diff --git a/robowaiter/llm_client/data/fix_questions_en.txt b/robowaiter/llm_client/data/fix_questions_en.txt index bc1b2cc..b70ff3b 100644 --- a/robowaiter/llm_client/data/fix_questions_en.txt +++ b/robowaiter/llm_client/data/fix_questions_en.txt @@ -127,6 +127,13 @@ create_sub_task {"goal":"On_Coffee_WaterTable"} +It's quite toasty inside, could you please lower the air conditioning temperature? +Of course! I'll lower the air conditioning for you. +create_sub_task +{"goal":"Low_ACTemperature"} + + + It's quite toasty inside, could you please lower the air conditioning temperature? Of course! I'll lower the air conditioning for you. create_sub_task @@ -141,4 +148,26 @@ create_sub_task 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. Sure, I'll do that now. create_sub_task -{"goal":"On_Coffee_Bar & IsClean_Floor"} \ No newline at end of file +{"goal":"On_Coffee_Bar & IsClean_Floor"} + + + +Turn on the hall light. +The hall light is already off. + +Turn on the hall light.. +Sure, I'll do that now. +create_sub_task +{"goal":"Active(HallLight)"} + + +I'm at table three, please bring yogurt and close the curtains. If there's no yogurt, coffee is fine. +Of course, please wait a moment! +create_sub_task +{"goal":"Closed_Curtain & On_Coffee_WaterStation"} + + +One NFC Juice, table 3. +Of course, please wait a moment! +create_sub_task +{"goal":"On(MilkDrink,WaterTable)"} diff --git a/robowaiter/scene/outputs/expanded_bt.dot b/robowaiter/scene/outputs/expanded_bt.dot index 268112a..81195f4 100644 --- a/robowaiter/scene/outputs/expanded_bt.dot +++ b/robowaiter/scene/outputs/expanded_bt.dot @@ -3,215 +3,219 @@ ordering=out; graph [fontname="times-roman"]; node [fontname="times-roman"]; edge [fontname="times-roman"]; -"e7da779f-a9d1-4ea2-a18e-63e56ca338e9" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; -"1e2a0b6b-4288-4389-957c-306c5a560e6b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e7da779f-a9d1-4ea2-a18e-63e56ca338e9" -> "1e2a0b6b-4288-4389-957c-306c5a560e6b"; -"7010af96-7b1e-4a55-bb9d-a8863153e00f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Coffee,Bar)", shape=ellipse, style=filled]; -"1e2a0b6b-4288-4389-957c-306c5a560e6b" -> "7010af96-7b1e-4a55-bb9d-a8863153e00f"; -"1ba32e8e-0e98-4902-91ec-3648eaa50d45" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; -"1e2a0b6b-4288-4389-957c-306c5a560e6b" -> "1ba32e8e-0e98-4902-91ec-3648eaa50d45"; -"b5b9fe39-f1b1-43ad-b7c1-1b7e6194a97e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e7da779f-a9d1-4ea2-a18e-63e56ca338e9" -> "b5b9fe39-f1b1-43ad-b7c1-1b7e6194a97e"; -"eb8a2353-a0cd-481b-9c17-a0c73790fa1f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Coffee,Bar)", shape=ellipse, style=filled]; -"b5b9fe39-f1b1-43ad-b7c1-1b7e6194a97e" -> "eb8a2353-a0cd-481b-9c17-a0c73790fa1f"; -"5bd34e32-3f52-458a-ab56-bac99d415c1b" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; -"b5b9fe39-f1b1-43ad-b7c1-1b7e6194a97e" -> "5bd34e32-3f52-458a-ab56-bac99d415c1b"; -"02d1da2f-c165-4cbf-b85d-979e6baf81ad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; -"5bd34e32-3f52-458a-ab56-bac99d415c1b" -> "02d1da2f-c165-4cbf-b85d-979e6baf81ad"; -"ae6279bd-a506-430b-8111-b2c68e1bbbfe" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; -"b5b9fe39-f1b1-43ad-b7c1-1b7e6194a97e" -> "ae6279bd-a506-430b-8111-b2c68e1bbbfe"; -"6238e9d2-954e-4b53-8c37-3753b53a7bc4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"ae6279bd-a506-430b-8111-b2c68e1bbbfe" -> "6238e9d2-954e-4b53-8c37-3753b53a7bc4"; -"47ede20b-c5ea-440d-aa56-b936c2676432" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"6238e9d2-954e-4b53-8c37-3753b53a7bc4" -> "47ede20b-c5ea-440d-aa56-b936c2676432"; -"83b1e111-981f-4e97-812b-20221e694c5d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Floor)", shape=box