Merge branch 'main' of github.com:HPCL-EI/RoboWaiter
This commit is contained in:
ChenXL97
commit
44cf57f544
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@ -30,8 +30,8 @@ class Bahavior(ptree.behaviour.Behaviour):
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# all_place=set()
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place_xyz_dic={
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'Bar': (247.0, 520.0, 180.0), #(247.0, 520.0, 100.0)
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'Bar2': (240.0, 40.0, 70.0),
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'Bar': (247.0, 520.0, 100.0), #(247.0, 520.0, 100.0)
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'Bar2': (240.0, 40.0, 100.0),
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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, 99.0),
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@ -24,7 +24,8 @@ 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！")
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if self.scene.show_bubble:
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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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@ -22,7 +22,7 @@ class NewCustomerComing(Cond):
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for walker in scene.walkers:
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x, y, yaw = walker.pose.X, walker.pose.Y, walker.pose.Yaw
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# 到达一定区域就打招呼
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if y >= 450 and y <= 620 and x >= 40 and x <= 100 and yaw>=-10 and yaw <=10:
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if y >= 510 and y <= 530 and x >= 50 and x <= 70 and yaw>=-10 and yaw <=10: #450-620
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# close_to_bar = True
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queue_list.append((x,y,walker.name))
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@ -32,6 +32,7 @@ create_sub_task
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create_sub_task
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{"goal":"At(Robot,BrightTable6)"}
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你们这有什么饮料嘛？
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我们咖啡厅提供各种口味咖啡，水，冰红茶，酸奶等饮品，还提供点心蛋糕等甜品。您想点什么？
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@ -42,6 +43,26 @@ create_sub_task
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{"goal":"On(Coffee,BrightTable6)"}
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我昨天保温杯好像落在你们咖啡厅了，你看到了吗？
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是的，我有印象，保温杯在大厅的2号桌子上。
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get_object_info
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{"obj":"2号桌子"}
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给我来份午餐套餐。
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本店的午餐套餐包括咖啡和点心，请问您是打包还是堂食？
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打包吧，快点！
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请稍等，马上就好！
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create_sub_task
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{"goal":"On(Dessert,Bar),On(Coffee,Bar)"}
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你可以帮我拿来吗，我在前门的桌子前等你。
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当然，请稍等！
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create_sub_task
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{"goal":"On(VacuumCup,Table1)"}
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麻烦啦！
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没事儿，为您服务是我的荣幸！
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@ -61,6 +82,7 @@ create_sub_task
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create_sub_task
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{"goal":"On(Yogurt,WaterTable)"}
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好热呀！太阳也好大！
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抱歉，我这就去开空调和关窗帘。
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create_sub_task
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@ -52,7 +52,7 @@ class Scene:
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event_list = []
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new_event_list = []
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signal_event_list = []
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show_bubble = False
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# show_bubble = True
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event_signal = "None"
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default_state = {
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@ -64,7 +64,9 @@ class Scene:
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"sub_goal_list": [], # 子目标列表
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"status": None, # 仿真器中的观测信息，见下方详细解释
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"condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
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'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Table1)',
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'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Bar)',
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#'Exist(Softdrink)', 'On(Softdrink,Table1)',
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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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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"obj_mem":{},
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@ -95,6 +97,8 @@ class Scene:
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self.time = 0
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self.sub_task_seq = None
