60 lines
2.2 KiB
Python
60 lines
2.2 KiB
Python
"""
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视觉语言操作
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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
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"""
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import time
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from robowaiter.scene.scene import Scene
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class SceneVLM(Scene):
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def __init__(self, robot):
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super().__init__(robot)
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# 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
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# 出现员工和机器人说关门了(机器人可能手上还拿着东西)
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self.new_event_list = [
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(3, self.add_walker, (17, 60, 1000)),
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(6, self.control_walkers_and_say, ([[[6, False, 500, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])),
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]
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def _reset(self):
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self.gen_obj()
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self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)',
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'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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# 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220)
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self.add_walkers([[3,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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# [3,1, 880] 1号桌旁边小女孩
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# [31,250, 1200] 最角落QuietTable1女红色
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# [6,-55, 750] 1号桌附近小男孩
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# [10,70, -200] 另一边角落 QuietTable2 男黄色
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# [27,-290, 400, 180] 中间 BrightTable4 女灰
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# [26, 60,-320,90] 另一边角落 BrightTable5 红胖男
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self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
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# 0-3男孩 4-7女孩 8-26男
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# 3男孩 31女红 32女灰 10黄色衣服男瘦 9男灰瘦 26红胖男
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# 17 是员工 police
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# [0, -150,180]
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pass
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def _run(self, op_type=10):
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pass
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def _step(self):
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pass
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if __name__ == '__main__':
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import os
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from robowaiter.robot.robot import Robot
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robot = Robot()
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# create task
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task = SceneVLM(robot)
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task.reset()
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task.run()
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