52 lines
1.9 KiB
Python
52 lines
1.9 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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self.signal_event_list = [
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(8, self.customer_say, (5, "给我来杯咖啡，哦对，再倒一杯水。")),
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(1, self.control_walker_ls,([[[5, False, 100, -250, 480, 0],[6, False, 100, 60, 520, 0]]])),
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(10, self.customer_say, (5, "感谢，这些够啦，你去忙吧。")),
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(2, self.customer_say, (6, "我想来份点心和酸奶。")),
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(-1, self.customer_say, (6, "真美味啊！")),
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]
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def _reset(self):
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self.gen_obj()
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self.add_walkers([ [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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self.control_walker(1, True, 100, 60, 720, 0)
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self.control_walker(4, True, 100, 60, -120, 0)
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self.add_walkers([[16,60, 520], [47,-40, 520]])
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self.state["condition_set"] = { 'At(Robot,Bar)', 'Is(AC,Off)',
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'Holding(Nothing)', 'Exist(Yogurt)', 'Exist(BottledDrink)',
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'On(BottledDrink,Bar)',
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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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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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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