增加了两个 VLM 场景
This commit is contained in:
Caiyishuai
parent
75533bbb53
commit
7c39125819
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@ -30,6 +30,17 @@ class Bahavior(ptree.behaviour.Behaviour):
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# all_object = set()
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# all_place=set()
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num_of_obj_on_place={
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'Bar': 0, # (247.0, 520.0, 100.0)
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'Bar2': 0,
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'WaterTable': 0,
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'CoffeeTable': 0,
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'Table1': 0,
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'Table2': 0,
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'Table3': 0,
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'BrightTable6': 0,
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}
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place_xyz_dic={
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'Bar': (247.0, 520.0, 100.0), #(247.0, 520.0, 100.0)
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'Bar2': (240.0, 40.0, 100.0),
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@ -33,6 +33,12 @@ class PutDown(Act):
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release_pos = list(Act.place_xyz_dic[self.target_place])
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# # 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]
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# # 桌子2:[-55.0, 0.0, 107],桌子3:[-55.0, 150.0, 107]
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if Act.num_of_obj_on_place[self.target_place]>=1:
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release_pos[1] += 25
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Act.num_of_obj_on_place[self.target_place]+=1
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self.scene.move_task_area(op_type, release_pos=release_pos)
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self.scene.op_task_execute(op_type, release_pos=release_pos)
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@ -61,13 +61,13 @@ class Turn(Act):
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info["add"] = {f'Is({arg[0]},Off)'}
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info["del_set"] = {f'Is({arg[0]},On)'}
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elif arg[0]=='ACTemperature':
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info["pre"] = {f'Holding(Nothing)'}
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info["pre"] = {f'Holding(Nothing)',f'Is(AC,On)'}
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if arg[1]=="Up":
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info["pre"] |= {f'Is({arg[0]},Down)'}
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# info["pre"] |= {f'Is({arg[0]},Down)'}
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info["add"] = {f'Is({arg[0]},Up)'}
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info["del_set"] = {f'Is({arg[0]},Down)'}
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elif arg[1]=="Down":
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info["pre"] |= {f'Is({arg[0]},Up)'}
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# info["pre"] |= {f'Is({arg[0]},Up)'}
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info["add"] = {f'Is({arg[0]},Down)'}
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info["del_set"] = {f'Is({arg[0]},Up)'}
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return info
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@ -101,3 +101,16 @@ create_sub_task
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洗手间在这附近
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get_object_info
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{"obj":"洗手间"}
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给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。
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好的，请稍等。
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create_sub_task
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{"goal":"On(BottledDrink,WaterTable),On(Yogurt,WaterTable)"}
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好热呀，想开空调，想要温度调低点！
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抱歉，我马上去开空调并调低空调温度。
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create_sub_task
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{"goal":"Is(ACTemperature,Down)"}
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@ -41,10 +41,9 @@ class SceneVLM(Scene):
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(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
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(2, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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(2, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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(2, self.customer_say, (1, "来杯卡布奇诺吧。")),
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# # 场景3：有位女士要杯水和冰红茶
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(0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
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(30 ,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
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(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
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(0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])),
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@ -60,7 +59,7 @@ class SceneVLM(Scene):
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(0, self.control_walker, (9, False, 100, 100, 760, 180)),
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(0, self.control_walker, (9, True, 100, 0, 0, 180)),
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# # ### 增加场景，孩子说热要开空调 或者9号随机游走和说
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(90, self.customer_say, (6, "谢谢！")), #倒水+取放酸奶 90s
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(90, self.customer_say, (6, "谢谢！不用了。")), #倒水+取放酸奶 90s
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@ -34,33 +34,33 @@ class SceneVLM(Scene):
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# # 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
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# (3, self.add_walker, (5, 230, 1200)), # 小女孩
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(3, self.add_walker, (5, 230, 1200)), # 小女孩
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# # # 上述准备
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# (10, self.add_walker, (26, -28, -150, 90)),
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# (0, self.add_walker, (10, -70, -200, -45)),
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# (6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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# (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
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# (2, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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# (2, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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# (2, self.customer_say, (1, "来杯卡布奇诺吧。")),
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(10, self.add_walker, (26, -28, -150, 90)),
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(0, self.add_walker, (10, -70, -200, -45)),
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(6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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(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
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(2, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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(2, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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(2, self.customer_say, (1, "来杯卡布奇诺吧。")),
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# # 场景3：有位女士要杯水和冰红茶
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# (3, self.add_walker, (5, 230, 1200)),
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# (30, self.add_walker, (5, 230, 1200)),
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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# # # # 上述准备
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# # (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# # (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
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# # (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走
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# (0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
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# (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
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# # (0, self.add_walker, (48, 60, 520,0)),# 生成他妈妈
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# # (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号
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# # (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号
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# # (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号
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# # (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5
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# (0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])),
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
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# (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走
