From aa205e21e6f3006bf17a688cbe4656e3ab7bdebe Mon Sep 17 00:00:00 2001 From: ChenXL97 <908926798@qq.com> Date: Wed, 8 Nov 2023 11:28:50 +0800 Subject: [PATCH] =?UTF-8?q?=E9=9C=80=E8=A6=81=E5=AE=9E=E7=8E=B0chatglm3?= =?UTF-8?q?=E4=B8=8A=E7=9A=84=E5=A4=9A=E8=BD=AE=E5=AF=B9=E8=AF=9D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/behavior_tree/test/ptml.g4 | 20 - robowaiter/behavior_tree/test/ptml.interp | 51 -- robowaiter/behavior_tree/test/ptml.tokens | 29 - .../behavior_tree/test/ptmlLexer.interp | 68 --- robowaiter/behavior_tree/test/ptmlLexer.py | 119 ---- .../behavior_tree/test/ptmlLexer.tokens | 29 - robowaiter/behavior_tree/test/ptmlListener.py | 66 --- robowaiter/behavior_tree/test/ptmlParser.py | 514 ------------------ robowaiter/llm_client/ask_llm.py | 7 +- .../llm_client/multi_rounds.py | 0 10 files changed, 6 insertions(+), 897 deletions(-) delete mode 100644 robowaiter/behavior_tree/test/ptml.g4 delete mode 100644 robowaiter/behavior_tree/test/ptml.interp delete mode 100644 robowaiter/behavior_tree/test/ptml.tokens delete mode 100644 robowaiter/behavior_tree/test/ptmlLexer.interp delete mode 100644 robowaiter/behavior_tree/test/ptmlLexer.py delete mode 100644 robowaiter/behavior_tree/test/ptmlLexer.tokens delete mode 100644 robowaiter/behavior_tree/test/ptmlListener.py delete mode 100644 robowaiter/behavior_tree/test/ptmlParser.py rename zoo/llm_clients.py => robowaiter/llm_client/multi_rounds.py (100%) diff --git a/robowaiter/behavior_tree/test/ptml.g4 b/robowaiter/behavior_tree/test/ptml.g4 deleted file mode 100644 index 0a545a9..0000000 --- a/robowaiter/behavior_tree/test/ptml.g4 +++ /dev/null @@ -1,20 +0,0 @@ -grammar ptml; - -root : tree+ EOF; - -tree : internal_node '{' (action_sign|tree)+ '}' ; -internal_node : 'sequence' | 'selector' | 'parallel' Integer ; -action_sign : ('task'|'cond') Names '(' action_parm? ')'; -action_parm : (Integer|Float|boolean) (',' (Integer|Float|boolean))* ; -// var_decls : var_type Names ; -// var_type : 'int' | 'float' | 'bool' | 'string' ; -boolean : 'True' | 'False' ; - -Names : [a-zA-Z_][a-zA-Z_0-9]* ; -Integer : '-'?[1-9][0-9]* | '0' ; -Float : [0-9]+'.'[0-9]* | '.'[0-9]+ ; - -// comments -LINE_COMMENT : '//' .*? '\r'?'\n' -> skip ; -// useless -WS : [ \t\u000C\r\n]+ -> skip ; diff --git a/robowaiter/behavior_tree/test/ptml.interp b/robowaiter/behavior_tree/test/ptml.interp deleted file mode 100644 index a96ef7d..0000000 --- a/robowaiter/behavior_tree/test/ptml.interp +++ /dev/null @@ -1,51 +0,0 @@ -token literal names: -null -'{' -'}' -'sequence' -'selector' -'parallel' -'task' -'cond' -'(' -')' -',' -'True' -'False' -null -null -null -null -null - -token symbolic names: -null -null -null -null -null -null -null -null -null -null -null -null -null -Names -Integer -Float -LINE_COMMENT -WS - -rule names: -root -tree -internal_node -action_sign -action_parm -boolean - - -atn: -[4, 1, 17, 62, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 1, 0, 4, 0, 14, 8, 0, 11, 0, 12, 0, 15, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 4, 1, 24, 8, 1, 11, 1, 12, 1, 25, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 34, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 40, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 3, 4, 47, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 53, 8, 4, 5, 4, 55, 8, 4, 10, 4, 12, 4, 58, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 6, 7, 1, 0, 11, 12, 66, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 33, 1, 0, 0, 0, 6, 35, 1, 0, 0, 0, 8, 46, 1, 0, 0, 0, 10, 59, 1, 0, 0, 0, 12, 14, 3, 2, 1, 0, 13, 12, 1, 0, 0, 0, 14, 15, 1, 0, 0, 0, 15, 13, 1, 0, 0, 0, 15, 16, 1, 0, 0, 0, 16, 17, 1, 0, 0, 0, 17, 18, 5, 0, 0, 1, 18, 1, 1, 0, 0, 0, 19, 20, 3, 4, 2, 0, 20, 23, 5, 1, 0, 0, 21, 24, 3, 6, 3, 0, 22, 24, 3, 2, 1, 0, 23, 21, 1, 0, 0, 0, 23, 22, 1, 0, 0, 0, 24, 25, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 27, 1, 0, 0, 0, 27, 28, 5, 2, 0, 0, 28, 3, 1, 0, 0, 0, 29, 34, 5, 3, 0, 0, 30, 34, 5, 4, 0, 0, 31, 32, 5, 5, 0, 0, 32, 34, 5, 14, 0, 0, 33, 29, 1, 0, 0, 0, 33, 30, 1, 0, 0, 0, 33, 31, 1, 0, 0, 0, 34, 5, 1, 0, 0, 0, 35, 36, 7, 0, 0, 0, 36, 37, 5, 13, 0, 0, 37, 39, 5, 8, 0, 0, 38, 40, 3, 8, 4, 0, 39, 38, 1, 0, 0, 0, 39, 40, 1, 0, 0, 0, 40, 41, 1, 0, 0, 0, 41, 42, 5, 9, 0, 0, 42, 7, 1, 0, 0, 0, 43, 47, 5, 14, 0, 0, 44, 47, 5, 15, 0, 0, 45, 47, 3, 10, 5, 0, 46, 43, 1, 0, 0, 0, 46, 44, 1, 0, 0, 0, 46, 45, 1, 0, 0, 0, 47, 56, 1, 0, 0, 0, 48, 52, 5, 10, 0, 0, 49, 53, 5, 14, 0, 0, 50, 53, 5, 15, 0, 0, 51, 53, 3, 10, 5, 0, 52, 49, 1, 0, 0, 0, 52, 50, 1, 0, 0, 0, 52, 51, 1, 0, 0, 0, 53, 55, 1, 0, 0, 0, 54, 48, 1, 0, 0, 0, 55, 58, 1, 0, 0, 0, 56, 54, 1, 0, 0, 0, 56, 57, 1, 0, 0, 0, 57, 9, 1, 0, 0, 0, 58, 56, 1, 0, 0, 0, 59, 60, 7, 1, 0, 0, 60, 11, 1, 0, 0, 0, 8, 15, 23, 25, 33, 39, 46, 52, 56] \ No newline at end of file diff --git a/robowaiter/behavior_tree/test/ptml.tokens b/robowaiter/behavior_tree/test/ptml.tokens deleted file mode 100644 index 1f7a813..0000000 --- a/robowaiter/behavior_tree/test/ptml.tokens +++ /dev/null @@ -1,29 +0,0 @@ -T__0=1 -T__1=2 -T__2=3 -T__3=4 -T__4=5 -T__5=6 -T__6=7 -T__7=8 -T__8=9 -T__9=10 -T__10=11 -T__11=12 -Names=13 -Integer=14 -Float=15 -LINE_COMMENT=16 -WS=17 -'{'=1 -'}'=2 -'sequence'=3 -'selector'=4 -'parallel'=5 -'task'=6 -'cond'=7 -'('=8 -')'=9 -','=10 -'True'=11 -'False'=12 diff --git a/robowaiter/behavior_tree/test/ptmlLexer.interp b/robowaiter/behavior_tree/test/ptmlLexer.interp deleted file mode 100644 index 823b753..0000000 --- a/robowaiter/behavior_tree/test/ptmlLexer.interp +++ /dev/null @@ -1,68 +0,0 @@ -token literal names: -null -'{' -'}' -'sequence' -'selector' -'parallel' -'task' -'cond' -'(' -')' -',' -'True' -'False' -null -null -null -null -null - -token symbolic names: -null -null -null -null -null -null -null -null -null -null -null -null -null -Names -Integer -Float -LINE_COMMENT -WS - -rule names: -T__0 -T__1 -T__2 -T__3 -T__4 -T__5 -T__6 -T__7 -T__8 -T__9 -T__10 -T__11 -Names -Integer -Float -LINE_COMMENT -WS - -channel names: -DEFAULT_TOKEN_CHANNEL -HIDDEN - -mode names: -DEFAULT_MODE - -atn: -[4, 0, 17, 156, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 1, 0, 1, 0, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 6, 1, 6, 1, 6, 1, 7, 1, 7, 1, 8, 1, 8, 1, 9, 1, 9, 1, 10, 1, 10, 1, 10, 1, 10, 1, 10, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 12, 1, 12, 5, 12, 96, 8, 12, 10, 12, 12, 12, 99, 9, 12, 1, 13, 3, 13, 102, 8, 13, 1, 13, 1, 13, 5, 13, 106, 8, 13, 10, 13, 12, 13, 109, 9, 13, 1, 13, 3, 13, 112, 8, 13, 1, 14, 4, 14, 115, 8, 14, 11, 14, 12, 14, 116, 1, 14, 1, 14, 5, 14, 121, 8, 14, 10, 14, 12, 14, 124, 9, 14, 1, 14, 1, 14, 4, 14, 128, 8, 14, 11, 14, 12, 14, 129, 3, 14, 132, 8, 14, 1, 15, 1, 15, 1, 15, 1, 15, 5, 15, 138, 8, 15, 10, 15, 12, 15, 141, 9, 15, 1, 15, 3, 15, 144, 8, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 16, 4, 16, 151, 8, 16, 11, 16, 12, 16, 152, 1, 16, 1, 16, 1, 139, 0, 17, 1, 1, 3, 2, 5, 3, 7, 4, 9, 5, 11, 6, 13, 7, 15, 8, 17, 9, 19, 10, 21, 11, 23, 12, 25, 13, 27, 14, 29, 15, 31, 16, 33, 17, 1, 0, 5, 3, 0, 65, 90, 95, 95, 97, 122, 4, 0, 48, 57, 65, 90, 95, 95, 97, 122, 1, 0, 49, 57, 1, 0, 48, 57, 3, 0, 9, 10, 12, 13, 32, 32, 166, 0, 1, 1, 0, 0, 0, 0, 3, 1, 0, 0, 0, 0, 5, 1, 0, 0, 0, 0, 7, 1, 0, 0, 0, 0, 9, 1, 0, 0, 0, 0, 11, 1, 0, 0, 0, 0, 13, 1, 0, 0, 0, 0, 15, 1, 0, 0, 0, 0, 17, 1, 0, 0, 0, 0, 19, 1, 0, 0, 0, 0, 21, 1, 0, 0, 0, 0, 23, 1, 0, 0, 0, 0, 25, 1, 0, 0, 0, 0, 27, 1, 0, 0, 0, 0, 29, 1, 0, 0, 0, 0, 31, 1, 0, 0, 0, 0, 33, 1, 0, 0, 0, 1, 35, 1, 0, 0, 0, 3, 37, 1, 0, 0, 0, 5, 39, 1, 0, 0, 0, 7, 48, 1, 0, 0, 0, 9, 57, 1, 0, 0, 0, 11, 66, 1, 0, 0, 0, 13, 71, 1, 0, 0, 0, 15, 76, 1, 0, 0, 0, 17, 78, 1, 0, 0, 0, 19, 80, 1, 0, 0, 