更新指引顾客的多个地点

robowaiter/behavior_lib/_base/Behavior.py

@@ -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',

robowaiter/behavior_lib/act/DealChat.py

@@ -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"]

robowaiter/behavior_lib/act/MoveTo.py

@@ -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

robowaiter/behavior_lib/act/PickUp.py

@@ -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
 

robowaiter/behavior_lib/act/PutDown.py

@@ -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)

robowaiter/behavior_lib/cond/At.py

@@ -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)
 

robowaiter/behavior_lib/cond/On.py

@@ -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):

robowaiter/llm_client/data/test_questions.txt

@@ -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)\"}"}}

robowaiter/llm_client/data_raw/test_questions.csv

@@ -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)""}"

robowaiter/robot/Default.ptml

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

robowaiter/scene/scene.py

@@ -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(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Table1)',
-                                   # 'Holding(Yogurt)'
+         'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
-                                   'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
+         'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
-                                   '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 id,walker in enumerate(walker_loc):
-        for i in range(len(walker_loc)):
+            if len(walker)==2:
-            loc = walker_loc[i] + [0,0, 100]
+                self.add_walker(id,walker[0],walker[1])
-            action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc)
+            elif len(walker)==3:
-            scene = stub.Do(action)
+                self.add_walker(id, walker[0], walker[1],walker[2])
-            print(scene.info)
+            elif len(walker) == 4:
-            if (str(scene.info).find('unreachable') > -1):
+                self.add_walker(id, walker[0], walker[1], walker[2], walker[3])
-                print('当前位置不可达,无法初始化NPC')
+            elif len(walker) == 5:
-            else:
+                self.add_walker(id, walker[0], walker[1], walker[2], walker[3], walker[4])
-                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
 
     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)

robowaiter/scene/tasks/Open_tasks_test.py

@@ -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
 
 

robowaiter/scene/tasks/VLM/VLM.py

@@ -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]])
+        # 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220)
-        # self.add_walkers([[-500, 500]])
+        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]]

robowaiter/scene/tasks/VLM/VLM2.py

@@ -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