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RoboWaiter
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修改UI

This commit is contained in:
liwang_zhang 2023-11-27 23:00:35 +08:00
parent 81a91cef30
commit 4d5767aa24
5 changed files with 389 additions and 248 deletions
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robowaiter/scene/outputs/current_bt.png
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Side by Side Swipe Overlay

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2
robowaiter/scene/scene.py
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@ -1063,7 +1063,7 @@ class Scene:
# cur_objs, objs_name_set = camera.get_semantic_map(GrabSim_pb2.CameraName.Head_Segment, cur_objs,
# objs_name_set)
cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(plt, db, scene,
cur_obstacle_world_points, cur_objs_id = camera.get_obstacle_point(self, db, scene,
cur_obstacle_world_points, map_ratio)
# if scene.info == "Unreachable":

4
robowaiter/scene/ui/pyqt5.py
View File

@ -80,6 +80,9 @@ class UI(QMainWindow, Ui_MainWindow):
self.btn_say.clicked.connect(self.btn_say_on_click)
self.img_view_bt.setDragMode(QGraphicsView.ScrollHandDrag)
# 下拉菜单绑定函数
# 下拉菜单.seleted.connect(self.你写的函数)
# # BT树的显示
# self.setScaledContents(True) # 图片将根据label的大小自动缩放
# self.label_moved = False # 用于判断是否移动了标签
@ -239,6 +242,7 @@ class UI(QMainWindow, Ui_MainWindow):
control.setPixmap(self.scale_pixmap_to_label(pixmap, control))
# control.setPixmap(pixmap)
def draw_canvas(self,control_name,canvas):
control = getattr(self,control_name,None)
# 加载并显示图片

