change ui to nav

app.py

@@ -158,22 +158,21 @@ custom_css = """
 .dark #result-panel { background: #1a2a3a; }
 """
 
-# 创建Gradio界面
-with gr.Blocks(title="机械臂操作训练系统", css=custom_css) as demo:
+with gr.Blocks(title="机器人导航仿真系统", css=custom_css) as demo:
     # 标题和描述
     gr.Markdown("""
-    # 🤖 IsaacSim 机械臂操作评测演示
-    ### 基于GRManipulation框架的仿真训练
+    # 🧭 GRNavigation 机器人导航仿真平台
+    ### 基于 GRNavigation 框架的多场景路径规划与自主导航训练
     """)
     
     with gr.Row():
         # 左侧控制面板
         with gr.Column(elem_id="simulation-panel"):
-            gr.Markdown("### 仿真参数配置")
+            gr.Markdown("### 仿真任务配置")
             
             # 场景选择
             scene_dropdown = gr.Dropdown(
-                label="选择场景配置",
+                label="选择导航环境",
                 choices=list(SCENE_CONFIGS.keys()),
                 value="default_desk",
                 interactive=True
@@ -181,89 +180,78 @@ with gr.Blocks(title="机械臂操作训练系统", css=custom_css) as demo:
             
             # 场景描述预览
             scene_description = gr.Markdown("")
-            
-            # 动态更新场景描述
-            def update_scene_desc(scene):
-                config = SCENE_CONFIGS.get(scene, {})
-                desc = config.get("description", "无描述")
-                objects = "、".join(config.get("objects", []))
-                return f"**{desc}**  \n包含物体: {objects}"
-            
-            scene_dropdown.change(
-                update_scene_desc,
-                inputs=scene_dropdown,
-                outputs=scene_description
-            )
-            
+
+            # 动态更新场景描述（函数不变）
+
             # 操作指令输入
             prompt_input = gr.Textbox(
-                label="操作指令",
-                placeholder="例如: '请把桌子上的番茄酱拿起来'",
+                label="导航指令（自然语言）",
+                placeholder="例如：'从桌角出发，穿过障碍物，前往水杯位置'",
                 lines=2,
                 max_lines=4
             )
             
             # 模型选择
             model_dropdown = gr.Dropdown(
-                label="选择训练模型",
+                label="选择导航策略模型",
                 choices=MODEL_CHOICES,
                 value=MODEL_CHOICES[0]
             )
             
             # 高级参数
-            with gr.Accordion("高级参数", open=False):
+            with gr.Accordion("高级设置", open=False):
                 max_steps = gr.Slider(
                     minimum=50,
                     maximum=500,
                     value=100,
                     step=10,
-                    label="最大步数"
+                    label="最大导航步数"
                 )
                 visualize = gr.Checkbox(
                     value=True,
-                    label="启用可视化"
+                    label="显示可视化界面（Isaac Sim）"
                 )
             
             # 提交按钮
-            submit_btn = gr.Button("开始仿真", variant="primary")
+            submit_btn = gr.Button("开始导航仿真", variant="primary")
         
         # 右侧结果面板
         with gr.Column(elem_id="result-panel"):
-            gr.Markdown("### 仿真结果")
+            gr.Markdown("### 仿真结果预览")
             
             # 视频输出
             video_output = gr.Video(
-                label="操作过程回放",
+                label="导航过程回放",
                 interactive=False,
                 format="mp4"
             )
             
             # 指标展示
             metrics_output = gr.JSON(
-                label="性能指标",
+                label="导航性能指标",
                 visible=False
             )
             
             # 日志输出
             log_output = gr.Textbox(
-                label="执行日志",
+                label="任务执行日志",
                 visible=False,
                 lines=10,
                 max_lines=20
             )
-    
-    # 示例
+
+    # 示例任务
     gr.Examples(
         examples=[
-            ["default_desk", "请把番茄酱移动到桌子左侧", "GR00T-N1"],
-            ["cluttered_desk", "将手机放到书本旁边", "DP+CLIP"],
-            ["industrial_table", "拿起电路板并旋转90度", "AcT+CLIP"]
+            ["default_desk", "从桌角移动到番茄酱附近", "GR00T-N1"],
+            ["cluttered_desk", "避开杂物，从书本旁走到水杯", "DP+CLIP"],
+            ["industrial_table", "前往工作台边缘的电路板位置", "AcT+CLIP"]
         ],
         inputs=[scene_dropdown, prompt_input, model_dropdown],
-        label="快速示例"
+        label="导航任务示例"
     )
-    
-    # 提交处理
+
+    # 提交处理逻辑
     submit_btn.click(
         fn=run_simulation,
         inputs=[scene_dropdown, prompt_input, model_dropdown],
@@ -271,12 +259,13 @@ with gr.Blocks(title="机械臂操作训练系统", css=custom_css) as demo:
         api_name="run_simulation"
     )
     
-    # 初始化场景描述
+    # 初始场景文字描述
     demo.load(
         fn=lambda: update_scene_desc("default_desk"),
         outputs=scene_description
     )
 
+
 # 启动应用
 if __name__ == "__main__":
     demo.launch()