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更新指引顾客的多个地点

This commit is contained in:
Caiyishuai 2023-11-17 18:56:58 +08:00
parent cb637bf2f6
commit 077bff8775
14 changed files with 105 additions and 44 deletions
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18
robowaiter/behavior_lib/_base/Behavior.py
View File

@ -13,10 +13,15 @@ class Bahavior(ptree.behaviour.Behaviour):
'''
scene = None
print_name_prefix = ""
all_place = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3'}
tables_for_placement = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3',"BrightTable6"}
all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
'VacuumCup'}
# BrightTable5 = Table4
tables_for_guiding = {"QuietTable1","QuietTable2",
"BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6"
'CoffeeTable','WaterTable','Table1', 'Table2', 'Table3'}
# all_place = {'Bar', 'WaterTable', 'CoffeeTable'}
# all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'Yogurt'}
# all_object = {'Coffee', 'Water'}
@ -31,7 +36,16 @@ class Bahavior(ptree.behaviour.Behaviour):
'CoffeeTable':(250.0, 310.0, 100.0),
'Table1': (340.0, 900.0, 99.0),
'Table2': (-55.0, 0.0, 107),
'Table3':(-55.0, 150.0, 107)
'Table3':(-55.0, 150.0, 107),
'BrightTable6': (5, -315, 116.5),
'QuietTable1':(480,1300,90),
'QuietTable2':(250,-240,-65),
'BrightTable1':(230,1200,135),
'BrightTable2': (65, 1000, 135),
'BrightTable3': (-80, 850, 135),
'BrightTable4': (-270, 520, 150),
'BrightTable5': (-270, 420, -135)
}
container_dic={
'Coffee':'CoffeeCup',

1
robowaiter/behavior_lib/act/DealChat.py
View File

@ -20,6 +20,7 @@ class DealChat(Act):
res_dict = ask_llm(chat)
answer = res_dict["Answer"]
self.scene.chat_bubble(answer) # 机器人输出对话
self.chat_history += answer + '\n'
goal = res_dict["Goal"]

4
robowaiter/behavior_lib/act/MoveTo.py
View File

@ -5,7 +5,7 @@ from robowaiter.algos.navigator.navigate import Navigator
class MoveTo(Act):
can_be_expanded = True
num_args = 1
valid_args = Act.all_object | Act.all_place
valid_args = Act.all_object | Act.tables_for_placement | Act.tables_for_guiding
valid_args.add('Customer')
def __init__(self, target_place):
@ -35,7 +35,7 @@ class MoveTo(Act):
# 走到固定的地点
if self.target_place in Act.place_xyz_dic:
goal = Act.place_xyz_dic[self.target_place]
self.scene.walk_to(goal[0]+1,goal[1])
self.scene.walk_to(goal[0]+1,goal[1],goal[2])
# 走到物品边上
else:
# 是否用容器装好

2
robowaiter/behavior_lib/act/PickUp.py
View File

@ -18,7 +18,7 @@ class PickUp(Act):
info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'}
info["add"] = {f'Holding({arg})'}
info["del_set"] = {f'Holding(Nothing)'}
for place in Act.all_place:
for place in cls.valid_args:
info["del_set"] |= {f'On({arg},{place})'}
return info

2
robowaiter/behavior_lib/act/PutDown.py
View File

@ -8,7 +8,7 @@ class PutDown(Act):
can_be_expanded = True
num_args = 2
valid_args = tuple(itertools.product(Act.all_object, Act.all_place))
valid_args = tuple(itertools.product(Act.all_object, Act.tables_for_placement))
def __init__(self, *args):
super().__init__(*args)

2
robowaiter/behavior_lib/cond/At.py
View File

@ -7,7 +7,7 @@ class At(Cond):
can_be_expanded = True
num_params = 2
valid_args = list(itertools.product(('Robot','Customer'), tuple(Cond.all_object | Cond.all_place | {'Customer'})))
valid_args = list(itertools.product(('Robot','Customer'), tuple(Cond.all_object | Cond.tables_for_placement | Cond.tables_for_guiding | {'Customer'})))
valid_args.remove(('Customer','Customer'))
valid_args = tuple(valid_args)

2
robowaiter/behavior_lib/cond/On.py
View File

@ -6,7 +6,7 @@ class On(Cond):
can_be_expanded = True
num_params = 2
valid_params = [tuple(Cond.all_object),
tuple(Cond.all_place)]
tuple(Cond.tables_for_placement)]
def __init__(self,*args):

