Merge branch 'main' of https://github.com/HPCL-EI/RoboWaiter
# Conflicts: # robowaiter/llm_client/tool_register.py
This commit is contained in:
Netceor
commit
37c6302a5d
|
|
@ -13,10 +13,15 @@ class Bahavior(ptree.behaviour.Behaviour):
|
||||||
'''
|
'''
|
||||||
scene = None
|
scene = None
|
||||||
print_name_prefix = ""
|
print_name_prefix = ""
|
||||||
all_place = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3'}
|
tables_for_placement = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3',"BrightTable6"}
|
||||||
all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
|
all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
|
||||||
'VacuumCup'}
|
'VacuumCup'}
|
||||||
|
|
||||||
|
# BrightTable5 = Table4
|
||||||
|
tables_for_guiding = {"QuietTable1","QuietTable2",
|
||||||
|
"BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6"
|
||||||
|
'CoffeeTable','WaterTable','Table1', 'Table2', 'Table3'}
|
||||||
|
|
||||||
# all_place = {'Bar', 'WaterTable', 'CoffeeTable'}
|
# all_place = {'Bar', 'WaterTable', 'CoffeeTable'}
|
||||||
# all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'Yogurt'}
|
# all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'Yogurt'}
|
||||||
# all_object = {'Coffee', 'Water'}
|
# all_object = {'Coffee', 'Water'}
|
||||||
|
|
@ -31,7 +36,16 @@ class Bahavior(ptree.behaviour.Behaviour):
|
||||||
'CoffeeTable':(250.0, 310.0, 100.0),
|
'CoffeeTable':(250.0, 310.0, 100.0),
|
||||||
'Table1': (340.0, 900.0, 99.0),
|
'Table1': (340.0, 900.0, 99.0),
|
||||||
'Table2': (-55.0, 0.0, 107),
|
'Table2': (-55.0, 0.0, 107),
|
||||||
'Table3':(-55.0, 150.0, 107)
|
'Table3':(-55.0, 150.0, 107),
|
||||||
|
'BrightTable6': (5, -315, 116.5),
|
||||||
|
|
||||||
|
'QuietTable1':(480,1300,90),
|
||||||
|
'QuietTable2':(250,-240,-65),
|
||||||
|
'BrightTable1':(230,1200,135),
|
||||||
|
'BrightTable2': (65, 1000, 135),
|
||||||
|
'BrightTable3': (-80, 850, 135),
|
||||||
|
'BrightTable4': (-270, 520, 150),
|
||||||
|
'BrightTable5': (-270, 420, -135)
|
||||||
}
|
}
|
||||||
container_dic={
|
container_dic={
|
||||||
'Coffee':'CoffeeCup',
|
'Coffee':'CoffeeCup',
|
||||||
|
|
|
||||||
|
|
@ -20,6 +20,7 @@ class DealChat(Act):
|
||||||
|
|
||||||
res_dict = ask_llm(chat)
|
res_dict = ask_llm(chat)
|
||||||
answer = res_dict["Answer"]
|
answer = res_dict["Answer"]
|
||||||
|
self.scene.chat_bubble(answer) # 机器人输出对话
|
||||||
self.chat_history += answer + '\n'
|
self.chat_history += answer + '\n'
|
||||||
|
|
||||||
goal = res_dict["Goal"]
|
goal = res_dict["Goal"]
|
||||||
|
|
|
||||||
|
|
@ -5,7 +5,7 @@ from robowaiter.algos.navigator.navigate import Navigator
|
||||||
class MoveTo(Act):
|
class MoveTo(Act):
|
||||||
can_be_expanded = True
|
can_be_expanded = True
|
||||||
num_args = 1
|
num_args = 1
|
||||||
valid_args = Act.all_object | Act.all_place
|
valid_args = Act.all_object | Act.tables_for_placement | Act.tables_for_guiding
|
||||||
valid_args.add('Customer')
|
valid_args.add('Customer')
|
||||||
|
|
||||||
def __init__(self, target_place):
|
def __init__(self, target_place):
|
||||||
|
|
@ -35,7 +35,7 @@ class MoveTo(Act):
|
||||||
# 走到固定的地点
|
# 走到固定的地点
|
||||||
if self.target_place in Act.place_xyz_dic:
|
if self.target_place in Act.place_xyz_dic:
|
||||||
goal = Act.place_xyz_dic[self.target_place]
|
goal = Act.place_xyz_dic[self.target_place]
|
||||||
self.scene.walk_to(goal[0]+1,goal[1])
|
self.scene.walk_to(goal[0]+1,goal[1],goal[2])
|
||||||
# 走到物品边上
|
# 走到物品边上
|
||||||
else:
|
else:
|
||||||
# 是否用容器装好
|
# 是否用容器装好
|
||||||
|
|
|
||||||
|
|
@ -18,7 +18,7 @@ class PickUp(Act):
|
||||||
info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'}
|
info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'}
|
||||||
info["add"] = {f'Holding({arg})'}
|
info["add"] = {f'Holding({arg})'}
|
||||||
info["del_set"] = {f'Holding(Nothing)'}
|
info["del_set"] = {f'Holding(Nothing)'}
|
||||||
for place in Act.all_place:
|
for place in cls.valid_args:
|
||||||
info["del_set"] |= {f'On({arg},{place})'}
|
info["del_set"] |= {f'On({arg},{place})'}
|
||||||
return info
|
return info
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -8,7 +8,7 @@ class PutDown(Act):
|
||||||
can_be_expanded = True
|
can_be_expanded = True
