diff --git a/robowaiter/algos/navigator/dstar_lite.py b/robowaiter/algos/navigator/dstar_lite.py index 6b5ece6..60ed735 100644 --- a/robowaiter/algos/navigator/dstar_lite.py +++ b/robowaiter/algos/navigator/dstar_lite.py @@ -16,7 +16,6 @@ import matplotlib.colors as mcolors from robowaiter.robot.robot import root_path # 项目根目录路径 - def diagonal_distance(start, end): # return max(abs(start[0] - end[0]), abs(start[1] - end[1])) @@ -437,11 +436,11 @@ class DStarLite: for (x, y) in changed_free: self.map[x, y] = self.object_to_idx['free'] changed_pos.append((x, y, self.object_to_idx["free"], self.cost_map[x, y])) - # changed_pos.append((x, y, self.object_to_idx["free"], self.object_to_idx["dynamic obstacle"])) + # changed_pos.append((x, y, self.object_to_idx["free"], self.object_to_idx["obstacle"])) for (x, y) in changed_obs: - self.map[x, y] = self.object_to_idx['dynamic obstacle'] - changed_pos.append((x, y, self.object_to_idx["dynamic obstacle"], self.cost_map[x, y])) - # changed_pos.append((x, y, self.object_to_idx["dynamic obstacle"], self.object_to_idx["free"])) + self.map[x, y] = self.object_to_idx['obstacle'] + changed_pos.append((x, y, self.object_to_idx["obstacle"], self.cost_map[x, y])) + # changed_pos.append((x, y, self.object_to_idx["obstacle"], self.object_to_idx["free"])) # 更新dyna_obs 位置列表 和 占用位置列表 self.dyna_obs_list = dyna_obs @@ -557,51 +556,55 @@ class DStarLite: step_num: 移动步数 yaw: robot朝向 (弧度) ''' - # 清空当前figure内容，保留figure对象 - plt.clf() - # for stopping simulation with the esc key. 按esc结束 - plt.gcf().canvas.mpl_connect( - 'key_release_event', - lambda event: [exit(0) if event.key == 'escape' else None]) + # # 清空当前figure内容，保留figure对象 + # plt.clf() + # # for stopping simulation with the esc key. 按esc结束 + # plt.gcf().canvas.mpl_connect( + # 'key_release_event', + # lambda event: [exit(0) if event.key == 'escape' else None]) # 缩放坐标偏移量 offset = (self.x_min / self.scale_ratio, self.x_max / self.scale_ratio, self.y_min / self.scale_ratio, self.y_max / self.scale_ratio) - start = (self.s_start[0] + offset[0], self.s_start[1] + offset[2]) - goal = (self.s_goal[0] + offset[0], self.s_goal[1] + offset[2]) + # 画起点和目标 + if self.s_start: + start = (self.s_start[0] + offset[0], self.s_start[1] + offset[2]) + plt.plot(start[1], start[0], 'x', color='r') + if self.s_goal: + goal = (self.s_goal[0] + offset[0], self.s_goal[1] + offset[2]) + plt.plot(goal[1], goal[0], 'x', color='darkorange') + # 画地图: X行Y列，第一行在下面 # 范围: 横向Y[-80,290] 纵向X[-70,120] plt.imshow(self.map, cmap='binary', alpha=0.5, origin='lower', extent=(offset[2], offset[3], offset[0], offset[1])) - # 画起点和目标 - plt.plot(start[1], start[0], 'x', color='r') - plt.plot(goal[1], goal[0], 'x', color='darkorange') # 画搜索路径 plt.plot([y + offset[2] for (x, y) in self.path], [x + offset[0] for (x, y) in self.path], "-g") - # 画移动路径 - next_step = min(step_num, len(self.path)) - plt.plot([start[1], self.path[next_step - 1][1] + offset[2]], - [start[0], self.path[next_step - 1][0] + offset[0]], "-r") - # plt.plot([y + offset[2] for (x, y) in self.path[:next_step]], - # [x + offset[0] for (x, y) in self.path[:next_step]], "-r") + if self.s_start: + # 画移动路径 + next_step = min(step_num, len(self.path)) + plt.plot([start[1], self.path[next_step - 1][1] + offset[2]], + [start[0], self.path[next_step - 1][0] + offset[0]], "-r") + # plt.plot([y + offset[2] for (x, y) in self.path[:next_step]], + # [x + offset[0] for (x, y) in self.path[:next_step]], "-r") - # 画感应半径和观测范围 - self.plot_circle(start[1], start[0], self.react_radius, 'lightgrey') - if yaw is not None: - plt.plot([start[1], start[1] + self.react_radius * (math.sin(yaw + self.vision_radius))], - [start[0], start[0] + self.react_radius * (math.cos(yaw + self.vision_radius))], "aqua", linewidth=1) - plt.plot([start[1], start[1] + self.react_radius * (math.sin(yaw - self.vision_radius))], - [start[0], start[0] + self.react_radius * (math.cos(yaw - self.vision_radius))], "aqua", linewidth=1) + # 画感应半径和观测范围 + self.plot_circle(start[1], start[0], self.react_radius, 'lightgrey') + if yaw is not None: + plt.plot([start[1], start[1] + self.react_radius * (math.sin(yaw + self.vision_radius))], + [start[0], start[0] + self.react_radius * (math.cos(yaw + self.vision_radius))], "aqua", linewidth=1) + plt.plot([start[1], start[1] + self.react_radius * (math.sin(yaw - self.vision_radius))], + [start[0], start[0] + self.react_radius * (math.cos(yaw - self.vision_radius))], "aqua", linewidth=1) plt.xlabel('y', loc='right') plt.ylabel('x', loc='top') plt.grid(color='black', linestyle='-', linewidth=0.5) - plt.show() + # plt.show() def draw_rhs(self, rhs): # 画地图: X行Y列，第一行在下面 diff --git a/robowaiter/algos/navigator/navigate.py b/robowaiter/algos/navigator/navigate.py index c165962..e3c12af 100644 --- a/robowaiter/algos/navigator/navigate.py +++ b/robowaiter/algos/navigator/navigate.py @@ -24,7 +24,7 @@ class Navigator: map, scale_ratio=5, step_length=120, - velocity=250, + velocity=300, react_radius=300, dyna_obs_radius=40, vision_radius=math.pi*3/7, @@ -35,6 +35,7 @@ class Navigator: self.scale_ratio = scale_ratio # 地图缩放率s self.step_length = step_length # 步长(单次移动) self.step_num = self.step_length // self.scale_ratio # 单次移动地图格数 + self.cur_step_num = self.step_num self.v = velocity # 速度 self.react_radius = react_radius # robot反应半径 self.dyna_obs_radius = dyna_obs_radius @@ -42,6 +43,7 @@ class Navigator: self.max_iteration = max_iteration # 最大规划迭代次数 self.planner = DStarLite(area_range=area_range, map=map, scale_ratio=scale_ratio, react_radius=react_radius, vision_radius=vision_radius, dyna_obs_radius=dyna_obs_radius) + self.yaw = None def validate_goal(self, goal): ''' @@ -91,31 +93,31 @@ class Navigator: ''' goal = np.array(self.validate_goal(goal)) # 目标合法化 pos = np.array((self.scene.status.location.X, self.scene.status.location.Y)) # 机器人当前: 位置 和 朝向 - yaw = None + self.yaw = None print('------------------navigation_start----------------------') for i in range(self.max_iteration): - dyna_obs = self.get_dyna_obs(pos, yaw) + dyna_obs = self.get_dyna_obs(pos, self.yaw) # dyna_obs = [np.array((walker.pose.X, walker.pose.Y)) for walker in self.scene.status.walkers] # 周围有dyna_obs则步长根据离dyna_obs的最短距离相应减小 if dyna_obs: min_dist = min([euclidean_distance(obs, pos) for obs in dyna_obs]) - step_num = math.floor(self.step_num / (2 + self.dyna_obs_radius/min_dist)) + self.cur_step_num = math.floor(self.step_num / (2 + self.dyna_obs_radius/min_dist)) # step_num = self.step_num // 2 else: - step_num = self.step_num + self.cur_step_num = self.step_num path = self.planner.planning(pos, goal, dyna_obs) if path: if animation: - self.planner.draw_graph(step_num, yaw) # 画出搜索路径 - next_step = min(step_num, len(path)) + self.planner.draw_graph(self.cur_step_num, self.yaw) # 画出搜索路径 + next_step = min(self.cur_step_num, len(path)) next_pos = path[next_step - 1] print('plan pos:', next_pos, end=' ') - yaw = self.get_yaw(pos, next_pos) - self.scene.walk_to(next_pos[0], next_pos[1], math.degrees(yaw), velocity=self.v, dis_limit=10) + self.yaw = self.get_yaw(pos, next_pos) + self.scene.walk_to(next_pos[0], next_pos[1], math.degrees(self.yaw), velocity=self.v, dis_limit=10) # 拍照片 if self.scene.show_ui: - self.scene.get_obstacle_point(self.scene.db, self.scene.status, map_ratio=self.scene.map_ratio) + self.scene.get_obstacle_point(self.scene.db, self.scene.status, map_ratio=self.scene.map_ratio, is_nav=True) self.planner.path = self.planner.path[next_step - 1:] # 去除已走过的路径 pos = np.array((self.scene.status.location.X, self.scene.status.location.Y)) diff --git a/robowaiter/algos/retrieval/retrieval_lm/fix_questions.jsonl b/robowaiter/algos/retrieval/retrieval_lm/fix_questions.jsonl index 2241464..c6f7915 100644 --- a/robowaiter/algos/retrieval/retrieval_lm/fix_questions.jsonl +++ b/robowaiter/algos/retrieval/retrieval_lm/fix_questions.jsonl @@ -19,23 +19,28 @@ {"id": 18, "title": "好热呀！太阳也好大！", "text": "{'answer': '抱歉，我这就去开空调和关窗帘。', 'function': 'create_sub_task', 'args': '{\"goal\":\"Is(AC,On),Is(Curtain,Off)\"}'}"} {"id": 19, "title": "下班啦！别忘了打扫卫生。", "text": "{'answer': '收到！