From 5a1d5f60a43438519d0c25096bd8564aaff8b0e1 Mon Sep 17 00:00:00 2001
From: Antiman-cmyk <1519764165@qq.com>
Date: Tue, 17 Oct 2023 16:28:36 +0800
Subject: [PATCH] =?UTF-8?q?=E7=8E=B0=E5=9C=A8behaviour=5Flib=E4=B8=AD?=
 =?UTF-8?q?=E5=8A=A8=E4=BD=9C=E8=8A=82=E7=82=B9=E7=9A=84=E5=88=9D=E5=A7=8B?=
 =?UTF-8?q?=E5=8C=96=E5=87=BD=E6=95=B0=E5=A2=9E=E5=8A=A0=E4=BA=86=E5=8F=82?=
 =?UTF-8?q?=E6=95=B0scene=E7=94=A8=E4=BA=8E=E8=B0=83=E7=94=A8=E6=8E=A5?=
 =?UTF-8?q?=E5=8F=A3=EF=BC=9Btasks=E4=B8=AD=E7=BB=99=E5=87=BA=E4=BA=86?=
 =?UTF-8?q?=E8=A6=81=E5=AE=8C=E6=88=90=E7=9A=84=E4=BB=BB=E5=8A=A1demo?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 README.md                                 | 110 +++++++++++++++++++++-
 ptml/CoffeeDelivery.ptml                  |   2 +-
 ptml/behaviour_lib/CoffeeCupFound.py      |  13 ++-
 ptml/behaviour_lib/CoffeeCupGrasped.py    |   2 +-
 ptml/behaviour_lib/CoffeeCupPlaced.py     |   2 +-
 ptml/behaviour_lib/DestinationAReached.py |   2 +-
 ptml/behaviour_lib/FindCoffeeCup.py       |   2 +-
 ptml/behaviour_lib/Grasp.py               |   2 +-
 ptml/behaviour_lib/GraspCoffeeCup.py      |   2 +-
 ptml/behaviour_lib/Istask.py              |   2 +-
 ptml/behaviour_lib/Move.py                |   2 +-
 ptml/behaviour_lib/PlaceCoffeeCup.py      |   2 +-
 ptml/behaviour_lib/ReachDestinationA.py   |   2 +-
 ptml/behaviour_lib/SeqTest.py             |   2 +-
 ptml/behaviour_lib/TestTask.py            |   2 +-
 ptml/behaviour_lib/__init__.py            |   0
 ptml/ptmlCompiler.py                      |   4 +-
 ptml/ptmlLexer.py                         |   4 +-
 ptml/ptmlListener.py                      |   2 +-
 ptml/ptmlParser.py                        |   4 +-
 ptml/ptmlTranslator.py                    |  20 ++--
 ptml/ptml_test.py                         |   8 +-
 scene_utils/control.py                    |  61 +++++++-----
 tasks/AEM.py                              |  20 ++++
 tasks/Auto_tasks.py                       |   9 ++
 tasks/GQA.py                              |  10 ++
 tasks/Multi_tasks.py                      |  19 ++++
 tasks/VLM.py                              |  29 ++++++
 tasks/VLN.py                              |  32 +++++++
 29 files changed, 309 insertions(+), 62 deletions(-)
 create mode 100644 ptml/behaviour_lib/__init__.py
 create mode 100644 tasks/AEM.py
 create mode 100644 tasks/Auto_tasks.py
 create mode 100644 tasks/GQA.py
 create mode 100644 tasks/Multi_tasks.py
 create mode 100644 tasks/VLM.py
 create mode 100644 tasks/VLN.py

diff --git a/README.md b/README.md
index 796cda2..68975c1 100644
--- a/README.md
+++ b/README.md
@@ -7,4 +7,112 @@
 from scene_utils import control
 control.init_world(scene_num=1, mapID=3)
 ```
-当前只有一个咖啡馆场景。加载操作只需要执行一遍，当引擎进入相应场景后，可以用`control.reset()`重置场景。
\ No newline at end of file
+当前只有一个咖啡馆场景。加载操作只需要执行一遍，当引擎进入相应场景后，可以用`control.reset()`重置场景。
+
+2. 物品类别
+
+| ID  | Item                 |
+|-----|----------------------|
+| 0   | Mug                  |
+| 1   | Banana               |
+| 2   | Toothpaste           |
+| 3   | Bread                |
+| 4   | Softdrink            |
+| 5   | Yogurt               |
+| 6   | ADMilk               |
+| 7   | VacuumCup            |
+| 8   | Bernachon            |
+| 9   | BottledDrink         |
+| 10  | PencilVase           |
+| 11  | Teacup               |
+| 12  | Caddy                |
+| 13  | Dictionary           |
+| 14  | Cake                 |
+| 15  | Date                 |
+| 16  | Stapler              |
+| 17  | LunchBox             |
+| 18  | Bracelet             |
+| 19  | MilkDrink            |
+| 20  | CocountWater         |
+| 21  | Walnut               |