|
||||||
num_args = 2
|
num_args = 2
|
||||||
|
|
||||||
valid_args = tuple(itertools.product(Act.all_object, Act.all_place))
|
valid_args = tuple(itertools.product(Act.all_object, Act.tables_for_placement))
|
||||||
|
|
||||||
def __init__(self, *args):
|
def __init__(self, *args):
|
||||||
super().__init__(*args)
|
super().__init__(*args)
|
||||||
|
|
|
||||||
|
|
@ -7,7 +7,7 @@ class At(Cond):
|
||||||
can_be_expanded = True
|
can_be_expanded = True
|
||||||
num_params = 2
|
num_params = 2
|
||||||
|
|
||||||
valid_args = list(itertools.product(('Robot','Customer'), tuple(Cond.all_object | Cond.all_place | {'Customer'})))
|
valid_args = list(itertools.product(('Robot','Customer'), tuple(Cond.all_object | Cond.tables_for_placement | Cond.tables_for_guiding | {'Customer'})))
|
||||||
valid_args.remove(('Customer','Customer'))
|
valid_args.remove(('Customer','Customer'))
|
||||||
valid_args = tuple(valid_args)
|
valid_args = tuple(valid_args)
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -6,7 +6,7 @@ class On(Cond):
|
||||||
can_be_expanded = True
|
can_be_expanded = True
|
||||||
num_params = 2
|
num_params = 2
|
||||||
valid_params = [tuple(Cond.all_object),
|
valid_params = [tuple(Cond.all_object),
|
||||||
tuple(Cond.all_place)]
|
tuple(Cond.tables_for_placement)]
|
||||||
|
|
||||||
|
|
||||||
def __init__(self,*args):
|
def __init__(self,*args):
|
||||||
|
|
|
||||||
|
|
@ -297,7 +297,7 @@ def mutex(path: str):
|
||||||
new_line = re.sub('#', '', new_line)
|
new_line = re.sub('#', '', new_line)
|
||||||
lines = re.sub('#', '', lines)
|
lines = re.sub('#', '', lines)
|
||||||
|
|
||||||
with open(os.path.join(path), 'a', encoding='utf-8') as file:
|
with open(os.path.join(path), 'w', encoding='utf-8') as file:
|
||||||
file.write(new_line*13 + lines * 13)
|
file.write(new_line*13 + lines * 13)
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,196 +1,3 @@
|
||||||
At(Robot,Bar) 请你来一下#Bar。
|
|
||||||
At(Robot,Bar) 请你去一下#Bar。
|
|
||||||
At(Robot,Bar) 你能去#Bar那个位置吗？
|
|
||||||
At(Robot,WaterTable) 请你来一下#WaterTable。
|
|
||||||
At(Robot,WaterTable) 请你去一下#WaterTable。
|
|
||||||
At(Robot,WaterTable) 你能去#WaterTable那个位置吗？
|
|
||||||
At(Robot,CoffeeTable) 请你来一下#CoffeeTable。
|
|
||||||
At(Robot,CoffeeTable) 请你去一下#CoffeeTable。
|
|
||||||
At(Robot,CoffeeTable) 你能去#CoffeeTable那个位置吗？
|
|
||||||
At(Robot,Bar2) 请你来一下#Bar2。
|
|
||||||
At(Robot,Bar2) 请你去一下#Bar2。
|
|
||||||
At(Robot,Bar2) 你能去#Bar2那个位置吗？
|
|
||||||
At(Robot,Table1) 请你来一下#Table1。
|
|
||||||
At(Robot,Table1) 请你去一下#Table1。
|
|
||||||
At(Robot,Table1) 你能去#Table1那个位置吗？
|
|
||||||
At(Robot,Table2) 请你来一下#Table2。
|
|
||||||
At(Robot,Table2) 请你去一下#Table2。
|
|
||||||
At(Robot,Table2) 你能去#Table2那个位置吗？
|
|
||||||
At(Robot,Table3) 请你来一下#Table3。
|
|
||||||
At(Robot,Table3) 请你去一下#Table3。
|
|
||||||
At(Robot,Table3) 你能去#Table3那个位置吗？
|
|
||||||
On(Softdrink,Bar) 请你把#Softdrink放到#Bar那个位置。
|
|
||||||
On(Softdrink,Bar) 请你拿一下#Softdrink到#Bar位置。
|
|
||||||
On(Softdrink,WaterTable) 请你把#Softdrink放到#WaterTable那个位置。
|
|
||||||
On(Softdrink,WaterTable) 请你拿一下#Softdrink到#WaterTable位置。
|
|
||||||
On(Softdrink,CoffeeTable) 请你把#Softdrink放到#CoffeeTable那个位置。
|
|
||||||
On(Softdrink,CoffeeTable) 请你拿一下#Softdrink到#CoffeeTable位置。
|
|
||||||
On(Softdrink,Bar2) 请你把#Softdrink放到#Bar2那个位置。
|
|
||||||
On(Softdrink,Bar2) 请你拿一下#Softdrink到#Bar2位置。
|
|
||||||
On(Softdrink,Table1) 请你把#Softdrink放到#Table1那个位置。
|
|
||||||
On(Softdrink,Table1) 请你拿一下#Softdrink到#Table1位置。
|
|
||||||
On(Softdrink,Table2) 请你把#Softdrink放到#Table2那个位置。
|
|
||||||
On(Softdrink,Table2) 请你拿一下#Softdrink到#Table2位置。
|
|
||||||
On(Softdrink,Table3) 请你把#Softdrink放到#Table3那个位置。
|
|
||||||
On(Softdrink,Table3) 请你拿一下#Softdrink到#Table3位置。
|
|
||||||
On(BottledDrink,Bar) 请你把#BottledDrink放到#Bar那个位置。
|
|
||||||
On(BottledDrink,Bar) 请你拿一下#BottledDrink到#Bar位置。
|
|
||||||
On(BottledDrink,WaterTable) 请你把#BottledDrink放到#WaterTable那个位置。
|
|
||||||
On(BottledDrink,WaterTable) 请你拿一下#BottledDrink到#WaterTable位置。
|
|
||||||
On(BottledDrink,CoffeeTable) 请你把#BottledDrink放到#CoffeeTable那个位置。
|
|
||||||
On(BottledDrink,CoffeeTable) 请你拿一下#BottledDrink到#CoffeeTable位置。
|
|
||||||
On(BottledDrink,Bar2) 请你把#BottledDrink放到#Bar2那个位置。
|
|
||||||
On(BottledDrink,Bar2) 请你拿一下#BottledDrink到#Bar2位置。
