49 lines
1.3 KiB
Python
49 lines
1.3 KiB
Python
import py_trees as ptree
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from robowaiter.behavior_lib._base.Act import Act
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from robowaiter.llm_client.ask_llm import ask_llm
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fixed_answers = {
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"测试VLM：做一杯咖啡":
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'''
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测试VLM：做一杯咖啡
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---
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{"At(Coffee,Bar)"}
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'''
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,
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"测试VLN：前往桌子":
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'''
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测试VLN：前往桌子
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---
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{"At(Robot,Table)"}
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'''
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,
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}
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class DealChat(Act):
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def __init__(self):
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super().__init__()
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def _update(self) -> ptree.common.Status:
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# if self.scene.status?
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chat = self.scene.state['chat_list'].pop()
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# 判断是否是测试
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if chat in fixed_answers.keys():
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sentence,goal = fixed_answers[chat].split("---")
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sentence = sentence.strip()
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goal = goal.strip()
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print(f'机器人回答：{sentence}')
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goal = eval(goal)
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print(f'goal：{goal}')
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self.create_sub_task(goal)
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else:
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answer = ask_llm(chat)
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print(f"机器人回答：{answer}")
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self.scene.chat_bubble(f"机器人回答：{answer}")
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return ptree.common.Status.RUNNING
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def create_sub_task(self,goal):
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self.scene.robot.expand_sub_task_tree(goal)
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