RoboWaiter/robowaiter/scene/tasks/VLN.py

"""
视觉语言导航
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
开始条件：监测到顾客靠近
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
"""

from robowaiter.scene.scene import Scene


class SceneVLN(Scene):
    def __init__(self, robot):
        super().__init__(robot)

    def _reset(self):
        self.reset_sim()

        self.add_walker(1085, 2630, 220)
        self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])

    def _run(self):
        # 实现单顾客领位
        self.add_walker(1085, 2630, 220)
        self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])

        # todo: 监测到顾客靠近，打招呼，对话，识别获取空闲餐桌位置
        # 可以使用scene.chat_bubble(message)函数实现对话

        """
        scene.walk_to(your_free_table_location)
        time.sleep(5)
        scene.control_walker([scene.walker_control_generator(your_free_table_location)])
        """

        reach = True
        if reach:
            self.chat_bubble("请问您想喝点什么？")

        print(self.status.walkers)

    def _step(self):
        pass