""" 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.scene_flag = 2 self.st1 = 3 # self.st2 = self.st1 + 30 # self.st3 = self.st2 + 65 self.st2 = 3 self.st3 = 3 self.st4 = 3 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)), # 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 (3, self.add_walker, (5, 230, 1200)), # 小女孩 # # # 上述准备 (3, 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 # # 场景3：有位女士要杯水和冰红茶 # (30, 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 (3, self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135],[29, -290, 400, 180]]])), (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, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")),# 女士问 (10, self.customer_say, (7, "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, (7, "大厅的桌子好啊，快带我去呀！")), (15, self.control_walker, (7, False, 50,-250, 480, 0)), # #290, 400 # (3, self.customer_say, (7, "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, (10, False, 100, 100, 760, 180)), (0, self.control_walker, (10, 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, (7, "谢谢！")), #倒水+取放酸奶 90s # (3, self.customer_say, (7, "谢谢！")), # # # 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)), # (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)), # (0, self.add_walker, (31, 60, 600, -90)), # 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 # # (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 # # # 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 # # (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 # # # # 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)), # 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。"]]])), # (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "不用了。"]]])), ] def _reset(self): self.gen_obj() # self.add_walkers([[47, 920]]) pass def _run(self, op_type=10): # 一个行人从门口走到 吧台 # 打招呼需要什么 # 行人说 哪里有位置，想晒个太阳 # 带领行人去有太阳的地方 # 行人说 有点热 # 好的，这就去开空调 self.walker_followed = False pass def _step(self): if self.scene_flag == 1: # 如果机器人不在 吧台 if self.walker_followed: return end = [self.status.location.X, self.status.location.Y] if end[1]>=600 or end[1]<=450 or end[0]>=250: # if int(self.status.location.X)!=247 or int(self.status.location.X)!=520: self.walker_followed = True 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__': import os from robowaiter.robot.robot import Robot robot = Robot() # create task task = SceneVLM(robot) task.reset() task.run()