更改了memgpt

robowaiter/behavior_lib/_base/Act.py

@@ -8,7 +8,7 @@ class Act(Bahavior):
         super().__init__(*args)
 
     def get_conds(self):
-        pre = set()
+        self.pre = set()
-        add = set()
+        self.add = set()
-        de = set()
+        self.de = set()
-        return pre, add, de
+        return self.pre, self.add, self.de

robowaiter/behavior_lib/act/MakeCoffee.py

@@ -10,7 +10,7 @@ class MakeCoffee(Act):
 
     @property
     def cond_sets(self):
-        pre = {"At(Robot,Bar)"}
+        pre = {"At(Robot,CoffeeMachine)","NotHolding"}
         add = {"At(Coffee,Bar)"}
         de = {}
         return pre,add,de
@@ -19,5 +19,5 @@ class MakeCoffee(Act):
         op_type = 1
         self.scene.move_task_area(op_type)
         self.scene.op_task_execute(op_type)
-        self.scene.state["condition_set"].add("At(Coffee,Bar)")
+        self.scene.state["condition_set"].add(self.add)
         return Status.RUNNING

robowaiter/behavior_lib/act/PourWater.py

@@ -0,0 +1,23 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Act import Act
+from robowaiter.behavior_lib._base.Behavior import Status
+
+class PourWater(Act):
+
+    def __init__(self, *args):
+        super().__init__(*args)
+
+    @property
+    def cond_sets(self):
+        self.pre = {"At(Robot,WaterTable)","NotHolding"}
+        self.add = {"On(Water,WaterTable)"}
+        self.de = {}
+        return self.pre,self.add,self.de
+
+    def _update(self) -> ptree.common.Status:
+        op_type = 2
+        self.scene.move_task_area(op_type)
+        self.scene.op_task_execute(op_type)
+        self.scene.state["condition_set"].update(self.add)
+        return Status.RUNNING

robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py

@@ -94,10 +94,13 @@ class OptBTExpAlgorithm:
 
             # Mount the action node and extend BT. T = Eapand(T,c,A(c))
             if c!=goal:
-                sequence_structure = ControlBT(type='>')
+                if c!=set():
-                sequence_structure.add_child(
+                    sequence_structure = ControlBT(type='>')
-                    [copy.deepcopy(pair_node.cond_leaf), copy.deepcopy(pair_node.act_leaf)])
+                    sequence_structure.add_child(
-                subtree.add_child([copy.deepcopy(sequence_structure)])  # subtree 是回不断变化的，它的父亲是self.bt
+                        [copy.deepcopy(pair_node.cond_leaf), copy.deepcopy(pair_node.act_leaf)])
+                    subtree.add_child([copy.deepcopy(sequence_structure)])  # subtree 是回不断变化的，它的父亲是self.bt
+                else:
+                    subtree.add_child([copy.deepcopy(pair_node.act_leaf)])
                 if self.verbose:
                     print("完成扩展 a_node= %s,对应的新条件 c_attr= %s,mincost=%d" \
                           % (cond_anc_pair.act_leaf.content.name, cond_anc_pair.cond_leaf.content,
@@ -183,7 +186,10 @@ class OptBTExpAlgorithm:
                     c_set_str = ', '.join(map(str, child.content)) + "\n"
                     self.ptml_string += c_set_str
                 elif child.type == 'act':
-                    self.ptml_string += 'act '+child.content.name+"\n"
+                    if '(' not in child.content.name:
+                        self.ptml_string += 'act '+child.content.name+"()\n"
+                    else:
+                        self.ptml_string += 'act ' + child.content.name + "\n"
             elif isinstance(child, ControlBT):
                 if child.type == '?':
                     self.ptml_string += "selector{\n"

robowaiter/llm_client/MemGPT_simple/.env

@@ -1,2 +1,4 @@
-OPENAI_API_BASE=
+#BACKEND_TYPE=webui
+#OPENAI_API_BASE=https://45.125.46.134:25344/v1/chat/completions
+OPENAI_API_BASE=https://45.125.46.134:25344/v1/chat/completions
 OPENAI_API_KEY=

robowaiter/llm_client/MemGPT_simple/agent.py

@@ -170,7 +170,8 @@ class Agent:
             )
         else:
             # Standard non-function reply
-            print("### Internal monologue: " + (response_message.content if response_message.content else ""))
+            # print("### Internal monologue: " + (response_message.content if response_message.content else ""))
+            print("### Internal monologue: " + (response_message['content'] if response_message['content'] else ""))
             messages.append(response_message)
             function_failed = None
 
@@ -178,13 +179,37 @@ class Agent:
 
     def step(self, user_message):
         input_message_sequence = self.messages + [{"role": "user", "content": user_message}]
-        response = openai.ChatCompletion.create(model=self.model, messages=input_message_sequence,
-                                                functions=self.functions_description, function_call="auto")
 