|
|
||||||
On(BottledDrink,Table1) 请你把#BottledDrink放到#Table1那个位置。
|
|
||||||
On(BottledDrink,Table1) 请你拿一下#BottledDrink到#Table1位置。
|
|
||||||
On(BottledDrink,Table2) 请你把#BottledDrink放到#Table2那个位置。
|
|
||||||
On(BottledDrink,Table2) 请你拿一下#BottledDrink到#Table2位置。
|
|
||||||
On(BottledDrink,Table3) 请你把#BottledDrink放到#Table3那个位置。
|
|
||||||
On(BottledDrink,Table3) 请你拿一下#BottledDrink到#Table3位置。
|
|
||||||
On(Yogurt,Bar) 请你把#Yogurt放到#Bar那个位置。
|
|
||||||
On(Yogurt,Bar) 请你拿一下#Yogurt到#Bar位置。
|
|
||||||
On(Yogurt,WaterTable) 请你把#Yogurt放到#WaterTable那个位置。
|
|
||||||
On(Yogurt,WaterTable) 请你拿一下#Yogurt到#WaterTable位置。
|
|
||||||
On(Yogurt,CoffeeTable) 请你把#Yogurt放到#CoffeeTable那个位置。
|
|
||||||
On(Yogurt,CoffeeTable) 请你拿一下#Yogurt到#CoffeeTable位置。
|
|
||||||
On(Yogurt,Bar2) 请你把#Yogurt放到#Bar2那个位置。
|
|
||||||
On(Yogurt,Bar2) 请你拿一下#Yogurt到#Bar2位置。
|
|
||||||
On(Yogurt,Table1) 请你把#Yogurt放到#Table1那个位置。
|
|
||||||
On(Yogurt,Table1) 请你拿一下#Yogurt到#Table1位置。
|
|
||||||
On(Yogurt,Table2) 请你把#Yogurt放到#Table2那个位置。
|
|
||||||
On(Yogurt,Table2) 请你拿一下#Yogurt到#Table2位置。
|
|
||||||
On(Yogurt,Table3) 请你把#Yogurt放到#Table3那个位置。
|
|
||||||
On(Yogurt,Table3) 请你拿一下#Yogurt到#Table3位置。
|
|
||||||
On(ADMilk,Bar) 请你把#ADMilk放到#Bar那个位置。
|
|
||||||
On(ADMilk,Bar) 请你拿一下#ADMilk到#Bar位置。
|
|
||||||
On(ADMilk,WaterTable) 请你把#ADMilk放到#WaterTable那个位置。
|
|
||||||
On(ADMilk,WaterTable) 请你拿一下#ADMilk到#WaterTable位置。
|
|
||||||
On(ADMilk,CoffeeTable) 请你把#ADMilk放到#CoffeeTable那个位置。
|
|
||||||
On(ADMilk,CoffeeTable) 请你拿一下#ADMilk到#CoffeeTable位置。
|
|
||||||
On(ADMilk,Bar2) 请你把#ADMilk放到#Bar2那个位置。
|
|
||||||
On(ADMilk,Bar2) 请你拿一下#ADMilk到#Bar2位置。
|
|
||||||
On(ADMilk,Table1) 请你把#ADMilk放到#Table1那个位置。
|
|
||||||
On(ADMilk,Table1) 请你拿一下#ADMilk到#Table1位置。
|
|
||||||
On(ADMilk,Table2) 请你把#ADMilk放到#Table2那个位置。
|
|
||||||
On(ADMilk,Table2) 请你拿一下#ADMilk到#Table2位置。
|
|
||||||
On(ADMilk,Table3) 请你把#ADMilk放到#Table3那个位置。
|
|
||||||
On(ADMilk,Table3) 请你拿一下#ADMilk到#Table3位置。
|
|
||||||
On(MilkDrink,Bar) 请你把#MilkDrink放到#Bar那个位置。
|
|
||||||
On(MilkDrink,Bar) 请你拿一下#MilkDrink到#Bar位置。
|
|
||||||
On(MilkDrink,WaterTable) 请你把#MilkDrink放到#WaterTable那个位置。
|
|
||||||
On(MilkDrink,WaterTable) 请你拿一下#MilkDrink到#WaterTable位置。
|
|
||||||
On(MilkDrink,CoffeeTable) 请你把#MilkDrink放到#CoffeeTable那个位置。
|
|
||||||
On(MilkDrink,CoffeeTable) 请你拿一下#MilkDrink到#CoffeeTable位置。
|
|
||||||
On(MilkDrink,Bar2) 请你把#MilkDrink放到#Bar2那个位置。
|
|
||||||
On(MilkDrink,Bar2) 请你拿一下#MilkDrink到#Bar2位置。
|
|
||||||
On(MilkDrink,Table1) 请你把#MilkDrink放到#Table1那个位置。
|
|
||||||
On(MilkDrink,Table1) 请你拿一下#MilkDrink到#Table1位置。
|
|
||||||
On(MilkDrink,Table2) 请你把#MilkDrink放到#Table2那个位置。
|
|
||||||
On(MilkDrink,Table2) 请你拿一下#MilkDrink到#Table2位置。
|
|
||||||
On(MilkDrink,Table3) 请你把#MilkDrink放到#Table3那个位置。
|
|
||||||
On(MilkDrink,Table3) 请你拿一下#MilkDrink到#Table3位置。
|
|
||||||
On(Milk,Bar) 请你把#Milk放到#Bar那个位置。
|
|
||||||
On(Milk,Bar) 请你拿一下#Milk到#Bar位置。
|
|
||||||
On(Milk,WaterTable) 请你把#Milk放到#WaterTable那个位置。
|
|
||||||
On(Milk,WaterTable) 请你拿一下#Milk到#WaterTable位置。
|
|
||||||
On(Milk,CoffeeTable) 请你把#Milk放到#CoffeeTable那个位置。
|
|
||||||
On(Milk,CoffeeTable) 请你拿一下#Milk到#CoffeeTable位置。
|
|
||||||
On(Milk,Bar2) 请你把#Milk放到#Bar2那个位置。
|
|
||||||
On(Milk,Bar2) 请你拿一下#Milk到#Bar2位置。
|
|
||||||
On(Milk,Table1) 请你把#Milk放到#Table1那个位置。
|
|
||||||
On(Milk,Table1) 请你拿一下#Milk到#Table1位置。
|
|
||||||
On(Milk,Table2) 请你把#Milk放到#Table2那个位置。
|
|
||||||
On(Milk,Table2) 请你拿一下#Milk到#Table2位置。
|
|
||||||
On(Milk,Table3) 请你把#Milk放到#Table3那个位置。
|
|
||||||
On(Milk,Table3) 请你拿一下#Milk到#Table3位置。
|
|
||||||
On(VacuumCup,Bar) 请你把#VacuumCup放到#Bar那个位置。
|
|
||||||
On(VacuumCup,Bar) 请你拿一下#VacuumCup到#Bar位置。
|
|
||||||
On(VacuumCup,WaterTable) 请你把#VacuumCup放到#WaterTable那个位置。
|
|
||||||
On(VacuumCup,WaterTable) 请你拿一下#VacuumCup到#WaterTable位置。
|
|
||||||
On(VacuumCup,CoffeeTable) 请你把#VacuumCup放到#CoffeeTable那个位置。
|
|
||||||
On(VacuumCup,CoffeeTable) 请你拿一下#VacuumCup到#CoffeeTable位置。
|
|
||||||
On(VacuumCup,Bar2) 请你把#VacuumCup放到#Bar2那个位置。
|
|
||||||
On(VacuumCup,Bar2) 请你拿一下#VacuumCup到#Bar2位置。
|
|
||||||
On(VacuumCup,Table1) 请你把#VacuumCup放到#Table1那个位置。
|
|
||||||
On(VacuumCup,Table1) 请你拿一下#VacuumCup到#Table1位置。
|
|
||||||
On(VacuumCup,Table2) 请你把#VacuumCup放到#Table2那个位置。
|
|
||||||
On(VacuumCup,Table2) 请你拿一下#VacuumCup到#Table2位置。
|