0, 21, 82, 1, 0, 0, 0, 23, 87, 1, 0, 0, 0, 25, 93, 1, 0, 0, 0, 27, 111, 1, 0, 0, 0, 29, 131, 1, 0, 0, 0, 31, 133, 1, 0, 0, 0, 33, 150, 1, 0, 0, 0, 35, 36, 5, 123, 0, 0, 36, 2, 1, 0, 0, 0, 37, 38, 5, 125, 0, 0, 38, 4, 1, 0, 0, 0, 39, 40, 5, 115, 0, 0, 40, 41, 5, 101, 0, 0, 41, 42, 5, 113, 0, 0, 42, 43, 5, 117, 0, 0, 43, 44, 5, 101, 0, 0, 44, 45, 5, 110, 0, 0, 45, 46, 5, 99, 0, 0, 46, 47, 5, 101, 0, 0, 47, 6, 1, 0, 0, 0, 48, 49, 5, 115, 0, 0, 49, 50, 5, 101, 0, 0, 50, 51, 5, 108, 0, 0, 51, 52, 5, 101, 0, 0, 52, 53, 5, 99, 0, 0, 53, 54, 5, 116, 0, 0, 54, 55, 5, 111, 0, 0, 55, 56, 5, 114, 0, 0, 56, 8, 1, 0, 0, 0, 57, 58, 5, 112, 0, 0, 58, 59, 5, 97, 0, 0, 59, 60, 5, 114, 0, 0, 60, 61, 5, 97, 0, 0, 61, 62, 5, 108, 0, 0, 62, 63, 5, 108, 0, 0, 63, 64, 5, 101, 0, 0, 64, 65, 5, 108, 0, 0, 65, 10, 1, 0, 0, 0, 66, 67, 5, 116, 0, 0, 67, 68, 5, 97, 0, 0, 68, 69, 5, 115, 0, 0, 69, 70, 5, 107, 0, 0, 70, 12, 1, 0, 0, 0, 71, 72, 5, 99, 0, 0, 72, 73, 5, 111, 0, 0, 73, 74, 5, 110, 0, 0, 74, 75, 5, 100, 0, 0, 75, 14, 1, 0, 0, 0, 76, 77, 5, 40, 0, 0, 77, 16, 1, 0, 0, 0, 78, 79, 5, 41, 0, 0, 79, 18, 1, 0, 0, 0, 80, 81, 5, 44, 0, 0, 81, 20, 1, 0, 0, 0, 82, 83, 5, 84, 0, 0, 83, 84, 5, 114, 0, 0, 84, 85, 5, 117, 0, 0, 85, 86, 5, 101, 0, 0, 86, 22, 1, 0, 0, 0, 87, 88, 5, 70, 0, 0, 88, 89, 5, 97, 0, 0, 89, 90, 5, 108, 0, 0, 90, 91, 5, 115, 0, 0, 91, 92, 5, 101, 0, 0, 92, 24, 1, 0, 0, 0, 93, 97, 7, 0, 0, 0, 94, 96, 7, 1, 0, 0, 95, 94, 1, 0, 0, 0, 96, 99, 1, 0, 0, 0, 97, 95, 1, 0, 0, 0, 97, 98, 1, 0, 0, 0, 98, 26, 1, 0, 0, 0, 99, 97, 1, 0, 0, 0, 100, 102, 5, 45, 0, 0, 101, 100, 1, 0, 0, 0, 101, 102, 1, 0, 0, 0, 102, 103, 1, 0, 0, 0, 103, 107, 7, 2, 0, 0, 104, 106, 7, 3, 0, 0, 105, 104, 1, 0, 0, 0, 106, 109, 1, 0, 0, 0, 107, 105, 1, 0, 0, 0, 107, 108, 1, 0, 0, 0, 108, 112, 1, 0, 0, 0, 109, 107, 1, 0, 0, 0, 110, 112, 5, 48, 0, 0, 111, 101, 1, 0, 0, 0, 111, 110, 1, 0, 0, 0, 112, 28, 1, 0, 0, 0, 113, 115, 7, 3, 0, 0, 114, 113, 1, 0, 0, 0, 115, 116, 1, 0, 0, 0, 116, 114, 1, 0, 0, 0, 116, 117, 1, 0, 0, 0, 117, 118, 1, 0, 0, 0, 118, 122, 5, 46, 0, 0, 119, 121, 7, 3, 0, 0, 120, 119, 1, 0, 0, 0, 121, 124, 1, 0, 0, 0, 122, 120, 1, 0, 0, 0, 122, 123, 1, 0, 0, 0, 123, 132, 1, 0, 0, 0, 124, 122, 1, 0, 0, 0, 125, 127, 5, 46, 0, 0, 126, 128, 7, 3, 0, 0, 127, 126, 1, 0, 0, 0, 128, 129, 1, 0, 0, 0, 129, 127, 1, 0, 0, 0, 129, 130, 1, 0, 0, 0, 130, 132, 1, 0, 0, 0, 131, 114, 1, 0, 0, 0, 131, 125, 1, 0, 0, 0, 132, 30, 1, 0, 0, 0, 133, 134, 5, 47, 0, 0, 134, 135, 5, 47, 0, 0, 135, 139, 1, 0, 0, 0, 136, 138, 9, 0, 0, 0, 137, 136, 1, 0, 0, 0, 138, 141, 1, 0, 0, 0, 139, 140, 1, 0, 0, 0, 139, 137, 1, 0, 0, 0, 140, 143, 1, 0, 0, 0, 141, 139, 1, 0, 0, 0, 142, 144, 5, 13, 0, 0, 143, 142, 1, 0, 0, 0, 143, 144, 1, 0, 0, 0, 144, 145, 1, 0, 0, 0, 145, 146, 5, 10, 0, 0, 146, 147, 1, 0, 0, 0, 147, 148, 6, 15, 0, 0, 148, 32, 1, 0, 0, 0, 149, 151, 7, 4, 0, 0, 150, 149, 1, 0, 0, 0, 151, 152, 1, 0, 0, 0, 152, 150, 1, 0, 0, 0, 152, 153, 1, 0, 0, 0, 153, 154, 1, 0, 0, 0, 154, 155, 6, 16, 0, 0, 155, 34, 1, 0, 0, 0, 12, 0, 97, 101, 107, 111, 116, 122, 129, 131, 139, 143, 152, 1, 6, 0, 0] \ No newline at end of file diff --git a/robowaiter/behavior_tree/test/ptmlLexer.py b/robowaiter/behavior_tree/test/ptmlLexer.py deleted file mode 100644 index 3f6d98b..0000000 --- a/robowaiter/behavior_tree/test/ptmlLexer.py +++ /dev/null @@ -1,119 +0,0 @@ -# Generated from ptml.g4 by ANTLR 4.13.1 -from antlr4 import * -from io import StringIO -import sys -if sys.version_info[1] > 5: - from typing import TextIO -else: - from typing.io import TextIO - - -def serializedATN(): - return [ - 4,0,17,156,6,-1,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5, - 2,6,7,6,2,7,7,7,2,8,7,8,2,9,7,9,2,10,7,10,2,11,7,11,2,12,7,12,2, - 13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,1,0,1,0,1,1,1,1,1,2,1,2,1, - 2,1,2,1,2,1,2,1,2,1,2,1,2,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1, - 