250
robowaiter/scene/ui/window.py
View File

@ -14,92 +14,23 @@ from PyQt5 import QtCore, QtGui, QtWidgets
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(896, 967)
MainWindow.resize(895, 967)
MainWindow.setAutoFillBackground(False)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.gridLayout_4 = QtWidgets.QGridLayout(self.centralwidget)
self.gridLayout_4.setObjectName("gridLayout_4")
self.gridLayout = QtWidgets.QGridLayout()
self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
self.gridLayout.setObjectName("gridLayout")
self.label_9 = QtWidgets.QLabel(self.centralwidget)
font = QtGui.QFont()
font.setFamily("等线")
font.setPointSize(10)
font.setBold(True)
font.setWeight(75)
self.label_9.setFont(font)
self.label_9.setObjectName("label_9")
self.gridLayout.addWidget(self.label_9, 0, 0, 1, 2)
self.edit_say = QtWidgets.QLineEdit(self.centralwidget)
font = QtGui.QFont()
font.setFamily("Times New Roman")
font.setPointSize(14)
self.edit_say.setFont(font)
self.edit_say.setObjectName("edit_say")
self.gridLayout.addWidget(self.edit_say, 0, 2, 1, 1)
self.btn_say = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_say.setFont(font)
self.btn_say.setObjectName("btn_say")
self.gridLayout.addWidget(self.btn_say, 0, 3, 1, 1)
self.verticalLayout = QtWidgets.QVBoxLayout()
self.verticalLayout.setObjectName("verticalLayout")
self.btn_AEM = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_AEM.setFont(font)
self.btn_AEM.setObjectName("btn_AEM")
self.verticalLayout.addWidget(self.btn_AEM)
self.btn_VLN = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_VLN.setFont(font)
self.btn_VLN.setObjectName("btn_VLN")
self.verticalLayout.addWidget(self.btn_VLN)
self.btn_VLM = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_VLM.setFont(font)
self.btn_VLM.setObjectName("btn_VLM")
self.verticalLayout.addWidget(self.btn_VLM)
self.btn_GQA = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_GQA.setFont(font)
self.btn_GQA.setObjectName("btn_GQA")
self.verticalLayout.addWidget(self.btn_GQA)
self.btn_OT = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_OT.setFont(font)
self.btn_OT.setObjectName("btn_OT")
self.verticalLayout.addWidget(self.btn_OT)
self.btn_AT = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_AT.setFont(font)
self.btn_AT.setObjectName("btn_AT")
self.verticalLayout.addWidget(self.btn_AT)
self.btn_reset = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_reset.setFont(font)
self.btn_reset.setObjectName("btn_reset")
self.verticalLayout.addWidget(self.btn_reset)
self.gridLayout.addLayout(self.verticalLayout, 1, 0, 2, 1)
self.verticalLayout_4 = QtWidgets.QVBoxLayout()
self.verticalLayout_4.setObjectName("verticalLayout_4")
self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
self.horizontalLayout_2.setSpacing(100)
self.horizontalLayout_2.setObjectName("horizontalLayout_2")
self.label_10 = QtWidgets.QLabel(self.centralwidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Maximum, QtWidgets.QSizePolicy.Preferred)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.label_10.sizePolicy().hasHeightForWidth())
self.label_10.setSizePolicy(sizePolicy)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
@ -107,16 +38,27 @@ class Ui_MainWindow(object):
self.label_10.setObjectName("label_10")
self.horizontalLayout_2.addWidget(self.label_10)
self.label_11 = QtWidgets.QLabel(self.centralwidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Preferred)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.label_11.sizePolicy().hasHeightForWidth())
self.label_11.setSizePolicy(sizePolicy)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.label_11.setFont(font)
self.label_11.setObjectName("label_11")
self.horizontalLayout_2.addWidget(self.label_11)
self.gridLayout.addLayout(self.horizontalLayout_2, 1, 1, 1, 3)
self.horizontalLayout_3 = QtWidgets.QHBoxLayout()
self.horizontalLayout_3.setObjectName("horizontalLayout_3")
self.verticalLayout_4.addLayout(self.horizontalLayout_2)
self.horizontalLayout = QtWidgets.QHBoxLayout()
self.horizontalLayout.setObjectName("horizontalLayout")
self.list_customer = QtWidgets.QListWidget(self.centralwidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.list_customer.sizePolicy().hasHeightForWidth())
self.list_customer.setSizePolicy(sizePolicy)
self.list_customer.setMinimumSize(QtCore.QSize(50, 250))
font = QtGui.QFont()
font.setPointSize(11)
self.list_customer.setFont(font)
@ -125,17 +67,23 @@ class Ui_MainWindow(object):
self.list_customer.addItem(item)
item = QtWidgets.QListWidgetItem()
self.list_customer.addItem(item)
self.horizontalLayout_3.addWidget(self.list_customer)
self.horizontalLayout.addWidget(self.list_customer)
self.edit_local_history = QtWidgets.QTextEdit(self.centralwidget)
self.edit_local_history.setEnabled(True)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.edit_local_history.sizePolicy().hasHeightForWidth())
self.edit_local_history.setSizePolicy(sizePolicy)
self.edit_local_history.setMinimumSize(QtCore.QSize(340, 0))
font = QtGui.QFont()
font.setPointSize(11)
self.edit_local_history.setFont(font)
self.edit_local_history.setReadOnly(True)
self.edit_local_history.setObjectName("edit_local_history")
self.horizontalLayout_3.addWidget(self.edit_local_history)
self.gridLayout.addLayout(self.horizontalLayout_3, 2, 1, 1, 3)
self.gridLayout_4.addLayout(self.gridLayout, 0, 0, 1, 1)
self.horizontalLayout.addWidget(self.edit_local_history)
self.verticalLayout_4.addLayout(self.horizontalLayout)
self.gridLayout.addLayout(self.verticalLayout_4, 1, 1, 5, 2)
self.gridLayout_3 = QtWidgets.QGridLayout()
self.gridLayout_3.setObjectName("gridLayout_3")
self.verticalLayout_2 = QtWidgets.QVBoxLayout()
@ -162,7 +110,7 @@ class Ui_MainWindow(object):
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.img_label_map.sizePolicy().hasHeightForWidth())
self.img_label_map.setSizePolicy(sizePolicy)
self.img_label_map.setMinimumSize(QtCore.QSize(300, 200))
self.img_label_map.setMinimumSize(QtCore.QSize(345, 200))
self.img_label_map.setStyleSheet("border: 2px solid black;")
self.img_label_map.setText("")
self.img_label_map.setObjectName("img_label_map")
@ -174,7 +122,7 @@ class Ui_MainWindow(object):
