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更新了咖啡厅的一天

This commit is contained in:
Caiyishuai 2023-11-19 21:48:02 +08:00
parent 5b9526b5d0
commit eae3a20bf2
8 changed files with 144 additions and 102 deletions
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11
robowaiter/behavior_lib/_base/Behavior.py
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@ -38,6 +38,17 @@ class Bahavior(ptree.behaviour.Behaviour):
'Table2': (-55.0, 0.0, 107), 'Table2': (-55.0, 0.0, 107),
'Table3':(-55.0, 150.0, 107), 'Table3':(-55.0, 150.0, 107),
'BrightTable6': (5, -315, 116.5), '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), 'QuietTable1':(480,1300,90),
'QuietTable2':(250,-240,-65), 'QuietTable2':(250,-240,-65),

13
robowaiter/behavior_lib/act/DealChatNLP.py
View File

@ -5,11 +5,8 @@ from robowaiter.llm_client.multi_rounds import ask_llm, new_history
import random import random
import spacy
nlp = spacy.load('en_core_web_lg')
class DealChatNLP(Act):
class DealChat(Act):
def __init__(self): def __init__(self):
super().__init__() super().__init__()
self.chat_history = "" self.chat_history = ""
@ -64,6 +61,10 @@ class DealChat(Act):
self.scene.robot.expand_sub_task_tree(goal_set) self.scene.robot.expand_sub_task_tree(goal_set)
def get_object_info(self,**args): def get_object_info(self,**args):
import spacy
nlp = spacy.load('en_core_web_lg')
try: try:
obj = args['obj'] obj = args['obj']
@ -101,6 +102,10 @@ class DealChat(Act):
return near_object return near_object
def find_location(self, **args): def find_location(self, **args):
import spacy
nlp = spacy.load('en_core_web_lg')
try: try:
location = args['obj'] location = args['obj']
self.function_success = True self.function_success = True

4
robowaiter/behavior_lib/act/MoveTo.py
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@ -33,8 +33,8 @@ class MoveTo(Act):
# navigator.navigate_old(goal, animation=False) # navigator.navigate_old(goal, animation=False)
# 走到固定的地点 # 走到固定的地点
if self.target_place in Act.place_xyz_dic: if self.target_place in Act.place_xy_yaw_dic:
goal = Act.place_xyz_dic[self.target_place] goal = Act.place_xy_yaw_dic[self.target_place]
self.scene.walk_to(goal[0]+1,goal[1],goal[2]) self.scene.walk_to(goal[0]+1,goal[1],goal[2])
# 走到物品边上 # 走到物品边上
else: else:

9
robowaiter/behavior_lib/act/ServeCustomer.py
View File

@ -20,6 +20,11 @@ class ServeCustomer(Act):
# if self.scene.time - self.scene.state["serve_state"]["last_chat_time"] > 10: # if self.scene.time - self.scene.state["serve_state"]["last_chat_time"] > 10:
# self.chat_bubble # 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"] customer = self.scene.state["attention"]["customer"]
if customer not in self.scene.state["serve_state"]: if customer not in self.scene.state["serve_state"]:
self.scene.state["serve_state"][customer] = { self.scene.state["serve_state"][customer] = {
@ -32,8 +37,8 @@ class ServeCustomer(Act):
if self.scene.time - serve_state['last_chat_time'] > 3: if self.scene.time - serve_state['last_chat_time'] > 3:
serve_state['served'] = True serve_state['served'] = True
del self.scene.state["attention"]["customer"] 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'] # goal = Act.place_xyz_dic['Bar']
# self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0) # self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)

2
robowaiter/behavior_lib/cond/FocusingCustomer.py
View File

@ -13,4 +13,6 @@ class FocusingCustomer(Cond):
if "customer" in self.scene.state['attention']: if "customer" in self.scene.state['attention']:
return ptree.common.Status.SUCCESS return ptree.common.Status.SUCCESS
else: 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 return ptree.common.Status.FAILURE