, style=filled]; -"6238e9d2-954e-4b53-8c37-3753b53a7bc4" -> "83b1e111-981f-4e97-812b-20221e694c5d"; -"a87541ad-f51a-4a13-9797-a1c95f3b2b43" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"ae6279bd-a506-430b-8111-b2c68e1bbbfe" -> "a87541ad-f51a-4a13-9797-a1c95f3b2b43"; -"5d40b034-c1ec-4a22-85bd-45c9eed3c4a2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e7da779f-a9d1-4ea2-a18e-63e56ca338e9" -> "5d40b034-c1ec-4a22-85bd-45c9eed3c4a2"; -"56c3b2d3-5084-4a88-9227-061c617b29a9" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; -"5d40b034-c1ec-4a22-85bd-45c9eed3c4a2" -> "56c3b2d3-5084-4a88-9227-061c617b29a9"; -"4e56b35d-a5d3-4d06-9794-5919d45b46bf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"56c3b2d3-5084-4a88-9227-061c617b29a9" -> "4e56b35d-a5d3-4d06-9794-5919d45b46bf"; -"5f672172-805f-4cf5-81f8-ebfa453e6ff4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"5d40b034-c1ec-4a22-85bd-45c9eed3c4a2" -> "5f672172-805f-4cf5-81f8-ebfa453e6ff4"; -"a4b46578-64f9-4ebc-9cdf-17f62d40f85f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Bar)", shape=ellipse, style=filled]; -"5d40b034-c1ec-4a22-85bd-45c9eed3c4a2" -> "a4b46578-64f9-4ebc-9cdf-17f62d40f85f"; -"a5e48f2b-1aa9-473b-972c-b0268635a957" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; -"5d40b034-c1ec-4a22-85bd-45c9eed3c4a2" -> "a5e48f2b-1aa9-473b-972c-b0268635a957"; -"64186ecb-3edb-4f14-8aaf-b6d6fbf5a5e3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; -"a5e48f2b-1aa9-473b-972c-b0268635a957" -> "64186ecb-3edb-4f14-8aaf-b6d6fbf5a5e3"; -"96944431-7e07-4508-b2d4-e0bef17e3014" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; -"a5e48f2b-1aa9-473b-972c-b0268635a957" -> "96944431-7e07-4508-b2d4-e0bef17e3014"; -"1be00f18-85a6-41e0-b0ac-30f5cc18e2f1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; -"96944431-7e07-4508-b2d4-e0bef17e3014" -> "1be00f18-85a6-41e0-b0ac-30f5cc18e2f1"; -"a38952dd-19f2-4fce-bc53-275457fc3880" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"5d40b034-c1ec-4a22-85bd-45c9eed3c4a2" -> "a38952dd-19f2-4fce-bc53-275457fc3880"; -"492cd28c-c911-4b43-b76b-05b132b678c8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e7da779f-a9d1-4ea2-a18e-63e56ca338e9" -> "492cd28c-c911-4b43-b76b-05b132b678c8"; -"0fc5cfa0-581d-477f-94db-0b59a7486e2c" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; -"492cd28c-c911-4b43-b76b-05b132b678c8" -> "0fc5cfa0-581d-477f-94db-0b59a7486e2c"; -"0efe2b58-8f67-4c86-a3d3-6efab979732e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"0fc5cfa0-581d-477f-94db-0b59a7486e2c" -> "0efe2b58-8f67-4c86-a3d3-6efab979732e"; -"1031d9dc-ce1f-4cf2-834b-2f8310c90841" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"492cd28c-c911-4b43-b76b-05b132b678c8" -> "1031d9dc-ce1f-4cf2-834b-2f8310c90841"; -"957b9317-3936-4e4d-b696-cf261767d538" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; -"492cd28c-c911-4b43-b76b-05b132b678c8" -> "957b9317-3936-4e4d-b696-cf261767d538"; -"b50ff510-1c46-4831-8b8f-8557af303803" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; -"957b9317-3936-4e4d-b696-cf261767d538" -> "b50ff510-1c46-4831-8b8f-8557af303803"; -"6dd65470-326d-4ed0-ada6-7db0bed1ebfa" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; -"957b9317-3936-4e4d-b696-cf261767d538" -> "6dd65470-326d-4ed0-ada6-7db0bed1ebfa"; -"1077165e-13dd-4810-ab5f-5f66a12956e9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; -"6dd65470-326d-4ed0-ada6-7db0bed1ebfa" -> "1077165e-13dd-4810-ab5f-5f66a12956e9"; -"c71c4235-68a2-4605-b5d3-75d985b7013e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled]; -"492cd28c-c911-4b43-b76b-05b132b678c8" -> "c71c4235-68a2-4605-b5d3-75d985b7013e"; -"87954791-512b-43e5-b5a8-f97167fba5b2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"e7da779f-a9d1-4ea2-a18e-63e56ca338e9" -> "87