-        response_message = response.choices[0].message
+        # 原来的通信方式
-        response_message_copy = response_message.copy()
+        # response = openai.ChatCompletion.create(model=self.model, messages=input_message_sequence,
+        #                                         functions=self.functions_description, function_call="auto")
+        #
+        # response_message = response.choices[0].message
+        # response_message_copy = response_message.copy()
+
+        # ===我们的通信方式 "tools": self.functions_description 不起作用===
+        import requests
+        url = "https://45.125.46.134:25344/v1/chat/completions"
+        headers = {"Content-Type": "application/json"}
+        data = {
+            "model": "RoboWaiter",
+            "messages": input_message_sequence,
+            # "functions":self.functions_description,
+            # "function_call":"auto"
+            # "function_call":self.functions_description
+            "tools": self.functions_description
+        }
+        response = requests.post(url, headers=headers, json=data, verify=False)
+        if response.status_code == 200:
+            result = response.json()
+            response_message = result['choices'][0]['message']
+        else:
+            response_message = "大模型请求失败:"+ str(response.status_code)
+        response_message_copy = response_message
+        # ===我们的通信方式 "tools": self.functions_description 不起作用===
+
+
         all_response_messages, function_failed = self.handle_ai_response(response_message)
-
         assert "api_response" not in all_response_messages[0], f"api_response already in {all_response_messages[0]}"
         all_response_messages[0]["api_response"] = response_message_copy
         assert "api_args" not in all_response_messages[0], f"api_args already in {all_response_messages[0]}"

robowaiter/llm_client/MemGPT_simple/functions_zh.py

@@ -0,0 +1,17 @@
+FUNCTIONS = [
+    {
+        "name": "get_current_weather",
+        "description": "Get the current weather in a given location",
+        "parameters": {
+            "type": "object",
+            "properties": {
+                "location": {
+                    "type": "string",
+                    "description": "The city and state, e.g. San Francisco, CA",
+                },
+                "unit": {"type": "string"},
+            },
+            "required": ["location"],
+        },
+    }
+]

robowaiter/llm_client/MemGPT_simple/main.py

@@ -2,10 +2,14 @@ from dotenv import load_dotenv
 
 load_dotenv()
 import utils
-from functions import FUNCTIONS
+# from functions import FUNCTIONS
+from functions_zh import FUNCTIONS
 from agent import Agent
 
 
+import urllib3
+urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning)
+
 def run_agent_loop(agent):
     while True:
         user_input = input("You: ")
@@ -20,6 +24,11 @@ if __name__ == "__main__":
     persona = utils.get_persona_text()
     human = utils.get_human_text()
     system = utils.get_system_text()
+
+    print("system:",system)
+    print("persona:", persona)
+    print("human:", human)
+
     agent = Agent(model="gpt-3.5-turbo-16k-0613", system=system, functions_description=FUNCTIONS, persona_notes=persona,
                   human_notes=human)
     run_agent_loop(agent)

robowaiter/llm_client/data/test_questions.txt

@@ -1 +1,2 @@
-{"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()\"}"}}
+{"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：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"At(Water,WaterTable)\"}"}}
+

robowaiter/llm_client/data_raw/test_questions.csv

@@ -2,3 +2,4 @@ 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)""}"
 测试AEM,测试AEM,"{""EnvExplored()""}"
+测试VLM：倒一杯水,测试VLM：倒一杯水,"{""At(Water,WaterTable)""}"

robowaiter/robot/robot.py

@@ -69,10 +69,14 @@ class Robot(object):
         action_list = [
             Action(name='MakeCoffee()', pre={'At(Robot,CoffeeMachine)'},
                    add={'At(Coffee,Bar)'}, del_set=set(), cost=1),
-            Action(name='MoveTo(Table)', pre={'At(Robot,Bar)'},
+            Action(name='MoveTo(Table)', pre={''},
                    add={'At(Robot,Table)'}, del_set=set(), cost=1),
+            Action(name='MoveTo(WaterTable)', pre={''},
+                   add={'At(Robot,WaterTable)'}, del_set=set(), cost=1),
             Action(name='ExploreEnv()', pre={'At(Robot,Bar)'},
                    add={'EnvExplored()'}, del_set=set(), cost=1),
+            Action(name='PourWater()', pre={'At(Robot,WaterTable)'},
+                   add={'At(Water,WaterTable)'}, del_set=set(), cost=1),
         ]
         return action_list
 

robowaiter/scene/tasks/VLM.py

@@ -11,7 +11,8 @@ class SceneVLM(Scene):
         super().__init__(robot)
         # 在这里加入场景中发生的事件， (事件发生的时间，事件函数)
         self.event_list = [
-            (5, self.create_chat_event("测试VLM：做一杯咖啡")),
+            # (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")),
         ]
 
     def _reset(self):

sub_task.ptml

@@ -1,7 +1,11 @@
 selector{
-cond At(Coffee,Bar)
+cond At(Water,WaterTable)
 sequence{
-cond At(Robot,CoffeeMachine)
+cond At(Robot,WaterTable)
-act MakeCoffee()
+act PourWater()
+}
+sequence{
+cond 
+act MoveTo(WaterTable)
 }
 }