# RoboWaiter
大模型具身智能比赛-机器人控制端
# 项目安装（必看）
## 环境要求
Python=3.10
### 安装步骤
```shell
cd RoboWaiter
pip install -e .
```
以上步骤将完成robowaiter项目以及相关依赖库的安装
### 快速入门
1. 安装UE及Harix插件，打开默认项目并运行
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
# 运行流程介绍
run_robowaiter.py 入口文件如下：
```python
import os
from robowaiter import Robot, task_map
TASK_NAME = 'GQA'
# create robot
project_path = "./robowaiter"
ptml_path = os.path.join(project_path, 'robot/Default.ptml')
behavior_lib_path = os.path.join(project_path, 'behavior_lib')
robot = Robot(ptml_path,behavior_lib_path)
# create task
task = task_map[TASK_NAME](robot)
task.reset()
task.run()
```
## Robot
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
## task_map
task_map是任务字典，通过任务缩写来返回相应的场景类。
| 缩写 | 任务 |
|----|---------|
| AEM | 主动探索和记忆 |
| GQA | 具身多轮对话 |
| VLN | 视觉语言导航 |
| VLM | 视觉语言操作 |
| OT | 复杂开放任务 |
| AT | 自主任务 |
## Scene
Scene是场景基类，task_map返回的任务场景都继承于Scene。
该类实现了一些通用的场景操作接口。
### 场景中物品类别
| ID | Item |
|-----|----------------------|
| 0 | Mug |
| 1 | Banana |
| 2 | Toothpaste |
| 3 | Bread |
| 4 | Softdrink |
| 5 | Yogurt |
| 6 | ADMilk |
| 7 | VacuumCup |
| 8 | Bernachon |
| 9 | BottledDrink |
| 10 | PencilVase |
| 11 | Teacup |
| 12 | Caddy |
| 13 | Dictionary |
| 14 | Cake |
| 15 | Date |
| 16 | Stapler |
| 17 | LunchBox |
| 18 | Bracelet |
| 19 | MilkDrink |
| 20 | CocountWater |
| 21 | Walnut |
| 22 | HamSausage |
| 23 | GlueStick |
| 24 | AdhensiveTape |
| 25 | Calculator |
| 26 | Chess |
| 27 | Orange |
| 28 | Glass |
| 29 | Washbowl |
| 30 | Durian |
| 31 | Gum |
| 32 | Towl |
| 33 | OrangeJuice |
| 34 | Cardcase |
| 35 | RubikCube |
| 36 | StickyNotes |
| 37 | NFCJuice |
| 38 | SpringWater |
| 39 | Apple |
| 40 | Coffee |
| 41 | Gauze |
| 42 | Mangosteen |
| 43 | SesameSeedCake |
| 44 | Glove |
| 45 | Mouse |
| 46 | Kettle |
| 47 | Atomize |
| 48 | Chips |
| 49 | SpongeGourd |
| 50 | Garlic |
| 51 | Potato |
| 52 | Tray |
| 53 | Hemomanometer |
| 54 | TennisBall |
| 55 | ToyDog |
| 56 | ToyBear |
| 57 | TeaTray |
| 58 | Sock |
| 59 | Scarf |
| 60 | ToiletPaper |
| 61 | Milk |
| 62 | Soap |
| 63 | Novel |
| 64 | Watermelon |
| 65 | Tomato |
| 66 | CleansingFoam |
| 67 | CocountMilk |
| 68 | SugarlessGum |
| 69 | MedicalAdhensiveTape |
| 70 | SourMilkDrink |
| 71 | PaperCup |
| 72 | Tissue |
| 73 | YogurtDrink |
| 74 | Newspaper |
| 75 | Box |
| 76 | PaperCupStarbucks |
| 77 | CoffeeMachine |
| 78 | GingerLHand |
| 79 | GingerRHand |
| 80 | Straw |
| 81 | Cake |
| 82 | Tray |
| 83 | Bread |
| 84 | Glass |
| 85 | Door |
| 86 | Mug |
| 87 | Machine |
| 88 | Packaged Coffee |
| 89 | Cube Sugar |
| 90 | Apple |
| 91 | Spoon |
| 92 | Drinks |
| 93 | Drink |
| 94 | Take-Away Cup |
| 95 | Saucer |
| 96 | Trash Bin |
| 97 | Knife |
| 251 | Ginger |
| 252 | Floor |
| 253 | Roof |
| 254 | Wall |
注意：78及以后无法使用add_object方法生成
# 调用大模型接口
运行llm_client.py文件调用大模型进行多轮对话。
```shell
python llm_client.py
```
输入字符即可等待回答，输入end表示对话结束。
大模型具身智能比赛-机器人控制端.zip
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2023-11-05
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大模型具身智能比赛-机器人控制端.zip （74个子文件） 
RoboWaiter-main 
run_robowaiter.py 354B setup.py 548B zoo __init__.py 0B demo __init__.py 0B 行人控制.py 3KB 场景操作.py 2KB 相机操作.py 2KB 物品操作.py 5KB 动画控制.py 3KB 导航寻路.py 2KB 文字冒泡.py 1KB 关节控制.py 3KB behavior_tree __init__.py 0B main.py 2KB behavior_library.py 3KB LICENSE 1KB llm_clients.py 912B robowaiter __init__.py 79B behavior_tree __init__.py 135B ptml __init__.py 0B ptmlTranslator.py 4KB ptmlLexer.interp 5KB ptmlParser.py 16KB ptml.interp 2KB ptml_test.py 535B ptmlLexer.py 6KB ptml.tokens 249B ptmlCompiler.py 1KB sequence_oufbg8fg.dot 3KB ptmlListener.py 2KB CoffeeDelivery.ptml 712B ptmlLexer.tokens 249B ptml.g4 659B behavior_tree.py 524B proto __init__.py 57B GrabSim_pb2.pyd 1.14MB GrabSim_pb2_grpc.pyd 321KB scene __init__.py 463B tasks __init__.py 0B AEM.py 908B VLM.py 1KB VLN.py 1KB Auto_tasks.py 736B GQA.py 1KB Open_tasks.py 913B scene.py 9KB robot __init__.py 0B Default.ptml 52B robot.py 895B behavior_lib SeqTest.py 583B __init__.py 0B GraspCoffeeCup.py 590B CoffeeCupFound.py 617B FindCoffeeCup.py 589B Istask.py 582B CoffeeCupGrasped.py 636B TestTask.py 584B DealChat.py 838B DestinationAReached.py 595B PlaceCoffeeCup.py 590B Chatting.py 711B Behavior.py 740B CoffeeCupPlaced.py 591B Grasp.py 582B MoveTo.py 595B ReachDestinationA.py 593B llm_client __init__.py 0B ask_llm.py 945B dataset bt_expansion 
input.txt 52B bt_expansion.py 15KB behavior_tree __pycache__ behavior_library.cpython-310.pyc 5KB requirements.txt 103B .gitignore 3KB README.md 5KB资源评论
