From eae3a20bf239402c36dabaec1e8eeaac19d149c0 Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Sun, 19 Nov 2023 21:48:02 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=BA=86=E5=92=96=E5=95=A1?= =?UTF-8?q?=E5=8E=85=E7=9A=84=E4=B8=80=E5=A4=A9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/behavior_lib/_base/Behavior.py | 11 ++ robowaiter/behavior_lib/act/DealChatNLP.py | 13 +- robowaiter/behavior_lib/act/MoveTo.py | 4 +- robowaiter/behavior_lib/act/ServeCustomer.py | 9 +- .../behavior_lib/cond/FocusingCustomer.py | 2 + robowaiter/llm_client/data/fix_questions.txt | 2 + robowaiter/scene/scene.py | 25 ++- .../VLN_greet_and_order.py | 180 +++++++++--------- 8 files changed, 144 insertions(+), 102 deletions(-) diff --git a/robowaiter/behavior_lib/_base/Behavior.py b/robowaiter/behavior_lib/_base/Behavior.py index 710df9e..d20804f 100644 --- a/robowaiter/behavior_lib/_base/Behavior.py +++ b/robowaiter/behavior_lib/_base/Behavior.py @@ -38,6 +38,17 @@ class Bahavior(ptree.behaviour.Behaviour): 'Table2': (-55.0, 0.0, 107), 'Table3':(-55.0, 150.0, 107), 'BrightTable6': (5, -315, 116.5), + } + + place_xy_yaw_dic={ + 'Bar': (247.0, 520.0, 180.0), # (247.0, 520.0, 100.0) + 'Bar2': (240.0, 40.0, 100.0), + 'WaterTable': (-70.0, 500.0, 107), + 'CoffeeTable': (250.0, 310.0, 100.0), + 'Table1': (340.0, 900.0, 99.0), + 'Table2': (-55.0, 0.0, 107), + 'Table3': (-55.0, 150.0, 107), + 'BrightTable6': (5, -315, 116.5), 'QuietTable1':(480,1300,90), 'QuietTable2':(250,-240,-65), diff --git a/robowaiter/behavior_lib/act/DealChatNLP.py b/robowaiter/behavior_lib/act/DealChatNLP.py index e516f89..37045c4 100644 --- a/robowaiter/behavior_lib/act/DealChatNLP.py +++ b/robowaiter/behavior_lib/act/DealChatNLP.py @@ -5,11 +5,8 @@ from robowaiter.llm_client.multi_rounds import ask_llm, new_history import random -import spacy -nlp = spacy.load('en_core_web_lg') - -class DealChat(Act): +class DealChatNLP(Act): def __init__(self): super().__init__() self.chat_history = "" @@ -64,6 +61,10 @@ class DealChat(Act): self.scene.robot.expand_sub_task_tree(goal_set) def get_object_info(self,**args): + + import spacy + nlp = spacy.load('en_core_web_lg') + try: obj = args['obj'] @@ -101,6 +102,10 @@ class DealChat(Act): return near_object def find_location(self, **args): + + import spacy + nlp = spacy.load('en_core_web_lg') + try: location = args['obj'] self.function_success = True diff --git a/robowaiter/behavior_lib/act/MoveTo.py b/robowaiter/behavior_lib/act/MoveTo.py index ac419f9..2e8c73e 100644 --- a/robowaiter/behavior_lib/act/MoveTo.py +++ b/robowaiter/behavior_lib/act/MoveTo.py @@ -33,8 +33,8 @@ class MoveTo(Act): # navigator.navigate_old(goal, animation=False) # 走到固定的地点 - if self.target_place in Act.place_xyz_dic: - goal = Act.place_xyz_dic[self.target_place] + if self.target_place in Act.place_xy_yaw_dic: + goal = Act.place_xy_yaw_dic[self.target_place] self.scene.walk_to(goal[0]+1,goal[1],goal[2]) # 走到物品边上 else: diff --git a/robowaiter/behavior_lib/act/ServeCustomer.py b/robowaiter/behavior_lib/act/ServeCustomer.py index 769b313..b52f16c 100644 --- a/robowaiter/behavior_lib/act/ServeCustomer.py +++ b/robowaiter/behavior_lib/act/ServeCustomer.py @@ -20,6 +20,11 @@ class ServeCustomer(Act): # if self.scene.time - self.scene.state["serve_state"]["last_chat_time"] > 10: # self.chat_bubble + if self.scene.state['attention']['customer'] == {}: + goal = Act.place_xy_yaw_dic['Bar'] + self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0) + + customer = self.scene.state["attention"]["customer"] if customer not in self.scene.state["serve_state"]: self.scene.state["serve_state"][customer] = { @@ -32,8 +37,8 @@ class ServeCustomer(Act): if self.scene.time - serve_state['last_chat_time'] > 3: serve_state['served'] = True del self.scene.state["attention"]["customer"] - goal = Act.place_xyz_dic['Bar'] - self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0) + + # goal = Act.place_xyz_dic['Bar'] # self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0) diff --git a/robowaiter/behavior_lib/cond/FocusingCustomer.py b/robowaiter/behavior_lib/cond/FocusingCustomer.py index 9420c1e..6e90329 100644 --- a/robowaiter/behavior_lib/cond/FocusingCustomer.py +++ b/robowaiter/behavior_lib/cond/FocusingCustomer.py @@ -13,4 +13,6 @@ class FocusingCustomer(Cond): if "customer" in self.scene.state['attention']: return ptree.common.Status.SUCCESS else: + goal = Cond.place_xy_yaw_dic['Bar'] + self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0) return ptree.common.Status.FAILURE diff --git a/robowaiter/llm_client/data/fix_questions.txt b/robowaiter/llm_client/data/fix_questions.txt index d8c2673..63b7ce4 100644 --- a/robowaiter/llm_client/data/fix_questions.txt +++ b/robowaiter/llm_client/data/fix_questions.txt @@ -43,6 +43,8 @@ create_sub_task {"goal":"On(Coffee,BrightTable6)"} + + 我昨天保温杯好像落在你们咖啡厅了，你看到了吗？ 