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RoboWaiter
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修改画图

This commit is contained in:
ChenXL97 2024-01-05 15:03:58 +08:00
parent 78cd648a62
commit a33381e623
5 changed files with 294 additions and 262 deletions
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36
robowaiter/llm_client/single_round.py
View File

@ -47,11 +47,43 @@ def single_round(question, prefix=""):
if __name__ == '__main__':
question = '''
给我来杯咖啡
[Condition]
Near_Robot_<food_place>, On_<food>_<place>, Holding_<food>, Exist_<food>, Is_<furniture>_<furniture_state>
[Object]
<food>=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater']
<place>=['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6']
<food_place>=<food>+<place>
<furniture>=['AC','TubeLight','HallLight','Curtain','ACTemperature','Table1','Floor','Chairs']
<furniture_state>=['On','Off','Up','Down','Clean','Dirty']
[Examples]
Please put the soft drink on the watertable.
On_Softdrink_WaterTable
Please deliver the coffee to table number one and turn on the hall light.
On_Coffee_Table & Is_HallLight_On
Do not place the water on the bar counter, and please remember to deliver coffee or bernachon to table 2
~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2)
Please raise the air conditioning temperature and tidy up the chairs.
Is_ACTemperature_On & Is_Chairs_Clean
[Prompt]
[Condition] Lists all predicates representing conditions and their optional parameter sets.
[Object] Lists all parameter sets.
[Examples] Provide several examples of Instruction to Goal mapping.
Please follow the predicate format requirements strictly and, based on the given Instructions, generate Goals that comply with the specifications in predicate formula format. Please generate directly interpretable predicate formulas without additional explanations.
For example, if the Instruction is: "Please raise the air conditioning temperature and tidy up the chairs," your output should only be:
Is_ACTemperature_On & Is_Chairs_Clean
without any additional information. do not start with Goal:!!
Please put the soft drink on the watertable.
'''
import timeit
cur_time = time.time()
# print(single_round(question))
print(single_round(question, prefix='现在给出符合这句话要求的目标状态: '))
print(single_round(question))
print(f"单次生成耗时：{time.time() - cur_time} s \n")

2
robowaiter/utils/bt/draw.py
View File

@ -114,7 +114,7 @@ def dot_tree(
if node_name == "Sequence":
node_name = "&rarr;"
if node_name == "Selector":
node_name = "?"
node_name = " ? "
return node_name
fontsize = 20

