Merge branch 'main' of github.com:HPCL-EI/RoboWaiter
This commit is contained in:
ChenXL97
commit
2cbbde3e13
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@ -23,7 +23,8 @@ class GreetCustomer(Act):
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goal = Act.place_xyz_dic['Bar']
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self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
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self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
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# self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
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self.scene.chat_bubble("欢迎光临！")
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customer_name = self.scene.state['attention']['customer']
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self.scene.state['greeted_customers'].add(customer_name)
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@ -1 +1 @@
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{"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)\"}"}, "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)\"}"}}
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{"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！别忘了打扫卫生。": {"Answer": "收到！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)\"}"}, "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)\"}"}, "给我来杯酸奶和咖啡，哦对，再倒一杯水。": {"Answer": "好嘞，请稍等！", "Goal": "{\"On(Coffee,WaterTable)\",\"On(Yogurt,WaterTable)\",\"On(Water,WaterTable)\"}"}, "好热呀！太阳也好大！": {"Answer": "抱歉！我这就去开空调和关窗帘！", "Goal": "{\"Is(AC,On)\",\"Is(Curtain,Off)\"}"}, "来杯酸奶吧。": {"Answer": "好嘞，请稍等！", "Goal": "{\"On(Yogurt,WaterTable)\"}"}}
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@ -20,5 +20,8 @@ Question,Answer,Goal
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我有点热，能开个空调吗？,当然可以，我现在就开！,"{""Is(AC,On)""}"
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可以带我去吗,当然可以，前往一号桌,"{""At(Robot,Table1)""}"
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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)""}"
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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)""}"
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下班啦！别忘了打扫卫生。,收到！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)""}"
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可以带我去空位上嘛？我想晒太阳。,没问题！请跟我来。,"{""At(Robot,BrightTable1)""}"
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给我来杯酸奶和咖啡，哦对，再倒一杯水。,好嘞，请稍等！,"{""On(Coffee,WaterTable)"",""On(Yogurt,WaterTable)"",""On(Water,WaterTable)""}"
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好热呀！太阳也好大！,抱歉！我这就去开空调和关窗帘！,"{""Is(AC,On)"",""Is(Curtain,Off)""}"
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来杯酸奶吧。,好嘞，请稍等！,"{""On(Yogurt,WaterTable)""}"
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@ -1,24 +0,0 @@
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Question,Answer,Goal
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做一杯咖啡,OK，我这就去做一杯咖啡,"{""On(Coffee,CoffeeTable)""}"
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做一杯咖啡放到吧台上,OK，我这就去做一杯咖啡放到吧台上,"{""On(Coffee,Bar)""}"
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做一杯咖啡放到水杯桌上，再倒一杯水,OK，我这就去做一杯咖啡放到水杯桌上，再倒一杯水,"{""On(Coffee,WaterTable)"",""On(Water,WaterTable)""}"
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前往2号桌,OK，我这前往2号桌,"{""At(Robot,Table2)""}"
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测试AEM,测试AEM,"{""EnvExplored()""}"
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倒一杯水,OK，我这就去倒一杯水,"{""On(Water,WaterTable)""}"
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开空调,OK，我这就去开空调,"{""Is(AC,On)""}"
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关空调,OK，我这就去关空调,"{""Is(AC,Off)""}"
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关大厅灯,OK，我这就去关大厅灯,"{""Is(HallLight,Off)""}"
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开大厅灯,OK，我这就去开大厅灯,"{""Is(HallLight,On)""}"
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关筒灯,OK，我这就去关筒灯,"{""Is(TubeLight,Off)""}"
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开筒灯,OK，我这就去开筒灯,"{""Is(TubeLight,On)""}"
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关窗帘,OK，我这就去关窗帘,"{""Is(Curtain,Off)""}"
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开窗帘,OK，我这就去开窗帘,"{""Is(Curtain,On)""}"
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拖地,OK，我这就去拖地,"{""Is(Floor,Clean)""}"
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擦桌子,OK，我这就去擦桌子,"{""Is(Table1,Clean)""}"
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整理椅子,OK，我这就去整理椅子,"{""Is(Chairs,Clean)""}"
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把冰红茶放到Table2,OK，我这就去把冰红茶放到Table2,"{""On(BottledDrink,Table2)""}"
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我有点热，能开个空调吗？,当然可以，我现在就开！,"{""Is(AC,On)""}"
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可以带我去吗,当然可以，前往一号桌,"{""At(Robot,Table1)""}"
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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)""}"
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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)""}"
