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更新了开放任务和 VLM

This commit is contained in:
Caiyishuai 2023-11-15 14:30:55 +08:00
parent ecb89247d4
commit 0e55e18cbf
6 changed files with 55 additions and 30 deletions
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5
robowaiter/algos/navigate/test.py
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@ -44,9 +44,12 @@ if __name__ == '__main__':
scene.control_walker([scene.walker_control_generator(walkerID=1, autowalk=False, speed=50, X=100, Y=150, Yaw=0)])
scene.control_walker([scene.walker_control_generator(walkerID=2, autowalk=False, speed=50, X=0, Y=0, Yaw=0)])
goal = (-100, 700)
# goal = (-100, 700)
# goal = (-300)
# goal = (340.0, 900.0)
goal = (240.0, 1160.0)
'''场景4: 行人自由移动 robot到达指定目标'''
# # TODO: autowalk=True仿真器会闪退 ???
# scene.clean_walker()

2
robowaiter/llm_client/data/test_questions.txt
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@ -1 +1 @@
{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"On(Coffee,CoffeeTable)\"}"}, "测试VLM：做一杯咖啡放到吧台上": {"Answer": "测试VLM：做一杯咖啡放到吧台上", "Goal": "{\"On(Coffee,Bar)\"}"}, "测试VLN：前往2号桌": {"Answer": "测试VLN：前往2号桌", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关空调": {"Answer": "测试VLM：关空调", "Goal": "{\"Is(AC,Off)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：开大厅灯": {"Answer": "测试VLM：开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：开筒灯": {"Answer": "测试VLM：开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：开窗帘": {"Answer": "测试VLM：开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：整理椅子": {"Answer": "测试VLM：整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}}
{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"On(Coffee,CoffeeTable)\"}"}, "测试VLM：做一杯咖啡放到吧台上": {"Answer": "测试VLM：做一杯咖啡放到吧台上", "Goal": "{\"On(Coffee,Bar)\"}"}, "测试VLN：前往2号桌": {"Answer": "测试VLN：前往2号桌", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关空调": {"Answer": "测试VLM：关空调", "Goal": "{\"Is(AC,Off)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：开大厅灯": {"Answer": "测试VLM：开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：开筒灯": {"Answer": "测试VLM：开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：开窗帘": {"Answer": "测试VLM：开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：整理椅子": {"Answer": "测试VLM：整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}, "我有点热，能开个空调吗？": {"Answer": "当然可以，我现在就开！", "Goal": "{\"Is(AC,On)\"}"}}

1
robowaiter/llm_client/data_raw/test_questions.csv
View File

@ -16,3 +16,4 @@ Question,Answer,Goal
测试VLM：擦桌子,测试VLM：擦桌子,"{""Is(Table1,Clean)""}"
测试VLM：整理椅子,测试VLM：整理椅子,"{""Is(Chairs,Clean)""}"
测试VLM：把冰红茶放到Table2,测试VLM：把冰红茶放到Table2,"{""On(BottledDrink,Table2)""}"
我有点热，能开个空调吗？,当然可以，我现在就开！,"{""Is(AC,On)""}"

1 Question Answer Goal
16 测试VLM：擦桌子 测试VLM：擦桌子 {"Is(Table1,Clean)"}
17 测试VLM：整理椅子 测试VLM：整理椅子 {"Is(Chairs,Clean)"}
18 测试VLM：把冰红茶放到Table2 测试VLM：把冰红茶放到Table2 {"On(BottledDrink,Table2)"}
19 我有点热，能开个空调吗？ 当然可以，我现在就开！ {"Is(AC,On)"}

18
robowaiter/scene/tasks/Auto_tasks.py
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@ -20,7 +20,23 @@ class SceneAT(Scene):
self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
def _run(self):
self.move_task_area(7)
self.op_task_execute(7)
self.move_task_area(6)
self.op_task_execute(6)
pass
def _step(self):
pass
pass
if __name__ == '__main__':
import os
from robowaiter.robot.robot import Robot
robot = Robot()
# create task
task = SceneAT(robot)
task.reset()
task.run()

11
robowaiter/scene/tasks/Open_tasks.py
View File

@ -19,16 +19,21 @@ class SceneOT(Scene):
# 在这里加入场景中发生的事件
self.event_list = [
# (5,self.create_chat_event("给我一杯咖啡")) # (事件发生的时间，事件函数)
(5, self.create_chat_event("测试VLM：拖地")) # (事件发生的时间，事件函数)
(5, self.create_chat_event("我有点热，能开个空调吗？")) # (事件发生的时间，事件函数)
]
def _reset(self):
pass
# self.add_walker(1085, 2630, 220)
scene = self.add_walker(0, 0, 0)
print("我有点热，能开个空调吗？")
# print("scene.walkers:",scene.walkers)
# cont = scene.walkers[0].name+":我有点热，能开个空调吗？"
# self.control_robot_action(0,3,cont)
# self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
pass
def _run(self):
pass

48
robowaiter/scene/tasks/VLM.py
View File

@ -13,7 +13,7 @@ class SceneVLM(Scene):
self.event_list = [
# (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：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")),
@ -22,7 +22,7 @@ class SceneVLM(Scene):
# (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")),
# (5, self.create_chat_event("测试VLM：关大厅灯"))
(5, self.create_chat_event("测试VLM：做一杯咖啡放到吧台上")),
# (5, self.create_chat_event("测试VLM：做一杯咖啡放到吧台上")),
]
def _reset(self):
@ -57,28 +57,28 @@ class SceneVLM(Scene):
# 流程测试
# 抓握放置:抓吧台前生成的酸奶，放到抹布桌上
# self.gen_obj()
# self.move_task_area(16, obj_id=0)
# self.op_task_execute(16, obj_id=0)
# pos = [340.0, 900.0, 99.0]
# self.move_task_area(17, release_pos=pos)
# self.op_task_execute(17, release_pos=pos)
#
# # 做咖啡:做完的咖啡放到水杯桌上
# self.move_task_area(1)
# self.op_task_execute(1)
#
# self.find_obj("CoffeeCup")
#
# self.move_task_area(16, obj_id=275)
# self.op_task_execute(16, obj_id=275)
# pos = [-70.0, 500.0, 107]
# self.move_task_area(17, release_pos=pos)
# self.op_task_execute(17, release_pos=pos)
#
# # 倒水:倒完的水放到旁边桌子上
# self.move_task_area(2)
# self.op_task_execute(2)
self.gen_obj()
self.move_task_area(16, obj_id=0)
self.op_task_execute(16, obj_id=0)
pos = [340.0, 900.0, 99.0]
self.move_task_area(17, release_pos=pos)
self.op_task_execute(17, release_pos=pos)
# 做咖啡:做完的咖啡放到水杯桌上
self.move_task_area(1)
self.op_task_execute(1)
self.find_obj("CoffeeCup")
self.move_task_area(16, obj_id=275)
self.op_task_execute(16, obj_id=275)
pos = [-70.0, 500.0, 107]
self.move_task_area(17, release_pos=pos)
self.op_task_execute(17, release_pos=pos)
# 倒水:倒完的水放到旁边桌子上
self.move_task_area(2)
self.op_task_execute(2)
#
# self.move_task_area(16, obj_id=190)
# self.op_task_execute(16, obj_id=190)