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RoboWaiter
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Caiyishuai 2024-09-07 16:13:34 +08:00
parent 4ff46baeba
commit 76d28cad95
8 changed files with 1690 additions and 1424 deletions
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31
robowaiter/llm_client/data/fix_questions_en.txt
View File

@ -127,6 +127,13 @@ create_sub_task
{"goal":"On_Coffee_WaterTable"} {"goal":"On_Coffee_WaterTable"}
It's quite toasty inside, could you please lower the air conditioning temperature?
Of course! I'll lower the air conditioning for you.
create_sub_task
{"goal":"Low_ACTemperature"}
It's quite toasty inside, could you please lower the air conditioning temperature? It's quite toasty inside, could you please lower the air conditioning temperature?
Of course! I'll lower the air conditioning for you. Of course! I'll lower the air conditioning for you.
create_sub_task create_sub_task
@ -141,4 +148,26 @@ create_sub_task
Could you please turn on the coffee machine at the bar, and make sure the floor is clean or the tube light is off? I enjoy my coffee in a cozy environment. Could you please turn on the coffee machine at the bar, and make sure the floor is clean or the tube light is off? I enjoy my coffee in a cozy environment.
Sure, I'll do that now. Sure, I'll do that now.
create_sub_task create_sub_task
{"goal":"On_Coffee_Bar & IsClean_Floor"} {"goal":"On_Coffee_Bar & IsClean_Floor"}
Turn on the hall light.
The hall light is already off.
Turn on the hall light..
Sure, I'll do that now.
create_sub_task
{"goal":"Active(HallLight)"}
I'm at table three, please bring yogurt and close the curtains. If there's no yogurt, coffee is fine.
Of course, please wait a moment!
create_sub_task
{"goal":"Closed_Curtain & On_Coffee_WaterStation"}
One NFC Juice, table 3.
Of course, please wait a moment!
create_sub_task
{"goal":"On(MilkDrink,WaterTable)"}