+| 22  | HamSausage           |
+| 23  | GlueStick            |
+| 24  | AdhensiveTape        |
+| 25  | Calculator           |
+| 26  | Chess                |
+| 27  | Orange               |
+| 28  | Glass                |
+| 29  | Washbowl             |
+| 30  | Durian               |
+| 31  | Gum                  |
+| 32  | Towl                 |
+| 33  | OrangeJuice          |
+| 34  | Cardcase             |
+| 35  | RubikCube            |
+| 36  | StickyNotes          |
+| 37  | NFCJuice             |
+| 38  | SpringWater          |
+| 39  | Apple                |
+| 40  | Coffee               |
+| 41  | Gauze                |
+| 42  | Mangosteen           |
+| 43  | SesameSeedCake       |
+| 44  | Glove                |
+| 45  | Mouse                |
+| 46  | Kettle               |
+| 47  | Atomize              |
+| 48  | Chips                |
+| 49  | SpongeGourd          |
+| 50  | Garlic               |
+| 51  | Potato               |
+| 52  | Tray                 |
+| 53  | Hemomanometer        |
+| 54  | TennisBall           |
+| 55  | ToyDog               |
+| 56  | ToyBear              |
+| 57  | TeaTray              |
+| 58  | Sock                 |
+| 59  | Scarf                |
+| 60  | ToiletPaper          |
+| 61  | Milk                 |
+| 62  | Soap                 |
+| 63  | Novel                |
+| 64  | Watermelon           |
+| 65  | Tomato               |
+| 66  | CleansingFoam        |
+| 67  | CocountMilk          |
+| 68  | SugarlessGum         |
+| 69  | MedicalAdhensiveTape |
+| 70  | SourMilkDrink        |
+| 71  | PaperCup             |
+| 72  | Tissue               |
+| 73  | YogurtDrink          |
+| 74  | Newspaper            |
+| 75  | Box                  |
+| 76  | PaperCupStarbucks    |
+| 77  | CoffeeMachine        |
+| 78  | GingerLHand          |
+| 79  | GingerRHand          |
+| 80  | Straw                |
+| 81  | Cake                 |
+| 82  | Tray                 |
+| 83  | Bread                |
+| 84  | Glass                |
+| 85  | Door                 |
+| 86  | Mug                  |
+| 87  | Machine              |
+| 88  | Packaged Coffee      |
+| 89  | Cube Sugar           |
+| 90  | Apple                |
+| 91  | Spoon                |
+| 92  | Drinks               |
+| 93  | Drink                |
+| 94  | Take-Away Cup        |
+| 95  | Saucer               |
+| 96  | Trash Bin            |
+| 97  | Knife                |
+| 251 | Ginger               |
+| 252 | Floor                |
+| 253 | Roof                 |
+| 254 | Wall                 |
+注意：78及以后无法使用add_object方法生成
\ No newline at end of file
diff --git a/ptml/CoffeeDelivery.ptml b/ptml/CoffeeDelivery.ptml
index 50cd0ed..b21e38b 100644
--- a/ptml/CoffeeDelivery.ptml
+++ b/ptml/CoffeeDelivery.ptml
@@ -5,7 +5,7 @@
 //    parallel 2:
 //        act action3(int a, float b)
 //        act action4()
-        
+
 sequence{
     selector{
         cond CoffeeCupFound()
diff --git a/ptml/behaviour_lib/CoffeeCupFound.py b/ptml/behaviour_lib/CoffeeCupFound.py
index b3e6db3..0c73896 100644
--- a/ptml/behaviour_lib/CoffeeCupFound.py
+++ b/ptml/behaviour_lib/CoffeeCupFound.py
@@ -1,21 +1,20 @@
 import py_trees as ptree
 from typing import Any
 
-class CoffeeCupFound(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+class CoffeeCupFound(ptree.behaviour.Behaviour):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
         return super().setup(**kwargs)
-    
+
     def initialise(self) -> None:
         return super().initialise()
-    
+
     def update(self) -> ptree.common.Status:
-        print('Start checking IsChatting...')
