update
This commit is contained in:
Caiyishuai
parent
4ff46baeba
commit
76d28cad95
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@ -127,6 +127,13 @@ create_sub_task
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{"goal":"On_Coffee_WaterTable"}
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It's quite toasty inside, could you please lower the air conditioning temperature?
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Of course! I'll lower the air conditioning for you.
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create_sub_task
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{"goal":"Low_ACTemperature"}
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It's quite toasty inside, could you please lower the air conditioning temperature?
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Of course! I'll lower the air conditioning for you.
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create_sub_task
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@ -141,4 +148,26 @@ create_sub_task
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Could you please turn on the coffee machine at the bar, and make sure the floor is clean or the tube light is off? I enjoy my coffee in a cozy environment.
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Sure, I'll do that now.
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create_sub_task
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{"goal":"On_Coffee_Bar & IsClean_Floor"}
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{"goal":"On_Coffee_Bar & IsClean_Floor"}
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Turn on the hall light.
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The hall light is already off.
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Turn on the hall light..
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Sure, I'll do that now.
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create_sub_task
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{"goal":"Active(HallLight)"}
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I'm at table three, please bring yogurt and close the curtains. If there's no yogurt, coffee is fine.
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Of course, please wait a moment!
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create_sub_task
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{"goal":"Closed_Curtain & On_Coffee_WaterStation"}
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One NFC Juice, table 3.
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Of course, please wait a moment!
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create_sub_task
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{"goal":"On(MilkDrink,WaterTable)"}
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@ -3,215 +3,219 @@ ordering=out;
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graph [fontname="times-roman"];
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node [fontname="times-roman"];
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edge [fontname="times-roman"];
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"1e5069fc-7b0a-4c62-b977-d395ba059787" -> "197de723-0309-4117-8753-104a17615727";
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||||
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||||
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|
||||
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|
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|
||||
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||||
"d031eccb-ae50-4858-8a7a-5497b13115c8" -> "da5a158c-4fa3-4c9c-945d-0cebf00fcb0c";
|
||||
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|
||||
"95ee1083-2241-4159-8276-38435af7ca69" -> "a770bd44-6eb0-497d-b37c-0dcbd00bb8ad";
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||||
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|
||||
"e7da779f-a9d1-4ea2-a18e-63e56ca338e9" -> "c6b78dd8-30ba-4269-9329-e340b25a252a";
