From 7c3912581907a95945422d1dc2693bdfd35f41dc Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Mon, 20 Nov 2023 00:01:33 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E4=B8=A4=E4=B8=AA?= =?UTF-8?q?=20VLM=20=E5=9C=BA=E6=99=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/behavior_lib/_base/Behavior.py | 11 ++ robowaiter/behavior_lib/act/PutDown.py | 6 + robowaiter/behavior_lib/act/Turn.py | 6 +- robowaiter/llm_client/data/fix_questions.txt | 13 ++ .../tasks/CafeDailyOperations/VLN_all.py | 5 +- .../VLN_greet_and_order.py | 116 +++++++------- robowaiter/scene/tasks/VLM/VLM_1_order.py | 45 ++++++ robowaiter/scene/tasks/VLM/VLM_2_AC.py | 43 ++++++ robowaiter/scene/tasks/VLM/VLM_AC.py | 142 ++++++++++++++++++ robowaiter/scene/tasks/VLM/VLM_order.py | 25 +-- 10 files changed, 336 insertions(+), 76 deletions(-) create mode 100644 robowaiter/scene/tasks/VLM/VLM_1_order.py create mode 100644 robowaiter/scene/tasks/VLM/VLM_2_AC.py create mode 100644 robowaiter/scene/tasks/VLM/VLM_AC.py diff --git a/robowaiter/behavior_lib/_base/Behavior.py b/robowaiter/behavior_lib/_base/Behavior.py index e23ab17..d070cba 100644 --- a/robowaiter/behavior_lib/_base/Behavior.py +++ b/robowaiter/behavior_lib/_base/Behavior.py @@ -30,6 +30,17 @@ class Bahavior(ptree.behaviour.Behaviour): # all_object = set() # all_place=set() + num_of_obj_on_place={ + 'Bar': 0, # (247.0, 520.0, 100.0) + 'Bar2': 0, + 'WaterTable': 0, + 'CoffeeTable': 0, + 'Table1': 0, + 'Table2': 0, + 'Table3': 0, + 'BrightTable6': 0, + } + place_xyz_dic={ 'Bar': (247.0, 520.0, 100.0), #(247.0, 520.0, 100.0) 'Bar2': (240.0, 40.0, 100.0), diff --git a/robowaiter/behavior_lib/act/PutDown.py b/robowaiter/behavior_lib/act/PutDown.py index d9a5770..de16e93 100644 --- a/robowaiter/behavior_lib/act/PutDown.py +++ b/robowaiter/behavior_lib/act/PutDown.py @@ -33,6 +33,12 @@ class PutDown(Act): release_pos = list(Act.place_xyz_dic[self.target_place]) # # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 70.0], 水杯桌:[-70.0, 500.0, 107] # # 桌子2:[-55.0, 0.0, 107],桌子3:[-55.0, 150.0, 107] + + if Act.num_of_obj_on_place[self.target_place]>=1: + release_pos[1] += 25 + + Act.num_of_obj_on_place[self.target_place]+=1 + self.scene.move_task_area(op_type, release_pos=release_pos) self.scene.op_task_execute(op_type, release_pos=release_pos) diff --git a/robowaiter/behavior_lib/act/Turn.py b/robowaiter/behavior_lib/act/Turn.py index cc14882..c8eb06e 100644 --- a/robowaiter/behavior_lib/act/Turn.py +++ b/robowaiter/behavior_lib/act/Turn.py @@ -61,13 +61,13 @@ class Turn(Act): info["add"] = {f'Is({arg[0]},Off)'} info["del_set"] = {f'Is({arg[0]},On)'} elif arg[0]=='ACTemperature': - info["pre"] = {f'Holding(Nothing)'} + info["pre"] = {f'Holding(Nothing)',f'Is(AC,On)'} if arg[1]=="Up": - info["pre"] |= {f'Is({arg[0]},Down)'} + # info["pre"] |= {f'Is({arg[0]},Down)'} info["add"] = {f'Is({arg[0]},Up)'} info["del_set"] = {f'Is({arg[0]},Down)'} elif arg[1]=="Down": - info["pre"] |= {f'Is({arg[0]},Up)'} + # info["pre"] |= {f'Is({arg[0]},Up)'} info["add"] = {f'Is({arg[0]},Down)'} info["del_set"] = {f'Is({arg[0]},Up)'} return info diff --git a/robowaiter/llm_client/data/fix_questions.txt b/robowaiter/llm_client/data/fix_questions.txt index 2a5ee2a..d6aa028 100644 --- a/robowaiter/llm_client/data/fix_questions.txt +++ b/robowaiter/llm_client/data/fix_questions.txt @@ -101,3 +101,16 @@ create_sub_task 洗手间在这附近 get_object_info {"obj":"洗手间"} + + + +给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。 +好的，请稍等。 +create_sub_task +{"goal":"On(BottledDrink,WaterTable),On(Yogurt,WaterTable)"} + + +好热呀，想开空调，想要温度调低点！ +抱歉，我马上去开空调并调低空调温度。 +create_sub_task +{"goal":"Is(ACTemperature,Down)"} diff --git a/robowaiter/scene/tasks/CafeDailyOperations/VLN_all.py b/robowaiter/scene/tasks/CafeDailyOperations/VLN_all.py index 4d51a31..fafa549 100644 --- a/robowaiter/scene/tasks/CafeDailyOperations/VLN_all.py +++ b/robowaiter/scene/tasks/CafeDailyOperations/VLN_all.py @@ -41,10 +41,9 @@ class SceneVLM(Scene): (8, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), # 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 - (2, self.customer_say, (1, "来杯卡布奇诺吧。")), # # 场景3：有位女士要杯水和冰红茶 - (0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])), + (30 ,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])), (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_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])), @@ -60,7 +59,7 @@ class SceneVLM(Scene): (0, self.control_walker, (9, False, 100, 100, 760, 180)), (0, self.control_walker, (9, True, 100, 0, 0, 180)), # # ### 增加场景，孩子说热要开空调 或者9号随机游走和说 - (90, self.customer_say, (6, "谢谢！")), #倒水+取放酸奶 90s + (90, self.customer_say, (6, "谢谢！不用了。")), #倒水+取放酸奶 90s diff --git a/robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py b/robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py index e097c7c..c1ae3d3 100644 --- a/robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py +++ b/robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py @@ -34,33 +34,33 @@ class SceneVLM(Scene): # # 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 + (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！")), - # (8, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), # 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 - # (2, self.customer_say, (1, "来杯卡布奇诺吧。")), + (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！")), + (8, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), # 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 + (2, self.customer_say, (1, "来杯卡布奇诺吧。")), # # 场景3：有位女士要杯水和冰红茶 - # (3, self.add_walker, (5, 230, 1200)), + # (30, self.add_walker, (5, 230, 1200)), # (0, self.add_walker, (26, -30, -200, -90)), # (0, self.add_walker, (10, -80, -180, -45)), # # # # 上述准备 - # # (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135), - # # (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135), - # # (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走 - # (0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])), - # (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_walker, (31, 60, 600, -90)), # 女红色排队 7号 - # # (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号 - # # (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号 - # # (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5 - # (0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])), + # (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135), + # (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135), + # (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走 + (0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])), + (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_walker, (31, 60, 600, -90)), # 女红色排队 7号 + # (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号 + # (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号 + # (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5 + (0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])), # # # (5, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问 # # (15, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 @@ -104,44 +104,44 @@ class SceneVLM(Scene): - # # 场景5：三人排队点单，一人要冰红茶，一个要点心，一个没座位了赠送保温杯 - (3, 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)), # 生成他妈妈 - (0, self.add_walker, (31, 280, 1200, -45)), # # 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 - # # 场景6：大胖男点了外卖，离开啦 - # (9, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 0, "给我来份午餐套餐。"]]])), #原来写了26s - (0, self.animation_reset,()), #重置任务 - # (6, self.customer_say, (8, "打包吧，快点！")), - # (2, self.control_walker, (9, False, 100, 60, 620, -90)), # 男灰黑色排队往前走一步 - # # (100, self.customer_say, (8, "谢啦，我赶时间！")), #100这个时间很合适 - # (2, self.control_walker, (8, False, 250, 20, 520, -90)), # 大胖男着急得离开啦 - # (2, self.control_walker, (8, False, 250, 240, -150, -90)), - (5, self.remove_walkers, ([[0,7,8]])), - # (2, self.control_walker, (6, False, 100, 60, 520, 0)), # 9号变7号 男灰黑色排队往前,轮到他 - - - # 场景7：最后排队那个随机游走 9号变为6号，随机游走。 - # 机器人自主发现任务，走一圈去擦桌子/拖地，碰到灰色男问好，灰色男说“太阳大，要关窗帘和空调调低” - # 开了空调 - (2, 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！")), - # (10, 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 - (3, 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。"]]])), - (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "不用了。"]]])), + # # # 场景5：三人排队点单，一人要冰红茶，一个要点心，一个没座位了赠送保温杯 + # (3, 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)), # 生成他妈妈 + # (0, self.add_walker, (31, 280, 1200, -45)), # # 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 + # # # 场景6：大胖男点了外卖，离开啦 + # # (9, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 0, "给我来份午餐套餐。"]]])), #原来写了26s + # (0, self.animation_reset,()), #重置任务 + # # (6, self.customer_say, (8, "打包吧，快点！")), + # # (2, self.control_walker, (9, False, 100, 60, 620, -90)), # 男灰黑色排队往前走一步 + # # # (100, self.customer_say, (8, "谢啦，我赶时间！")), #100这个时间很合适 + # # (2, self.control_walker, (8, False, 250, 20, 520, -90)), # 大胖男着急得离开啦 + # # (2, self.control_walker, (8, False, 250, 240, -150, -90)), + # (5, self.remove_walkers, ([[0,7,8]])), + # # (2, self.control_walker, (6, False, 100, 60, 520, 0)), # 9号变7号 男灰黑色排队往前,轮到他 + # + # + # # 场景7：最后排队那个随机游走 9号变为6号，随机游走。 + # # 机器人自主发现任务，走一圈去擦桌子/拖地，碰到灰色男问好，灰色男说“太阳大，要关窗帘和空调调低” + # # 开了空调 + # (2, 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！")), + # # (10, 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 + # (3, 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。"]]])), + # (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "不用了。"]]])), diff --git a/robowaiter/scene/tasks/VLM/VLM_1_order.py b/robowaiter/scene/tasks/VLM/VLM_1_order.py new file mode 100644 index 0000000..569e8dd --- /dev/null +++ b/robowaiter/scene/tasks/VLM/VLM_1_order.py @@ -0,0 +1,45 @@ +""" +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.signal_event_list = [ + (3, self.add_walker, (20,0,700)), + (1, self.control_walker, (6, False,100, 60, 520,0)), + (3, self.customer_say, (6, "给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。")), + (5, self.control_walker, (6, False, 100, -250, 480, 0)), + ] + + def _reset(self): + self.gen_obj() + + self.add_walkers([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]]) + self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True) + + pass + + def _run(self, op_type=10): + + pass + + def _step(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneVLM(robot) + task.reset() + task.run() diff --git a/robowaiter/scene/tasks/VLM/VLM_2_AC.py b/robowaiter/scene/tasks/VLM/VLM_2_AC.py new file mode 100644 index 0000000..fbd748d --- /dev/null +++ b/robowaiter/scene/tasks/VLM/VLM_2_AC.py @@ -0,0 +1,43 @@ +""" +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.signal_event_list = [ + (3, self.add_walker, (0,0,700)), + (1, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw] + (3, self.customer_say, (6, "好热呀，想开空调，想要温度调低点！")), + (5, self.control_walker, (6, False, 200, 60, 80, 0)), + (-1, self.customer_say, (6, "谢谢！