106
robowaiter/utils/draw_bt/test.dot
View File

@ -3,57 +3,57 @@ ordering=out;
graph [fontname="times-roman"];
node [fontname="times-roman"];
edge [fontname="times-roman"];
"c681805a-96e1-4a3d-a38d-0bfca162692b" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
"e878636e-ab91-45b3-8d25-1712a9b919ab" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"c681805a-96e1-4a3d-a38d-0bfca162692b" -> "e878636e-ab91-45b3-8d25-1712a9b919ab";
"e88e510b-5495-4aa1-95cd-f95b3b4e50dc" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled];
"e878636e-ab91-45b3-8d25-1712a9b919ab" -> "e88e510b-5495-4aa1-95cd-f95b3b4e50dc";
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"e878636e-ab91-45b3-8d25-1712a9b919ab" -> "292edbec-e8dc-44df-a80c-7dd5b6dd6692";
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"292edbec-e8dc-44df-a80c-7dd5b6dd6692" -> "8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b";
"65f29fbc-02c3-4015-98bf-e71d16a78cbb" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b" -> "65f29fbc-02c3-4015-98bf-e71d16a78cbb";
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"8d44bfa1-3a4e-4ae7-94bb-25d70caf0b4b" -> "c503211c-ab75-4671-a6ca-2f66518be485";
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"292edbec-e8dc-44df-a80c-7dd5b6dd6692" -> "27760c0d-aa85-437c-ac87-564d573f6d3d";
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"94f578bf-0c4b-4614-aacc-d73ca0996d2c" -> "5a162890-11de-41d8-9954-ba17ccf166c4";
"296bae80-a542-4fde-87b9-b030340caa1d" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"5a162890-11de-41d8-9954-ba17ccf166c4" -> "296bae80-a542-4fde-87b9-b030340caa1d";
"cba60b1e-308f-4f5a-939c-28bba802bca5" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"5a162890-11de-41d8-9954-ba17ccf166c4" -> "cba60b1e-308f-4f5a-939c-28bba802bca5";
"93924025-e88f-47ec-90e4-c53bbc3df60e" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled];
"5a162890-11de-41d8-9954-ba17ccf166c4" -> "93924025-e88f-47ec-90e4-c53bbc3df60e";
"191ca7d5-a98c-429f-b040-66d210c30bdd" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(WaterTable)", shape=box, style=filled];
"94f578bf-0c4b-4614-aacc-d73ca0996d2c" -> "191ca7d5-a98c-429f-b040-66d210c30bdd";
"5461e129-ef05-4848-9107-2617c82b3566" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"c681805a-96e1-4a3d-a38d-0bfca162692b" -> "5461e129-ef05-4848-9107-2617c82b3566";
"fd31940a-4e40-433d-8165-c9dd302fae62" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled];
"5461e129-ef05-4848-9107-2617c82b3566" -> "fd31940a-4e40-433d-8165-c9dd302fae62";
"0a9876b0-1ff9-4f96-b7a8-8257a3928f62" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
"5461e129-ef05-4848-9107-2617c82b3566" -> "0a9876b0-1ff9-4f96-b7a8-8257a3928f62";
"052d5a92-c6b4-483d-9cef-41745df61ff9" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"0a9876b0-1ff9-4f96-b7a8-8257a3928f62" -> "052d5a92-c6b4-483d-9cef-41745df61ff9";
"c8462c00-d129-4eba-a0b4-ad6a819e34e8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"052d5a92-c6b4-483d-9cef-41745df61ff9" -> "c8462c00-d129-4eba-a0b4-ad6a819e34e8";
"5a944a18-ea71-4cbe-a04e-675d955b1b1f" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
"052d5a92-c6b4-483d-9cef-41745df61ff9" -> "5a944a18-ea71-4cbe-a04e-675d955b1b1f";
"bfea3ed6-08c4-4fd3-9aa7-994f4be28953" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"0a9876b0-1ff9-4f96-b7a8-8257a3928f62" -> "bfea3ed6-08c4-4fd3-9aa7-994f4be28953";
"c719600f-4033-418f-8608-5c808481d1aa" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label=Selector, shape=diamond, style=filled, width=0.01];
"5461e129-ef05-4848-9107-2617c82b3566" -> "c719600f-4033-418f-8608-5c808481d1aa";
"c9d1af42-f394-4c52-9e7b-32d46487c708" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=Sequence, shape=octagon, style=filled, width=0.01];
"c719600f-4033-418f-8608-5c808481d1aa" -> "c9d1af42-f394-4c52-9e7b-32d46487c708";
"84ecc165-efa0-4747-8ce9-64bf6ac557a2" [fillcolor=yellow, fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"c9d1af42-f394-4c52-9e7b-32d46487c708" -> "84ecc165-efa0-4747-8ce9-64bf6ac557a2";
"8d3d2c3f-1f52-4742-bb03-a02d578134de" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"c9d1af42-f394-4c52-9e7b-32d46487c708" -> "8d3d2c3f-1f52-4742-bb03-a02d578134de";
"b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable6)", shape=box, style=filled];
"c9d1af42-f394-4c52-9e7b-32d46487c708" -> "b5bcfc9e-f0ad-458b-ba99-19bae2fc6b12";
"5685125a-34f9-40cd-be0c-b7674970c01b" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label="MoveTo(BrightTable6)", shape=box, style=filled];
"c719600f-4033-418f-8608-5c808481d1aa" -> "5685125a-34f9-40cd-be0c-b7674970c01b";
"e5aa5d5b-9169-41fc-a26d-b16b24db8215" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