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(0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
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(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
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(0, self.add_walker, (48, 60, 520,0)),# 生成他妈妈
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# (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号
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# (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5
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(0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])),
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#
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# # (5, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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# # (15, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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@ -104,44 +104,44 @@ class SceneVLM(Scene):
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# # 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
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(3, self.add_walker, (5, 230, 1200)),
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(0, self.add_walker, (26, -30, -200, -90)),
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(0, self.add_walker, (10, -80, -180, -45)),
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(0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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(0, self.add_walker, (32, -80, 850, 135)),
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(0, self.add_walker, (1, 60, 220, 135)),
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(0, self.add_walker, (48, 60, 320, 0)), # 生成他妈妈
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(0, self.add_walker, (31, 280, 1200, -45)), # # 女红色排队 7号找保温杯的顾客
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(0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
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(0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
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(0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
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# # 上述准备
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# # 场景6：大胖男点了外卖，离开啦
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# (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
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(0, self.animation_reset,()), #重置任务
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# (6, self.customer_say, (8, "打包吧，快点！")),
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# (2, self.control_walker, (9, False, 100, 60, 620, -90)), # 男灰黑色排队往前走一步
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# # (100, self.customer_say, (8, "谢啦，我赶时间！")), #100这个时间很合适
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# (2, self.control_walker, (8, False, 250, 20, 520, -90)), # 大胖男着急得离开啦
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# (2, self.control_walker, (8, False, 250, 240, -150, -90)),
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(5, self.remove_walkers, ([[0,7,8]])),
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# (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
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# 场景7：最后排队那个随机游走 9号变为6号，随机游走。
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# 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”
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# 开了空调
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(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
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# (2, self.customer_say, (6, "好热呀！太阳也好大！")),
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# (10, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])),
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# 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
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(3, self.clean_walkers, ()),
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(1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦
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(3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])),
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(3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "不用了。"]]])),
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# # # 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
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# (3, self.add_walker, (5, 230, 1200)),
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (32, -80, 850, 135)),
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# (0, self.add_walker, (1, 60, 220, 135)),
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# (0, self.add_walker, (48, 60, 320, 0)), # 生成他妈妈
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# (0, self.add_walker, (31, 280, 1200, -45)), # # 女红色排队 7号找保温杯的顾客
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
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# (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
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# # # 上述准备
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# # # 场景6：大胖男点了外卖，离开啦
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# # (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
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# (0, self.animation_reset,()), #重置任务
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# # (6, self.customer_say, (8, "打包吧，快点！")),
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# # (2, self.control_walker, (9, False, 100, 60, 620, -90)), # 男灰黑色排队往前走一步
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# # # (100, self.customer_say, (8, "谢啦，我赶时间！")), #100这个时间很合适
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# # (2, self.control_walker, (8, False, 250, 20, 520, -90)), # 大胖男着急得离开啦
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# # (2, self.control_walker, (8, False, 250, 240, -150, -90)),
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# (5, self.remove_walkers, ([[0,7,8]])),
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# # (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
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#
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#
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# # 场景7：最后排队那个随机游走 9号变为6号，随机游走。
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# # 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”
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# # 开了空调
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# (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
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# # (2, self.customer_say, (6, "好热呀！太阳也好大！")),
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# # (10, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])),
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#
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#
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# # 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
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# (3, self.clean_walkers, ()),
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# (1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦
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# (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])),
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# (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "不用了。"]]])),
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@ -0,0 +1,45 @@
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"""
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视觉语言操作
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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
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"""
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import time
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from robowaiter.scene.scene import Scene
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class SceneVLM(Scene):
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def __init__(self, robot):
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super().__init__(robot)
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# 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
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self.signal_event_list = [
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(3, self.add_walker, (20,0,700)),
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(1, self.control_walker, (6, False,100, 60, 520,0)),
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(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。")),
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(5, self.control_walker, (6, False, 100, -250, 480, 0)),
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]
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def _reset(self):
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self.gen_obj()
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self.add_walkers([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
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pass
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def _run(self, op_type=10):
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pass
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||||
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()
|
||||
|
|
@ -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()
|
||||
|
|
@ -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()
|
||||
|
|
@ -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
|
||||
|
|
|
|||
Loading…
Reference in New Issue