426
robowaiter/scene/outputs/expanded_bt.dot
View File

@ -3,215 +3,219 @@ ordering=out;
graph [fontname="times-roman"]; graph [fontname="times-roman"];
node [fontname="times-roman"]; node [fontname="times-roman"];
edge [fontname="times-roman"]; edge [fontname="times-roman"];
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"957b9317-3936-4e4d-b696-cf261767d538" -> "6dd65470-326d-4ed0-ada6-7db0bed1ebfa"; "1a252753-2fb2-4621-85cb-1e238fc35fda" -> "f0943e69-71eb-4e0d-9eaa-3c038733584e";
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"197de723-0309-4117-8753-104a17615727" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01]; "26f926c9-5874-4fa0-ac5b-162503dd9bd0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
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"400f880d-dd6f-47b1-840c-a94249309146" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; "3c0ae798-1b0d-4242-899d-94419397698f" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
"197de723-0309-4117-8753-104a17615727" -> "400f880d-dd6f-47b1-840c-a94249309146"; "26f926c9-5874-4fa0-ac5b-162503dd9bd0" -> "3c0ae798-1b0d-4242-899d-94419397698f";
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"59e86cac-9a4d-42df-ad13-0e274dd428fe" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; "6c0269fa-176b-46c7-a220-4fbcb6992828" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
"bf9db1ab-3f81-495a-b57a-94b55a579807" -> "59e86cac-9a4d-42df-ad13-0e274dd428fe"; "d38910cb-0353-4239-b95d-c88162e8e723" -> "6c0269fa-176b-46c7-a220-4fbcb6992828";
"2b1637db-fb6c-49fc-b3b4-5a6d82f79acd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled]; "2d6ad2be-2f45-4082-807e-8acb271ae1d0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"bf9db1ab-3f81-495a-b57a-94b55a579807" -> "2b1637db-fb6c-49fc-b3b4-5a6d82f79acd"; "6c0269fa-176b-46c7-a220-4fbcb6992828" -> "2d6ad2be-2f45-4082-807e-8acb271ae1d0";
"57b45639-e88c-4fae-9e2f-51212bca7466" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; "1b6b5f27-5cc8-4a53-8e7b-f8180eae1b3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"e7da779f-a9d1-4ea2-a18e-63e56ca338e9" -> "57b45639-e88c-4fae-9e2f-51212bca7466"; "2d6ad2be-2f45-4082-807e-8acb271ae1d0" -> "1b6b5f27-5cc8-4a53-8e7b-f8180eae1b3d";
"11f9d1cc-7ce0-48c9-aac8-bad927869f1f" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; "69e06856-d08b-4ec4-8202-173f9a5256da" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled];
"57b45639-e88c-4fae-9e2f-51212bca7466" -> "11f9d1cc-7ce0-48c9-aac8-bad927869f1f"; "2d6ad2be-2f45-4082-807e-8acb271ae1d0" -> "69e06856-d08b-4ec4-8202-173f9a5256da";
"6080acea-279e-4a0b-aaa2-10e4bdbe78f1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exists(Coffee)", shape=ellipse, style=filled]; "c36e46b6-f9ff-4768-883a-63466dcd624d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"11f9d1cc-7ce0-48c9-aac8-bad927869f1f" -> "6080acea-279e-4a0b-aaa2-10e4bdbe78f1"; "6c0269fa-176b-46c7-a220-4fbcb6992828" -> "c36e46b6-f9ff-4768-883a-63466dcd624d";
"c894fc9d-7957-47f2-98c6-65e42de5beaf" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled]; "78c2f2ca-7663-48ea-9dc7-b1d79b8d323e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"57b45639-e88c-4fae-9e2f-51212bca7466" -> "c894fc9d-7957-47f2-98c6-65e42de5beaf"; "d38910cb-0353-4239-b95d-c88162e8e723" -> "78c2f2ca-7663-48ea-9dc7-b1d79b8d323e";
"860e22b7-ff2f-4952-b424-2cb309670aee" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="IsClean(Floor)", shape=ellipse, style=filled]; "704a2175-28fb-4534-92e6-51943e648e25" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
"c894fc9d-7957-47f2-98c6-65e42de5beaf" -> "860e22b7-ff2f-4952-b424-2cb309670aee"; "e81c97e2-6e21-413f-bdac-12640b1fa67e" -> "704a2175-28fb-4534-92e6-51943e648e25";
"689d5ade-ec7a-46a3-be96-0822e3ecca27" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; "851ad383-ce9f-4371-901e-d26fbfe2667d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"57b45639-e88c-4fae-9e2f-51212bca7466" -> "689d5ade-ec7a-46a3-be96-0822e3ecca27"; "704a2175-28fb-4534-92e6-51943e648e25" -> "851ad383-ce9f-4371-901e-d26fbfe2667d";
"7908f76e-f276-4be9-8bbe-448d314874d9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled]; "68ee0e67-ecee-44cb-92a7-4eab44142b92" [fillcolor=ghostwhite, fontcolor=black, fontsize=20, label=Inverter, shape=ellipse, style=filled];
"57b45639-e88c-4fae-9e2f-51212bca7466" -> "7908f76e-f276-4be9-8bbe-448d314874d9"; "704a2175-28fb-4534-92e6-51943e648e25" -> "68ee0e67-ecee-44cb-92a7-4eab44142b92";
"ce293e40-e174-4772-982a-2b8955014ba6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Closed(Curtain)", shape=ellipse, style=filled];
"68ee0e67-ecee-44cb-92a7-4eab44142b92" -> "ce293e40-e174-4772-982a-2b8955014ba6";
"26d336f7-967f-4867-83b7-49c91ef69fc9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(Curtain,Off)", shape=box, style=filled];
"704a2175-28fb-4534-92e6-51943e648e25" -> "26d336f7-967f-4867-83b7-49c91ef69fc9";
} }

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5
robowaiter/scene/scene.py
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@ -832,7 +832,7 @@ class Scene:
return camera_data return camera_data
def chat_bubble(self, message): def chat_bubble(self, message):
self.stub.ControlRobot( self.stub.ControlRobot( # 到这里暂停，等顾客说完
GrabSim_pb2.ControlInfo( GrabSim_pb2.ControlInfo(
scene=self.sceneID, type=0, action=1, content=message #message.strip() scene=self.sceneID, type=0, action=1, content=message #message.strip()
) )
@ -841,6 +841,7 @@ class Scene:
def walker_bubble(self, name, message): def walker_bubble(self, name, message):
talk_content = name + ":" + message talk_content = name + ":" + message
self.control_robot_action(0, 3, talk_content) self.control_robot_action(0, 3, talk_content)
# self.control_robot_action(0, 3, talk_content)
def customer_say(self, name, sentence, show_bubble=True): def customer_say(self, name, sentence, show_bubble=True):
if isinstance(name, int): if isinstance(name, int):
@ -1258,7 +1259,7 @@ class Scene:
# 执行过程: Robot输出"开始(任务名)" -> 按步骤数执行任务 -> Robot输出成功或失败的对话 # 执行过程: Robot输出"开始(任务名)" -> 按步骤数执行任务 -> Robot输出成功或失败的对话
def op_task_execute(self, op_type, obj_id=0, release_pos=[247.0, 520.0, 100.0]): def op_task_execute(self, op_type, obj_id=0, release_pos=[247.0, 520.0, 100.0]):
#id = 196 # Glass = 188+x, Plate = 150+x #id = 196 # Glass = 188+x, Plate = 150+x
self.control_robot_action(0, 1, "Start " + self.op_dialog[op_type]) # 输出正在执行的任务 # self.control_robot_action(0, 1, "Start " + self.op_dialog[op_type]) # 输出正在执行的任务
if op_type < 8: if op_type < 8:
if self.show_ui: if self.show_ui:
self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio) self.get_obstacle_point(self.db, self.status, map_ratio=self.map_ratio)

47
tasks_no_ui/DemoTest_0905/Easy.py Normal file
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@ -0,0 +1,47 @@
"""
人提出请求，机器人完成任务
1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上
2. 倒水
3. 夹点心
具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。
"""
# todo: 接收点单信息，大模型生成任务规划
from robowaiter.scene.scene import Scene
from robowaiter.behavior_lib._base.Behavior import Bahavior
class SceneOT(Scene):
def __init__(self, robot):
super().__init__(robot)
# 在这里加入场景中发生的事件
self.signal_event_list = [
(3, self.add_walker, (3, 0, 700)),
(1, self.control_walker, (0, False, 100, 60, 520, 0)),
(1, self.customer_say, (0, "Turn on the hall light.")),
# (5, self.control_walker, (0, False, 100, -250, 480, 0)),
]
def _reset(self):
# self.add_walkers([[0, 880], [250, 1200]])
self.gen_obj_tmp()
pass
def _run(self):
pass
if __name__ == '__main__':
import os
from robowaiter.robot.robot import Robot
robot = Robot()
# create task
task = SceneOT(robot)
task.reset()
task.run()

76
tasks_no_ui/DemoTest_0905/Hard.py Normal file
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@ -0,0 +1,76 @@
"""
人提出请求，机器人完成任务
1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上
2. 倒水
3. 夹点心
具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。
"""
# todo: 接收点单信息，大模型生成任务规划
from robowaiter.scene.scene import Scene
from robowaiter.behavior_lib._base.Behavior import Bahavior
class SceneOT(Scene):
def __init__(self, robot):
super().__init__(robot)
# 在这里加入场景中发生的事件
self.signal_event_list = [
(3, self.add_walker, (48, 0, 700)),
# (1, self.customer_say, (0, "I'm at table three, please bring yogurt and close the curtains. If there's no yogurt, coffee is fine.")),
(1, self.control_walkers_and_say, ([[[0, False, 100, 60, 520, 0, "I'm at table three, please bring yogurt and close the curtains. If there's no yogurt, coffee is fine."]]])),
# (1, self.control_walker, (0, False, 100, 60, 520, 0)),
(4, self.control_walker, (0, False, 50, -250, 480, 0)),
]
def _reset(self):
# self.add_walkers([[0, 880], [250, 1200]])
self.gen_obj_tmp()
start_robowaiter = self.default_state["condition_set"]
all_obj_place = Bahavior.all_object | Bahavior.tables_for_placement | Bahavior.tables_for_guiding
start_robowaiter |= {f'Not RobotNear({place})' for place in all_obj_place if place != 'Bar'}
start_robowaiter |= {f'Not Holding({obj})' for obj in Bahavior.all_object}
start_robowaiter |= {f'Exists({obj})' for obj in Bahavior.all_object if
obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
# 'Softdrink' 在Table1
start_robowaiter |= {f'Not On(Softdrink,{place})' for place in Bahavior.all_place if place != "Table1"}
start_robowaiter |= {f'Not On(VacuumCup,{place})' for place in Bahavior.all_place if place != "Table2"}
# 默认物品都在 Bar 上
start_robowaiter |= {f'On({obj},Bar)' for obj in Bahavior.all_object if
obj != 'Coffee' and obj != 'Water' and obj != 'Dessert' \
and obj != 'Softdrink' and obj != 'VacuumCup'}
for place in Bahavior.all_place:
if place != "Bar":
start_robowaiter |= {f'Not On({obj},{place})' for obj in Bahavior.all_object}
# start_robowaiter |= {f'On({obj},{place})' for obj in Bahavior.all_object if
# obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
# 这三样哪里都没有
make_obj = {"Coffee", 'Water', 'Dessert'}
for place in Bahavior.all_place:
start_robowaiter |= {f'Not On({obj},{place})' for obj in make_obj}
self.state["condition_set"] = start_robowaiter
pass
def _run(self):
pass
if __name__ == '__main__':
import os
from robowaiter.robot.robot import Robot
robot = Robot()
# create task
task = SceneOT(robot)
task.reset()
task.run()

85
tasks_no_ui/DemoTest_0905/Medium.py Normal file
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@ -0,0 +1,85 @@
"""
人提出请求，机器人完成任务
1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上
2. 倒水
3. 夹点心
具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。
"""
# todo: 接收点单信息，大模型生成任务规划
from robowaiter.scene.scene import Scene
from robowaiter.behavior_lib._base.Behavior import Bahavior\
class SceneOT(Scene):
def __init__(self, robot):
super().__init__(robot)
# 在这里加入场景中发生的事件
self.signal_event_list = [
# (3, self.customer_say, ("System", "It's quite toasty inside, could you please lower the air conditioning temperature?")),
(3, self.add_walker, (48, 0, 700)), #14
(1, self.control_walkers_and_say, ([[[0, False, 100, 60, 520, 0, "One NFC Juice, table 3."]]])),
(1, self.control_walker, (0, False, 50, -250, 480, 0)),
]
def _reset(self):
# self.add_walkers([[0, 880], [250, 1200]])
self.gen_obj_tmp()
pass
def _run(self):
pass
# def _reset(self):
# # self.add_walkers([[0, 880], [250, 1200]])
# # self.gen_obj_tmp()
# self.gen_obj()
#
# start_robowaiter = self.default_state["condition_set"]
#
# all_obj_place = Bahavior.all_object | Bahavior.tables_for_placement | Bahavior.tables_for_guiding
# start_robowaiter |= {f'Not RobotNear({place})' for place in all_obj_place if place != 'Bar'}
# start_robowaiter |= {f'Not Holding({obj})' for obj in Bahavior.all_object}
# start_robowaiter |= {f'Exists({obj})' for obj in Bahavior.all_object if
# obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
# # 'Softdrink' 在Table1
# start_robowaiter |= {f'Not On(Softdrink,{place})' for place in Bahavior.all_place if place != "Table1"}
# start_robowaiter |= {f'Not On(VacuumCup,{place})' for place in Bahavior.all_place if place != "Table2"}
#
# # 默认物品都在 Bar 上
# start_robowaiter |= {f'On({obj},Bar)' for obj in Bahavior.all_object if
# obj != 'Coffee' and obj != 'Water' and obj != 'Dessert' \
# and obj != 'Softdrink' and obj != 'VacuumCup'}
# for place in Bahavior.all_place:
# if place != "Bar":
# start_robowaiter |= {f'Not On({obj},{place})' for obj in Bahavior.all_object}
# # start_robowaiter |= {f'On({obj},{place})' for obj in Bahavior.all_object if
# # obj != 'Coffee' and obj != 'Water' and obj != 'Dessert'}
#
# # 这三样哪里都没有
# make_obj = {"Coffee", 'Water', 'Dessert'}
# for place in Bahavior.all_place:
# start_robowaiter |= {f'Not On({obj},{place})' for obj in make_obj}
#
# self.state["condition_set"] = start_robowaiter
# pass
#
#
# def _run(self):
# pass
if __name__ == '__main__':
import os
from robowaiter.robot.robot import Robot
robot = Robot()
# create task
task = SceneOT(robot)
task.reset()
task.run()