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添加了场景

This commit is contained in:
Caiyishuai 2023-11-18 21:02:14 +08:00
parent 2cbbde3e13
commit 3684d43f5e
2 changed files with 19 additions and 9 deletions
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10
robowaiter/llm_client/data/fix_questions.txt
View File

@ -15,3 +15,13 @@ stop_serve
好的，我马上来一号桌
create_sub_task
{"goal":"At(Robot,Table1)"}
来杯酸奶吧。
好的没问题，请稍等！
create_sub_task
{"goal":"On(Yogurt,WaterTable)"}
好热呀！太阳也好大！
抱歉，我这就去开空调和关窗帘。
create_sub_task
{"goal":"Is(AC,On),Is(Curtain,Off)"}

18
robowaiter/scene/tasks/VLM/VLM_order.py
View File

@ -12,17 +12,17 @@ class SceneVLM(Scene):
# 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
self.new_event_list = [
(3, self.add_walker, (20,0,700)),
(5, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
# (10, self.customer_say, (6,"给我来杯酸奶和咖啡，哦对，再倒一杯水。")),
(8, self.customer_say, (6, "来杯酸奶吧。")),
(7, self.control_walker, (6, False, 100, -250, 480, 0)), #(-100,600)
# (5, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
# # (10, self.customer_say, (6,"给我来杯酸奶和咖啡，哦对，再倒一杯水。")),
# (8, self.customer_say, (6, "来杯酸奶吧。")),
# (7, self.control_walker, (6, False, 100, -250, 480, 0)), #(-100,600)
# 有人提出要开空调和关窗帘
# bar (60, 520)
(20, self.add_walker, (0, 0, 0)),
(25, self.control_walker, (7, False, 100, 60, 520, 180)),
(28, self.customer_say, (7,"好热呀！太阳也好大！")),
(40, self.control_walkers_and_say, ([[[7, False, 100, 270, -240, -65, "这下舒服了！"]]])),
(28, self.add_walker, (0, 0, 0)),
(33, self.control_walker, (7, False, 100, 60, 520, 180)),
(35, self.customer_say, (7,"好热呀！太阳也好大！")),
(45, self.control_walkers_and_say, ([[[7, False, 100, 270, -240, -65, "谢谢，这下凉快了！"]]])),
# (5, self.add_walker, (0, 0, 0)),
# (6, self.control_walker, (7, False, 100, 60, 520, 180)),
@ -37,7 +37,7 @@ class SceneVLM(Scene):
'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
# 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220)
self.add_walkers([[3,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
self.add_walkers([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
# [3,1, 880] 1号桌旁边小女孩
# [31,250, 1200] 最角落QuietTable1女红色
# [6,-55, 750] 1号桌附近小男孩