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self.show_bubble = True
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# init robot
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if robot:
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robot.set_scene(self)
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@ -193,8 +197,9 @@ class Scene:
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if len(self.signal_event_list)>0:
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next_event = self.signal_event_list[0]
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t, func,args = next_event
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if t < 0 and self.robot_changed: #一直等待机器人行动，直到机器人无行动
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return
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if t < 0: #一直等待机器人行动，直到机器人无行动
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if self.robot_changed:
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return
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if t > 0:
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time.sleep(t)
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@ -202,8 +207,6 @@ class Scene:
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self.signal_event_list.pop(0)
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func(*args)
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def deal_event(self):
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if len(self.event_list)>0:
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next_event = self.event_list[0]
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@ -353,6 +356,12 @@ class Scene:
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for i in range(len(w)):
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self.state["customer_mem"][w[i].name] = i
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def remove_walkers(self,IDs=[0]):
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s = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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scene = stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID))
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time.sleep(2)
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return
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def clean_walker(self):
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stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
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@ -498,7 +507,7 @@ class Scene:
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name = self.walker_index2mem(name)
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print(f'{name} say: {sentence}')
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if show_bubble:
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if self.show_bubble and show_bubble:
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self.walker_bubble(name,sentence)
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self.state['chat_list'].append((name,sentence))
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@ -622,9 +631,11 @@ class Scene:
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ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
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obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=5),
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
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GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=9),
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GrabSim_pb2.ObjectList.Object(x=340, y=960, z=88, roll=0, pitch=0, yaw=0, type=9),
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# GrabSim_pb2.ObjectList.Object(x=340, y=960, z=88, roll=0, pitch=0, yaw=90, type=7),
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# GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=90, type=9),
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# GrabSim_pb2.ObjectList.Object(x=340, y=952, z=88, roll=0, pitch=0, yaw=90, type=4),
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GrabSim_pb2.ObjectList.Object(x=-102, y=10, z=90, roll=0, pitch=0, yaw=90, type=7),
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 70, z=95, roll=0, pitch=0, yaw=0, type=9),
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]
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scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
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@ -16,62 +16,138 @@ class SceneVLM(Scene):
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self.scene_flag = 2
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self.st1 = 3
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self.st2 = 3
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# self.st2 = self.st1 + 30
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# self.st3 = self.st2 + 65
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self.st2 = 3
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self.st3 = 3
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self.st4 = 3
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self.new_event_list = [
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self.signal_event_list = [
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# 场景1：带小女孩找阳光下的空位
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# (3, self.add_walker, (5, 230, 1200)),
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# (3, self.control_walker, (0, False, 200, 60, 520, 0)),
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# (10, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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# (10, self.customer_say, (0,"可以带我过去嘛？")),
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# (20, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