2
robowaiter/llm_client/data/test_questions.txt
View File

@ -1 +1 @@
{"做一杯咖啡": {"Answer": "OK，我这就去做一杯咖啡", "Goal": "{\"On(Coffee,CoffeeTable)\"}"}, "做一杯咖啡放到吧台上": {"Answer": "OK，我这就去做一杯咖啡放到吧台上", "Goal": "{\"On(Coffee,Bar)\"}"}, "做一杯咖啡放到水杯桌上，再倒一杯水": {"Answer": "OK，我这就去做一杯咖啡放到水杯桌上，再倒一杯水", "Goal": "{\"On(Coffee,WaterTable)\",\"On(Water,WaterTable)\"}"}, "前往2号桌": {"Answer": "OK，我这前往2号桌", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "倒一杯水": {"Answer": "OK，我这就去倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "开空调": {"Answer": "OK，我这就去开空调", "Goal": "{\"Is(AC,On)\"}"}, "关空调": {"Answer": "OK，我这就去关空调", "Goal": "{\"Is(AC,Off)\"}"}, "关大厅灯": {"Answer": "OK，我这就去关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "开大厅灯": {"Answer": "OK，我这就去开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "关筒灯": {"Answer": "OK，我这就去关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "开筒灯": {"Answer": "OK，我这就去开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "关窗帘": {"Answer": "OK，我这就去关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "开窗帘": {"Answer": "OK，我这就去开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "拖地": {"Answer": "OK，我这就去拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "擦桌子": {"Answer": "OK，我这就去擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "整理椅子": {"Answer": "OK，我这就去整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "把冰红茶放到Table2": {"Answer": "OK，我这就去把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}, "我有点热，能开个空调吗？": {"Answer": "当然可以，我现在就开！", "Goal": "{\"Is(AC,On)\"}"}, "可以带我去吗": {"Answer": "当然可以，前往一号桌", "Goal": "{\"At(Robot,Table1)\"}"}, "把酸奶放到1号桌，再做一杯咖啡送到水杯桌上，再倒一杯水。": {"Answer": "明白，我这就去办！", "Goal": "{\"On(Coffee,WaterTable)\",\"On(Yogurt,Table1)\",\"On(Water,WaterTable)\"}"}, "下班啦！打扫卫生，关灯关空调关窗帘。": {"Answer": "太棒啦，下班啦！我这就去打扫卫生，关灯关空调关窗帘。", "Goal": "{\"Is(Floor,Clean)\",\"Is(Table1,Clean)\",\"Is(Chairs,Clean)\",\"Is(AC,Off)\",\"Is(HallLight,Off)\",\"Is(TubeLight,Off)\",\"Is(Curtain,Off)\"}"}}
{"做一杯咖啡": {"Answer": "OK，我这就去做一杯咖啡", "Goal": "{\"On(Coffee,CoffeeTable)\"}"}, "做一杯咖啡放到吧台上": {"Answer": "OK，我这就去做一杯咖啡放到吧台上", "Goal": "{\"On(Coffee,Bar)\"}"}, "做一杯咖啡放到水杯桌上，再倒一杯水": {"Answer": "OK，我这就去做一杯咖啡放到水杯桌上，再倒一杯水", "Goal": "{\"On(Coffee,WaterTable)\",\"On(Water,WaterTable)\"}"}, "前往2号桌": {"Answer": "OK，我这前往2号桌", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "倒一杯水": {"Answer": "OK，我这就去倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "开空调": {"Answer": "OK，我这就去开空调", "Goal": "{\"Is(AC,On)\"}"}, "关空调": {"Answer": "OK，我这就去关空调", "Goal": "{\"Is(AC,Off)\"}"}, "关大厅灯": {"Answer": "OK，我这就去关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "开大厅灯": {"Answer": "OK，我这就去开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "关筒灯": {"Answer": "OK，我这就去关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "开筒灯": {"Answer": "OK，我这就去开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "关窗帘": {"Answer": "OK，我这就去关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "开窗帘": {"Answer": "OK，我这就去开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "拖地": {"Answer": "OK，我这就去拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "擦桌子": {"Answer": "OK，我这就去擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "整理椅子": {"Answer": "OK，我这就去整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "把冰红茶放到Table2": {"Answer": "OK，我这就去把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}, "我有点热，能开个空调吗？": {"Answer": "当然可以，我现在就开！", "Goal": "{\"Is(AC,On)\"}"}, "可以带我去吗": {"Answer": "当然可以，前往一号桌", "Goal": "{\"At(Robot,Table1)\"}"}, "把酸奶放到1号桌，再做一杯咖啡送到水杯桌上，再倒一杯水。": {"Answer": "明白，我这就去办！", "Goal": "{\"On(Coffee,WaterTable)\",\"On(Yogurt,Table1)\",\"On(Water,WaterTable)\"}"}, "下班啦！打扫卫生，关灯关空调关窗帘。": {"Answer": "太棒啦，下班啦！我这就去打扫卫生，关灯关空调关窗帘。", "Goal": "{\"Is(Floor,Clean)\",\"Is(Table1,Clean)\",\"Is(Chairs,Clean)\",\"Is(AC,Off)\",\"Is(HallLight,Off)\",\"Is(TubeLight,Off)\",\"Is(Curtain,Off)\"}"}, "请问可以带我去空位上嘛？我想晒太阳。": {"Answer": "没问题！请跟我来。", "Goal": "{\"At(Robot,BrightTable1)\"}"}}