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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)""}"
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@ -1,3 +1,4 @@
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import copy
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import io
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import contextlib
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import os
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@ -62,9 +63,12 @@ class Robot(object):
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print("--------------------\n")
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# 如果目标是下班，规划的时候就直接快捷导入？
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# end_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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# if goal & end_goal == goal
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# else:
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end_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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if goal & end_goal == goal:
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tmp_list = copy.deepcopy(self.action_list)
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self.action_list=[]
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self.action_list = [action for action in tmp_list if "Turn" in action.name or "Clean" in action.name]
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algo = BTOptExpInterface(self.action_list,self.scene)
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ptml_string = algo.process(goal)
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@ -287,15 +287,15 @@ class Scene:
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def add_walkers(self,walker_loc=[[0, 880], [250, 1200], [-55, 750], [70, -200]]):
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print('------------------add_walkers----------------------')
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for id,walker in enumerate(walker_loc):
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for i,walker in enumerate(walker_loc):
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if len(walker)==2:
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self.add_walker(id,walker[0],walker[1])
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self.add_walker(i,walker[0],walker[1])
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elif len(walker)==3:
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self.add_walker(id, walker[0], walker[1],walker[2])
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self.add_walker(walker[0], walker[1], walker[2])
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elif len(walker) == 4:
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self.add_walker(id, walker[0], walker[1], walker[2], walker[3])
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self.add_walker(walker[0], walker[1], walker[2], walker[3])
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elif len(walker) == 5:
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self.add_walker(id, walker[0], walker[1], walker[2], walker[3], walker[4])
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self.add_walker(walker[0], walker[1], walker[2], walker[3], walker[4])
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def remove_walker(self, *args): # take single walkerID or a list of walkerIDs
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remove_list = []
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@ -319,10 +319,15 @@ class Scene:
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def clean_walker(self):
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stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
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def control_walker(self, control_list):
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stub.ControlWalkers(
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GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
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def control_walker(self, walkerID,autowalk,speed,X,Y,Yaw=0):
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pose = GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw)
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scene = stub.ControlWalkers(
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GrabSim_pb2.WalkerControls(controls=[GrabSim_pb2.WalkerControls.WControl(id=walkerID, autowalk=autowalk, speed=speed, pose=pose)], scene=self.sceneID)
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)
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return scene
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# stub.ControlWalkers(
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# GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
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# )
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def control_walkers_and_say(self, control_list_ls):
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""" 同时处理行人的行走和对话