+        print("Start checking IsChatting...")
         return ptree.common.Status.SUCCESS
-    
+
     def terminate(self, new_status: ptree.common.Status) -> None:
         return super().terminate(new_status)
-    
\ No newline at end of file
diff --git a/ptml/behaviour_lib/CoffeeCupGrasped.py b/ptml/behaviour_lib/CoffeeCupGrasped.py
index f12d12b..9485f40 100644
--- a/ptml/behaviour_lib/CoffeeCupGrasped.py
+++ b/ptml/behaviour_lib/CoffeeCupGrasped.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class CoffeeCupGrasped(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/CoffeeCupPlaced.py b/ptml/behaviour_lib/CoffeeCupPlaced.py
index 2b6f2e3..d4cdb35 100644
--- a/ptml/behaviour_lib/CoffeeCupPlaced.py
+++ b/ptml/behaviour_lib/CoffeeCupPlaced.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class CoffeeCupPlaced(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/DestinationAReached.py b/ptml/behaviour_lib/DestinationAReached.py
index 48c75df..9092023 100644
--- a/ptml/behaviour_lib/DestinationAReached.py
+++ b/ptml/behaviour_lib/DestinationAReached.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class DestinationAReached(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/FindCoffeeCup.py b/ptml/behaviour_lib/FindCoffeeCup.py
index 3504e7f..6781c50 100644
--- a/ptml/behaviour_lib/FindCoffeeCup.py
+++ b/ptml/behaviour_lib/FindCoffeeCup.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class FindCoffeeCup(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/Grasp.py b/ptml/behaviour_lib/Grasp.py
index 964aed1..69d42fd 100644
--- a/ptml/behaviour_lib/Grasp.py
+++ b/ptml/behaviour_lib/Grasp.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class Grasp(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/GraspCoffeeCup.py b/ptml/behaviour_lib/GraspCoffeeCup.py
index ca97d68..285804e 100644
--- a/ptml/behaviour_lib/GraspCoffeeCup.py
+++ b/ptml/behaviour_lib/GraspCoffeeCup.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class GraspCoffeeCup(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/Istask.py b/ptml/behaviour_lib/Istask.py
index 293022b..4a1922c 100644
--- a/ptml/behaviour_lib/Istask.py
+++ b/ptml/behaviour_lib/Istask.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class Istask(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/Move.py b/ptml/behaviour_lib/Move.py
index 0e76abd..4922b73 100644
--- a/ptml/behaviour_lib/Move.py
+++ b/ptml/behaviour_lib/Move.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class Move(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str, a, b, c, d):
+    def __init__(self, name: str, scene, a, b, c, d):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/PlaceCoffeeCup.py b/ptml/behaviour_lib/PlaceCoffeeCup.py
index 592837f..7cf0bbd 100644
--- a/ptml/behaviour_lib/PlaceCoffeeCup.py
+++ b/ptml/behaviour_lib/PlaceCoffeeCup.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class PlaceCoffeeCup(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/ReachDestinationA.py b/ptml/behaviour_lib/ReachDestinationA.py
index 08134de..18fbe03 100644
--- a/ptml/behaviour_lib/ReachDestinationA.py
+++ b/ptml/behaviour_lib/ReachDestinationA.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class ReachDestinationA(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/SeqTest.py b/ptml/behaviour_lib/SeqTest.py
index 4ebca75..e07ab74 100644
--- a/ptml/behaviour_lib/SeqTest.py
