Merge branch 'main' of github.com:HPCL-EI/RoboWaiter

robowaiter/behavior_lib/_base/Behavior.py

@@ -30,8 +30,8 @@ class Bahavior(ptree.behaviour.Behaviour):
     # all_place=set()
 
     place_xyz_dic={
-        'Bar': (247.0, 520.0, 180.0), #(247.0, 520.0, 100.0)
+        'Bar': (247.0, 520.0, 100.0), #(247.0, 520.0, 100.0)
-        'Bar2': (240.0, 40.0, 70.0),
+        'Bar2': (240.0, 40.0, 100.0),
         'WaterTable':(-70.0, 500.0, 107),
         'CoffeeTable':(250.0, 310.0, 100.0),
         'Table1': (340.0, 900.0, 99.0),

robowaiter/behavior_lib/act/GreetCustomer.py

@@ -24,7 +24,8 @@ class GreetCustomer(Act):
         goal = Act.place_xyz_dic['Bar']
         self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
         # self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
-        self.scene.chat_bubble("欢迎光临！")
+        if self.scene.show_bubble:
+            self.scene.chat_bubble("欢迎光临！")
 
         customer_name = self.scene.state['attention']['customer']
         self.scene.state['greeted_customers'].add(customer_name)

robowaiter/behavior_lib/cond/NewCustomerComing.py

@@ -22,7 +22,7 @@ class NewCustomerComing(Cond):
         for walker in scene.walkers:
             x, y, yaw = walker.pose.X, walker.pose.Y, walker.pose.Yaw
             # 到达一定区域就打招呼
-            if y >= 450 and y <= 620 and x >= 40 and x <= 100 and yaw>=-10 and yaw <=10:
+            if y >= 510 and y <= 530 and x >= 50 and x <= 70 and yaw>=-10 and yaw <=10: #450-620
                 # close_to_bar = True
                 queue_list.append((x,y,walker.name))
 

robowaiter/llm_client/data/fix_questions.txt

@@ -32,6 +32,7 @@ create_sub_task
 create_sub_task
 {"goal":"At(Robot,BrightTable6)"}
 
+
 你们这有什么饮料嘛？
 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？
 
@@ -42,6 +43,26 @@ create_sub_task
 {"goal":"On(Coffee,BrightTable6)"}
 
 
+我昨天保温杯好像落在你们咖啡厅了，你看到了吗？
+是的，我有印象，保温杯在大厅的2号桌子上。
+get_object_info
+{"obj":"2号桌子"}
+
+
+给我来份午餐套餐。
+本店的午餐套餐包括咖啡和点心，请问您是打包还是堂食？
+
+打包吧，快点！
+请稍等，马上就好！
+create_sub_task
+{"goal":"On(Dessert,Bar),On(Coffee,Bar)"}
+
+
+你可以帮我拿来吗，我在前门的桌子前等你。
+当然，请稍等！
+create_sub_task
+{"goal":"On(VacuumCup,Table1)"}
+
 麻烦啦！
 没事儿，为您服务是我的荣幸！
 
@@ -61,6 +82,7 @@ create_sub_task
 create_sub_task
 {"goal":"On(Yogurt,WaterTable)"}
 
+
 好热呀！太阳也好大！
 抱歉，我这就去开空调和关窗帘。
 create_sub_task

robowaiter/scene/scene.py

@@ -52,7 +52,7 @@ class Scene:
     event_list = []
     new_event_list = []
     signal_event_list = []
-    show_bubble = False
+    # show_bubble = True
     event_signal = "None"
 
     default_state = {
@@ -64,7 +64,9 @@ class Scene:
         "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
         "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)',
-         'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Table1)',
+         'Holding(Nothing)','Exist(Yogurt)','Exist(BottledDrink)','On(Yogurt,Bar)','On(BottledDrink,Bar)',
+         #'Exist(Softdrink)', 'On(Softdrink,Table1)',
+        'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
          'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
          'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'},
         "obj_mem":{},
@@ -95,6 +97,8 @@ class Scene:
         self.time = 0
         self.sub_task_seq = None
 
