修复bug

robowaiter/algos/explore/AEM.py

@@ -7,15 +7,14 @@ import grpc
 
 from explore import Explore
 
-sys.path.append('./')
+sys.path.append('/')
-sys.path.append('../')
+sys.path.append('../navigate/')
 
 import matplotlib.pyplot as plt
 import numpy as np
 from mpl_toolkits.axes_grid1 import make_axes_locatable
 
-import GrabSim_pb2_grpc
+from robowaiter.proto import GrabSim_pb2_grpc, GrabSim_pb2
-import GrabSim_pb2
 
 channel = grpc.insecure_channel('localhost:30001', options=[
     ('grpc.max_send_message_length', 1024 * 1024 * 1024),

robowaiter/behavior_lib/act/DealChat.py

@@ -2,22 +2,7 @@ import py_trees as ptree
 from robowaiter.behavior_lib._base.Act import Act
 from robowaiter.llm_client.ask_llm import ask_llm
 
-fixed_answers = {
+
-    "测试VLM：做一杯咖啡":
-        '''
-        测试VLM：做一杯咖啡
-        ---
-        {"At(Coffee,Bar)"}
-        '''
-    ,
-    "测试VLN：前往桌子":
-        '''
-        测试VLN：前往桌子
-        ---
-        {"At(Robot,Table)"}
-        '''
-    ,
-}
 class DealChat(Act):
     def __init__(self):
         super().__init__()
@@ -27,20 +12,32 @@ class DealChat(Act):
         chat = self.scene.state['chat_list'].pop()
 
         # 判断是否是测试
-        if chat in fixed_answers.keys():
+        # if chat in fixed_answers.keys():
-            sentence,goal = fixed_answers[chat].split("---")
+        #     sentence,goal = fixed_answers[chat].split("---")
-            sentence = sentence.strip()
+        #     sentence = sentence.strip()
-            goal = goal.strip()
+        #     goal = goal.strip()
-            print(f'机器人回答：{sentence}')
+        #     print(f'机器人回答：{sentence}')
+        #     goal = eval(goal)
+        #     print(f'goal：{goal}')
+        #
+        #     self.create_sub_task(goal)
+        # else:
+        answer = ask_llm(chat)
+        answer_split = answer.split("---")
+        sentence = answer_split[0].strip()
+        goal = None
+        if len(answer_split) > 1:
+            goal = answer_split[1].strip()
+
+        print(f'{sentence}')
+        if goal:
             goal = eval(goal)
             print(f'goal：{goal}')
 
             self.create_sub_task(goal)
-        else:
+
-            answer = ask_llm(chat)
+        if self.scene.show_bubble:
-            print(f"机器人回答：{answer}")
+            self.scene.chat_bubble(f"{answer}")
-            if self.scene.show_bubble:
-                self.scene.chat_bubble(f"机器人回答：{answer}")
 
         return ptree.common.Status.RUNNING
 

robowaiter/llm_client/ask_llm.py

@@ -1,7 +1,8 @@
 
 import requests
 import urllib3
-
+from robowaiter.utils import get_root_path
+from robowaiter.llm_client.single_round import single_round
 ########################################
 #   该文件实现了与大模型的简单通信
 ########################################
@@ -9,30 +10,13 @@ import urllib3
 # 忽略https的安全性警告
 urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning)
 
+root_path = get_root_path()
+# load test questions
+
+
 def ask_llm(question):
-    url = "https://45.125.46.134:25344/v1/chat/completions"
+    ans = single_round(question)
-    headers = {"Content-Type": "application/json"}
+    return ans
-    data = {
-        "model": "RoboWaiter",
-        "messages": [
-          {
-            "role": "system",
-            "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。"
-          },
-          {
-            "role": "user",
-            "content": question
-          }
-        ]
-      }
-
-    response = requests.post(url, headers=headers, json=data, verify=False)
-
-    if response.status_code == 200:
-        result = response.json()
-        return result['choices'][0]['message']['content'].strip()
-    else:
-        return "大模型请求失败:", response.status_code
 
 
 if __name__ == '__main__':

robowaiter/llm_client/single_round.py

@@ -0,0 +1,43 @@
+
+import requests
+import urllib3
+########################################
+#   该文件实现了与大模型的简单通信
+########################################
+
+# 忽略https的安全性警告
+urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning)
+
+
+def single_round(question):
+    url = "https://45.125.46.134:25344/v1/chat/completions"
+    headers = {"Content-Type": "application/json"}
+    data = {
+        "model": "RoboWaiter",
+        "messages": [
+          {
+            "role": "system",
+            "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。"
+          },
+          {
+            "role": "user",
+            "content": question
+          }
+        ]
+      }
+
+    response = requests.post(url, headers=headers, json=data, verify=False)
+
+    if response.status_code == 200:
+        result = response.json()
+        return result['choices'][0]['message']['content'].strip()
+    else:
+        return "大模型请求失败:", response.status_code
+
+
+if __name__ == '__main__':
+    question = '''
+    python中如何通过类名字符串的方式来代替isinstance的作用
+    '''
+
+    print(single_round(question))

robowaiter/llm_client/test_questions.txt

@@ -0,0 +1,14 @@
+    "测试VLM：做一杯咖啡":
+        '''
+        测试VLM：做一杯咖啡
+        ---
+        {"At(Coffee,Bar)"}
+        '''
+    ,
+    "测试VLN：前往桌子":
+        '''
+        测试VLN：前往桌子
+        ---
+        {"At(Robot,Table)"}
+        '''
+    ,

robowaiter/robot/bracket_ptml.ptml

@@ -1,7 +1,4 @@
 selector
-//    selector
-//        cond HasMap()
-//        act ExploreEnv()
 {
     sequence
 {
@@ -15,4 +12,4 @@ selector
 {
             act SubTaskPlaceHolder()
 
-}        cond At(Talb,ea)}
+}        cond At(Talb,ea)}}

robowaiter/utils/__init__.py

@@ -1,5 +1,12 @@
-
+import os
 
 from robowaiter.utils import *
 from robowaiter.utils import *
 
+
+
+
+def get_root_path():
+    return os.path.abspath(
+        os.path.join(__file__, "../..")
+    )