下班啦！', 'function': 'create_sub_task', 'args': '{\"goal\":\"Is(Floor,Clean),Is(Table1,Clean),Is(Chairs,Clean),Is(AC,Off),Is(HallLight,Off),Is(TubeLight,Off),Is(Curtain,Off)\"}'}"} {"id": 20, "title": "请问洗手间在哪里？", "text": "{'answer': '洗手间在这附近', 'function': 'get_object_info', 'args': '{\"obj\":\"洗手间\"}'}"} -{"id": 21, "title": "给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。", "text": "{'answer': '好的，请稍等。', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Chips,WaterTable),On(NFCJuice,WaterTable)\"}'}"} -{"id": 22, "title": "给我来份薯片和果汁，我坐在对面的桌子那儿。", "text": "{'answer': '好的，请稍等。', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(BottledDrink,WaterTable),On(Yogurt,WaterTable)\"}'}"} -{"id": 23, "title": "好热呀，想开空调，想要温度调低点！", "text": "{'answer': '抱歉，我马上去开空调并调低空调温度。', 'function': 'create_sub_task', 'args': '{\"goal\":\"Is(ACTemperature,Down)\"}'}"} -{"id": 24, "title": "请问哪里有空位啊？", "text": "{'answer': '现在有不少空位呢，请问您有什么要求嘛？', 'function': None}"} -{"id": 25, "title": "我想坐高脚凳子。", "text": "{'answer': '没问题，大厅里就有这样的位置呢！', 'function': None}"} -{"id": 26, "title": "你带我去吧。", "text": "{'answer': 'OK，请跟我来！', 'function': 'create_sub_task', 'args': '{\"goal\":\"At(Robot,BrightTable5)\"}'}"} -{"id": 27, "title": "可以关筒灯和关窗帘吗？", "text": "{'answer': '好的，请稍等。', 'function': 'create_sub_task', 'args': '{\"goal\":\"Is(TubeLight,Off),Is(Curtain,Off)\"}'}"} -{"id": 28, "title": "给我来杯咖啡，哦对，再倒一杯水。", "text": "{'answer': '速速就好，请稍等！', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Water,WaterTable),On(Coffee,WaterTable)\"}'}"} -{"id": 29, "title": "我想来份点心和酸奶。", "text": "{'answer': '稍等片刻噢~', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Yogurt,Bar),On(Dessert,Bar)\"}'}"} -{"id": 30, "title": "酸奶。", "text": "{'answer': '稍等片刻噢~', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Yogurt,Bar)\"}'}"} -{"id": 31, "title": "你好呀，你们这有啥好吃的？", "text": "{'answer': '我们咖啡厅有咖啡，还有饮料和点心蛋糕呢？您想点什么不？', 'function': None}"} -{"id": 32, "title": "听起来都好甜呀，我女朋友爱吃水果。", "text": "{'answer': '没问题，我们也提供草莓、橘子和苹果等水果呢。', 'function': None}"} -{"id": 33, "title": "你们这人可真多。", "text": "{'answer': '目前还有空位呢，你们可以坐下来一起品尝水果呢？', 'function': 'get_object_info', 'args': '{\"obj\":\"空位\"}'}"} -{"id": 34, "title": "我女朋友怕晒，有空余的阴凉位置嘛？", "text": "{'answer': '我查询完毕，阴凉位置有两个。在你们右侧往里走，就有适合你们二位的沙发呢。', 'function': 'get_object_info', 'args': '{\"obj\":\"阴凉空位\"}'}"} -{"id": 35, "title": "那还不错。", "text": "{'answer': '是的，那边安静，不会晒到太阳呢。', 'function': None}"} -{"id": 36, "title": "我们还想一起下下棋,切磋切磋。", "text": "{'answer': '我们这有两份军棋呢,在大厅的三号桌上。', 'function': 'get_object_info', 'args': '{\"obj\":\"棋\"}'}"} -{"id": 37, "title": "请问洗手间在哪呢？", "text": "{'answer': '在后门，你们的左侧往里走就是了呢。', 'function': 'get_object_info', 'args': '{\"obj\":\"洗手间\"}'}"} -{"id": 38, "title": "我带着孩子呢，想要宽敞亮堂的地方。", "text": "{'answer': '好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。', 'function': None}"} -{"id": 39, "title": "冰红茶", "text": "{'answer': '好的', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Softdrink,Bar)\"}'}"} -{"id": 40, "title": "水杯", "text": "{'answer': '好的', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Glass,Bar)\"}'}"} +{"id": 21, "title": "给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。", "text": "{'answer': '好的，请稍等。', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(BottledDrink,WaterTable),On(Yogurt,WaterTable)\"}'}"} +{"id": 22, "title": "给我来份薯片和果汁，我坐在对面的桌子那儿。", "text": "{'answer': '好的，请稍等。', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Chips,WaterTable),On(NFCJuice,WaterTable)\"}'}"} +{"id": 23, "title": "给我来份薯片和果汁，我坐在对面的水杯桌那儿。", "text": "{'answer': '好的，请稍等。', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Chips,WaterTable),On(NFCJuice,WaterTable)\"}'}"} +{"id": 24, "title": "好热呀，想开空调，想要温度调低点！", "text": "{'answer': '抱歉，我马上去开空调并调低空调温度。', 'function': 'create_sub_task', 'args': '{\"goal\":\"Is(ACTemperature,Down)\"}'}"} +{"id": 25, "title": "请问有空位吗？", "text": "{'answer': '现在有不少空位呢，请问您有什么要求嘛？', 'function': None}"} +{"id": 26, "title": "我想坐高脚凳子。", "text": "{'answer': '没问题，大厅里就有这样的位置呢！', 'function': 'get_object_info', 'args': '{\"obj\":\"高脚凳子的空位\"}'}"} +{"id": 27, "title": "你带我去吧。", "text": "{'answer': 'OK，请跟我来！', 'function': 'create_sub_task', 'args': '{\"goal\":\"At(Robot,BrightTable5)\"}'}"} +{"id": 28, "title": "可以关筒灯和关窗帘吗？", "text": "{'answer': '好的，请稍等。', 'function': 'create_sub_task', 'args': '{\"goal\":\"Is(TubeLight,Off),Is(Curtain,Off)\"}'}"} +{"id": 29, "title": "给我来杯咖啡，哦对，再倒一杯水。", "text": "{'answer': '速速就好，请稍等！', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Water,WaterTable),On(Coffee,WaterTable)\"}'}"} +{"id": 30, "title": "我想来份点心和酸奶。", "text": "{'answer': '稍等片刻噢~', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Yogurt,Bar),On(Dessert,Bar)\"}'}"} +{"id": 31, "title": "酸奶。", "text": "{'answer': '稍等片刻噢~', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Yogurt,Bar)\"}'}"} +{"id": 32, "title": "你好呀，你们这有啥好吃的？", "text": "{'answer': '我们咖啡厅有咖啡，还有饮料和点心蛋糕呢？您想点什么不？', 'function': 'get_object_info', 'args': '{\"obj\":\"饮料,水果,点心\"}'}"} +{"id": 33, "title": "听起来都好甜呀，我女朋友爱吃水果。", "text": "{'answer': '没问题，我们也提供草莓、橘子和苹果等水果呢。', 'function': None}"} +{"id": 34, "title": "你们这人可真多。", "text": "{'answer': '目前还有空位呢，你们可以坐下来一起品尝水果呢？', 'function': 'get_object_info', 'args': '{\"obj\":\"空位\"}'}"} +{"id": 35, "title": "我女朋友怕晒，有空余的阴凉位置嘛？", "text": "{'answer': '我查询完毕，阴凉位置有两个。在你们右侧往里走，就有适合你们二位的沙发呢。', 'function': 'get_object_info', 'args': '{\"obj\":\"阴凉空位\"}'}"} +{"id": 36, "title": "那还不错。", "text": "{'answer': '是的，那边安静，不会晒到太阳呢。', 'function': None}"} +{"id": 37, "title": "我们还想一起下下棋,切磋切磋。", "text": "{'answer': '我们这有两份军棋呢,在大厅的三号桌上。', 'function': 'get_object_info', 'args': '{\"obj\":\"棋\"}'}"} +{"id": 38, "title": "请问洗手间在哪呢？", "text": "{'answer': '在后门，你们的左侧往里走就是了呢。', 'function': 'get_object_info', 'args': '{\"obj\":\"洗手间\"}'}"} +{"id": 39, "title": "我带着孩子呢，想要宽敞亮堂的地方。", "text": "{'answer': '好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。', 'function': None}"} +{"id": 40, "title": "冰红茶", "text": "{'answer': '好的', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Softdrink,Bar)\"}'}"} +{"id": 41, "title": "水杯", "text": "{'answer': '好的', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Water,Bar)\"}'}"} +{"id": 42, "title": "点心", "text": "{'answer': '好的', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Dessert,Bar)\"}'}"} +{"id": 43, "title": "酸奶", "text": "{'answer': '好的', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Yogurt,Bar)\"}'}"} +{"id": 44, "title": "做一杯咖啡", "text": "{'answer': '好的，我马上做咖啡', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Coffee,CoffeeTable)\"}'}"} +{"id": 45, "title": "把盒装冰红茶放到水桌", "text": "{'answer': '好的', 'function': 'create_sub_task', 'args': '{\"goal\":\"On(Softdrink,WaterTable)\"}'}"} diff --git a/robowaiter/algos/retrieval/retrieval_lm/fix_questions.txt b/robowaiter/algos/retrieval/retrieval_lm/fix_questions.txt index cc7a19b..3d5df4d 100644 --- a/robowaiter/algos/retrieval/retrieval_lm/fix_questions.txt +++ b/robowaiter/algos/retrieval/retrieval_lm/fix_questions.txt @@ -112,25 +112,32 @@ get_object_info 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(Chips,WaterTable),On(NFCJuice,WaterTable)"} +{"goal":"On(BottledDrink,WaterTable),On(Yogurt,WaterTable)"} 给我来份薯片和果汁，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)"} +{"goal":"On(Chips,WaterTable),On(NFCJuice,WaterTable)"} +给我来份薯片和果汁，我坐在对面的水杯桌那儿。 +好的，请稍等。 +create_sub_task +{"goal":"On(Chips,WaterTable),On(NFCJuice,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)"} -请问哪里有空位啊？ +请问有空位吗？ 现在有不少空位呢，请问您有什么要求嘛？ 我想坐高脚凳子。 没问题，大厅里就有这样的位置呢！ +get_object_info +{"obj":"高脚凳子的空位"} + 你带我去吧。 OK，请跟我来！ @@ -164,6 +171,9 @@ create_sub_task 你好呀，你们这有啥好吃的？ 我们咖啡厅有咖啡，还有饮料和点心蛋糕呢？您想点什么不？ +get_object_info +{"obj":"饮料,水果,点心"} + 听起来都好甜呀，我女朋友爱吃水果。 没问题，我们也提供草莓、橘子和苹果等水果呢。 @@ -205,5 +215,26 @@ create_sub_task 水杯 好的 create_sub_task -{"goal":"On(Glass,Bar)"} +{"goal":"On(Water,Bar)"} +点心 +好的 +create_sub_task +{"goal":"On(Dessert,Bar)"} + +酸奶 +好的 +create_sub_task +{"goal":"On(Yogurt,Bar)"} + + +做一杯咖啡 +好的，我马上做咖啡 +create_sub_task +{"goal":"On(Coffee,CoffeeTable)"} + + +把盒装冰红茶放到水桌 +好的 +create_sub_task +{"goal":"On(Softdrink,WaterTable)"} \ No newline at end of file diff --git a/robowaiter/algos/retrieval/retrieval_lm/fix_questions_test.jsonl b/robowaiter/algos/retrieval/retrieval_lm/fix_questions_test.jsonl index ec75be3..458279c 100644 --- a/robowaiter/algos/retrieval/retrieval_lm/fix_questions_test.jsonl +++ b/robowaiter/algos/retrieval/retrieval_lm/fix_questions_test.jsonl @@ -21,21 +21,26 @@ {"id": 20, "question": "请问洗手间在哪里？"} {"id": 21, "question": "给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。"} {"id": 22, "question": "给我来份薯片和果汁，我坐在对面的桌子那儿。"} -{"id": 23, "question": "好热呀，想开空调，想要温度调低点！"} -{"id": 24, "question": "请问哪里有空位啊？"} -{"id": 25, "question": "我想坐高脚凳子。"} -{"id": 26, "question": "你带我去吧。"} -{"id": 27, "question": "可以关筒灯和关窗帘吗？"} -{"id": 28, "question": "给我来杯咖啡，哦对，再倒一杯水。"} -{"id": 29, "question": "我想来份点心和酸奶。"} -{"id": 30, "question": "酸奶。"} -{"id": 31, "question": "你好呀，你们这有啥好吃的？"} -{"id": 32, "question": "听起来都好甜呀，我女朋友爱吃水果。"} -{"id": 33, "question": "你们这人可真多。"} -{"id": 34, "question": "我女朋友怕晒，有空余的阴凉位置嘛？"} -{"id": 35, "question": "那还不错。"} -{"id": 36, "question": "我们还想一起下下棋,切磋切磋。"} -{"id": 37, "question": "请问洗手间在哪呢？"} -{"id": 38, "question": "我带着孩子呢，想要宽敞亮堂的地方。"} -{"id": 39, "question": "冰红茶"} -{"id": 40, "question": "水杯"} +{"id": 23, "question": "给我来份薯片和果汁，我坐在对面的水杯桌那儿。"