""" 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 = 3 # self.st2 = self.st1 + 30 self.st3 = 3 self.st4 = 3 self.new_event_list = [ # 场景1：带小女孩找阳光下的空位 # (3, self.add_walker, (5, 230, 1200)), # (3, self.control_walker, (0, False, 200, 60, 520, 0)), # (10, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")), # (10, self.customer_say, (0,"可以带我过去嘛？")), # (20, 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 (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)), # (3, self.add_walker, (26, -30, -200, -90)), # (3, self.add_walker, (10, -80, -180, -45)), # # 上述准备 # (self.st3, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135), # (self.st3, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135), # (self.st3, self.add_walker, (1, 60, 420, 135)), # (self.st3, 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 # (self.st3, self.add_walker, (48, 60, 520,0)), # (self.st3 + 3, self.customer_say, (6, "哎呦，今天这么多人，还有空位吗？")),# 女士问 # (self.st3 + 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。 # (self.st3 + 15, self.customer_say, (6, "大厅的桌子好啊，快带我去呀！")), # (self.st3 + 25, self.control_walker, (6, False, 50,-250, 480, 0)), # #290, 400 # (self.st3 + 25, self.customer_say, (6, "我想来杯水，帮我孩子拿个酸奶吧。")), # (self.st3 + 60, self.customer_say, (6, "谢谢！")) # 场景4：三人排队点单，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, (26, -30, -200, -90)), # (3, self.add_walker, (10, -80, -180, -45)), # (3, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135), # (3, self.add_walker, (32, -80, 850, 135)), # (3, self.add_walker, (1, 60, 420, 135)), # (3, self.add_walker, (48, 60, 520, 0)), # # # 上述准备 # (self.st4, self.add_walker, (31, 60, 600, -90)), # 女红色排队 # (self.st4, self.add_walker, (9, 60, 680, -90)), # 男灰黑色排队 # (self.st4, self.add_walker, (20, 60, 760, -90)), # 大胖男排队 ] 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,"wd！"]]) self.scene_flag += 1 pass if __name__ == '__main__': import os from robowaiter.robot.robot import Robot robot = Robot() # create task task = SceneVLM(robot) task.reset() task.run()