""" 视觉语言操作 机器人根据指令人的指令调节空调，自主探索环境导航到目标点，通过手臂的运动规划能力操作空调，比如开关按钮、调温按钮、显示面板 """ import time from robowaiter.scene.scene import Scene class SceneVLM(Scene): def __init__(self, robot): 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.event_list = [ (5, self.create_chat_event("把酸奶放到1号桌，再做一杯咖啡送到水杯桌上，再倒一杯水。")), # (10, self.create_chat_event("开空调")), # (15, self.create_chat_event("下班啦！打扫卫生，关灯关空调关窗帘。")), # (9, self.create_chat_event("关窗帘")), # (9, self.create_chat_event("开大厅灯")), # (5, self.create_chat_event("测试VLM：做一杯咖啡")), # (5, self.create_chat_event("测试VLM：倒一杯水")), # (5, self.create_chat_event("测试VLM：关空调")), # (5, self.create_chat_event("测试VLM：拖地")), # (5, self.create_chat_event("测试VLM：擦桌子")), # (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，再倒一杯水")), # (10, self.create_chat_event("测试VLM：关窗帘")), # (5, self.create_chat_event("测试VLN：前往2号桌")), # (11, self.create_chat_event("测试VLM：拖地")), # (12, self.create_chat_event("测试VLM：擦桌子")), ] def _reset(self): self.gen_obj() self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)', 'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)', 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} # 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220) self.add_walkers([[0, 880], [250, 1200], [-55, 750], [70, -200],[-290, 400, 0],[20, -150,180]]) self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True) # self.control_walkers(walker_loc=[[-55, 750]],is_autowalk = False) # 在场景中随机增加一堆行人。 # walker_loc = [[-55, 750], [70, -200], [250, 1200], [0, 880]] # controls = [] # for i in range(len(s.walkers)): # loc = walker_loc[i] # is_autowalk = False # pose = GrabSim_pb2.Pose(X=loc[0], Y=loc[1], Yaw=180) # controls.append(GrabSim_pb2.WalkerControls.WControl(id=i, autowalk=is_autowalk, speed=200, pose=pose)) # scene = sim_client.ControlWalkers(GrabSim_pb2.WalkerControls(controls=controls, scene=scene_id)) # self.gen_obj(type=5) # self.gen_obj(type=9) # self.op_task_execute(op_type=16, obj_id=0) # self.move_task_area(op_type=4) pass def _run(self, op_type=10): # 共17个操作 # "制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子", # 1-7 # "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘", # 8-12 # "调整空调开关","调高空调温度","调低空调温度", # 13-15 # "抓握物体","放置物体" # 16-17 # self.gen_obj() # if op_type <=15: # self.move_task_area(op_type) # self.op_task_execute(op_type) # if op_type == 16: # 16: 抓操作需要传入物品id # self.move_task_area(op_type, obj_id=0) # self.op_task_execute(op_type, obj_id=0) # # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 100.0], 水杯桌:[-70.0, 500.0, 107] # # 桌子1:[-55.0, 0.0, 107],抹布桌:[340.0, 900.0, 99.0] # 桌子2:[-55.0, 150.0, 107], # if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域 # pos = [240.0, 40.0, 100.0] # self.move_task_area(op_type, release_pos=pos) # self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100] # 流程测试 # 抓握放置:抓吧台前生成的酸奶，放到抹布桌上 # self.gen_obj() # self.move_task_area(16, obj_id=0) # self.op_task_execute(16, obj_id=0) # pos = [340.0, 900.0, 99.0] # self.move_task_area(17, release_pos=pos) # self.op_task_execute(17, release_pos=pos) # # # 做咖啡:做完的咖啡放到水杯桌上 # self.move_task_area(1) # self.op_task_execute(1) # # self.find_obj("CoffeeCup") # # self.move_task_area(16, obj_id=275) # self.op_task_execute(16, obj_id=275) # pos = [-70.0, 500.0, 107] # self.move_task_area(17, release_pos=pos) # self.op_task_execute(17, release_pos=pos) # # # 倒水:倒完的水放到旁边桌子上 # self.move_task_area(2) # self.op_task_execute(2) # # self.move_task_area(16, obj_id=190) # self.op_task_execute(16, obj_id=190) # pos = [-55.0, 0.0, 107] # self.move_task_area(17, release_pos=pos) # self.op_task_execute(17, release_pos=pos) # self.test_yaw() pass def _step(self): pass if __name__ == '__main__': import os from robowaiter.robot.robot import Robot robot = Robot() # create task task = SceneVLM(robot) task.reset() task.run()