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|
||||
"c6b78dd8-30ba-4269-9329-e340b25a252a" -> "e8cf96b3-0d62-4ce3-9aad-969539878945";
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|
||||
"c6b78dd8-30ba-4269-9329-e340b25a252a" -> "b15a6157-4b95-4419-abbb-406824fa7a6f";
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"2962187a-8739-4609-84bb-de3c1508a44a" -> "0bae648c-b8a4-44e3-87b5-ef9c0da0ddea";
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "a0bc0892-7ea1-4912-9d1b-f4916db8883d";
|
||||
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|
||||
"a0bc0892-7ea1-4912-9d1b-f4916db8883d" -> "883a2964-307c-488c-a62f-233b1e56e6ea";
|
||||
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|
||||
"a0bc0892-7ea1-4912-9d1b-f4916db8883d" -> "109b1756-012d-45ce-ab7a-086c68aae7ff";
|
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|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "28b7de1e-b97f-41b0-9a04-5fc42583fb00";
|
||||
"adb6cab4-ed36-4063-abdc-0cbc97c79dd6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Coffee,WaterStation)", shape=ellipse, style=filled];
|
||||
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|
||||
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|
||||
"28b7de1e-b97f-41b0-9a04-5fc42583fb00" -> "14080774-3393-43a0-b5c6-7a1046d8a531";
|
||||
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|
||||
"14080774-3393-43a0-b5c6-7a1046d8a531" -> "30a1c114-3704-4860-8140-8a5551a64355";
|
||||
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|
||||
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|
||||
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|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "f3671e95-f7b4-4d68-8043-44b2d7edd693";
|
||||
"5bbb7cb2-20ee-4e1d-b50a-2ee452e0f1b1" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"f3671e95-f7b4-4d68-8043-44b2d7edd693" -> "5bbb7cb2-20ee-4e1d-b50a-2ee452e0f1b1";
|
||||
"e96fba49-c75c-4279-8ce1-2500882258ac" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"5bbb7cb2-20ee-4e1d-b50a-2ee452e0f1b1" -> "e96fba49-c75c-4279-8ce1-2500882258ac";
|
||||
"4eb16915-4b5b-4e62-9b0b-4207b0707cde" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
|
||||
"f3671e95-f7b4-4d68-8043-44b2d7edd693" -> "4eb16915-4b5b-4e62-9b0b-4207b0707cde";
|
||||
"68c2d6e5-dbf5-4895-a3dc-5b47363be9b5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(WaterStation)", shape=ellipse, style=filled];
|
||||
"f3671e95-f7b4-4d68-8043-44b2d7edd693" -> "68c2d6e5-dbf5-4895-a3dc-5b47363be9b5";
|
||||
"99978d08-f484-4d1c-be32-775ba2e55676" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"f3671e95-f7b4-4d68-8043-44b2d7edd693" -> "99978d08-f484-4d1c-be32-775ba2e55676";
|
||||
"527435f2-dec1-42df-9001-fa32ab14d163" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"99978d08-f484-4d1c-be32-775ba2e55676" -> "527435f2-dec1-42df-9001-fa32ab14d163";
|
||||
"96dacc79-2729-41d3-be86-e94b4f79294c" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"99978d08-f484-4d1c-be32-775ba2e55676" -> "96dacc79-2729-41d3-be86-e94b4f79294c";
|
||||
"f228d73b-9801-47af-afdc-369316bc3e15" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"96dacc79-2729-41d3-be86-e94b4f79294c" -> "f228d73b-9801-47af-afdc-369316bc3e15";
|
||||
"220fb65a-0543-4c53-b28a-00956aa6ffce" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterStation)", shape=box, style=filled];
|
||||
"f3671e95-f7b4-4d68-8043-44b2d7edd693" -> "220fb65a-0543-4c53-b28a-00956aa6ffce";
|
||||
"1ae1b768-1b46-48ae-a796-caeef2b162fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "1ae1b768-1b46-48ae-a796-caeef2b162fe";
|
||||
"99216891-219a-4149-be73-c235f115f322" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"1ae1b768-1b46-48ae-a796-caeef2b162fe" -> "99216891-219a-4149-be73-c235f115f322";
|
||||
"273d24d7-1afd-4c9f-bdea-37280fa840bb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"99216891-219a-4149-be73-c235f115f322" -> "273d24d7-1afd-4c9f-bdea-37280fa840bb";
|
||||