2
robowaiter/llm_client/data/fix_questions.txt
View File

@ -43,6 +43,8 @@ create_sub_task
{"goal":"On(Coffee,BrightTable6)"} {"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？ 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。 是的，我有印象，保温杯在大厅的2号桌子上。
get_object_info get_object_info

25
robowaiter/scene/scene.py
View File

@ -352,10 +352,8 @@ class Scene:
# Since status.walkers is a list, some walkerIDs would change after removing a walker. # Since status.walkers is a list, some walkerIDs would change after removing a walker.
remove_list.append(walkerID) 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)) stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=remove_list, scene=self.sceneID))
self.state["customer_mem"] = {}
w = self.status.walkers w = self.status.walkers
for i in range(len(w)): for i in range(len(w)):
self.state["customer_mem"][w[i].name] = i self.state["customer_mem"][w[i].name] = i
@ -364,13 +362,23 @@ class Scene:
s = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID)) s = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
scene = stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID)) scene = stub.RemoveWalkers(GrabSim_pb2.RemoveList(IDs=IDs, scene=self.sceneID))
time.sleep(2) 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 return
def clean_walker(self): def clean_walkers(self):
stub.CleanWalkers(GrabSim_pb2.SceneID(value=self.sceneID)) 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): 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) pose = GrabSim_pb2.Pose(X=X, Y=Y, Yaw=Yaw)
scene = stub.ControlWalkers( scene = stub.ControlWalkers(
GrabSim_pb2.WalkerControls(controls=[GrabSim_pb2.WalkerControls.WControl(id=walkerID, autowalk=autowalk, speed=speed, pose=pose)], scene=self.sceneID) 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: for control in control_list_ls:
if control[-1]!= None: if control[-1]!= None:
walkerID = control[0] walkerID = control[0]
if not isinstance(walkerID, int):
walkerID = self.walker_index2mem(walkerID)
# cont = self.status.walkers[walkerID].name + ":"+control[-1] # cont = self.status.walkers[walkerID].name + ":"+control[-1]
# self.control_robot_action(control[walkerID], 3, cont) # self.control_robot_action(control[walkerID], 3, cont)
self.customer_say(walkerID,control[-1]) self.customer_say(walkerID,control[-1])
@ -510,6 +522,9 @@ class Scene:
if isinstance(name,int): if isinstance(name,int):
name = self.walker_index2mem(name) name = self.walker_index2mem(name)
# if not isinstance(walkerID, int):
# name = self.walker_index2mem(walkerID)
print(f'{name} say: {sentence}') print(f'{name} say: {sentence}')
if self.show_bubble and show_bubble: if self.show_bubble and show_bubble:
self.walker_bubble(name,sentence) self.walker_bubble(name,sentence)

