更新了地图人显示
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Caiyishuai
parent
6ba90a804c
commit
0383860d99
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@ -112,6 +112,11 @@ class Navigator:
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print('plan pos:', next_pos, end=' ')
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yaw = self.get_yaw(pos, next_pos)
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self.scene.walk_to(next_pos[0], next_pos[1], math.degrees(yaw), velocity=self.v, dis_limit=10)
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# 拍照片
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if self.scene.take_picture:
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self.scene.get_obstacle_point(self.scene.db, self.scene.status, map_ratio=self.scene.map_ratio)
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self.planner.path = self.planner.path[next_step - 1:] # 去除已走过的路径
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pos = np.array((self.scene.status.location.X, self.scene.status.location.Y))
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print('reach pos:', pos)
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@ -22,8 +22,10 @@ class GreetCustomer(Act):
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def _update(self) -> ptree.common.Status:
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goal = Act.place_xy_yaw_dic['Bar']
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self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
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# self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
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# self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
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self.scene.navigator.navigate(goal=(goal[0]-5,goal[1]), animation=False)
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if self.scene.show_bubble:
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self.scene.chat_bubble("欢迎光临！")
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@ -22,8 +22,8 @@ class ServeCustomer(Act):
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if self.scene.state['attention']['customer'] == {}:
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goal = Act.place_xy_yaw_dic['Bar']
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self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
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# self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
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self.scene.navigator.navigate(goal=(goal[0] - 5, goal[1]), animation=False)
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customer = self.scene.state["attention"]["customer"]
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if customer not in self.scene.state["serve_state"]:
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@ -1,4 +1,5 @@
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import json
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import time
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import openai
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from colorama import init, Fore
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@ -90,6 +91,7 @@ def get_response(sentence, history, allow_function_call = True):
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history.append({"role": "user", "content": sentence})
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if sentence in fix_questions_dict:
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time.sleep(2)
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return parse_fix_question(sentence)
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params = dict(model="RoboWaiter")
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@ -17,7 +17,7 @@ import os
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from robowaiter.utils import get_root_path
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from sklearn.cluster import DBSCAN
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from matplotlib import pyplot as plt
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from robowaiter.algos.navigator.dstar_lite import euclidean_distance
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plt.rcParams['font.sans-serif'] = ['SimHei'] # 用来正常显示中文标签
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plt.rcParams['axes.unicode_minus'] = False # 用来正常显示负号
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@ -214,12 +214,12 @@ class Scene:
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'''
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初始化各种各种算法
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'''
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map_file = os.path.join(root_path, 'robowaiter/algos/navigator/map_5.pkl')
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with open(map_file, 'rb') as file:
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map = pickle.load(file)
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# map_file = os.path.join(root_path, 'robowaiter/algos/navigator/map_5.pkl')
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# with open(map_file, 'rb') as file:
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# map = pickle.load(file)
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# 初始化探索、导航、操作
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self.navigator = Navigator(scene=self, area_range=[-350, 600, -400, 1450], map=map, scale_ratio=5)
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self.navigator = Navigator(scene=self, area_range=[-350, 600, -400, 1450], map=copy.deepcopy(self.map_map_real), scale_ratio=5)
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# self.explorer
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# self.manipulator
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@ -1299,6 +1299,17 @@ class Scene:
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if point[0] < -350 or point[0] > 600 or point[1] < -400 or point[1] > 1450:
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continue
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map[math.floor((point[0] + 350) / self.map_ratio), math.floor((point[1] + 400) / self.map_ratio)] = 1
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for obs in points:
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obs = self.navigator.planner.real2map(obs)
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(x, y) = obs
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occupy_radius = self.navigator.planner.dyna_obs_radius # 避免robot被dyna_obs的占用区域包裹住
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# 圆形区域
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occupy_pos = [(i, j) for i in range(x - occupy_radius, x + occupy_radius + 1)
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for j in range(y - occupy_radius, y + occupy_radius + 1)
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if euclidean_distance((i, j), obs) < occupy_radius]
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for pos in occupy_pos:
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map[pos] = 1
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return map
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def draw_map(self,plt, map):
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@ -1306,6 +1317,7 @@ class Scene:
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plt.imshow(map, cmap='binary', alpha=0.5, origin='lower',
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extent=(-400 / self.map_ratio, 1450 / self.map_ratio,
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-350 / self.map_ratio, 600 / self.map_ratio))
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plt.title('可达性地图')
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def get_id_object_world(self, id, scene):
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pixels = []
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@ -6,15 +6,15 @@
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import time
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from robowaiter.scene.scene import Scene
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class SceneVLM(Scene):
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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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# 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.new_event_list = [
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# (2, self.customer_say, (0, "请问哪里有空位啊？")),
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# (6, self.customer_say, (0, "我想坐高凳子。")),
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(6, self.customer_say, (0, "你带我去吧。")),
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(13, self.control_walker, (0, False,100, -250, 480,-90)),
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(3, self.customer_say, (0, "你带我去吧。")),
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(15, self.control_walker, (0, False,100, -250, 480,-90)),
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(-1, self.customer_say, (0, "谢谢你！这儿还不错！")),
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]
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@ -28,7 +28,9 @@ class SceneVLM(Scene):
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[19, 70, -200], #后门站着不动的 4
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[21, 65, 1000, -90], #大胖男占了一号桌 5
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[5, 230, 1200], #小女孩 6
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[26, -28, 0, 90] , #在设置一个在后门随机游走的 7
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[26, -28, -10, 90],
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# [26, 60, 0, 90],
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# [26, -28, 0, 90] , #在设置一个在后门随机游走的 7
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# 设置为 26, 60, 0, 90]
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[31, 280, 1200, -45] # 8
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])
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@ -52,6 +54,6 @@ if __name__ == '__main__':
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robot = Robot()
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# create task
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task = SceneVLM(robot)
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task = SceneVLN(robot)
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task.reset()
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task.run()
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