} +{"id": 24, "question": "好热呀，想开空调，想要温度调低点！"} +{"id": 25, "question": "请问有空位吗？"} +{"id": 26, "question": "我想坐高脚凳子。"} +{"id": 27, "question": "你带我去吧。"} +{"id": 28, "question": "可以关筒灯和关窗帘吗？"} +{"id": 29, "question": "给我来杯咖啡，哦对，再倒一杯水。"} +{"id": 30, "question": "我想来份点心和酸奶。"} +{"id": 31, "question": "酸奶。"} +{"id": 32, "question": "你好呀，你们这有啥好吃的？"} +{"id": 33, "question": "听起来都好甜呀，我女朋友爱吃水果。"} +{"id": 34, "question": "你们这人可真多。"} +{"id": 35, "question": "我女朋友怕晒，有空余的阴凉位置嘛？"} +{"id": 36, "question": "那还不错。"} +{"id": 37, "question": "我们还想一起下下棋,切磋切磋。"} +{"id": 38, "question": "请问洗手间在哪呢？"} +{"id": 39, "question": "我带着孩子呢，想要宽敞亮堂的地方。"} +{"id": 40, "question": "冰红茶"} +{"id": 41, "question": "水杯"} +{"id": 42, "question": "点心"} +{"id": 43, "question": "酸奶"} +{"id": 44, "question": "做一杯咖啡"} +{"id": 45, "question": "把盒装冰红茶放到水桌"} diff --git a/robowaiter/algos/retrieval/retrieval_lm/robot_embeddings/passages_00 b/robowaiter/algos/retrieval/retrieval_lm/robot_embeddings/passages_00 index f531ebb..e405ef4 100644 Binary files a/robowaiter/algos/retrieval/retrieval_lm/robot_embeddings/passages_00 and b/robowaiter/algos/retrieval/retrieval_lm/robot_embeddings/passages_00 differ diff --git a/robowaiter/algos/retrieval/retrieval_lm/run_retri_All_In_One.py b/robowaiter/algos/retrieval/retrieval_lm/run_retri_All_In_One.py index 872ca86..29eabaf 100644 --- a/robowaiter/algos/retrieval/retrieval_lm/run_retri_All_In_One.py +++ b/robowaiter/algos/retrieval/retrieval_lm/run_retri_All_In_One.py @@ -21,4 +21,4 @@ cmd_test_retri = f" passage_retrieval2.py --data {output_test_path} --model_nam # os.system(conda_path + cmd_goal_states_with_descrip_to_train) # os.system(conda_path + cmd_goal_states_with_descrip_to_test) os.system("python " + cmd_get_embedding) -os.system("python " + cmd_test_retri) +# os.system("python " + cmd_test_retri) diff --git a/robowaiter/behavior_lib/_base/Behavior.py b/robowaiter/behavior_lib/_base/Behavior.py index 7051e10..5bfcff3 100644 --- a/robowaiter/behavior_lib/_base/Behavior.py +++ b/robowaiter/behavior_lib/_base/Behavior.py @@ -56,6 +56,35 @@ class Bahavior(ptree.behaviour.Behaviour): 'BrightTable6': (5, -315, 116.5), } + place_have_obj_xyz_dic = { + 'QuietTable1': (480, 1300, 70), + 'QuietTable2': (250, -240, 70), + 'BrightTable1': (230, 1200, 35), + 'BrightTable2': (65, 1000, 35), + 'BrightTable3': (-80, 850, 35), + 'BrightTable4': (-270, 520, 70), + 'BrightTable5': (-270, 420, 35) + } + place_have_obj_xyz_dic.update(place_xyz_dic) + + place_en2zh_name={ + 'Bar': "吧台", + 'Bar2': "另一侧的吧台", + 'WaterTable': "大厅的茶水桌", + 'CoffeeTable': "咖啡桌", + 'Table1': "前门的斜桌子", + 'Table2': "大厅长桌子", + 'Table3': "大厅长桌子", + 'BrightTable6': "后门靠窗边圆桌", + 'QuietTable1': "前门角落双人圆桌", + 'QuietTable2': "后门角落三人圆桌", + 'BrightTable1': "靠窗边第一个四人矮桌", + 'BrightTable2': "靠窗边第二个四人矮桌", + 'BrightTable3': "靠窗边第三个四人矮桌", + 'BrightTable4': "大厅里靠窗边长桌子", + 'BrightTable5': "大厅里靠窗边多人矮桌", + } + place_xy_yaw_dic={ 'Bar': (247.0, 520.0, 180), # (247.0, 520.0, 100.0) 'Bar2': (240.0, 40.0, 100.0), diff --git a/robowaiter/behavior_lib/act/DealChat.py b/robowaiter/behavior_lib/act/DealChat.py index d3fabba..ae854bc 100644 --- a/robowaiter/behavior_lib/act/DealChat.py +++ b/robowaiter/behavior_lib/act/DealChat.py @@ -5,9 +5,17 @@ from robowaiter.llm_client.multi_rounds_retri import ask_llm, new_history import random from collections import deque +from translate import Translator + + +translator = Translator(to_lang="zh") +translator.from_lang = 'en' +translator.to_lang = 'zh-cn' import spacy -nlp = spacy.load('en_core_web_lg') +# nlp = spacy.load('en_core_web_lg') +nlp_zh = spacy.load('zh_core_web_lg') + class History(deque): def __init__(self,scene,customer_name): @@ -29,7 +37,8 @@ class DealChat(Act): "create_sub_task": self.create_sub_task, "stop_serve": self.stop_serve, "get_object_info": self.get_object_info, - "find_location": self.find_location + # "find_location": self.find_location, + "get_number_of_objects": self.get_number_of_objects, } def _update(self) -> ptree.common.Status: @@ -63,6 +72,12 @@ class DealChat(Act): return ptree.common.Status.RUNNING + def obj_name_en2zh(self,obj): + obj = obj.replace("_", " ") + obj = translator.translate(obj) #转成中文 + print("====obj:=======",obj) + return obj + def create_sub_task(self, **args): try: goal = args['goal'] @@ -84,76 +99,175 @@ class DealChat(Act): def get_object_info(self,**args): try: obj = args['obj'] - self.function_success = True except: obj = None print("参数解析错误") - d = {"保温杯": "二号桌子"} - if obj in d.keys(): - result = d[obj] - else: - result = "没有" - return result - # max_similarity = 0.02 - # similar_word = None + near_object = None + d = {"保温杯": "二号桌子","洗手间":"前门","卫生间":"前门"} + + + # 先把 obj 转成中文 + + # 写死的内容 + if obj in d.keys(): + near_object = d[obj] + near_object = f"{obj}在{near_object}附近" + obj_id = 0 + else: # 根据相似性查找物品位置 + obj = self.obj_name_en2zh(obj) + + max_similarity = 0.02 + similar_word = None + + # 场景中现有物品 + cur_things = set() + for item in self.scene.status.objects: + cur_things.add(self.scene.objname_en2zh_dic[item.name]) + # obj与现有物品进行相似度匹配 中文的匹配 + # print("==========obj==========:",obj) + query_token = nlp_zh(obj) + for w in cur_things: + word_token = nlp_zh(w) + similarity = query_token.similarity(word_token) + # print("similarity:", similarity, w) + if similarity > max_similarity: + max_similarity = similarity + similar_word = w + if similar_word: + print("max_similarity:",max_similarity,"similar_word:",similar_word) + + if similar_word: # 存在同义词说明场景中存在该物品 + # near_object = random.choices(list(cur_things), k=5) # 返回场景中的5个物品 + # 找到距离最近的物品 + similar_word_en = self.scene.objname_zh2en_dic[similar_word] + obj_dict = self.scene.status.objects + if len(obj_dict)!=0: + + for id, obji in enumerate(obj_dict): + if obji.name == similar_word_en: + obj_info = obj_dict[id] + objx,objy,objz = obj_info.location.X, obj_info.location.Y, obj_info.location.Z + break + + # 获取离它最近的物品 + # min_dis = float('inf') + # obj_id = -1 + # near_object = None + # for id,obji in enumerate(obj_dict): + # if obji.name != similar_word_en: + # obj_info = obj_dict[id] + # dis = self.scene.getDistanc3D((obj_info.location.X, obj_info.location.Y, obj_info.location.Z),(objx,objy,objz)) + # if dis max_similarity: # max_similarity = similarity # similar_word = w + # print("similarity:", max_similarity, "similar_word:", similar_word) + # # 存在同义词说明客户咨询的地点有效 # if similar_word: - # print("max_similarity:",max_similarity,"similar_word:",similar_word) - # - # if similar_word: # 存在同义词说明场景中存在该物品 - # near_object = random.choices(list(cur_things), k=5) # 返回场景中的5个物品 - # - # if obj == "洗手间": - # near_object = "Door" - # - # return near_object - # - def find_location(self, **args): + # mp = list(self.scene.loc_map_en[similar_word]) + # near_location = random.choice(mp) + # return near_location + + def get_number_of_objects(self,**args): try: - location = args['obj'] + obj = args['obj'] self.function_success = True + obj = self.obj_name_en2zh(obj) except: obj = None print("参数解析错误") - d = {"保温杯": "二号桌子"} - if location in d.keys(): - result = d[obj] + # 找到最近的中文 + max_similarity = 0.02 + similar_word = None + + # obj 是中文 + # obj = translator.translate(obj) #转成中文 + # print("obj:",obj) + query_token = nlp_zh(obj) + for real_obj_name in self.scene.objname_zh2en_dic.keys(): # 在中文名字里面找 + word_token = nlp_zh(real_obj_name) + similarity = query_token.similarity(word_token) + # print("similarity:",similarity,real_obj_name) + if similarity > max_similarity: + max_similarity = similarity + similar_word = real_obj_name + if similar_word: + print("max_similarity:",max_similarity,"similar_word:",similar_word) + + count = 0 + similar_word_en = self.scene.objname_zh2en_dic[similar_word] + if similar_word_en != "Customer": + for item in self.scene.status.objects: + if item.name == similar_word_en: + count+=1 else: - result = "None" - return result - # 用户咨询的地点 - # query_token = nlp(location) - # max_similarity = 0 - # similar_word = None - # # 到自己维护的地点列表中找同义词 - # for w in self.scene.all_loc_en: - # word_token = nlp(w) + count = len(self.scene.status.walkers) + + # obj 是英文 + # query_token = nlp(obj) + # for real_obj_name in self.scene.objname_en2zh_dic.keys(): # 在中文名字里面找 + # word_token = nlp(real_obj_name) # similarity = query_token.similarity(word_token) + # print("similarity:",similarity,real_obj_name) # if similarity > max_similarity: # max_similarity = similarity - # similar_word = w - # print("similarity:", max_similarity, "similar_word:", similar_word) - # # 存在同义词说明客户咨询的地点有效 + # similar_word = real_obj_name # if similar_word: - # mp = list(self.scene.loc_map_en[similar_word]) - # near_location = random.choice(mp) - # return near_location + # print("max_similarity:",max_similarity,"similar_word:",similar_word) + return "有"+str(count)+"个"+obj + + def stop_serve(self,**args): customer = self.scene.state["attention"]["customer"] diff --git a/robowaiter/behavior_lib/act/MoveTo.py b/robowaiter/behavior_lib/act/MoveTo.py index 240c360..f28cebf 100644 --- a/robowaiter/behavior_lib/act/MoveTo.py +++ b/robowaiter/behavior_lib/act/MoveTo.py @@ -38,7 +38,7 @@ class MoveTo(Act): # 拍照片 if self.scene.show_ui: - self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio, is_nav=True) # ##################################### # 走到固定的地点 @@ -74,7 +74,7 @@ class MoveTo(Act): # ##################################### if self.scene.show_ui: - self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio, is_nav=True) self.scene.state["condition_set"] |= (self.info["add"]) diff --git a/robowaiter/llm_client/multi_rounds_retri.py b/robowaiter/llm_client/multi_rounds_retri.py index ec30512..10eaad0 100644 --- a/robowaiter/llm_client/multi_rounds_retri.py +++ b/robowaiter/llm_client/multi_rounds_retri.py @@ -35,7 +35,7 @@ root_path = get_root_path() functions = get_tools() -retrieval = Retrieval(threshold=1.8) +retrieval = Retrieval(threshold=1.9) role_system = [{ @@ -156,13 +156,15 @@ def ask_llm(question,history, func_map=None, retry=3): else: result = single_round(f"你是机器人服务员，顾客想知道{question}, 你的具身场景查询返回的是{result},把返回的英文名词翻译成中文,请把按照以下句子对顾客说，{answer}, 尽量简短。\n") - message = {'role': 'assistant', 'content': result, 'name': None, - 'function_call': None} - history.append(message) - else: - _,response,_ = get_response(None, history,allow_function_call=False) - _,result = deal_response(response, history, func_map) + else: + # _,response,_ = get_response(None, history,allow_function_call=False) + # _,result = deal_response(response, history, func_map) + result = single_round(history[-1]["content"], + "你是机器人服务员，请把以下句子换一种表述方式对顾客说，但是意思不变，尽量简短：\n") + message = {'role': 'assistant', 'content': result, 'name': None, + 'function_call': None} + history.append(message) print(f'{len(history)}条历史记录:') for x in history: diff --git a/robowaiter/llm_client/tool_register.py b/robowaiter/llm_client/tool_register.py index f15a927..ee70738 100644 --- a/robowaiter/llm_client/tool_register.py +++ b/robowaiter/llm_client/tool_register.py @@ -160,14 +160,33 @@ def stop_serve( @register_tool def get_object_info( - obj: Annotated[str, '需要获取信息的物体名称', True] + obj: Annotated[str, '需要获取位置的物体名称', True] ) -> str: """ - 获取场景中指定物体 `object` 在哪里，不涉及到具体的执行任务 - 如果`object` 是一个地点，例如洗手间，则输出大门。 - 如果`object`是咖啡，则输出桌子，咖啡在桌子上。 - 如果`object` 是空桌子，则输出一号桌 + 获取场景中`object`的位置信息。在询问物品位置时调用该函数，以辅助场景交互，不执行动作 + 例如： + `object`在哪里？ + 哪有`object` + 哪里有`object`？ + `object`在哪里 + 哪里有`object` + `object`放在哪里 + 我在哪儿能找到`object` + 你们这儿有`object`吗？ + 你们这里有`object` + 你看见`object`了吗？ + `object`在你们这里吗 + `object`，你看见过吗？ + 遇到上述问题时，调用该函数，并根据返回的结果回复物体位置信息，例如 """ + + # 回答： + # `object`在输出的物品附近 + # 如果`object` 是一个地点，例如洗手间，则输出大门。 + # 如果`object`是咖啡，输出桌子，则咖啡在桌子上。 + # 如果`object`是酸奶，输出冰红茶，则酸奶在冰红茶附近。 + # 如果`object` 是空桌子，则输出一号桌 + near_object = None # if obj == "Table": # near_object = "Bar" @@ -192,22 +211,44 @@ def get_object_info( # 获取的location为英文 # 用户想找某个地点 # """ -# near_location = None -# query_token = nlp(location) -# max_similarity = 0 -# similar_word = None -# for w in find_obj_utils.all_loc_en: -# word_token = nlp(w) -# similarity = query_token.similarity(word_token) -# -# if similarity > max_similarity: -# max_similarity = similarity -# similar_word = w -# print("similarity:", max_similarity, "similar_word:", similar_word) -# if similar_word: -# mp = list(find_obj_utils.loc_map_en[similar_word]) -# near_location = random.choice(mp) -# return near_location + # near_location = None + # query_token = nlp(location) + # max_similarity = 0 + # similar_word = None + # for w in find_obj_utils.all_loc_en: + # word_token = nlp(w) + # similarity = query_token.similarity(word_token) + # + # if similarity > max_similarity: + # max_similarity = similarity + # similar_word = w + # print("similarity:", max_similarity, "similar_word:", similar_word) + # if similar_word: + # mp = list(find_obj_utils.loc_map_en[similar_word]) + # near_location = random.choice(mp) + # return near_location + + +@register_tool +def get_number_of_objects( + obj: Annotated[str, '需要获取数量的物体名称', True] +) -> str: + """ + 获取场景中物体数量。当询问场景中的物体数量时，需要调用这个工具。 + 例如询问： + `obj`有多少？ + 有多少`obj` + 你们还有`obj` + '桌子有几张' + `obj`还有多的吗？ + `obj`有几个 + `obj`有多少个 + 这个工具用于获取场景中指定物体 `obj` 的数量，返回一个整数，不涉及到具体的执行任务。 + 如果`obj`是咖啡，如果场景中有5杯咖啡，就返回 5 + 如果`obj`是桌子，如果场景中有7张桌子，就返回 7 + 如果`obj`是行人，如果场景中有10个顾客，就返回 10 + """ + if __name__ == "__main__": print(dispatch_tool("get_weather", {"city_name": "beijing"})) diff --git a/robowaiter/proto/camera.py b/robowaiter/proto/camera.py index 8161f06..67e5a52 100644 --- a/robowaiter/proto/camera.py +++ b/robowaiter/proto/camera.py @@ -480,7 +480,7 @@ def get_obstacle_point(sence, db, scene, cur_obstacle_world_points, map_ratio): # plt.text(0, 0.7, f'检测物体数量：{obj_detect_count}', fontsize=10) # plt.show() - return cur_obstacle_world_points, cur_objs_id + return cur_obstacle_world_points, cur_objs_id, obj_detect_count diff --git a/robowaiter/proto/ui.qrc b/robowaiter/proto/ui.qrc new file mode 100644 index 0000000..a5efc67 --- /dev/null +++ b/robowaiter/proto/ui.qrc @@ -0,0 +1,5 @@ + + + C:/Users/Liang Zhen/Downloads/国防科技大学视觉识别系统--LOGO/国防科技大学logo.png + + diff --git a/robowaiter/scene/outputs/current_bt.dot b/robowaiter/scene/outputs/current_bt.dot new file mode 100644 index 0000000..10484f2 --- /dev/null +++ b/robowaiter/scene/outputs/current_bt.dot @@ -0,0 +1,199 @@ +digraph pastafarianism { +ordering=out; +graph [fontname="times-roman"]; +node [fontname="times-roman"]; +edge [fontname="times-roman"]; +"a582faee-7147-4195-81ba-85add86624b4" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01]; +"52d9dd56-2854-495c-820a-d4f291507f33" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"a582faee-7147-4195-81ba-85add86624b4" -> "52d9dd56-2854-495c-820a-d4f291507f33"; +"252a809b-7f62-49ae-addc-2191835a3544" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Chatting()", shape=ellipse, style=filled]; 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fontsize=20, label="On(Water,WaterTable)", shape=ellipse, style=filled]; +"fcbee6e1-0e5e-41c3-9db5-5bf808bac68b" -> "f0843e6c-a65a-4d9f-971d-06766e94df66"; +"6dab056a-a232-4212-af57-5c1c1465db99" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Coffee)", shape=ellipse, style=filled]; +"fcbee6e1-0e5e-41c3-9db5-5bf808bac68b" -> "6dab056a-a232-4212-af57-5c1c1465db99"; +"0c2f54f1-85e8-486d-9c81-3d18f5f12ae8" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(Coffee)", shape=box, style=filled]; +"fcbee6e1-0e5e-41c3-9db5-5bf808bac68b" -> "0c2f54f1-85e8-486d-9c81-3d18f5f12ae8"; +"1c873ce0-8037-40a0-9394-037257e6ef1f" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"89809d74-1aa6-4401-b296-b10cb96a0017" -> "1c873ce0-8037-40a0-9394-037257e6ef1f"; +"4c2f06f6-fa4b-41a2-a50d-cbd4f2370b5b" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; 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"41ad97fa-7ea9-48e4-8cd3-187dc53fe992"; +"7e7163b1-eadd-4f81-99c5-5cd238252a79" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"96e46656-34ac-47aa-83b1-902ec66e53b5" -> "7e7163b1-eadd-4f81-99c5-5cd238252a79"; +"18b63af1-2803-4a7d-95c2-c701dff29a51" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Exist(Coffee)", shape=ellipse, style=filled]; +"96e46656-34ac-47aa-83b1-902ec66e53b5" -> "18b63af1-2803-4a7d-95c2-c701dff29a51"; +"1f492236-0a16-4e47-bca0-d6cda8fc1e79" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Water,WaterTable)", shape=box, style=filled]; +"96e46656-34ac-47aa-83b1-902ec66e53b5" -> "1f492236-0a16-4e47-bca0-d6cda8fc1e79"; +"26396b01-8762-46f0-be46-224b590173ce" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"89809d74-1aa6-4401-b296-b10cb96a0017" -> "26396b01-8762-46f0-be46-224b590173ce"; 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fontsize=20, label="Make(Coffee)", shape=box, style=filled]; +"eee68ac0-f125-4074-a523-dcd9b1d25e42" -> "e631843b-92d8-4612-8dcf-7dd66b86a531"; +"1c7e5f57-89fe-40d3-a5fe-45d7fa2e7f90" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="DelSubTree()", shape=box, style=filled]; +"057834e6-77b3-416b-bebe-0e1690ea7b77" -> "1c7e5f57-89fe-40d3-a5fe-45d7fa2e7f90"; +"deb5f50b-93ac-4601-a5f1-af68f0f9d50a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"a582faee-7147-4195-81ba-85add86624b4" -> "deb5f50b-93ac-4601-a5f1-af68f0f9d50a"; +"8d9e0427-c7c4-4c8a-b6a1-d3cf0a7ae4c6" [fillcolor=yellow, fontcolor=black, fontsize=20, label="FocusingCustomer()", shape=ellipse, style=filled]; +"deb5f50b-93ac-4601-a5f1-af68f0f9d50a" -> "8d9e0427-c7c4-4c8a-b6a1-d3cf0a7ae4c6"; +"a8ab831b-5e89-41c6-9a6a-15441aa1d32b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="ServeCustomer()", shape=box, style=filled]; 