|
||||||
On(VacuumCup,Table3) 请你把#VacuumCup放到#Table3那个位置。
|
|
||||||
On(VacuumCup,Table3) 请你拿一下#VacuumCup到#Table3位置。
|
|
||||||
Is(AC,0) 你能把#AC#关闭一下吗？
|
|
||||||
Is(AC,1) 你能把#AC#打开一下吗？
|
|
||||||
Is(ACTemperature,0) 你能把#ACTemperature#调高一下吗？
|
|
||||||
Is(ACTemperature,1) 你能把#ACTemperature#调低一下吗？
|
|
||||||
Is(HallLight,0) 你能把#HallLight#关闭一下吗？
|
|
||||||
Is(HallLight,1) 你能把#HallLight#打开一下吗？
|
|
||||||
Is(TubeLight,0) 你能把#TubeLight#关闭一下吗？
|
|
||||||
Is(TubeLight,1) 你能把#TubeLight#打开一下吗？
|
|
||||||
Is(Curtain,0) 你能把#Curtain#关闭一下吗？
|
|
||||||
Is(Curtain,1) 你能把#Curtain#打开一下吗？
|
|
||||||
Is(Chairs,0) 你能把#Chairs#脏一下吗？
|
|
||||||
Is(Chairs,1) 你能把#Chairs#打扫干净一下吗？
|
|
||||||
Is(Floor,0) 你能把#Floor#脏一下吗？
|
|
||||||
Is(Floor,1) 你能把#Floor#打扫干净一下吗？
|
|
||||||
Is(Table1,0) 你能把#Table1#脏一下吗？
|
|
||||||
Is(Table1,1) 你能把#Table1#打扫干净一下吗？
|
|
||||||
Holding(Softdrink) 你能把#Softdrink抓在手里吗？
|
|
||||||
Holding(Softdrink) 你能一直拿着#Softdrink吗？
|
|
||||||
Holding(BottledDrink) 你能把#BottledDrink抓在手里吗？
|
|
||||||
Holding(BottledDrink) 你能一直拿着#BottledDrink吗？
|
|
||||||
Holding(Yogurt) 你能把#Yogurt抓在手里吗？
|
|
||||||
Holding(Yogurt) 你能一直拿着#Yogurt吗？
|
|
||||||
Holding(ADMilk) 你能把#ADMilk抓在手里吗？
|
|
||||||
Holding(ADMilk) 你能一直拿着#ADMilk吗？
|
|
||||||
Holding(MilkDrink) 你能把#MilkDrink抓在手里吗？
|
|
||||||
Holding(MilkDrink) 你能一直拿着#MilkDrink吗？
|
|
||||||
Holding(Milk) 你能把#Milk抓在手里吗？
|
|
||||||
Holding(Milk) 你能一直拿着#Milk吗？
|
|
||||||
Holding(VacuumCup) 你能把#VacuumCup抓在手里吗？
|
|
||||||
Holding(VacuumCup) 你能一直拿着#VacuumCup吗？
|
|
||||||
Holding(Nothing) 你能把#Nothing抓在手里吗？
|
|
||||||
Holding(Nothing) 你能一直拿着#Nothing吗？
|
|
||||||
On(Coffee,Bar) 你能制作#Coffee并把它端到#Bar这里来吗？
|
|
||||||
On(Coffee,Bar) 给我来点#Coffee，并把它端到#Bar这里来。
|
|
||||||
On(Coffee,WaterTable) 你能制作#Coffee并把它端到#WaterTable这里来吗？
|
|
||||||
On(Coffee,WaterTable) 给我来点#Coffee，并把它端到#WaterTable这里来。
|
|
||||||
On(Coffee,CoffeeTable) 你能制作#Coffee并把它端到#CoffeeTable这里来吗？
|
|
||||||
On(Coffee,CoffeeTable) 给我来点#Coffee，并把它端到#CoffeeTable这里来。
|
|
||||||
On(Coffee,Bar2) 你能制作#Coffee并把它端到#Bar2这里来吗？
|
|
||||||
On(Coffee,Bar2) 给我来点#Coffee，并把它端到#Bar2这里来。
|
|
||||||
On(Coffee,Table1) 你能制作#Coffee并把它端到#Table1这里来吗？
|
|
||||||
On(Coffee,Table1) 给我来点#Coffee，并把它端到#Table1这里来。
|
|
||||||
On(Coffee,Table2) 你能制作#Coffee并把它端到#Table2这里来吗？
|
|
||||||
On(Coffee,Table2) 给我来点#Coffee，并把它端到#Table2这里来。
|
|
||||||
On(Coffee,Table3) 你能制作#Coffee并把它端到#Table3这里来吗？
|
|
||||||
On(Coffee,Table3) 给我来点#Coffee，并把它端到#Table3这里来。
|
|
||||||
On(Water,Bar) 你能制作#Water并把它端到#Bar这里来吗？
|
|
||||||
On(Water,Bar) 给我来点#Water，并把它端到#Bar这里来。
|
|
||||||
On(Water,WaterTable) 你能制作#Water并把它端到#WaterTable这里来吗？
|
|
||||||
On(Water,WaterTable) 给我来点#Water，并把它端到#WaterTable这里来。
|
|
||||||
On(Water,CoffeeTable) 你能制作#Water并把它端到#CoffeeTable这里来吗？
|
|
||||||
On(Water,CoffeeTable) 给我来点#Water，并把它端到#CoffeeTable这里来。
|
|
||||||
On(Water,Bar2) 你能制作#Water并把它端到#Bar2这里来吗？
|
|
||||||
On(Water,Bar2) 给我来点#Water，并把它端到#Bar2这里来。
|
|
||||||
On(Water,Table1) 你能制作#Water并把它端到#Table1这里来吗？
|
|
||||||
On(Water,Table1) 给我来点#Water，并把它端到#Table1这里来。
|
|
||||||
On(Water,Table2) 你能制作#Water并把它端到#Table2这里来吗？
|
|
||||||
On(Water,Table2) 给我来点#Water，并把它端到#Table2这里来。
|
|
||||||
On(Water,Table3) 你能制作#Water并把它端到#Table3这里来吗？
|
|
||||||
On(Water,Table3) 给我来点#Water，并把它端到#Table3这里来。
|
|
||||||
On(Dessert,Bar) 你能制作#Dessert并把它端到#Bar这里来吗？
|
|
||||||
On(Dessert,Bar) 给我来点#Dessert，并把它端到#Bar这里来。
|
|
||||||
On(Dessert,WaterTable) 你能制作#Dessert并把它端到#WaterTable这里来吗？
|
|
||||||
On(Dessert,WaterTable) 给我来点#Dessert，并把它端到#WaterTable这里来。
|
|
||||||
On(Dessert,CoffeeTable) 你能制作#Dessert并把它端到#CoffeeTable这里来吗？
|
|
||||||
On(Dessert,CoffeeTable) 给我来点#Dessert，并把它端到#CoffeeTable这里来。
|
|
||||||
On(Dessert,Bar2) 你能制作#Dessert并把它端到#Bar2这里来吗？
|
|
||||||
On(Dessert,Bar2) 给我来点#Dessert，并把它端到#Bar2这里来。
|
|
||||||
On(Dessert,Table1) 你能制作#Dessert并把它端到#Table1这里来吗？
|
|
||||||
On(Dessert,Table1) 给我来点#Dessert，并把它端到#Table1这里来。
|
|
||||||
On(Dessert,Table2) 你能制作#Dessert并把它端到#Table2这里来吗？
|
|
||||||
On(Dessert,Table2) 给我来点#Dessert，并把它端到#Table2这里来。
|
|
||||||
On(Dessert,Table3) 你能制作#Dessert并把它端到#Table3这里来吗？
|
|
||||||
On(Dessert,Table3) 给我来点#Dessert，并把它端到#Table3这里来。
|
|
||||||
At(Robot,Bar) 请你来一下吧台。
|
At(Robot,Bar) 请你来一下吧台。
|
||||||
At(Robot,Bar) 请你去一下吧台。
|
At(Robot,Bar) 请你去一下吧台。
|
||||||
At(Robot,Bar) 你能去吧台那个位置吗？
|