"f10c7ec0-9dfe-431d-8baa-dc4d914c4484" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
|
||||
"1ae1b768-1b46-48ae-a796-caeef2b162fe" -> "f10c7ec0-9dfe-431d-8baa-dc4d914c4484";
|
||||
"a85b2b6e-7dba-4191-b5cb-c26d416c6492" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"1ae1b768-1b46-48ae-a796-caeef2b162fe" -> "a85b2b6e-7dba-4191-b5cb-c26d416c6492";
|
||||
"b8971386-931a-4155-9826-ea20f8a89a97" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"a85b2b6e-7dba-4191-b5cb-c26d416c6492" -> "b8971386-931a-4155-9826-ea20f8a89a97";
|
||||
"ac06b5f5-a876-421d-ae95-9b60d5d5cea9" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"b8971386-931a-4155-9826-ea20f8a89a97" -> "ac06b5f5-a876-421d-ae95-9b60d5d5cea9";
|
||||
"1a252753-2fb2-4621-85cb-1e238fc35fda" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"ac06b5f5-a876-421d-ae95-9b60d5d5cea9" -> "1a252753-2fb2-4621-85cb-1e238fc35fda";
|
||||
"a71c7339-5392-4913-a16c-384d7a39ac3a" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"1a252753-2fb2-4621-85cb-1e238fc35fda" -> "a71c7339-5392-4913-a16c-384d7a39ac3a";
|
||||
"4f887320-4b23-4b63-9b07-7fc49edf48e4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"a71c7339-5392-4913-a16c-384d7a39ac3a" -> "4f887320-4b23-4b63-9b07-7fc49edf48e4";
|
||||
"f0943e69-71eb-4e0d-9eaa-3c038733584e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(WaterStation)", shape=ellipse, style=filled];
|
||||
"1a252753-2fb2-4621-85cb-1e238fc35fda" -> "f0943e69-71eb-4e0d-9eaa-3c038733584e";
|
||||
"8a911407-d2b8-423c-9c2d-faf01cb815e7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(Curtain,Off)", shape=box, style=filled];
|
||||
"1a252753-2fb2-4621-85cb-1e238fc35fda" -> "8a911407-d2b8-423c-9c2d-faf01cb815e7";
|
||||
"9d8dcd87-add7-42d3-8cc6-76d4cf3153c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"ac06b5f5-a876-421d-ae95-9b60d5d5cea9" -> "9d8dcd87-add7-42d3-8cc6-76d4cf3153c9";
|
||||
"268d484e-cc3f-4c7f-a237-9a4d9cd9c74e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"9d8dcd87-add7-42d3-8cc6-76d4cf3153c9" -> "268d484e-cc3f-4c7f-a237-9a4d9cd9c74e";
|
||||
"21d2e87e-0c4f-43ea-b012-c488ebe6e75d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(WaterStation)", shape=box, style=filled];
|
||||
"9d8dcd87-add7-42d3-8cc6-76d4cf3153c9" -> "21d2e87e-0c4f-43ea-b012-c488ebe6e75d";
|
||||
"65437d51-db0e-4caf-b544-c55c785aef7f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"b8971386-931a-4155-9826-ea20f8a89a97" -> "65437d51-db0e-4caf-b544-c55c785aef7f";
|
||||
"1ea2eb20-3f93-456d-8017-3f51b25f33c4" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"65437d51-db0e-4caf-b544-c55c785aef7f" -> "1ea2eb20-3f93-456d-8017-3f51b25f33c4";
|
||||
"1ea05c1a-3c10-4a50-ae94-303110602275" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"1ea2eb20-3f93-456d-8017-3f51b25f33c4" -> "1ea05c1a-3c10-4a50-ae94-303110602275";
|
||||
"23bab65c-96fb-4249-b199-a3d0fbd1f3da" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(WaterStation)", shape=box, style=filled];
|
||||
"65437d51-db0e-4caf-b544-c55c785aef7f" -> "23bab65c-96fb-4249-b199-a3d0fbd1f3da";
|
||||
"1cdf5ac8-2f88-437d-b7a1-a541c30d037f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"a85b2b6e-7dba-4191-b5cb-c26d416c6492" -> "1cdf5ac8-2f88-437d-b7a1-a541c30d037f";
|
||||
"36329ae8-f16a-484e-8de6-6aca2d22b2c8" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"1cdf5ac8-2f88-437d-b7a1-a541c30d037f" -> "36329ae8-f16a-484e-8de6-6aca2d22b2c8";
|
||||
"e06f3582-48d8-4a9f-b73b-ce101f3485c2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"36329ae8-f16a-484e-8de6-6aca2d22b2c8" -> "e06f3582-48d8-4a9f-b73b-ce101f3485c2";
|
||||
"825dd450-4789-4b25-bae3-378db991dd67" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(WaterStation)", shape=box, style=filled];
|
||||
"1cdf5ac8-2f88-437d-b7a1-a541c30d037f" -> "825dd450-4789-4b25-bae3-378db991dd67";
|
||||
"b1566468-9afd-4dea-80dd-6b1f0aab754f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "b1566468-9afd-4dea-80dd-6b1f0aab754f";
|
||||