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@ -332,13 +337,15 @@ class Scene:
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for control in control_list_ls:
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if control[-1]!= None:
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walkerID = control[0]
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cont = self.status.walkers[walkerID].name + ":"+control[-1]
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self.control_robot_action(control[walkerID], 3, cont)
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# cont = self.status.walkers[walkerID].name + ":"+control[-1]
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# self.control_robot_action(control[walkerID], 3, cont)
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self.customer_say(walkerID,control[-1])
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control_list.append(self.walker_control_generator(walkerID=control[0], autowalk=control[1], speed=control[2], X=control[3], Y=control[4], Yaw=control[5]))
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# 收集没有对话的统一控制
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stub.ControlWalkers(
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scene = stub.ControlWalkers(
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GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
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)
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return scene
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def control_walkers(self,walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True):
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"""pose:表示行人的终止位置姿态"""
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@ -351,7 +358,7 @@ class Scene:
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pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180)
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controls.append(GrabSim_pb2.WalkerControls.WControl(id=i, autowalk=is_autowalk, speed=80, pose=pose))
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scene = stub.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=self.sceneID))
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return scene
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def control_joints(self, angles):
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stub.Do(
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@ -0,0 +1,59 @@
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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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# 出现员工和机器人说关门了(机器人可能手上还拿着东西)
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self.new_event_list = [
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(3, self.add_walker, (17, 60, 1000)),
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(6, self.control_walkers_and_say, ([[[6, False, 500, 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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self.gen_obj()
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self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)',
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'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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# 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220)
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self.add_walkers([[3,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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# [3,1, 880] 1号桌旁边小女孩
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# [31,250, 1200] 最角落QuietTable1女红色
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# [6,-55, 750] 1号桌附近小男孩
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# [10,70, -200] 另一边角落 QuietTable2 男黄色
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# [27,-290, 400, 180] 中间 BrightTable4 女灰
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# [26, 60,-320,90] 另一边角落 BrightTable5 红胖男
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self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
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# 0-3男孩 4-7女孩 8-26男
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# 3男孩 31女红 32女灰 10黄色衣服男瘦 9男灰瘦 26红胖男
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# 17 是员工 police
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# [0, -150,180]
|
||||
|
||||
pass
|
||||
|
||||
def _run(self, op_type=10):
|
||||
|
||||
pass
|
||||
|
||||
def _step(self):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
import os
|
||||
from robowaiter.robot.robot import Robot
|
||||
|
||||
robot = Robot()
|
||||
|
||||
# create task
|
||||
task = SceneVLM(robot)
|
||||
task.reset()
|
||||
task.run()
|
||||
|
|
@ -0,0 +1,142 @@
|
|||
"""
|
||||
视觉语言操作
|
||||
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
|
||||
"""
|
||||
|
||||
import time
|
||||
from robowaiter.scene.scene import Scene
|
||||
|
||||
class SceneVLM(Scene):
|
||||
def __init__(self, robot):
|
||||
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.new_event_list = [
|
||||