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.img_label_seg.sizePolicy().hasHeightForWidth())
self.img_label_seg.setSizePolicy(sizePolicy)
self.img_label_seg.setMinimumSize(QtCore.QSize(280, 200))
self.img_label_seg.setMinimumSize(QtCore.QSize(250, 200))
self.img_label_seg.setStyleSheet("border: 2px solid black;")
self.img_label_seg.setText("")
self.img_label_seg.setObjectName("img_label_seg")
@ -186,7 +134,7 @@ class Ui_MainWindow(object):
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.img_label_obj.sizePolicy().hasHeightForWidth())
self.img_label_obj.setSizePolicy(sizePolicy)
self.img_label_obj.setMinimumSize(QtCore.QSize(280, 200))
self.img_label_obj.setMinimumSize(QtCore.QSize(250, 200))
self.img_label_obj.setStyleSheet("border: 2px solid black;")
self.img_label_obj.setText("")
self.img_label_obj.setObjectName("img_label_obj")
@ -237,28 +185,118 @@ class Ui_MainWindow(object):
self.horizontalLayout_4.addWidget(self.label_8)
self.gridLayout_2.addLayout(self.horizontalLayout_4, 0, 0, 1, 1)
self.gridLayout_3.addLayout(self.gridLayout_2, 0, 0, 1, 1)
self.gridLayout_4.addLayout(self.gridLayout_3, 1, 0, 1, 1)
self.gridLayout.addLayout(self.gridLayout_3, 6, 0, 1, 3)
self.verticalLayout_3 = QtWidgets.QVBoxLayout()
self.verticalLayout_3.setObjectName("verticalLayout_3")
self.textEdit_5 = QtWidgets.QTextEdit(self.centralwidget)
self.textEdit_5.setObjectName("textEdit_5")
self.verticalLayout_3.addWidget(self.textEdit_5)
self.gridLayout.addLayout(self.verticalLayout_3, 5, 0, 1, 1)
self.verticalLayout = QtWidgets.QVBoxLayout()
self.verticalLayout.setObjectName("verticalLayout")
self.btn_reset = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_reset.setFont(font)
self.btn_reset.setObjectName("btn_reset")
self.verticalLayout.addWidget(self.btn_reset)
self.btn_AEM = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_AEM.setFont(font)
self.btn_AEM.setObjectName("btn_AEM")
self.verticalLayout.addWidget(self.btn_AEM)
self.btn_VLN = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_VLN.setFont(font)
self.btn_VLN.setObjectName("btn_VLN")
self.verticalLayout.addWidget(self.btn_VLN)
self.btn_VLM = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_VLM.setFont(font)
self.btn_VLM.setObjectName("btn_VLM")
self.verticalLayout.addWidget(self.btn_VLM)
self.btn_GQA = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_GQA.setFont(font)
self.btn_GQA.setObjectName("btn_GQA")
self.verticalLayout.addWidget(self.btn_GQA)
self.btn_OT = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_OT.setFont(font)
self.btn_OT.setObjectName("btn_OT")
self.verticalLayout.addWidget(self.btn_OT)
self.btn_AT = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_AT.setFont(font)
self.btn_AT.setObjectName("btn_AT")
self.verticalLayout.addWidget(self.btn_AT)
self.comboBox = QtWidgets.QComboBox(self.centralwidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Minimum)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.comboBox.sizePolicy().hasHeightForWidth())
self.comboBox.setSizePolicy(sizePolicy)
self.comboBox.setMinimumSize(QtCore.QSize(0, 25))
self.comboBox.setCurrentText("")
self.comboBox.setInsertPolicy(QtWidgets.QComboBox.InsertAtBottom)
self.comboBox.setObjectName("comboBox")
self.verticalLayout.addWidget(self.comboBox)
self.gridLayout.addLayout(self.verticalLayout, 1, 0, 1, 1)
self.label_9 = QtWidgets.QLabel(self.centralwidget)
font = QtGui.QFont()
font.setFamily("等线")
font.setPointSize(10)
font.setBold(True)
font.setWeight(75)
self.label_9.setFont(font)
self.label_9.setObjectName("label_9")
self.gridLayout.addWidget(self.label_9, 0, 0, 1, 1)
self.btn_say = QtWidgets.QPushButton(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.btn_say.setFont(font)
self.btn_say.setObjectName("btn_say")
self.gridLayout.addWidget(self.btn_say, 0, 2, 1, 1)
self.label = QtWidgets.QLabel(self.centralwidget)
font = QtGui.QFont()
font.setFamily("黑体")
font.setPointSize(14)
self.label.setFont(font)
self.label.setObjectName("label")
self.gridLayout.addWidget(self.label, 4, 0, 1, 1)
self.edit_say = QtWidgets.QLineEdit(self.centralwidget)
font = QtGui.QFont()
font.setFamily("Times New Roman")
font.setPointSize(14)
self.edit_say.setFont(font)
self.edit_say.setObjectName("edit_say")
self.gridLayout.addWidget(self.edit_say, 0, 1, 1, 1)
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
self.comboBox.setCurrentIndex(-1)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
self.label_9.setText(_translate("MainWindow", "任务演示：（播放动画时需等待动画播放完毕才会重置场景）"))
self.edit_say.setText(_translate("MainWindow", "Is(AC,On)"))
self.btn_say.setText(_translate("MainWindow", "说话"))
self.btn_AEM.setText(_translate("MainWindow", "环境主动探索"))
self.btn_VLN.setText(_translate("MainWindow", "视觉语言导航"))
self.btn_VLM.setText(_translate("MainWindow", "视觉语言操作"))
self.btn_GQA.setText(_translate("MainWindow", "具身多轮对话"))
self.btn_OT.setText(_translate("MainWindow", "开放具身任务"))
self.btn_AT.setText(_translate("MainWindow", "自主具身任务"))
self.btn_reset.setText(_translate("MainWindow", "重置"))
self.label_10.setText(_translate("MainWindow", "顾客列表："))
self.label_11.setText(_translate("MainWindow", "顾客历史对话："))
__sortingEnabled = self.list_customer.isSortingEnabled()
@ -272,6 +310,18 @@ class Ui_MainWindow(object):
self.label_6.setText(_translate("MainWindow", "可达性地图"))
self.label_7.setText(_translate("MainWindow", "实例分割"))
self.label_8.setText(_translate("MainWindow", "目标检测"))
self.btn_reset.setText(_translate("MainWindow", "重置场景"))
self.btn_AEM.setText(_translate("MainWindow", "环境主动探索"))
self.btn_VLN.setText(_translate("MainWindow", "视觉语言导航"))
self.btn_VLM.setText(_translate("MainWindow", "视觉语言操作"))
self.btn_GQA.setText(_translate("MainWindow", "具身多轮对话"))
self.btn_OT.setText(_translate("MainWindow", "开放具身任务"))
self.btn_AT.setText(_translate("MainWindow", "自主具身任务"))
self.comboBox.setPlaceholderText(_translate("MainWindow", "其他任务"))
self.label_9.setText(_translate("MainWindow", "任务演示：（播放动画时需等待动画播放完毕才会重置场景）"))
self.btn_say.setText(_translate("MainWindow", "说话"))
self.label.setText(_translate("MainWindow", "语义信息"))
self.edit_say.setText(_translate("MainWindow", "Is(AC,On)"))
if __name__ == "__main__":