"faf3a003-0ea4-4b86-965b-b451df688561" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"b1566468-9afd-4dea-80dd-6b1f0aab754f" -> "faf3a003-0ea4-4b86-965b-b451df688561";
|
||||
"2a0d9c77-ca2f-4263-b9ab-1ba2a125f9d2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"faf3a003-0ea4-4b86-965b-b451df688561" -> "2a0d9c77-ca2f-4263-b9ab-1ba2a125f9d2";
|
||||
"8c749d1c-ad7b-43c0-9bea-adce44157672" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
|
||||
"b1566468-9afd-4dea-80dd-6b1f0aab754f" -> "8c749d1c-ad7b-43c0-9bea-adce44157672";
|
||||
"3876907a-00f4-4efe-823b-e92e43918b65" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"b1566468-9afd-4dea-80dd-6b1f0aab754f" -> "3876907a-00f4-4efe-823b-e92e43918b65";
|
||||
"81c07a18-2d9a-4d8a-87b3-15c6a8d92065" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"3876907a-00f4-4efe-823b-e92e43918b65" -> "81c07a18-2d9a-4d8a-87b3-15c6a8d92065";
|
||||
"feeac380-8b7b-4b3c-8255-10f3e9a14601" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(Curtain,Off)", shape=box, style=filled];
|
||||
"b1566468-9afd-4dea-80dd-6b1f0aab754f" -> "feeac380-8b7b-4b3c-8255-10f3e9a14601";
|
||||
"1f1360af-105c-47fa-b723-6ebdeea1d6d6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "1f1360af-105c-47fa-b723-6ebdeea1d6d6";
|
||||
"0fb03a04-95b9-4e17-b8d2-3a7aab9b00e7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
|
||||
"1f1360af-105c-47fa-b723-6ebdeea1d6d6" -> "0fb03a04-95b9-4e17-b8d2-3a7aab9b00e7";
|
||||
"5db29ce6-95a1-492d-9643-a4164878f4c2" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"1f1360af-105c-47fa-b723-6ebdeea1d6d6" -> "5db29ce6-95a1-492d-9643-a4164878f4c2";
|
||||
"c63bfdf7-c204-4529-b081-47ba24ba78ca" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"5db29ce6-95a1-492d-9643-a4164878f4c2" -> "c63bfdf7-c204-4529-b081-47ba24ba78ca";
|
||||
"821d0e2a-bb5c-4283-ba8f-b8547f57049e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"c63bfdf7-c204-4529-b081-47ba24ba78ca" -> "821d0e2a-bb5c-4283-ba8f-b8547f57049e";
|
||||
"e9445e34-befb-40b3-b4a3-5d99d71f2b57" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"821d0e2a-bb5c-4283-ba8f-b8547f57049e" -> "e9445e34-befb-40b3-b4a3-5d99d71f2b57";
|
||||
"154c51ae-ca4a-466f-840e-75b89c43ca01" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"821d0e2a-bb5c-4283-ba8f-b8547f57049e" -> "154c51ae-ca4a-466f-840e-75b89c43ca01";
|
||||
"981932ca-d4b1-493b-b676-3ddb4763a0b7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"154c51ae-ca4a-466f-840e-75b89c43ca01" -> "981932ca-d4b1-493b-b676-3ddb4763a0b7";
|
||||
"833f05e6-6497-49da-9aeb-fab740a15f94" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"981932ca-d4b1-493b-b676-3ddb4763a0b7" -> "833f05e6-6497-49da-9aeb-fab740a15f94";
|
||||
"b0283618-2b0c-45c9-b9bb-5003c437b88b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
|
||||
"981932ca-d4b1-493b-b676-3ddb4763a0b7" -> "b0283618-2b0c-45c9-b9bb-5003c437b88b";
|
||||
"d4cd39a1-99eb-47e6-85f9-518a6754f48b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
|
||||
"154c51ae-ca4a-466f-840e-75b89c43ca01" -> "d4cd39a1-99eb-47e6-85f9-518a6754f48b";
|
||||
"26f926c9-5874-4fa0-ac5b-162503dd9bd0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"c63bfdf7-c204-4529-b081-47ba24ba78ca" -> "26f926c9-5874-4fa0-ac5b-162503dd9bd0";
|
||||
"91c19ea9-3431-4bbe-b251-ff9629d19631" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"26f926c9-5874-4fa0-ac5b-162503dd9bd0" -> "91c19ea9-3431-4bbe-b251-ff9629d19631";
|
||||
"3c0ae798-1b0d-4242-899d-94419397698f" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"26f926c9-5874-4fa0-ac5b-162503dd9bd0" -> "3c0ae798-1b0d-4242-899d-94419397698f";
|
||||
"f97c2185-778b-49e0-b131-ccc1f53c2c72" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"3c0ae798-1b0d-4242-899d-94419397698f" -> "f97c2185-778b-49e0-b131-ccc1f53c2c72";
|
||||
"1ddd7ef2-39f8-42e9-8905-a546543a3440" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
|
||||
"26f926c9-5874-4fa0-ac5b-162503dd9bd0" -> "1ddd7ef2-39f8-42e9-8905-a546543a3440";
|
||||
