更新了咖啡厅的一天
This commit is contained in:
Caiyishuai
parent
5b9526b5d0
commit
eae3a20bf2
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@ -38,6 +38,17 @@ class Bahavior(ptree.behaviour.Behaviour):
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'Table2': (-55.0, 0.0, 107),
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'Table3':(-55.0, 150.0, 107),
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'BrightTable6': (5, -315, 116.5),
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}
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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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'Bar2': (240.0, 40.0, 100.0),
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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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'Table1': (340.0, 900.0, 99.0),
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'Table2': (-55.0, 0.0, 107),
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'Table3': (-55.0, 150.0, 107),
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'BrightTable6': (5, -315, 116.5),
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'QuietTable1':(480,1300,90),
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'QuietTable2':(250,-240,-65),
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@ -5,11 +5,8 @@ from robowaiter.llm_client.multi_rounds import ask_llm, new_history
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import random
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import spacy
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nlp = spacy.load('en_core_web_lg')
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class DealChat(Act):
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class DealChatNLP(Act):
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def __init__(self):
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super().__init__()
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self.chat_history = ""
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@ -64,6 +61,10 @@ class DealChat(Act):
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self.scene.robot.expand_sub_task_tree(goal_set)
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def get_object_info(self,**args):
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import spacy
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nlp = spacy.load('en_core_web_lg')
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try:
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obj = args['obj']
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@ -101,6 +102,10 @@ class DealChat(Act):
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return near_object
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def find_location(self, **args):
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import spacy
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nlp = spacy.load('en_core_web_lg')
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try:
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location = args['obj']
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self.function_success = True
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@ -33,8 +33,8 @@ class MoveTo(Act):
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# navigator.navigate_old(goal, animation=False)
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# 走到固定的地点
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if self.target_place in Act.place_xyz_dic:
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goal = Act.place_xyz_dic[self.target_place]
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if self.target_place in Act.place_xy_yaw_dic:
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goal = Act.place_xy_yaw_dic[self.target_place]
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self.scene.walk_to(goal[0]+1,goal[1],goal[2])
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# 走到物品边上
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else:
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@ -20,6 +20,11 @@ class ServeCustomer(Act):
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# if self.scene.time - self.scene.state["serve_state"]["last_chat_time"] > 10:
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# self.chat_bubble
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if self.scene.state['attention']['customer'] == {}:
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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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customer = self.scene.state["attention"]["customer"]
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if customer not in self.scene.state["serve_state"]:
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self.scene.state["serve_state"][customer] = {
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@ -32,8 +37,8 @@ class ServeCustomer(Act):
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if self.scene.time - serve_state['last_chat_time'] > 3:
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serve_state['served'] = True
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del self.scene.state["attention"]["customer"]
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goal = Act.place_xyz_dic['Bar']
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self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
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# goal = Act.place_xyz_dic['Bar']
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# self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
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@ -13,4 +13,6 @@ class FocusingCustomer(Cond):
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if "customer" in self.scene.state['attention']:
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return ptree.common.Status.SUCCESS
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else:
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goal = Cond.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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return ptree.common.Status.FAILURE
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@ -43,6 +43,8 @@ create_sub_task
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{"goal":"On(Coffee,BrightTable6)"}
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我昨天保温杯好像落在你们咖啡厅了，你看到了吗？
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是的，我有印象，保温杯在大厅的2号桌子上。
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get_object_info
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@ -352,10 +352,8 @@ class Scene:
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# Since status.walkers is a list, some walkerIDs would change after removing a walker.