+        self.show_bubble = True
+
         # init robot
         if robot:
             robot.set_scene(self)
@@ -193,8 +197,9 @@ class Scene:
         if len(self.signal_event_list)>0:
             next_event = self.signal_event_list[0]
             t, func,args = next_event
-            if t < 0 and self.robot_changed: #一直等待机器人行动，直到机器人无行动
+            if t < 0: #一直等待机器人行动，直到机器人无行动
-                return
+                if self.robot_changed:
+                    return
             if t > 0:
                 time.sleep(t)
 
@@ -202,8 +207,6 @@ class Scene:
             self.signal_event_list.pop(0)
             func(*args)
 
-
-
     def deal_event(self):
         if len(self.event_list)>0:
             next_event = self.event_list[0]
@@ -353,6 +356,12 @@ class Scene:
         for i in range(len(w)):
             self.state["customer_mem"][w[i].name] = i
 
+    def remove_walkers(self,IDs=[0]):
+        s = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
+        scene = stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID))
+        time.sleep(2)
+        return
+
 
     def clean_walker(self):
         stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
@@ -498,7 +507,7 @@ class Scene:
             name = self.walker_index2mem(name)
 
         print(f'{name} say: {sentence}')
-        if show_bubble:
+        if self.show_bubble and show_bubble:
             self.walker_bubble(name,sentence)
         self.state['chat_list'].append((name,sentence))
 
@@ -622,9 +631,11 @@ class Scene:
         ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
         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),
                     # GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
-                    GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=9),
+                    # GrabSim_pb2.ObjectList.Object(x=340, y=960, z=88, roll=0, pitch=0, yaw=90, type=7),
-
+                    # GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=90, type=9),
-                    GrabSim_pb2.ObjectList.Object(x=340, y=960, z=88, roll=0, pitch=0, yaw=0, type=9),
+                    # GrabSim_pb2.ObjectList.Object(x=340, y=952, z=88, roll=0, pitch=0, yaw=90, type=4),
+                    GrabSim_pb2.ObjectList.Object(x=-102, y=10, z=90, roll=0, pitch=0, yaw=90, type=7),
+                    GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 70, z=95, roll=0, pitch=0, yaw=0, type=9),
 
                     ]
         scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))

robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py

@@ -16,62 +16,138 @@ class SceneVLM(Scene):
 
         self.scene_flag = 2
         self.st1 = 3
-        self.st2 = 3
         # self.st2 = self.st1 + 30
+        # self.st3 = self.st2 + 65
+        self.st2 = 3
         self.st3 = 3
         self.st4 = 3
 