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# (1, self.control_walker, (0, False, 200, 60, 520, 0)),
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# (9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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# (-1, self.customer_say, (0,"可以带我过去嘛？")),
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# (0, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
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# 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子
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(3, self.add_walker, (5, 230, 1200)), # 小女孩
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# (3, self.add_walker, (5, 230, 1200)), # 小女孩
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# 上述准备
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(self.st2, self.add_walker, (26, -28, -150, 90)),
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(self.st2, self.add_walker, (10, -70, -200, -45)),
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(self.st2, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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(self.st2+10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), # 20 胖胖男到了 BrightTable6
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(self.st2+15, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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(self.st2+15+5, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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# (self.st2, self.add_walker, (26, -28, -150, 90)),
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# (self.st2, self.add_walker, (10, -70, -200, -45)),
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# (self.st2, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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# (self.st2+10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), # 20 胖胖男到了 BrightTable6
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# (self.st2+15, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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# (self.st2+15+5, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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# 场景3：有位女士要杯水和冰红茶
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# (3, self.add_walker, (5, 230, 1200)),
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# (3, self.add_walker, (26, -30, -200, -90)),
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# (3, self.add_walker, (10, -80, -180, -45)),
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(3, self.add_walker, (5, 230, 1200)),
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(0, self.add_walker, (26, -30, -200, -90)),
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(0, self.add_walker, (10, -80, -180, -45)),
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# # 上述准备
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# (self.st3, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (self.st3, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
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# (self.st3, self.add_walker, (1, 60, 420, 135)),
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# (self.st3, self.control_walker, (5, True, 50, 250, 1200, 180)), #设置id=4 的2小男孩随机游走红随机游走
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# (self.st3, self.add_walker, (48, 60, 520,0)),
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# (self.st3 + 3, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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# (self.st3 + 10, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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# # 好的，我明白了，那么您可以选择我们的家庭亲子座，这样可以容纳您的孩子，并且更加宽敞舒适。
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# # 这里可以加一下自主导航和探索，找到一个位置
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# # 好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。
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# (self.st3 + 15, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")),
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# (self.st3 + 25, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400
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# (self.st3 + 25, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")),
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# (self.st3 + 60, self.customer_say, (6, "谢谢！"))
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
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# (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走
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(0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), #设置id=4 的2小男孩随机游走红随机游走
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# (0, self.add_walker, (48, 60, 520,0)),# 生成他妈妈
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# (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号
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# (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5
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(0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])),
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# 场景4：三人排队点单，一个要点心，一个没座位了赠送保温杯
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(0, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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(10, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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# 好的，我明白了，那么您可以选择我们的家庭亲子座，这样可以容纳您的孩子，并且更加宽敞舒适。
|
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# 这里可以加一下自主导航和探索，找到一个位置
|
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# 好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。
|
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(8, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")),