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remove_list.append(walkerID)
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index_shift_list = [ 0 for _ in range(len(self.state["customer_mem"])) ]
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stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID))
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self.state["customer_mem"] = {}
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w = self.status.walkers
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for i in range(len(w)):
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self.state["customer_mem"][w[i].name] = i
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@ -364,13 +362,23 @@ class Scene:
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s = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
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scene = stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID))
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time.sleep(2)
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self.state["customer_mem"] = {}
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w = self.status.walkers
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for i in range(len(w)):
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self.state["customer_mem"][w[i].name] = i
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return
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def clean_walker(self):
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stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
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def clean_walkers(self):
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scene = stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID))
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self.state["customer_mem"]={}
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return scene
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def control_walker(self, walkerID,autowalk,speed,X,Y,Yaw=0):
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if not isinstance(walkerID, int):
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walkerID = self.walker_index2mem(walkerID)
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pose = GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw)
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scene = stub.ControlWalkers(
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GrabSim_pb2.WalkerControls(controls=[GrabSim_pb2.WalkerControls.WControl(id=walkerID, autowalk=autowalk, speed=speed, pose=pose)], scene=self.sceneID)
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@ -388,6 +396,10 @@ class Scene:
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for control in control_list_ls:
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if control[-1]!= None:
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walkerID = control[0]
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if not isinstance(walkerID, int):
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walkerID = self.walker_index2mem(walkerID)
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# cont = self.status.walkers[walkerID].name + ":"+control[-1]
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# self.control_robot_action(control[walkerID], 3, cont)
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self.customer_say(walkerID,control[-1])
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@ -510,6 +522,9 @@ class Scene:
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if isinstance(name,int):
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name = self.walker_index2mem(name)
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# if not isinstance(walkerID, int):
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# name = self.walker_index2mem(walkerID)
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print(f'{name} say: {sentence}')
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if self.show_bubble and show_bubble:
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self.walker_bubble(name,sentence)
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@ -25,65 +25,61 @@ class SceneVLM(Scene):
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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)),
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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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# (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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# # 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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# (self.st2, self.add_walker, (26, -28, -150, 90)),
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# (self.st2, self.add_walker, (10, -70, -200, -45)),
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# (self.st2, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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# (self.st2+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
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# (self.st2+15, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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# (self.st2+15+5, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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# 场景3：有位女士要杯水和冰红茶
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(3, self.add_walker, (5, 230, 1200)),
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(0, self.add_walker, (26, -30, -200, -90)),
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(0, self.add_walker, (10, -80, -180, -45)),
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# # 上述准备
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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, (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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(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, (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, (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_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.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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(10, 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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# 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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# 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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# # # 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？"]]])), # 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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# (2, self.customer_say, (1, "来杯卡布奇诺吧。")),
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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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(10, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400
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# (5, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")),
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(-1, self.customer_say, (6, "谢谢！")),
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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, (9, 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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# # 场景3：有位女士要杯水和冰红茶
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# (3, self.add_walker, (5, 230, 1200)),
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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# # # # 上述准备
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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, (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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# (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, (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, (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_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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#
