Merge remote-tracking branch 'origin/main'
This commit is contained in:
wuziji
commit
3348a1fd8e
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@ -13,18 +13,24 @@ class Bahavior(ptree.behaviour.Behaviour):
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'''
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scene = None
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print_name_prefix = ""
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# all_place = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3'}
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# all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
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# 'VacuumCup'}
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all_place = {'Bar', 'WaterTable', 'CoffeeTable'}
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all_place = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3'}
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all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
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'VacuumCup'}
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# all_place = {'Bar', 'WaterTable', 'CoffeeTable'}
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# all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'Yogurt'}
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all_object = {'Coffee', 'Water'}
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# all_object = {'Coffee', 'Water'}
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# all_object = set()
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# all_place=set()
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place_xyz_dic={
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'Bar': (247.0, 520.0, 100.0),
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'Bar2': (240.0, 40.0, 70.0),
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'WaterTable':(-70.0, 500.0, 107),
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'CoffeeTable':(250.0, 310.0, 100.0),
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'Table1': (340.0, 900.0, 98.0),
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# 'Table1': (345.0, 895.0, 98.0),
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'Table2': (-55.0, 0.0, 107),
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'Table3':(-55.0, 150.0, 107)
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}
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@ -25,7 +25,7 @@ class Clean(Act):
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@classmethod
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def get_info(cls,arg):
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info = {}
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info["pre"]= {f'Holding(Nothing)'}
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info["pre"]= {f'Holding(Nothing)',f'Is(HallLight,On)'}
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if arg == "Table1":
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info["add"]= {f'Is(Table1,Clean)'}
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info["del_set"] = {f'Is(Table1,Dirty)'}
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@ -44,4 +44,6 @@ class Clean(Act):
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self.scene.state["condition_set"] |= (self.info["add"])
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self.scene.state["condition_set"] -= self.info["del_set"]
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return Status.SUCCESS
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# print("After Clean condition_set:",self.scene.state["condition_set"] )
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return Status.RUNNING
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@ -11,6 +11,11 @@ class DealChat(Act):
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def _update(self) -> ptree.common.Status:
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# if self.scene.status?
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chat = self.scene.state['chat_list'].pop()
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if isinstance(chat,set):
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self.create_sub_task(chat)
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return ptree.common.Status.RUNNING
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self.chat_history += chat + '\n'
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res_dict = ask_llm(chat)
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@ -39,5 +39,5 @@ class PutDown(Act):
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self.scene.state["condition_set"] |= (self.info["add"])
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self.scene.state["condition_set"] -= self.info["del_set"]
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print("After PutDown condition_set:",self.scene.state["condition_set"])
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# print("After PutDown condition_set:",self.scene.state["condition_set"])
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return Status.RUNNING
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@ -77,6 +77,7 @@ class Turn(Act):
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self.scene.move_task_area(self.op_type)
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self.scene.op_task_execute(self.op_type)
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self.scene.state["condition_set"].union(self.info["add"])
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self.scene.state["condition_set"] |= (self.info["add"])
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self.scene.state["condition_set"] -= self.info["del_set"]
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return Status.RUNNING
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@ -105,8 +105,8 @@ class OptBTExpAlgorithm:
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[copy.deepcopy(pair_node.cond_leaf), copy.deepcopy(pair_node.act_leaf)])
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subtree.add_child([copy.deepcopy(sequence_structure)]) # subtree 是回不断变化的，它的父亲是self.bt
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# 增加实时条件判断，满足条件就不再扩展
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# if c <= self.scene.state["condition_set"]:
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# return True
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if c <= self.scene.state["condition_set"]:
