更新了 VLM 的两个场景
This commit is contained in:
Caiyishuai
parent
95abf77d32
commit
b4e04641eb
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@ -53,7 +53,7 @@ class Bahavior(ptree.behaviour.Behaviour):
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}
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}
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place_xy_yaw_dic={
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place_xy_yaw_dic={
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'Bar': (247.0, 520.0, 180.0), # (247.0, 520.0, 100.0)
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'Bar': (247.0, 520.0, 180), # (247.0, 520.0, 100.0)
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'Bar2': (240.0, 40.0, 100.0),
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'Bar2': (240.0, 40.0, 100.0),
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'WaterTable': (-70.0, 500.0, 107),
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'WaterTable': (-70.0, 500.0, 107),
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'CoffeeTable': (250.0, 310.0, 100.0),
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'CoffeeTable': (250.0, 310.0, 100.0),
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@ -21,7 +21,7 @@ class GreetCustomer(Act):
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def _update(self) -> ptree.common.Status:
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def _update(self) -> ptree.common.Status:
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goal = Act.place_xyz_dic['Bar']
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goal = Act.place_xy_yaw_dic['Bar']
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self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
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self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
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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！请问有什么可以帮您？")
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if self.scene.show_bubble:
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if self.scene.show_bubble:
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@ -0,0 +1,93 @@
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"""
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视觉语言操作
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机器人根据指令人的指令调节空调，自主探索环境导航到目标点，通过手臂的运动规划能力操作空调，比如开关按钮、调温按钮、显示面板
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"""
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import time
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from robowaiter.scene.scene import Scene
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class SceneVLM(Scene):
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def __init__(self, robot):
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super().__init__(robot)
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# 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
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self.scene_flag = 1
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self.st1 = 3
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# self.st2 = self.st1 + 30
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# self.st3 = self.st2 + 65
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self.st2 = 3
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self.st3 = 3
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self.st4 = 3
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self.signal_event_list = [
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# 场景1：带小女孩找阳光下的空位
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(3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3"
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(1, self.control_walker, (0, False, 200, 60, 520, 0)),
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(9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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(-1, self.customer_say, (0, "可以带我过去嘛？")),
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(0, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
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# # 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子
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# (3, self.add_walker, (5, 230, 1200)), # 小女孩
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# # # 上述准备
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(10, self.add_walker, (26, -28, -150, 90)),
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(0, self.add_walker, (10, -70, -200, -45)),
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(6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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(8, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])),
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# 20 胖胖男到了 BrightTable6
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(2, self.customer_say, (1, "咖啡有哪些呢？")), # 10
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(2, self.customer_say, (1, "来杯卡布奇诺吧。")), # 15
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]
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def _reset(self):
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self.gen_obj()
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# self.add_walkers([[47, 920]])
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pass
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def _run(self, op_type=10):
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# 一个行人从门口走到 吧台
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# 打招呼需要什么
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# 行人说 哪里有位置，想晒个太阳
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# 带领行人去有太阳的地方
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# 行人说 有点热
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# 好的，这就去开空调
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self.walker_followed = False
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pass
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def _step(self):
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if self.scene_flag == 1:
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# 如果机器人不在 吧台
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if self.walker_followed:
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return
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end = [self.status.location.X, self.status.location.Y]
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if end[1] >= 600 or end[1] <= 450 or end[0] >= 250:
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# if int(self.status.location.X)!=247 or int(self.status.location.X)!=520:
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self.walker_followed = True
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self.control_walkers_and_say([[0, False, 150, end[0], end[1], 90, "谢谢！"]])
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self.scene_flag += 1
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# 获得所有顾客的名字