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"85295be4-2eed-4dac-98f6-040450241204"; +"5a775c24-2a6b-445c-87e9-9eeab2b6882c" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled]; +"d3a930dc-8300-4510-a83c-5f070170bb5b" -> "5a775c24-2a6b-445c-87e9-9eeab2b6882c"; +"3b8f863e-eef0-43e9-8ccc-4086c59af2a1" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="GreetCustomer()", shape=box, style=filled]; +"cc071d28-4cb6-4bbd-a866-38f48b77efda" -> "3b8f863e-eef0-43e9-8ccc-4086c59af2a1"; +"16c9b1ee-9159-4816-92a4-37c149d0233a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01]; +"a582faee-7147-4195-81ba-85add86624b4" -> "16c9b1ee-9159-4816-92a4-37c149d0233a"; +"967d7a51-f3e2-4b8f-9331-dc75660d7136" [fillcolor=yellow, fontcolor=black, fontsize=20, label="AnomalyDetected()", shape=ellipse, style=filled]; +"16c9b1ee-9159-4816-92a4-37c149d0233a" -> "967d7a51-f3e2-4b8f-9331-dc75660d7136"; +"9b9909d3-e999-4706-b4de-1c60dfe53a14" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="ResolveAnomaly()", shape=box, style=filled]; +"16c9b1ee-9159-4816-92a4-37c149d0233a" -> "9b9909d3-e999-4706-b4de-1c60dfe53a14"; +} diff --git a/robowaiter/scene/outputs/current_bt.svg b/robowaiter/scene/outputs/current_bt.svg new file mode 100644 index 0000000..d400a88 --- /dev/null +++ b/robowaiter/scene/outputs/current_bt.svg @@ -0,0 +1,1171 @@ + + + + + + +pastafarianism + + + +a582faee-7147-4195-81ba-85add86624b4 + +Selector + + + +52d9dd56-2854-495c-820a-d4f291507f33 + +Sequence + + + +a582faee-7147-4195-81ba-85add86624b4->52d9dd56-2854-495c-820a-d4f291507f33 + + + + + +b938e131-cc32-4d66-a769-0b4539bbd4e9 + +Sequence + + + +a582faee-7147-4195-81ba-85add86624b4->b938e131-cc32-4d66-a769-0b4539bbd4e9 + + + + + +deb5f50b-93ac-4601-a5f1-af68f0f9d50a + +Sequence + + + +a582faee-7147-4195-81ba-85add86624b4->deb5f50b-93ac-4601-a5f1-af68f0f9d50a + + + + + +cc071d28-4cb6-4bbd-a866-38f48b77efda + +Sequence + + + 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+d3a930dc-8300-4510-a83c-5f070170bb5b + +Selector + + + +cc071d28-4cb6-4bbd-a866-38f48b77efda->d3a930dc-8300-4510-a83c-5f070170bb5b + + + + + +3b8f863e-eef0-43e9-8ccc-4086c59af2a1 + +GreetCustomer() + + + +cc071d28-4cb6-4bbd-a866-38f48b77efda->3b8f863e-eef0-43e9-8ccc-4086c59af2a1 + + + + + +85295be4-2eed-4dac-98f6-040450241204 + +At(Robot,Bar) + + + +d3a930dc-8300-4510-a83c-5f070170bb5b->85295be4-2eed-4dac-98f6-040450241204 + + + + + +5a775c24-2a6b-445c-87e9-9eeab2b6882c + +MoveTo(Bar) + + + +d3a930dc-8300-4510-a83c-5f070170bb5b->5a775c24-2a6b-445c-87e9-9eeab2b6882c + + + + + +967d7a51-f3e2-4b8f-9331-dc75660d7136 + +AnomalyDetected() + + + +16c9b1ee-9159-4816-92a4-37c149d0233a->967d7a51-f3e2-4b8f-9331-dc75660d7136 + + + + + +9b9909d3-e999-4706-b4de-1c60dfe53a14 + +ResolveAnomaly() + + + +16c9b1ee-9159-4816-92a4-37c149d0233a->9b9909d3-e999-4706-b4de-1c60dfe53a14 + + + + + diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index bcf6e01..8108ae3 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -1,4 +1,5 @@ import io +import json import pickle import sys import time @@ -16,7 +17,7 @@ from robowaiter.proto import GrabSim_pb2_grpc import copy import os -from robowaiter.scene.ui import scene_ui +# from robowaiter.scene.ui import scene_ui from robowaiter.utils import get_root_path from sklearn.cluster import DBSCAN from matplotlib import pyplot as plt @@ -39,7 +40,143 @@ channel = grpc.insecure_channel( animation_step = [4, 5, 7, 3, 3] loc_offset = [-700, -1400] - +objname_en2zh_dic_goal = { +'Customer':'顾客', +'Banana': '香蕉', +'Toothpaste': '牙膏', +'Bread': '面包', +'Softdrink': '盒装饮料', +'Yogurt': '酸奶', +'ADMilk': '安佳牛奶', +'VacuumCup': '真空杯', +'Bernachon': '贝尔纳松', +'BottledDrink': '瓶装饮料', +'PencilVase': '铅笔花瓶', +'Teacup': '茶杯', +'Dictionary': '字典', +'Cake': '蛋糕', +'Stapler': '订书机', +'LunchBox': '午餐盒', +'Bracelet': '手镯', +'CoconutWater': '椰水', +'Walnut': '核桃', +'HamSausage': '火腿肠', +'GlueStick': '胶棒', +'AdhesiveTape': '胶带', +'Calculator': '计算器', +'Chess': '棋', +'Orange': '橙子', +'Glass': '玻璃杯', +'Washbowl': '洗碗盆', +'Durian': '榴莲', +'Gum': '口香糖', +'Towel': '毛巾', +'OrangeJuice': '橙汁', +'Cardcase': '卡包', +'RubikCube': '魔方', +'StickyNotes': '便签', +'NFCJuice': 'NFC果汁', +'SpringWater': '矿泉水', +'Apple': '苹果', +'Coffee': '咖啡', +'Gauze': '纱布', +'Mangosteen': '山竹', +'SesameSeedCake': '芝麻糕', +'Glove': '手套', +'Mouse': '鼠标', +'Kettle': '水壶', +'Atomize': '喷雾器', +'Chips': '薯片', +'SpongeGourd': '丝瓜', +'Garlic': '大蒜', +'Potato': '土豆', +'Tray': '托盘', +'Hemomanometer': '血压计', +'TennisBall': '网球', +'ToyDog': '玩具狗', +'ToyBear': '玩具熊', +'TeaTray': '茶盘', +'Sock': '袜子', +'Scarf': '围巾', +'ToiletPaper': '卫生纸', +'Milk': '牛奶', +'Novel': '小说', +'Watermelon': '西瓜', +'Tomato': '番茄', +'CleansingFoam': '洁面泡沫', +'CoconutMilk': '椰奶', +'SugarlessGum': '无糖口香糖', +'MedicalAdhesiveTape': '医用胶带', +'PaperCup': '纸杯', +'Caddy': '茶匙', +'Date': '日期', +'MilkDrink': '牛奶饮品', +'CocountWater': '椰水', +'AdhensiveTape': '胶带', +'Towl': '毛巾', +'Soap': '肥皂', +'CocountMilk': '椰奶', +'MedicalAdhensiveTape': '医用胶带', +'SourMilkDrink': '酸奶饮品', +'Tissue': '纸巾', +'YogurtDrink': '酸奶饮品', +'Newspaper': '报纸', +'Box': '盒子', +'PaperCupStarbucks': '星巴克纸杯', +'CoffeeMachine': '咖啡机', +'GingerLHand': '机器人左手', +'GingerRHand': '机器人右手', +'Straw': '吸管', +'Door': '门', +'Machine': '机器', +'PackagedCoffee': '包装咖啡', +'CubeSugar': '方糖', +'Spoon': '勺子', +'Drinks': '饮料', +'Drink': '饮料', +'Take-AwayCup': '外带杯', +'Saucer': '茶杯', +'TrashBin': '垃圾桶', +'Knife': '刀', +'Ginger': '姜', +'Floor': '地板', +'Roof': '屋顶', +'Wall': '墙', +'Broom':'扫帚', +'CoffeeCup': '咖啡杯', +'Mug': '马克杯', +'ZhuZi': '著子', +'LaJiTong': '垃圾桶', +'ZaoTai': '灶台', +'Sofa': '沙发', +'ChaTou': '插头', +'Plate': '盘子', +'CoffeeBag': '咖啡袋', +'TuoBu': '拖布', +'KaiGuan': '开关', +'ChaZuo': '插座', +'Sugar': '糖', +'BaTai': '吧台', +'BaoJing': '报警', +'DrinkMachine': '饮料机', +'KongTiao': '空调', +'Desk': '桌子', +'Clip': '夹子', +'TuoPan': '托盘', +'BoJi': '簸箕', +'ZhiBeiHe': '纸杯盒', +'WaterCup': '水杯', +'Chair': '椅子', +'Hand': '手', +'XiGuan': '吸管', +'Container': '容器', +'IceMachine': '制冰机', +'KaoXiang': '烤箱', +'SaoBa': '扫把', +'XiangGui': '香柜', +} +objname_zh2en_dic_goal = dict(zip(objname_en2zh_dic_goal.values(), objname_en2zh_dic_goal.keys())) +# print(objname_zh2eh_dic) def show_image(camera_data): print('------------------show_image----------------------') @@ -66,6 +203,9 @@ class Scene: # camera_interval = 1.5 output_path = os.path.join(os.path.dirname(__file__), "outputs") + objname_en2zh_dic = objname_en2zh_dic_goal + objname_zh2en_dic = objname_zh2en_dic_goal + default_state = { "map": { "2d": None, @@ -124,13 +264,13 @@ class Scene: # 是否展示UI self.show_ui = False # 图像分割 - self.take_picture = False + self.take_picture = True self.map_ratio = 5 self.map_map = np.zeros((math.ceil(950 / self.map_ratio), math.ceil(1850 / self.map_ratio))) self.db = DBSCAN(eps=self.map_ratio, min_samples=int(self.map_ratio / 2)) self.infoCount = 0 - self.is_nav_walk = False + self.is_nav_walk = True file_name = os.path.join(root_path,'robowaiter/algos/navigator/map_5.pkl') if os.path.exists(file_name): @@ -880,6 +1020,8 @@ class Scene: scene = self.stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID)) time.sleep(1.0) + + # 实现抓握操作 def grasp_obj(self, obj_id, hand_id=1): print('------------------adjust_joints----------------------') @@ -1039,7 +1181,7 @@ class Scene: # cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(plt, db, scene, # cur_obstacle_world_points, map_ratio) - cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(self, db, scene, + cur_obstacle_world_points, cur_objs_id, obj_detect_count= camera.get_obstacle_point(self, db, scene, cur_obstacle_world_points, map_ratio) # cur_obstacle_world_points, cur_objs_id = self.get_obstacle_point(db, scene, map_ratio) # # self.get_obstacle_point(db, scene, cur_obstacle_world_points, map_ratio) @@ -1065,12 +1207,12 @@ class Scene: # cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs, # objs_name_set) - cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(self, db, scene, + cur_obstacle_world_points, cur_objs_id, obj_detect_count= camera.get_obstacle_point(self, db, scene, cur_obstacle_world_points, map_ratio) # if scene.info == "Unreachable": print(scene.info) - return cur_obstacle_world_points, cur_objs_id + return cur_obstacle_world_points, cur_objs_id, obj_detect_count def isOutMap(self, pos, min_x=-200, max_x=600, min_y=-250, max_y=1300): if pos[0] <= min_x or pos[0] >= max_x or pos[1] <= min_y or pos[1] >= max_y: @@ -1142,6 +1284,10 @@ class Scene: def getDistance(self, pos1, pos2): return math.sqrt((pos1[0] - pos2[0]) ** 2 + (pos1[1] - pos2[1]) ** 2) + def