From 87432364925b96b1ff4411e545154c36be30fd4e Mon Sep 17 00:00:00 2001 From: lpenco Date: Thu, 13 Mar 2025 12:09:46 -0500 Subject: [PATCH 1/8] fixed end of behavior bug --- .../src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeState.java | 6 ++++-- ihmc-interfaces/ros2ws/behaviors_example.py | 1 + 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeState.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeState.java index 00a0d313f89..8e1387b7d70 100644 --- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeState.java +++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeState.java @@ -5,8 +5,10 @@ import us.ihmc.behaviors.behaviorTree.BehaviorTreeRootNodeState; import us.ihmc.behaviors.behaviorTree.BehaviorTreeTools; import us.ihmc.behaviors.sequence.ActionSequenceState; +import us.ihmc.behaviors.sequence.LeafNodeState; import us.ihmc.behaviors.sequence.actions.CheckPointNodeState; import us.ihmc.communication.crdt.CRDTInfo; +import us.ihmc.log.LogTools; import us.ihmc.tools.io.WorkspaceResourceDirectory; import java.util.ArrayList; @@ -40,8 +42,8 @@ public void updateSubtree(BehaviorTreeNodeState node) { checkPoints.add(checkPoint); } - if (child instanceof ActionSequenceState sequence) - updateSubtree(sequence); + else + updateSubtree(child); } } diff --git a/ihmc-interfaces/ros2ws/behaviors_example.py b/ihmc-interfaces/ros2ws/behaviors_example.py index 16b55d95e03..4b56dcdc430 100644 --- a/ihmc-interfaces/ros2ws/behaviors_example.py +++ b/ihmc-interfaces/ros2ws/behaviors_example.py @@ -48,6 +48,7 @@ def behavior_message_callback(msg): # --------- Monitoring ----------- completed_behavior = msg.completed_behavior + print("Completed Behavior: " + completed_behavior) failed_behavior = msg.failed_behavior if failed_behavior: print("[FAILURE] Failed behavior: " + failure_behavior) From 7dbb999daf3f2cc0836180d9973caf27280f5504 Mon Sep 17 00:00:00 2001 From: Luigi Penco Date: Thu, 13 Mar 2025 15:36:22 -0500 Subject: [PATCH 2/8] added coordination example --- .../ihmc/behaviors/ai2r/AI2RNodeExecutor.java | 13 +- .../ros2ws/behavior_coordination.py | 124 ++++++++++++++++++ .../behavior_msgs/msg/AI2RCommandMessage_.idl | 1 + .../msg/dds/AI2RCommandMessage.java | 18 +++ .../msg/dds/AI2RCommandMessagePubSubType.java | 13 +- .../msg/dds/StepConstraintsListMessage.java | 2 +- .../behavior_msgs/msg/AI2RCommandMessage.msg | 2 + .../behavior_msgs/msg/AI2RCommandMessage.msg | 2 + 8 files changed, 166 insertions(+), 9 deletions(-) create mode 100644 ihmc-interfaces/ros2ws/behavior_coordination.py diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java index 2c675fcdb3f..8d79b2e8803 100644 --- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java +++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java @@ -71,15 +71,16 @@ public AI2RNodeExecutor(long id, int commandedBehaviorIndex = -1; for (int i = 0; i < state.getCheckPoints().size(); i++) { - if (state.getCheckPoints().get(i).getDefinition().getName().toLowerCase().equals(behaviorToExecuteName)) + if (state.getCheckPoints().get(i).getDefinition().getName().equals(behaviorToExecuteName)) { commandedBehaviorIndex = state.getCheckPoints().get(i).getLeafIndex(); break; } } + // Generic adaptable skills // GoTo behavior - Navigation - if (behaviorToExecuteName.toLowerCase().contains("go")) + if (behaviorToExecuteName.contains("GOTO") && message.getAdaptingBehavior()) { AI2RNavigationMessage navigationMessage = message.getNavigation(); // Set goals for GoTo behavior @@ -97,7 +98,8 @@ public AI2RNodeExecutor(long id, } } } - else // Hand Pose Adaptation + // Object pick and place + else if (behaviorToExecuteName.contains("PICKUP") || behaviorToExecuteName.contains("PLACE") && message.getAdaptingBehavior()) { AI2RHandPoseAdaptationMessage handMessage = message.getHandPoseAdaptation(); for (var leaf : state.getActionSequence().getOrderedLeaves()) @@ -125,6 +127,7 @@ public AI2RNodeExecutor(long