At(Robot,Bar) 你能去吧台那个位置吗？
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
import os
|
||||||
|
|
||||||
|
with open(os.path.join('./goal_states_with_description.txt'), 'r', encoding='utf-8') as file:
|
||||||
|
lines = file.readlines()
|
||||||
|
|
||||||
|
with open(os.path.join('./goal_states_with_description.jsonl'), 'w', encoding='utf-8') as file:
|
||||||
|
|
||||||
|
for line in lines:
|
||||||
|
tmp = line[:-1].split('\t')
|
||||||
|
file.write("""{"title":"%s","text":"%s"}\n""" % (tmp[1], tmp[0]))
|
||||||
|
|
@ -1 +1 @@
|
||||||
{"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)\"}"}}
|
{"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)\"}"}, "请问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)\"}"}}
|
||||||
|
|
|
||||||
|
|
@ -21,3 +21,4 @@ Question,Answer,Goal
|
||||||
可以带我去吗,当然可以，前往一号桌,"{""At(Robot,Table1)""}"
|
可以带我去吗,当然可以，前往一号桌,"{""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。,明白，我这就去办！,"{""On(Coffee,WaterTable)"",""On(Yogurt,Table1)"",""On(Water,WaterTable)""}"
|
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)""}"
|
||||||
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)""}"
|
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)""}"
|
||||||
|
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)""}"
|
||||||
|
|
|
||||||
|
|
|
@ -6,12 +6,12 @@ from types import GenericAlias
|
||||||
from typing import get_origin, Annotated
|
from typing import get_origin, Annotated
|
||||||
import robowaiter.llm_client.find_obj_utils as find_obj_utils
|
import robowaiter.llm_client.find_obj_utils as find_obj_utils
|
||||||
import random
|
import random
|
||||||
import spacy
|
# import spacy
|
||||||
|
|
||||||
_TOOL_HOOKS = {}
|
_TOOL_HOOKS = {}
|
||||||
_TOOL_DESCRIPTIONS = {}
|
_TOOL_DESCRIPTIONS = {}
|
||||||
nlp = spacy.load('en_core_web_lg')
|
# nlp = spacy.load('en_core_web_lg')
|
||||||
all_object = find_obj_utils.all_loc + find_obj_utils.all_obj
|
|
||||||
|
|
||||||
def register_tool(func: callable):
|
def register_tool(func: callable):
|
||||||
tool_name = func.__name__
|
tool_name = func.__name__
|
||||||
|
|
@ -147,46 +147,56 @@ def create_sub_task(
|
||||||
|
|
||||||
return goal
|
return goal
|
||||||
|
|
||||||
@register_tool
|
# @register_tool
|
||||||
def find_object(
|
# def get_object_info(
|
||||||
object: Annotated[str, '客人咨询的物品', True]
|
# obj: Annotated[str, '需要获取信息的物体名称', True]
|
||||||
) -> str:
|
# ) -> str:
|
||||||
""""
|
# """
|
||||||
用户想找某个物品，获取的object中文
|
# 获取场景中指定物体 `object` 在哪里，不涉及到具体的执行任务
|
||||||
在输出中可以找到
|
# 如果`object` 是一个地点，例如洗手间，则输出大门。
|
||||||
基于生活经验从输出中选择一个可以与object相关联的来描述物品
|
# 如果`object`是咖啡，则输出桌子，咖啡在桌子上。
|
||||||
"""
|
# 如果`object` 是空桌子，则输出一号桌
|
||||||
near_object = None
|
# """
|
||||||
|
# near_object = None
|
||||||
|
# # if obj == "Table":
|
||||||
|
# # near_object = "Bar"
|
||||||
|
# # if obj == "洗手间":
|
||||||
|
# # near_object = "大门"
|
||||||
|
# # if obj == "空桌子":
|
||||||
|
# # near_object = "一号桌"
|
||||||
|
# if obj in find_obj_utils.all_loc: # object是一个地点
|
||||||
|
# mp = list(find_obj_utils.loc_map[obj])
|
||||||
|
# # near_object = random.choice(mp)
|
||||||
|
# near_object = mp
|
||||||
|
# if obj in find_obj_utils.all_obj: # object是一个物品
|
||||||
|
# near_ls = find_obj_utils.all_loc + find_obj_utils.all_obj
|
||||||
|
# near_object = random.choices(near_ls,k=5)
|
||||||
|
# return near_object
|
||||||
|
|
||||||
if object in find_obj_utils.all_obj: # object是一个物品
|
# @register_tool
|
||||||
near_object = random.choices(all_object, k=10)
|
# def find_location(
|
||||||
# near_object.append(object)
|
# location: Annotated[str, '客人咨询的地点', True]
|
||||||
return near_object
|
# ) -> str:
|
||||||
|
# """"
|
||||||
@register_tool
|
# 获取的location为英文
|
||||||
def find_location(
|
# 用户想找某个地点
|
||||||
location: Annotated[str, '客人咨询的地点', True]
|
# """
|
||||||
) -> str:
|
# near_location = None
|
||||||
"""
|
# query_token = nlp(location)
|
||||||
获取的location为英文
|
# max_similarity = 0
|
||||||
用户想找某个地点
|
# similar_word = None
|
||||||
"""
|
# for w in find_obj_utils.all_loc_en:
|
||||||
near_location = None
|
# word_token = nlp(w)
|
||||||
query_token = nlp(location)
|
# similarity = query_token.similarity(word_token)
|
||||||
max_similarity = 0