"3ee07589-d4bf-4645-ade9-dbd7ca7cb826" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"5db29ce6-95a1-492d-9643-a4164878f4c2" -> "3ee07589-d4bf-4645-ade9-dbd7ca7cb826";
|
||||
"b3c1f6bc-9658-4709-a428-ca0fa0990c86" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"3ee07589-d4bf-4645-ade9-dbd7ca7cb826" -> "b3c1f6bc-9658-4709-a428-ca0fa0990c86";
|
||||
"5f8be45f-c64b-4749-a039-3849c27dc043" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"3ee07589-d4bf-4645-ade9-dbd7ca7cb826" -> "5f8be45f-c64b-4749-a039-3849c27dc043";
|
||||
"58d23ee6-aba1-462f-a862-e21ab73b813c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"5f8be45f-c64b-4749-a039-3849c27dc043" -> "58d23ee6-aba1-462f-a862-e21ab73b813c";
|
||||
"d8dfeb26-6d30-4908-8808-ccf75f578976" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(Curtain,Off)", shape=box, style=filled];
|
||||
"3ee07589-d4bf-4645-ade9-dbd7ca7cb826" -> "d8dfeb26-6d30-4908-8808-ccf75f578976";
|
||||
"166bc111-5ded-44f3-8499-392d36142b07" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "166bc111-5ded-44f3-8499-392d36142b07";
|
||||
"56ed44e8-e89e-4d83-b922-1daabf25d57a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled];
|
||||
"166bc111-5ded-44f3-8499-392d36142b07" -> "56ed44e8-e89e-4d83-b922-1daabf25d57a";
|
||||
"2d410aa9-3d3e-421e-8b91-66d34479d5af" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"166bc111-5ded-44f3-8499-392d36142b07" -> "2d410aa9-3d3e-421e-8b91-66d34479d5af";
|
||||
"8cb9880c-0273-4fcd-badd-1bf9759cbdb7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"2d410aa9-3d3e-421e-8b91-66d34479d5af" -> "8cb9880c-0273-4fcd-badd-1bf9759cbdb7";
|
||||
"0987a73b-d570-4a25-9fe2-b7b10649b6a4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(Curtain,Off)", shape=box, style=filled];
|
||||
"166bc111-5ded-44f3-8499-392d36142b07" -> "0987a73b-d570-4a25-9fe2-b7b10649b6a4";
|
||||
"70855dd2-91e0-4589-8d30-b36df2affd09" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "70855dd2-91e0-4589-8d30-b36df2affd09";
|
||||
"284076f3-7496-4b2a-b047-64ef86844a0e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Coffee)", shape=ellipse, style=filled];
|
||||
"70855dd2-91e0-4589-8d30-b36df2affd09" -> "284076f3-7496-4b2a-b047-64ef86844a0e";
|
||||
"0e81a0ac-bae9-45ed-a49f-249aa0df661a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"70855dd2-91e0-4589-8d30-b36df2affd09" -> "0e81a0ac-bae9-45ed-a49f-249aa0df661a";
|
||||
"dc46c10b-a691-4fca-ad0c-ebebfb954a64" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"0e81a0ac-bae9-45ed-a49f-249aa0df661a" -> "dc46c10b-a691-4fca-ad0c-ebebfb954a64";
|
||||
"16364244-5f0e-4045-9abc-89745628d821" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"0e81a0ac-bae9-45ed-a49f-249aa0df661a" -> "16364244-5f0e-4045-9abc-89745628d821";
|
||||
"67e9ec81-5155-4821-95fd-450d7f8fb4f9" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"0e81a0ac-bae9-45ed-a49f-249aa0df661a" -> "67e9ec81-5155-4821-95fd-450d7f8fb4f9";
|
||||
"8ce5fb12-bad9-4539-8850-ebbe67dfce3a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"67e9ec81-5155-4821-95fd-450d7f8fb4f9" -> "8ce5fb12-bad9-4539-8850-ebbe67dfce3a";
|
||||
"0a75b044-fa7b-4d6a-b2ca-d5debf0c9c9d" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"0e81a0ac-bae9-45ed-a49f-249aa0df661a" -> "0a75b044-fa7b-4d6a-b2ca-d5debf0c9c9d";
|
||||
"cb6d82ac-e380-4bb5-8c1b-46695b81655d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"0a75b044-fa7b-4d6a-b2ca-d5debf0c9c9d" -> "cb6d82ac-e380-4bb5-8c1b-46695b81655d";
|
||||
"728ba1c8-2a36-4bfa-a07e-75976b2a3f86" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Coffee)", shape=box, style=filled];
|
||||
"70855dd2-91e0-4589-8d30-b36df2affd09" -> "728ba1c8-2a36-4bfa-a07e-75976b2a3f86";
|
||||
"0bae8a70-498b-4cf3-afe0-c1caac126cf8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "0bae8a70-498b-4cf3-afe0-c1caac126cf8";
|
||||
"437b3009-5bcb-43c0-ad26-694f95700062" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Coffee)", shape=ellipse, style=filled];
|
||||
"0bae8a70-498b-4cf3-afe0-c1caac126cf8" -> "437b3009-5bcb-43c0-ad26-694f95700062";
|
||||
