From 49c333485aeaec777d86a89223a26bff28cd20bf Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Thu, 30 Nov 2023 17:36:16 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E3=80=80=E5=92=96?= =?UTF-8?q?=E5=95=A1=E5=8E=85=E7=9A=84=E4=B8=80=E5=A4=A9=E6=8C=89=E9=92=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../retrieval/retrieval_lm/fix_questions.txt | 5 + robowaiter/behavior_lib/act/DealChat.py | 3 +- robowaiter/behavior_lib/act/GreetCustomer.py | 1 + robowaiter/behavior_lib/act/MoveTo.py | 1 + robowaiter/behavior_lib/act/ServeCustomer.py | 4 +- robowaiter/behavior_lib/cond/Exist.py | 2 + robowaiter/llm_client/data/fix_questions.txt | 261 ++++++++++++++++++ robowaiter/proto/objs.json | 2 +- robowaiter/scene/scene.py | 82 +++++- robowaiter/scene/ui/scene_ui.py | 105 +++++++ tasks_no_ui/CafeDailyOperations/CafeOneDay.py | 2 +- .../CafeDailyOperations/CafeOneDay_1128.py | 129 +++++++++ tasks_no_ui/OT/Open_tasks_bright_table.py | 3 +- tasks_no_ui/OT/Open_tasks_test.py | 6 +- 14 files changed, 596 insertions(+), 10 deletions(-) create mode 100644 robowaiter/llm_client/data/fix_questions.txt create mode 100644 tasks_no_ui/CafeDailyOperations/CafeOneDay_1128.py diff --git a/robowaiter/algos/retrieval/retrieval_lm/fix_questions.txt b/robowaiter/algos/retrieval/retrieval_lm/fix_questions.txt index 3d5df4d..e485218 100644 --- a/robowaiter/algos/retrieval/retrieval_lm/fix_questions.txt +++ b/robowaiter/algos/retrieval/retrieval_lm/fix_questions.txt @@ -31,6 +31,11 @@ create_sub_task create_sub_task {"goal":"At(Robot,BrightTable1)"} +你可以带我过去嘛？ +当然，请跟我来！ +create_sub_task +{"goal":"At(Robot,BrightTable1)"} + 嘿，RoboWaiter，过来一下！ 我在来的路上啦，请稍等噢！ diff --git a/robowaiter/behavior_lib/act/DealChat.py b/robowaiter/behavior_lib/act/DealChat.py index ae854bc..0991a34 100644 --- a/robowaiter/behavior_lib/act/DealChat.py +++ b/robowaiter/behavior_lib/act/DealChat.py @@ -1,7 +1,8 @@ import py_trees as ptree from robowaiter.behavior_lib._base.Act import Act -from robowaiter.llm_client.multi_rounds_retri import ask_llm, new_history +# from robowaiter.llm_client.multi_rounds_retri import ask_llm, new_history +from robowaiter.llm_client.multi_rounds import ask_llm, new_history import random from collections import deque diff --git a/robowaiter/behavior_lib/act/GreetCustomer.py b/robowaiter/behavior_lib/act/GreetCustomer.py index 6353d42..629c3cf 100644 --- a/robowaiter/behavior_lib/act/GreetCustomer.py +++ b/robowaiter/behavior_lib/act/GreetCustomer.py @@ -24,6 +24,7 @@ class GreetCustomer(Act): goal = Act.place_xy_yaw_dic['Bar'] if self.scene.is_nav_walk: self.scene.navigator.navigate(goal=(goal[0]-5,goal[1]), animation=False) + self.scene.walk_to(goal[0] - 4, goal[1], 180, 180, 0) else: self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0) diff --git a/robowaiter/behavior_lib/act/MoveTo.py b/robowaiter/behavior_lib/act/MoveTo.py index f28cebf..6965505 100644 --- a/robowaiter/behavior_lib/act/MoveTo.py +++ b/robowaiter/behavior_lib/act/MoveTo.py @@ -46,6 +46,7 @@ class MoveTo(Act): goal = Act.place_xy_yaw_dic[self.target_place] if self.scene.is_nav_walk: self.scene.navigator.navigate(goal=(goal[0] + 1, goal[1]), animation=False) + self.scene.walk_to(goal[0]+2, goal[1], goal[2]) else: self.scene.walk_to(goal[0]+1,goal[1],goal[2]) # 走到物品边上 diff --git a/robowaiter/behavior_lib/act/ServeCustomer.py b/robowaiter/behavior_lib/act/ServeCustomer.py index d274b9c..6ba5509 100644 --- a/robowaiter/behavior_lib/act/ServeCustomer.py +++ b/robowaiter/behavior_lib/act/ServeCustomer.py @@ -24,6 +24,8 @@ class ServeCustomer(Act): goal = Act.place_xy_yaw_dic['Bar'] if self.scene.is_nav_walk: self.scene.navigator.navigate(goal=(goal[0] - 5, goal[1]), animation=False) + self.scene.walk_to(goal[0] - 4, goal[1], 180, 180, 0) + else: self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0) @@ -37,7 +39,7 @@ class ServeCustomer(Act): serve_state = self.scene.state["serve_state"][customer] - if self.scene.time - serve_state['last_chat_time'] > 3: + if self.scene.time - serve_state['last_chat_time'] > 6: serve_state['served'] = True del self.scene.state["attention"]["customer"] diff --git a/robowaiter/behavior_lib/cond/Exist.py b/robowaiter/behavior_lib/cond/Exist.py index 459c556..407d030 100644 --- a/robowaiter/behavior_lib/cond/Exist.py +++ b/robowaiter/behavior_lib/cond/Exist.py @@ -15,6 +15,8 @@ class Exist(Cond): def _update(self) -> ptree.common.Status: # if self.scene.status? + + if self.name in self.scene.state["condition_set"]: return ptree.common.Status.SUCCESS else: diff --git a/robowaiter/llm_client/data/fix_questions.txt b/robowaiter/llm_client/data/fix_questions.txt new file mode 100644 index 0000000..701f909 --- /dev/null +++ b/robowaiter/llm_client/data/fix_questions.txt @@ -0,0 +1,261 @@ +你好 +您好，我是这家咖啡厅的服务员，请问您要点什么？ + + +感谢，这些够啦，你去忙吧。 +ok, 有需要您再找我。 + + +做一杯咖啡 +好的，我马上做咖啡 +create_sub_task +{"goal":"On(Coffee,CoffeeTable)"} + +不用了。 +好的，您有需要再跟我说 +stop_serve +{} + +来一号桌 +好的，我马上来一号桌 +create_sub_task +{"goal":"At(Robot,Table1)"} + + +早上好呀，我想找个能晒太阳的地方。 +您右手边就有能晒太阳的位置呢。 +get_object_info +{"obj":"晒太阳的地方"} + +谢谢！ +不客气，希望你在阳光下有个愉快的时光。 + + + +可以带我过去嘛？ +当然，请跟我来！ +create_sub_task +{"goal":"At(Robot,BrightTable1)"} + +你可以带我过去嘛？ +当然，请跟我来！ +create_sub_task +{"goal":"At(Robot,BrightTable1)"} + + +嘿，RoboWaiter，过来一下！ +我在来的路上啦，请稍等噢！ +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？ + + +来杯卡布奇诺吧。 +ok，请稍等！ +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":"保温杯"} + + +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！ + +大厅的桌子好啊，快带我去呀！ +好的好的，请跟我来。 +create_sub_task +{"goal":"At(Robot,WaterTable)"} + + +我想来杯水，帮我孩子拿个酸奶吧。 +ok，没问题，请稍等！ +create_sub_task +{"goal":"On(Water,WaterTable),On(Yogurt,WaterTable)"} + +来杯酸奶吧。 +好的没问题，请稍等！ +create_sub_task +{"goal":"On(Yogurt,WaterTable)"} + + +还有酸奶吗 +不好意思，酸奶卖完了呢 +get_number_of_objects +{"obj":"酸奶"} + +那好吧，那就先把窗帘给我关上，再开个空调 +抱歉，我这就去开空调和关窗帘。 +create_sub_task +{"goal":"Is(AC,On),Is(Curtain,Off)"} + + +下班啦！别忘了打扫卫生。 +收到！下班啦！ +create_sub_task +{"goal":"Is(Floor,Clean),Is(Table1,Clean),Is(Chairs,Clean),Is(AC,Off),Is(HallLight,Off),Is(TubeLight,Off),Is(Curtain,Off)"} + + +请问洗手间在哪里？ +洗手间在这附近 +get_object_info +{"obj":"洗手间"} + + + +给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。 +好的，请稍等。 +create_sub_task +{"goal":"On(BottledDrink,WaterTable),On(Yogurt,WaterTable)"} + + +给我来份薯片和果汁，我坐在对面的桌子那儿。 +好的，请稍等。 +create_sub_task +{"goal":"On(Chips,WaterTable),On(NFCJuice,WaterTable)"} + +给我来份薯片和果汁，我坐在对面的水杯桌那儿。 +好的，请稍等。 +create_sub_task +{"goal":"On(Chips,WaterTable),On(NFCJuice,WaterTable)"} + +好热呀，想开空调，想要温度调低点！ +抱歉，我马上去开空调并调低空调温度。 +create_sub_task +{"goal":"Is(ACTemperature,Down)"} + +请问有空位吗？ +现在有不少空位呢，请问您有什么要求嘛？ + +我想坐高脚凳子。 +没问题，大厅里就有这样的位置呢！ +get_object_info +{"obj":"高脚凳子的空位"} + + +你带我去吧。 +OK，请跟我来！ +create_sub_task +{"goal":"At(Robot,BrightTable5)"} + + +可以关筒灯和关窗帘吗？ +好的，请稍等。 +create_sub_task +{"goal":"Is(TubeLight,Off),Is(Curtain,Off)"} + + +给我来杯咖啡，哦对，再倒一杯水。 +速速就好，请稍等！ +create_sub_task +{"goal":"On(Water,WaterTable),On(Coffee,WaterTable)"} + + +我想来份点心和酸奶。 +稍等片刻噢~ +create_sub_task +{"goal":"On(Yogurt,Bar),On(Dessert,Bar)"} + +酸奶。 +稍等片刻噢~ +create_sub_task +{"goal":"On(Yogurt,Bar)"} + + + +你好呀，你们这有啥好吃的？ +我们咖啡厅有咖啡，还有饮料和点心蛋糕呢？您想点什么不？ +get_object_info +{"obj":"饮料,水果,点心"} + + +听起来都好甜呀，我女朋友爱吃水果。 +没问题，我们也提供草莓、橘子和苹果等水果呢。 + + +你们这人可真多。 +目前还有空位呢，你们可以坐下来一起品尝水果呢？ +get_object_info +{"obj":"空位"} + +我女朋友怕晒，有空余的阴凉位置嘛？ +我查询完毕，阴凉位置有两个。在你们右侧往里走，就有适合你们二位的沙发呢。 +get_object_info +{"obj":"阴凉空位"} + +那还不错。 +是的，那边安静，不会晒到太阳呢。 + +我们还想一起下下棋,切磋切磋。 +我们这有两份军棋呢,在大厅的三号桌上。 +get_object_info +{"obj":"棋"} + +请问洗手间在哪呢？ +在后门，你们的左侧往里走就是了呢。 +get_object_info +{"obj":"洗手间"} + +我带着孩子呢，想要宽敞亮堂的地方。 +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。 + + +冰红茶 +好的 +create_sub_task +{"goal":"On(Yogurt,WaterTable)"} + + +水杯 +好的 +create_sub_task +{"goal":"On(Water,Bar)"} + +点心 +好的 +create_sub_task +{"goal":"On(Dessert,Bar)"} + +酸奶 +好的 +create_sub_task +{"goal":"On(Yogurt,Bar)"} + + +做一杯咖啡 +好的，我马上做咖啡 +create_sub_task +{"goal":"On(Coffee,CoffeeTable)"} + + +把盒装冰红茶放到水桌 +好的 +create_sub_task +{"goal":"On(Softdrink,WaterTable)"} + +点心 +好的 +create_sub_task +{"goal":"On(Dessert,Bar)"} \ No newline at end of file diff --git a/robowaiter/proto/objs.json b/robowaiter/proto/objs.json index a4f253e..69de70a 100644 --- a/robowaiter/proto/objs.json +++ b/robowaiter/proto/objs.json @@ -1 +1 @@ -[{"id": "0", "name": "Desk", "location": "Y: -6.000000212225132e-06\nZ: 144.0\n", "height": "288.0"}, {"id": "1", "name": "Desk", "location": "Z: 148.0\n", "height": "296.0"}, {"id": "2", "name": "Desk", "location": "X: -79.99998474121094\nY: -310.0\nZ: 48.0\n", "height": "96.0"}, {"id": 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377.0\nY: 406.0\nZ: 161.0\n", "height": "161.0"}, {"id": "235", "name": "Glass", "location": "X: 324.0\nY: 56.000003814697266\nZ: 89.0\n", "height": "89.0"}, {"id": "236", "name": "Container", "location": "X: 370.0\nY: 370.0\nZ: 104.0\n", "height": "104.0"}, {"id": "237", "name": "TuoPan", "location": "X: 179.0\nY: 470.0\nZ: 87.0\n", "height": "87.0"}, {"id": "238", "name": "Sugar", "location": "X: 164.0\nY: 276.0\nZ: 104.0\n", "height": "104.0"}, {"id": "239", "name": "Glass", "location": "X: 129.0\nY: 247.0\nZ: 144.5\n", "height": "144.5"}, {"id": "240", "name": "TuoPan", "location": "X: 174.00001525878906\nY: 170.0\nZ: 89.0\n", "height": "89.0"}, {"id": "241", "name": "Sugar", "location": "X: 362.0\nY: 740.0\nZ: 91.0\n", "height": "91.0"}, {"id": "242", "name": "TuoPan", "location": "X: 179.0\nY: 470.0\nZ: 85.0\n", "height": "85.0"}, {"id": "243", "name": "Bread", "location": "X: 175.0\nY: 668.0\nZ: 109.0\n", "height": "109.0"}, {"id": "244", "name": "Bread", "location": "X: 155.0\nY: 660.0\nZ: 80.0\n", "height": "80.0"}, {"id": "245", "name": "TuoPan", "location": "X: 334.0\nY: 670.0\nZ: 85.0\n", "height": "85.0"}, {"id": "246", "name": "Sugar", "location": "X: 356.0\nY: 738.0\nZ: 90.5\n", "height": "90.5"}, {"id": "247", "name": "Cake", "location": "X: 157.99998474121094\nY: 852.0\nZ: 117.0\n", "height": "117.0"}, {"id": "248", "name": "Bread", "location": "X: 160.0\nY: 735.0\nZ: 52.0\n", "height": "52.0"}, {"id": "249", "name": "Bread", "location": "X: 175.0\nY: 652.0\nZ: 82.0\n", "height": "82.0"}, {"id": "250", "name": "Bracelet", "location": "X: -395.0\nY: 570.0\nZ: 71.7249984741211\n", "height": "71.7249984741211"}, {"id": "251", "name": "Scarf", "location": "X: -410.0\nY: 550.0\nZ: 73.125\n", "height": "73.125"}] \ No newline at