增加了【咖啡厅的一天】中的三个场景
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Caiyishuai
parent
caaddc988a
commit
1cd40c7bb7
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@ -34,7 +34,7 @@ class Make(Act):
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info["add"] |= {f'On({arg},WaterTable)'}
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elif arg == cls.valid_args[2]:
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info["add"] |= {f'On({arg},Bar)'}
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info['cost'] = 10
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info['cost'] = 2
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return info
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def _update(self) -> ptree.common.Status:
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@ -26,10 +26,17 @@ create_sub_task
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create_sub_task
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{"goal":"At(Robot,BrightTable1)"}
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嘿，RoboWaiter，过来一下！
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我在来的路上啦，请稍等噢！
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create_sub_task
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{"goal":"At(Robot,BrightTable6)"}
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你们这有什么饮料嘛？
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我们咖啡厅提供各种口味咖啡，水，冰红茶，酸奶等饮品，还提供点心蛋糕等甜品。您想点什么？
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来杯卡布奇诺吧，我在靠窗边的高脚桌那。
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来杯卡布奇诺吧。
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ok，请稍等！
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create_sub_task
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{"goal":"On(Coffee,BrightTable6)"}
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@ -38,6 +45,17 @@ create_sub_task
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麻烦啦！
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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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create_sub_task
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{"goal":"At(Robot,WaterTable)"}
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我想来杯水，帮我孩子拿个酸奶吧。
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ok，没问题，请稍等！
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create_sub_task
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{"goal":"On(Water,WaterTable),On(Yogurt,WaterTable)"}
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来杯酸奶吧。
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好的没问题，请稍等！
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create_sub_task
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@ -14,33 +14,64 @@ class SceneVLM(Scene):
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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.scene_flag = 1
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self.scene_flag = 2
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self.st1 = 3
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self.st2 = self.st1 + 30
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self.st2 = 3
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# self.st2 = self.st1 + 30
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self.st3 = 3
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self.st4 = 3
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self.new_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)),
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(3, self.control_walker, (0, False, 200, 60, 520, 0)),
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(10, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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(10, self.customer_say, (0,"可以带我过去嘛？")),
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(20, 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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# (3, self.add_walker, (5, 230, 1200)),
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# (3, self.control_walker, (0, False, 200, 60, 520, 0)),
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# (10, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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# (10, self.customer_say, (0,"可以带我过去嘛？")),
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# (20, 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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(3, self.add_walker, (5, 230, 1200)), # 小女孩
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# 上述准备
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(self.st2, self.add_walker, (26, 60,-140)),
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(self.st2, self.add_walker, (10, -80, -180,-45)), # （-150 -250）
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(self.st2, self.control_walker, (1, False, 100, 70, 520, 0)), #3
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(self.st2+15, self.customer_say, (1, "你们这有什么饮料嘛？")), # 10
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(self.st2, self.add_walker, (26, -28, -150, 90)),
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(self.st2, self.add_walker, (10, -70, -200, -45)),
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(self.st2, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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(self.st2+10, 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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(self.st2+15, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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(self.st2+15+5, self.customer_say, (1,"来杯卡布奇诺吧，我在靠窗边的高脚桌那。")), # 15
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(self.st2+15+5+5, self.control_walkers_and_say, ([[[1, False, 100, -30, -200, -90, "麻烦啦！"]]])), # 20 胖胖男到了 BrightTable6
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(self.st2+15+5, 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_walker, (5, 230, 1200)),
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# (3, self.add_walker, (26, -30, -200, -90)),
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# (3, self.add_walker, (10, -80, -180, -45)),
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# # 上述准备
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# (self.st3, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (self.st3, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
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# (self.st3, self.add_walker, (1, 60, 420, 135)),
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# (self.st3, 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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# (self.st3, self.add_walker, (48, 60, 520,0)),
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# (self.st3 + 3, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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# (self.st3 + 10, 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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# (self.st3 + 15, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")),
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# (self.st3 + 25, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400
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# (self.st3 + 25, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")),
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# (self.st3 + 60, self.customer_say, (6, "谢谢！"))
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# 场景4：三人排队点单，一个要点心，一个没座位了赠送保温杯
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# (3, self.add_walker, (5, 230, 1200)),
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# (3, self.add_walker, (26, -30, -200, -90)),
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# (3, self.add_walker, (10, -80, -180, -45)),
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# (3, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (3, self.add_walker, (32, -80, 850, 135)),
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# (3, self.add_walker, (1, 60, 420, 135)),
