更新了咖啡厅的一天
This commit is contained in:
Caiyishuai
parent
f0049f75b9
commit
0b8ca87c08
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@ -11,8 +11,8 @@ class FocusingCustomer(Cond):
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def _update(self) -> ptree.common.Status:
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# if self.scene.status?
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if "customer" in self.scene.state['attention']:
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if self.scene.take_picture:
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self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio)
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# if self.scene.take_picture:
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# self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio)
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return ptree.common.Status.SUCCESS
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else:
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goal = Cond.place_xy_yaw_dic['Bar']
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@ -74,7 +74,7 @@ create_sub_task
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没事儿，为您服务是我的荣幸！
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大厅的桌子好啊，快带我去呀！
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好的好的，跟我来，我带你去找找。
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好的好的，请跟我来。
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create_sub_task
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{"goal":"At(Robot,WaterTable)"}
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@ -97,9 +97,9 @@ create_sub_task
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下班啦！别忘了打扫卫生。
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收到！请问您需要来点什么吗？
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收到！下班啦！
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create_sub_task
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"{""Is(Floor,Clean)"",""Is(Table1,Clean)"",""Is(Chairs,Clean)"",""Is(AC,Off)"",""Is(HallLight,Off)"",""Is(TubeLight,Off)"",""Is(Curtain,Off)""}"
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{"goal":"Is(Floor,Clean),Is(Table1,Clean),Is(Chairs,Clean),Is(AC,Off),Is(HallLight,Off),Is(TubeLight,Off),Is(Curtain,Off)"}
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请问洗手间在哪里？
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@ -186,7 +186,7 @@ get_object_info
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get_object_info
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{"obj":"洗手间"}
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我带着孩子呢，想要宽敞亮堂的地方。
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好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。
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@ -122,7 +122,7 @@ class Scene:
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self.db = DBSCAN(eps=self.map_ratio, min_samples=int(self.map_ratio / 2))
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self.infoCount = 0
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self.is_nav_walk = True
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self.is_nav_walk = False
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file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl')
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if os.path.exists(file_name):
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@ -27,8 +27,8 @@ class SceneVLM(Scene):
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(3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3"
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(1, self.control_walker, (0, False, 200, 60, 520, 0)),
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(9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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(-1, self.customer_say, (0, "可以带我过去嘛？")),
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(0, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
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(1, self.customer_say, (0, "可以带我过去嘛？")),
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(13, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
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# # 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子
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# (3, self.add_walker, (5, 230, 1200)), # 小女孩
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@ -36,13 +36,49 @@ class SceneVLM(Scene):
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(10, self.add_walker, (26, -28, -150, 90)),
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(0, self.add_walker, (10, -70, -200, -45)),
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(6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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(8, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])),
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(10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])),
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# 20 胖胖男到了 BrightTable6
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(2, self.customer_say, (1, "咖啡有哪些呢？")), # 10
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(2, self.customer_say, (1, "来杯卡布奇诺吧。")), # 15
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# # 场景3：有位女士要杯水和冰红茶
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(3, self.add_walkers,
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([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])),
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), # 设置id=4 的2小男孩随机游走红随机游走
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(0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈
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(0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])),
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(38, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问
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(10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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(8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")),
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(15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400
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(3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")),
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# # ### 9号灰色男 排队排着排着，不排了
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(0, self.control_walker, (10, False, 100, 100, 760, 180)),
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(0, self.control_walker, (10, True, 100, 0, 0, 180)),
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(90, self.customer_say, (7, "谢谢你的水和酸奶！")), # 倒水+取放酸奶 90s
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(10, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])),
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(5, self.customer_say, (8,"你可以帮我拿来吗，我在前门的桌子前等你。")),
