From e8c5cb559fcb448c709806fa6d8acbdea258240a Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Wed, 22 Nov 2023 17:55:57 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=BA=86=E5=8A=A8=E4=BD=9C?= =?UTF-8?q?=E8=8A=82=E7=82=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/behavior_lib/act/FreeHands.py | 34 ++++++ robowaiter/behavior_lib/act/Make.py | 3 + robowaiter/behavior_lib/act/MoveTo.py | 6 +- robowaiter/behavior_lib/act/PickUp.py | 10 ++ robowaiter/behavior_lib/act/PutDown.py | 8 ++ robowaiter/behavior_lib/act/Turn.py | 3 + robowaiter/behavior_lib/cond/NewCustomer.py | 1 + .../obtea/OptimalBTExpansionAlgorithm.py | 44 +++++++- robowaiter/scene/scene.py | 16 ++- .../tasks/CafeDailyOperations/CafeOneDay.py | 6 +- .../tasks/CafeDailyOperations/VLN_all.py | 100 +++++++++--------- .../scene/tasks/OT/OT_coffee_water_dessert.py | 2 +- robowaiter/scene/tasks/OT/Open_tasks_test.py | 8 +- 13 files changed, 178 insertions(+), 63 deletions(-) create mode 100644 robowaiter/behavior_lib/act/FreeHands.py diff --git a/robowaiter/behavior_lib/act/FreeHands.py b/robowaiter/behavior_lib/act/FreeHands.py new file mode 100644 index 0000000..73eb064 --- /dev/null +++ b/robowaiter/behavior_lib/act/FreeHands.py @@ -0,0 +1,34 @@ +import py_trees as ptree +from typing import Any +from robowaiter.behavior_lib._base.Act import Act +from robowaiter.behavior_lib._base.Behavior import Status + +class FreeHands(Act): + can_be_expanded = True + num_args = 0 + valid_args = set() + + def __init__(self, *args): + super().__init__(*args) + + + @classmethod + def get_info(cls): + info = {} + info["pre"]= set() + info['add'] = {f'Holding(Nothing)'} + info['del_set'] = {f'Holding({obj})' for obj in cls.all_object} + info['cost'] = 0 + return info + + def _update(self) -> ptree.common.Status: + + + if self.scene.take_picture: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1) + + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + + + return Status.RUNNING \ No newline at end of file diff --git a/robowaiter/behavior_lib/act/Make.py b/robowaiter/behavior_lib/act/Make.py index 5b954ca..dd2c31f 100644 --- a/robowaiter/behavior_lib/act/Make.py +++ b/robowaiter/behavior_lib/act/Make.py @@ -39,6 +39,9 @@ class Make(Act): def _update(self) -> ptree.common.Status: + if self.scene.take_picture: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + self.scene.move_task_area(self.op_type) self.scene.op_task_execute(self.op_type) diff --git a/robowaiter/behavior_lib/act/MoveTo.py b/robowaiter/behavior_lib/act/MoveTo.py index 7d16d25..9e3ec02 100644 --- a/robowaiter/behavior_lib/act/MoveTo.py +++ b/robowaiter/behavior_lib/act/MoveTo.py @@ -21,7 +21,11 @@ class MoveTo(Act): info['pre'] |= {f'Exist({arg})'} info["add"] = {f'At(Robot,{arg})'} info["del_set"] = {f'At(Robot,{place})' for place in cls.valid_args if place != arg} - info['cost']=5 + info['cost'] = 5 + # if arg!='Anything': + # info['cost']=5 + # else: + # info['cost']=0 return info diff --git a/robowaiter/behavior_lib/act/PickUp.py b/robowaiter/behavior_lib/act/PickUp.py index 2380c3d..5ad3609 100644 --- a/robowaiter/behavior_lib/act/PickUp.py +++ b/robowaiter/behavior_lib/act/PickUp.py @@ -7,6 +7,7 @@ class PickUp(Act): can_be_expanded = True num_args = 1 valid_args = Act.all_object + # valid_args.add("Anything") def __init__(self, *args): super().__init__(*args) self.target_obj = self.args[0] @@ -20,6 +21,15 @@ class PickUp(Act): info["del_set"] = {f'Holding(Nothing)'} for place in cls.valid_args: info["del_set"] |= {f'On({arg},{place})'} + info['cost'] = 1 + + # if arg != 'Anything': + # info['cost'] = 1 + # else: + # info['cost'] = 0 + # + # info["pre"] = {} + return info diff --git a/robowaiter/behavior_lib/act/PutDown.py b/robowaiter/behavior_lib/act/PutDown.py index 670785c..5bd74a9 100644 --- a/robowaiter/behavior_lib/act/PutDown.py +++ b/robowaiter/behavior_lib/act/PutDown.py @@ -24,6 +24,14 @@ class PutDown(Act): info["del_set"] = {f'Holding({arg[0]})'} info['cost'] = 1 + + # if arg[0]!