GQA多轮对话完成

robowaiter/llm_client/data/fix_questions.txt

@@ -156,3 +156,37 @@ create_sub_task
 
 
 
+你好呀，你们这有啥好吃的？
+我们咖啡厅有咖啡，还有饮料和点心蛋糕呢？您想点什么不？
+
+听起来都好甜呀，我女朋友爱吃水果。
+没问题，我们也提供草莓、橘子和苹果等水果呢。
+
+
+你们这人可真多。
+目前还有空位呢，你们可以坐下来一起品尝水果呢？
+get_object_info
+{"obj":"空位"}
+
+我女朋友怕晒，有空余的阴凉位置嘛？
+我查询完毕，阴凉位置有两个。在你们右侧往里走，就有适合你们二位的沙发呢。
+get_object_info
+{"obj":"阴凉空位"}
+
+那还不错。
+是的，那边安静，不会晒到太阳呢。
+
+我们还想一起下下棋,切磋切磋。
+我们这有两份军棋呢,在大厅的三号桌上。
+get_object_info
+{"obj":"棋"}
+
+请问洗手间在哪呢？
+在后门，你们的左侧往里走就是了呢。
+get_object_info
+{"obj":"洗手间"}
+
+
+
+
+

robowaiter/scene/scene.py

@@ -781,6 +781,9 @@ class Scene:
             GrabSim_pb2.ObjectList.Object(x=-102, y=10, z=90, roll=0, pitch=0, yaw=90, type=7),
             GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 70, z=95, roll=0, pitch=0, yaw=0,
                                           type=9),
+            GrabSim_pb2.ObjectList.Object(x=-115, y=200, z=85, roll=0, pitch=0, yaw=90, type=26), # Chess
+            GrabSim_pb2.ObjectList.Object(x=-115, y=250, z=85, roll=0, pitch=0, yaw=90, type=26),  # Chess
+            GrabSim_pb2.ObjectList.Object(x=-115, y=280, z=85, roll=0, pitch=0, yaw=90, type=35),  # Chess
 
         ]
         scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))

robowaiter/scene/tasks/GQA/GQA_1_ask_order_place.py

@@ -15,16 +15,36 @@ class SceneGQA(Scene):
     def __init__(self, robot):
         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.customer_say, ("System","哪里有蛋糕"))
+        self.signal_event_list = [
+            (5, self.customer_say, (6, "你好呀，你们这有啥好吃的？")), # 男
+            (15, self.customer_say, (6, "听起来都好甜呀，我女朋友爱吃水果。")),
+            (15, self.customer_say, (6, "你们这人可真多。")),
+            (15, self.customer_say, (6, "我女朋友怕晒，有空余的阴凉位置嘛？")),
+            (15, self.customer_say, (6, "那还不错。")),
+            (15, self.customer_say, (5, "请问洗手间在哪呢？")),
+            (15, self.customer_say, (5, "我们还想一起下下棋,切磋切磋。")),
+            (15, self.customer_say, (6, "太棒啦，亲爱的。")),
+            (15, self.customer_say, (5, "那你知道附近最近的电影院在哪吗?")),
+            (15, self.customer_say, (6, "谢啦，那我们先去阴凉位置下个棋，等电影开始了就去看呢!")),
+
+            # (6, self.customer_say, (5, "你好呀，这位可是我女朋友呢！")),
+            # (5, self.customer_say, (6, "你们这有什么饮料嘛？")),
+            # (6, self.customer_say, (5, "你好呀，这位可是我女朋友呢！")),
+            # (5, self.customer_say, (6, "你们这有什么饮料嘛？")),
+            # (6, self.customer_say, (5, "你好呀，这位可是我女朋友呢！")),
+            # (5, self.customer_say, (6, "你们这有什么饮料嘛？")),
+            # (1, self.control_walker_ls,([[[5, False, 100, -250, 480, 0],[6, False, 100, 60, 520, 0]]])),
+            # (-1, self.customer_say, (5, "感谢，这些够啦，你去忙吧。")),
+            # (10, self.customer_say, (6, "我想来份点心和酸奶。")),
+            # (-1, self.customer_say, (6, "真美味啊！")),
         ]
 
     def _reset(self):
         self.gen_obj()
-        self.add_walkers([ [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
+        self.add_walkers([ [16,250, 1200],[6,-55, 750],[10,70, -200],[47,-290, 400, 180],[26, 60,-320,90]])
         self.control_walker(1, True, 100, 60, 720, 0)
         self.control_walker(4, True, 100, 60, -120, 0)
-        self.add_walkers([[16,60, 520], [47,-40, 520]])
+        self.add_walkers([[31, 60,500,0], [15,60,550,0]])
         pass