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(10, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400
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# (5, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")),
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(-1, self.customer_say, (6, "谢谢！")),
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# 9号灰色男 排队排着排着，不排了
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(0, self.control_walker, (9, False, 100, 100, 760, 180)),
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(0, self.control_walker, (9, True, 100, 0, 0, 180)),
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# ### 增加场景，孩子说热要开空调 或者9号随机游走和说
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# (0, self.control_walker, (9, False, 100, 100, 760, 180)),
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# (0, self.control_walker, (9, False, 100, 0, 0, 180)),
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# (0, self.control_walkers_and_say, ([[[9, True, 100, 0, 0, 180, "好热呀！太阳也好大！"]]])),
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# # (9, True, 100, 0, 0, 180)),
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# # (0, self.customer_say, (1, "咖啡有哪些呢？")),
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# ### 增加场景，孩子说热要开空调 或者9号随机游走和说
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# 场景4：三人排队点单，女士要保温杯
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# (3, self.add_walker, (5, 230, 1200)),
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# (3, self.add_walker, (26, -30, -200, -90)),
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# (3, self.add_walker, (10, -80, -180, -45)),
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# (3, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (3, self.add_walker, (32, -80, 850, 135)),
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# (3, self.add_walker, (1, 60, 420, 135)),
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# (3, self.add_walker, (48, 60, 520, 0)),
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# # # 上述准备
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# (self.st4, self.add_walker, (31, 60, 600, -90)), # 女红色排队
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# (self.st4, self.add_walker, (9, 60, 680, -90)), # 男灰黑色排队
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# (self.st4, self.add_walker, (20, 60, 760, -90)), # 大胖男排队
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (32, -80, 850, 135)),
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# (0, self.add_walker, (1, 60, 220, 135)),
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# (0, self.add_walker, (48, 60, 320, 0)),
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# (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号找保温杯的顾客
|
||||
# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
|
||||
# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
|
||||
# (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
|
||||
# # # # 上述准备
|
||||
(0, self.control_walkers_and_say, ([[[7, False, 100, 60, 520, 0, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])),
|
||||
(5, self.customer_say, (7,"你可以帮我拿来吗，我在前门的桌子前等你。")),
|
||||
(1, self.control_walker,(7, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步
|
||||
(1, self.control_walker, (7, False, 80, 240, 1000, -45)), # 红女士走到Table1前
|
||||
(1, self.control_walker, (8, False, 100, 60, 600, -90)), # 大胖男排队往前走一步
|
||||
(2, self.control_walker, (9, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步
|
||||
(6, self.customer_say, (7,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前
|
||||
|
||||
|
||||
|
||||
# 场景5：三人排队点单，一人要冰红茶，一个要点心，一个没座位了赠送保温杯
|
||||
# (3, self.add_walker, (5, 230, 1200)),
|
||||
# (0, self.add_walker, (26, -30, -200, -90)),
|
||||
# (0, self.add_walker, (10, -80, -180, -45)),
|
||||
# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
|
||||
# (0, self.add_walker, (32, -80, 850, 135)),
|
||||
# (0, self.add_walker, (1, 60, 220, 135)),
|
||||
# (0, self.add_walker, (48, 60, 320, 0)), # 生成他妈妈
|
||||
# (0, self.add_walker, (31, 280, 1200, -45)), # # 女红色排队 7号找保温杯的顾客
|
||||
# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
|
||||
# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
|
||||
# (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
|
||||
|
||||
## 9号灰色男 排队排着排着，不排了
|
||||
(0, self.control_walker, (9, False, 100, 100, 760, 180)),
|
||||
(0, self.control_walker, (9, True, 100, 0, 0, 180)),
|
||||
# 上述准备
|
||||
|
||||
(0, self.control_walker, (9, False, 100, 60, 760, -90)),
|
||||
|
||||
|
||||
# 场景6：大胖男点了外卖，离开啦
|
||||
(2, self.control_walkers_and_say,([[[8, False, 100, 60, 520, 0, "给我来份午餐套餐。"]]])),
|
||||
(0, self.animation_reset,()), #重置任务
|
||||
(2, self.customer_say, (8, "打包吧，快点！")),
|
||||
(2, self.control_walker, (9, False, 100, 60, 620, -90)), # 男灰黑色排队往前走一步
|
||||
(-1, self.customer_say, (8, "谢啦，我赶时间！")),
|
||||
(2, self.control_walker, (8, False, 250, 20, 520, -90)), # 大胖男着急得离开啦
|
||||
(2, self.control_walker, (8, False, 250, 240, -150, -90)),
|
||||
(5, self.remove_walkers, ([[0,7,8]])),
|
||||
# (2, self.control_walker, (6, False, 100, 60, 520, 0)), # 9号变7号 男灰黑色排队往前,轮到他
|
||||
|
||||
|
||||
# 场景7：最后排队那个随机游走 9号变为6号，随机游走。
|
||||
# 机器人自主发现任务，走一圈去擦桌子/拖地，碰到灰色男问好，灰色男说“太阳大，要关窗帘和空调调低”
|
||||
# 开了空调
|
||||
(2, self.control_walker, (6, False, 100, 60, 520, 0)), # 9号变7号 男灰黑色排队往前,轮到他
|
||||
(2, self.customer_say, (6, "好热呀！太阳也好大！"))
|
||||
|
||||
|
||||
|
||||
|
||||
]
|
||||
|
||||
def _reset(self):
|
||||
|
|
@ -100,7 +176,7 @@ 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_walkers_and_say([[0,False,150,end[0],end[1],90,"wd！"]])
|
||||
self.control_walkers_and_say([[0,False,150,end[0],end[1],90,"谢谢！"]])
|
||||
self.scene_flag += 1
|
||||
|
||||
pass
|
||||
|
|
|
|||
|
|
@ -0,0 +1,135 @@
|
|||
"""
|
||||
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.scene_flag = 2
