2023-10-25 10:34:46 +08:00
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"""
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视觉语言导航
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识别顾客（NPC）靠近、打招呼、对话、领位导航到适合人数的空闲餐桌
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开始条件：监测到顾客靠近
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结束条件：完成领位，语音：“请问您想喝点什么？”，并等待下一步指令
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"""
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2023-11-09 08:47:57 +08:00
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import os
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import pickle
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import time
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import random
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import matplotlib.pyplot as plt
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import numpy as np
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from robowaiter.scene.scene import Scene,init_world # TODO: 文件名改成Scene.py
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2023-10-25 10:34:46 +08:00
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from robowaiter.scene.scene import Scene
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2023-11-14 08:53:11 +08:00
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from robowaiter.utils import get_root_path
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2023-10-25 10:34:46 +08:00
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class SceneVLN(Scene):
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def __init__(self, robot):
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super().__init__(robot)
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2023-11-09 08:47:57 +08:00
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# 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
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self.event_list = [
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(5, self.create_chat_event("测试VLN：前往桌子")),
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]
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2023-10-25 10:34:46 +08:00
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2023-10-25 22:12:15 +08:00
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def _reset(self):
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2023-11-14 08:53:11 +08:00
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root_path = get_root_path()
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file_name = os.path.join(root_path,'robowaiter/algos/navigate/map_5.pkl')
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2023-11-09 08:47:57 +08:00
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with open(file_name, 'rb') as file:
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map = pickle.load(file)
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2023-10-25 22:12:15 +08:00
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2023-11-09 08:47:57 +08:00
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self.state['map']['2d'] = map
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self.state['map']['obj_pos']['Table'] = np.array((-100, 700))
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