EmbodiedAI
/
RoboWaiter
mirror of https://github.com/HPCL-EI/RoboWaiter.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

更改了 ptml 输出格式

This commit is contained in:
Caiyishuai 2023-11-14 19:30:06 +08:00
parent 7c3ba9edee
commit a012fabf6d
3 changed files with 1038 additions and 294 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py
View File

@ -183,7 +183,7 @@ class OptBTExpAlgorithm:
if isinstance(child, Leaf): if isinstance(child, Leaf):
if child.type == 'cond': if child.type == 'cond':
self.ptml_string += "cond " self.ptml_string += "cond "
c_set_str = ', '.join(map(str, child.content)) + "\n" c_set_str = '\n cond '.join(map(str, child.content)) + "\n"
self.ptml_string += c_set_str self.ptml_string += c_set_str
elif child.type == 'act': elif child.type == 'act':
if '(' not in child.content.name: if '(' not in child.content.name:

4
robowaiter/scene/tasks/VLM.py
View File

@ -11,12 +11,12 @@ 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.event_list = [ self.event_list = [
# (5, self.create_chat_event("测试VLM：做一杯咖啡")), (5, self.create_chat_event("测试VLM：做一杯咖啡")),
# (5, self.create_chat_event("测试VLM：倒一杯水")), # (5, self.create_chat_event("测试VLM：倒一杯水")),
# (5, self.create_chat_event("测试VLM：开空调")), # (5, self.create_chat_event("测试VLM：开空调")),
# (5, self.create_chat_event("测试VLM：关空调")), # (5, self.create_chat_event("测试VLM：关空调")),
# (5, self.create_chat_event("测试VLM：开大厅灯")), # (5, self.create_chat_event("测试VLM：开大厅灯")),
(5, self.create_chat_event("测试VLM：拖地")), # (5, self.create_chat_event("测试VLM：拖地")),
# (5, self.create_chat_event("测试VLM：擦桌子")), # (5, self.create_chat_event("测试VLM：擦桌子")),
# (5, self.create_chat_event("测试VLM：整理椅子")), # (5, self.create_chat_event("测试VLM：整理椅子")),
# (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")), # (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")),

1326
sub_task.ptml
View File

File diff suppressed because it is too large Load Diff