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# (3, self.add_walker, (48, 60, 520, 0)),
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# # # 上述准备
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# (self.st4, self.add_walker, (31, 60, 600, -90)), # 女红色排队
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# (self.st4, self.add_walker, (9, 60, 680, -90)), # 男灰黑色排队
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# (self.st4, self.add_walker, (20, 60, 760, -90)), # 大胖男排队
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]
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def _reset(self):
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@ -0,0 +1,102 @@
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"""
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视觉语言操作
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机器人根据指令人的指令调节空调，自主探索环境导航到目标点，通过手臂的运动规划能力操作空调，比如开关按钮、调温按钮、显示面板
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"""
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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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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.scene_flag = 1
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self.st1 = 3
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self.st2 = self.st1 + 30
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self.st3 = 3
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self.new_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)),
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# (3, self.control_walker, (0, False, 200, 60, 520, 0)),
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# (10, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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# (10, self.customer_say, (0,"可以带我过去嘛？")),
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# (20, 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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# 上述准备
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# (self.st2, self.add_walker, (26, 60,-140)),
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# (self.st2, self.add_walker, (10, -80, -180,-45)), # （-150 -250）
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# (self.st2, self.control_walker, (1, False, 100, 70, 520, 0)), #3
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# (self.st2+15, self.customer_say, (1, "你们这有什么饮料嘛？")), # 10
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# (self.st2+15, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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# (self.st2+15+5, self.customer_say, (1,"来杯卡布奇诺吧，我在靠窗边的高脚桌那。")), # 15
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# (self.st2+15+5+5, self.control_walkers_and_say, ([[[1, False, 100, -30, -200, -90, "麻烦啦！"]]])), # 20 胖胖男到了 BrightTable6
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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_walker, (5, 230, 1200)),
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(3, self.add_walker, (26, -30, -200, -90)),
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(3, self.add_walker, (10, -80, -180, -45)),
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# 上述准备
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(self.st3, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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(self.st3, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
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(self.st3, self.add_walker, (1, -80, 750, 135)),
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(self.st3, 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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(self.st3, self.add_walker, (48, 60, 520,0)),
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(self.st3 + 3, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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(self.st3 + 10, 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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(self.st3 + 15, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")),
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(self.st3 + 20, self.control_walker, (6, False, 50,-290, 400, 180)),
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]
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def _reset(self):
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self.gen_obj()
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# self.add_walkers([[47, 920]])
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pass
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def _run(self, op_type=10):
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# 一个行人从门口走到 吧台
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# 打招呼需要什么
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# 行人说 哪里有位置，想晒个太阳
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# 带领行人去有太阳的地方
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# 行人说 有点热
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# 好的，这就去开空调
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self.walker_followed = False
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pass
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def _step(self):
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if self.scene_flag == 1:
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# 如果机器人不在 吧台
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if self.walker_followed:
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return
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end = [self.status.location.X, self.status.location.Y]
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if end[1]>=600 or end[1]<=450 or end[0]>=250:
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# if int(self.status.location.X)!=247 or int(self.status.location.X)!=520:
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self.walker_followed = True
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self.control_walkers_and_say([[0,False,150,end[0],end[1],90,"wd！"]])
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self.scene_flag += 1
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pass
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if __name__ == '__main__':
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import os
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from robowaiter.robot.robot import Robot
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robot = Robot()
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# create task
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task = SceneVLM(robot)
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task.reset()
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task.run()
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@ -12,10 +12,10 @@ class SceneVLM(Scene):
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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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(3, self.add_walker, (20,0,700)),
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# (5, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
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# # (10, self.customer_say, (6,"给我来杯酸奶和咖啡，哦对，再倒一杯水。")),
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# (8, self.customer_say, (6, "来杯酸奶吧。")),
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# (7, self.control_walker, (6, False, 100, -250, 480, 0)), #(-100,600)
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(5, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
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# (10, self.customer_say, (6,"给我来杯酸奶和咖啡，哦对，再倒一杯水。")),
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(8, self.customer_say, (6, "来杯酸奶吧。")),
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(7, self.control_walker, (6, False, 100, -250, 480, 0)), #(-100,600)
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# 有人提出要开空调和关窗帘
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# bar (60, 520)
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