+++ b/ptml/behaviour_lib/SeqTest.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class SeqTest(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/TestTask.py b/ptml/behaviour_lib/TestTask.py
index 0ee6fbb..c9c53d7 100644
--- a/ptml/behaviour_lib/TestTask.py
+++ b/ptml/behaviour_lib/TestTask.py
@@ -3,7 +3,7 @@ from typing import Any
 
 class TestTask(ptree.behaviour.Behaviour):
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, scene):
         super().__init__(name)
 
     def setup(self, **kwargs: Any) -> None:
diff --git a/ptml/behaviour_lib/__init__.py b/ptml/behaviour_lib/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/ptml/ptmlCompiler.py b/ptml/ptmlCompiler.py
index 020ee8f..548369d 100644
--- a/ptml/ptmlCompiler.py
+++ b/ptml/ptmlCompiler.py
@@ -12,7 +12,7 @@ else:
     from ptmlLexer import ptmlLexer as Lexer
 
 
-def load(ptml_path: str, behaviour_lib_path: str):
+def load(scene, ptml_path: str, behaviour_lib_path: str):
     """_summary_
 
     Args:
@@ -40,7 +40,7 @@ def load(ptml_path: str, behaviour_lib_path: str):
     tree = parser.root()
 
     walker = ParseTreeWalker()
-    ptml = ptmlTranslator()  # listener mode
+    ptml = ptmlTranslator(scene, behaviour_lib_path)  # listener mode
     walker.walk(ptml, tree)
 
     return ptml.bt_root
diff --git a/ptml/ptmlLexer.py b/ptml/ptmlLexer.py
index 813fde6..5fe957a 100644
--- a/ptml/ptmlLexer.py
+++ b/ptml/ptmlLexer.py
@@ -1,4 +1,4 @@
-# Generated from ./ptml.g4 by ANTLR 4.13.0
+# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
 from antlr4 import *
 from io import StringIO
 import sys
@@ -111,7 +111,7 @@ class ptmlLexer(Lexer):
 
     def __init__(self, input=None, output:TextIO = sys.stdout):
         super().__init__(input, output)
-        self.checkVersion("4.13.0")
+        self.checkVersion("4.13.1")
         self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache())
         self._actions = None
         self._predicates = None
diff --git a/ptml/ptmlListener.py b/ptml/ptmlListener.py
index 306e4d7..41056b2 100644
--- a/ptml/ptmlListener.py
+++ b/ptml/ptmlListener.py
@@ -1,4 +1,4 @@
-# Generated from ./ptml.g4 by ANTLR 4.13.0
+# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
 from antlr4 import *
 if "." in __name__:
     from .ptmlParser import ptmlParser
diff --git a/ptml/ptmlParser.py b/ptml/ptmlParser.py
index f194969..9af021d 100644
--- a/ptml/ptmlParser.py
+++ b/ptml/ptmlParser.py
@@ -1,4 +1,4 @@
-# Generated from ./ptml.g4 by ANTLR 4.13.0
+# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
 # encoding: utf-8
 from antlr4 import *
 from io import StringIO
@@ -83,7 +83,7 @@ class ptmlParser ( Parser ):
 
     def __init__(self, input:TokenStream, output:TextIO = sys.stdout):
         super().__init__(input, output)
-        self.checkVersion("4.13.0")
+        self.checkVersion("4.13.1")
         self._interp = ParserATNSimulator(self, self.atn, self.decisionsToDFA, self.sharedContextCache)
         self._predicates = None
 
diff --git a/ptml/ptmlTranslator.py b/ptml/ptmlTranslator.py
index 369760a..d0b13b4 100644
--- a/ptml/ptmlTranslator.py
+++ b/ptml/ptmlTranslator.py
@@ -20,10 +20,12 @@ class ptmlTranslator(ptmlListener):
         ptmlListener (_type_): _description_
     """
 
-    def __init__(self) -> None:
+    def __init__(self, scene, behaviour_lib_path) -> None:
         super().__init__()
         self.bt_root = None
         self.stack = []
+        self.scene = scene
+        self.behaviour_lib_path = behaviour_lib_path
 
