126 lines
4.8 KiB
Python
126 lines
4.8 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("测试VLM：做一杯咖啡")),
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# (5, self.create_chat_event("测试VLM：倒一杯水")),
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# (5, self.create_chat_event("测试VLM：开空调")),
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# (5, self.create_chat_event("测试VLM：关空调")),
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# (5, self.create_chat_event("测试VLM：开大厅灯")),
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# (5, self.create_chat_event("测试VLM：拖地")),
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# (7, self.create_chat_event("测试VLM：擦桌子")),
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# (5, self.create_chat_event("测试VLM：整理椅子")),
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# (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")),
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# (5, self.create_chat_event("测试VLM：关大厅灯"))
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# (5, self.create_chat_event("测试VLM：做一杯咖啡放到吧台上")),
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# (5, self.create_chat_event("测试VLM：做一杯咖啡放到水杯桌上并倒水")),
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# (8, self.create_chat_event("测试VLN：前往1号桌")),
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]
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def _reset(self):
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# self.gen_obj(type=5)
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# self.gen_obj(type=9)
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# self.op_task_execute(op_type=16, obj_id=0)
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# self.move_task_area(op_type=4)
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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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scene = self.add_walkers([[47, 920],[70,-200]])
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self.control_walker(
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[self.walker_control_generator(walkerID=0, autowalk=False, speed=200, X=47, Y=520, Yaw=0)])
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cont = scene.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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# self.clean_walker()
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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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# 流程测试
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# 抓握放置:抓吧台前生成的酸奶，放到抹布桌上
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self.gen_obj()
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# self.move_task_area(16, obj_id=0)
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# self.op_task_execute(16, obj_id=0)
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# pos = [340.0, 900.0, 99.0]
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# self.move_task_area(17, release_pos=pos)
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# self.op_task_execute(17, release_pos=pos)
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#
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# # 做咖啡:做完的咖啡放到水杯桌上
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# self.move_task_area(1)
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# self.op_task_execute(1)
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#
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# self.find_obj("CoffeeCup")
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#
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# self.move_task_area(16, obj_id=275)
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# self.op_task_execute(16, obj_id=275)
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# pos = [-70.0, 500.0, 107]
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# self.move_task_area(17, release_pos=pos)
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# self.op_task_execute(17, release_pos=pos)
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#
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# # 倒水:倒完的水放到旁边桌子上
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# self.move_task_area(2)
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# self.op_task_execute(2)
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#
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# self.move_task_area(16, obj_id=190)
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# self.op_task_execute(16, obj_id=190)
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# pos = [-55.0, 0.0, 107]
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# self.move_task_area(17, release_pos=pos)
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# self.op_task_execute(17, release_pos=pos)
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# self.test_yaw()
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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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