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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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# # 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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# # 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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# (15, self.control_walker, (6, 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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# # ### 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, (9, False, 100, 0, 0, 180)),
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# (0, self.control_walkers_and_say, ([[[9, True, 100, 0, 0, 180, "好热呀！太阳也好大！"]]])),
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# # (9, True, 100, 0, 0, 180)),
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# # (0, self.customer_say, (1, "咖啡有哪些呢？")),
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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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# (0, self.control_walker, (9, 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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# # (90, self.customer_say, (6, "谢谢！")), #倒水+取放酸奶 90s
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# (3, self.customer_say, (6, "谢谢！")),
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# 场景4：三人排队点单，女士要保温杯
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# # # 场景4：三人排队点单，女士要保温杯
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# (3, self.add_walker, (5, 230, 1200)),
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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@ -95,46 +91,40 @@ class SceneVLM(Scene):
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
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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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# # # # 上述准备
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(0, self.control_walkers_and_say, ([[[7, False, 100, 60, 520, 0, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])),
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(5, self.customer_say, (7,"你可以帮我拿来吗，我在前门的桌子前等你。")),
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(1, self.control_walker,(7, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步
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(1, self.control_walker, (7, False, 80, 240, 1000, -45)), # 红女士走到Table1前
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(1, self.control_walker, (8, False, 100, 60, 600, -90)), # 大胖男排队往前走一步
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(2, self.control_walker, (9, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步
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(6, self.customer_say, (7,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前
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# # # # # # 上述准备
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# # (5, self.control_walkers_and_say, ([[[7, 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？"]]])), #13
|
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# (0, self.control_walkers_and_say, ([[[7, 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？"]]])),
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# (5, self.customer_say, (7,"你可以帮我拿来吗，我在前门的桌子前等你。")),
|
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# (1, self.control_walker,(7, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步
|
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# (1, self.control_walker, (7, False, 80, 240, 1000, -45)), # 红女士走到Table1前
|
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# (1, self.control_walker, (8, False, 100, 60, 600, -90)), # 大胖男排队往前走一步
|
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# (2, self.control_walker, (9, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步
|
||||
# (6, self.customer_say, (7,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前
|
||||
# (5, self.customer_say, (7, "不用了")), # 红女士在Table1前
|
||||
|
||||
|
||||
|
||||
# 场景5：三人排队点单，一人要冰红茶，一个要点心，一个没座位了赠送保温杯
|
||||
# (3, self.add_walker, (5, 230, 1200)),
|
||||
# (0, self.add_walker, (26, -30, -200, -90)),
|
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# (0, self.add_walker, (10, -80, -180, -45)),
|
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
|
||||
# (0, self.add_walker, (32, -80, 850, 135)),
|
||||
# (0, self.add_walker, (1, 60, 220, 135)),
|
||||
# (0, self.add_walker, (48, 60, 320, 0)), # 生成他妈妈
|
||||
# (0, self.add_walker, (31, 280, 1200, -45)), # # 女红色排队 7号找保温杯的顾客
|
||||
# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
|
||||
# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
|
||||
# (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
|
||||
|
||||
## 9号灰色男 排队排着排着，不排了
|
||||
(0, self.control_walker, (9, False, 100, 100, 760, 180)),
|
||||
(0, self.control_walker, (9, True, 100, 0, 0, 180)),
|
||||
# 上述准备
|
||||
|
||||
(0, self.control_walker, (9, False, 100, 60, 760, -90)),
|
||||
|
||||
|
||||
# 场景6：大胖男点了外卖，离开啦
|
||||
(2, self.control_walkers_and_say,([[[8, False, 100, 60, 520, 0, "给我来份午餐套餐。"]]])),
|
||||
# # 场景5：三人排队点单，一人要冰红茶，一个要点心，一个没座位了赠送保温杯
|
||||
(3, self.add_walker, (5, 230, 1200)),
|
||||
(0, self.add_walker, (26, -30, -200, -90)),
|
||||
(0, self.add_walker, (10, -80, -180, -45)),
|
||||
(0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
|
||||
(0, self.add_walker, (32, -80, 850, 135)),
|
||||
(0, self.add_walker, (1, 60, 220, 135)),
|
||||
(0, self.add_walker, (48, 60, 320, 0)), # 生成他妈妈
|
||||
(0, self.add_walker, (31, 280, 1200, -45)), # # 女红色排队 7号找保温杯的顾客
|
||||
(0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
|
||||
(0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
|
||||
(0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
|
||||
# # 上述准备
|
||||
# # 场景6：大胖男点了外卖，离开啦
|
||||
# (9, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 0, "给我来份午餐套餐。"]]])), #原来写了26s
|
||||
(0, self.animation_reset,()), #重置任务
|
||||
(2, self.customer_say, (8, "打包吧，快点！")),
|
||||
(2, self.control_walker, (9, False, 100, 60, 620, -90)), # 男灰黑色排队往前走一步
|
||||
(-1, self.customer_say, (8, "谢啦，我赶时间！")),
|
||||
(2, self.control_walker, (8, False, 250, 20, 520, -90)), # 大胖男着急得离开啦
|
||||
(2, self.control_walker, (8, False, 250, 240, -150, -90)),
|
||||
# (6, self.customer_say, (8, "打包吧，快点！")),
|
||||
# (2, self.control_walker, (9, False, 100, 60, 620, -90)), # 男灰黑色排队往前走一步
|
||||
# # (100, self.customer_say, (8, "谢啦，我赶时间！")), #100这个时间很合适
|
||||
# (2, self.control_walker, (8, False, 250, 20, 520, -90)), # 大胖男着急得离开啦
|
||||
# (2, self.control_walker, (8, False, 250, 240, -150, -90)),
|
||||
(5, self.remove_walkers, ([[0,7,8]])),
|
||||
# (2, self.control_walker, (6, False, 100, 60, 520, 0)), # 9号变7号 男灰黑色排队往前,轮到他
|
||||
|
||||
|
|
@ -142,8 +132,15 @@ class SceneVLM(Scene):
|
|||
# 场景7：最后排队那个随机游走 9号变为6号，随机游走。
|
||||
# 机器人自主发现任务，走一圈去擦桌子/拖地，碰到灰色男问好，灰色男说“太阳大，要关窗帘和空调调低”
|
||||
# 开了空调
|
||||
(2, self.control_walker, (6, False, 100, 60, 520, 0)), # 9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！"))
|
||||
(2, 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！")),
|
||||
# (10, 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
|
||||
(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。"]]])),
|
||||
|
||||
|
||||
|
||||
|
|
@ -179,6 +176,11 @@ class SceneVLM(Scene):
|
|||
self.control_walkers_and_say([[0,False,150,end[0],end[1],90,"谢谢！"]])
|
||||
self.scene_flag += 1
|
||||
|
||||
# 获得所有顾客的名字
|
||||
# print("=================")
|
||||
# for cus in self.status.walkers:
|
||||
# print(cus)
|
||||
# print("=================")
|
||||
pass
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
|
|
|||
Loading…
Reference in New Issue