     # Enter a parse tree produced by ptmlParser#root.
     def enterRoot(self, ctx: ptmlParser.RootContext):
@@ -91,24 +93,20 @@ class ptmlTranslator(ptmlListener):
 
         args = "".join(args)
 
-        # dynamic import
-        if "." in __name__:  # in package
-            behaviour_lib_config = "ptml/behaviour_lib"
-        else:
-            behaviour_lib_config = "./behaviour_lib"
-
         import sys
 
-        sys.path.append(behaviour_lib_config)
+        sys.path.append(self.behaviour_lib_path)
+
         exec("from {} import {}".format(name, name))
         #
         tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid()
-        node = None
-        node = eval("{}('{}', {})".format(name, tag, args))
+
+        node = eval(
+            "{}('{}', scene, {})".format(name, tag, args), {"scene": self.scene, **locals()}
+        )
 
         # connect
         self.stack[-1].add_child(node)
-        # print(self.stack)
 
     # Exit a parse tree produced by ptmlParser#action_sign.
     def exitAction_sign(self, ctx: ptmlParser.Action_signContext):
diff --git a/ptml/ptml_test.py b/ptml/ptml_test.py
index b9c8ea1..ba18089 100644
--- a/ptml/ptml_test.py
+++ b/ptml/ptml_test.py
@@ -1,6 +1,7 @@
 import os
 import py_trees as ptree
 
+from scene_utils import control
 from ptmlCompiler import load
 
 
@@ -10,9 +11,12 @@ if __name__ == '__main__':
     
     ptml_path = os.path.join(project_path, 'CoffeeDelivery.ptml')
     behavior_lib_path = os.path.join(project_path, 'behaviour_lib')
+
+    scene = control.Scene(sceneID=0)
     # load
-    bt = load(ptml_path, behavior_lib_path)
+    scene.load_BT(ptml_path, behavior_lib_path)
     # ptree.display.render_dot_tree(bt)
     # build and tick
-    bt = ptree.trees.BehaviourTree(bt)
+    scene.BT = ptree.trees.BehaviourTree(scene.BT)
     # todo: tick this bt
+    print(scene.BT)
\ No newline at end of file
diff --git a/scene_utils/control.py b/scene_utils/control.py
index ce58029..ad6e52f 100644
--- a/scene_utils/control.py
+++ b/scene_utils/control.py
@@ -18,6 +18,7 @@ channel = grpc.insecure_channel(
 stub = GrabSim_pb2_grpc.GrabSimStub(channel)
 
 animation_step = [4, 5, 7, 3, 3]
+loc_offset = [-700, -1400]
 
 
 def init_world(scene_num, mapID):
@@ -25,15 +26,6 @@ def init_world(scene_num, mapID):
     time.sleep(3)  # wait for the map to load
 
 
-def walker_control_generator(walkerID, autowalk, speed, X, Y, Yaw):
-    return GrabSim_pb2.WalkerControls.WControl(
-        id=walkerID,
-        autowalk=autowalk,
-        speed=speed,
-        pose=GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw),
-    )
-
-
 def image_extract(camera_data):
     image = camera_data.images[0]
     return np.frombuffer(image.data, dtype=image.dtype).reshape(
@@ -55,10 +47,10 @@ class Scene:
         collision: str, info: str
     """
 
-    def __init__(self, sceneID):
+    def __init__(self, sceneID=0):
         self.sceneID = sceneID
+        self.use_offset = True
         self.BT = None
-        self.reset()
 
     @property
     def status(self):
@@ -67,7 +59,19 @@ class Scene:
     def reset(self):
         stub.Reset(GrabSim_pb2.ResetParams(scene=self.sceneID))
 
-    def walk_to(self, X, Y, Yaw, velocity, dis_limit):
