From b16ac98ffe2d9d8344c95376f4490f456fe82740 Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Mon, 20 Nov 2023 17:18:36 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E5=8A=A0=E4=BA=86=20VLN=20=E8=A7=86?= =?UTF-8?q?=E8=A7=89=E8=AF=AD=E8=A8=80=E5=AF=BC=E8=88=AA=E7=9A=84=E5=BD=95?= =?UTF-8?q?=E5=B1=8F=E8=84=9A=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/behavior_lib/_base/Behavior.py | 2 +- robowaiter/llm_client/data/fix_questions.txt | 4 ++-- robowaiter/scene/scene.py | 2 +- robowaiter/scene/tasks/VLN/VLN_greet_lead.py | 9 +++++---- 4 files changed, 9 insertions(+), 8 deletions(-) diff --git a/robowaiter/behavior_lib/_base/Behavior.py b/robowaiter/behavior_lib/_base/Behavior.py index 0f53678..c60ff51 100644 --- a/robowaiter/behavior_lib/_base/Behavior.py +++ b/robowaiter/behavior_lib/_base/Behavior.py @@ -68,7 +68,7 @@ class Bahavior(ptree.behaviour.Behaviour): 'BrightTable2': (65, 1000, 135), 'BrightTable3': (-80, 850, 135), 'BrightTable4': (-270, 520, 150), - 'BrightTable5': (-270, 420, -135) + 'BrightTable5': (-270, 420, 90) #(-270, 420, -135) } container_dic={ 'Coffee':'CoffeeCup', diff --git a/robowaiter/llm_client/data/fix_questions.txt b/robowaiter/llm_client/data/fix_questions.txt index ead122b..eb40304 100644 --- a/robowaiter/llm_client/data/fix_questions.txt +++ b/robowaiter/llm_client/data/fix_questions.txt @@ -116,10 +116,10 @@ create_sub_task {"goal":"Is(ACTemperature,Down)"} 请问哪里有空位啊？ -现在有不少空位呢，请问您有什么要求嘛，比如靠窗还是阴凉处，还是？ +现在有不少空位呢，请问您有什么要求嘛？ 我想坐高脚凳子。 -没问题，您后面的桌子就能符合您的要求呢！ +没问题，大厅里就有这样的位置呢！ 你带我去吧。 OK，请跟我来！ diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 6f85c79..ca35c37 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -116,7 +116,7 @@ class Scene: self.show_bubble = True # 图像分割 - self.take_picture = True + self.take_picture = False self.map_ratio = 5 self.map_map = np.zeros((math.ceil(950 / self.map_ratio), math.ceil(1850 / self.map_ratio))) self.db = DBSCAN(eps=self.map_ratio, min_samples=int(self.map_ratio / 2)) diff --git a/robowaiter/scene/tasks/VLN/VLN_greet_lead.py b/robowaiter/scene/tasks/VLN/VLN_greet_lead.py index 6b28391..965a4aa 100644 --- a/robowaiter/scene/tasks/VLN/VLN_greet_lead.py +++ b/robowaiter/scene/tasks/VLN/VLN_greet_lead.py @@ -11,9 +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 = [ - # (5, self.customer_say, (0, "请问哪里有空位啊？")), - # (5, self.customer_say, (0, "我想坐高脚凳子。")), - (3, self.customer_say, (0, "你带我去吧。")), + (2, self.customer_say, (0, "请问哪里有空位啊？")), + (6, self.customer_say, (0, "我想坐高凳子。")), + (6, self.customer_say, (0, "你带我去吧。")), (13, self.control_walker, (0, False,100, -250, 480,-90)), (-1, self.customer_say, (0, "谢谢你！这儿还不错！")), ] @@ -22,13 +22,14 @@ class SceneVLM(Scene): self.gen_obj() self.add_walkers([ [29, 60, 520], #顾客 0 - [23, 10, 220], #秃头老头子 1 + [23, 0, 220], #秃头老头子 1 [0, -55, 150], #小男孩d走来走去 2 [10, -55, 750], # 3 [19, 70, -200], #后门站着不动的 4 [21, 65, 1000, -90], #大胖男占了一号桌 5 [5, 230, 1200], #小女孩 6 [26, -28, 0, 90] , #在设置一个在后门随机游走的 7 + # 设置为 26, 60, 0, 90] [31, 280, 1200, -45] # 8 ]) self.control_walker(2, True, 200, -55, 155, 90) #飞速奔跑的小男孩