end of file diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 8108ae3..f3af272 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -219,7 +219,7 @@ class Scene: 'Exist(Softdrink)', # 'On(Yogurt,Bar)','On(BottledDrink,Bar)', # 'Exist(Softdrink)', 'On(Softdrink,Table1)', - 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)' + 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', @@ -270,7 +270,7 @@ class Scene: self.db = DBSCAN(eps=self.map_ratio, min_samples=int(self.map_ratio / 2)) self.infoCount = 0 - self.is_nav_walk = True + self.is_nav_walk = False file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl') if os.path.exists(file_name): @@ -948,6 +948,82 @@ class Scene: self.robo_recover() # 恢复肢体关节 return True + def gen_obj_tmp(self, h=100): + # 4;冰红(盒) 5;酸奶 7:保温杯 9;冰红(瓶) 13:代语词典 14:cake 61:甜牛奶 + scene = self.status + ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z] + obj_list = [ + + GrabSim_pb2.ObjectList.Object(x=190, y=40, z=87, roll=0, pitch=0, yaw=0, + type=38), #矿泉水 + + + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 75, z=95, roll=0, pitch=0, yaw=0, + type=48), # 48是薯片 + # GrabSim_pb2.ObjectList.Object(x=190, y=40, z=87, roll=0, pitch=0, yaw=0, + # type=48), #48是薯片 + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 65, z=95, roll=0, pitch=0, yaw=0, + type=37), #37是NFC果汁 + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 55, z=95, roll=0, pitch=0, yaw=0, + type=8), #8是贝尔纳松 + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 45, z=95, roll=0, pitch=0, yaw=0, + type=6), #6是AD钙奶 + GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 35, z=95, roll=0, pitch=0, yaw=0, + type=9), #9是冰红(瓶) + # GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 25, z=95, roll=0, pitch=0, yaw=0, + # type=7), # 5是酸奶 + + # GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 30, z=95, roll=0, pitch=0, yaw=0, + # type=13), + # GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z=95, roll=0, pitch=0, yaw=0, + # type=48), + # 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=320, y=400, z=95, roll=0, pitch=0, yaw=0, + type=20), + + # 斜桌三瓶冰红茶 + # GrabSim_pb2.ObjectList.Object(x=340, y=965, z=88, roll=0, pitch=0, yaw=90, type=4), + # GrabSim_pb2.ObjectList.Object(x=320, y=940, z=88, roll=0, pitch=0, yaw=90, type=4), + GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=5), + # GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=38), #矿泉水 + + GrabSim_pb2.ObjectList.Object(x=370, y=1000, z=88, roll=0, pitch=0, yaw=90, type=1), #香蕉 + GrabSim_pb2.ObjectList.Object(x=380, y=1000, z=88, roll=0, pitch=0, yaw=90, type=65), # 番茄 + GrabSim_pb2.ObjectList.Object(x=380, y=1020, z=88, roll=0, pitch=0, yaw=90, type=42), # 山竹 + GrabSim_pb2.ObjectList.Object(x=360, y=1020, z=88, roll=0, pitch=0, yaw=90, type=27), # 橙子 + + # BrightTable2 + # GrabSim_pb2.ObjectList.Object(x=-30, y=1000, z=35, roll=0, pitch=0, yaw=90, type=64), #西瓜 + GrabSim_pb2.ObjectList.Object(x=-15, y=1050, z=40, roll=0, pitch=0, yaw=90, type=17), #a午餐盒 + + # 保温杯 + 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), + + # Table3上由两套军旗，一个模仿 + GrabSim_pb2.ObjectList.Object(x=-115, y=200, z=85, roll=0, pitch=0, yaw=90, type=26), # Chess + GrabSim_pb2.ObjectList.Object(x=-130, y=225, z=85, roll=0, pitch=0, yaw=90, type=55), # 玩具狗 + GrabSim_pb2.ObjectList.Object(x=-110, y=225, z=85, roll=0, pitch=0, yaw=90, type=56), #玩具熊 + GrabSim_pb2.ObjectList.Object(x=-115, y=250, z=85, roll=0, pitch=0, yaw=90, type=26), # Chess + GrabSim_pb2.ObjectList.Object(x=-115, y=280, z=85, roll=0, pitch=0, yaw=90, type=35), # 魔方 + + # 靠窗边的桌子上 + GrabSim_pb2.ObjectList.Object(x=-400, y=520, z=70, roll=0, pitch=0, yaw=0, type=63), # 小说 + GrabSim_pb2.ObjectList.Object(x=-410, y=550, z=70, roll=0, pitch=0, yaw=0, type=59), # 围巾 + GrabSim_pb2.ObjectList.Object(x=-395, y=570, z=70, roll=0, pitch=0, yaw=0, type=18), # 手镯 + + + ] + scene = self.stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID)) + time.sleep(1.0) + + + + + def gen_obj(self, h=100): # 4;冰红(盒) 5;酸奶 7:保温杯 9;冰红(瓶) 13:代语词典 14:cake 61:甜牛奶 scene = self.status @@ -986,7 +1062,7 @@ class Scene: # 斜桌三瓶冰红茶 GrabSim_pb2.ObjectList.Object(x=340, y=965, z=88, roll=0, pitch=0, yaw=90, type=4), GrabSim_pb2.ObjectList.Object(x=320, y=940, z=88, roll=0, pitch=0, yaw=90, type=4), - GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=4), + # GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=4), # GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=38), #矿泉水 GrabSim_pb2.ObjectList.Object(x=370, y=1000, z=88, roll=0, pitch=0, yaw=90, type=1), #香蕉 diff --git a/robowaiter/scene/ui/scene_ui.py b/robowaiter/scene/ui/scene_ui.py index 78d557f..10dac58 100644 --- a/robowaiter/scene/ui/scene_ui.py +++ b/robowaiter/scene/ui/scene_ui.py @@ -25,6 +25,8 @@ from robowaiter.utils.bt.draw import render_dot_tree class SceneUI(Scene): scene_queue = None ui_queue = None + scene_flag=2 + walker_followed = False # camera_interval = 4 def __init__(self, robot,scene_queue,ui_queue): self.scene_queue = scene_queue @@ -53,6 +55,7 @@ class SceneUI(Scene): pass def run_AEM(self): + self.gen_obj() print(len(self.status.objects)) # 创建一个从白色（1）到灰色（0）的 colormap objs = self.status.objects @@ -261,10 +264,102 @@ class SceneUI(Scene): pass def run_CafeDaily(self): + # self.run_AEM() + self.walker_followed = False + self.gen_obj() + self.scene_flag = 1 + self.st1 = 3 + # self.st2 = self.st1 + 30 + # self.st3 = self.st2 + 65 + self.st2 = 3 + self.st3 = 3 + self.st4 = 3 + + 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)), # 0号"Girl02_C_3" + (1, self.control_walker, (0, False, 200, 60, 520, 0)), + (9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")), + (1, self.customer_say, (0, "你可以带我过去嘛？")),#可以带我过去嘛？ + (13, 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 + (10, self.add_walker, (26, -28, -150, 90)), + (0, self.add_walker, (10, -70, -200, -45)), + (9, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")), + (10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), #6 + # 20 胖胖男到了 BrightTable6 + (2, self.customer_say, (1, "咖啡有哪些呢？")), # 10 + (2, 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 + # (0, self.add_walker, (5, 230, 1200)), + # (0, self.add_walker, (26, -30, -200, -90)), + # (0, self.add_walker, (10, -80, -180, -45)), + ############# + (3, self.add_walkers, + ([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])), + (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 + (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 + (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), + (50, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 50 + (10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 + (8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")), + (15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400 + (3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")), + # # ### 9号灰色男 排队排着排着，不排了 + (0, self.control_walker, (10, False, 100, 100, 760, 