+    def walker_control_generator(self, walkerID, autowalk, speed, X, Y, Yaw):
+        if self.use_offset:
+            X, Y = X + loc_offset[0], Y + loc_offset[1]
+        return GrabSim_pb2.WalkerControls.WControl(
+            id=walkerID,
+            autowalk=autowalk,
+            speed=speed,
+            pose=GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw),
+        )
+
+    def walk_to(self, X, Y, Yaw, velocity=150, dis_limit=100):
+        if self.use_offset:
+            X, Y = X + loc_offset[0], Y + loc_offset[1]
         stub.Do(
             GrabSim_pb2.Action(
                 scene=self.sceneID,
@@ -77,6 +81,8 @@ class Scene:
         )
 
     def reachable_check(self, X, Y, Yaw):
+        if self.use_offset:
+            X, Y = X + loc_offset[0], Y + loc_offset[1]
         navigation_info = stub.Do(
             GrabSim_pb2.Action(
                 scene=self.sceneID,
@@ -90,6 +96,8 @@ class Scene:
             return True
 
     def add_walker(self, X, Y, Yaw):
+        if self.use_offset:
+            X, Y = X + loc_offset[0], Y + loc_offset[1]
         if self.reachable_check(X, Y, Yaw):
             stub.AddWalker(
                 GrabSim_pb2.WalkerList(
@@ -133,7 +141,9 @@ class Scene:
             )
         )
 
-    def add_object(self, X, Y, Yaw, Z, type):
+    def add_object(self, type, X, Y, Z, Yaw=0):
+        if self.use_offset:
+            X, Y = X + loc_offset[0], Y + loc_offset[1]
         stub.AddObjects(
             GrabSim_pb2.ObjectList(
                 objects=[
@@ -173,29 +183,38 @@ class Scene:
             )
         )
 
-    def get_camera_color(self):
+    def get_camera_color(self, image_only=True):
         camera_data = stub.Capture(
             GrabSim_pb2.CameraList(
                 cameras=[GrabSim_pb2.CameraName.Head_Color], scene=self.sceneID
             )
         )
-        return image_extract(camera_data)
+        if image_only:
+            return image_extract(camera_data)
+        else:
+            return camera_data
 
-    def get_camera_depth(self):
+    def get_camera_depth(self, image_only=True):
         camera_data = stub.Capture(
             GrabSim_pb2.CameraList(
                 cameras=[GrabSim_pb2.CameraName.Head_Depth], scene=self.sceneID
             )
         )
-        return image_extract(camera_data)
+        if image_only:
+            return image_extract(camera_data)
+        else:
+            return camera_data
 
-    def get_camera_segment(self):
+    def get_camera_segment(self, image_only=True):
         camera_data = stub.Capture(
             GrabSim_pb2.CameraList(
                 cameras=[GrabSim_pb2.CameraName.Head_Segment], scene=self.sceneID
             )
         )
-        return image_extract(camera_data)
+        if image_only:
+            return image_extract(camera_data)
+        else:
+            return camera_data
 
     def chat_bubble(self, message):
         stub.ControlRobot(
@@ -220,5 +239,5 @@ class Scene:
     def animation_reset(self):
         stub.ControlRobot(GrabSim_pb2.ControlInfo(scene=self.sceneID, type=0, action=0))
 
-    def load_BT(self, ptml_path):
-        self.BT = ptmlCompiler.load(ptml_path, "ptml/behaviour_lib")
