更改了 ptml 输出格式

robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py

@@ -183,7 +183,7 @@ class OptBTExpAlgorithm:
             if isinstance(child, Leaf):
                 if child.type == '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
                 elif child.type == 'act':
                     if '(' not in child.content.name:

robowaiter/scene/tasks/VLM.py

@@ -11,12 +11,12 @@ 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.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：开空调")),
             # (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：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：整理椅子")),
             # (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")),