381
robowaiter/scene/ui/window.ui
View File

@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>896</width>
<width>895</width>
<height>967</height>
</rect>
</property>
@ -17,149 +17,22 @@
<bool>false</bool>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0" colspan="2">
<widget class="QLabel" name="label_9">
<property name="font">
<font>
<family>等线</family>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>任务演示：（播放动画时需等待动画播放完毕才会重置场景）</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLineEdit" name="edit_say">
<property name="font">
<font>
<family>Times New Roman</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>Is(AC,On)</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QPushButton" name="btn_say">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>说话</string>
</property>
</widget>
</item>
<item row="1" column="0" rowspan="2">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QPushButton" name="btn_AEM">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>环境主动探索</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_VLN">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>视觉语言导航</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_VLM">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>视觉语言操作</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_GQA">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>具身多轮对话</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_OT">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>开放具身任务</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_AT">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>自主具身任务</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_reset">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>重置</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="1" colspan="3">
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1" rowspan="5" colspan="2">
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>100</number>
</property>
<item>
<widget class="QLabel" name="label_10">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<family>黑体</family>
@ -173,6 +46,12 @@
</item>
<item>
<widget class="QLabel" name="label_11">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<family>黑体</family>
@ -186,10 +65,22 @@
</item>
</layout>
</item>
<item row="2" column="1" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QListWidget" name="list_customer">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>250</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
@ -212,6 +103,18 @@
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>340</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
@ -226,7 +129,7 @@
</item>
</layout>
</item>
<item row="1" column="0">
<item row="6" column="0" colspan="3">
<layout class="QGridLayout" name="gridLayout_3">
<item row="1" column="0">
<layout class="QVBoxLayout" name="verticalLayout_2">
@ -265,7 +168,7 @@
</property>
<property name="minimumSize">
<size>
<width>300</width>
<width>345</width>
<height>200</height>
</size>
</property>
@ -290,7 +193,7 @@
</property>
<property name="minimumSize">
<size>
<width>280</width>
<width>250</width>
<height>200</height>
</size>
</property>
@ -315,7 +218,7 @@
</property>
<property name="minimumSize">
<size>
<width>280</width>
<width>250</width>
<height>200</height>
</size>
</property>
@ -418,6 +321,190 @@
</item>
</layout>
</item>
<item row="5" column="0">
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QTextEdit" name="textEdit_5"/>
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QPushButton" name="btn_reset">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>重置场景</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_AEM">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>环境主动探索</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_VLN">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>视觉语言导航</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_VLM">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>视觉语言操作</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_GQA">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>具身多轮对话</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_OT">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>开放具身任务</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="btn_AT">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>自主具身任务</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="comboBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>25</height>
</size>
</property>
<property name="currentText">
<string/>
</property>
<property name="currentIndex">
<number>-1</number>
</property>
<property name="insertPolicy">
<enum>QComboBox::InsertAtBottom</enum>
</property>
<property name="placeholderText">
<string>其他任务</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_9">
<property name="font">
<font>
<family>等线</family>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>任务演示：（播放动画时需等待动画播放完毕才会重置场景）</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="btn_say">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>说话</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label">
<property name="font">
<font>
<family>黑体</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>语义信息</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="edit_say">
<property name="font">
<font>
<family>Times New Roman</family>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>Is(AC,On)</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QStatusBar" name="statusbar"/>