|
#
|
||||||
similar_word = None
|
# if similarity > max_similarity:
|
||||||
for w in find_obj_utils.all_loc_en:
|
# max_similarity = similarity
|
||||||
word_token = nlp(w)
|
# similar_word = w
|
||||||
similarity = query_token.similarity(word_token)
|
# print("similarity:", max_similarity, "similar_word:", similar_word)
|
||||||
|
# if similar_word:
|
||||||
if similarity > max_similarity:
|
# mp = list(find_obj_utils.loc_map_en[similar_word])
|
||||||
max_similarity = similarity
|
# near_location = random.choice(mp)
|
||||||
similar_word = w
|
# return near_location
|
||||||
print("similarity:", max_similarity, "similar_word:", similar_word)
|
|
||||||
if similar_word:
|
|
||||||
mp = list(find_obj_utils.loc_map_en[similar_word])
|
|
||||||
near_location = random.choice(mp)
|
|
||||||
return near_location
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
if __name__ == "__main__":
|
||||||
print(dispatch_tool("get_weather", {"city_name": "beijing"}))
|
print(dispatch_tool("get_weather", {"city_name": "beijing"}))
|
||||||
|
|
|
||||||
|
|
@ -16,12 +16,12 @@ selector
|
||||||
}
|
}
|
||||||
sequence
|
sequence
|
||||||
{
|
{
|
||||||
|
cond DetectCustomer()
|
||||||
selector
|
selector
|
||||||
{
|
{
|
||||||
cond At(Robot,Bar)
|
cond At(Robot,Bar)
|
||||||
act MoveTo(Bar)
|
act MoveTo(Bar)
|
||||||
}
|
}
|
||||||
cond DetectCustomer()
|
act GreatCustomer()
|
||||||
act GreatCustomer
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
@ -60,10 +60,9 @@ class Scene:
|
||||||
"sub_goal_list": [], # 子目标列表
|
"sub_goal_list": [], # 子目标列表
|
||||||
"status": None, # 仿真器中的观测信息，见下方详细解释
|
"status": None, # 仿真器中的观测信息，见下方详细解释
|
||||||
"condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
|
"condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
|
||||||
'Holding(Nothing)',
|
'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Table1)',
|
||||||
# 'Holding(Yogurt)'
|
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
|
||||||
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
|
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
|
||||||
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
|
|
||||||
}
|
}
|
||||||
"""
|
"""
|
||||||
status:
|
status:
|
||||||
|
|
@ -135,7 +134,6 @@ class Scene:
|
||||||
# 基类run
|
# 基类run
|
||||||
|
|
||||||
self._run()
|
self._run()
|
||||||
|
|
||||||
# 运行并由robot打印每步信息
|
# 运行并由robot打印每步信息
|
||||||
while True:
|
while True:
|
||||||
self.step()
|
self.step()
|
||||||
|
|
@ -159,9 +157,9 @@ class Scene:
|
||||||
|
|
||||||
def create_chat_event(self,sentence):
|
def create_chat_event(self,sentence):
|
||||||
def customer_say():
|
def customer_say():
|
||||||
print(f'顾客说：{sentence}')
|
print(f'{sentence}')
|
||||||
if self.show_bubble:
|
if self.show_bubble:
|
||||||
self.chat_bubble(f'顾客说：{sentence}')
|
self.chat_bubble(f'{sentence}')
|
||||||
self.state['chat_list'].append(f'{sentence}')
|
self.state['chat_list'].append(f'{sentence}')
|
||||||
|
|
||||||
return customer_say
|
return customer_say
|
||||||
|
|
@ -199,8 +197,6 @@ class Scene:
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
def walker_control_generator(self, walkerID, autowalk, speed, X, Y, Yaw):
|
def walker_control_generator(self, walkerID, autowalk, speed, X, Y, Yaw):
|
||||||
if self.use_offset:
|
if self.use_offset:
|
||||||
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
X, Y = X + loc_offset[0], Y + loc_offset[1]
|
||||||
|
|
@ -236,22 +232,31 @@ class Scene:
|
||||||
else:
|
else:
|
||||||
return True
|
return True
|
||||||
|
|
||||||
|
|
||||||
|
def add_walker(self,id,x,y,yaw=0,v=0,scope=100):
|
||||||
|
loc = [x,y,yaw,v,scope]
|
||||||
|
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc)
|
||||||
|
scene = stub.Do(action)
|
||||||
|
# print(scene.info)
|
||||||
|
walker_list=[]
|
||||||
|
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=id+5, pose=GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=loc[2])))
|
||||||
|
stub.AddWalker(GrabSim_pb2.WalkerList(walkers=walker_list, scene=self.sceneID))
|
||||||
|
|
||||||
def add_walkers(self,walker_loc=[[0, 880], [250, 1200], [-55, 750], [70, -200]]):
|
def add_walkers(self,walker_loc=[[0, 880], [250, 1200], [-55, 750], [70, -200]]):
|
||||||