这下凉快了！")), #(-100,600) + ] + + def _reset(self): + self.gen_obj() + self.add_walkers([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]]) + self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True) + pass + + def _run(self, op_type=10): + pass + + def _step(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneVLM(robot) + task.reset() + task.run() diff --git a/robowaiter/scene/tasks/VLM/VLM_AC.py b/robowaiter/scene/tasks/VLM/VLM_AC.py new file mode 100644 index 0000000..94d2bfe --- /dev/null +++ b/robowaiter/scene/tasks/VLM/VLM_AC.py @@ -0,0 +1,142 @@ +""" +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.signal_event_list = [ + (3, self.add_walker, (0,0,700)), + (1, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw] + (3, self.customer_say, (6, "好热呀，想开空调，想要温度调低点！")), + (5, self.control_walker, (6, False, 200, 60, 80, 0)), + (-1, self.customer_say, (6, "谢谢！这下凉快了！")), #(-100,600) + + # 有人提出要开空调和关窗帘 + # bar (60, 520) + # (28, self.add_walker, (0, 0, 0)), + # (33, self.control_walker, (7, False, 100, 60, 520, 180)), + # (35, self.customer_say, (7,"好热呀！太阳也好大！")), + # (45, self.control_walkers_and_say, ([[[7, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])), + + # (3, self.add_walker, (0, 0, 0)), + # (1, self.control_walker, (5, False, 100, 60, 520, 180)), + # (1, self.customer_say, (5,"好热呀！太阳也好大！")), + # (-1, self.control_walkers_and_say, ([[[5, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])), + ] + + def _reset(self): + self.gen_obj() + # self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)', + # 'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)', + # 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + # 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} + # # 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220) + self.add_walkers([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]]) + # [3,1, 880] 1号桌旁边小女孩 + # [31,250, 1200] 最角落QuietTable1女红色 + # [6,-55, 750] 1号桌附近小男孩 + # [10,70, -200] 另一边角落 QuietTable2 男黄色 + # [27,-290, 400, 180] 中间 BrightTable4 女灰 + # [26, 60,-320,90] 另一边角落 BrightTable5 红胖男 + self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True) + + # 0-3男孩 4-7女孩 8-26男 + # 3男孩 31女红 32女灰 10黄色衣服男瘦 9男灰瘦 26红胖男 + # 17 是员工 police + # [0, -150,180] + + + # self.control_walkers(walker_loc=[[-55, 750]],is_autowalk = False) + # 在场景中随机增加一堆行人。 + # walker_loc = [[-55, 750], [70, -200], [250, 1200], [0, 880]] + # controls = [] + # for i in range(len(s.walkers)): + # loc = walker_loc[i] + # is_autowalk = False + # pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180) + # controls.append(GrabSim_pb2.WalkerControls.WControl(id=i, autowalk=is_autowalk, speed=200, pose=pose)) + # scene = sim_client.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=scene_id)) + + # self.gen_obj(type=5) + # self.gen_obj(type=9) + # self.op_task_execute(op_type=16, obj_id=0) + # self.move_task_area(op_type=4) + pass + + def _run(self, op_type=10): + # 共17个操作 + # "制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子", # 1-7 + # "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘", # 8-12 + # "调整空调开关","调高空调温度","调低空调温度", # 13-15 + # "抓握物体","放置物体" # 16-17 + # + # self.gen_obj() + # if op_type <=15: + # self.move_task_area(op_type) + # self.op_task_execute(op_type) + # if op_type == 16: # 16: 抓操作需要传入物品id + # self.move_task_area(op_type, obj_id=0) + # self.op_task_execute(op_type, obj_id=0) + # # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 100.0], 水杯桌:[-70.0, 500.0, 107] + # # 桌子1:[-55.0, 0.0, 107],抹布桌:[340.0, 900.0, 99.0] # 