更新了部分动作节点

robowaiter/algos/navigate/test.py

@@ -46,6 +46,9 @@ if __name__ == '__main__':
 
     # goal = (-100, 700)
     # goal = (-300)
+    # goal = (340.0, 900.0)
+
+    goal = (240.0, 1000.0)
 
     # goal = (340.0, 900.0)
     goal = (240.0, 1160.0)

robowaiter/behavior_lib/act/Make.py

@@ -47,7 +47,7 @@ class Make(Act):
         if len(obj_dict) != 0:
             # 获取obj_id
             for id, obj in enumerate(obj_dict):
-                if obj.name == "CoffeeCup":
+                if obj.name == "Coffee":
                     obj_info = obj_dict[id]
                     obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
                     print(id,obj.name,obj_x,obj_y,obj_z)

robowaiter/behavior_lib/act/MoveTo.py

@@ -36,10 +36,28 @@ class MoveTo(Act):
             goal = Act.place_xyz_dic[self.target_place]
             self.scene.walk_to(goal[0],goal[1])
         else: # 走到物品边上
+            obj_id = -1
+            min_dis = float('inf')
+            obj_dict = self.scene.status.objects
+            if len(obj_dict)!=0:
+                # 获取obj_id
+                for id,obj in enumerate(obj_dict):
+                    if obj.name == self.target_place:
+                        obj_id = id
+                        # obj_info = obj_dict[id]
+                        # obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
+                        # ginger_x,ginger_y,ginger_z = [int(self.scene.location.X), int(self.scene.location.Y), int(self.scene.rotation.Yaw)]
+                        break
+            if self.target_place == "CoffeeCup":
+                obj_id = 273
+            if obj_id == -1:
+                return ptree.common.Status.FAILURE
 
-            self.scene.move_task_area(16, obj_id=273)
-            self.scene.op_task_execute(16, obj_id=273)
+            self.scene.move_to_obj(obj_id=obj_id)
 
+            # 为了演示，写死咖啡位置
+            # if self.target_place=="Coffee":
+            #     obj_id = 273
             # obj_id = -1
             # obj_dict = self.scene.status.objects
             # if len(obj_dict)!=0:

robowaiter/llm_client/data_raw/test_questions.csv

@@ -1,6 +1,7 @@
 Question,Answer,Goal
 测试VLM：做一杯咖啡,测试VLM：做一杯咖啡,"{""On(Coffee,CoffeeTable)""}"
 测试VLM：做一杯咖啡放到吧台上,测试VLM：做一杯咖啡放到吧台上,"{""On(Coffee,Bar)""}"
+测试VLM：做一杯咖啡放到水杯桌上并倒水,测试VLM：做一杯咖啡放到水杯桌上并倒水,"{""On(Coffee,WaterTable)""}"
 测试VLN：前往2号桌,测试VLN：前往2号桌,"{""At(Robot,Table2)""}"
 测试AEM,测试AEM,"{""EnvExplored()""}"
 测试VLM：倒一杯水,测试VLM：倒一杯水,"{""On(Water,WaterTable)""}"

robowaiter/scene/scene.py

@@ -361,6 +361,20 @@ class Scene:
                             ]
         temp = stub.GetIKControlInfos(GrabSim_pb2.HandPostureInfos(scene=self.sceneID, handPostureObjects=HandPostureObject))
 
+
+    def move_to_obj(self,obj_id):
+        scene = self.status
+        obj_info = scene.objects[obj_id]
+        # Robot
+        obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z
+        walk_v = [obj_x + 50, obj_y] + [180, 180, 0]
+        if obj_y >= 820 and obj_y <= 1200 and obj_x >= 240 and obj_x <= 500:  # 物品位于斜的抹布桌上 ([240,500],[820,1200])
+            walk_v = [obj_x + 40, obj_y - 35, 130, 180, 0]
+            obj_x += 3
+            obj_y += 2.5
+        action = GrabSim_pb2.Action(scene=self.sceneID, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
+        scene = stub.Do(action)
+
     # 移动到进行操作任务的指定地点
     def move_task_area(self,op_type,obj_id=0, release_pos=[247.0, 520.0, 100.0]):
         scene = self.status
@@ -370,10 +384,13 @@ class Scene:
         if op_type==11 or op_type==12:  # 开关窗帘不需要移动
             return
         print('------------------moveTo_Area----------------------')
-        if op_type < 8: walk_v = self.op_v_list[op_type] + [scene.rotation.Yaw, 180, 0]   # 动画控制
+        if op_type < 8:
+            walk_v = self.op_v_list[op_type] + [scene.rotation.Yaw, 180, 0]   # 动画控制
+            print("walk_v:",walk_v)
         if op_type>=8 and op_type<=10: walk_v = self.op_v_list[6] + [scene.rotation.Yaw, 180, 0]   # 控灯
         if op_type in [13,14,15]: walk_v = [240, -140.0] + [0, 180, 0]  # 空调
         if op_type==16:    # 抓握物体，移动到物体周围的可达区域
+            scene = self.status
             obj_info = scene.objects[obj_id]
             # Robot
             obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z

robowaiter/scene/tasks/Open_tasks.py

@@ -31,9 +31,7 @@ class SceneOT(Scene):
         # self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
         pass
 
-
     def _run(self):
-
         pass
 
 

robowaiter/scene/tasks/VLM.py

@@ -21,8 +21,8 @@ class SceneVLM(Scene):
             # (5, self.create_chat_event("测试VLM：整理椅子")),
             # (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")),
             # (5, self.create_chat_event("测试VLM：关大厅灯"))
-
             # (5, self.create_chat_event("测试VLM：做一杯咖啡放到吧台上")),
+            # (5, self.create_chat_event("测试VLM：做一杯咖啡放到水杯桌上并倒水")),
         ]
 
     def _reset(self):
@@ -85,6 +85,7 @@ class SceneVLM(Scene):
         # pos = [-55.0, 0.0, 107]
         # self.move_task_area(17, release_pos=pos)
         # self.op_task_execute(17, release_pos=pos)
+
         pass
     
     def _step(self):