From 8aee653664ff1bbd9ad695beb11740fb4aded4a2 Mon Sep 17 00:00:00 2001
From: Netceor <45135347+Netceor@users.noreply.github.com>
Date: Wed, 8 Nov 2023 17:13:25 +0800
Subject: [PATCH 1/3] =?UTF-8?q?=E6=93=8D=E4=BD=9C=E6=8E=A5=E5=8F=A3?=
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7个动画操作
op_type 1-7 代表 "制作咖啡","倒水","夹点心","拖地","擦桌子","关闭窗帘","关筒灯","开大厅灯","搬椅子","打开窗帘","关大厅灯","开筒灯"
---
 robowaiter/scene/tasks/VLM.py | 25 ++++---------------------
 1 file changed, 4 insertions(+), 21 deletions(-)

diff --git a/robowaiter/scene/tasks/VLM.py b/robowaiter/scene/tasks/VLM.py
index bdb4871..62fb836 100644
--- a/robowaiter/scene/tasks/VLM.py
+++ b/robowaiter/scene/tasks/VLM.py
@@ -6,34 +6,17 @@
 import time
 from robowaiter.scene.scene import Scene
 
-
 class SceneVLM(Scene):
     def __init__(self, robot):
         super().__init__(robot)
 
     def _reset(self):
-        self.reset_sim()
+        pass
 
-        self.add_walker(1085, 2630, 220)
-        self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
+    def _run(self, op_type=1):
 
-    def _run(self):
-        # 空调操作
-        self.walk_to(950, 1260, 90)  # 没法转向？
-        # todo: 手臂操作
-        time.sleep(5)
-        self.walk_to(947, 1900, 0)
-        
-        # 物品挪动
-        # todo: 视觉导航至目标点，操作手臂至可抓位置
-        """
-        scene.grasp(1, your_objectID)
-        """
-
-        # todo: 视觉导航至目标点，找准释放位置
-        """
-        scene.release(1)
-        """
+        self.move_task_area(op_type)
+        self.op_task_execute(op_type)
 
     def _step(self):
         pass
\ No newline at end of file

From 0aa34fef61f7840ae1ee47b5cd75d404dc1ee757 Mon Sep 17 00:00:00 2001
From: Netceor <45135347+Netceor@users.noreply.github.com>
Date: Wed, 8 Nov 2023 17:14:51 +0800
Subject: [PATCH 2/3] Update scene.py

---
 robowaiter/scene/scene.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py
index 3464bd6..c9d7c91 100644
--- a/robowaiter/scene/scene.py
+++ b/robowaiter/scene/scene.py
@@ -69,6 +69,11 @@ class Scene:
         self.robot = robot
         self.sub_task_seq = None
 
+        # myx op
+        self.op_dialog = ["","制作咖啡","倒水","夹点心","拖地","擦桌子","关闭窗帘","关筒灯","开大厅灯","搬椅子","打开窗帘","关大厅灯","开筒灯"]
+        self.op_act_num = [0,3,4,6,3,2,0,0,0,1,0,0,0]
+        self.op_v_list = [[[0.0,0.0]],[[250.0, 310.0]],[[-70.0, 480.0]],[[250.0, 630.0]],[[260.0, 1120.0]],[[300.0, -220.0]],[[0.0, -70.0]]]
+
 
     def _reset(self):
         # 场景自定义的reset

From e1d53edde8fad974d6b5be219882c2e543e08a20 Mon Sep 17 00:00:00 2001
From: Netceor <45135347+Netceor@users.noreply.github.com>
Date: Wed, 8 Nov 2023 17:15:23 +0800
Subject: [PATCH 3/3] Update scene.py

---
 robowaiter/scene/scene.py | 39 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)

diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py
index c9d7c91..4ada706 100644
--- a/robowaiter/scene/scene.py
+++ b/robowaiter/scene/scene.py
@@ -308,3 +308,42 @@ class Scene:
     def animation_reset(self):
         stub.ControlRobot(GrabSim_pb2.ControlInfo(scene=self.sceneID, type=0, action=0))
 
+    def control_robot_action(self, type=0, action=0, message="你好"):
+        scene = stub.ControlRobot(
+            GrabSim_pb2.ControlInfo(
+                scene=self.sceneID, type=type, action=action, content=message
+            )
+        )
+        if str(scene.info).find("Action Success") > -1:
+            print(scene.info)
+            return True
+        else:
+            print(scene.info)
+            return False
+
+    def op_task_execute(self,task_type):
+        self.control_robot_action(0, 1, "开始"+self.op_dialog[task_type])   # 开始制作咖啡
+        result = self.control_robot_action(task_type, 1)    #
+        self.control_robot_action(0, 2)
+        if result:
+            if self.op_act_num[task_type]>0:
+                for i in range(2,2+self.op_act_num[task_type]):
+                    self.control_robot_action(task_type,i)
+                    self.control_robot_action(0, 2)
+                self.control_robot_action(0, 1, "成功"+self.op_dialog[task_type])
+        else:
+            self.control_robot_action(0, 1, self.op_dialog[task_type]+"失败")
+
+    def move_task_area(self,op_type=0):
+        scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
+
+        walk_value = [scene.location.X, scene.location.Y, scene.rotation.Yaw]
+        print("------------------move_task_area----------------------")
+        print("position:", walk_value,"开始任务:",self.op_dialog[op_type])
+        for walk_v in self.op_v_list[op_type]:
+            walk_v = walk_v + [scene.rotation.Yaw, 60, 0]
+            action = GrabSim_pb2.Action(
+                scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v
+            )
+            scene = stub.Do(action)
+