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# print("=================")
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# for cus in self.status.walkers:
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# print(cus)
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# print("=================")
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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 = SceneVLM(robot)
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task.reset()
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task.run()
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@ -45,7 +45,7 @@ class SceneVLM(Scene):
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# # 场景3：有位女士要杯水和冰红茶
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# # 场景3：有位女士要杯水和冰红茶
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(30 ,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
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(30 ,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), #设置id=4 的2小男孩随机游走红随机游走
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), #设置id=4 的2小男孩随机游走红随机游走
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(0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])),
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(0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])),
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(5, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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(5, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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(15, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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(15, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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@ -36,11 +36,11 @@ class SceneVLM(Scene):
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# # 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子
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# # 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子
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(3, self.add_walker, (5, 230, 1200)), # 小女孩
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(3, self.add_walker, (5, 230, 1200)), # 小女孩
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# # # 上述准备
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# # # 上述准备
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(10, self.add_walker, (26, -28, -150, 90)),
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(3, self.add_walker, (26, -28, -150, 90)),
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(0, self.add_walker, (10, -70, -200, -45)),
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(0, self.add_walker, (10, -70, -200, -45)),
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(6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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# (6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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(8, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), # 20 胖胖男到了 BrightTable6
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# (8, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), # 20 胖胖男到了 BrightTable6
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(2, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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# (2, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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(2, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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(2, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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@ -52,29 +52,29 @@ class SceneVLM(Scene):
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
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# (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
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# (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走
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# (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走
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(0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])),
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(3, self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135],[29, -290, 400, 180]]])),
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), #设置id=4 的2小男孩随机游走红随机游走
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), #设置id=4 的2小男孩随机游走红随机游走
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(0, self.add_walker, (48, 60, 520,0)),# 生成他妈妈
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(0, self.add_walker, (48, 60, 520,0)),# 生成他妈妈
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# (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号
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# (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号
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# (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5
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# (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5
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(0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])),
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(0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90]]])),
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#
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# # (5, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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(29, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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# # (15, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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(10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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# # 好的，我明白了，那么您可以选择我们的家庭亲子座，这样可以容纳您的孩子，并且更加宽敞舒适。
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# # 好的，我明白了，那么您可以选择我们的家庭亲子座，这样可以容纳您的孩子，并且更加宽敞舒适。
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# # 这里可以加一下自主导航和探索，找到一个位置
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# # 这里可以加一下自主导航和探索，找到一个位置
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# # 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。
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# # 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。
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# (8, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")),
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(8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")),
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# (15, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400
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(15, self.control_walker, (7, False, 50,-250, 480, 0)), # #290, 400
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# # (3, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")),