"5c2c01f7-e903-46fc-933b-efc1b0c50271" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"0bae8a70-498b-4cf3-afe0-c1caac126cf8" -> "5c2c01f7-e903-46fc-933b-efc1b0c50271";
|
||||
"59ec1600-e13e-41b5-ad7d-bee2511b95b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"5c2c01f7-e903-46fc-933b-efc1b0c50271" -> "59ec1600-e13e-41b5-ad7d-bee2511b95b7";
|
||||
"45833a20-5c51-4d45-a321-ef24e77c61e1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(Curtain,Off)", shape=box, style=filled];
|
||||
"0bae8a70-498b-4cf3-afe0-c1caac126cf8" -> "45833a20-5c51-4d45-a321-ef24e77c61e1";
|
||||
"029ae4a1-3d1c-4a89-95c6-01a7db7f1d2a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"28e0a75f-8b1b-4b33-a3bd-bd44460a3b70" -> "029ae4a1-3d1c-4a89-95c6-01a7db7f1d2a";
|
||||
"a6765393-c057-402c-975b-b7589cbf9ebc" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"029ae4a1-3d1c-4a89-95c6-01a7db7f1d2a" -> "a6765393-c057-402c-975b-b7589cbf9ebc";
|
||||
"2a1c18df-e330-4084-b958-6463214f8309" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Coffee)", shape=ellipse, style=filled];
|
||||
"a6765393-c057-402c-975b-b7589cbf9ebc" -> "2a1c18df-e330-4084-b958-6463214f8309";
|
||||
"e81c97e2-6e21-413f-bdac-12640b1fa67e" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"029ae4a1-3d1c-4a89-95c6-01a7db7f1d2a" -> "e81c97e2-6e21-413f-bdac-12640b1fa67e";
|
||||
"953088a0-a93b-4c37-8f89-ee54381f8e48" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"e81c97e2-6e21-413f-bdac-12640b1fa67e" -> "953088a0-a93b-4c37-8f89-ee54381f8e48";
|
||||
"a27d4624-bcb2-44da-8629-0119275323e3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"953088a0-a93b-4c37-8f89-ee54381f8e48" -> "a27d4624-bcb2-44da-8629-0119275323e3";
|
||||
"d38910cb-0353-4239-b95d-c88162e8e723" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"953088a0-a93b-4c37-8f89-ee54381f8e48" -> "d38910cb-0353-4239-b95d-c88162e8e723";
|
||||
"6c0269fa-176b-46c7-a220-4fbcb6992828" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
|
||||
"d38910cb-0353-4239-b95d-c88162e8e723" -> "6c0269fa-176b-46c7-a220-4fbcb6992828";
|
||||
"2d6ad2be-2f45-4082-807e-8acb271ae1d0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"6c0269fa-176b-46c7-a220-4fbcb6992828" -> "2d6ad2be-2f45-4082-807e-8acb271ae1d0";
|
||||
"1b6b5f27-5cc8-4a53-8e7b-f8180eae1b3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"2d6ad2be-2f45-4082-807e-8acb271ae1d0" -> "1b6b5f27-5cc8-4a53-8e7b-f8180eae1b3d";
|
||||
"69e06856-d08b-4ec4-8202-173f9a5256da" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled];
|
||||
"2d6ad2be-2f45-4082-807e-8acb271ae1d0" -> "69e06856-d08b-4ec4-8202-173f9a5256da";
|
||||
"c36e46b6-f9ff-4768-883a-63466dcd624d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
|
||||
"6c0269fa-176b-46c7-a220-4fbcb6992828" -> "c36e46b6-f9ff-4768-883a-63466dcd624d";
|
||||
"78c2f2ca-7663-48ea-9dc7-b1d79b8d323e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
|
||||
"d38910cb-0353-4239-b95d-c88162e8e723" -> "78c2f2ca-7663-48ea-9dc7-b1d79b8d323e";
|
||||
"704a2175-28fb-4534-92e6-51943e648e25" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
|
||||
"e81c97e2-6e21-413f-bdac-12640b1fa67e" -> "704a2175-28fb-4534-92e6-51943e648e25";
|
||||
"851ad383-ce9f-4371-901e-d26fbfe2667d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
|
||||
"704a2175-28fb-4534-92e6-51943e648e25" -> "851ad383-ce9f-4371-901e-d26fbfe2667d";
|
||||
"68ee0e67-ecee-44cb-92a7-4eab44142b92" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
|
||||
"704a2175-28fb-4534-92e6-51943e648e25" -> "68ee0e67-ecee-44cb-92a7-4eab44142b92";
|
||||
"ce293e40-e174-4772-982a-2b8955014ba6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
|
||||
"68ee0e67-ecee-44cb-92a7-4eab44142b92" -> "ce293e40-e174-4772-982a-2b8955014ba6";
|
||||
"26d336f7-967f-4867-83b7-49c91ef69fc9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(Curtain,Off)", shape=box, style=filled];
|
||||
"704a2175-28fb-4534-92e6-51943e648e25" -> "26d336f7-967f-4867-83b7-49c91ef69fc9";
|
||||
}
|
||||
|
|
|
|||
Binary file not shown.