4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,5,1,5,1,5,1,5,1,5,1,6,1,6,1, - 6,1,6,1,6,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,10,1,10,1,10,1,11, - 1,11,1,11,1,11,1,11,1,11,1,12,1,12,5,12,96,8,12,10,12,12,12,99,9, - 12,1,13,3,13,102,8,13,1,13,1,13,5,13,106,8,13,10,13,12,13,109,9, - 13,1,13,3,13,112,8,13,1,14,4,14,115,8,14,11,14,12,14,116,1,14,1, - 14,5,14,121,8,14,10,14,12,14,124,9,14,1,14,1,14,4,14,128,8,14,11, - 14,12,14,129,3,14,132,8,14,1,15,1,15,1,15,1,15,5,15,138,8,15,10, - 15,12,15,141,9,15,1,15,3,15,144,8,15,1,15,1,15,1,15,1,15,1,16,4, - 16,151,8,16,11,16,12,16,152,1,16,1,16,1,139,0,17,1,1,3,2,5,3,7,4, - 9,5,11,6,13,7,15,8,17,9,19,10,21,11,23,12,25,13,27,14,29,15,31,16, - 33,17,1,0,5,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,95,97,122, - 1,0,49,57,1,0,48,57,3,0,9,10,12,13,32,32,166,0,1,1,0,0,0,0,3,1,0, - 0,0,0,5,1,0,0,0,0,7,1,0,0,0,0,9,1,0,0,0,0,11,1,0,0,0,0,13,1,0,0, - 0,0,15,1,0,0,0,0,17,1,0,0,0,0,19,1,0,0,0,0,21,1,0,0,0,0,23,1,0,0, - 0,0,25,1,0,0,0,0,27,1,0,0,0,0,29,1,0,0,0,0,31,1,0,0,0,0,33,1,0,0, - 0,1,35,1,0,0,0,3,37,1,0,0,0,5,39,1,0,0,0,7,48,1,0,0,0,9,57,1,0,0, - 0,11,66,1,0,0,0,13,71,1,0,0,0,15,76,1,0,0,0,17,78,1,0,0,0,19,80, - 1,0,0,0,21,82,1,0,0,0,23,87,1,0,0,0,25,93,1,0,0,0,27,111,1,0,0,0, - 29,131,1,0,0,0,31,133,1,0,0,0,33,150,1,0,0,0,35,36,5,123,0,0,36, - 2,1,0,0,0,37,38,5,125,0,0,38,4,1,0,0,0,39,40,5,115,0,0,40,41,5,101, - 0,0,41,42,5,113,0,0,42,43,5,117,0,0,43,44,5,101,0,0,44,45,5,110, - 0,0,45,46,5,99,0,0,46,47,5,101,0,0,47,6,1,0,0,0,48,49,5,115,0,0, - 49,50,5,101,0,0,50,51,5,108,0,0,51,52,5,101,0,0,52,53,5,99,0,0,53, - 54,5,116,0,0,54,55,5,111,0,0,55,56,5,114,0,0,56,8,1,0,0,0,57,58, - 5,112,0,0,58,59,5,97,0,0,59,60,5,114,0,0,60,61,5,97,0,0,61,62,5, - 108,0,0,62,63,5,108,0,0,63,64,5,101,0,0,64,65,5,108,0,0,65,10,1, - 0,0,0,66,67,5,116,0,0,67,68,5,97,0,0,68,69,5,115,0,0,69,70,5,107, - 0,0,70,12,1,0,0,0,71,72,5,99,0,0,72,73,5,111,0,0,73,74,5,110,0,0, - 74,75,5,100,0,0,75,14,1,0,0,0,76,77,5,40,0,0,77,16,1,0,0,0,78,79, - 5,41,0,0,79,18,1,0,0,0,80,81,5,44,0,0,81,20,1,0,0,0,82,83,5,84,0, - 0,83,84,5,114,0,0,84,85,5,117,0,0,85,86,5,101,0,0,86,22,1,0,0,0, - 87,88,5,70,0,0,88,89,5,97,0,0,89,90,5,108,0,0,90,91,5,115,0,0,91, - 92,5,101,0,0,92,24,1,0,0,0,93,97,7,0,0,0,94,96,7,1,0,0,95,94,1,0, - 0,0,96,99,1,0,0,0,97,95,1,0,0,0,97,98,1,0,0,0,98,26,1,0,0,0,99,97, - 1,0,0,0,100,102,5,45,0,0,101,100,1,0,0,0,101,102,1,0,0,0,102,103, - 1,0,0,0,103,107,7,2,0,0,104,106,7,3,0,0,105,104,1,0,0,0,106,109, - 1,0,0,0,107,105,1,0,0,0,107,108,1,0,0,0,108,112,1,0,0,0,109,107, - 1,0,0,0,110,112,5,48,0,0,111,101,1,0,0,0,111,110,1,0,0,0,112,28, - 1,0,0,0,113,115,7,3,0,0,114,113,1,0,0,0,115,116,1,0,0,0,116,114, - 1,0,0,0,116,117,1,0,0,0,117,118,1,0,0,0,118,122,5,46,0,0,119,121, - 7,3,0,0,120,119,1,0,0,0,121,124,1,0,0,0,122,120,1,0,0,0,122,123, - 1,0,0,0,123,132,1,0,0,0,124,122,1,0,0,0,125,127,5,46,0,0,126,128, - 7,3,0,0,127,126,1,0,0,0,128,129,1,0,0,0,129,127,1,0,0,0,129,130, - 1,0,0,0,130,132,1,0,0,0,131,114,1,0,0,0,131,125,1,0,0,0,132,30,1, - 0,0,0,133,134,5,47,0,0,134,135,5,47,0,0,135,139,1,0,0,0,136,138, - 9,0,0,0,137,136,1,0,0,0,138,141,1,0,0,0,139,140,1,0,0,0,139,137, - 1,0,0,0,140,143,1,0,0,0,141,139,1,0,0,0,142,144,5,13,0,0,143,142, - 1,0,0,0,143,144,1,0,0,0,144,145,1,0,0,0,145,146,5,10,0,0,146,147, - 1,0,0,0,147,148,6,15,0,0,148,32,1,0,0,0,149,151,7,4,0,0,150,149, - 1,0,0,0,151,152,1,0,0,0,152,150,1,0,0,0,152,153,1,0,0,0,153,154, - 1,0,0,0,154,155,6,16,0,0,155,34,1,0,0,0,12,0,97,101,107,111,116, - 122,129,131,139,143,152,1,6,0,0 - ] - -class ptmlLexer(Lexer): - - atn = ATNDeserializer().deserialize(serializedATN()) - - decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ] - - T__0 = 1 - T__1 = 2 - T__2 = 3 - T__3 = 4 - T__4 = 5 - T__5 = 6 - T__6 = 7 - T__7 = 8 - T__8 = 9 - T__9 = 10 - T__10 = 11 - T__11 = 12 - Names = 13 - Integer = 14 - Float = 15 - LINE_COMMENT = 16 - WS = 17 - - channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ] - - modeNames = [ "DEFAULT_MODE" ] - - literalNames = [ "", - "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'task'", - "'cond'", "'('", "')'", "','", "'True'", "'False'" ] - - symbolicNames = [ "", - "Names", "Integer", "Float", "LINE_COMMENT", "WS" ] - - ruleNames = [ "T__0", "T__1", "T__2", "T__3", "T__4", "T__5", "T__6", - "T__7", "T__8", "T__9", "T__10", "T__11", "Names", "Integer", - "Float", "LINE_COMMENT", "WS" ] - - grammarFileName = "ptml.g4" - - def __init__(self, input=None, output:TextIO = sys.stdout): - super().__init__(input, output) - self.checkVersion("4.13.1") - self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache()) - self._actions = None - self._predicates = None - - diff --git a/robowaiter/behavior_tree/test/ptmlLexer.tokens b/robowaiter/behavior_tree/test/ptmlLexer.tokens deleted file mode 100644 index 1f7a813..0000000 --- a/robowaiter/behavior_tree/test/ptmlLexer.tokens +++ /dev/null @@ -1,29 +0,0 @@ -T__0=1 -T__1=2 -T__2=3 -T__3=4 -T__4=5 -T__5=6 -T__6=7 -T__7=8 -T__8=9 -T__9=10 -T__10=11 -T__11=12 -Names=13 -Integer=14 -Float=15 -LINE_COMMENT=16 -WS=17 -'{'=1 -'}'=2 -'sequence'=3 -'selector'=4 -'parallel'=5 -'task'=6 -'cond'=7 -'('=8 -')'=9 -','=10 -'True'=11 -'False'=12 diff --git a/robowaiter/behavior_tree/test/ptmlListener.py b/robowaiter/behavior_tree/test/ptmlListener.py deleted file mode 100644 index 536aaf2..0000000 --- a/robowaiter/behavior_tree/test/ptmlListener.py +++ /dev/null @@ -1,66 +0,0 @@ -# Generated from ptml.g4 by ANTLR 4.13.1 -from antlr4 import * -if "." in __name__: - from .ptmlParser import ptmlParser -else: - from ptmlParser import ptmlParser - -# This class defines a complete listener for a parse tree produced by ptmlParser. -class ptmlListener(ParseTreeListener): - - # Enter a parse tree produced by ptmlParser#root. - def enterRoot(self, ctx:ptmlParser.RootContext): - pass - - # Exit a parse tree produced by ptmlParser#root. - def exitRoot(self, ctx:ptmlParser.RootContext): - pass - - - # Enter a parse tree produced by ptmlParser#tree. - def enterTree(self, ctx:ptmlParser.TreeContext): - pass - - # Exit a parse tree produced by ptmlParser#tree. - def exitTree(self, ctx:ptmlParser.TreeContext): - pass - - - # Enter a parse tree produced by ptmlParser#internal_node. - def enterInternal_node(self, ctx:ptmlParser.Internal_nodeContext): - pass - - # Exit a parse tree produced by ptmlParser#internal_node. - def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext): - pass - - - # Enter a parse tree produced by ptmlParser#action_sign. - def enterAction_sign(self, ctx:ptmlParser.Action_signContext): - pass - - # Exit a parse tree produced by ptmlParser#action_sign. - def exitAction_sign(self, ctx:ptmlParser.Action_signContext): - pass - - - # Enter a parse tree produced by ptmlParser#action_parm. - def enterAction_parm(self, ctx:ptmlParser.Action_parmContext): - pass - - # Exit a parse tree produced by ptmlParser#action_parm. - def exitAction_parm(self, ctx:ptmlParser.Action_parmContext): - pass - - - # Enter a parse tree produced by ptmlParser#boolean. - def enterBoolean(self, ctx:ptmlParser.BooleanContext): - pass - - # Exit a parse tree produced by ptmlParser#boolean. - def exitBoolean(self, ctx:ptmlParser.BooleanContext): - pass - - - -del ptmlParser \ No newline at end of file diff --git a/robowaiter/behavior_tree/test/ptmlParser.py b/robowaiter/behavior_tree/test/ptmlParser.py deleted file mode 100644 index f222d07..0000000 --- a/robowaiter/behavior_tree/test/ptmlParser.py +++ /dev/null @@ -1,514 +0,0 @@ -# Generated from ptml.g4 by ANTLR 4.13.1 -# encoding: utf-8 -from antlr4 import * -from io import StringIO -import sys -if sys.version_info[1] > 5: - from typing import TextIO -else: - from typing.io import TextIO - -def serializedATN(): - return [ - 4,1,17,62,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4, - 0,14,8,0,11,0,12,0,15,1,0,1,0,1,1,1,1,1,1,1,1,4,1,24,8,1,11,1,12, - 1,25,1,1,1,1,1,2,1,2,1,2,1,2,3,2,34,8,2,1,3,1,3,1,3,1,3,3,3,40,8, - 3,1,3,1,3,1,4,1,4,1,4,3,4,47,8,4,1,4,1,4,1,4,1,4,3,4,53,8,4,5,4, - 55,8,4,10,4,12,4,58,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8,10,0,2,1,0,6, - 7,1,0,11,12,66,0,13,1,0,0,0,2,19,1,0,0,0,4,33,1,0,0,0,6,35,1,0,0, - 0,8,46,1,0,0,0,10,59,1,0,0,0,12,14,3,2,1,0,13,12,1,0,0,0,14,15,1, - 0,0,0,15,13,1,0,0,0,15,16,1,0,0,0,16,17,1,0,0,0,17,18,5,0,0,1,18, - 1,1,0,0,0,19,20,3,4,2,0,20,23,5,1,0,0,21,24,3,6,3,0,22,24,3,2,1, - 0,23,21,1,0,0,0,23,22,1,0,0,0,24,25,1,0,0,0,25,23,1,0,0,0,25,26, - 1,0,0,0,26,27,1,0,0,0,27,28,5,2,0,0,28,3,1,0,0,0,29,34,5,3,0,0,30, - 34,5,4,0,0,31,32,5,5,0,0,32,34,5,14,0,0,33,29,1,0,0,0,33,30,1,0, - 0,0,33,31,1,0,0,0,34,5,1,0,0,0,35,36,7,0,0,0,36,37,5,13,0,0,37,39, - 5,8,0,0,38,40,3,8,4,0,39,38,1,0,0,0,39,40,1,0,0,0,40,41,1,0,0,0, - 41,42,5,9,0,0,42,7,1,0,0,0,43,47,5,14,0,0,44,47,5,15,0,0,45,47,3, - 10,5,0,46,43,1,0,0,0,46,44,1,0,0,0,46,45,1,0,0,0,47,56,1,0,0,0,48, - 52,5,10,0,0,49,53,5,14,0,0,50,53,5,15,0,0,51,53,3,10,5,0,52,49,1, - 0,0,0,52,50,1,0,0,0,52,51,1,0,0,0,53,55,1,0,0,0,54,48,1,0,0,0,55, - 58,1,0,0,0,56,54,1,0,0,0,56,57,1,0,0,0,57,9,1,0,0,0,58,56,1,0,0, - 0,59,60,7,1,0,0,60,11,1,0,0,0,8,15,23,25,33,39,46,52,56 - ] - -class ptmlParser ( Parser ): - - grammarFileName = "ptml.g4" - - atn = ATNDeserializer().deserialize(serializedATN()) - - decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ] - - sharedContextCache = PredictionContextCache() - - literalNames = [ "", "'{'", "'}'", "'sequence'", "'selector'", - "'parallel'", "'task'", "'cond'", "'('", "')'", "','", - "'True'", "'False'" ] - - symbolicNames = [ "", "", "", "", - "", "", "", "", - "", "", "", "", - "", "Names", "Integer", "Float", "LINE_COMMENT", - "WS" ] - - RULE_root = 0 - RULE_tree = 1 - RULE_internal_node = 2 - RULE_action_sign = 3 - RULE_action_parm = 4 - RULE_boolean = 5 - - ruleNames = [ "root", "tree", "internal_node", "action_sign", "action_parm", - "boolean" ] - - EOF = Token.EOF - T__0=1 - T__1=2 - T__2=3 - T__3=4 - T__4=5 - T__5=6 - T__6=7 - T__7=8 - T__8=9 - T__9=10 - T__10=11 - T__11=12 - Names=13 - Integer=14 - Float=15 - LINE_COMMENT=16 - WS=17 - - def __init__(self, input:TokenStream, output:TextIO = sys.stdout): - super().__init__(input, output) - self.checkVersion("4.13.1") - self._interp = ParserATNSimulator(self, self.atn, self.decisionsToDFA, self.sharedContextCache) - self._predicates = None - - - - - class RootContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def EOF(self): - return self.getToken(ptmlParser.EOF, 0) - - def tree(self, i:int=None): - if i is None: - return self.getTypedRuleContexts(ptmlParser.TreeContext) - else: - return self.getTypedRuleContext(ptmlParser.TreeContext,i) - - - def getRuleIndex(self): - return ptmlParser.RULE_root - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterRoot" ): - listener.enterRoot(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitRoot" ): - listener.exitRoot(self) - - - - - def root(self): - - localctx = ptmlParser.RootContext(self, self._ctx, self.state) - self.enterRule(localctx, 0, self.RULE_root) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 13 - self._errHandler.sync(self) - _la = self._input.LA(1) - while True: - self.state = 12 - self.tree() - self.state = 15 - self._errHandler.sync(self) - _la = self._input.LA(1) - if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 56) != 0)): - break - - self.state = 17 - self.match(ptmlParser.EOF) - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class TreeContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def internal_node(self): - return