+    def load_BT(self, ptml_path, behaviour_lib_path):
+        self.BT = ptmlCompiler.load(self, ptml_path, behaviour_lib_path)
diff --git a/tasks/AEM.py b/tasks/AEM.py
new file mode 100644
index 0000000..18baed8
--- /dev/null
+++ b/tasks/AEM.py
@@ -0,0 +1,20 @@
+"""
+环境主动探索和记忆
+要求输出探索结果（语义地图）对环境重点信息记忆。生成环境的语义拓扑地图，和不少于10个环境物品的识别和位置记忆，可以是图片或者文字或者格式化数据。
+"""
+
+from scene_utils import control
+
+# control.init_world(1, 3)
+
+scene = control.Scene(sceneID=0)
+
+scene.reset()
+scene.add_object(0, 570, 1600, 85.5)  # type与物品编号对应，具体参考README.md
+scene.add_object(1, 570, 1630, 85.5)
+scene.add_object(2, 570, 1660, 85.5)
+scene.add_object(3, 580, 1680, 85.5)
+
+# todo: 探索并获得语义地图
+
+print(scene.status.objects)  # 全部的物品信息，包括名称、位置等，与获得的语义地图进行对比
diff --git a/tasks/Auto_tasks.py b/tasks/Auto_tasks.py
new file mode 100644
index 0000000..f5e1cf9
--- /dev/null
+++ b/tasks/Auto_tasks.py
@@ -0,0 +1,9 @@
+"""
+在特定环境下，机器人发现目标，可自主完成任务
+1. 打扫地面：地面有垃圾，机器人主动扫地、清理地面垃圾
+2. 收拾桌子：桌子上的污渍，机器人主动擦桌子
+3. 摆椅子：椅子不正，机器人主动摆正椅子
+4. 开灯：室内光线暗，机器人主动打开房屋的灯
+"""
+
+# todo: 通过行为树控制自动任务
diff --git a/tasks/GQA.py b/tasks/GQA.py
new file mode 100644
index 0000000..48a0b3c
--- /dev/null
+++ b/tasks/GQA.py
@@ -0,0 +1,10 @@
+"""
+具身多轮对话
+点餐（order）的对话，咖啡厅服务员可以为客人（NPC）完成点餐基本对话
+场景对话（GQA）结合场景：询问卫生间、附近娱乐场所（数据来源自主定义）
+开始条件：顾客NPC发出点餐指令
+结束条件：顾客NPC发出指令，表示不再需要服务
+"""
+
+# todo: 使用大模型进行对话，获得指令信息，适时结束对话
+# order = {...}
diff --git a/tasks/Multi_tasks.py b/tasks/Multi_tasks.py
new file mode 100644
index 0000000..9ac2b94
--- /dev/null
+++ b/tasks/Multi_tasks.py
@@ -0,0 +1,19 @@
+"""
+人提出请求，机器人完成任务
+1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上
+2. 倒水
+3. 夹点心
+
+具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。
+
+"""
+
+from scene_utils import control
+
+# control.init_world(1, 3)
+
+scene = control.Scene(sceneID=0)
+
+scene.reset()
+
+# todo: 接收点单信息，大模型生成任务规划
diff --git a/tasks/VLM.py b/tasks/VLM.py
new file mode 100644
index 0000000..d9d2af5
--- /dev/null
+++ b/tasks/VLM.py
@@ -0,0 +1,29 @@
+"""
+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 scene_utils import control
+
+# control.init_world(1, 3)
+
+scene = control.Scene(sceneID=0)
+
+scene.reset()
+
+# 空调操作
+scene.walk_to(950, 1260, 90)  # 没法转向？
+# todo: 手臂操作
+time.sleep(5)
+scene.walk_to(947, 1900, 0)
+
+# 物品挪动
+# todo: 视觉导航至目标点，操作手臂至可抓位置
+"""
+scene.grasp(1, your_objectID)
+"""
+# todo: 视觉导航至目标点，找准释放位置
+"""
+scene.release(1)
+"""
diff --git a/tasks/VLN.py b/tasks/VLN.py
new file mode 100644
index 0000000..7c58d49
--- /dev/null
+++ b/tasks/VLN.py
@@ -0,0 +1,32 @@
+"""
+视觉语言导航
+识别顾客（NPC）靠近、打招呼、对话、领位导航到适合人数的空闲餐桌
+开始条件：监测到顾客靠近
+结束条件：完成领位，语音：“请问您想喝点什么？”，并等待下一步指令
+"""
+
+from scene_utils import control
+
+# control.init_world(1, 3)
+
+scene = control.Scene(sceneID=0)
+
+# 实现单顾客领位
+scene.reset()
+scene.add_walker(1085, 2630, 220)
+scene.control_walker([scene.walker_control_generator(0, False, 100, 755, 1900, 180)])
+
+# todo: 监测到顾客靠近，打招呼，对话，识别获取空闲餐桌位置
+# 可以使用scene.chat_bubble(message)函数实现对话
+
+"""
+scene.walk_to(your_free_table_location)
+time.sleep(5)
+scene.control_walker([scene.walker_control_generator(your_free_table_location)])
+"""
+
+reach = True
+if reach:
+    scene.chat_bubble("请问您想喝点什么？")
+
+print(scene.status.walkers)