getDistanc3D(self, pos1, pos2): + return math.sqrt((pos1[0] - pos2[0]) ** 2 + (pos1[1] - pos2[1]) ** 2+ (pos1[2] - pos2[2]) ** 2) + + def getNearestFrontier(self, cur_pos, frontiers): dis_min = sys.maxsize frontier_best = None @@ -1262,7 +1408,7 @@ class Scene: def draw_current_bt(self): pass - def get_obstacle_point(self, db, scene, map_ratio, update_info_count=0): + def get_obstacle_point(self, db, scene, map_ratio, update_info_count=0, is_nav=False): # if abs(self.last_take_pic_tim - self.time)< @@ -1439,9 +1585,13 @@ class Scene: self.send_img("img_label_obj") + if is_nav: + self.navigator.planner.draw_graph(self.navigator.cur_step_num, self.navigator.yaw) + else: + new_map = self.updateMap(cur_obstacle_world_points) + self.draw_map(plt,new_map) + - new_map = self.updateMap(cur_obstacle_world_points) - self.draw_map(plt,new_map) plt.axis("off") self.send_img("img_label_map") @@ -1456,7 +1606,21 @@ class Scene: # plt.text(0, 0.1, f'已存语义信息：{self.infoCount}', fontsize=10) # 元组传参 pyqt5中的函数名， 四个参数 - self.ui_func(("get_info", walker_detect_count, obj_detect_count, update_info_count, self.infoCount)) + # self.ui_func(("get_info", walker_detect_count, obj_detect_count, update_info_count, self.infoCount)) + semantic_info_str="" + semantic_info_str+= f'检测行人数量：{walker_detect_count}'+"\n\n" + semantic_info_str += f'检测物体数量：{obj_detect_count}' + "\n\n" + semantic_info_str += f'更新语义信息：{update_info_count}' + "\n\n" + + + file_json_name = os.path.join(root_path, 'robowaiter/proto/objs.json') + with open(file_json_name) as f: + data = json.load(f) + semantic_info_str += f'已存语义信息：{len(data)}' + "\n" + + # print("======semantic_info_str===========") + + self.ui_func(("get_semantic_info", semantic_info_str)) # draw figures diff --git a/robowaiter/scene/ui/pyqt5.py b/robowaiter/scene/ui/pyqt5.py index 05d5041..2de5441 100644 --- a/robowaiter/scene/ui/pyqt5.py +++ b/robowaiter/scene/ui/pyqt5.py @@ -1,9 +1,11 @@ import importlib import os +from PyQt5.QtSvg import QGraphicsSvgItem, QSvgWidget from PyQt5.QtWidgets import QApplication, QMainWindow, QListWidgetItem, QGraphicsView, QGraphicsScene, \ - QGraphicsPixmapItem + QGraphicsPixmapItem, QGraphicsProxyWidget, QLineEdit from PyQt5.QtCore import QTimer, QPoint, QRectF +from PyQt5 import QtCore import sys from robowaiter.scene.ui.window import Ui_MainWindow @@ -11,7 +13,7 @@ from robowaiter.utils.basic import get_root_path from PyQt5.QtCore import QThread import queue import numpy as np -from PyQt5.QtGui import QImage, QPixmap, QDrag +from PyQt5.QtGui import QImage, QPixmap, QDrag, QPainter from PyQt5.QtCore import Qt from PyQt5.QtCore import QThread, pyqtSignal from robowaiter.scene.ui.scene_ui import SceneUI @@ -56,6 +58,29 @@ def run_scene(scene_cls,robot_cls,scene_queue,ui_queue): # print("Robot system error:", str(e)) example_list = ("AEM","VLN","VLM",'GQA',"OT","AT","reset") +more_example_list = ("VLM_AC","CafeDaily") +dic_more2zh={ + "VLM_AC":"开空调并调节空调温度", + "CafeDaily":"咖啡厅的一天" +} +more_example_list_zh = [value for value in dic_more2zh.values()] + +class GraphicsView(QGraphicsView): + def __init__(self, parent=None): + super(GraphicsView, self).__init__(parent) + self.setRenderHint(QPainter.Antialiasing) + self.setOptimizationFlag(QGraphicsView.DontAdjustForAntialiasing, True) + self.setViewportUpdateMode(QGraphicsView.FullViewportUpdate) + self.setDragMode(QGraphicsView.ScrollHandDrag) + self.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff) + self.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOff) + + def wheelEvent(self, event): + factor = 1.15 + if event.angleDelta().y() > 0: + self.scale(factor, factor) + else: + self.scale(1.0 / factor, 1.0 / factor) class UI(QMainWindow, Ui_MainWindow): scene = None @@ -76,10 +101,24 @@ class UI(QMainWindow, Ui_MainWindow): self.setupUi(MainWindow) # 初始化UI + MainWindow.setWindowTitle("RoboWatier") + # MainWindow.setWindowIcon(QIcon("icons/umbrella.ico")) + # 绑定说话按钮 self.btn_say.clicked.connect(self.btn_say_on_click) + self.verticalLayout_2.removeWidget(self.img_view_bt) + self.img_view_bt = GraphicsView(self.centralwidget) + self.img_view_bt.setObjectName("img_view_bt") + self.verticalLayout_2.addWidget(self.img_view_bt) self.img_view_bt.setDragMode(QGraphicsView.ScrollHandDrag) + lineEdit = QLineEdit() + lineEdit.setReadOnly(True) # 设置只读 + lineEdit.setAlignment(Qt.AlignCenter) # 设置文字居中 + lineEdit.setPlaceholderText("请选择其他任务") + self.cb_task.setLineEdit(lineEdit) + + # 下拉菜单绑定函数 # 下拉菜单.seleted.connect(self.你写的函数) @@ -90,12 +129,12 @@ class UI(QMainWindow, Ui_MainWindow): # self.drag_start_position = QPoint() # 记录鼠标按下时的位置 self.cb_task.setCurrentIndex(-1) - self.cb_task.setPlaceholderText("请选择城市") + self.cb_task.setPlaceholderText("请选择更多任务") # 多个添加条目 - self.cb_task.addItems(['Java', 'C#', 'PHP']) + self.cb_task.addItems(more_example_list_zh) # 当下拉索引发生改变时发射信号触发绑定的事件 - self.cb_task.currentIndexChanged.connect(self.selectionchange) + self.cb_task.currentIndexChanged.connect(self.cb_selectionchange) # 绑定任务演示按钮 for example in example_list: @@ -116,24 +155,15 @@ class UI(QMainWindow, Ui_MainWindow): sys.exit(app.exec_()) - def selectionchange(self, i): + def cb_selectionchange(self, i): print(i) - # self.create_example_click(dic[i]) - # 标签用来显示选中的文本 - # currentText()：返回选中选项的文本 - # self.btn1.setText(self.cb.currentText()) - # print('Items in the list are:') - # # 输出选项集合中每个选项的索引与对应的内容 - # # count()：返回选项集合中的数目 - # for count in range(self.cb.count()): - # print('Item' + str(count) + '=' + self.cb.itemText(count)) - # print('current index', i, 'selection changed', self.cb.currentText()) + self.create_example_click(more_example_list[i])() - def get_info(self, walker_detect_count, obj_detect_count, update_info_count, infoCount): - print(obj_detect_count) - self.textEdit_5.clear() - self.textEdit_5.append(str(obj_detect_count)) - # self.textEdit_5.setText(walker_detect_count + "_" + obj_detect_count + "_" + update_info_count + "_" + infoCount) + def get_semantic_info(self, semantic_info_str): + # self.textEdit_5.clear() + # self.textEdit_5.append(semantic_info_str) + self.textBrowser_5.clear() + self.textBrowser_5.append(semantic_info_str) def new_history(self,customer_name,chat): role = chat["role"] @@ -246,6 +276,17 @@ class UI(QMainWindow, Ui_MainWindow): self.img_view_bt.setScene(scene) pixmap_item = QGraphicsPixmapItem(pixmap) scene.addItem(pixmap_item) + + + # widget = QSvgWidget(file_name) + # # widget.resize(10000, 1600) + # svg_width = widget.width() + # widget.resize(svg_width*2, 1600) + # proxy = QGraphicsProxyWidget() + # proxy.setWidget(widget) + # scene.addItem(+proxy) + + elif control_name == "img_label_obj": return # self.label.setPixmap(pixmap) diff --git a/robowaiter/scene/ui/scene_ui.py b/robowaiter/scene/ui/scene_ui.py index f97b158..78d557f 100644 --- a/robowaiter/scene/ui/scene_ui.py +++ b/robowaiter/scene/ui/scene_ui.py @@ -10,13 +10,15 @@ import pickle import time import os +from robowaiter.scene.scene import Scene + plt.rcParams['font.sans-serif'] = ['SimHei'] # 用来正常显示中文标签 plt.rcParams['axes.unicode_minus'] = False # 用来正常显示负号 from robowaiter.utils import get_root_path root_path = get_root_path() -from robowaiter.scene.scene import Scene + from robowaiter.utils.bt.draw import render_dot_tree @@ -75,7 +77,7 @@ class SceneUI(Scene): break # cur_obstacle_world_points, cur_objs_id = self.navigation_move(plt, cur_objs, cur_obstacle_world_points, # [[goal[0], goal[1]]], map_ratio, db, 0, 11) - cur_obstacle_world_points, cur_objs_id = self.navigation_move(self, cur_objs, cur_obstacle_world_points, + cur_obstacle_world_points, cur_objs_id, obj_detect_count = self.navigation_move(self, cur_objs, cur_obstacle_world_points, [[goal[0], goal[1]]], map_ratio, db, 0, 11) for point in cur_obstacle_world_points: if point[0] < -350 or point[0] > 600 or point[1] < -400 or point[1] > 1450: @@ -111,7 +113,19 @@ class SceneUI(Scene): # 已存语义信息 added_info += new_add_info # plt.text(0, 0.3, f'已存语义信息：{added_info}', fontsize=10) # 在图中添加文字，x和y坐标是在这个图片大小内的相对位置，fontsize是字体大小 + + + semantic_info_str = "" + # semantic_info_str += f'检测行人数量：{walker_detect_count}' + "\n\n" + semantic_info_str += f'检测物体数量：{obj_detect_count}' + "\n\n" + semantic_info_str += f'更新语义信息：{new_add_info}' + "\n\n" + semantic_info_str += f'已存语义信息：{self.infoCount}' + "\n" + self.infoCount = added_info + + # print("======semantic_info_str===========") + + self.ui_func(("get_semantic_info", semantic_info_str)) plt.axis("off") # plt.show() print("------------当前检测到的物品信息--------------") @@ -160,20 +174,30 @@ class SceneUI(Scene): self.new_event_list = [ (5, self.customer_say, (0, "请问哪里有空位啊？")), - (13, self.customer_say, (0, "我想坐高凳子。")), + (13, self.customer_say, (0, "我想坐高脚凳子。")), (3, self.customer_say, (0, "你带我去吧。")), - (45, self.control_walker, (0, False, 100, -250, 480, -90)), + (60, self.control_walker, (0, False, 100, -250, 480, -90)), #45 (-1, self.customer_say, (0, "谢谢你！