180
robowaiter/scene/tasks/CafeDailyOperations/VLN_greet_and_order.py
View File

@ -25,65 +25,61 @@ class SceneVLM(Scene):
self.signal_event_list = [ self.signal_event_list = [
# 场景1：带小女孩找阳光下的空位 # 场景1：带小女孩找阳光下的空位
(3, self.add_walker, (5, 230, 1200)), # (3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3"
(1, self.control_walker, (0, False, 200, 60, 520, 0)), # (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。")), # (9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
(-1, self.customer_say, (0,"可以带我过去嘛？")), # (-1, self.customer_say, (0,"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 # (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 # (3, self.add_walker, (5, 230, 1200)), # 小女孩
# 上述准备 # # # 上述准备
# (self.st2, self.add_walker, (26, -28, -150, 90)), # (10, self.add_walker, (26, -28, -150, 90)),
# (self.st2, self.add_walker, (10, -70, -200, -45)), # (0, self.add_walker, (10, -70, -200, -45)),
# (self.st2, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")), # (6, 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 # (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
# (self.st2+15, self.customer_say, (1, "咖啡有哪些呢？")),# 10 # (2, 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 # (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。")),
# 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。
(8, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")), # # 场景3：有位女士要杯水和冰红茶
(10, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400 # (3, self.add_walker, (5, 230, 1200)),
# (5, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")), # (0, self.add_walker, (26, -30, -200, -90)),
(-1, self.customer_say, (6, "谢谢！")), # (0, self.add_walker, (10, -80, -180, -45)),
# # # # 上述准备
# 9号灰色男 排队排着排着，不排了 # # (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
(0, self.control_walker, (9, False, 100, 100, 760, 180)), # # (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
(0, self.control_walker, (9, True, 100, 0, 0, 180)), # # (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走
# ### 增加场景，孩子说热要开空调 或者9号随机游走和说 # (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, 100, 760, 180)),
# (0, self.control_walker, (9, False, 100, 0, 0, 180)), # (0, self.control_walker, (9, True, 100, 0, 0, 180)),
# (0, self.control_walkers_and_say, ([[[9, True, 100, 0, 0, 180, "好热呀！太阳也好大！"]]])), # # # ### 增加场景，孩子说热要开空调 或者9号随机游走和说
# # (9, True, 100, 0, 0, 180)), # # (90, self.customer_say, (6, "谢谢！")), #倒水+取放酸奶 90s
# # (0, self.customer_say, (1, "咖啡有哪些呢？")), # (3, self.customer_say, (6, "谢谢！")),
# ### 增加场景，孩子说热要开空调 或者9号随机游走和说
# 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)), # (3, self.add_walker, (5, 230, 1200)),
# (0, self.add_walker, (26, -30, -200, -90)), # (0, self.add_walker, (26, -30, -200, -90)),
# (0, self.add_walker, (10, -80, -180, -45)), # (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, (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, (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 # (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
# # # # 上述准备 # # # # # # 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.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
(5, self.customer_say, (7,"你可以帮我拿来吗，我在前门的桌子前等你。")), # (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？"]]])),
(1, self.control_walker,(7, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步 # (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, 240, 1000, -45)), # 红女士走到Table1前 # (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, (8, False, 100, 60, 600, -90)), # 大胖男排队往前走一步 # (1, self.control_walker, (7, False, 80, 240, 1000, -45)), # 红女士走到Table1前
(2, self.control_walker, (9, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步 # (1, self.control_walker, (8, False, 100, 60, 600, -90)), # 大胖男排队往前走一步
(6, self.customer_say, (7,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前 # (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 # # 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)), (3, self.add_walker, (5, 230, 1200)),
# (0, self.add_walker, (26, -30, -200, -90)), (0, self.add_walker, (26, -30, -200, -90)),
# (0, self.add_walker, (10, -80, -180, -45)), (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, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
# (0, self.add_walker, (32, -80, 850, 135)), (0, self.add_walker, (32, -80, 850, 135)),
# (0, self.add_walker, (1, 60, 220, 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, (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, (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, (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, (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 (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
# # 上述准备
## 9号灰色男 排队排着排着，不排了 # # 场景6：大胖男点了外卖，离开啦
(0, self.control_walker, (9, False, 100, 100, 760, 180)), # (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.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。"]]])),
(0, self.animation_reset,()), #重置任务 (0, self.animation_reset,()), #重置任务
(2, self.customer_say, (8, "打包吧，快点！")), # (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 # (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！")), # # (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, 20, 520, -90)), # 大胖男着急得离开啦
(2, self.control_walker, (8, False, 250, 240, -150, -90)), # (2, self.control_walker, (8, False, 250, 240, -150, -90)),
(5, self.remove_walkers, ([[0,7,8]])), (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 # (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。 # 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” # 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 # 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.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！")) # (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.control_walkers_and_say([[0,False,150,end[0],end[1],90,"谢谢！"]])
self.scene_flag += 1 self.scene_flag += 1
# 获得所有顾客的名字
# print("=================")
# for cus in self.status.walkers:
# print(cus)
# print("=================")
pass pass
if __name__ == '__main__': if __name__ == '__main__':