桌子2:[-55.0, 150.0, 107], + # if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域 + # pos = [240.0, 40.0, 100.0] + # self.move_task_area(op_type, release_pos=pos) + # self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100] + # + # 流程测试 + # 抓握放置:抓吧台前生成的酸奶，放到抹布桌上 + # self.gen_obj() + # self.move_task_area(16, obj_id=0) + # self.op_task_execute(16, obj_id=0) + # pos = [340.0, 900.0, 99.0] + # self.move_task_area(17, release_pos=pos) + # self.op_task_execute(17, release_pos=pos) + # + # # 做咖啡:做完的咖啡放到水杯桌上 + # self.move_task_area(1) + # self.op_task_execute(1) + # + # self.find_obj("CoffeeCup") + # + # self.move_task_area(16, obj_id=275) + # self.op_task_execute(16, obj_id=275) + # pos = [-70.0, 500.0, 107] + # self.move_task_area(17, release_pos=pos) + # self.op_task_execute(17, release_pos=pos) + # + # # 倒水:倒完的水放到旁边桌子上 + # self.move_task_area(2) + # self.op_task_execute(2) + # + # + # self.move_task_area(16, obj_id=190) + # self.op_task_execute(16, obj_id=190) + # pos = [-55.0, 0.0, 107] + # self.move_task_area(17, release_pos=pos) + # self.op_task_execute(17, release_pos=pos) + # + # self.test_yaw() + + pass + + def _step(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneVLM(robot) + task.reset() + task.run() diff --git a/robowaiter/scene/tasks/VLM/VLM_order.py b/robowaiter/scene/tasks/VLM/VLM_order.py index c743023..2444308 100644 --- a/robowaiter/scene/tasks/VLM/VLM_order.py +++ b/robowaiter/scene/tasks/VLM/VLM_order.py @@ -12,10 +12,11 @@ class SceneVLM(Scene): # 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.signal_event_list = [ (3, self.add_walker, (20,0,700)), - (1, self.control_walker, (4, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw] + (1, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw] # (10, self.customer_say, (6,"给我来杯酸奶和咖啡，哦对，再倒一杯水。")), - (-1, self.customer_say, (4, "来杯酸奶吧。")), - (-1, self.control_walker, (4, False, 100, -250, 480, 0)), #(-100,600) + # (-1, self.customer_say, (6, "来杯酸奶吧。")), + (3, self.customer_say, (6, "给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。")), + (5, self.control_walker, (6, False, 100, -250, 480, 0)), #(-100,600) # 有人提出要开空调和关窗帘 # bar (60, 520) @@ -24,19 +25,19 @@ class SceneVLM(Scene): # (35, self.customer_say, (7,"好热呀！太阳也好大！")), # (45, self.control_walkers_and_say, ([[[7, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])), - (3, self.add_walker, (0, 0, 0)), - (1, self.control_walker, (5, False, 100, 60, 520, 180)), - (1, self.customer_say, (5,"好热呀！太阳也好大！")), - (-1, self.control_walkers_and_say, ([[[5, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])), + # (3, self.add_walker, (0, 0, 0)), + # (1, self.control_walker, (5, False, 100, 60, 520, 180)), + # (1, self.customer_say, (5,"好热呀！太阳也好大！")), + # (-1, self.control_walkers_and_say, ([[[5, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])), ] def _reset(self): self.gen_obj() - self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)', - 'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)', - 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', - 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} - # 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220) + # self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)', + # 'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)', + # 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + # 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} + # # 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220) self.add_walkers([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]]) # [3,1, 880] 1号桌旁边小女孩 # [31,250, 1200] 最角落QuietTable1女红色