print('------------------add_walkers----------------------')
|
print('------------------add_walkers----------------------')
|
||||||
walker_list = []
|
for id,walker in enumerate(walker_loc):
|
||||||
for i in range(len(walker_loc)):
|
if len(walker)==2:
|
||||||
loc = walker_loc[i] + [0,0, 100]
|
self.add_walker(id,walker[0],walker[1])
|
||||||
action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=loc)
|
elif len(walker)==3:
|
||||||
scene = stub.Do(action)
|
self.add_walker(id, walker[0], walker[1],walker[2])
|
||||||
print(scene.info)
|
elif len(walker) == 4:
|
||||||
if (str(scene.info).find('unreachable') > -1):
|
self.add_walker(id, walker[0], walker[1], walker[2], walker[3])
|
||||||
print('当前位置不可达,无法初始化NPC')
|
elif len(walker) == 5:
|
||||||
else:
|
self.add_walker(id, walker[0], walker[1], walker[2], walker[3], walker[4])
|
||||||
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
|
def remove_walker(self, *args): # take single walkerID or a list of walkerIDs
|
||||||
remove_list = []
|
remove_list = []
|
||||||
|
|
@ -272,12 +277,13 @@ class Scene:
|
||||||
GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
|
GrabSim_pb2.WalkerControls(controls=control_list, scene=self.sceneID)
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
def control_walkers(self,walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True):
|
def control_walkers(self,walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True):
|
||||||
"""pose:表示行人的终止位置姿态"""
|
"""pose:表示行人的终止位置姿态"""
|
||||||
scene = self.status
|
scene = self.status
|
||||||
walker_loc = walker_loc
|
walker_loc = walker_loc
|
||||||
controls = []
|
controls = []
|
||||||
for i in range(len(scene.walkers)):
|
for i in range(len(walker_loc)):
|
||||||
loc = walker_loc[i]
|
loc = walker_loc[i]
|
||||||
is_autowalk = is_autowalk
|
is_autowalk = is_autowalk
|
||||||
pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180)
|
pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180)
|
||||||
|
|
|
||||||
|
|
@ -18,10 +18,17 @@ class SceneOT(Scene):
|
||||||
super().__init__(robot)
|
super().__init__(robot)
|
||||||
# 在这里加入场景中发生的事件
|
# 在这里加入场景中发生的事件
|
||||||
self.event_list = [
|
self.event_list = [
|
||||||
(5, self.set_goal("At(Robot,Table2)"))
|
# (5, self.set_goal("At(Robot,WaterTable)"))
|
||||||
|
# (5, self.set_goal("On(Yogurt,Table4)"))
|
||||||
|
(5, self.set_goal("At(Robot,BrightTable4)"))
|
||||||
]
|
]
|
||||||
|
|
||||||
def _reset(self):
|
def _reset(self):
|
||||||
|
self.gen_obj()
|
||||||
|
self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)',
|
||||||
|
'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Table1)',
|
||||||
|
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
|
||||||
|
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
|
||||||
pass
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -41,9 +41,11 @@ class SceneVLM(Scene):
|
||||||
'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)',
|
'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)',
|
||||||
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
|
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
|
||||||
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
|
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
|
||||||
self.add_walkers([[0, 880], [250, 1200], [-55, 750], [70, -200]])
|
# 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220)
|
||||||
# self.add_walkers([[-500, 500]])
|
self.add_walkers([[0, 880], [250, 1200], [-55, 750], [70, -200],[-290, 400, 0],[20, -150,180]])
|
||||||
self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
|
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)
|
# self.control_walkers(walker_loc=[[-55, 750]],is_autowalk = False)
|
||||||
# 在场景中随机增加一堆行人。
|
# 在场景中随机增加一堆行人。
|
||||||
# walker_loc = [[-55, 750], [70, -200], [250, 1200], [0, 880]]
|
# walker_loc = [[-55, 750], [70, -200], [250, 1200], [0, 880]]
|
||||||
|
|
|
||||||
|
|
@ -11,11 +11,12 @@ class SceneVLM(Scene):
|
||||||
super().__init__(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)
|
# 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 = [
|
self.event_list = [
|
||||||
|
(5, self.create_chat_event("请问可以带我去空位上嘛？我想晒太阳。")),
|
||||||
]
|
]
|