|
||||
self.st1 = 3
|
||||
# self.st2 = self.st1 + 30
|
||||
# self.st3 = self.st2 + 65
|
||||
self.st2 = 3
|
||||
self.st3 = 3
|
||||
self.st4 = 3
|
||||
|
||||
self.new_event_list = [
|
||||
|
||||
# 场景1：带小女孩找阳光下的空位
|
||||
# (3, self.add_walker, (5, 230, 1200)),
|
||||
# (3, self.control_walker, (0, False, 200, 60, 520, 0)),
|
||||
# (12, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
|
||||
# (12, self.customer_say, (0,"可以带我过去嘛？")),
|
||||
# (20, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
|
||||
|
||||
# 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子
|
||||
# (3, self.add_walker, (5, 230, 1200)), # 小女孩
|
||||
# 上述准备
|
||||
# (self.st2, self.add_walker, (26, -28, -150, 90)),
|
||||
# (self.st2, self.add_walker, (10, -70, -200, -45)),
|
||||
# (self.st2, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
|
||||
# (self.st2+10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), # 20 胖胖男到了 BrightTable6
|
||||
# (self.st2+15, self.customer_say, (1, "咖啡有哪些呢？")),# 10
|
||||
# (self.st2+15+5, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
|
||||
|
||||
# 场景3：有位女士要杯水和冰红茶
|
||||
# (3, self.add_walker, (5, 230, 1200)),
|
||||
# (3, self.add_walker, (26, -30, -200, -90)),
|
||||
# (3, self.add_walker, (10, -80, -180, -45)),
|
||||
# # # 上述准备
|
||||
# (self.st3, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
|
||||
# (self.st3, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
|
||||
#
|
||||
# (self.st3, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走
|
||||
# (self.st3, self.control_walker, (5, True, 50, 250, 1200, 180)), #设置id=4 的2小男孩随机游走红随机游走
|
||||
# (self.st3, self.add_walker, (48, 60, 520,0)),# 生成他妈妈
|
||||
#
|
||||
# (self.st3, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号
|
||||
# (self.st3, self.add_walker, (9, 60, 680, -90)), # 男灰黑色排队 8号
|
||||
# (self.st3, self.add_walker, (20, 60, 760, -90)), # 大胖男排队 9号
|
||||
#
|
||||
# (self.st3 + 3, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
|
||||
# (self.st3 + 10, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
|
||||
# # 好的，我明白了，那么您可以选择我们的家庭亲子座，这样可以容纳您的孩子，并且更加宽敞舒适。
|
||||
# # 这里可以加一下自主导航和探索，找到一个位置
|
||||
# # 好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。
|
||||
# (self.st3 + 15, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")),
|
||||
# (self.st3 + 25, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400
|
||||
# (self.st3 + 25, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")),
|
||||
# (self.st3 + 60, self.customer_say, (6, "谢谢！")),
|
||||
|
||||
|
||||
# 场景4：三人排队点单，一人要冰红茶，一个要点心，一个没座位了赠送保温杯
|
||||
(3, self.add_walker, (5, 230, 1200)),
|
||||
(3, self.add_walker, (26, -30, -200, -90)),
|
||||
(3, self.add_walker, (10, -80, -180, -45)),
|
||||
(3, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
|
||||
(3, self.add_walker, (32, -80, 850, 135)),
|
||||
(3, self.add_walker, (1, 60, 220, 135)),
|
||||
(3, self.add_walker, (48, 60, 320, 0)),
|
||||
(3, self.add_walker, (31, 60, 600, -90)), # 女红色排队
|
||||
(3, self.add_walker, (9, 60, 680, -90)), # 男灰黑色排队
|
||||
(3, self.add_walker, (20, 60, 760, -90)), # 大胖男排队
|
||||
|
||||
(3, self.add_walker, (6, -55, 750,180)),
|
||||
|
||||
# # # 上述准备
|
||||
(self.st4+5, self.control_walkers_and_say, ([[[7, False, 100, 60, 520, 0, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])),
|
||||
(self.st4 + 10, self.customer_say, (7,"你可以帮我拿来吗，我在前门的桌子前等你。")),
|
||||
(self.st4 + 13, self.control_walker,(7, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步
|
||||
(self.st4 + 14, self.control_walker, (7, False, 80, 240, 1000, -45)), # 红女士走到Table1前
|
||||
(self.st4 + 15, self.control_walker, (8, False, 100, 60, 600, -90)),
|
||||
(self.st4 + 17, self.control_walker, (9, False, 100, 60, 680, -90)),
|
||||
(self.st4 + 25, self.customer_say, (7,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前
|
||||
]
|
||||
|
||||
def _reset(self):
|
||||
self.gen_obj()
|
||||
# self.add_walkers([[47, 920]])
|
||||
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.walker_followed = False
|
||||
pass
|
||||
|
||||
def _step(self):
|
||||
|
||||
|
||||
if self.scene_flag == 1:
|
||||
# 如果机器人不在 吧台
|
||||
if self.walker_followed:
|
||||
return
|
||||
end = [self.status.location.X, self.status.location.Y]
|
||||
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_walkers_and_say([[0,False,150,end[0],end[1],90,"谢谢！"]])
|
||||
self.scene_flag += 1
|
||||
|
||||
pass
|
||||
|
||||
if __name__ == '__main__':
|
||||
import os
|
||||
from robowaiter.robot.robot import Robot
|
||||
|
||||
robot = Robot()
|
||||
|
||||
# create task
|
||||
task = SceneVLM(robot)
|
||||
task.reset()
|
||||
task.run()
|
||||
|
|
@ -18,13 +18,17 @@ class SceneOT(Scene):
|
|||
super().__init__(robot)
|
||||
# 在这里加入场景中发生的事件
|
||||
self.signal_event_list = [
|
||||
(3, self.customer_say, ("System","来一号桌")),
|
||||
(-1, self.customer_say, ("System","回去吧")),
|
||||
# (3, self.customer_say, ("System","来一号桌")),
|
||||
# (-1, self.customer_say, ("System","回去吧")),
|
||||
# (5, self.set_goal("At(Robot,BrightTable4)"))
|
||||
]
|
||||
self.event_list = [
|
||||
(3, self.set_goal("On(VacuumCup,Bar)"))
|
||||
]
|
||||
|
||||
def _reset(self):
|
||||
# self.add_walkers([[0, 880], [250, 1200]])
|
||||
self.gen_obj()
|
||||
pass
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -75,7 +75,7 @@ class SceneVLM(Scene):
|
|||
# self.move_task_area(op_type=4)
|
||||
pass
|
||||
|
||||
def _run(self, op_type=10):
|
||||
def _run(self, op_type=16):
|
||||
# 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
|
||||
|
|
@ -83,18 +83,20 @@ class SceneVLM(Scene):
|
|||
# "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]
|
||||
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=1)
|
||||
self.op_task_execute(op_type, obj_id=1)
|
||||
# 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
|
||||
|
|
|
|||
Loading…
Reference in New Issue