169 lines
4.6 KiB
Markdown
169 lines
4.6 KiB
Markdown
# RoboWaiter
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大模型具身智能比赛-机器人控制端
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# 项目安装（必看）
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## 环境要求
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Python=3.10
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### 安装步骤
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```shell
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cd RoboWaiter
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pip install -e .
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```
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以上步骤将完成robowaiter项目以及相关依赖库的安装
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### 快速入门
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1. 安装UE及Harix插件，打开默认项目并运行
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2. 运行 run_robowaiter.py 文件即可实现机器人控制端与仿真器的交互
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# 运行流程介绍
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run_robowaiter.py 入口文件如下：
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```python
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import os
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from robowaiter import Robot, task_map
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TASK_NAME = 'GQA'
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# create robot
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project_path = "./robowaiter"
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ptml_path = os.path.join(project_path, 'robot/Default.ptml')
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behavior_lib_path = os.path.join(project_path, 'behavior_lib')
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robot = Robot(ptml_path,behavior_lib_path)
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# create task
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task = task_map[TASK_NAME](robot)
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task.reset()
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task.run()
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```
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## Robot
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Robot是机器人类，包括从ptml加载行为树的方法，以及执行行为树的方法等
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## task_map
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task_map是任务字典，通过任务缩写来返回相应的场景类。
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| 缩写 | 任务 |
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|----|---------|
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| AEM | 主动探索和记忆 |
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| GQA | 具身多轮对话 |
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| VLN | 视觉语言导航 |
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| VLM | 视觉语言操作 |
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| OT | 复杂开放任务 |
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| AT | 自主任务 |
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## Scene
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Scene是场景基类，task_map返回的任务场景都继承于Scene。
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该类实现了一些通用的场景操作接口。
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### 场景中物品类别
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| ID | Item |
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|-----|----------------------|
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| 0 | Mug |
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| 1 | Banana |
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| 2 | Toothpaste |
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| 3 | Bread |
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| 4 | Softdrink |
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| 5 | Yogurt |
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| 6 | ADMilk |
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| 7 | VacuumCup |
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| 8 | Bernachon |
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| 9 | BottledDrink |
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| 10 | PencilVase |
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| 11 | Teacup |
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| 12 | Caddy |
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| 13 | Dictionary |
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| 14 | Cake |
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| 15 | Date |
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| 16 | Stapler |
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| 17 | LunchBox |
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| 18 | Bracelet |
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| 19 | MilkDrink |
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| 20 | CocountWater |
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| 21 | Walnut |
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| 22 | HamSausage |
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| 23 | GlueStick |
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| 24 | AdhensiveTape |
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| 25 | Calculator |
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| 26 | Chess |
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| 27 | Orange |
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| 28 | Glass |
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| 29 | Washbowl |
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| 30 | Durian |
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| 31 | Gum |
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| 32 | Towl |
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| 33 | OrangeJuice |
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| 34 | Cardcase |
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| 35 | RubikCube |
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| 36 | StickyNotes |
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| 37 | NFCJuice |
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| 38 | SpringWater |
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| 39 | Apple |
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| 40 | Coffee |
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| 41 | Gauze |
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| 42 | Mangosteen |
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| 43 | SesameSeedCake |
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| 44 | Glove |
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| 45 | Mouse |
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| 46 | Kettle |
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| 47 | Atomize |
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| 48 | Chips |
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| 49 | SpongeGourd |
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| 50 | Garlic |
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| 51 | Potato |
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| 52 | Tray |
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| 53 | Hemomanometer |
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| 54 | TennisBall |
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| 55 | ToyDog |
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| 56 | ToyBear |
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| 57 | TeaTray |
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| 58 | Sock |
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| 59 | Scarf |
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| 60 | ToiletPaper |
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| 61 | Milk |
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| 62 | Soap |
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| 63 | Novel |
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| 64 | Watermelon |
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| 65 | Tomato |
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| 66 | CleansingFoam |
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| 67 | CocountMilk |
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| 68 | SugarlessGum |
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| 69 | MedicalAdhensiveTape |
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| 70 | SourMilkDrink |
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| 71 | PaperCup |
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| 72 | Tissue |
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| 73 | YogurtDrink |
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| 74 | Newspaper |
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| 75 | Box |
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| 76 | PaperCupStarbucks |
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| 77 | CoffeeMachine |
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| 78 | GingerLHand |
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| 79 | GingerRHand |
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| 80 | Straw |
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| 81 | Cake |
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| 82 | Tray |
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| 83 | Bread |
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| 84 | Glass |
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| 85 | Door |
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| 86 | Mug |
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| 87 | Machine |
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| 88 | Packaged Coffee |
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| 89 | Cube Sugar |
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| 90 | Apple |
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| 91 | Spoon |
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| 92 | Drinks |
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| 93 | Drink |
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| 94 | Take-Away Cup |
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| 95 | Saucer |
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| 96 | Trash Bin |
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| 97 | Knife |
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| 251 | Ginger |
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| 252 | Floor |
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| 253 | Roof |
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| 254 | Wall |
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注意：78及以后无法使用add_object方法生成
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