196 lines
10 KiB
Python
196 lines
10 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.scene_flag = 2
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self.st1 = 3
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# self.st2 = self.st1 + 30
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# self.st3 = self.st2 + 65
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self.st2 = 3
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self.st3 = 3
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self.st4 = 3
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self.signal_event_list = [
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# 场景1：带小女孩找阳光下的空位
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# (3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3"
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# (1, self.control_walker, (0, False, 200, 60, 520, 0)),
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# (9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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# (-1, self.customer_say, (0,"可以带我过去嘛？")),
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# (0, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
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# # 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
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(3, self.add_walker, (5, 230, 1200)), # 小女孩
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# # # 上述准备
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(3, self.add_walker, (26, -28, -150, 90)),
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(0, self.add_walker, (10, -70, -200, -45)),
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# (6, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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# (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
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# (2, self.customer_say, (1, "咖啡有哪些呢？")),# 10
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(2, self.customer_say, (1,"来杯卡布奇诺吧。")), # 15
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# # 场景3：有位女士要杯水和冰红茶
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# (30, self.add_walker, (5, 230, 1200)),
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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# # # # 上述准备
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (32, -80, 850, 135)), # 女 'BrightTable3': (-80, 850, 135),
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# (0, self.add_walker, (1, 60, 420, 135)), # 生成小男孩随机游走
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(3, self.add_walkers,([[[21, 65, 1000, -90],[32, -80, 850, 135],[1, 60, 420, 135],[29, -290, 400, 180]]])),
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), #设置id=4 的2小男孩随机游走红随机游走
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(0, self.add_walker, (48, 60, 520,0)),# 生成他妈妈
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# (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男色排队 8号
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑排队 9号
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# (0, self.add_walker, (29, -290, 400, 180)), # 青色女人占了位置 BrightTable5
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(0, self.add_walkers, ([[[48, 60, 520,0], [31, 60, 600, -90], [20, 60, 680, -90],[9, 60, 760, -90]]])),
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(29, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")),# 女士问
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(10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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# # 好的，我明白了，那么您可以选择我们的家庭亲子座，这样可以容纳您的孩子，并且更加宽敞舒适。
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# # 这里可以加一下自主导航和探索，找到一个位置
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# # 好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。
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(8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")),
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(15, self.control_walker, (7, False, 50,-250, 480, 0)), # #290, 400
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# (3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")),
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# # ### 9号灰色男 排队排着排着，不排了
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(0, self.control_walker, (10, False, 100, 100, 760, 180)),
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(0, self.control_walker, (10, True, 100, 0, 0, 180)),
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# # # ### 增加场景，孩子说热要开空调 或者9号随机游走和说
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(90, self.customer_say, (7, "谢谢！")), #倒水+取放酸奶 90s
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# (3, self.customer_say, (7, "谢谢！")),
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# # # 场景4：三人排队点单，女士要保温杯
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# (3, self.add_walker, (5, 230, 1200)),
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (32, -80, 850, 135)),
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# (0, self.add_walker, (1, 60, 220, 135)),
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# (0, self.add_walker, (48, 60, 320, 0)),
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# (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号找保温杯的顾客
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
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# (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
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# # # # # # 上述准备
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# # (5, self.control_walkers_and_say, ([[[7, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])), #13
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# (0, self.control_walkers_and_say, ([[[7, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])),
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# (5, self.customer_say, (7,"你可以帮我拿来吗，我在前门的桌子前等你。")),
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# (1, self.control_walker,(7, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步
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# (1, self.control_walker, (7, False, 80, 240, 1000, -45)), # 红女士走到Table1前
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# (1, self.control_walker, (8, False, 100, 60, 600, -90)), # 大胖男排队往前走一步
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# (2, self.control_walker, (9, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步
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# (6, self.customer_say, (7,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前
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# (5, self.customer_say, (7, "不用了。")), # 红女士在Table1前
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# # # 场景5：三人排队点单，一人要冰红茶，一个要点心，一个没座位了赠送保温杯
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# (3, self.add_walker, (5, 230, 1200)),
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (32, -80, 850, 135)),
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# (0, self.add_walker, (1, 60, 220, 135)),
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# (0, self.add_walker, (48, 60, 320, 0)), # 生成他妈妈
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# (0, self.add_walker, (31, 280, 1200, -45)), # # 女红色排队 7号找保温杯的顾客
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
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# (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
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# # # 上述准备
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# # # 场景6：大胖男点了外卖，离开啦
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# # (9, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 0, "给我来份午餐套餐。"]]])), #原来写了26s
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# (0, self.animation_reset,()), #重置任务
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# # (6, self.customer_say, (8, "打包吧，快点！")),
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# # (2, self.control_walker, (9, False, 100, 60, 620, -90)), # 男灰黑色排队往前走一步
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# # # (100, self.customer_say, (8, "谢啦，我赶时间！")), #100这个时间很合适
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# # (2, self.control_walker, (8, False, 250, 20, 520, -90)), # 大胖男着急得离开啦
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# # (2, self.control_walker, (8, False, 250, 240, -150, -90)),
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# (5, self.remove_walkers, ([[0,7,8]])),
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# # (2, self.control_walker, (6, False, 100, 60, 520, 0)), # 9号变7号 男灰黑色排队往前,轮到他
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#
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#
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# # 场景7：最后排队那个随机游走 9号变为6号，随机游走。
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# # 机器人自主发现任务，走一圈去擦桌子/拖地，碰到灰色男问好，灰色男说“太阳大，要关窗帘和空调调低”
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# # 开了空调
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# (2, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他
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# # (2, self.customer_say, (6, "好热呀！太阳也好大！")),
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# # (10, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])),
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#
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#
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# # 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯
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# (3, self.clean_walkers, ()),
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# (1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦
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# (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])),
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# (3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "不用了。"]]])),
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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([[47, 920]])
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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.walker_followed = False
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pass
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def _step(self):
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if self.scene_flag == 1:
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# 如果机器人不在 吧台
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if self.walker_followed:
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return
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end = [self.status.location.X, self.status.location.Y]
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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.walker_followed = True
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self.control_walkers_and_say([[0,False,150,end[0],end[1],90,"谢谢！"]])
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self.scene_flag += 1
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# 获得所有顾客的名字
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# print("=================")
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# for cus in self.status.walkers:
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# print(cus)
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# print("=================")
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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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