"cc077d7a-c074-4249-9fa9-d559c6600fbc" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"e5aa5d5b-9169-41fc-a26d-b16b24db8215" -> "cc077d7a-c074-4249-9fa9-d559c6600fbc";
"2f4be6cb-5d87-4119-a678-9245fb5e5b08" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled];
"cc077d7a-c074-4249-9fa9-d559c6600fbc" -> "2f4be6cb-5d87-4119-a678-9245fb5e5b08";
"8f8c4dda-1add-4b23-8b5f-104d518ac38e" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
"cc077d7a-c074-4249-9fa9-d559c6600fbc" -> "8f8c4dda-1add-4b23-8b5f-104d518ac38e";
"0261c661-a520-434f-95a3-6d55d1fa8aff" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"8f8c4dda-1add-4b23-8b5f-104d518ac38e" -> "0261c661-a520-434f-95a3-6d55d1fa8aff";
"97e8f95e-7ec3-479e-b312-67cdf1a6873a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"0261c661-a520-434f-95a3-6d55d1fa8aff" -> "97e8f95e-7ec3-479e-b312-67cdf1a6873a";
"2d950b58-e85c-40c0-854a-9b697982b340" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
"0261c661-a520-434f-95a3-6d55d1fa8aff" -> "2d950b58-e85c-40c0-854a-9b697982b340";
"9b20a231-db9d-4a0c-b1c4-fa01bc7948d8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"8f8c4dda-1add-4b23-8b5f-104d518ac38e" -> "9b20a231-db9d-4a0c-b1c4-fa01bc7948d8";
"05b2c4df-a48e-44f9-8776-80b4c9d5a4c7" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
"cc077d7a-c074-4249-9fa9-d559c6600fbc" -> "05b2c4df-a48e-44f9-8776-80b4c9d5a4c7";
"d76fc92b-8df3-4129-a49f-9973306d4720" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"05b2c4df-a48e-44f9-8776-80b4c9d5a4c7" -> "d76fc92b-8df3-4129-a49f-9973306d4720";
"a0736935-6ac5-474c-a9fa-73dcbcc925af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"d76fc92b-8df3-4129-a49f-9973306d4720" -> "a0736935-6ac5-474c-a9fa-73dcbcc925af";
"ec73963c-0438-4205-8cd1-985013e498aa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled];
"d76fc92b-8df3-4129-a49f-9973306d4720" -> "ec73963c-0438-4205-8cd1-985013e498aa";
"72267a55-597b-45ea-81b1-3097e2da726a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled];
"d76fc92b-8df3-4129-a49f-9973306d4720" -> "72267a55-597b-45ea-81b1-3097e2da726a";
"af323181-3453-4e7f-833e-ec78a917511c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(WaterTable)", shape=box, style=filled];
"05b2c4df-a48e-44f9-8776-80b4c9d5a4c7" -> "af323181-3453-4e7f-833e-ec78a917511c";
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"d332b9b3-fee1-45a4-b217-ca131574f061" -> "cd8e4c90-2898-496a-9a59-b758d4c2b27c";
"699354b5-961f-41e0-ac17-2883820573a4" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
"d332b9b3-fee1-45a4-b217-ca131574f061" -> "699354b5-961f-41e0-ac17-2883820573a4";
"2b4ae08b-e738-4c97-93f7-711039311c56" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"699354b5-961f-41e0-ac17-2883820573a4" -> "2b4ae08b-e738-4c97-93f7-711039311c56";
"c2584464-9670-49f6-8230-a974e64c00a6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
"2b4ae08b-e738-4c97-93f7-711039311c56" -> "c2584464-9670-49f6-8230-a974e64c00a6";
"95bf87b1-b8ac-46f4-85ab-66bfefa5bf5a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled];
"2b4ae08b-e738-4c97-93f7-711039311c56" -> "95bf87b1-b8ac-46f4-85ab-66bfefa5bf5a";
"9b2ce40c-3232-421c-9eb6-6dbc866e3ba2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled];
"699354b5-961f-41e0-ac17-2883820573a4" -> "9b2ce40c-3232-421c-9eb6-6dbc866e3ba2";
"5f275a1f-dbae-4696-b79f-d6c96d3bd546" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label=" ? ", shape=box, style=filled, width=0.01];
"d332b9b3-fee1-45a4-b217-ca131574f061" -> "5f275a1f-dbae-4696-b79f-d6c96d3bd546";
"a7bd72b9-0f63-457f-9e05-67ca8a26f89e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="&rarr;", shape=box, style=filled, width=0.01];
"5f275a1f-dbae-4696-b79f-d6c96d3bd546" -> "a7bd72b9-0f63-457f-9e05-67ca8a26f89e";
"e9accfe2-5d94-4223-803a-eb5d89e50bf0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
"a7bd72b9-0f63-457f-9e05-67ca8a26f89e" -> "e9accfe2-5d94-4223-803a-eb5d89e50bf0";
"317f4bb8-4bb7-447d-a289-a9a11b79c6ec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled];
"a7bd72b9-0f63-457f-9e05-67ca8a26f89e" -> "317f4bb8-4bb7-447d-a289-a9a11b79c6ec";
"065858de-2a4c-47fd-84e2-a492dc338a9f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable6)", shape=box, style=filled];
"a7bd72b9-0f63-457f-9e05-67ca8a26f89e" -> "065858de-2a4c-47fd-84e2-a492dc338a9f";
"9e9b5ae5-5a89-4263-b523-06fe03a01009" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(BrightTable6)", shape=box, style=filled];
"5f275a1f-dbae-4696-b79f-d6c96d3bd546" -> "9e9b5ae5-5a89-4263-b523-06fe03a01009";
}

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Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 24 KiB

After

Width:  |  Height:  |  Size: 24 KiB