl_output[28] = 50
#任务8 get
vl_output[29] = 202
#put
vl_output[30] = 205
#height
vl_output[31] = 117
#diameter
vl_output[32] = 50
# 大白瓶 单次取
def move8(vl_output):
# 大白瓶
###############
# backward
vl_output[0] = 1
#任务1 get
vl_output[1] = 402
#put
vl_output[2] = 102
#height
vl_output[3] = 180
#diameter
vl_output[4] = 40
# 大白瓶 单次放
def move9(vl_output):
# 大白瓶
###############
# backward
vl_output[0] = 1
#任务1 get
vl_output[1] = 102
#put
vl_output[2] = 402
#height
vl_output[3] = 180
#diameter
vl_output[4] = 40
# 酚酞 单次放
def move10(vl_output):
# 酚酞
###############
# backward
vl_output[0] = 1
#任务1 get
vl_output[1] = 307
#put
vl_output[2] = 306
#height
vl_output[3] = 180
#diameter
vl_output[4] = 40
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