增加了 咖啡厅的一天按钮
This commit is contained in:
Caiyishuai
parent
933f63064b
commit
49c333485a
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@ -31,6 +31,11 @@ create_sub_task
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create_sub_task
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{"goal":"At(Robot,BrightTable1)"}
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你可以带我过去嘛？
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当然，请跟我来！
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create_sub_task
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{"goal":"At(Robot,BrightTable1)"}
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嘿，RoboWaiter，过来一下！
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我在来的路上啦，请稍等噢！
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@ -1,7 +1,8 @@
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import py_trees as ptree
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from robowaiter.behavior_lib._base.Act import Act
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from robowaiter.llm_client.multi_rounds_retri import ask_llm, new_history
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# from robowaiter.llm_client.multi_rounds_retri import ask_llm, new_history
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from robowaiter.llm_client.multi_rounds import ask_llm, new_history
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import random
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from collections import deque
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@ -24,6 +24,7 @@ class GreetCustomer(Act):
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goal = Act.place_xy_yaw_dic['Bar']
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if self.scene.is_nav_walk:
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self.scene.navigator.navigate(goal=(goal[0]-5,goal[1]), animation=False)
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self.scene.walk_to(goal[0] - 4, goal[1], 180, 180, 0)
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else:
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self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
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@ -46,6 +46,7 @@ class MoveTo(Act):
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goal = Act.place_xy_yaw_dic[self.target_place]
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if self.scene.is_nav_walk:
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self.scene.navigator.navigate(goal=(goal[0] + 1, goal[1]), animation=False)
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self.scene.walk_to(goal[0]+2, goal[1], goal[2])
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else:
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self.scene.walk_to(goal[0]+1,goal[1],goal[2])
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# 走到物品边上
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@ -24,6 +24,8 @@ class ServeCustomer(Act):
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goal = Act.place_xy_yaw_dic['Bar']
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if self.scene.is_nav_walk:
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self.scene.navigator.navigate(goal=(goal[0] - 5, goal[1]), animation=False)
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self.scene.walk_to(goal[0] - 4, goal[1], 180, 180, 0)
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else:
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self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
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@ -37,7 +39,7 @@ class ServeCustomer(Act):
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serve_state = self.scene.state["serve_state"][customer]
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if self.scene.time - serve_state['last_chat_time'] > 3:
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if self.scene.time - serve_state['last_chat_time'] > 6:
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serve_state['served'] = True
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del self.scene.state["attention"]["customer"]
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@ -15,6 +15,8 @@ class Exist(Cond):
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def _update(self) -> ptree.common.Status:
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# if self.scene.status?
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if self.name in self.scene.state["condition_set"]:
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return ptree.common.Status.SUCCESS
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else:
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@ -0,0 +1,261 @@
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你好
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您好，我是这家咖啡厅的服务员，请问您要点什么？
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感谢，这些够啦，你去忙吧。
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ok, 有需要您再找我。
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做一杯咖啡
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好的，我马上做咖啡
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create_sub_task
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{"goal":"On(Coffee,CoffeeTable)"}
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不用了。
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好的，您有需要再跟我说
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stop_serve
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{}
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来一号桌
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好的，我马上来一号桌
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create_sub_task
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{"goal":"At(Robot,Table1)"}
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早上好呀，我想找个能晒太阳的地方。
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您右手边就有能晒太阳的位置呢。
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get_object_info
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{"obj":"晒太阳的地方"}
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谢谢！
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不客气，希望你在阳光下有个愉快的时光。
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可以带我过去嘛？
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当然，请跟我来！
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create_sub_task
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{"goal":"At(Robot,BrightTable1)"}
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你可以带我过去嘛？
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当然，请跟我来！
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create_sub_task
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{"goal":"At(Robot,BrightTable1)"}
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嘿，RoboWaiter，过来一下！
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我在来的路上啦，请稍等噢！
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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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来杯卡布奇诺吧。
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ok，请稍等！
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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":"保温杯"}