1
robowaiter/llm_client/data_raw/test_questions.csv
View File

@ -21,3 +21,4 @@ Question,Answer,Goal
可以带我去吗,当然可以，前往一号桌,"{""At(Robot,Table1)""}"
把酸奶放到1号桌，再做一杯咖啡送到水杯桌上，再倒一杯水。,明白，我这就去办！,"{""On(Coffee,WaterTable)"",""On(Yogurt,Table1)"",""On(Water,WaterTable)""}"
下班啦！打扫卫生，关灯关空调关窗帘。,太棒啦，下班啦！我这就去打扫卫生，关灯关空调关窗帘。,"{""Is(Floor,Clean)"",""Is(Table1,Clean)"",""Is(Chairs,Clean)"",""Is(AC,Off)"",""Is(HallLight,Off)"",""Is(TubeLight,Off)"",""Is(Curtain,Off)""}"
请问可以带我去空位上嘛？我想晒太阳。,没问题！请跟我来。,"{""At(Robot,BrightTable1)""}"

1 Question Answer Goal
21 可以带我去吗 当然可以，前往一号桌 {"At(Robot,Table1)"}
22 把酸奶放到1号桌，再做一杯咖啡送到水杯桌上，再倒一杯水。 明白，我这就去办！ {"On(Coffee,WaterTable)","On(Yogurt,Table1)","On(Water,WaterTable)"}
23 下班啦！打扫卫生，关灯关空调关窗帘。 太棒啦，下班啦！我这就去打扫卫生，关灯关空调关窗帘。 {"Is(Floor,Clean)","Is(Table1,Clean)","Is(Chairs,Clean)","Is(AC,Off)","Is(HallLight,Off)","Is(TubeLight,Off)","Is(Curtain,Off)"}
24 请问可以带我去空位上嘛？我想晒太阳。 没问题！请跟我来。 {"At(Robot,BrightTable1)"}

4
robowaiter/robot/Default.ptml
View File

@ -16,12 +16,12 @@ selector
}
sequence
{
cond DetectCustomer()
selector
{
cond At(Robot,Bar)
act MoveTo(Bar)
}
cond DetectCustomer()
act GreatCustomer
act GreatCustomer()
}
}

50
robowaiter/scene/scene.py
View File

@ -60,10 +60,9 @@ class Scene:
"sub_goal_list": [], # 子目标列表
"status": None, # 仿真器中的观测信息，见下方详细解释
"condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
'Holding(Nothing)',
# 'Holding(Yogurt)'
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Table1)',
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
}
"""
status:
@ -135,7 +134,6 @@ class Scene:
# 基类run
self._run()
# 运行并由robot打印每步信息
while True:
self.step()
@ -199,8 +197,6 @@ class Scene:
def walker_control_generator(self, walkerID, autowalk, speed, X, Y, Yaw):
if self.use_offset:
X, Y = X + loc_offset[0], Y + loc_offset[1]
@ -236,22 +232,31 @@ class Scene:
else:
return True
def add_walker(self,id,x,y,yaw=0,v=0,scope=100):
loc = [x,y,yaw,v,scope]
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc)
scene = stub.Do(action)
# print(scene.info)
walker_list=[]
if (str(scene.info).find('unreachable') > -1):
print('当前位置不可达,无法初始化NPC')
else:
walker_list.append(
GrabSim_pb2.WalkerList.Walker(id=id+5, pose=GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=loc[2])))
stub.AddWalker(GrabSim_pb2.WalkerList(walkers=walker_list, scene=self.sceneID))
def add_walkers(self,walker_loc=[[0, 880], [250, 1200], [-55, 750], [70, -200]]):
print('------------------add_walkers----------------------')
walker_list = []
for i in range(len(walker_loc)):
loc = walker_loc[i] + [0,0, 100]
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc)
scene = stub.Do(action)
print(scene.info)
if (str(scene.info).find('unreachable') > -1):
print('当前位置不可达,无法初始化NPC')
else:
walker_list.append(
GrabSim_pb2.WalkerList.Walker(id=i + 5, pose=GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=90)))
scene = stub.AddWalker(GrabSim_pb2.WalkerList(walkers=walker_list, scene=self.sceneID))
return scene
for id,walker in enumerate(walker_loc):
if len(walker)==2:
self.add_walker(id,walker[0],walker[1])
elif len(walker)==3:
self.add_walker(id, walker[0], walker[1],walker[2])
elif len(walker) == 4:
self.add_walker(id, walker[0], walker[1], walker[2], walker[3])
elif len(walker) == 5:
self.add_walker(id, walker[0], walker[1], walker[2], walker[3], walker[4])
def remove_walker(self, *args): # take single walkerID or a list of walkerIDs
remove_list = []
@ -272,12 +277,13 @@ class Scene:
GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
)
def control_walkers(self,walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True):
"""pose:表示行人的终止位置姿态"""
scene = self.status
walker_loc = walker_loc
controls = []
for i in range(len(scene.walkers)):
for i in range(len(walker_loc)):
loc = walker_loc[i]
is_autowalk = is_autowalk
pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180)

9
robowaiter/scene/tasks/Open_tasks_test.py
View File

@ -18,10 +18,17 @@ class SceneOT(Scene):
super().__init__(robot)
# 在这里加入场景中发生的事件
self.event_list = [
(5, self.set_goal("At(Robot,Table2)"))
# (5, self.set_goal("At(Robot,WaterTable)"))
# (5, self.set_goal("On(Yogurt,Table4)"))
(5, self.set_goal("At(Robot,BrightTable4)"))
]
def _reset(self):
self.gen_obj()
self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)',
'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Table1)',
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
pass

6
robowaiter/scene/tasks/VLM/VLM.py
View File

@ -41,9 +41,11 @@ class SceneVLM(Scene):
'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)',
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
self.add_walkers([[0, 880], [250, 1200], [-55, 750], [70, -200]])
# self.add_walkers([[-500, 500]])
# 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220)
self.add_walkers([[0, 880], [250, 1200], [-55, 750], [70, -200],[-290, 400, 0],[20, -150,180]])
self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
# self.control_walkers(walker_loc=[[-55, 750]],is_autowalk = False)
# 在场景中随机增加一堆行人。
# walker_loc = [[-55, 750], [70, -200], [250, 1200], [0, 880]]

46
robowaiter/scene/tasks/VLM/VLM2.py
View File

@ -11,11 +11,10 @@ class SceneVLM(Scene):
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("请问可以带我去空位上嘛？我想晒太阳。")),
]
def _reset(self):
self.gen_obj()
pass
def _run(self, op_type=10):
@ -25,13 +24,34 @@ class SceneVLM(Scene):
# 带领行人去有太阳的地方
# 行人说 有点热
# 好的，这就去开空调
scene = self.add_walkers([[47, 920]])
self.control_walker(
[self.walker_control_generator(walkerID=0, autowalk=False, speed=200, X=60, Y=520, Yaw=0)])
cont = scene.walkers[0].name+":请问可以带我去空位上嘛？我想晒太阳"
self.gen_obj()
self.add_walkers([[47, 920]])
self.control_walker(
[self.walker_control_generator(walkerID=0, autowalk=False, speed=200, X=60, Y=520, Yaw=180)])
time.sleep(1)
cont = self.status.walkers[0].name+":请问可以带我去空位上嘛？我想晒太阳。"
self.control_robot_action(0,3,cont)
# time.sleep(3)
# self.event_list.append((5, self.set_goal("At(Robot,BrightTable1)"))) # "请问可以带我去空位上嘛？我想晒太阳"
# self.chat_bubble("没问题！请跟我来。")
# 跟随机器人
# cont = self.status.walkers[0].name + "好的！"
# self.control_robot_action(0, 3, cont)
#
# start = [self.status.location.X, self.status.location.Y]
# time.sleep(0.2)
# end = [self.status.location.X, self.status.location.Y]
# while abs(start[0]-end[0])>=1 or abs(start[1]-end[1])>=1:
# self.control_walker(
# [self.walker_control_generator(walkerID=0, autowalk=False, speed=100, X=end[0], Y=end[1], Yaw=0)])
#
# cont = self.status.walkers[0].name+"谢谢！"
# self.control_robot_action(0,3,cont)
# 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
@ -51,11 +71,21 @@ class SceneVLM(Scene):
# pos = [240.0, 40.0, 100.0]
# self.move_task_area(op_type, release_pos=pos)
# self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100]
pass
def _step(self):
# 如果机器人不在 吧台
# if "At(Robot,Bar)" not in self.state['condition_set']:
end = [self.status.location.X, self.status.location.Y]
print("end:",end)
if end[1]>=600 or end[1]<=450 or end[0]>=250:
# if int(self.status.location.X)!=247 or int(self.status.location.X)!=520:
self.control_walker(
[self.walker_control_generator(walkerID=0, autowalk=False, speed=100, X=end[0], Y=end[1], Yaw=-90)])
cont = self.status.walkers[0].name+"谢谢！"
self.control_robot_action(0,3,cont)
pass