='Anything': + # info['cost'] = 1 + # else: + # info['cost'] = 0 + # info["pre"] = {} + # info["add"] = {f'Holding(Nothing)'} + # info["del_set"] = {f'Holding({obj})' for obj in cls.valid_args if obj[0] != arg} return info diff --git a/robowaiter/behavior_lib/act/Turn.py b/robowaiter/behavior_lib/act/Turn.py index 538d549..9b13133 100644 --- a/robowaiter/behavior_lib/act/Turn.py +++ b/robowaiter/behavior_lib/act/Turn.py @@ -74,6 +74,9 @@ class Turn(Act): def _update(self) -> ptree.common.Status: + if self.scene.take_picture: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + self.scene.move_task_area(self.op_type) self.scene.op_task_execute(self.op_type) if self.scene.take_picture: diff --git a/robowaiter/behavior_lib/cond/NewCustomer.py b/robowaiter/behavior_lib/cond/NewCustomer.py index 8d46ca6..6fd6079 100644 --- a/robowaiter/behavior_lib/cond/NewCustomer.py +++ b/robowaiter/behavior_lib/cond/NewCustomer.py @@ -16,6 +16,7 @@ class NewCustomer(Cond): if self.scene.take_picture: self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + # 获取customer的位置 # bar (247.0, 520.0, 100.0) close_to_bar = False diff --git a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py index 11bab3d..f23a6d6 100644 --- a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py +++ b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py @@ -37,6 +37,17 @@ def state_transition(state,action): return new_state +def conflict(c): + have_at = False + for str in c: + if 'At' in str: + if not have_at: + have_at = True + else: + return True + return False + + #本文所提出的完备规划算法 class OptBTExpAlgorithm: def __init__(self,verbose=False): @@ -51,7 +62,8 @@ class OptBTExpAlgorithm: def clear(self): self.bt = None self.nodes = [] - self.traversed = [] + self.traversed = [] #存cond + self.expanded = [] #存整个 self.conditions = [] self.conditions_index = [] @@ -77,7 +89,6 @@ class OptBTExpAlgorithm: self.nodes.append(copy.deepcopy(cond_anc_pair)) # the set of explored but unexpanded conditions self.traversed = [goal] # the set of expanded conditions - while len(self.nodes)!=0: # Find the condition for the shortest cost path @@ -85,6 +96,19 @@ class OptBTExpAlgorithm: min_cost = float ('inf') index= -1 for i,cond_anc_pair in enumerate(self.nodes): + + ########### 剪枝操作 + # cond_tmp = cond_anc_pair.cond_leaf.content + # valid = True + # for pn in self.expanded: # 剪枝操作 + # if isinstance(pn.act_leaf.content,Action): + # if pn.act_leaf.content.name==cond_anc_pair.act_leaf.content.name and cond_tmp <= pn.cond_leaf.content: + # valid = False + # break + # if not valid: + # continue + ########### 剪枝操作 + if cond_anc_pair.cond_leaf.mincost < min_cost: min_cost = cond_anc_pair.cond_leaf.mincost pair_node = copy.deepcopy(cond_anc_pair) @@ -100,10 +124,22 @@ class OptBTExpAlgorithm: # Mount the action node and extend BT. T = Eapand(T,c,A(c)) if c!=goal: if c!=set(): + + # 挂在上去的时候判断要不要挂载 + ########### 剪枝操作 发现行不通 + # valid = True + # for pn in self.expanded: # 剪枝操作 + # if isinstance(pn.act_leaf.content,Action): + # if pn.act_leaf.content.name==pair_node.act_leaf.content.name and c <= pn.cond_leaf.content: + # valid = False + # break + # if valid: + ########### 剪枝操作 sequence_structure = ControlBT(type='>') sequence_structure.add_child( [copy.deepcopy(pair_node.cond_leaf), copy.deepcopy(pair_node.act_leaf)]) subtree.add_child([copy.deepcopy(sequence_structure)]) # subtree 是回不断变化的，它的父亲是self.bt + self.expanded.append(copy.deepcopy(pair_node)) # 增加实时条件判断，满足条件就不再扩展 if c <= self.scene.state["condition_set"]: return True @@ -128,6 +164,10 @@ class OptBTExpAlgorithm: print("———— 满足条件可以扩展") c_attr = (actions[i].pre | c) - actions[i].add + # 这样剪枝存在错误性 + if conflict(c_attr): + continue + # 剪枝操作,现在的条件是以前扩展过的条件的超集 valid = True for j in self.traversed: # 剪枝操作 diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 5c70b29..83e1e30 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -78,8 +78,8 @@ class Scene: "sub_goal_list": [], # 子目标列表 "status": None, # 仿真器中的观测信息，见下方详细解释 "condition_set": {'At(Robot,Bar)', 'Is(AC,Off)', - 'Holding(Nothing)', 'Exist(Yogurt)', 'Exist(BottledDrink)', 'On(Yogurt,Bar)', - 'On(BottledDrink,Bar)', + 'Holding(Nothing)', 'Exist(Yogurt)', 'Exist(BottledDrink)', + # 'On(Yogurt,Bar)','On(BottledDrink,Bar)', # 'Exist(Softdrink)', 'On(Softdrink,Table1)', 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', @@ -116,7 +116,7 @@ class Scene: self.show_bubble = True # 图像分割 - self.take_picture = True + self.take_picture = False 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)) @@ -705,10 +705,16 @@ class Scene: return print('------------------moveTo_Area----------------------') if op_type < 8: # 动画控制相关任务的移动目标 + if self.take_picture: + self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio) walk_v = self.op_v_list[op_type] + [scene.rotation.Yaw, 