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(1, self.control_walker,(8, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步
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(1, self.control_walker, (8, False, 80, 240, 1000, -45)), # 红女士走到Table1前
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(1, self.control_walker, (9, False, 100, 60, 600, -90)), # 大胖男排队往前走一步
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(2, self.control_walker, (10, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步
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(6, self.customer_say, (8,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前
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(5, self.customer_say, (8, "不用了。")), # 红女士在Table1前
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(8, self.remove_walkers, ([[0, 7, 8]])),
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(3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他
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(2, self.customer_say, (6, "好热呀！太阳也好大！")),
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(20, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])),
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# # 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯
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(24, self.clean_walkers, ()),
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(1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦
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(3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])),
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]
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def _reset(self):
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@ -7,7 +7,6 @@ import time
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from robowaiter.scene.scene import Scene
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class SceneVLM(Scene):
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def __init__(self, robot):
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@ -25,12 +24,11 @@ class SceneVLM(Scene):
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self.signal_event_list = [
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# 场景1：带小女孩找阳光下的空位
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(3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3"
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(3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3"
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(1, self.control_walker, (0, False, 200, 60, 520, 0)),
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(9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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(-1, self.customer_say, (0,"可以带我过去嘛？")),
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(0, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
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(1, self.customer_say, (0, "可以带我过去嘛？")),
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(13, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
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# # 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子
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# (3, self.add_walker, (5, 230, 1200)), # 小女孩
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@ -38,67 +36,48 @@ class SceneVLM(Scene):
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(10, self.add_walker, (26, -28, -150, 90)),
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(0, self.add_walker, (10, -70, -200, -45)),
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(6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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(8, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), # 20 胖胖男到了 BrightTable6
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(2, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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(2, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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(10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])),
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# 20 胖胖男到了 BrightTable6
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(2, self.customer_say, (1, "咖啡有哪些呢？")), # 10
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(2, self.customer_say, (1, "来杯卡布奇诺吧。")), # 15
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# # 场景3：有位女士要杯水和冰红茶
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(30 ,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), #设置id=4 的2小男孩随机游走红随机游走
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(0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])),
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(5, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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(15, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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# 好的，我明白了，那么您可以选择我们的家庭亲子座，这样可以容纳您的孩子，并且更加宽敞舒适。
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# 这里可以加一下自主导航和探索，找到一个位置
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# 好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。
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(8, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")),
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(15, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400
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(3, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")),
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# ### 9号灰色男 排队排着排着，不排了
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(0, self.control_walker, (9, False, 100, 100, 760, 180)),
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(0, self.control_walker, (9, True, 100, 0, 0, 180)),
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# # ### 增加场景，孩子说热要开空调 或者9号随机游走和说
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(90, self.customer_say, (6, "谢谢！不用了。")), #倒水+取放酸奶 90s
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(3, self.add_walkers,
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([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])),
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), # 设置id=4 的2小男孩随机游走红随机游走
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(0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈
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(0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])),
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(43, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问
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(10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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(8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")),
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(15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400