id, failedLeaves.clear(); state.getActionSequence().setExecutionNextIndex(commandedBehaviorIndex); state.getActionSequence().setAutomaticExecution(true); + statusMessage.setCompletedBehavior("-"); } }); } @@ -241,10 +244,6 @@ public void update() // Jump to end of sequence state.getActionSequence().setExecutionNextIndex(state.getCheckPoints().get(state.getCheckPoints().size() - 1).getLeafIndex()); } - else if (!state.getCheckPoints().get(i).getDefinition().getName().contains("END") && state.getCheckPoints().get(i).getIsExecuting()) - { // If we are executing another behavior checkpoint - statusMessage.setCompletedBehavior(""); - } } // Check if Goto action is executing and if next steps are colliding with objects in the scene diff --git a/ihmc-interfaces/ros2ws/behavior_coordination.py b/ihmc-interfaces/ros2ws/behavior_coordination.py new file mode 100644 index 00000000000..51598200c0e --- /dev/null +++ b/ihmc-interfaces/ros2ws/behavior_coordination.py @@ -0,0 +1,124 @@ +import os +import time +import threading + +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy +from geometry_msgs.msg import Point +from geometry_msgs.msg import Quaternion +from behavior_msgs.msg import AI2RCommandMessage +from behavior_msgs.msg import AI2RObjectMessage +from behavior_msgs.msg import AI2RStatusMessage +from behavior_msgs.msg import AI2RNavigationMessage +from behavior_msgs.msg import AI2RHandPoseAdaptationMessage + +import cv2 +import numpy as np + +ros2 = {} +initialized = False +waiting_for_command = True + +def behavior_message_callback(msg): + global initialized # Access the global variables + global waiting_for_command + robot_pose = msg.robot_mid_feet_under_pelvis_pose_in_world + + if not initialized: + # --------- Scene ----------- + scene_objects = msg.objects + print("Objects in the scene:") + if scene_objects: # This checks if the list is not empty + for obj in scene_objects: + id = obj.object_name + print(f"{id}") + pose_in_world = obj.object_pose_in_world + pose_wrt_robot = obj.object_pose_in_robot_frame # This is the pose specified wrt to robot_pose + else: + print("-") + + # --------- Behaviors ----------- + behaviors = msg.available_behaviors + print("Available behaviors:") + if behaviors: + for behavior in behaviors: + print(behavior) + else: + print("-") + + # --------- Reasoning ----------- + # CAN DO SOME REASONING HERE based on objects in the scene and available behaviors + + # --------- Monitoring ----------- + completed_behavior = msg.completed_behavior + if not completed_behavior == "-": + print("Completed Behavior: " + completed_behavior) + waiting_for_command = True + else: + waiting_for_command = False + + failed_behavior = msg.failed_behavior + if failed_behavior: + print("[FAILURE] Failed behavior: " + failure_behavior) + # Failure details + failure = msg.failure + print("Description: " + failure.action_name) + print("Type: " + failure.action_type) + print("Frame: " + failure.action_frame) + + position_error = failure.position_error + # Convert Point to numpy array + error_vector = np.array([position_error.x, position_error.y, position_error.z]) + # Calculate the Euclidean norm (L2 norm) + norm = np.linalg.norm(error_vector) + print(f"The position error is: {norm}") + orientation_error = failure.orientation_error + + position_tolerance = failure.position_tolerance + orientation_tolerance = failure.orientation_tolerance + + # --------- Reasoning ----------- + # CAN DO SOME REASONING HERE based on failed behaviors + + if waiting_for_command or not initialized: + # --------- Coordination ----------- + behavior_command = AI2RCommandMessage() + # DECIDE what behavior to execute based on reasoning. For example can decide to scan environment to detect objects + behavior_command.behavior_to_execute = "GOTO" + print("Commanded Behavior: " + behavior_command.behavior_to_execute) + ros2["behavior_publisher"].publish(behavior_command) + waiting_for_command = False + initialized = True + + +def main(args=None): + rclpy.init(args=args) + + qos_profile_reliable = QoSProfile( + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1 + ) + + node = rclpy.create_node('behavior_coordination_node') + ros2["node"] = node + + behavior_subscriber = node.create_subscription(AI2RStatusMessage, + '/ihmc/behavior_tree/ai2r_status', + behavior_message_callback, qos_profile_reliable) + ros2["behavior_subscriber"] = behavior_subscriber + + behavior_publisher = node.create_publisher(AI2RCommandMessage, + '/ihmc/behavior_tree/ai2r_command', + qos_profile_reliable) + ros2["behavior_publisher"] = behavior_publisher + + # Wait until interrupt + try: + rclpy.spin(node) + except KeyboardInterrupt: + node.destroy_node() + +if __name__ == '__main__': + main() diff --git a/ihmc-interfaces/src/main/generated-idl/behavior_msgs/msg/AI2RCommandMessage_.idl b/ihmc-interfaces/src/main/generated-idl/behavior_msgs/msg/AI2RCommandMessage_.idl index 203c44aaf74..18d26158265 100644 --- a/ihmc-interfaces/src/main/generated-idl/behavior_msgs/msg/AI2RCommandMessage_.idl +++ b/ihmc-interfaces/src/main/generated-idl/behavior_msgs/msg/AI2RCommandMessage_.idl @@ -17,6 +17,7 @@ module behavior_msgs * Behavior to execute (checkpoint to jump to in the pre-loaded behavior collection) */ string behavior_to_execute; + boolean adapting_behavior; behavior_msgs::msg::dds::AI2RHandPoseAdaptationMessage hand_pose_adaptation; behavior_msgs::msg::dds::AI2RNavigationMessage navigation; }; diff --git a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessage.java b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessage.java index 8601f68337c..4e9ed16333c 100644 --- a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessage.java +++ b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessage.java @@ -12,6 +12,7 @@ public class AI2RCommandMessage extends Packet implements Se * Behavior to execute (checkpoint to jump to in the pre-loaded behavior collection) */ public java.lang.StringBuilder behavior_to_execute_; + public boolean adapting_behavior_; public behavior_msgs.msg.dds.AI2RHandPoseAdaptationMessage hand_pose_adaptation_; public behavior_msgs.msg.dds.AI2RNavigationMessage navigation_; @@ -33,6 +34,8 @@ public void set(AI2RCommandMessage other) behavior_to_execute_.setLength(0); behavior_to_execute_.append(other.behavior_to_execute_); + adapting_behavior_ = other.adapting_behavior_; + behavior_msgs.msg.dds.AI2RHandPoseAdaptationMessagePubSubType.staticCopy(other.hand_pose_adaptation_, hand_pose_adaptation_); behavior_msgs.msg.dds.AI2RNavigationMessagePubSubType.staticCopy(other.navigation_, navigation_); } @@ -61,6 +64,15 @@ public java.lang.StringBuilder getBehaviorToExecute() return behavior_to_execute_; } + public void setAdaptingBehavior(boolean adapting_behavior) + { + adapting_behavior_ = adapting_behavior; + } + public boolean getAdaptingBehavior() + { + return adapting_behavior_; + } + public behavior_msgs.msg.dds.AI2RHandPoseAdaptationMessage getHandPoseAdaptation() { @@ -93,6 +105,8 @@ public boolean epsilonEquals(AI2RCommandMessage other, double epsilon) if (!us.ihmc.idl.IDLTools.epsilonEqualsStringBuilder(this.behavior_to_execute_, other.behavior_to_execute_, epsilon)) return false; + if (!us.ihmc.idl.IDLTools.epsilonEqualsBoolean(this.adapting_behavior_, other.adapting_behavior_, epsilon)) return false; + if (!this.hand_pose_adaptation_.epsilonEquals(other.hand_pose_adaptation_, epsilon)) return false; if (!this.navigation_.epsilonEquals(other.navigation_, epsilon)) return false; @@ -110,6 +124,8 @@ public boolean equals(Object other) if (!us.ihmc.idl.IDLTools.equals(this.behavior_to_execute_, otherMyClass.behavior_to_execute_)) return false; + if(this.adapting_behavior_ != otherMyClass.adapting_behavior_) return false; + if (!this.hand_pose_adaptation_.equals(otherMyClass.hand_pose_adaptation_)) return false; if (!this.navigation_.equals(otherMyClass.navigation_)) return false; @@ -124,6 +140,8 @@ public java.lang.String toString() builder.append("AI2RCommandMessage {"); builder.append("behavior_to_execute="); builder.append(this.behavior_to_execute_); builder.append(", "); + builder.append("adapting_behavior="); + builder.append(this.adapting_behavior_); builder.append(", "); builder.append("hand_pose_adaptation="); builder.append(this.hand_pose_adaptation_); builder.append(", "); builder.append("navigation="); diff --git a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessagePubSubType.java b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessagePubSubType.java index 15efa9a72c8..4c76065fc2e 100644 --- a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessagePubSubType.java +++ b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessagePubSubType.java @@ -15,7 +15,7 @@ public class AI2RCommandMessagePubSubType implements us.ihmc.pubsub.TopicDataTyp @Override public final java.lang.String getDefinitionChecksum() { - return "da043020cd0ef7adf1d8169427586ab419179c23716aeb2a07a11f991174a756"; + return "b9d13ab92c7aa7e569f07b172ca31e07b01ec4f8855d4cf84f542e1bb84ca3cf"; } @Override @@ -53,6 +53,8 @@ public static int getMaxCdrSerializedSize(int current_alignment) int initial_alignment = current_alignment; current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4) + 255 + 1; + current_alignment += 1 + us.ihmc.idl.CDR.alignment(current_alignment, 1); + current_alignment += behavior_msgs.msg.dds.AI2RHandPoseAdaptationMessagePubSubType.getMaxCdrSerializedSize(current_alignment); current_alignment += behavior_msgs.msg.dds.AI2RNavigationMessagePubSubType.getMaxCdrSerializedSize(current_alignment); @@ -72,6 +74,9 @@ public final static int getCdrSerializedSize(behavior_msgs.msg.dds.AI2RCommandMe current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4) + data.getBehaviorToExecute().length() + 1; + current_alignment += 1 + us.ihmc.idl.CDR.alignment(current_alignment, 1); + + current_alignment += behavior_msgs.msg.dds.AI2RHandPoseAdaptationMessagePubSubType.getCdrSerializedSize(data.getHandPoseAdaptation(), current_alignment); current_alignment += behavior_msgs.msg.dds.AI2RNavigationMessagePubSubType.getCdrSerializedSize(data.getNavigation(), current_alignment); @@ -86,6 +91,8 @@ public static void write(behavior_msgs.msg.dds.AI2RCommandMessage data, us.ihmc. cdr.write_type_d(data.getBehaviorToExecute());else throw new RuntimeException("behavior_to_execute field exceeds the maximum length: %d > %d".formatted(data.getBehaviorToExecute().length(), 255)); + cdr.write_type_7(data.getAdaptingBehavior()); + behavior_msgs.msg.dds.AI2RHandPoseAdaptationMessagePubSubType.write(data.getHandPoseAdaptation(), cdr); behavior_msgs.msg.dds.AI2RNavigationMessagePubSubType.write(data.getNavigation(), cdr); } @@ -93,6 +100,8 @@ public static void write(behavior_msgs.msg.dds.AI2RCommandMessage data, us.ihmc. public static void read(behavior_msgs.msg.dds.AI2RCommandMessage data, us.ihmc.idl.CDR cdr) { cdr.read_type_d(data.getBehaviorToExecute()); + data.setAdaptingBehavior(cdr.read_type_7()); + behavior_msgs.msg.dds.AI2RHandPoseAdaptationMessagePubSubType.read(data.getHandPoseAdaptation(), cdr); behavior_msgs.msg.dds.AI2RNavigationMessagePubSubType.read(data.getNavigation(), cdr); @@ -102,6 +111,7 @@ public static void read(behavior_msgs.msg.dds.AI2RCommandMessage data, us.ihmc.i public final void serialize(behavior_msgs.msg.dds.AI2RCommandMessage data, us.ihmc.idl.InterchangeSerializer ser) { ser.write_type_d("behavior_to_execute", data.getBehaviorToExecute()); + ser.write_type_7("adapting_behavior", data.getAdaptingBehavior()); ser.write_type_a("hand_pose_adaptation", new behavior_msgs.msg.dds.AI2RHandPoseAdaptationMessagePubSubType(), data.getHandPoseAdaptation()); ser.write_type_a("navigation", new behavior_msgs.msg.dds.AI2RNavigationMessagePubSubType(), data.getNavigation()); @@ -112,6 +122,7 @@ public final void serialize(behavior_msgs.msg.dds.AI2RCommandMessage data, us.ih public final void deserialize(us.ihmc.idl.InterchangeSerializer ser, behavior_msgs.msg.dds.AI2RCommandMessage data) { ser.read_type_d("behavior_to_execute", data.getBehaviorToExecute()); + data.setAdaptingBehavior(ser.read_type_7("adapting_behavior")); ser.read_type_a("hand_pose_adaptation", new