是的，我有印象，保温杯在大厅的2号桌子上。 get_object_info diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 643a8ac..ce958ca 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -352,10 +352,8 @@ class Scene: # Since status.walkers is a list, some walkerIDs would change after removing a walker. remove_list.append(walkerID) - index_shift_list = [ 0 for _ in range(len(self.state["customer_mem"])) ] - stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID)) - + self.state["customer_mem"] = {} w = self.status.walkers for i in range(len(w)): self.state["customer_mem"][w[i].name] = i @@ -364,13 +362,23 @@ class Scene: s = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID)) scene = stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID)) time.sleep(2) + self.state["customer_mem"] = {} + w = self.status.walkers + for i in range(len(w)): + self.state["customer_mem"][w[i].name] = i return - def clean_walker(self): - stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID)) + def clean_walkers(self): + scene = stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID)) + self.state["customer_mem"]={} + return scene def control_walker(self, walkerID,autowalk,speed,X,Y,Yaw=0): + + if not isinstance(walkerID, int): + walkerID = self.walker_index2mem(walkerID) + pose = GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw) scene = stub.ControlWalkers( GrabSim_pb2.WalkerControls(controls=[GrabSim_pb2.WalkerControls.WControl(id=walkerID, autowalk=autowalk, speed=speed, pose=pose)], scene=self.sceneID) @@ -388,6 +396,10 @@ class Scene: for control in control_list_ls: if control[-1]!= None: walkerID = control[0] + + if not isinstance(walkerID, int): + walkerID = self.walker_index2mem(walkerID) + # cont = self.status.walkers[walkerID].name + ":"+control[-1] # self.control_robot_action(control[walkerID], 3, cont) self.customer_say(walkerID,control[-1]) @@ -510,6 +522,9 @@ class Scene: if isinstance(name,int): name = self.walker_index2mem(name) + # if not isinstance(walkerID, int): + # name = self.walker_index2mem(walkerID) + print(f'{name} say: {sentence}') if self.show_bubble and show_bubble: self.walker_bubble(name,sentence) diff --git a/robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py b/robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py index c85e1ac..9eb0349 100644 --- a/robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py +++ b/robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py @@ -25,65 +25,61 @@ 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)), - (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？")), - (0, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦 + # (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？")), + # (0, 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 + + + # # 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 - # (self.st2, self.add_walker, (26, -28, -150, 90)), - # (self.st2, self.add_walker, (10, -70, -200, -45)), - # (self.st2, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")), - # (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 - # (self.st2+15, self.customer_say, (1, "咖啡有哪些呢？")),# 10 - # (self.st2+15+5, 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_walker, (5, 230, 1200)), - (0, self.add_walker, (26, -30, -200, -90)), - (0, self.add_walker, (10, -80, -180, -45)), - # # 上述准备 - # (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135), - # (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135), - # (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走 - (0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])), - (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_walker, (31, 60, 600, -90)), # 女红色排队 7号 - # (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号 - # (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号 - # (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5 - (0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])), - - (0, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问 - (10, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 - # 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。 - # 这里可以加一下自主导航和探索，找到一个位置 - # 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。 + # # # 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！")), + # (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 + # (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 + # (2, self.customer_say, (1, "来杯卡布奇诺吧。")), - (8, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")), - (10, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400 - # (5, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")), - (-1, self.customer_say, (6, "谢谢！")), - - # 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)), - # ### 增加场景，孩子说热要开空调 或者9号随机游走和说 + # # 场景3：有位女士要杯水和冰红茶 + # (3, self.add_walker, (5, 230, 1200)), + # (0, self.add_walker, (26, -30, -200, -90)), + # (0, self.add_walker, (10, -80, -180, -45)), + # # # # 上述准备 + # # (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135), + # # (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135), + # # (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走 + # (0,self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135]]])), + # (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_walker, (31, 60, 600, -90)), # 女红色排队 7号 + # # (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号 + # # (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号 + # # (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5 + # (0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90],[29, -290, 400, 180]]])), + # + # # (5, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问 + # # (15, self.customer_say, (6, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问 + # # 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。 + # # 这里可以加一下自主导航和探索，找到一个位置 + # # 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。 + # (8, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")), + # (15, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400 + # # (3, self.customer_say, (6, "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, (9, False, 100, 100, 760, 180)), - # (0, self.control_walker, (9, False, 100, 0, 0, 180)), - # (0, self.control_walkers_and_say, ([[[9, True, 100, 0, 0, 180, "好热呀！太阳也好大！"]]])), - # # (9, True, 100, 0, 0, 180)), - # # (0, self.customer_say, (1, "咖啡有哪些呢？")), - # ### 增加场景，孩子说热要开空调 或者9号随机游走和说 + # (0, self.control_walker, (9, True, 100, 0, 0, 180)), + # # # ### 增加场景，孩子说热要开空调 或者9号随机游走和说 + # # (90, self.customer_say, (6, "谢谢！")), #倒水+取放酸奶 90s + # (3, self.customer_say, (6, "谢谢！")), - # 场景4：三人排队点单，女士要保温杯 + # # # 场景4：三人排队点单，女士要保温杯 # (3, self.add_walker, (5, 230, 1200)), # (0, self.add_walker, (26, -30, -200, -90)), # (0, self.add_walker, (10, -80, -180, -45)), @@ -95,46 +91,40 @@ class SceneVLM(Scene): # (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 - (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？"]]])), - (5, self.customer_say, (7,"你可以帮我拿来吗，我在前门的桌子前等你。")), - (1, self.control_walker,(7, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步 - (1, self.control_walker, (7, False, 80, 240, 1000, -45)), # 红女士走到Table1前 - (1, self.control_walker, (8, False, 100, 60, 600, -90)), # 大胖男排队往前走一步 - (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 + # # # # # # 上述准备 + # # (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 + # (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？"]]])), + # (5, self.customer_say, (7,"你可以帮我拿来吗，我在前门的桌子前等你。")), + # (1, self.control_walker,(7, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步 + # (1, self.control_walker, (7, False, 80, 240, 1000, -45)), # 红女士走到Table1前 + # (1, self.control_walker, (8, False, 100, 60, 600, -90)), # 大胖男排队往前走一步 + # (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)), - # (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 - - ## 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__':