79 lines
3.4 KiB
Python
79 lines
3.4 KiB
Python
"""
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人提出请求，机器人完成任务
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1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上
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2. 倒水
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3. 夹点心
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具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。
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"""
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# todo: 接收点单信息，大模型生成任务规划
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from robowaiter.scene.scene import Scene
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from robowaiter.behavior_lib._base.Behavior import Bahavior\
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class SceneOT(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
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self.signal_event_list = [
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# (3, self.customer_say, ("System", "It's quite toasty inside, could you please lower the air conditioning temperature?")),
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(3, self.add_walker, (27, 0, 700)),
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(1, self.control_walker, (0, False, 100, 60, 520, 0)),
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(1, self.customer_say, (0, "Could you please turn on the coffee machine at the bar, and make sure the floor is clean or the tube light is off? I enjoy my coffee in a cozy environment.")), # 给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。
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# (5, self.control_walker, (0, False, 100, -250, 480, 0)),
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]
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def _reset(self):
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# self.add_walkers([[0, 880], [250, 1200]])
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# self.gen_obj_tmp()
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self.gen_obj()
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start_robowaiter = self.default_state["condition_set"]
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all_obj_place = Bahavior.all_object | Bahavior.tables_for_placement | Bahavior.tables_for_guiding
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start_robowaiter |= {f'Not RobotNear({place})' for place in all_obj_place if place != 'Bar'}
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start_robowaiter |= {f'Not Holding({obj})' for obj in Bahavior.all_object}
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start_robowaiter |= {f'Exists({obj})' for obj in Bahavior.all_object if
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obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
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# 'Softdrink' 在Table1
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start_robowaiter |= {f'Not On(Softdrink,{place})' for place in Bahavior.all_place if place != "Table1"}
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start_robowaiter |= {f'Not On(VacuumCup,{place})' for place in Bahavior.all_place if place != "Table2"}
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# 默认物品都在 Bar 上
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start_robowaiter |= {f'On({obj},Bar)' for obj in Bahavior.all_object if
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obj != 'Coffee' and obj != 'Water' and obj != 'Dessert' \
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and obj != 'Softdrink' and obj != 'VacuumCup'}
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for place in Bahavior.all_place:
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if place != "Bar":
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start_robowaiter |= {f'Not On({obj},{place})' for obj in Bahavior.all_object}
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# start_robowaiter |= {f'On({obj},{place})' for obj in Bahavior.all_object if
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# obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
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# 这三样哪里都没有
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make_obj = {"Coffee", 'Water', 'Dessert'}
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for place in Bahavior.all_place:
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start_robowaiter |= {f'Not On({obj},{place})' for obj in make_obj}
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self.state["condition_set"] = start_robowaiter
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pass
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def _run(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 = SceneOT(robot)
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task.reset()
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task.run()
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