|
Before Width: | Height: | Size: 434 KiB After Width: | Height: | Size: 473 KiB |
File diff suppressed because it is too large
Load Diff
|
Before Width: | Height: | Size: 94 KiB After Width: | Height: | Size: 95 KiB |
|
|
@ -832,7 +832,7 @@ class Scene:
|
|||
return camera_data
|
||||
|
||||
def chat_bubble(self, message):
|
||||
self.stub.ControlRobot(
|
||||
self.stub.ControlRobot( # 到这里暂停，等顾客说完
|
||||
GrabSim_pb2.ControlInfo(
|
||||
scene=self.sceneID, type=0, action=1, content=message #message.strip()
|
||||
)
|
||||
|
|
@ -841,6 +841,7 @@ class Scene:
|
|||
def walker_bubble(self, name, message):
|
||||
talk_content = name + ":" + message
|
||||
self.control_robot_action(0, 3, talk_content)
|
||||
# self.control_robot_action(0, 3, talk_content)
|
||||
|
||||
def customer_say(self, name, sentence, show_bubble=True):
|
||||
if isinstance(name, int):
|
||||
|
|
@ -1258,7 +1259,7 @@ class Scene:
|
|||
# 执行过程: Robot输出"开始(任务名)" -> 按步骤数执行任务 -> Robot输出成功或失败的对话
|
||||
def op_task_execute(self, op_type, obj_id=0, release_pos=[247.0, 520.0, 100.0]):
|
||||
#id = 196 # Glass = 188+x, Plate = 150+x
|
||||
self.control_robot_action(0, 1, "Start " + self.op_dialog[op_type]) # 输出正在执行的任务
|
||||
# self.control_robot_action(0, 1, "Start " + self.op_dialog[op_type]) # 输出正在执行的任务
|
||||
if op_type < 8:
|
||||
if self.show_ui:
|
||||
self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,47 @@
|
|||
"""
|
||||
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。
|
||||
|
||||
"""
|
||||
|
||||
# todo: 接收点单信息，大模型生成任务规划
|
||||
|
||||
from robowaiter.scene.scene import Scene
|
||||
from robowaiter.behavior_lib._base.Behavior import Bahavior
|
||||
class SceneOT(Scene):
|
||||
|
||||
def __init__(self, robot):
|
||||
super().__init__(robot)
|
||||
# 在这里加入场景中发生的事件
|
||||
self.signal_event_list = [
|
||||
(3, self.add_walker, (3, 0, 700)),
|
||||
(1, self.control_walker, (0, False, 100, 60, 520, 0)),
|
||||
(1, self.customer_say, (0, "Turn on the hall light.")),
|
||||
# (5, self.control_walker, (0, False, 100, -250, 480, 0)),
|
||||
]
|
||||
|
||||
|
||||
def _reset(self):
|
||||
# self.add_walkers([[0, 880], [250, 1200]])
|
||||
self.gen_obj_tmp()
|
||||
pass
|
||||
|
||||
|
||||
def _run(self):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
import os
|
||||
from robowaiter.robot.robot import Robot
|
||||
|
||||
robot = Robot()
|
||||
|
||||
# create task
|
||||
task = SceneOT(robot)
|
||||
task.reset()
|
||||
task.run()
|
||||
|
|
@ -0,0 +1,76 @@
|
|||
"""
|
||||
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。
|
||||
|
||||
"""
|
||||
|
||||
# todo: 接收点单信息，大模型生成任务规划
|
||||
|
||||
from robowaiter.scene.scene import Scene
|
||||
from robowaiter.behavior_lib._base.Behavior import Bahavior
|
||||
class SceneOT(Scene):
|
||||
|
||||
def __init__(self, robot):
|
||||
super().__init__(robot)
|
||||
# 在这里加入场景中发生的事件
|
||||
self.signal_event_list = [
|
||||
(3, self.add_walker, (48, 0, 700)),
|
||||
# (1, self.customer_say, (0, "I'm at table three, please bring yogurt and close the curtains. If there's no yogurt, coffee is fine.")),
|
||||
(1, self.control_walkers_and_say, ([[[0, False, 100, 60, 520, 0, "I'm at table three, please bring yogurt and close the curtains. If there's no yogurt, coffee is fine."]]])),
|
||||
# (1, self.control_walker, (0, False, 100, 60, 520, 0)),
|
||||
(4, self.control_walker, (0, False, 50, -250, 480, 0)),
|
||||
]
|
||||
|
||||
|
||||
def _reset(self):
|
||||
# self.add_walkers([[0, 880], [250, 1200]])
|
||||
self.gen_obj_tmp()
|
||||
start_robowaiter = self.default_state["condition_set"]
|
||||
|
||||
all_obj_place = Bahavior.all_object | Bahavior.tables_for_placement | Bahavior.tables_for_guiding
|
||||
start_robowaiter |= {f'Not RobotNear({place})' for place in all_obj_place if place != 'Bar'}
|
||||
start_robowaiter |= {f'Not Holding({obj})' for obj in Bahavior.all_object}
|
||||
start_robowaiter |= {f'Exists({obj})' for obj in Bahavior.all_object if
|
||||
obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
|
||||
# 'Softdrink' 在Table1
|
||||
start_robowaiter |= {f'Not On(Softdrink,{place})' for place in Bahavior.all_place if place != "Table1"}
|