180, 0] if 8 <= op_type <= 10: # 控灯相关任务的移动目标 + if self.take_picture: + self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio) walk_v = self.op_v_list[6] + [scene.rotation.Yaw, 180, 0] if op_type in [13, 14, 15]: # 空调相关任务的移动目标 + if self.take_picture: + self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio) walk_v = [240, -140.0] + [0, 180, 0] if op_type == 16: # 抓握物体，移动到物体周围的可达区域 scene = self.status @@ -887,8 +893,12 @@ class Scene: def op_task_execute(self, op_type, obj_id=0, release_pos=[247.0, 520.0, 100.0]): self.control_robot_action(0, 1, "开始" + self.op_dialog[op_type]) # 输出正在执行的任务 if op_type < 8: + if self.take_picture: + self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio) result = self.control_robot_action(op_type, 1) if 8 <= op_type <= 12: + if self.take_picture: + self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio) result = self.control_robot_action(self.op_typeToAct[op_type][0], self.op_typeToAct[op_type][1]) if op_type in [13, 14, 15]: # 调整空调:13代表按开关,14升温,15降温 result = self.adjust_kongtiao(op_type) diff --git a/robowaiter/scene/tasks/CafeDailyOperations/CafeOneDay.py b/robowaiter/scene/tasks/CafeDailyOperations/CafeOneDay.py index 5ad659d..6b79826 100644 --- a/robowaiter/scene/tasks/CafeDailyOperations/CafeOneDay.py +++ b/robowaiter/scene/tasks/CafeDailyOperations/CafeOneDay.py @@ -35,8 +35,8 @@ class SceneVLM(Scene): # # # 上述准备 (10, self.add_walker, (26, -28, -150, 90)), (0, self.add_walker, (10, -70, -200, -45)), - (6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")), - (10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), + (5, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")), + (10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), #6 # 20 胖胖男到了 BrightTable6 (2, self.customer_say, (1, "咖啡有哪些呢？")), # 10 (2, self.customer_say, (1, "来杯卡布奇诺吧。")), # 15 @@ -47,7 +47,7 @@ class SceneVLM(Scene): (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 (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), - (38, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 + (38, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 38 (10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 (8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")), (15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400 diff --git a/robowaiter/scene/tasks/CafeDailyOperations/VLN_all.py b/robowaiter/scene/tasks/CafeDailyOperations/VLN_all.py index 4828d7a..0f8aa54 100644 --- a/robowaiter/scene/tasks/CafeDailyOperations/VLN_all.py +++ b/robowaiter/scene/tasks/CafeDailyOperations/VLN_all.py @@ -13,7 +13,7 @@ class SceneVLM(Scene): 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.scene_flag = 1 + self.scene_flag = 2 self.st1 = 3 # self.st2 = self.st1 + 30 # self.st3 = self.st2 + 65 @@ -24,58 +24,58 @@ class SceneVLM(Scene): self.signal_event_list = [ # 场景1：带小女孩找阳光下的空位 - (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？")), - (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 - # (3, self.add_walker, (5, 230, 1200)), # 小女孩 - # # # 上述准备 - (10, self.add_walker, (26, -28, -150, 90)), - (0, self.add_walker, (10, -70, -200, -45)), - (6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")), - (10, 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 - (2, self.customer_say, (1, "咖啡有哪些呢？")), # 10 - (2, self.customer_say, (1, "来杯卡布奇诺吧。")), # 15 - - # # 场景3：有位女士要杯水和冰红茶 - (3, self.add_walkers, - ([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])), - (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 - (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 - (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), - (43, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 - (10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 - (8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")), - (15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400 - (3, self.customer_say, (7, "来杯酸奶吧。")), # (3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")), - # # ### 9号灰色男 排队排着排着，不排了 - (0, self.control_walker, (10, False, 100, 100, 760, 180)), - (0, self.control_walker, (10, True, 100, 0, 0, 180)), - (90, self.customer_say, (7, "谢谢你的水和酸奶！")), # 倒水+取放酸奶 90s - - - (10, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])), - (5, self.customer_say, (8,"你可以帮我拿来吗，我在前门的桌子前等你。")), - (1, self.control_walker,(8, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步 - (1, self.control_walker, (8, False, 80, 240, 1000, -45)), # 红女士走到Table1前 - (1, self.control_walker, (9, False, 100, 60, 600, -90)), # 大胖男排队往前走一步 - (2, self.control_walker, (10, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步 - (6, self.customer_say, (8,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前 - (5, self.customer_say, (8, "不用了。")), # 红女士在Table1前 - - - (8, self.remove_walkers, ([[0, 7, 8]])), - (3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他 - (2, self.customer_say, (6, "好热呀！