这儿还不错！")), ] def run_VLM(self): + # 场景一 拿放物品 self.gen_obj() + self.state["condition_set"]={'At(Robot,Bar)', 'Is(AC,Off)', + 'Holding(Nothing)', 'Exist(Yogurt)', 'Exist(BottledDrink)', + 'Exist(Softdrink)', + 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)' + 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} + 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) + # self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True) + self.control_walkers(walker_loc=[[-55, 750]], is_autowalk=True) self.signal_event_list = [ (3, self.add_walker, (20,0,700)), (1, self.control_walker, (6, False,100, 60, 520,0)), - (1, self.customer_say, (6, "给我来份薯片和果汁，我坐在对面的桌子那儿。")), + (1, self.customer_say, (6, "给我来份薯片和果汁，我坐在对面的水杯桌那儿。")), #给我来份薯片和果汁，我坐在对面的桌子那儿。 (5, self.control_walker, (6, False, 100, -250, 480, 0)), ] pass @@ -220,6 +244,26 @@ class SceneUI(Scene): ] pass + + def run_VLM_AC(self): + # 开关空调 + # 场景二 开和调节空调温度 + 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]],is_autowalk = True) + 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] + (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) + ] + pass + + def run_CafeDaily(self): + pass + + def run_reset(self): pass @@ -232,8 +276,9 @@ class SceneUI(Scene): self.draw_current_bt() def draw_current_bt(self): - render_dot_tree(self.robot.bt.root,target_directory=self.output_path,name="current_bt") + render_dot_tree(self.robot.bt.root,target_directory=self.output_path,name="current_bt",png_only=True) self.ui_queue.put(('draw_from_file',"img_view_bt", f"{self.output_path}/current_bt.png")) + # self.ui_queue.put(('draw_from_file', "img_view_bt", f"{self.output_path}/current_bt.svg")) def ui_func(self,args): # _,_,output_path = args diff --git a/robowaiter/scene/ui/window.py b/robowaiter/scene/ui/window.py index 6bc8b79..6a8ef1a 100644 --- a/robowaiter/scene/ui/window.py +++ b/robowaiter/scene/ui/window.py @@ -14,7 +14,7 @@ from PyQt5 import QtCore, QtGui, QtWidgets class Ui_MainWindow(object): def setupUi(self, MainWindow): MainWindow.setObjectName("MainWindow") - MainWindow.resize(895, 967) + MainWindow.resize(895, 980) MainWindow.setAutoFillBackground(False) self.centralwidget = QtWidgets.QWidget(MainWindow) self.centralwidget.setObjectName("centralwidget") @@ -96,11 +96,61 @@ class Ui_MainWindow(object): self.label_5.setObjectName("label_5") self.verticalLayout_2.addWidget(self.label_5) self.img_view_bt = QtWidgets.QGraphicsView(self.centralwidget) + sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Fixed) + sizePolicy.setHorizontalStretch(0) + sizePolicy.setVerticalStretch(0) + sizePolicy.setHeightForWidth(self.img_view_bt.sizePolicy().hasHeightForWidth()) + self.img_view_bt.setSizePolicy(sizePolicy) + self.img_view_bt.setMinimumSize(QtCore.QSize(0, 240)) self.img_view_bt.setObjectName("img_view_bt") self.verticalLayout_2.addWidget(self.img_view_bt) self.gridLayout_3.addLayout(self.verticalLayout_2, 1, 0, 1, 1) self.gridLayout_2 = QtWidgets.QGridLayout() self.gridLayout_2.setObjectName("gridLayout_2") + self.horizontalLayout_4 = QtWidgets.QHBoxLayout() + self.horizontalLayout_4.setContentsMargins(0, -1, -1, -1) + self.horizontalLayout_4.setSpacing(0) + self.horizontalLayout_4.setObjectName("horizontalLayout_4") + self.label_6 = QtWidgets.QLabel(self.centralwidget) + sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Preferred) + sizePolicy.setHorizontalStretch(0) + sizePolicy.setVerticalStretch(0) + sizePolicy.setHeightForWidth(self.label_6.sizePolicy().hasHeightForWidth()) + self.label_6.setSizePolicy(sizePolicy) + self.label_6.setMinimumSize(QtCore.QSize(355, 0)) + font = QtGui.QFont() + font.setFamily("黑体") + font.setPointSize(14) + self.label_6.setFont(font) + self.label_6.setObjectName("label_6") + self.horizontalLayout_4.addWidget(self.label_6) + self.label_7 = QtWidgets.QLabel(self.centralwidget) + sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred) + sizePolicy.setHorizontalStretch(0) + sizePolicy.setVerticalStretch(0) + sizePolicy.setHeightForWidth(self.label_7.sizePolicy().hasHeightForWidth()) + self.label_7.setSizePolicy(sizePolicy) + self.label_7.setMinimumSize(QtCore.QSize(0, 0)) + font = QtGui.QFont() + font.setFamily("黑体") + font.setPointSize(14) + self.label_7.setFont(font) + self.label_7.setObjectName("label_7") + self.horizontalLayout_4.addWidget(self.label_7) + self.label_8 = QtWidgets.QLabel(self.centralwidget) + sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred) + sizePolicy.setHorizontalStretch(0) + sizePolicy.setVerticalStretch(0) + sizePolicy.setHeightForWidth(self.label_8.sizePolicy().hasHeightForWidth()) + self.label_8.setSizePolicy(sizePolicy) + self.label_8.setMinimumSize(QtCore.QSize(0, 0)) + font = QtGui.QFont() + font.setFamily("黑体") + font.setPointSize(14) + self.label_8.setFont(font) + self.label_8.setObjectName("label_8") + self.horizontalLayout_4.addWidget(self.label_8) + self.gridLayout_2.addLayout(self.horizontalLayout_4, 0, 0, 1, 1) self.horizontalLayout_5 = QtWidgets.QHBoxLayout() self.horizontalLayout_5.setObjectName("horizontalLayout_5") self.img_label_map = QtWidgets.QLabel(self.centralwidget) @@ -140,58 +190,53 @@ class Ui_MainWindow(object): self.img_label_obj.setObjectName("img_label_obj") self.horizontalLayout_5.addWidget(self.img_label_obj) self.gridLayout_2.addLayout(self.horizontalLayout_5, 1, 0, 1, 1) - self.horizontalLayout_4 = QtWidgets.QHBoxLayout() - self.horizontalLayout_4.setContentsMargins(0, -1, -1, -1) - self.horizontalLayout_4.setSpacing(0) - self.horizontalLayout_4.setObjectName("horizontalLayout_4") - self.label_6 = QtWidgets.QLabel(self.centralwidget) - sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred) - sizePolicy.setHorizontalStretch(0) - sizePolicy.setVerticalStretch(0) - sizePolicy.setHeightForWidth(self.label_6.sizePolicy().hasHeightForWidth()) - self.label_6.setSizePolicy(sizePolicy) - self.label_6.setMinimumSize(QtCore.QSize(0, 0)) - font = QtGui.QFont() - font.setFamily("黑体") - font.setPointSize(14) - self.label_6.setFont(font) - self.label_6.setObjectName("label_6") - self.horizontalLayout_4.addWidget(self.label_6) - self.label_7 = QtWidgets.QLabel(self.centralwidget) - sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred) - sizePolicy.setHorizontalStretch(0) - sizePolicy.setVerticalStretch(0) - sizePolicy.setHeightForWidth(self.label_7.sizePolicy().hasHeightForWidth()) - self.label_7.setSizePolicy(sizePolicy) - self.label_7.setMinimumSize(QtCore.QSize(0, 0)) - font = QtGui.QFont() - font.setFamily("黑体") - font.setPointSize(14) - self.label_7.setFont(font) - self.label_7.setObjectName("label_7") - self.horizontalLayout_4.addWidget(self.label_7) - self.label_8 = QtWidgets.QLabel(self.centralwidget) - sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred) - sizePolicy.setHorizontalStretch(0) - sizePolicy.setVerticalStretch(0) - sizePolicy.setHeightForWidth(self.label_8.sizePolicy().hasHeightForWidth()) - self.label_8.setSizePolicy(sizePolicy) - self.label_8.setMinimumSize(QtCore.QSize(0, 0)) - font = QtGui.QFont() - font.setFamily("黑体") - font.setPointSize(14) - self.label_8.setFont(font) - self.label_8.setObjectName("label_8") - self.horizontalLayout_4.addWidget(self.label_8) - self.gridLayout_2.addLayout(self.horizontalLayout_4, 0, 0, 1, 1) self.gridLayout_3.addLayout(self.gridLayout_2, 0, 0, 1, 1) self.gridLayout.addLayout(self.gridLayout_3, 6, 0, 1, 3) self.verticalLayout_3 = QtWidgets.QVBoxLayout() self.verticalLayout_3.setObjectName("verticalLayout_3") - self.textEdit_5 = QtWidgets.QTextEdit(self.centralwidget) - self.textEdit_5.setObjectName("textEdit_5") - self.verticalLayout_3.addWidget(self.textEdit_5) + self.textBrowser_5 = QtWidgets.QTextBrowser(self.centralwidget) + font = QtGui.QFont() + font.setFamily("黑体") + font.setPointSize(13) + font.setBold(False) + font.setWeight(50) + self.textBrowser_5.setFont(font) + self.textBrowser_5.setLayoutDirection(QtCore.Qt.LeftToRight) + self.textBrowser_5.setStyleSheet("text-align:center;") + self.textBrowser_5.setMarkdown("") + self.textBrowser_5.setObjectName("textBrowser_5") + self.verticalLayout_3.addWidget(self.textBrowser_5) self.gridLayout.addLayout(self.verticalLayout_3, 5, 0, 1, 1) + self.label_9 = QtWidgets.QLabel(self.centralwidget) + font = QtGui.QFont() + font.setFamily("等线") + font.setPointSize(10) + font.setBold(True) + font.setWeight(75) + self.label_9.setFont(font) + self.label_9.setObjectName("label_9") + self.gridLayout.addWidget(self.label_9, 0, 0, 1, 1) + self.btn_say = QtWidgets.QPushButton(self.centralwidget) + font = QtGui.QFont() + font.setFamily("黑体") + font.setPointSize(14) + self.btn_say.setFont(font) + self.btn_say.setObjectName("btn_say") + self.gridLayout.addWidget(self.btn_say, 0, 2, 1, 1) + self.edit_say = QtWidgets.QLineEdit(self.centralwidget) + font = QtGui.QFont() + font.setFamily("Times New Roman") + font.setPointSize(14) + self.edit_say.setFont(font) + self.edit_say.setObjectName("edit_say") + self.gridLayout.addWidget(self.edit_say, 0, 1, 1, 1) + self.label = QtWidgets.QLabel(self.centralwidget) + font = QtGui.QFont() + font.setFamily("黑体") + font.setPointSize(14) + self.label.setFont(font) + self.label.setObjectName("label") + self.gridLayout.addWidget(self.label, 4, 0, 1, 1) self.verticalLayout = QtWidgets.QVBoxLayout() self.verticalLayout.setObjectName("verticalLayout") self.btn_reset = QtWidgets.QPushButton(self.centralwidget) @@ -250,42 +295,16 @@ class Ui_MainWindow(object): sizePolicy.setHeightForWidth(self.cb_task.sizePolicy().hasHeightForWidth()) self.cb_task.setSizePolicy(sizePolicy) self.cb_task.setMinimumSize(QtCore.QSize(0, 25)) - self.cb_task.setEditable(True) + font = QtGui.QFont() + font.setFamily("黑体") + font.setPointSize(14) + self.cb_task.setFont(font) + self.cb_task.setEditable(False) self.cb_task.setCurrentText("") self.cb_task.setInsertPolicy(QtWidgets.QComboBox.InsertAtBottom) self.cb_task.setObjectName("cb_task") self.verticalLayout.addWidget(self.cb_task) self.gridLayout.addLayout(self.verticalLayout, 1, 0, 1, 1) - self.label_9 = QtWidgets.QLabel(self.centralwidget) - font = QtGui.QFont() - font.setFamily("等线") - font.setPointSize(10) - font.setBold(True) - font.setWeight(75) - self.label_9.setFont(font) - self.label_9.setObjectName("label_9") - self.gridLayout.addWidget(self.label_9, 0, 0, 1, 1) - self.btn_say = QtWidgets.QPushButton(self.centralwidget) - font = QtGui.QFont() - font.setFamily("黑体") - font.setPointSize(14) - self.btn_say.setFont(font) - self.btn_say.setObjectName("btn_say") - self.gridLayout.addWidget(self.btn_say, 0, 2, 1, 1) - self.label = QtWidgets.QLabel(self.centralwidget) - font = QtGui.QFont() - font.setFamily("黑体") - font.setPointSize(14) - self.label.setFont(font) - self.label.setObjectName("label") - self.gridLayout.addWidget(self.label, 4, 0, 1, 1) - self.edit_say = QtWidgets.QLineEdit(self.centralwidget) - font = QtGui.QFont() - font.setFamily("Times New Roman") - font.setPointSize(14) - self.edit_say.setFont(font) - self.edit_say.setObjectName("edit_say") - self.gridLayout.addWidget(self.edit_say, 0, 1, 1, 1) MainWindow.setCentralWidget(self.centralwidget) self.statusbar = QtWidgets.QStatusBar(MainWindow) self.statusbar.setObjectName("statusbar") @@ -297,7 +316,7 @@ class Ui_MainWindow(object): def retranslateUi(self, MainWindow): _translate = QtCore.QCoreApplication.translate - MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow")) + MainWindow.setWindowTitle(_translate("MainWindow", "RoboWatier")) self.label_10.setText(_translate("MainWindow", "顾客列表：")) self.label_11.setText(_translate("MainWindow", "顾客历史对话：")) __sortingEnabled = self.list_customer.isSortingEnabled() @@ -311,18 +330,23 @@ class Ui_MainWindow(object): self.label_6.setText(_translate("MainWindow", "可达性地图")) self.label_7.setText(_translate("MainWindow", "实例分割")) self.label_8.setText(_translate("MainWindow", "目标检测")) + self.textBrowser_5.setHtml(_translate("MainWindow", "\n" +"\n" +"


")) + self.label_9.setText(_translate("MainWindow", "任务演示：（播放动画时需等待动画播放完毕才会重置场景）")) + self.btn_say.setText(_translate("MainWindow", "说话")) + self.edit_say.setText(_translate("MainWindow", "Is(AC,On)")) + self.label.setText(_translate("MainWindow", "语义信息")) self.btn_reset.setText(_translate("MainWindow", "重置场景")) self.btn_AEM.setText(_translate("MainWindow", "环境主动探索")) self.btn_VLN.setText(_translate("MainWindow", "视觉语言导航")) self.btn_VLM.setText(_translate("MainWindow", "视觉语言操作")) self.btn_GQA.setText(_translate("MainWindow", "具身多轮对话")) - self.btn_OT.setText(_translate("MainWindow", "开放具身任务")) + self.btn_OT.setText(_translate("MainWindow", "复杂具身任务")) self.btn_AT.setText(_translate("MainWindow", "自主具身任务")) self.cb_task.setPlaceholderText(_translate("MainWindow", "其他任务")) - self.label_9.setText(_translate("MainWindow", "任务演示：（播放动画时需等待动画播放完毕才会重置场景）")) - self.btn_say.setText(_translate("MainWindow", "说话")) - self.label.setText(_translate("MainWindow", "语义信息")) - self.edit_say.setText(_translate("MainWindow", "Is(AC,On)")) if __name__ == "__main__": diff --git a/robowaiter/scene/ui/window.ui b/robowaiter/scene/ui/window.ui index 6e34ef4..71a2855 100644 --- a/robowaiter/scene/ui/window.ui +++ b/robowaiter/scene/ui/window.ui @@ -7,11 +7,11 @@ 0 0 895 - 967 + 980 - MainWindow + RoboWatier false @@ -147,12 +147,110 @@ - + + + + 0 + 0 + + + + + 0 + 240 + + + + + + + 0 + + + 0 + + + + + + 0 + 0 + + + + + 355 + 0 + + + + + 黑体 + 14 + + + + 可达性地图 + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + 黑体 + 14 + + + + 实例分割 + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + 黑体 + 14 + + + + 目标检测 + + + + + @@ -232,91 +330,6 @@ - - - - 0 - - - 0 - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 黑体 - 14 - - - - 可达性地图 - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 黑体 - 14 - - - - 实例分割 - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 黑体 - 14 - - - - 目标检测 - - - - - @@ -324,10 +337,89 @@ - + + + + 黑体 + 13 + 50 + false + + + + Qt::LeftToRight + + + text-align:center; + + + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'黑体'; font-size:13pt; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p></body></html> + + + + + + + 等线 + 10 + 75 + true + + + + 任务演示：（播放动画时需等待动画播放完毕才会重置场景） + + + + + + + + 黑体 + 14 + + + + 说话 + + + + + + + + Times New Roman + 14 + + + + Is(AC,On) + + + + + + + + 黑体 + 14 + + + + 语义信息 + + + @@ -404,7 +496,7 @@ - 开放具身任务 + 复杂具身任务 @@ -435,8 +527,14 @@ 25 + + + 黑体 + 14 + + - true + false @@ -454,60 +552,6 @@ - - - - - 等线 - 10 - 75 - true - - - - 任务演示：（播放动画时需等待动画播放完毕才会重置场景） - - - - - - - - 黑体 - 14 - - - - 说话 - - - - - - - - 黑体 - 14 - - - - 语义信息 - - - - - - - - Times New Roman - 14 - - - - Is(AC,On) - - - diff --git a/robowaiter/utils/draw_bt/test.png b/robowaiter/utils/draw_bt/test.png index 514391c..dce3fe0 100644 Binary files a/robowaiter/utils/draw_bt/test.png and b/robowaiter/utils/draw_bt/test.png differ diff --git a/tasks_no_ui/CafeDailyOperations/CafeOneDay.py b/tasks_no_ui/CafeDailyOperations/CafeOneDay.py index 6b79826..6bbe815 100644 --- a/tasks_no_ui/CafeDailyOperations/CafeOneDay.py +++ b/tasks_no_ui/CafeDailyOperations/CafeOneDay.py @@ -27,7 +27,7 @@ class SceneVLM(Scene): (3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3" (1, self.control_walker, (0, False, 200, 60, 520, 0)), (9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")), - (1, self.customer_say, (0, "可以带我过去嘛？")), + (1, self.customer_say, (0, "你可以带我过去嘛？")),#可以带我过去嘛？ (13, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦 # # 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 diff --git a/tasks_no_ui/OT/Open_tasks_test.py b/tasks_no_ui/OT/Open_tasks_test.py index 996c28a..fe63eb1 100644 --- a/tasks_no_ui/OT/Open_tasks_test.py +++ b/tasks_no_ui/OT/Open_tasks_test.py @@ -18,7 +18,36 @@ class SceneOT(Scene): 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", "冰红茶")), + # (3, self.customer_say, ("System", "有多少盒装饮料")), + # (3, self.customer_say, ("System", "桌子有几张")), + # (3, self.customer_say, ("System", "你们这儿有军棋吗")), + # (3, self.customer_say, ("System", "军棋有几个")), + # (3, self.customer_say, ("System", "有几把椅子呀")), + # (3, self.customer_say, ("System", "有多少顾客")), + # (3, self.customer_say, ("System", "你们这儿有多少军棋")), + + # (3, self.customer_say, ("System", "哪里有盒装饮料？")), + # (3, self.customer_say, ("System", "洗手间在哪里？")),#卫生间 + # (3, self.customer_say, ("System", "卫生间在哪里？")), + + # (3, self.customer_say, ("System", "你们这里有棋吗，在哪里")), + # (3, self.customer_say, ("System", "棋在哪里")) + # (3, self.customer_say, ("System", "有几副棋")), + # (3, self.customer_say, ("System", "我的手镯，你有看到吗")), + # (3, self.customer_say, ("System", "你们这有小说吗？")), + # (3, self.customer_say, ("System", "我昨天保温杯落在你们咖啡厅了，你看到了吗？")), + # (3, self.customer_say, ("System", "你们这有魔方吗？")), + # (3, self.customer_say, ("System", "垃圾桶在哪呀？")), + + # (3, self.customer_say, ("System", "这有小说吗？在哪里")), + + # (3, self.customer_say, ("System", "还有空位吗")), + + (3, self.customer_say, ("System", "有空桌子吗")), + + + # (3, self.customer_say, ("System", "把盒装冰红茶放到水桌")), + # (3, self.customer_say, ("System", "冰红茶")), # (3, self.customer_say, ("System", "酸奶。")), # (3, self.customer_say, ("System","来一号桌")), # (-1, self.customer_say, ("System","回去吧")), @@ -30,7 +59,7 @@ class SceneOT(Scene): # ] def _reset(self): - # self.add_walkers([[0, 880], [250, 1200]]) + self.add_walkers([[0, 880], [250, 1200]]) self.gen_obj() pass