48 lines
1.3 KiB
Python
48 lines
1.3 KiB
Python
"""
|
||
视觉语言导航
|
||
识别顾客（NPC）靠近、打招呼、对话、领位导航到适合人数的空闲餐桌
|
||
开始条件：监测到顾客靠近
|
||
结束条件：完成领位，语音：“请问您想喝点什么？”，并等待下一步指令
|
||
"""
|
||
import os
|
||
import pickle
|
||
import time
|
||
import random
|
||
|
||
import matplotlib.pyplot as plt
|
||
import numpy as np
|
||
|
||
from robowaiter.scene.scene import Scene,init_world # TODO: 文件名改成Scene.py
|
||
|
||
from robowaiter.scene.scene import Scene
|
||
from robowaiter.utils import get_root_path
|
||
|
||
class SceneVLN(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("测试VLN：前往2号桌")),
|
||
]
|
||
|
||
def _reset(self):
|
||
root_path = get_root_path()
|
||
file_name = os.path.join(root_path,'robowaiter/algos/navigate/map_5.pkl')
|
||
with open(file_name, 'rb') as file:
|
||
map = pickle.load(file)
|
||
|
||
self.state['map']['2d'] = map
|
||
self.state['map']['obj_pos']['Table'] = np.array((-100, 700))
|
||
|
||
|
||
if __name__ == '__main__':
|
||
import os
|
||
from robowaiter.robot.robot import Robot
|
||
|
||
robot = Robot()
|
||
|
||
# create task
|
||
task = SceneVLN(robot)
|
||
task.reset()
|
||
task.run()
|