From 65fadd68fb475dcb0ef9291e8bf3811e9f837c1f Mon Sep 17 00:00:00 2001
From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com>
Date: Sat, 18 Nov 2023 21:24:11 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E5=9C=BA=E6=99=AF?=
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---
 robowaiter/llm_client/data/fix_questions.txt | 11 +++++++++++
 robowaiter/scene/tasks/VLM/VLM.py            | 18 +++++++++++++++---
 robowaiter/scene/tasks/VLM/VLN_greet_lead.py |  5 +++--
 3 files changed, 29 insertions(+), 5 deletions(-)

diff --git a/robowaiter/llm_client/data/fix_questions.txt b/robowaiter/llm_client/data/fix_questions.txt
index c500aca..0fa6d5f 100644
--- a/robowaiter/llm_client/data/fix_questions.txt
+++ b/robowaiter/llm_client/data/fix_questions.txt
@@ -16,6 +16,17 @@ stop_serve
 create_sub_task
 {"goal":"At(Robot,Table1)"}
 
+
+早上好呀，我想找个能晒太阳的地方。
+没问题，您右手边就有能晒太阳的位置呢。
+
+
+可以带我过去嘛？
+当然，请跟我来！
+create_sub_task
+{"goal":"At(Robot,BrightTable1)"}
+
+
 来杯酸奶吧。
 好的没问题，请稍等！
 create_sub_task
diff --git a/robowaiter/scene/tasks/VLM/VLM.py b/robowaiter/scene/tasks/VLM/VLM.py
index d0ba4a5..2524f6c 100644
--- a/robowaiter/scene/tasks/VLM/VLM.py
+++ b/robowaiter/scene/tasks/VLM/VLM.py
@@ -11,7 +11,7 @@ class SceneVLM(Scene):
         super().__init__(robot)
         # 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.event_list = [
-            (5, self.create_chat_event("把酸奶放到1号桌，再做一杯咖啡送到水杯桌上，再倒一杯水。")),
+            # (5, self.create_chat_event("把酸奶放到1号桌，再做一杯咖啡送到水杯桌上，再倒一杯水。")),
             # (10, self.create_chat_event("开空调")),
 
             # (15, self.create_chat_event("下班啦！打扫卫生，关灯关空调关窗帘。")),
@@ -37,13 +37,25 @@ class SceneVLM(Scene):
 
     def _reset(self):
         self.gen_obj()
+
+
         self.state["condition_set"] = {'At(Robot,Bar)', 'Is(AC,Off)',
          'Holding(Nothing)','Exist(Yogurt)','Exist(Softdrink)','On(Yogurt,Bar)','On(Softdrink,Table1)',
          'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
          'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
+
+        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
+        # [10,70, -200]  另一边角落 QuietTable2 男黄色
+        # [27,-290, 400, 180] 中间 BrightTable4 女灰
+        # [26, 60,-320,90] 另一边角落 BrightTable5 红胖男
+        # self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
+
         # 随机生成4个自由行走，一个在 BrightTable4,BrightTable5(-20,220)
-        self.add_walkers([[0, 880], [250, 1200], [-55, 750], [70, -200],[-290, 400, 0],[20, -150,180]])
-        self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
+        # self.add_walkers([[0, 880], [250, 1200], [-55, 750], [70, -200],[-290, 400, 0],[20, -150,180]])
+        # self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
 
 
         # self.control_walkers(walker_loc=[[-55, 750]],is_autowalk = False)
diff --git a/robowaiter/scene/tasks/VLM/VLN_greet_lead.py b/robowaiter/scene/tasks/VLM/VLN_greet_lead.py
index 6eb8d3e..251d302 100644
--- a/robowaiter/scene/tasks/VLM/VLN_greet_lead.py
+++ b/robowaiter/scene/tasks/VLM/VLN_greet_lead.py
@@ -11,8 +11,9 @@ class SceneVLM(Scene):
         super().__init__(robot)
         # 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,  (0,60,520)),
-            (5, self.customer_say, (0,"可以带我去空位上嘛？我想晒太阳。")),
+            (3, self.add_walker, (5, 230, 1200)),
+            (5, self.control_walkers_and_say, ([[[0, False, 200, 60, 520, 0, "早上好呀，我想找个能晒太阳的地方。"]]])),# (0, 60, 520)),
+            (6, self.customer_say, (0,"可以带我过去嘛？")),
         ]
 
     def _reset(self):