Merge branch 'main' of github.com:HPCL-EI/RoboWaiter

# Conflicts:
#	robowaiter/robot/robot.py
#	robowaiter/utils/bt/load.py
#	sub_task.ptml

robowaiter/behavior_tree/ptml/ptmlCompiler.py

@@ -34,6 +34,7 @@ def load(scene, ptml_path: str, behaviour_lib_path: str):
 
     # noting fault, go next
     ptml_path = format_trans_to_bracket(ptml_path)
+    # print(ptml_path)
     input_stream = FileStream(ptml_path, encoding="utf-8")
 
     lexer = Lexer(input_stream)
@@ -43,9 +44,8 @@ def load(scene, ptml_path: str, behaviour_lib_path: str):
 
     walker = ParseTreeWalker()
 
-
+    sys.path.append(os.path.join(behaviour_lib_path, "cond"))
-    sys.path.append(os.path.join(behaviour_lib_path,"cond"))
+    sys.path.append(os.path.join(behaviour_lib_path, "act"))
-    sys.path.append(os.path.join(behaviour_lib_path,"act"))
 
     ptml = ptmlTranslator(scene, behaviour_lib_path)  # listener mode
     walker.walk(ptml, tree)
@@ -75,8 +75,7 @@ def format_trans_to_bracket(file_path: str) -> str:
         if "{" in f:
             return file_path
 
-
+    def counter_(input: str) -> int:
-    def counter_(input:str) -> int:
         length = 0
         for i in range(len(input)):
             if input[i] == ' ':
@@ -86,7 +85,6 @@ def format_trans_to_bracket(file_path: str) -> str:
                     raise TabError('Tab length in ptml file should be 4.')
                 return length
 
-
     with open(file_path, 'r') as file:
         ptml_new = ''
         ptml_tab = file.readlines()
@@ -110,9 +108,9 @@ def format_trans_to_bracket(file_path: str) -> str:
             ptml_new += '}'
 
     import re
-    new_path = re.sub('/[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml',file_path)
+    new_path = re.sub('\\\[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml', file_path)
     with open(new_path, 'w+') as file:
         file.write(ptml_new)
     return new_path
 
-# format_trans_to_bracket('/home/wu/RoboWaiter/robowaiter/behavior_tree/ptml/test/tab_test.ptml')
+# format_trans_to_bracket('C:\\Users\\Estrella\\Desktop\\RoboWaiter\\robowaiter\\behavior_tree\\ptml\\test\\Default.ptml')

robowaiter/behavior_tree/ptml/test/Default.ptml

@@ -9,4 +9,4 @@ selector
         cond HasSubTask()
         sequence
             cond At(Robot,Table)
-        cond At(Robot,Table)
+        // cond At(Robot,Table)

robowaiter/behavior_tree/ptml/test/bracket_ptml.ptml

@@ -1,6 +1,11 @@
 selector
 {
-    sequence
+    selector
+{
+        cond HasMap()
+        act ExploreEnv()
+
+}    sequence
 {
         cond Chatting()
         act DealChat()
@@ -10,6 +15,6 @@ selector
         cond HasSubTask()
         sequence
 {
-            act SubTaskPlaceHolder()
+            cond At(Robot,Table)
 
-}        cond At(Talb,ea)}}
+}        // cond At(Robot,Table)}}

robowaiter/behavior_tree/ptml/test/tab_test.ptml

@@ -1,12 +0,0 @@
-selector
-//    selector
-//        cond HasMap()
-//        act ExploreEnv()
-    sequence
-        cond Chatting()
-        act DealChat()
-    sequence
-        cond HasSubTask()
-        sequence
-            act SubTaskPlaceHolder()
-        cond At(Talb,ea)

robowaiter/robot/Default.ptml

@@ -1,11 +1,13 @@
 selector
-//    sequence
+{
-//        cond NeedExplore()
-//        act ExploreEnv()
     sequence
+{
         cond Chatting()
         act DealChat()
-    sequence
+
+}    sequence
+{
         cond HasSubTask()
         sequence
-            act SubTaskPlaceHolder()
+{
+            act SubTaskPlaceHolder()}}}

run_robowaiter.py

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