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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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大厅的桌子好啊，快带我去呀！
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好的好的，请跟我来。
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create_sub_task
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{"goal":"At(Robot,WaterTable)"}
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我想来杯水，帮我孩子拿个酸奶吧。
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ok，没问题，请稍等！
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create_sub_task
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{"goal":"On(Water,WaterTable),On(Yogurt,WaterTable)"}
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来杯酸奶吧。
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好的没问题，请稍等！
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create_sub_task
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{"goal":"On(Yogurt,WaterTable)"}
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还有酸奶吗
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不好意思，酸奶卖完了呢
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get_number_of_objects
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{"obj":"酸奶"}
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那好吧，那就先把窗帘给我关上，再开个空调
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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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{"goal":"Is(AC,On),Is(Curtain,Off)"}
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下班啦！别忘了打扫卫生。
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收到！下班啦！
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create_sub_task
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{"goal":"Is(Floor,Clean),Is(Table1,Clean),Is(Chairs,Clean),Is(AC,Off),Is(HallLight,Off),Is(TubeLight,Off),Is(Curtain,Off)"}
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请问洗手间在哪里？
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洗手间在这附近
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get_object_info
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{"obj":"洗手间"}
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给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。
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好的，请稍等。
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create_sub_task
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{"goal":"On(BottledDrink,WaterTable),On(Yogurt,WaterTable)"}
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给我来份薯片和果汁，我坐在对面的桌子那儿。
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好的，请稍等。
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create_sub_task
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{"goal":"On(Chips,WaterTable),On(NFCJuice,WaterTable)"}
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给我来份薯片和果汁，我坐在对面的水杯桌那儿。
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好的，请稍等。
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create_sub_task
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{"goal":"On(Chips,WaterTable),On(NFCJuice,WaterTable)"}
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好热呀，想开空调，想要温度调低点！
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抱歉，我马上去开空调并调低空调温度。
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create_sub_task
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{"goal":"Is(ACTemperature,Down)"}
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请问有空位吗？
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现在有不少空位呢，请问您有什么要求嘛？
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我想坐高脚凳子。
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没问题，大厅里就有这样的位置呢！
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get_object_info
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{"obj":"高脚凳子的空位"}
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你带我去吧。
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OK，请跟我来！
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create_sub_task
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{"goal":"At(Robot,BrightTable5)"}
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可以关筒灯和关窗帘吗？
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好的，请稍等。
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create_sub_task
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{"goal":"Is(TubeLight,Off),Is(Curtain,Off)"}
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给我来杯咖啡，哦对，再倒一杯水。
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速速就好，请稍等！
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create_sub_task
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{"goal":"On(Water,WaterTable),On(Coffee,WaterTable)"}
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我想来份点心和酸奶。
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稍等片刻噢~
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create_sub_task
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{"goal":"On(Yogurt,Bar),On(Dessert,Bar)"}
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酸奶。
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稍等片刻噢~
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create_sub_task
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{"goal":"On(Yogurt,Bar)"}
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你好呀，你们这有啥好吃的？
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我们咖啡厅有咖啡，还有饮料和点心蛋糕呢？您想点什么不？
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get_object_info
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{"obj":"饮料,水果,点心"}
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听起来都好甜呀，我女朋友爱吃水果。
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没问题，我们也提供草莓、橘子和苹果等水果呢。
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你们这人可真多。
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目前还有空位呢，你们可以坐下来一起品尝水果呢？
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get_object_info
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{"obj":"空位"}
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我女朋友怕晒，有空余的阴凉位置嘛？
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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。
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get_object_info
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{"obj":"阴凉空位"}
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那还不错。
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是的，那边安静，不会晒到太阳呢。
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我们还想一起下下棋,切磋切磋。
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我们这有两份军棋呢,在大厅的三号桌上。
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get_object_info
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{"obj":"棋"}
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请问洗手间在哪呢？
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在后门，你们的左侧往里走就是了呢。
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get_object_info
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{"obj":"洗手间"}
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我带着孩子呢，想要宽敞亮堂的地方。
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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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冰红茶
