增加AEM的测试

robowaiter/behavior_lib/act/ExploreEnv.py

@@ -8,4 +8,9 @@ class ExploreEnv(Act):
         super().__init__(*args)
 
     def _update(self) -> ptree.common.Status:
-        return ptree.common.Status.SUCCESS
+        # explore algorithm
+
+
+        self.scene.state["condition_set"].add("EnvExplored()")
+
+        return ptree.common.Status.RUNNING

robowaiter/behavior_lib/cond/EnvExplored.py

@@ -2,13 +2,21 @@ import py_trees as ptree
 from typing import Any
 from robowaiter.behavior_lib._base.Cond import Cond
 
-class HasMap(Cond):
+class EnvExplored(Cond):
     def __init__(self):
         super().__init__()
 
     def _update(self) -> ptree.common.Status:
-        # if self.scene.status?
-        if self.scene.state['map']['2d'] == None:
-            return ptree.common.Status.FAILURE
-        else:
+        arg_str = self.arg_str
+
+        if f'EnvExplored()' not in self.scene.state["condition_set"]:
             return ptree.common.Status.SUCCESS
+        else:
+            return ptree.common.Status.FAILURE
+
+
+        # if self.scene.status?
+        # if self.scene.state['map']['2d'] == None:
+        #     return ptree.common.Status.FAILURE
+        # else:
+        #     return ptree.common.Status.SUCCESS

robowaiter/behavior_tree/ptml/ptmlTranslator.py

@@ -98,7 +98,6 @@ class ptmlTranslator(ptmlListener):
         #
         # tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid()
 
-        print(f'create node: {name}({args})')
         node = eval(f"{name}({args})")
         node.set_scene(self.scene)
 

robowaiter/llm_client/data/test_questions.txt

@@ -1 +1 @@
-{"测试VLM：做一杯咖啡": {"Answer": " 测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}, "测试VLN：前往桌子": {"Answer": "测试VLN：前往桌子", "Goal": "{\"At(Robot,Table)\"}"}}
+{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}, "测试VLN：前往桌子": {"Answer": "测试VLN：前往桌子", "Goal": "{\"At(Robot,Table)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}}

robowaiter/llm_client/data_raw/test_questions.csv

@@ -1,3 +1,4 @@
 Question,Answer,Goal
 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)""}"
+²âÊÔAEM,²âÊÔAEM,"{""EnvExplored()""}"

robowaiter/robot/Default.ptml

@@ -1,6 +1,6 @@
 selector
-//    selector
-//        cond HasMap()
+//    sequence
+//        cond NeedExplore()
 //        act ExploreEnv()
     sequence
         cond Chatting()
@@ -8,5 +8,4 @@ selector
     sequence
         cond HasSubTask()
         sequence
-            act SubTaskPlaceHolder()
-        cond At(Talb,ea)
+            act SubTaskPlaceHolder()

robowaiter/robot/bracket_ptml.ptml

@@ -10,6 +10,4 @@ selector
         cond HasSubTask()
         sequence
 {
-            act SubTaskPlaceHolder()
-
-}        cond At(Talb,ea)}}
+            act SubTaskPlaceHolder()}}}

robowaiter/robot/robot.py

@@ -73,6 +73,8 @@ class Robot(object):
                    add={'At(Coffee,Bar)'}, del_set=set(), cost=1),
             Action(name='MoveTo(Table)', pre={'At(Robot,Bar)'},
                    add={'At(Robot,Table)'}, del_set=set(), cost=1),
+            Action(name='ExploreEnv()', pre={'At(Robot,Bar)'},
+                   add={'EnvExplored()'}, del_set=set(), cost=1),
         ]
         return action_list
 

robowaiter/scene/tasks/AEM.py

@@ -8,20 +8,6 @@ from robowaiter.scene.scene import Scene
 class SceneAEM(Scene):
     def __init__(self, robot):
         super().__init__(robot)
-
-        # control.init_world(1, 3)
-
-    def _reset(self):
-        self.add_object(0, 570, 1600, 85.5)  # type与物品编号对应，具体参考README.md
-        self.add_object(1, 570, 1630, 85.5)
-        self.add_object(2, 570, 1660, 85.5)
-        self.add_object(3, 580, 1680, 85.5)
-
-        # todo: 探索并获得语义地图
-        print(self.status.objects)  # 全部的物品信息，包括名称、位置等，与获得的语义地图进行对比
-
-    def _run(self):
-        pass
-
-    def _step(self):
-        pass
+        self.event_list = [
+            (5, self.create_chat_event("测试AEM")),
+        ]

run_robowaiter.py

@@ -1,7 +1,7 @@
 import os
 from robowaiter import Robot, task_map
 
-TASK_NAME = 'VLN'
+TASK_NAME = 'AEM'
 
 # create robot
 project_path = "./robowaiter"

sub_task.ptml

@@ -1,7 +1,7 @@
 selector{
-cond At(Robot,Table)
+cond EnvExplored()
 selector{
 cond At(Robot,Bar)
-act MoveTo(Table)
+act ExploreEnv()
 }
 }