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return True
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else:
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subtree.add_child([copy.deepcopy(pair_node.act_leaf)])
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@ -1 +1 @@
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{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"On(Coffee,CoffeeTable)\"}"}, "测试VLM：做一杯咖啡放到吧台上": {"Answer": "测试VLM：做一杯咖啡放到吧台上", "Goal": "{\"On(Coffee,Bar)\"}"}, "测试VLM：做一杯咖啡放到水杯桌上，再倒一杯水": {"Answer": "测试VLM：做一杯咖啡放到水杯桌上，再倒一杯水", "Goal": "{\"On(Coffee,WaterTable)\",\"On(Water,WaterTable)\"}"}, "测试VLN：前往2号桌": {"Answer": "测试VLN：前往2号桌", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关空调": {"Answer": "测试VLM：关空调", "Goal": "{\"Is(AC,Off)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：开大厅灯": {"Answer": "测试VLM：开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：开筒灯": {"Answer": "测试VLM：开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：开窗帘": {"Answer": "测试VLM：开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：整理椅子": {"Answer": "测试VLM：整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：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)\"}"}}
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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)\"}"}}
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@ -1,21 +1,23 @@
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Question,Answer,Goal
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测试VLM：做一杯咖啡,测试VLM：做一杯咖啡,"{""On(Coffee,CoffeeTable)""}"
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测试VLM：做一杯咖啡放到吧台上,测试VLM：做一杯咖啡放到吧台上,"{""On(Coffee,Bar)""}"
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测试VLM：做一杯咖啡放到水杯桌上，再倒一杯水,测试VLM：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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测试VLN：前往2号桌,测试VLN：前往2号桌,"{""At(Robot,Table2)""}"
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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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测试VLM：倒一杯水,测试VLM：倒一杯水,"{""On(Water,WaterTable)""}"
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测试VLM：开空调,测试VLM：开空调,"{""Is(AC,On)""}"
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测试VLM：关空调,测试VLM：关空调,"{""Is(AC,Off)""}"
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测试VLM：关大厅灯,测试VLM：关大厅灯,"{""Is(HallLight,Off)""}"
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测试VLM：开大厅灯,测试VLM：开大厅灯,"{""Is(HallLight,On)""}"
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测试VLM：关筒灯,测试VLM：关筒灯,"{""Is(TubeLight,Off)""}"
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测试VLM：开筒灯,测试VLM：开筒灯,"{""Is(TubeLight,On)""}"
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测试VLM：关窗帘,测试VLM：关窗帘,"{""Is(Curtain,Off)""}"
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测试VLM：开窗帘,测试VLM：开窗帘,"{""Is(Curtain,On)""}"
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测试VLM：拖地,测试VLM：拖地,"{""Is(Floor,Clean)""}"
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测试VLM：擦桌子,测试VLM：擦桌子,"{""Is(Table1,Clean)""}"
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测试VLM：整理椅子,测试VLM：整理椅子,"{""Is(Chairs,Clean)""}"
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测试VLM：把冰红茶放到Table2,测试VLM：把冰红茶放到Table2,"{""On(BottledDrink,Table2)""}"
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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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@ -1,13 +1,18 @@
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selector
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{
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sequence
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{
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{
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cond Chatting()
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act DealChat()
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} sequence
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{
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}
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sequence
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{
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cond HasSubTask()
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sequence
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{
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act SubTaskPlaceHolder()}}}
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{
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act SubTaskPlaceHolder()
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}
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}
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}
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@ -61,7 +61,10 @@ class Robot(object):
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# print(a.name)
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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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algo = BTOptExpInterface(self.action_list,self.scene)
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ptml_string = algo.process(goal)
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@ -0,0 +1,44 @@
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"""
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人提出请求，机器人完成任务
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1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上
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2. 倒水
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3. 夹点心
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||||
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。
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"""
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# todo: 接收点单信息，大模型生成任务规划
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|
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from robowaiter.scene.scene import Scene
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class SubScene(Scene):
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|
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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
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|
||||
def _reset(self):
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pass
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||||