太阳也好大！")), - (20, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])), + # (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？")), + # (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 + # # (3, self.add_walker, (5, 230, 1200)), # 小女孩 + # # # # 上述准备 + # (10, self.add_walker, (26, -28, -150, 90)), + # (0, self.add_walker, (10, -70, -200, -45)), + # (6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")), + # (10, 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 + # (2, self.customer_say, (1, "咖啡有哪些呢？")), # 10 + # (2, self.customer_say, (1, "来杯卡布奇诺吧。")), # 15 + # + # # # 场景3：有位女士要杯水和冰红茶 + # (3, self.add_walkers, + # ([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])), + # (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 + # (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 + # (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), + # (38, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 + # (10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 + # (8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")), + # (15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400 + # (3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")), + # # # ### 9号灰色男 排队排着排着，不排了 + # (0, self.control_walker, (10, False, 100, 100, 760, 180)), + # (0, self.control_walker, (10, True, 100, 0, 0, 180)), + # (90, self.customer_say, (7, "谢谢你的水和酸奶！")), # 倒水+取放酸奶 90s + # + # + # (10, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])), + # (5, self.customer_say, (8,"你可以帮我拿来吗，我在前门的桌子前等你。")), + # (1, self.control_walker,(8, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步 + # (1, self.control_walker, (8, False, 80, 240, 1000, -45)), # 红女士走到Table1前 + # (1, self.control_walker, (9, False, 100, 60, 600, -90)), # 大胖男排队往前走一步 + # (2, self.control_walker, (10, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步 + # (6, self.customer_say, (8,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前 + # (5, self.customer_say, (8, "不用了。")), # 红女士在Table1前 + # + # + # (8, self.remove_walkers, ([[0, 7, 8]])), + # (3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他 + # (2, self.customer_say, (6, "好热呀！太阳也好大！")), + # (20, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])), # # 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯 - (24, self.clean_walkers, ()), + (3, self.clean_walkers, ()), (1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦 (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])), diff --git a/robowaiter/scene/tasks/OT/OT_coffee_water_dessert.py b/robowaiter/scene/tasks/OT/OT_coffee_water_dessert.py index 9db7e84..7596d27 100644 --- a/robowaiter/scene/tasks/OT/OT_coffee_water_dessert.py +++ b/robowaiter/scene/tasks/OT/OT_coffee_water_dessert.py @@ -11,7 +11,7 @@ class SceneVLM(Scene): super().__init__(robot) # 在这里加入场景中发生的事件， (事件发生的时间，事件函数) self.signal_event_list = [ - (5, self.customer_say, (5, "给我来杯咖啡，哦对，再倒一杯水。")), + (8, self.customer_say, (5, "给我来杯咖啡，哦对，再倒一杯水。")), (1, self.control_walker_ls,([[[5, False, 100, -250, 480, 0],[6, False, 100, 60, 520, 0]]])), (-1, self.customer_say, (5, "感谢，这些够啦，你去忙吧。")), (10, self.customer_say, (6, "我想来份点心和酸奶。")), diff --git a/robowaiter/scene/tasks/OT/Open_tasks_test.py b/robowaiter/scene/tasks/OT/Open_tasks_test.py index 895cc98..53b787d 100644 --- a/robowaiter/scene/tasks/OT/Open_tasks_test.py +++ b/robowaiter/scene/tasks/OT/Open_tasks_test.py @@ -18,13 +18,15 @@ 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", "酸奶。")), # (3, self.customer_say, ("System","来一号桌")), # (-1, self.customer_say, ("System","回去吧")), # (5, self.set_goal("At(Robot,BrightTable4)")) ] - self.event_list = [ - (3, self.set_goal("On(VacuumCup,Bar)")) - ] + # self.event_list = [ + # # (3, self.set_goal("On(VacuumCup,Bar)")) + # (3, self.set_goal("On(Yogurt,Bar)")) + # ] def _reset(self): # self.add_walkers([[0, 880], [250, 1200]])