||||
start_robowaiter |= {f'Not On(VacuumCup,{place})' for place in Bahavior.all_place if place != "Table2"}
|
||||
|
||||
# 默认物品都在 Bar 上
|
||||
start_robowaiter |= {f'On({obj},Bar)' for obj in Bahavior.all_object if
|
||||
obj != 'Coffee' and obj != 'Water' and obj != 'Dessert' \
|
||||
and obj != 'Softdrink' and obj != 'VacuumCup'}
|
||||
for place in Bahavior.all_place:
|
||||
if place != "Bar":
|
||||
start_robowaiter |= {f'Not On({obj},{place})' for obj in Bahavior.all_object}
|
||||
# start_robowaiter |= {f'On({obj},{place})' for obj in Bahavior.all_object if
|
||||
# obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
|
||||
|
||||
# 这三样哪里都没有
|
||||
make_obj = {"Coffee", 'Water', 'Dessert'}
|
||||
for place in Bahavior.all_place:
|
||||
start_robowaiter |= {f'Not On({obj},{place})' for obj in make_obj}
|
||||
|
||||
self.state["condition_set"] = start_robowaiter
|
||||
pass
|
||||
|
||||
|
||||
|
||||
def _run(self):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
import os
|
||||
from robowaiter.robot.robot import Robot
|
||||
|
||||
robot = Robot()
|
||||
|
||||
# create task
|
||||
task = SceneOT(robot)
|
||||
task.reset()
|
||||
task.run()
|
||||
|
|
@ -0,0 +1,85 @@
|
|||
"""
|
||||
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。
|
||||
|
||||
"""
|
||||
|
||||
# todo: 接收点单信息，大模型生成任务规划
|
||||
|
||||
from robowaiter.scene.scene import Scene
|
||||
from robowaiter.behavior_lib._base.Behavior import Bahavior\
|
||||
|
||||
class SceneOT(Scene):
|
||||
|
||||
def __init__(self, robot):
|
||||
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", "It's quite toasty inside, could you please lower the air conditioning temperature?")),
|
||||
(3, self.add_walker, (48, 0, 700)), #14
|
||||
(1, self.control_walkers_and_say, ([[[0, False, 100, 60, 520, 0, "One NFC Juice, table 3."]]])),
|
||||
(1, self.control_walker, (0, False, 50, -250, 480, 0)),
|
||||
]
|
||||
|
||||
def _reset(self):
|
||||
# self.add_walkers([[0, 880], [250, 1200]])
|
||||
self.gen_obj_tmp()
|
||||
pass
|
||||
|
||||
|
||||
def _run(self):
|
||||
pass
|
||||
|
||||
# def _reset(self):
|
||||
# # self.add_walkers([[0, 880], [250, 1200]])
|
||||
# # self.gen_obj_tmp()
|
||||
# self.gen_obj()
|
||||
#
|
||||
# start_robowaiter = self.default_state["condition_set"]
|
||||
#
|
||||
# all_obj_place = Bahavior.all_object | Bahavior.tables_for_placement | Bahavior.tables_for_guiding
|
||||
# start_robowaiter |= {f'Not RobotNear({place})' for place in all_obj_place if place != 'Bar'}
|
||||
# start_robowaiter |= {f'Not Holding({obj})' for obj in Bahavior.all_object}
|
||||
# start_robowaiter |= {f'Exists({obj})' for obj in Bahavior.all_object if
|
||||
# obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
|
||||
# # 'Softdrink' 在Table1
|
||||
# start_robowaiter |= {f'Not On(Softdrink,{place})' for place in Bahavior.all_place if place != "Table1"}
|
||||
# start_robowaiter |= {f'Not On(VacuumCup,{place})' for place in Bahavior.all_place if place != "Table2"}
|
||||
#
|
||||
# # 默认物品都在 Bar 上
|
||||
# start_robowaiter |= {f'On({obj},Bar)' for obj in Bahavior.all_object if
|
||||
# obj != 'Coffee' and obj != 'Water' and obj != 'Dessert' \
|
||||
# and obj != 'Softdrink' and obj != 'VacuumCup'}
|
||||
# for place in Bahavior.all_place:
|
||||
# if place != "Bar":
|
||||
# start_robowaiter |= {f'Not On({obj},{place})' for obj in Bahavior.all_object}
|
||||
# # start_robowaiter |= {f'On({obj},{place})' for obj in Bahavior.all_object if
|
||||
# # obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
|
||||
#
|
||||
# # 这三样哪里都没有
|
||||
# make_obj = {"Coffee", 'Water', 'Dessert'}
|
||||
# for place in Bahavior.all_place:
|
||||
# start_robowaiter |= {f'Not On({obj},{place})' for obj in make_obj}
|
||||
#
|
||||
# self.state["condition_set"] = start_robowaiter
|
||||
# pass
|
||||
#
|
||||
#
|
||||
# def _run(self):
|
||||
# pass
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
import os
|
||||
from robowaiter.robot.robot import Robot
|
||||
|
||||
robot = Robot()
|
||||
|
||||
# create task
|
||||
task = SceneOT(robot)
|
||||
task.reset()
|
||||
task.run()
|
||||
Loading…
Reference in New Issue