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(3, self.customer_say, (7, "来杯酸奶吧。")), # (3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")),
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# # ### 9号灰色男 排队排着排着，不排了
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(0, self.control_walker, (10, False, 100, 100, 760, 180)),
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(0, self.control_walker, (10, True, 100, 0, 0, 180)),
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(90, self.customer_say, (7, "谢谢你的水和酸奶！")), # 倒水+取放酸奶 90s
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# # # 场景4：三人排队点单，女士要保温杯
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(6, self.control_walkers_and_say, ([[[7, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])),
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(5, self.customer_say, (7,"你可以帮我拿来吗，我在前门的桌子前等你。")),
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(1, self.control_walker,(7, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步
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(1, self.control_walker, (7, False, 80, 240, 1000, -45)), # 红女士走到Table1前
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(1, self.control_walker, (8, False, 100, 60, 600, -90)), # 大胖男排队往前走一步
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(2, self.control_walker, (9, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步
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(6, self.customer_say, (7,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前
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(5, self.customer_say, (7, "不用了。")), # 红女士在Table1前
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(10, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])),
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(5, self.customer_say, (8,"你可以帮我拿来吗，我在前门的桌子前等你。")),
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(1, self.control_walker,(8, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步
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(1, self.control_walker, (8, False, 80, 240, 1000, -45)), # 红女士走到Table1前
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(1, self.control_walker, (9, False, 100, 60, 600, -90)), # 大胖男排队往前走一步
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(2, self.control_walker, (10, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步
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(6, self.customer_say, (8,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前
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(5, self.customer_say, (8, "不用了。")), # 红女士在Table1前
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# # 场景5：三人排队点单，一人要冰红茶，一个要点心，一个没座位了赠送保温杯
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# # 场景6：大胖男点了外卖，离开啦
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(9, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 0, "给我来份午餐套餐。"]]])), #原来写了26s
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(0, self.animation_reset,()), #重置任务
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(6, self.customer_say, (8, "打包吧，快点！")),
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(2, self.control_walker, (9, False, 100, 60, 620, -90)), # 男灰黑色排队往前走一步
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(100, self.customer_say, (8, "谢啦，我赶时间！")), #100这个时间很合适
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(2, self.control_walker, (8, False, 250, 20, 520, -90)), # 大胖男着急得离开啦
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(2, self.control_walker, (8, False, 250, 240, -150, -90)),
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(5, self.remove_walkers, ([[0,7,8]])),
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# 场景7：最后排队那个随机游走 9号变为6号，随机游走。
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# 机器人自主发现任务，走一圈去擦桌子/拖地，碰到灰色男问好，灰色男说“太阳大，要关窗帘和空调调低”
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# 开了空调
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(2, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他
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(8, self.remove_walkers, ([[0, 7, 8]])),
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(3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他
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(2, self.customer_say, (6, "好热呀！太阳也好大！")),
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(10, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])),
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(20, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])),
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# 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯
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(3, self.clean_walkers, ()),
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# # 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯
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(24, self.clean_walkers, ()),
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(1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦
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(3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])),
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(3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "不用了。"]]])),
|
||||
|
||||
]
|
||||
|
||||
|
|
@ -116,19 +95,18 @@ class SceneVLM(Scene):
|
|||
# 好的，这就去开空调
|
||||
self.walker_followed = False
|
||||
pass
|
||||
|
||||
def _step(self):
|
||||
|
||||
def _step(self):
|
||||
|
||||
if self.scene_flag == 1:
|
||||
# 如果机器人不在 吧台
|
||||
if self.walker_followed:
|
||||
return
|
||||
end = [self.status.location.X, self.status.location.Y]
|
||||
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:
|
||||
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.walker_followed = True
|
||||
self.control_walkers_and_say([[0,False,150,end[0],end[1],90,"谢谢！"]])
|
||||
self.control_walkers_and_say([[0, False, 150, end[0], end[1], 90, "谢谢！"]])
|
||||
self.scene_flag += 1
|
||||
|
||||
# 获得所有顾客的名字
|
||||
|
|
@ -138,6 +116,7 @@ class SceneVLM(Scene):
|
|||
# print("=================")
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
import os
|
||||
from robowaiter.robot.robot import Robot
|
||||
|
|
|
|||
|
|
@ -73,7 +73,7 @@ class SceneVLM(Scene):
|
|||
(0, self.control_walker, (10, False, 100, 100, 760, 180)),
|
||||
(0, self.control_walker, (10, True, 100, 0, 0, 180)),
|
||||
# # # ### 增加场景，孩子说热要开空调 或者9号随机游走和说
|
||||
# # (90, self.customer_say, (7, "谢谢！")), #倒水+取放酸奶 90s
|
||||
(90, self.customer_say, (7, "谢谢！")), #倒水+取放酸奶 90s
|
||||
# (3, self.customer_say, (7, "谢谢！")),
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -17,7 +17,7 @@ class SceneGQA(Scene):
|
|||
# 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.signal_event_list = [
|
||||
(5, self.customer_say, (6, "你好呀，你们这有啥好吃的？")), # 男
|
||||
(15, self.customer_say, (6, "听起来都好甜呀，我女朋友爱吃水果。")),
|
||||
(8, self.customer_say, (6, "听起来都好甜呀，我女朋友爱吃水果。")),
|
||||
(15, self.customer_say, (6, "你们这人可真多。")),
|
||||
(15, self.customer_say, (6, "我女朋友怕晒，有空余的阴凉位置嘛？")),
|
||||
(15, self.customer_say, (6, "那还不错。")),
|
||||
|
|
|
|||
Loading…
Reference in New Issue