|
||||
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||||
def _step(self):
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if len(self.sub_task_seq.children) == 0:
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question = input("请输入指令：")
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||||
if question[-1] == ")":
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||||
print(f"设置目标:{question}")
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self.set_goal(question)()
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else:
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||||
self.state['chat_list'].append(question)
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||||
|
||||
|
||||
|
||||
if __name__ == '__main__':
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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 = SubScene(robot)
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task.reset()
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task.run()
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@ -118,6 +118,9 @@ class Scene:
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|||
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||||
# reset state
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self.state = self.default_state
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||||
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print("场景初始化完成")
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self._reset()
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||||
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@ -158,6 +161,14 @@ class Scene:
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return customer_say
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|
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def set_goal(self,goal):
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g = eval("{'" + goal + "'}")
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def set_sub_task():
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self.state['chat_list'].append(g)
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|
||||
return set_sub_task
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||||
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||||
@property
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def status(self):
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return stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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@ -255,6 +266,19 @@ class Scene:
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GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
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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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||||
scene = self.status
|
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walker_loc = walker_loc
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controls = []
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for i in range(len(scene.walkers)):
|
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loc = walker_loc[i]
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is_autowalk = is_autowalk
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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))
|
||||
|
||||
|
||||
def control_joints(self, angles):
|
||||
stub.Do(
|
||||
GrabSim_pb2.Action(
|
||||
|
|
|
|||
|
|
@ -18,7 +18,7 @@ class SceneOT(Scene):
|
|||
super().__init__(robot)
|
||||
# 在这里加入场景中发生的事件
|
||||
self.event_list = [
|
||||
(5, self.create_chat_event("给我一杯咖啡"))
|
||||
(5, self.set_goal("At(Robot,Table2)"))
|
||||
]
|
||||
|
||||
def _reset(self):
|
||||
|
|
|
|||
|
|
@ -11,24 +11,49 @@ class SceneVLM(Scene):
|
|||
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.event_list = [
|
||||
(5, self.create_chat_event("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。")),
|
||||
# (10, self.create_chat_event("开空调")),
|
||||
|
||||
# (15, self.create_chat_event("下班啦！打扫卫生，关灯关空调关窗帘。")),
|
||||
|
||||
|
||||
# (9, self.create_chat_event("关窗帘")),
|
||||
# (9, self.create_chat_event("开大厅灯")),
|
||||
# (5, self.create_chat_event("测试VLM：做一杯咖啡")),
|
||||
# (5, self.create_chat_event("测试VLM：倒一杯水")),
|
||||
# (5, self.create_chat_event("测试VLM：开空调")),
|
||||
# (5, self.create_chat_event("测试VLM：关空调")),
|
||||
# (5, self.create_chat_event("测试VLM：开大厅灯")),
|
||||
# (5, self.create_chat_event("测试VLM：拖地")),
|
||||
# (5, self.create_chat_event("测试VLM：擦桌子")),
|
||||
# (5, self.create_chat_event("测试VLM：整理椅子")),
|
||||
# (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")),
|
||||
# (5, self.create_chat_event("测试VLM：关大厅灯"))
|
||||
# (5, self.create_chat_event("测试VLM：做一杯咖啡放到吧台上")),
|
||||
(5, self.create_chat_event("测试VLM：做一杯咖啡放到水杯桌上，再倒一杯水")),
|
||||
(10, self.create_chat_event("测试VLM：关窗帘")),
|
||||
# (5, self.create_chat_event("测试VLM：做一杯咖啡放到水杯桌上，再倒一杯水")),
|
||||
# (10, self.create_chat_event("测试VLM：关窗帘")),
|
||||
# (5, self.create_chat_event("测试VLN：前往2号桌")),
|
||||
|
||||
# (11, self.create_chat_event("测试VLM：拖地")),
|
||||
# (12, self.create_chat_event("测试VLM：擦桌子")),
|
||||
]
|
||||
|
||||
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)'}
|
||||
self.add_walkers([[0, 880], [250, 1200], [-55, 750], [70, -200]])
|
||||
# self.add_walkers([[-500, 500]])
|
||||
self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
|
||||
# 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)
|
||||
|
|
@ -37,8 +62,6 @@ class SceneVLM(Scene):
|
|||
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
|
||||
|
|
@ -61,7 +84,7 @@ class SceneVLM(Scene):
|
|||
|
||||
# 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.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]
|
||||
|
|
|
|||
|
|
@ -43,13 +43,15 @@ class SceneVLM(Scene):
|
|||
# 行人说 有点热
|
||||
# 好的，这就去开空调
|
||||
|
||||
scene = self.add_walkers([[0, 0]])
|
||||
scene = self.add_walkers([[47, 920],[70,-200]])
|
||||
self.control_walker(
|
||||
[self.walker_control_generator(walkerID=1, autowalk=False, speed=50, X=100, Y=150, Yaw=0)])
|
||||
[self.walker_control_generator(walkerID=0, autowalk=False, speed=200, X=47, Y=520, Yaw=0)])
|
||||
|
||||
cont = scene.walkers[0].name+":我有点热，能开个空调吗？"
|
||||
cont = scene.walkers[0].name+":请问可以带我去空位上嘛？我想晒太阳"
|
||||
self.control_robot_action(0,3,cont)
|
||||
|
||||
# self.clean_walker()
|
||||
|
||||
|
||||
# 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
|
||||
|
|
|
|||
Loading…
Reference in New Issue