self.getTypedRuleContext(ptmlParser.Internal_nodeContext,0) - - - def action_sign(self, i:int=None): - if i is None: - return self.getTypedRuleContexts(ptmlParser.Action_signContext) - else: - return self.getTypedRuleContext(ptmlParser.Action_signContext,i) - - - def tree(self, i:int=None): - if i is None: - return self.getTypedRuleContexts(ptmlParser.TreeContext) - else: - return self.getTypedRuleContext(ptmlParser.TreeContext,i) - - - def getRuleIndex(self): - return ptmlParser.RULE_tree - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterTree" ): - listener.enterTree(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitTree" ): - listener.exitTree(self) - - - - - def tree(self): - - localctx = ptmlParser.TreeContext(self, self._ctx, self.state) - self.enterRule(localctx, 2, self.RULE_tree) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 19 - self.internal_node() - self.state = 20 - self.match(ptmlParser.T__0) - self.state = 23 - self._errHandler.sync(self) - _la = self._input.LA(1) - while True: - self.state = 23 - self._errHandler.sync(self) - token = self._input.LA(1) - if token in [6, 7]: - self.state = 21 - self.action_sign() - pass - elif token in [3, 4, 5]: - self.state = 22 - self.tree() - pass - else: - raise NoViableAltException(self) - - self.state = 25 - self._errHandler.sync(self) - _la = self._input.LA(1) - if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 248) != 0)): - break - - self.state = 27 - self.match(ptmlParser.T__1) - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class Internal_nodeContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def Integer(self): - return self.getToken(ptmlParser.Integer, 0) - - def getRuleIndex(self): - return ptmlParser.RULE_internal_node - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterInternal_node" ): - listener.enterInternal_node(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitInternal_node" ): - listener.exitInternal_node(self) - - - - - def internal_node(self): - - localctx = ptmlParser.Internal_nodeContext(self, self._ctx, self.state) - self.enterRule(localctx, 4, self.RULE_internal_node) - try: - self.state = 33 - self._errHandler.sync(self) - token = self._input.LA(1) - if token in [3]: - self.enterOuterAlt(localctx, 1) - self.state = 29 - self.match(ptmlParser.T__2) - pass - elif token in [4]: - self.enterOuterAlt(localctx, 2) - self.state = 30 - self.match(ptmlParser.T__3) - pass - elif token in [5]: - self.enterOuterAlt(localctx, 3) - self.state = 31 - self.match(ptmlParser.T__4) - self.state = 32 - self.match(ptmlParser.Integer) - pass - else: - raise NoViableAltException(self) - - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class Action_signContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def Names(self): - return self.getToken(ptmlParser.Names, 0) - - def action_parm(self): - return self.getTypedRuleContext(ptmlParser.Action_parmContext,0) - - - def getRuleIndex(self): - return ptmlParser.RULE_action_sign - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterAction_sign" ): - listener.enterAction_sign(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitAction_sign" ): - listener.exitAction_sign(self) - - - - - def action_sign(self): - - localctx = ptmlParser.Action_signContext(self, self._ctx, self.state) - self.enterRule(localctx, 6, self.RULE_action_sign) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 35 - _la = self._input.LA(1) - if not(_la==6 or _la==7): - self._errHandler.recoverInline(self) - else: - self._errHandler.reportMatch(self) - self.consume() - self.state = 36 - self.match(ptmlParser.Names) - self.state = 37 - self.match(ptmlParser.T__7) - self.state = 39 - self._errHandler.sync(self) - _la = self._input.LA(1) - if (((_la) & ~0x3f) == 0 and ((1 << _la) & 55296) != 0): - self.state = 38 - self.action_parm() - - - self.state = 41 - self.match(ptmlParser.T__8) - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class Action_parmContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - def Integer(self, i:int=None): - if i is None: - return self.getTokens(ptmlParser.Integer) - else: - return self.getToken(ptmlParser.Integer, i) - - def Float(self, i:int=None): - if i is None: - return self.getTokens(ptmlParser.Float) - else: - return self.getToken(ptmlParser.Float, i) - - def boolean(self, i:int=None): - if i is None: - return self.getTypedRuleContexts(ptmlParser.BooleanContext) - else: - return self.getTypedRuleContext(ptmlParser.BooleanContext,i) - - - def getRuleIndex(self): - return ptmlParser.RULE_action_parm - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterAction_parm" ): - listener.enterAction_parm(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitAction_parm" ): - listener.exitAction_parm(self) - - - - - def action_parm(self): - - localctx = ptmlParser.Action_parmContext(self, self._ctx, self.state) - self.enterRule(localctx, 8, self.RULE_action_parm) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 46 - self._errHandler.sync(self) - token = self._input.LA(1) - if token in [14]: - self.state = 43 - self.match(ptmlParser.Integer) - pass - elif token in [15]: - self.state = 44 - self.match(ptmlParser.Float) - pass - elif token in [11, 12]: - self.state = 45 - self.boolean() - pass - else: - raise NoViableAltException(self) - - self.state = 56 - self._errHandler.sync(self) - _la = self._input.LA(1) - while _la==10: - self.state = 48 - self.match(ptmlParser.T__9) - self.state = 52 - self._errHandler.sync(self) - token = self._input.LA(1) - if token in [14]: - self.state = 49 - self.match(ptmlParser.Integer) - pass - elif token in [15]: - self.state = 50 - self.match(ptmlParser.Float) - pass - elif token in [11, 12]: - self.state = 51 - self.boolean() - pass - else: - raise NoViableAltException(self) - - self.state = 58 - self._errHandler.sync(self) - _la = self._input.LA(1) - - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - class BooleanContext(ParserRuleContext): - __slots__ = 'parser' - - def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): - super().__init__(parent, invokingState) - self.parser = parser - - - def getRuleIndex(self): - return ptmlParser.RULE_boolean - - def enterRule(self, listener:ParseTreeListener): - if hasattr( listener, "enterBoolean" ): - listener.enterBoolean(self) - - def exitRule(self, listener:ParseTreeListener): - if hasattr( listener, "exitBoolean" ): - listener.exitBoolean(self) - - - - - def boolean(self): - - localctx = ptmlParser.BooleanContext(self, self._ctx, self.state) - self.enterRule(localctx, 10, self.RULE_boolean) - self._la = 0 # Token type - try: - self.enterOuterAlt(localctx, 1) - self.state = 59 - _la = self._input.LA(1) - if not(_la==11 or _la==12): - self._errHandler.recoverInline(self) - else: - self._errHandler.reportMatch(self) - self.consume() - except RecognitionException as re: - localctx.exception = re - self._errHandler.reportError(self, re) - self._errHandler.recover(self, re) - finally: - self.exitRule() - return localctx - - - - - diff --git a/robowaiter/llm_client/ask_llm.py b/robowaiter/llm_client/ask_llm.py index e5d7460..17bbc99 100644 --- a/robowaiter/llm_client/ask_llm.py +++ b/robowaiter/llm_client/ask_llm.py @@ -36,6 +36,11 @@ def ask_llm(question): if __name__ == '__main__': - question = "假设你是一个咖啡厅的机器人服务员，有一个顾客的请求是'请给我一杯咖啡'，请生成对应的行为树来控制机器人完成该动作" + question = ''' + 以下是环境信息，请回答对话和目标状态 + [环境信息] + State: {At(Robot, Table), NotHolding, Available(SpongeGourd)} + chat_list: [(Customer, "桌子有点脏，能帮我擦一下吗？")] + ''' print(ask_llm(question)) \ No newline at end of file diff --git a/zoo/llm_clients.py b/robowaiter/llm_client/multi_rounds.py similarity index 100% rename from zoo/llm_clients.py rename to robowaiter/llm_client/multi_rounds.py