增加复杂任务，点餐和动作规划。OT_coffee_water_dessert.py
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Caiyishuai
parent
a841970dc3
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@ -28,8 +28,8 @@ class GreetCustomer(Act):
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self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
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if self.scene.show_bubble:
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self.scene.chat_bubble("欢迎光临！")
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# self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
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# self.scene.chat_bubble("欢迎光临！")
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self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
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customer_name = self.scene.state['attention']['customer']
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self.scene.state['greeted_customers'].add(customer_name)
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@ -134,6 +134,17 @@ create_sub_task
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给我来杯咖啡，哦对，再倒一杯水。
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好的，请稍等。
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速速就好，请稍等！
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create_sub_task
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{"goal":"On(Water,WaterTable),On(Coffee,WaterTable)"}
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我想来份点心和酸奶。
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稍等片刻噢~
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create_sub_task
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{"goal":"On(Yogurt,Bar),On(Dessert,Bar)"}
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酸奶。
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稍等片刻噢~
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create_sub_task
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{"goal":"On(Yogurt,Bar)"}
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@ -491,6 +491,27 @@ class Scene:
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scene = stub.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=self.sceneID))
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return scene
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def control_walker_ls(self, walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]]):
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"""pose:表示行人的终止位置姿态"""
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scene = self.status
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walker_loc = walker_loc
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controls = []
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for walker in walker_loc:
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if len(walker) == 2:
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self.control_walker(walker[0], walker[1])
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elif len(walker) == 3:
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self.control_walker(walker[0], walker[1], walker[2])
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elif len(walker) == 4:
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self.control_walker(walker[0], walker[1], walker[2], walker[3])
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elif len(walker) == 5:
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self.control_walker(walker[0], walker[1], walker[2], walker[3], walker[4])
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elif len(walker) == 6:
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self.control_walker(walker[0], walker[1], walker[2], walker[3], walker[4], walker[5])
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# self.control_walker()
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# scene = stub.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=self.sceneID))
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# return scene
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return
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def control_joints(self, angles):
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stub.Do(
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GrabSim_pb2.Action(
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@ -0,0 +1,45 @@
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"""
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具身多轮对话 GQA
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点餐（order）的对话，咖啡厅服务员可以为客人（NPC）完成点餐基本对话
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场景对话（GQA）结合场景：询问卫生间、附近娱乐场所（数据来源自主定义）
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开始条件：顾客NPC发出点餐指令
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结束条件：顾客NPC发出指令，表示不再需要服务
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"""
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# todo: 使用大模型进行对话，获得指令信息，适时结束对话
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# order = {...}
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from robowaiter.scene.scene import Scene
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class SceneGQA(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.new_event_list = [
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(3, self.customer_say, ("System","哪里有蛋糕"))
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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([ [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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self.control_walker(1, True, 100, 60, 720, 0)
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self.control_walker(4, True, 100, 60, -120, 0)
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self.add_walkers([[16,60, 520], [47,-40, 520]])
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pass
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def _run(self):
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pass
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if __name__ == '__main__':
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import os
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from robowaiter.robot.robot import Robot
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robot = Robot()
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# create task
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task = SceneGQA(robot)
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task.reset()
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task.run()
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@ -11,121 +11,28 @@ class SceneVLM(Scene):
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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)), #[walkerID,autowalk,speed,X,Y,Yaw]
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(10, self.customer_say, (6, "给我来杯咖啡，哦对，再倒一杯水。")),
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# (10, self.customer_say, (6,"给我来杯酸奶和咖啡，哦对，再倒一杯水。")),
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# (-1, self.customer_say, (6, "来杯酸奶吧。")),
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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)), #(-100,600)
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# 有人提出要开空调和关窗帘
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# bar (60, 520)
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# (28, self.add_walker, (0, 0, 0)),
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# (33, self.control_walker, (7, False, 100, 60, 520, 180)),
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# (35, self.customer_say, (7,"好热呀！太阳也好大！")),
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# (45, self.control_walkers_and_say, ([[[7, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])),
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# (3, self.add_walker, (0, 0, 0)),
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# (1, self.control_walker, (5, False, 100, 60, 520, 180)),
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# (1, self.customer_say, (5,"好热呀！太阳也好大！")),
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# (-1, self.control_walkers_and_say, ([[[5, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])),
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(5, self.customer_say, (5, "给我来杯咖啡，哦对，再倒一杯水。")),
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(1, self.control_walker_ls,([[[5, False, 100, -250, 480, 0],[6, False, 100, 60, 520, 0]]])),
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(-1, self.customer_say, (5, "感谢，这些够啦，你去忙吧。")),
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(10, self.customer_say, (6, "我想来份点心和酸奶。")),
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(-1, self.customer_say, (6, "真美味啊！")),
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]