(3, self.add_walker, (20,0,700)),
|
||||
(5, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
|
||||
# (10, self.customer_say, (6,"给我来杯酸奶和咖啡，哦对，再倒一杯水。")),
|
||||
(8, self.customer_say, (6, "来杯酸奶吧。")),
|
||||
(7, self.control_walker, (6, False, 100, -250, 480, 0)), #(-100,600)
|
||||
|
||||
# 有人提出要开空调和关窗帘
|
||||
# bar (60, 520)
|
||||
(20, self.add_walker, (0, 0, 0)),
|
||||
(25, self.control_walker, (7, False, 100, 60, 520, 180)),
|
||||
(28, self.customer_say, (7,"好热呀！太阳也好大！")),
|
||||
(40, self.control_walkers_and_say, ([[[7, False, 100, 270, -240, -65, "这下舒服了！"]]])),
|
||||
|
||||
# (5, self.add_walker, (0, 0, 0)),
|
||||
# (6, self.control_walker, (7, False, 100, 60, 520, 180)),
|
||||
# (10, self.customer_say, (7, "好热呀！太阳也好大！")),
|
||||
# (12, self.control_walkers_and_say, ([[[7, False, 100, 270, -240, -65, "这下舒服了！"]]])),
|
||||
]
|
||||
|
||||
def _reset(self):
|
||||
self.gen_obj()
|
||||
self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)',
|
||||
'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)'}
|
||||
# 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220)
|
||||
self.add_walkers([[3,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
|
||||
# [3,1, 880] 1号桌旁边小女孩
|
||||
# [31,250, 1200] 最角落QuietTable1女红色
|
||||
# [6,-55, 750] 1号桌附近小男孩
|
||||
# [10,70, -200] 另一边角落 QuietTable2 男黄色
|
||||
# [27,-290, 400, 180] 中间 BrightTable4 女灰
|
||||
# [26, 60,-320,90] 另一边角落 BrightTable5 红胖男
|
||||
self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
|
||||
|
||||
# 0-3男孩 4-7女孩 8-26男
|
||||
# 3男孩 31女红 32女灰 10黄色衣服男瘦 9男灰瘦 26红胖男
|
||||
# 17 是员工 police
|
||||
# [0, -150,180]
|
||||
|
||||
|
||||
# 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]]
|
||||
# controls = []
|
||||
# for i in range(len(s.walkers)):
|
||||
# loc = walker_loc[i]
|
||||
# is_autowalk = False
|
||||
# pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180)
|
||||
# controls.append(GrabSim_pb2.WalkerControls.WControl(id=i, autowalk=is_autowalk, speed=200, pose=pose))
|
||||
# scene = sim_client.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=scene_id))
|
||||
|
||||
# self.gen_obj(type=5)
|
||||
# self.gen_obj(type=9)
|
||||
# self.op_task_execute(op_type=16, obj_id=0)
|
||||
# self.move_task_area(op_type=4)
|
||||
pass
|
||||
|
||||
def _run(self, op_type=10):
|
||||
# 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
|
||||
# "调整空调开关","调高空调温度","调低空调温度", # 13-15
|
||||
# "抓握物体","放置物体" # 16-17
|
||||
#
|
||||
# self.gen_obj()
|
||||
# if op_type <=15:
|
||||
# self.move_task_area(op_type)
|
||||
# self.op_task_execute(op_type)
|
||||
# if op_type == 16: # 16: 抓操作需要传入物品id
|
||||
# self.move_task_area(op_type, obj_id=0)
|
||||
# self.op_task_execute(op_type, obj_id=0)
|
||||
# # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 100.0], 水杯桌:[-70.0, 500.0, 107]
|
||||
# # 桌子1:[-55.0, 0.0, 107],抹布桌:[340.0, 900.0, 99.0] # 桌子2:[-55.0, 150.0, 107],
|
||||
# if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域
|
||||
# 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]
|
||||
#
|
||||
# 流程测试
|
||||
# 抓握放置:抓吧台前生成的酸奶，放到抹布桌上
|
||||
# self.gen_obj()
|
||||
# self.move_task_area(16, obj_id=0)
|
||||
# self.op_task_execute(16, obj_id=0)
|
||||
# pos = [340.0, 900.0, 99.0]
|
||||
# self.move_task_area(17, release_pos=pos)
|
||||
# self.op_task_execute(17, release_pos=pos)
|
||||
#
|
||||
# # 做咖啡:做完的咖啡放到水杯桌上
|
||||
# self.move_task_area(1)
|
||||
# self.op_task_execute(1)
|
||||
#
|
||||
# self.find_obj("CoffeeCup")
|
||||
#
|
||||
# self.move_task_area(16, obj_id=275)
|
||||
# self.op_task_execute(16, obj_id=275)
|
||||
# pos = [-70.0, 500.0, 107]
|
||||
# self.move_task_area(17, release_pos=pos)
|
||||
# self.op_task_execute(17, release_pos=pos)
|
||||
#
|
||||
# # 倒水:倒完的水放到旁边桌子上
|
||||
# self.move_task_area(2)
|
||||
# self.op_task_execute(2)
|
||||
#
|
||||
#
|
||||
# self.move_task_area(16, obj_id=190)
|
||||
# self.op_task_execute(16, obj_id=190)
|
||||
# pos = [-55.0, 0.0, 107]
|
||||
# self.move_task_area(17, release_pos=pos)
|
||||
# self.op_task_execute(17, release_pos=pos)
|
||||
#
|
||||
# self.test_yaw()
|
||||
|
||||
pass
|
||||
|
||||
def _step(self):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
import os
|
||||
from robowaiter.robot.robot import Robot
|
||||
|
||||
robot = Robot()
|
||||
|
||||
# create task
|
||||
task = SceneVLM(robot)
|
||||
task.reset()
|
||||
task.run()
|
||||
|
|
@ -12,7 +12,7 @@ class SceneVLM(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.new_event_list = [
|
||||
(3, self.add_walker, (0,60,520)),
|
||||
(5, self.customer_say, (0,"请问可以带我去空位上嘛？我想晒太阳。")),
|
||||
(5, self.customer_say, (0,"可以带我去空位上嘛？我想晒太阳。")),
|
||||
]
|
||||
|
||||
def _reset(self):
|
||||
|
|
@ -43,11 +43,7 @@ class SceneVLM(Scene):
|
|||
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_walker(
|
||||
[self.walker_control_generator(walkerID=0, autowalk=False, speed=300, X=end[0], Y=end[1], Yaw=-90)])
|
||||
|
||||
cont = self.status.walkers[0].name+"谢谢！"
|
||||
self.control_robot_action(0,3,cont)
|
||||
self.control_walkers_and_say([[0,False,300,end[0],end[1],90,"谢谢！"]])
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
|
|
|||
Loading…
Reference in New Issue