94 lines
3.1 KiB
Python
94 lines
3.1 KiB
Python
"""
|
||
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 = 1
|
||
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
|
||
(10, 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
|
||
|
||
|
||
|
||
]
|
||
|
||
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()
|