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# (3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")),
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# # ### 9号灰色男 排队排着排着，不排了
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# # ### 9号灰色男 排队排着排着，不排了
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# (0, self.control_walker, (9, False, 100, 100, 760, 180)),
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(0, self.control_walker, (10, False, 100, 100, 760, 180)),
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# (0, self.control_walker, (9, True, 100, 0, 0, 180)),
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(0, self.control_walker, (10, True, 100, 0, 0, 180)),
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# # # ### 增加场景，孩子说热要开空调 或者9号随机游走和说
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# # # ### 增加场景，孩子说热要开空调 或者9号随机游走和说
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# # (90, self.customer_say, (6, "谢谢！")), #倒水+取放酸奶 90s
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# # (90, self.customer_say, (7, "谢谢！")), #倒水+取放酸奶 90s
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# (3, self.customer_say, (6, "谢谢！")),
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# (3, self.customer_say, (7, "谢谢！")),
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@ -13,18 +13,117 @@ class SceneVLM(Scene):
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self.signal_event_list = [
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self.signal_event_list = [
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(3, self.add_walker, (0,0,700)),
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(3, self.add_walker, (0,0,700)),
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(1, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
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(1, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
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(1, self.customer_say, (6, "好热呀，想开空调，想要温度调低点！")),
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(3, self.customer_say, (6, "好热呀，想开空调，想要温度调低点！")),
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(5, self.control_walker, (6, False, 200, 60, 80, 0)),
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(5, self.control_walker, (6, False, 200, 60, 80, 0)),
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(-1, self.customer_say, (6, "谢谢！这下凉快了！")), #(-100,600)
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(-1, self.customer_say, (6, "谢谢！这下凉快了！")), #(-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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]
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]
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def _reset(self):
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def _reset(self):
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self.gen_obj()
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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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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]],is_autowalk = True)
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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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||||||
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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)
|
||||||
|
# self.gen_obj(type=9)
|
||||||
|
# self.op_task_execute(op_type=16, obj_id=0)
|
||||||
|
# self.move_task_area(op_type=4)
|
||||||
pass
|
pass
|
||||||
|
|
||||||
def _run(self, op_type=10):
|
def _run(self, op_type=10):
|
||||||
|
# 共17个操作
|
||||||
|
# "制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子", # 1-7
|
||||||
|
# "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘", # 8-12
|
||||||
|
# "调整空调开关","调高空调温度","调低空调温度", # 13-15
|
||||||
|
# "抓握物体","放置物体" # 16-17
|
||||||
|
#
|
||||||
|
# self.gen_obj()
|
||||||
|
# if op_type <=15:
|
||||||
|
# self.move_task_area(op_type)
|
||||||
|
# self.op_task_execute(op_type)
|
||||||
|
# if op_type == 16: # 16: 抓操作需要传入物品id
|
||||||
|
# self.move_task_area(op_type, obj_id=0)
|
||||||
|
# self.op_task_execute(op_type, obj_id=0)
|
||||||
|
# # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 100.0], 水杯桌:[-70.0, 500.0, 107]
|
||||||
|
# # 桌子1:[-55.0, 0.0, 107],抹布桌:[340.0, 900.0, 99.0] # 桌子2:[-55.0, 150.0, 107],
|
||||||
|
# if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域
|
||||||
|
# pos = [240.0, 40.0, 100.0]
|
||||||
|
# self.move_task_area(op_type, release_pos=pos)
|
||||||
|
# self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100]
|
||||||
|
#
|
||||||
|
# 流程测试
|
||||||
|
# 抓握放置:抓吧台前生成的酸奶，放到抹布桌上
|
||||||
|
# self.gen_obj()
|
||||||
|
# self.move_task_area(16, obj_id=0)
|
||||||
|
# self.op_task_execute(16, obj_id=0)
|
||||||
|
# pos = [340.0, 900.0, 99.0]
|
||||||
|
# self.move_task_area(17, release_pos=pos)
|
||||||
|
# self.op_task_execute(17, release_pos=pos)
|
||||||
|
#
|
||||||
|
# # 做咖啡:做完的咖啡放到水杯桌上
|
||||||
|
# self.move_task_area(1)
|
||||||
|
# self.op_task_execute(1)
|
||||||
|
#
|
||||||
|
# self.find_obj("CoffeeCup")
|
||||||
|
#
|
||||||
|
# self.move_task_area(16, obj_id=275)
|
||||||
|
# self.op_task_execute(16, obj_id=275)
|
||||||
|
# pos = [-70.0, 500.0, 107]
|
||||||
|
# self.move_task_area(17, release_pos=pos)
|
||||||
|
# self.op_task_execute(17, release_pos=pos)
|
||||||
|
#
|
||||||
|
# # 倒水:倒完的水放到旁边桌子上
|
||||||
|
# self.move_task_area(2)
|
||||||
|
# self.op_task_execute(2)
|
||||||
|
#
|
||||||
|
#
|
||||||
|
# self.move_task_area(16, obj_id=190)
|
||||||
|
# self.op_task_execute(16, obj_id=190)
|
||||||
|
# pos = [-55.0, 0.0, 107]
|
||||||
|
# self.move_task_area(17, release_pos=pos)
|
||||||
|
# self.op_task_execute(17, release_pos=pos)
|
||||||
|
#
|
||||||
|
# self.test_yaw()
|
||||||
|
|
||||||
pass
|
pass
|
||||||
|
|
||||||
def _step(self):
|
def _step(self):
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,40 @@
|
||||||
|
"""
|
||||||
|
视觉语言操作
|
||||||
|
机器人根据指令人的指令调节空调，自主探索环境导航到目标点，通过手臂的运动规划能力操作空调，比如开关按钮、调温按钮、显示面板
|
||||||
|
"""
|
||||||
|
|
||||||
|
import time
|
||||||
|
from robowaiter.scene.scene import Scene
|
||||||
|
|
||||||
|
class SceneVLM(Scene):
|
||||||
|
def __init__(self, robot):
|
||||||
|
super().__init__(robot)
|
||||||
|
# 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
|
||||||
|
self.new_event_list = [
|
||||||
|
(3, self.add_walker, (29,60,520)),
|
||||||
|
(5, self.customer_say, (6,"请问哪里有空位啊？")),
|
||||||
|
]
|
||||||
|
|
||||||
|
def _reset(self):
|
||||||
|
self.gen_obj()
|
||||||
|
self.add_walkers([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
|
||||||
|
self.control_walkers(walker_loc=[[-55, 750], [70, -200]],is_autowalk = True)
|
||||||
|
pass
|
||||||
|
|
||||||
|
def _run(self):
|
||||||
|
pass
|
||||||
|
|
||||||
|
def _step(self):
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
import os
|
||||||
|
from robowaiter.robot.robot import Robot
|
||||||
|
|
||||||
|
robot = Robot()
|
||||||
|
|
||||||
|
# create task
|
||||||
|
task = SceneVLM(robot)
|
||||||
|
task.reset()
|
||||||
|
task.run()
|
||||||
Loading…
Reference in New Issue