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好的
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create_sub_task
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{"goal":"On(Yogurt,WaterTable)"}
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水杯
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好的
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create_sub_task
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{"goal":"On(Water,Bar)"}
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点心
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好的
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create_sub_task
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{"goal":"On(Dessert,Bar)"}
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酸奶
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好的
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create_sub_task
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{"goal":"On(Yogurt,Bar)"}
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做一杯咖啡
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好的，我马上做咖啡
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create_sub_task
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{"goal":"On(Coffee,CoffeeTable)"}
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把盒装冰红茶放到水桌
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好的
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create_sub_task
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{"goal":"On(Softdrink,WaterTable)"}
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点心
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好的
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create_sub_task
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{"goal":"On(Dessert,Bar)"}
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File diff suppressed because one or more lines are too long
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@ -219,7 +219,7 @@ class Scene:
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'Exist(Softdrink)',
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# 'On(Yogurt,Bar)','On(BottledDrink,Bar)',
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# 'Exist(Softdrink)', 'On(Softdrink,Table1)',
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'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)'
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'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)',
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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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@ -270,7 +270,7 @@ class Scene:
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self.db = DBSCAN(eps=self.map_ratio, min_samples=int(self.map_ratio / 2))
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self.infoCount = 0
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self.is_nav_walk = True
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self.is_nav_walk = False
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file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl')
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if os.path.exists(file_name):
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@ -948,6 +948,82 @@ class Scene:
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self.robo_recover() # 恢复肢体关节
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return True
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def gen_obj_tmp(self, h=100):
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# 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
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scene = self.status
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ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
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obj_list = [
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GrabSim_pb2.ObjectList.Object(x=190, y=40, z=87, roll=0, pitch=0, yaw=0,
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type=38), #矿泉水
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 75, z=95, roll=0, pitch=0, yaw=0,
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type=48), # 48是薯片
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# GrabSim_pb2.ObjectList.Object(x=190, y=40, z=87, roll=0, pitch=0, yaw=0,
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# type=48), #48是薯片
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 65, z=95, roll=0, pitch=0, yaw=0,
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type=37), #37是NFC果汁
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 55, z=95, roll=0, pitch=0, yaw=0,
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type=8), #8是贝尔纳松
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 45, z=95, roll=0, pitch=0, yaw=0,
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type=6), #6是AD钙奶
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GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 35, z=95, roll=0, pitch=0, yaw=0,
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type=9), #9是冰红(瓶)
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 25, z=95, roll=0, pitch=0, yaw=0,
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# type=7), # 5是酸奶
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 30, z=95, roll=0, pitch=0, yaw=0,
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# type=13),
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# GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z=95, roll=0, pitch=0, yaw=0,
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# type=48),
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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=320, y=400, z=95, roll=0, pitch=0, yaw=0,
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type=20),
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# 斜桌三瓶冰红茶
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# GrabSim_pb2.ObjectList.Object(x=340, y=965, z=88, roll=0, pitch=0, yaw=90, type=4),
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# GrabSim_pb2.ObjectList.Object(x=320, y=940, z=88, roll=0, pitch=0, yaw=90, type=4),
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GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=5),
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# GrabSim_pb2.ObjectList.Object(x=300, y=930, z=88, roll=0, pitch=0, yaw=90, type=38), #矿泉水
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GrabSim_pb2.ObjectList.Object(x=370, y=1000, z=88, roll=0, pitch=0, yaw=90, type=1), #香蕉
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GrabSim_pb2.ObjectList.Object(x=380, y=1000, z=88, roll=0, pitch=0, yaw=90, type=65), # 番茄
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||||
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
|
||||
|
|
|
|||
|
|
@ -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):
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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()
|
||||
|
|
@ -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):
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue