212 lines
8.4 KiB
Python
212 lines
8.4 KiB
Python
import time
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import requests
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import urllib3
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########################################
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# 该文件实现了与大模型的简单通信
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########################################
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# 忽略https的安全性警告
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urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning)
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def single_round(question, prefix=""):
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url = "https://45.125.46.134:25344/v1/chat/completions"
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headers = {"Content-Type": "application/json"}
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data = {
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"model": "RoboWaiter",
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"messages": [
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{
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"role": "system",
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# "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。"
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"content": ""
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# "content":
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# """
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# 你是一个熟悉行为树的工程师，你的职责是根据用户需求，为一个人型的机器人设计完成用户需求的行为树序列。
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# 行为树是一种有向根树，他的内部节点称为控制节点，控制节点包括选择、顺序，顺序节点只有所有子节点返回成功之后他才成功。
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# 选择节点只要有一个子节点返回成功最后就成功。叶节点称为执行节点，执行节点包括动作节点和条件节点。动作节点执行具体的动作，条件节点检查环境中的条件是否满足。
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# """
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# "content": "你是一个优秀的目标状态规划师，能够根据用户输入，规划出所需要的目标状态。例如：打开窗帘的目标状态可以是Is(Curtain, On)"
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},
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{
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"role": "user",
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"content": prefix + question
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}
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]
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}
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response = requests.post(url, headers=headers, json=data, verify=False)
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if response.status_code == 200:
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result = response.json()
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return result['choices'][0]['message']['content'].strip()
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else:
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return "大模型请求失败:", response.status_code
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if __name__ == '__main__':
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question = '''
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from actions import MoveTo (<obj>/<place>), PickUp (<obj>), PutDown (<obj>,<place>), PutDown(Anything,Anywhere), Make (<obj2>), Clean (<obj3>), Turn (<obj4>,<obj4state>)
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from states import At (Robor,<obj>/<place>), On (<obj>,<place>), Holding (<obj>), Is (<obj4>,<obj4state>), Exist (<obj>)
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obj=['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'ADMilk', 'SpringWater']
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place=['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6']
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obj2=['Coffee', 'Water', 'Dessert']
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obj3=['Table1','Floor','Chairs']
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obj4=['AC','TubeLight','HallLight','Curtain','ACTemperature']
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obj4state=['On','Off','Up','Down']
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)','Exist(VacuumCup)',
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'Holding(Coffee)',
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'On(VacuumCup,Table2)', 'On(Yogurt,Bar)', 'On(BottledDrink,Bar)', 'On(Softdrink,Table1)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_SoftDrink_on_WaterTable(currents_state):
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selector
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cond On(Softdrink,WaterTable)
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sequence
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cond Holding(Softdrink)
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selector
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sequence
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cond At(Robot,WaterTable)
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act PutDown(Softdrink,WaterTable)
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act MoveTo(WaterTable)
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sequence
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cond At(Robot,Softdrink)
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selector
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sequence
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cond Holding(Nothing)
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act PickUp(Softdrink)
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act PutDown(Anything,Anywhere)
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sequence
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cond Exist(Softdrink)
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act MoveTo(Softdrink)
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currents_state={'At(Robot,Bar)', 'Is(AC,On)',
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'Exist(Yogurt)', 'Exist(BottledDrink)',
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'Exist(Chips)', 'Exist(VacuumCup)', 'Exist(ADMilk)',
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'Holding(Nothing)',
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'On(VacuumCup,Table2)', 'On(Chips,Bar)','On(ADMilk,Bar)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_Dessert_on_Bar(currents_state):
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selector
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cond On(Dessert,Bar)
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sequence
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cond Holding(Nothing)
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act Make(Dessert)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(VacuumCup)','Exist(Coffee)',
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'On(VacuumCup,Table2)', 'On(Coffee,CoffeeTable)',
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'Holding(Nothing)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_Coffee_on_Bar(currents_state):
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selector
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cond On(Coffee,Bar)
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sequence
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cond Holding(Coffee)
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selector
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sequence
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cond At(Robot,Bar)
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act PutDown(Coffee,Bar)
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act MoveTo(Bar)
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sequence
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cond At(Robot,Coffee)
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selector
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sequence
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cond Holding(Nothing)
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act PickUp(Coffee)
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act PutDown(Anything,Anywhere)
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sequence
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cond Exist(Coffee)
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cond Holding(Nothing)
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act MoveTo(Coffee)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(VacuumCup)', 'Exist(Yogurt)',
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'On(VacuumCup,Table2)',
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'Holding(Yogurt)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_Coffee_on_Bar(currents_state):
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selector
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cond On(Coffee,Bar)
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sequence
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cond Holding(Coffee)
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selector
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sequence
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cond At(Robot,Bar)
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act PutDown(Coffee,Bar)
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act MoveTo(Bar)
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sequence
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cond At(Robot,Coffee)
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selector
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sequence
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cond Holding(Nothing)
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act PickUp(Coffee)
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act PutDown(Anything,Anywhere)
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sequence
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cond Exist(Coffee)
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act MoveTo(Coffee)
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sequence
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cond Holding(Nothing)
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act Make(Coffee)
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sequence
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cond At(Robot,Bar)
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cond Holding(Yogurt)
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act PutDown(Yogurt,Bar)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)', 'Exist(BottledDrink)','Exist(Softdrink)',
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'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)',
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'Holding(Softdrink)',
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Clean)', 'Is(Floor,Clean)', 'Is(Chairs,Clean)'}
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def Turn_AC_Temperature_Down(currents_state):
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selector
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cond Is(ACTemperature,Down)
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sequence
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cond Is(AC,On)
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selector
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sequence
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cond Holding(Nothing)
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act Turn(ACTemperature,Down)
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act PutDown(Anything,Anywhere)
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sequence
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cond Is(AC,Off)
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selector
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sequence
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cond Holding(Nothing)
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act Turn(AC,On)
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act PutDown(Anything,Anywhere)
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currents_state={'At(Robot,Bar)', 'Is(AC,Off)',
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'Exist(Yogurt)','Exist(VacuumCup)','Exist(Coffee)',
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'Holding(Nothing)',
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'On(Yogurt,Bar)','On(VacuumCup,Table2)','On(Coffee,CoffeeTable)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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def Put_one_Coffee_on_WaterTable_and_Put_another_Coffee_on_BrightTable6
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(currents_state):
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Please write the content of this function based on the content of currents_state
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Please write the content of this function based on the content of currents_state
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'''
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import timeit
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cur_time = time.time()
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print(single_round(question))
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# print(single_round(question, prefix='现在给出符合这句话要求的目标状态: '))
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print(f"单次生成耗时：{time.time() - cur_time} s \n")
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