caiyishuai

robowaiter/behavior_lib/act/GreetCustomer.py

@@ -22,12 +22,14 @@ class GreetCustomer(Act):
     def _update(self) -> ptree.common.Status:
 
         goal = Act.place_xy_yaw_dic['Bar']
-        # self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
-        # self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
-        self.scene.navigator.navigate(goal=(goal[0]-5,goal[1]), animation=False)
+        if self.scene.is_nav_walk:
+            self.scene.navigator.navigate(goal=(goal[0]-5,goal[1]), animation=False)
+        else:
+            self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
 
         if self.scene.show_bubble:
             self.scene.chat_bubble("欢迎光临！")
+            # self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
 
         customer_name = self.scene.state['attention']['customer']
         self.scene.state['greeted_customers'].add(customer_name)

robowaiter/behavior_lib/act/MoveTo.py

@@ -40,8 +40,10 @@ class MoveTo(Act):
         # 走到固定的地点
         if self.target_place in Act.place_xy_yaw_dic:
             goal = Act.place_xy_yaw_dic[self.target_place]
-            # self.scene.walk_to(goal[0]+1,goal[1],goal[2])
-            self.scene.navigator.navigate(goal=(goal[0] + 1, goal[1]), animation=False)
+            if self.scene.is_nav_walk:
+                self.scene.navigator.navigate(goal=(goal[0] + 1, goal[1]), animation=False)
+            else:
+                self.scene.walk_to(goal[0]+1,goal[1],goal[2])
         # 走到物品边上
         else:
             # 是否用容器装好
@@ -67,9 +69,6 @@ class MoveTo(Act):
             self.scene.move_to_obj(obj_id=obj_id)
             # #####################################
 
-
-
-
         if self.scene.take_picture:
             self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio)
 

robowaiter/behavior_lib/act/ServeCustomer.py

@@ -22,8 +22,11 @@ class ServeCustomer(Act):
 
         if self.scene.state['attention']['customer'] == {}:
             goal = Act.place_xy_yaw_dic['Bar']
-            # self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
-            self.scene.navigator.navigate(goal=(goal[0] - 5, goal[1]), animation=False)
+            if self.scene.is_nav_walk:
+                self.scene.navigator.navigate(goal=(goal[0] - 5, goal[1]), animation=False)
+            else:
+                self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
+
 
         customer = self.scene.state["attention"]["customer"]
         if customer not in self.scene.state["serve_state"]:

robowaiter/llm_client/data/fix_questions.txt

@@ -125,3 +125,9 @@ create_sub_task
 OK，请跟我来！
 create_sub_task
 {"goal":"At(Robot,BrightTable5)"}
+
+
+可以关筒灯和关窗帘吗？
+好的，请稍等。
+create_sub_task
+{"goal":"Is(TubeLight,Off),Is(Curtain,Off)"}

robowaiter/scene/scene.py

@@ -122,6 +122,8 @@ class Scene:
         self.db = DBSCAN(eps=self.map_ratio, min_samples=int(self.map_ratio / 2))
         self.infoCount = 0
 
+        self.is_nav_walk = False
+
         file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl')
         if os.path.exists(file_name):
             with open(file_name, 'rb') as file:
@@ -656,9 +658,11 @@ class Scene:
             obj_y += 2.5
         walk_v[0] += 1
         print("walk:", walk_v)
-        self.navigator.navigate(goal=(walk_v[0], walk_v[1]), animation=False)
-        # action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
-        # scene = stub.Do(action)
+        if self.is_nav_walk:
+            self.navigator.navigate(goal=(walk_v[0], walk_v[1]), animation=False)
+        else:
+            action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
+            scene = stub.Do(action)
         print("After Walk Position:", [scene.location.X, scene.location.Y, scene.rotation.Yaw])
 
     # 移动到进行操作任务的指定地点
@@ -728,6 +732,10 @@ class Scene:
         scene = stub.Do(action)
         time.sleep(1.0)
 
+        if self.take_picture:
+            self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio,update_info_count=1)
+
+
         obj_loc = self.obj_loc[:]
         obj_loc[2] -= 5
         if op_type == 13: obj_loc[1] -= 2
@@ -1119,6 +1127,9 @@ class Scene:
         return world_coordinates
 
     def get_obstacle_point(self, db, scene, map_ratio, update_info_count=0):
+
+        # if abs(self.last_take_pic_tim - self.time)<
+
         # db = DBSCAN(eps=4, min_samples=2)
         cur_obstacle_pixel_points = []
         cur_obstacle_world_points = []

robowaiter/scene/tasks/AT/Auto_tasks_light.py

@@ -16,13 +16,13 @@ class SceneAT(Scene):
         super().__init__(robot)
         self.signal_event_list = [
             # (3, self.customer_say, ("System","来一号桌")),
-            # (-1, self.customer_say, ("System","回去吧")),
-            (5, self.new_set_goal, ("Is(TubeLight,Off),Is(Curtain,Off)",))
+            (2, self.customer_say, (0,"可以关筒灯和关窗帘吗？")),
+            # (5, self.new_set_goal, ("Is(TubeLight,Off),Is(Curtain,Off)",))
         ]
 
 
     def _reset(self):
-        # self.add_walker(1085, 2630, 220)
+        self.add_walker(23, 60, 520,0)
         # self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
         pass
 

robowaiter/scene/tasks/VLM/VLM_2_AC.py

@@ -13,8 +13,8 @@ class SceneVLM(Scene):
         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)),
+            (2, self.customer_say, (6, "好热呀，想开空调，想要温度调低点！")),
+            (6, 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