||||||
|
|
||||||
def _reset(self):
|
def _reset(self):
|
||||||
self.gen_obj()
|
self.gen_obj()
|
||||||
|
self.add_walkers([[47, 920]])
|
||||||
pass
|
pass
|
||||||
|
|
||||||
def _run(self, op_type=10):
|
def _run(self, op_type=10):
|
||||||
|
|
@ -25,37 +26,28 @@ class SceneVLM(Scene):
|
||||||
# 带领行人去有太阳的地方
|
# 带领行人去有太阳的地方
|
||||||
# 行人说 有点热
|
# 行人说 有点热
|
||||||
# 好的，这就去开空调
|
# 好的，这就去开空调
|
||||||
scene = self.add_walkers([[47, 920]])
|
|
||||||
self.control_walker(
|
|
||||||
[self.walker_control_generator(walkerID=0, autowalk=False, speed=200, X=60, Y=520, Yaw=0)])
|
|
||||||
|
|
||||||
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)
|
|
||||||
|
|
||||||
# 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]
|
|
||||||
|
|
||||||
|
|
||||||
pass
|
pass
|
||||||
|
|
||||||
def _step(self):
|
def _step(self):
|
||||||
|
|
||||||
|
self.control_walker(
|
||||||
|
[self.walker_control_generator(walkerID=0, autowalk=False, speed=200, X=60, Y=520, Yaw=180)])
|
||||||
|
time.sleep(3)
|
||||||
|
cont = self.status.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)
|
||||||
|
|
||||||
|
|
||||||
|
# 如果机器人不在 吧台
|
||||||
|
# if "At(Robot,Bar)" not in self.state['condition_set']:
|
||||||
|
end = [self.status.location.X, self.status.location.Y]
|
||||||
|
# print("end:",end)
|
||||||
|
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.control_walker(
|
||||||
|
[self.walker_control_generator(walkerID=0, autowalk=False, speed=100, X=end[0], Y=end[1], Yaw=-90)])
|
||||||
|
|
||||||
|
cont = self.status.walkers[0].name+"谢谢！"
|
||||||
|
self.control_robot_action(0,3,cont)
|
||||||
pass
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,101 @@
|
||||||
|
"""
|
||||||
|
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.event_list = [
|
||||||
|
(5, self.create_chat_event("请问可以带我去空位上嘛？我想晒太阳。")),
|
||||||
|
]
|
||||||
|
|
||||||
|
def _reset(self):
|
||||||
|
pass
|
||||||
|
|
||||||
|
def _run(self, op_type=10):
|
||||||
|
# 一个行人从门口走到 吧台
|
||||||
|
# 打招呼需要什么
|
||||||
|
# 行人说 哪里有位置，想晒个太阳
|
||||||
|
# 带领行人去有太阳的地方
|
||||||
|
# 行人说 有点热
|
||||||
|
# 好的，这就去开空调
|
||||||
|
|
||||||
|
self.gen_obj()
|
||||||
|
self.add_walkers([[47, 920]])
|
||||||
|
self.control_walker(
|
||||||
|
[self.walker_control_generator(walkerID=0, autowalk=False, speed=200, X=60, Y=520, Yaw=180)])
|
||||||
|
time.sleep(1)
|
||||||
|
cont = self.status.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)
|
||||||
|
|
||||||
|
# time.sleep(3)
|
||||||
|
# self.event_list.append((5, self.set_goal("At(Robot,BrightTable1)"))) # "请问可以带我去空位上嘛？我想晒太阳"
|
||||||
|
# self.chat_bubble("没问题！请跟我来。")
|
||||||
|
|
||||||
|
|
||||||
|
# 跟随机器人
|
||||||
|
# cont = self.status.walkers[0].name + "好的！"
|
||||||
|
# self.control_robot_action(0, 3, cont)
|
||||||
|
#
|
||||||
|
# start = [self.status.location.X, self.status.location.Y]
|
||||||
|
# time.sleep(0.2)
|
||||||
|
# end = [self.status.location.X, self.status.location.Y]
|
||||||
|
# while abs(start[0]-end[0])>=1 or abs(start[1]-end[1])>=1:
|
||||||
|
# self.control_walker(
|
||||||
|
# [self.walker_control_generator(walkerID=0, autowalk=False, speed=100, X=end[0], Y=end[1], Yaw=0)])
|
||||||
|
#
|
||||||
|
# cont = self.status.walkers[0].name+"谢谢！"
|
||||||
|
# self.control_robot_action(0,3,cont)
|
||||||
|
|
||||||
|
# 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]
|
||||||
|
pass
|
||||||
|
|
||||||
|
def _step(self):
|
||||||
|
|
||||||
|
# 如果机器人不在 吧台
|
||||||
|
# if "At(Robot,Bar)" not in self.state['condition_set']:
|
||||||
|
end = [self.status.location.X, self.status.location.Y]
|
||||||
|
print("end:",end)
|
||||||
|
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.control_walker(
|
||||||
|
[self.walker_control_generator(walkerID=0, autowalk=False, speed=100, X=end[0], Y=end[1], Yaw=-90)])
|
||||||
|
|
||||||
|
cont = self.status.walkers[0].name+"谢谢！"
|
||||||
|
self.control_robot_action(0,3,cont)
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
import os
|
||||||
|
from robowaiter.robot.robot import Robot
|
||||||
|
|
||||||
|
robot = Robot()
|
||||||
|
|
||||||
|
# create task
|
||||||
|
task = SceneVLM(robot)
|
||||||
|
task.reset()
|
||||||
|
task.run()
|
||||||
Loading…
Reference in New Issue