-        self.new_event_list = [
+        self.signal_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)),
+            # (1, self.control_walker, (0, False, 200, 60, 520, 0)),
-            # (10, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
+            # (9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
-            # (10, self.customer_say, (0,"可以带我过去嘛？")),
+            # (-1, 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
+            # (0, 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
+            # (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, (26, -28, -150, 90)),
-            (self.st2, self.add_walker, (10, -70, -200, -45)),
+            # (self.st2, self.add_walker, (10, -70, -200, -45)),
-            (self.st2, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
+            # (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+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, 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
+            # (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, (5, 230, 1200)),
-            # (3, self.add_walker, (26, -30, -200, -90)),
+            (0, self.add_walker, (26, -30, -200, -90)),
-            # (3, self.add_walker, (10, -80, -180, -45)),
+            (0, 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),
+            # (0, 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),
+            # (0, self.add_walker, (32, -80, 850, 135)),  # 女 'BrightTable3': (-80, 850, 135),
-            # (self.st3, self.add_walker, (1, 60, 420, 135)),
+            # (0, 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
+            (0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
-            # (self.st3, self.add_walker, (48, 60, 520,0)),
+            (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
-            # (self.st3 + 3, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
+            # (0, self.add_walker, (48, 60, 520,0)),# 生成他妈妈
-            # (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
+            # (0, self.add_walker, (31, 60, 600, -90)),  # 女红色排队 7号
-            # # 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。
+            # (0, self.add_walker, (20, 60, 680, -90)),  # 大胖男色排队 8号
-            # # 这里可以加一下自主导航和探索，找到一个位置
+            # (0, self.add_walker, (9, 60, 760, -90)),  # 男灰黑排队 9号
-            # # 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。
+            # (0, self.add_walker, (29, -290, 400, 180)),  # 青色女人占了位置 BrightTable5
-            # (self.st3 + 15, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")),
+            (0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])),
-            # (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，一个要点心，一个没座位了赠送保温杯
+            (0, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
+            (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。
+
+
+            (8, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")),
+            (10, self.control_walker, (6, False, 50,-250, 480, 0)), #  #290, 400
+            # (5, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")),
+            (-1, self.customer_say, (6, "谢谢！")),
+
+            # 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)),
+            # ### 增加场景，孩子说热要开空调 或者9号随机游走和说
+            # (0, self.control_walker, (9, False, 100, 100, 760, 180)),
+            # (0, self.control_walker, (9, False, 100, 0, 0, 180)),
+            # (0, self.control_walkers_and_say, ([[[9, True, 100, 0, 0, 180, "好热呀！太阳也好大！"]]])),
+            # # (9, True, 100, 0, 0, 180)),
+            # # (0, self.customer_say, (1, "咖啡有哪些呢？")),
+            # ### 增加场景，孩子说热要开空调 或者9号随机游走和说
+
+
+
+            # 场景4：三人排队点单，女士要保温杯
             # (3, self.add_walker, (5, 230, 1200)),
-            # (3, self.add_walker, (26, -30, -200, -90)),
+            # (0, self.add_walker, (26, -30, -200, -90)),
-            # (3, self.add_walker, (10, -80, -180, -45)),
+            # (0, self.add_walker, (10, -80, -180, -45)),
-            # (3, self.add_walker, (21, 65, 1000, -90)),  # 男 'BrightTable2': (65, 1000, 135),
+            # (0, self.add_walker, (21, 65, 1000, -90)),  # 男 'BrightTable2': (65, 1000, 135),
-            # (3, self.add_walker, (32, -80, 850, 135)),
+            # (0, self.add_walker, (32, -80, 850, 135)),
-            # (3, self.add_walker, (1, 60, 420, 135)),
+            # (0, self.add_walker, (1, 60, 220, 135)),
-            # (3, self.add_walker, (48, 60, 520, 0)),
+            # (0, self.add_walker, (48, 60, 320, 0)),
-            # # # 上述准备
+            # (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号找保温杯的顾客
-            # (self.st4, self.add_walker, (31, 60, 600, -90)), # 女红色排队
+            # (0, self.add_walker, (20, 60, 680, -90)),  # 大胖男排队
-            # (self.st4, self.add_walker, (9, 60, 680, -90)), # 男灰黑色排队
+            # (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
-            # (self.st4, self.add_walker, (20, 60, 760, -90)),  # 大胖男排队
+            # (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

robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order_1119.py

@@ -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()

robowaiter/scene/tasks/OT/Open_tasks_test.py

@@ -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")),
+            # (3, self.customer_say, ("System","来一号桌")),
-            (-1, self.customer_say, ("System","回去吧")),
+            # (-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
 
 

robowaiter/scene/tasks/VLM/VLM.py

@@ -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:
+        if op_type <=15:
-        #     self.move_task_area(op_type)
+            self.move_task_area(op_type)
-        #     self.op_task_execute(op_type)
+            self.op_task_execute(op_type)
-        # if op_type == 16:   # 16: 抓操作需要传入物品id
+        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.move_task_area(op_type, obj_id=1)
-        #     self.op_task_execute(op_type, obj_id=0)
+            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]
+        # 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],
+        # 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
+        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]
+            pos = [240.0, 40.0, 100.0]
-        #     self.move_task_area(op_type, release_pos=pos)
+            self.move_task_area(op_type, release_pos=pos)
-        #     self.op_task_execute(op_type, release_pos=pos)   # [325.0, 860.0, 100]
+            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