44 lines
1.4 KiB
Python
44 lines
1.4 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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(3, self.add_walker, (0,0,700)),
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(1, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
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(3, self.customer_say, (6, "好热呀，想开空调，想要温度调低点！")),
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(5, self.control_walker, (6, False, 200, 60, 80, 0)),
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(-1, self.customer_say, (6, "谢谢！这下凉快了！")), #(-100,600)
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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([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
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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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