58 lines
1.9 KiB
Python
58 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.new_event_list = [
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(2, self.customer_say, (0, "请问哪里有空位啊？")),
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(6, self.customer_say, (0, "我想坐高凳子。")),
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(6, self.customer_say, (0, "你带我去吧。")),
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(13, self.control_walker, (0, False,100, -250, 480,-90)),
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(-1, self.customer_say, (0, "谢谢你！这儿还不错！")),
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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([
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[29, 60, 520], #顾客 0
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[23, 0, 220], #秃头老头子 1
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[0, -55, 150], #小男孩d走来走去 2
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[10, -55, 750], # 3
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[19, 70, -200], #后门站着不动的 4
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[21, 65, 1000, -90], #大胖男占了一号桌 5
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[5, 230, 1200], #小女孩 6
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[26, -28, 0, 90] , #在设置一个在后门随机游走的 7
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# 设置为 26, 60, 0, 90]
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[31, 280, 1200, -45] # 8
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])
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self.control_walker(2, True, 200, -55, 155, 90) #飞速奔跑的小男孩
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# self.control_walker(7, True, 80, -25, -150, 90)
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self.control_walker(5, True, 65, 995, 520, 90)
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self.control_walker(4, True, 65, 70, -200, 90)
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pass
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def _run(self):
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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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