954791-512b-43e5-b5a8-f97167fba5b2"; -"c3b1de68-72e9-42fe-941e-87ac931302e3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="RobotNear(Coffee)", shape=ellipse, style=filled]; -"87954791-512b-43e5-b5a8-f97167fba5b2" -> "c3b1de68-72e9-42fe-941e-87ac931302e3"; -"72370732-566d-47d8-90a2-75ce16d4eb5f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; -"87954791-512b-43e5-b5a8-f97167fba5b2" -> "72370732-566d-47d8-90a2-75ce16d4eb5f"; -"def57bda-befb-43aa-8b16-1110434bbc64" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; -"72370732-566d-47d8-90a2-75ce16d4eb5f" -> "def57bda-befb-43aa-8b16-1110434bbc64"; -"19dd70c9-c833-4d50-9a3b-96c86957b582" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"def57bda-befb-43aa-8b16-1110434bbc64" -> "19dd70c9-c833-4d50-9a3b-96c86957b582"; -"93958eaa-2919-47a5-9513-b11a50d28a2d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; -"19dd70c9-c833-4d50-9a3b-96c86957b582" -> "93958eaa-2919-47a5-9513-b11a50d28a2d"; -"3c3ceb0d-802d-4ca7-bbd6-f9b10e7f2785" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; -"19dd70c9-c833-4d50-9a3b-96c86957b582" -> "3c3ceb0d-802d-4ca7-bbd6-f9b10e7f2785"; -"781a4aab-c3b9-4d96-8e75-b97c2b46f424" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"3c3ceb0d-802d-4ca7-bbd6-f9b10e7f2785" -> "781a4aab-c3b9-4d96-8e75-b97c2b46f424"; -"f3989f6b-5c19-4e73-98de-dbc4c93be241" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"781a4aab-c3b9-4d96-8e75-b97c2b46f424" -> "f3989f6b-5c19-4e73-98de-dbc4c93be241"; -"bddb05e8-751b-4cb8-b420-e27a9bbcb4cc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled]; -"781a4aab-c3b9-4d96-8e75-b97c2b46f424" -> "bddb05e8-751b-4cb8-b420-e27a9bbcb4cc"; -"c65ac825-9876-42be-b16f-314b42c28ab8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"3c3ceb0d-802d-4ca7-bbd6-f9b10e7f2785" -> "c65ac825-9876-42be-b16f-314b42c28ab8"; -"2d40b708-4a88-4aaf-9c68-adda7c6a94f1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"def57bda-befb-43aa-8b16-1110434bbc64" -> "2d40b708-4a88-4aaf-9c68-adda7c6a94f1"; -"bb13337c-bc92-46ab-98f6-e96e8b12629e" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; -"2d40b708-4a88-4aaf-9c68-adda7c6a94f1" -> "bb13337c-bc92-46ab-98f6-e96e8b12629e"; -"ec44231e-3066-499b-b2b8-9f72a4246b4f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; -"bb13337c-bc92-46ab-98f6-e96e8b12629e" -> "ec44231e-3066-499b-b2b8-9f72a4246b4f"; -"b3bc744f-75a4-4611-8c6e-aadbb795bd23" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"2d40b708-4a88-4aaf-9c68-adda7c6a94f1" -> "b3bc744f-75a4-4611-8c6e-aadbb795bd23"; -"e52a9db5-9f3b-46b4-9c49-0b7f56d9329c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled]; -"2d40b708-4a88-4aaf-9c68-adda7c6a94f1" -> "e52a9db5-9f3b-46b4-9c49-0b7f56d9329c"; -"de45fdb9-4749-4006-9a93-8bbc0642efa3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"72370732-566d-47d8-90a2-75ce16d4eb5f" -> "de45fdb9-4749-4006-9a93-8bbc0642efa3"; -"9a1f5d2a-f787-485c-bfd3-7594ef86131b" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; -"de45fdb9-4749-4006-9a93-8bbc0642efa3" -> "9a1f5d2a-f787-485c-bfd3-7594ef86131b"; -"6a6ce3b0-1794-4c61-9655-e6c92f44476c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; -"9a1f5d2a-f787-485c-bfd3-7594ef86131b" -> "6a6ce3b0-1794-4c61-9655-e6c92f44476c"; -"39b90de8-4a41-45d5-b06d-85e83e0cf4d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"de45fdb9-4749-4006-9a93-8bbc0642efa3" -> "39b90de8-4a41-45d5-b06d-85e83e0cf4d4"; 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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() diff --git a/tasks_no_ui/DemoTest_0905/Medium.py b/tasks_no_ui/DemoTest_0905/Medium.py new file mode 100644 index 0000000..813a1b3 --- /dev/null +++ b/tasks_no_ui/DemoTest_0905/Medium.py @@ -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()