102 lines
4.1 KiB
Python
102 lines
4.1 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.event_list = [
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(5, self.create_chat_event("把酸奶放到1号桌，再做一杯咖啡送到水杯桌上，再倒一杯水。")),
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]
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def _reset(self):
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pass
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def _run(self, op_type=10):
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# 一个行人从门口走到 吧台
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# 打招呼需要什么
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# 行人说 哪里有位置，想晒个太阳
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# 带领行人去有太阳的地方
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# 行人说 有点热
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# 好的，这就去开空调
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self.gen_obj()
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self.add_walkers([[47, 920]])
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self.control_walker(
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[self.walker_control_generator(walkerID=0, autowalk=False, speed=200, X=60, Y=520, Yaw=180)])
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time.sleep(1)
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cont = self.status.walkers[0].name+":请问可以带我去空位上嘛？我想晒太阳。"
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self.control_robot_action(0,3,cont)
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# time.sleep(3)
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# self.event_list.append((5, self.set_goal("At(Robot,BrightTable1)"))) # "请问可以带我去空位上嘛？我想晒太阳"
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# self.chat_bubble("没问题！请跟我来。")
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# 跟随机器人
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# cont = self.status.walkers[0].name + "好的！"
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# self.control_robot_action(0, 3, cont)
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#
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# start = [self.status.location.X, self.status.location.Y]
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# time.sleep(0.2)
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# end = [self.status.location.X, self.status.location.Y]
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# while abs(start[0]-end[0])>=1 or abs(start[1]-end[1])>=1:
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# self.control_walker(
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# [self.walker_control_generator(walkerID=0, autowalk=False, speed=100, X=end[0], Y=end[1], Yaw=0)])
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#
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# cont = self.status.walkers[0].name+"谢谢！"
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# self.control_robot_action(0,3,cont)
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# 共17个操作
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# "制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子", # 1-7
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# "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘", # 8-12
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# "调整空调开关","调高空调温度","调低空调温度", # 13-15
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# "抓握物体","放置物体" # 16-17
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# self.gen_obj()
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# if op_type <=15:
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# self.move_task_area(op_type)
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# self.op_task_execute(op_type)
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# if op_type == 16: # 16: 抓操作需要传入物品id
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# self.move_task_area(op_type, obj_id=0)
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# self.op_task_execute(op_type, obj_id=0)
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# # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 100.0], 水杯桌:[-70.0, 500.0, 107]
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# # 桌子1:[-55.0, 0.0, 107],抹布桌:[340.0, 900.0, 99.0] # 桌子2:[-55.0, 150.0, 107],
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# if op_type == 17: # 17: 放操作需要传入放置位置周围的可达区域
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# pos = [240.0, 40.0, 100.0]
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# self.move_task_area(op_type, release_pos=pos)
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# self.op_task_execute(op_type, release_pos=pos) # [325.0, 860.0, 100]
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pass
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def _step(self):
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# 如果机器人不在 吧台
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# if "At(Robot,Bar)" not in self.state['condition_set']:
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end = [self.status.location.X, self.status.location.Y]
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print("end:",end)
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if end[1]>=600 or end[1]<=450 or end[0]>=250:
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# if int(self.status.location.X)!=247 or int(self.status.location.X)!=520:
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self.control_walker(
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[self.walker_control_generator(walkerID=0, autowalk=False, speed=100, X=end[0], Y=end[1], Yaw=-90)])
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cont = self.status.walkers[0].name+"谢谢！"
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self.control_robot_action(0,3,cont)
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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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