180)), + (0, self.control_walker, (10, True, 100, 0, 0, 180)), + (110, self.customer_say, (7, "谢谢你的水和酸奶！")), # 倒水+取放酸奶 90s 这次是110 + + # # # 场景4：三人排队点单，女士要保温杯 + # (0, 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)), + # (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 10开始 + (10, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])), + (9, self.customer_say, (8,"你可以帮我拿来吗，我在前门的桌子前等你。")), + (1, self.control_walker,(8, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步 + (1, self.control_walker, (8, False, 80, 240, 1000, -45)), # 红女士走到Table1前 + (1, self.control_walker, (9, False, 100, 60, 600, -90)), # 大胖男排队往前走一步 + (2, self.control_walker, (10, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步 + (15, self.customer_say, (8,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前 + (5, self.customer_say, (8, "不用了。")), # 红女士在Table1前 + + + (8, self.remove_walkers, ([[0, 7, 8]])), + (3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他 + (8, self.customer_say, (6, "还有酸奶吗")), + (8, self.customer_say, (6, "那好吧，那就先把窗帘给我关上，再开个空调")), + (35, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])), + + + # # 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯 + (28, self.clean_walkers,()), + (1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦 + (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])), + (10, self.control_walker, (0, False, 100, 60, 1000, 0)), + (4, self.clean_walkers, ()) + + ] + + pass def run_reset(self): + self.gen_obj() pass def init_robot(self): @@ -299,6 +394,16 @@ class SceneUI(Scene): # self.new_set_goal(question) # else: # self.customer_say("System",question) + 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 def handle_queue_messages(self): diff --git a/tasks_no_ui/CafeDailyOperations/CafeOneDay.py b/tasks_no_ui/CafeDailyOperations/CafeOneDay.py index 6bbe815..a0e6d2f 100644 --- a/tasks_no_ui/CafeDailyOperations/CafeOneDay.py +++ b/tasks_no_ui/CafeDailyOperations/CafeOneDay.py @@ -47,7 +47,7 @@ class SceneVLM(Scene): (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 (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), - (38, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 38 + (55, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 38 (10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 (8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")), (15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400 diff --git a/tasks_no_ui/CafeDailyOperations/CafeOneDay_1128.py b/tasks_no_ui/CafeDailyOperations/CafeOneDay_1128.py new file mode 100644 index 0000000..2c199d8 --- /dev/null +++ b/tasks_no_ui/CafeDailyOperations/CafeOneDay_1128.py @@ -0,0 +1,129 @@ +""" +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 = 1 + self.st1 = 3 + # self.st2 = self.st1 + 30 + # self.st3 = self.st2 + 65 + self.st2 = 3 + self.st3 = 3 + self.st4 = 3 + + 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)), # 0号"Girl02_C_3" + # (1, self.control_walker, (0, False, 200, 60, 520, 0)), + # (9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")), + (1, self.customer_say, (0, "可以带我过去嘛？")),#可以带我过去嘛？ + (13, 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 + (10, self.add_walker, (26, -28, -150, 90)), + (0, self.add_walker, (10, -70, -200, -45)), + (6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")), + (12, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), #6 + # 20 胖胖男到了 BrightTable6 + (4, self.customer_say, (1, "咖啡有哪些呢？")), # 10 + (4, 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_walkers, + ([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])), + (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 + (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 + (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), + (38, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 38 + (10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 + (8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")), + (15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400 + (3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")), + # # ### 9号灰色男 排队排着排着，不排了 + (0, self.control_walker, (10, False, 100, 100, 760, 180)), + (0, self.control_walker, (10, True, 100, 0, 0, 180)), + (90, self.customer_say, (7, "谢谢你的水和酸奶！")), # 倒水+取放酸奶 90s + + + (10, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 180, "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, (8,"你可以帮我拿来吗，我在前门的桌子前等你。")), + (1, self.control_walker,(8, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步 + (1, self.control_walker, (8, False, 80, 240, 1000, -45)), # 红女士走到Table1前 + (1, self.control_walker, (9, False, 100, 60, 600, -90)), # 大胖男排队往前走一步 + (2, self.control_walker, (10, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步 + (6, self.customer_say, (8,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前 + (5, self.customer_say, (8, "不用了。")), # 红女士在Table1前 + + + (8, self.remove_walkers, ([[0, 7, 8]])), + (3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10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！")), + (20, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])), + + + # # 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯 + (24, self.clean_walkers, ()), + (1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦 + (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])), + + ] + + 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 + + # 获得所有顾客的名字 + # print("=================") + # for cus in self.status.walkers: + # print(cus) + # print("=================") + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneVLM(robot) + task.reset() + task.run() diff --git a/tasks_no_ui/OT/Open_tasks_bright_table.py b/tasks_no_ui/OT/Open_tasks_bright_table.py index 87d1f02..828f3a2 100644 --- a/tasks_no_ui/OT/Open_tasks_bright_table.py +++ b/tasks_no_ui/OT/Open_tasks_bright_table.py @@ -20,7 +20,8 @@ class SceneOT(Scene): self.event_list = [ # (5, self.set_goal("At(Robot,WaterTable)")) # (5, self.set_goal("On(Yogurt,Table4)")) - (5, self.set_goal("At(Robot,BrightTable4)")) + # (5, self.set_goal("At(Robot,BrightTable4)")), + (3, self.set_goal("On(Dessert,Bar)")) ] def _reset(self): diff --git a/tasks_no_ui/OT/Open_tasks_test.py b/tasks_no_ui/OT/Open_tasks_test.py index fe63eb1..1e5fb0b 100644 --- a/tasks_no_ui/OT/Open_tasks_test.py +++ b/tasks_no_ui/OT/Open_tasks_test.py @@ -18,6 +18,7 @@ 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", "冰红茶")), # (3, self.customer_say, ("System", "有多少盒装饮料")), # (3, self.customer_say, ("System", "桌子有几张")), # (3, self.customer_say, ("System", "你们这儿有军棋吗")), @@ -43,7 +44,7 @@ class SceneOT(Scene): # (3, self.customer_say, ("System", "还有空位吗")), - (3, self.customer_say, ("System", "有空桌子吗")), + # (3, self.customer_say, ("System", "有空桌子吗")), # (3, self.customer_say, ("System", "把盒装冰红茶放到水桌")), @@ -60,7 +61,8 @@ class SceneOT(Scene): def _reset(self): self.add_walkers([[0, 880], [250, 1200]]) - self.gen_obj() + self.gen_obj_tmp() + pass