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def _reset(self):
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self.gen_obj()
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# self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)',
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# 'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)',
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# 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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# 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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# # 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220)
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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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# [3,1, 880] 1号桌旁边小女孩
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# [31,250, 1200] 最角落QuietTable1女红色
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# [6,-55, 750] 1号桌附近小男孩
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# [10,70, -200] 另一边角落 QuietTable2 男黄色
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# [27,-290, 400, 180] 中间 BrightTable4 女灰
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# [26, 60,-320,90] 另一边角落 BrightTable5 红胖男
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self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
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# 0-3男孩 4-7女孩 8-26男
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# 3男孩 31女红 32女灰 10黄色衣服男瘦 9男灰瘦 26红胖男
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# 17 是员工 police
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# [0, -150,180]
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# self.control_walkers(walker_loc=[[-55, 750]],is_autowalk = False)
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# 在场景中随机增加一堆行人。
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# walker_loc = [[-55, 750], [70, -200], [250, 1200], [0, 880]]
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# controls = []
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# for i in range(len(s.walkers)):
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# loc = walker_loc[i]
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# is_autowalk = False
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# pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180)
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# controls.append(GrabSim_pb2.WalkerControls.WControl(id=i, autowalk=is_autowalk, speed=200, pose=pose))
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# scene = sim_client.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=scene_id))
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# self.gen_obj(type=5)
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# self.gen_obj(type=9)
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# self.op_task_execute(op_type=16, obj_id=0)
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# self.move_task_area(op_type=4)
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self.add_walkers([ [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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self.control_walker(1, True, 100, 60, 720, 0)
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self.control_walker(4, True, 100, 60, -120, 0)
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self.add_walkers([[16,60, 520], [47,-40, 520]])
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self.state["condition_set"] = { 'At(Robot,Bar)', 'Is(AC,Off)',
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'Holding(Nothing)', 'Exist(Yogurt)', 'Exist(BottledDrink)',
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'On(BottledDrink,Bar)',
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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pass
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def _run(self, op_type=10):
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# 共17个操作
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# "制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子", # 1-7
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# "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘", # 8-12
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# "调整空调开关","调高空调温度","调低空调温度", # 13-15
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# "抓握物体","放置物体" # 16-17
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#
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# self.gen_obj()
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# if op_type <=15:
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# self.move_task_area(op_type)
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# self.op_task_execute(op_type)
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# if op_type == 16: # 16: 抓操作需要传入物品id
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# self.move_task_area(op_type, obj_id=0)
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# self.op_task_execute(op_type, obj_id=0)
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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, 100.0], 水杯桌:[-70.0, 500.0, 107]
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# # 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],
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# if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域
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# pos = [240.0, 40.0, 100.0]
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# self.move_task_area(op_type, release_pos=pos)
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# self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100]
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#
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# 流程测试
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# 抓握放置:抓吧台前生成的酸奶，放到抹布桌上
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# self.gen_obj()
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# self.move_task_area(16, obj_id=0)
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# self.op_task_execute(16, obj_id=0)
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# pos = [340.0, 900.0, 99.0]
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# self.move_task_area(17, release_pos=pos)
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# self.op_task_execute(17, release_pos=pos)
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#
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# # 做咖啡:做完的咖啡放到水杯桌上
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# self.move_task_area(1)
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# self.op_task_execute(1)
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#
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# self.find_obj("CoffeeCup")
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#
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# self.move_task_area(16, obj_id=275)
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# self.op_task_execute(16, obj_id=275)
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# pos = [-70.0, 500.0, 107]
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# self.move_task_area(17, release_pos=pos)
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# self.op_task_execute(17, release_pos=pos)
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#
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# # 倒水:倒完的水放到旁边桌子上
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# self.move_task_area(2)
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# self.op_task_execute(2)
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#
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#
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# self.move_task_area(16, obj_id=190)
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# self.op_task_execute(16, obj_id=190)
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# pos = [-55.0, 0.0, 107]
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# self.move_task_area(17, release_pos=pos)
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# self.op_task_execute(17, release_pos=pos)
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#
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# self.test_yaw()
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pass
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def _step(self):
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@ -21,7 +21,7 @@ class SceneVLM(Scene):
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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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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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