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RoboWaiter
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Merge branch 'main' of https://github.com/HPCL-EI/RoboWaiter

This commit is contained in:
liwang_zhang 2023-11-20 17:21:01 +08:00
parent c72da5c280 b16ac98ffe
commit 7dad1cd0a4
4 changed files with 9 additions and 8 deletions
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2
robowaiter/behavior_lib/_base/Behavior.py
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@ -68,7 +68,7 @@ class Bahavior(ptree.behaviour.Behaviour):
'BrightTable2': (65, 1000, 135), 'BrightTable2': (65, 1000, 135),
'BrightTable3': (-80, 850, 135), 'BrightTable3': (-80, 850, 135),
'BrightTable4': (-270, 520, 150), 'BrightTable4': (-270, 520, 150),
'BrightTable5': (-270, 420, -135) 'BrightTable5': (-270, 420, 90) #(-270, 420, -135)
} }
container_dic={ container_dic={
'Coffee':'CoffeeCup', 'Coffee':'CoffeeCup',

4
robowaiter/llm_client/data/fix_questions.txt
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@ -116,10 +116,10 @@ create_sub_task
{"goal":"Is(ACTemperature,Down)"} {"goal":"Is(ACTemperature,Down)"}
请问哪里有空位啊？ 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。 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。 你带我去吧。
OK，请跟我来！ OK，请跟我来！

2
robowaiter/scene/scene.py
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@ -116,7 +116,7 @@ class Scene:
self.show_bubble = True self.show_bubble = True
# 图像分割 # 图像分割
self.take_picture = True self.take_picture = False
self.map_ratio = 5 self.map_ratio = 5
self.map_map = np.zeros((math.ceil(950 / self.map_ratio), math.ceil(1850 / self.map_ratio))) 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)) self.db = DBSCAN(eps=self.map_ratio, min_samples=int(self.map_ratio / 2))

9
robowaiter/scene/tasks/VLN/VLN_greet_lead.py
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@ -11,9 +11,9 @@ class SceneVLM(Scene):
super().__init__(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) # 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 = [ self.new_event_list = [
# (5, self.customer_say, (0, "请问哪里有空位啊？")), (2, self.customer_say, (0, "请问哪里有空位啊？")),
# (5, self.customer_say, (0, "我想坐高脚凳子。")), (6, self.customer_say, (0, "我想坐高凳子。")),
(3, self.customer_say, (0, "你带我去吧。")), (6, self.customer_say, (0, "你带我去吧。")),
(13, self.control_walker, (0, False,100, -250, 480,-90)), (13, self.control_walker, (0, False,100, -250, 480,-90)),
(-1, self.customer_say, (0, "谢谢你！这儿还不错！")), (-1, self.customer_say, (0, "谢谢你！这儿还不错！")),
] ]
@ -22,13 +22,14 @@ class SceneVLM(Scene):
self.gen_obj() self.gen_obj()
self.add_walkers([ self.add_walkers([
[29, 60, 520], #顾客 0 [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 [0, -55, 150], #小男孩d走来走去 2
[10, -55, 750], # 3 [10, -55, 750], # 3
[19, 70, -200], #后门站着不动的 4 [19, 70, -200], #后门站着不动的 4
[21, 65, 1000, -90], #大胖男占了一号桌 5 [21, 65, 1000, -90], #大胖男占了一号桌 5
[5, 230, 1200], #小女孩 6 [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 [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 [31, 280, 1200, -45] # 8
]) ])
self.control_walker(2, True, 200, -55, 155, 90) #飞速奔跑的小男孩 self.control_walker(2, True, 200, -55, 155, 90) #飞速奔跑的小男孩