From 7a0e5875a3ca5c833b90d975d876b984d39c9b0c Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Mon, 20 Nov 2023 22:30:07 +0800 Subject: [PATCH] =?UTF-8?q?GQA=E5=A4=9A=E8=BD=AE=E5=AF=B9=E8=AF=9D?= =?UTF-8?q?=E5=AE=8C=E6=88=90?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/llm_client/data/fix_questions.txt | 34 +++++++++++++++++++ robowaiter/scene/scene.py | 3 ++ .../scene/tasks/GQA/GQA_1_ask_order_place.py | 28 ++++++++++++--- 3 files changed, 61 insertions(+), 4 deletions(-) diff --git a/robowaiter/llm_client/data/fix_questions.txt b/robowaiter/llm_client/data/fix_questions.txt index 99bae7b..5ceeb0a 100644 --- a/robowaiter/llm_client/data/fix_questions.txt +++ b/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"} + + + + + diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 2a9d1f2..6887aaa 100644 --- a/robowaiter/scene/scene.py +++ b/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)) diff --git a/robowaiter/scene/tasks/GQA/GQA_1_ask_order_place.py b/robowaiter/scene/tasks/GQA/GQA_1_ask_order_place.py index ee9a208..f5b48c6 100644 --- a/robowaiter/scene/tasks/GQA/GQA_1_ask_order_place.py +++ b/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