更新了 add_walkers

robowaiter/scene/scene.py

@@ -208,23 +208,22 @@ class Scene:
         else:
             return True
 
-    def add_walker(self, X, Y, Yaw):
-        if self.use_offset:
-            X, Y = X + loc_offset[0], Y + loc_offset[1]
-        if self.reachable_check(X, Y, Yaw):
-            stub.AddWalker(
-                GrabSim_pb2.WalkerList(
-                    walkers=[
-                        GrabSim_pb2.WalkerList.Walker(
-                            id=0,
-                            pose=GrabSim_pb2.Pose(
-                                X=X, Y=Y, Yaw=Yaw
-                            ),  # Parameter id is useless
-                        )
-                    ],
-                    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
 
     def remove_walker(self, *args):  # take single walkerID or a list of walkerIDs
         remove_list = []

robowaiter/scene/tasks/Open_tasks.py

@@ -7,6 +7,7 @@
 具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。
 
 """
+import time
 
 # todo: 接收点单信息，大模型生成任务规划
 
@@ -23,11 +24,12 @@ class SceneOT(Scene):
         ]
 
     def _reset(self):
-        scene = self.add_walker(0, 0, 0)
-        print("我有点热，能开个空调吗？")
-        # print("scene.walkers:",scene.walkers)
-        # cont = scene.walkers[0].name+":我有点热，能开个空调吗？"
-        # self.control_robot_action(0,3,cont)
+        scene = self.add_walkers([[0, 0], [250, 1200], [-55, 750], [70, -200]])
+        # time.sleep(2.0)
+        # print("我有点热，能开个空调吗？")
+        print("scene.walkers:",scene.walkers)
+        cont = scene.walkers[0].name+":我有点热，能开个空调吗？"
+        self.control_robot_action(0,3,cont)
         # self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
         pass