RoboWaiter/robowaiter/scene/tasks/VLM.py

"""
视觉语言操作
机器人根据指令人的指令调节空调，自主探索环境导航到目标点，通过手臂的运动规划能力操作空调，比如开关按钮、调温按钮、显示面板
"""

import time
from robowaiter.scene.scene import Scene

class SceneVLM(Scene):
    def __init__(self, robot):
        super().__init__(robot)
        # 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
        self.event_list = [
            (5, self.create_chat_event("测试VLM：做一杯咖啡")),
            # (5, self.create_chat_event("测试VLM：倒一杯水")),
            # (5, self.create_chat_event("测试VLM：开空调")),
            # (5, self.create_chat_event("测试VLM：关空调")),
            # (5, self.create_chat_event("测试VLM：开大厅灯")),
            # (5, self.create_chat_event("测试VLM：拖地")),
            # (5, self.create_chat_event("测试VLM：擦桌子")),
            # (5, self.create_chat_event("测试VLM：整理椅子")),
            # (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")),
            # (5, self.create_chat_event("测试VLM：关大厅灯"))

            # (5, self.create_chat_event("测试VLM：做一杯咖啡放到吧台上")),
        ]

    def _reset(self):
        self.state["condition_set"] = {'At(Robot,Bar)','Is(AC,Off)', 'Holding(Nothing)',  # 'Holding(Yogurt)', #'Holding(Nothing)',
                                       'Is(HallLight,Off)','Is(TubeLight,On)','Is(Curtain,On)',
                                       'Is(Table1,Dirty)','Is(Floor,Dirty)','Is(Chairs,Dirty)'}
        # self.gen_obj(type=5)
        # self.gen_obj(type=9)
        # self.op_task_execute(op_type=16, obj_id=0)
        # self.move_task_area(op_type=4)
        pass

    def _run(self, op_type=10):

        # 共17个操作
        # "制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子",    # 1-7
        # "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘",            # 8-12
        # "调整空调开关","调高空调温度","调低空调温度",                   # 13-15
        # "抓握物体","放置物体"                                       # 16-17

        # 16: 抓操作需要传入物品id，17: 放操作需要传入放置位置周围的空地区域(桌边而不是桌上)
        # if op_type == 16:
        #     self.gen_obj()
        #     self.op_task_execute(op_type, obj_id=0)
        # # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 70.0], 水杯桌:[-70.0, 500.0, 107]
        # # 桌子1:[-55.0, 0.0, 107],桌子2:[-55.0, 150.0, 107], 抹布桌:[340.0, 900.0, 98.0]
        # if op_type == 17: self.op_task_execute(op_type, release_pos=[340.0, 900.0, 99.0]) #[325.0, 860.0, 100]
        # if op_type not in [16,17]:
        #     self.move_task_area(op_type)
        #     self.op_task_execute(op_type)
        pass
    
    def _step(self):
        pass