behavior_msgs.msg.dds.AI2RHandPoseAdaptationMessagePubSubType(), data.getHandPoseAdaptation()); ser.read_type_a("navigation", new behavior_msgs.msg.dds.AI2RNavigationMessagePubSubType(), data.getNavigation()); diff --git a/ihmc-interfaces/src/main/generated-java/controller_msgs/msg/dds/StepConstraintsListMessage.java b/ihmc-interfaces/src/main/generated-java/controller_msgs/msg/dds/StepConstraintsListMessage.java index 1c1c94171f1..c5eb2ac4d28 100644 --- a/ihmc-interfaces/src/main/generated-java/controller_msgs/msg/dds/StepConstraintsListMessage.java +++ b/ihmc-interfaces/src/main/generated-java/controller_msgs/msg/dds/StepConstraintsListMessage.java @@ -58,7 +58,7 @@ public StepConstraintsListMessage() hole_polygons_size_ = new us.ihmc.idl.IDLSequence.Integer (100, "type_2"); - vertex_buffer_ = new us.ihmc.idl.IDLSequence.Object (5000, new geometry_msgs.msg.dds.PointPubSubType()); + vertex_buffer_ = new us.ihmc.idl.IDLSequence.Object (50000, new geometry_msgs.msg.dds.PointPubSubType()); } diff --git a/ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/AI2RCommandMessage.msg b/ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/AI2RCommandMessage.msg index 4f82a66a8ed..ca2de5e751a 100644 --- a/ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/AI2RCommandMessage.msg +++ b/ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/AI2RCommandMessage.msg @@ -1,6 +1,8 @@ # Behavior to execute (checkpoint to jump to in the pre-loaded behavior collection) string behavior_to_execute +bool adapting_behavior false + behavior_msgs/AI2RHandPoseAdaptationMessage hand_pose_adaptation behavior_msgs/AI2RNavigationMessage navigation \ No newline at end of file diff --git a/ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/AI2RCommandMessage.msg b/ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/AI2RCommandMessage.msg index 17f822f2c1d..745ea91b4b1 100644 --- a/ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/AI2RCommandMessage.msg +++ b/ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/AI2RCommandMessage.msg @@ -2,6 +2,8 @@ # Behavior to execute (checkpoint to jump to in the pre-loaded behavior collection) string behavior_to_execute +bool adapting_behavior + behavior_msgs/AI2RHandPoseAdaptationMessage hand_pose_adaptation behavior_msgs/AI2RNavigationMessage navigation From 662a5c6051844c170db8b16f840e6650570b2696 Mon Sep 17 00:00:00 2001 From: lpenco Date: Thu, 13 Mar 2025 17:17:07 -0500 Subject: [PATCH 3/8] fix bug foot under ground --- .../ihmc/rdx/ui/affordances/RDXInteractableFootstepPlan.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/affordances/RDXInteractableFootstepPlan.java b/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/affordances/RDXInteractableFootstepPlan.java index 8139864e3af..4a9814b7935 100644 --- a/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/affordances/RDXInteractableFootstepPlan.java +++ b/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/affordances/RDXInteractableFootstepPlan.java @@ -20,6 +20,7 @@ import us.ihmc.footstepPlanning.graphSearch.parameters.DefaultFootstepPlannerParametersReadOnly; import us.ihmc.footstepPlanning.swing.SwingPlannerParametersBasics; import us.ihmc.footstepPlanning.swing.SwingPlannerType; +import us.ihmc.log.LogTools; import us.ihmc.rdx.input.ImGui3DViewInput; import us.ihmc.rdx.ui.RDXBaseUI; import us.ihmc.rdx.vr.RDXVRContext; @@ -264,7 +265,8 @@ public void walkFromSteps() // TODO dangerous. However when manually placing footsteps, this is great. messageList.getQueueingProperties().setExecutionMode(ExecutionMode.QUEUE.toByte()); messageList.getQueueingProperties().setMessageId(UUID.randomUUID().getLeastSignificantBits()); - messageList.setOffsetFootstepsHeightWithExecutionError(true); + messageList.setOffsetFootstepsHeightWithExecutionError(false); + messageList.setTrustHeightOfFootsteps(false); messageList.setDefaultSwingDuration(locomotionParameters.getSwingTime()); messageList.setDefaultTransferDuration(locomotionParameters.getTransferTime()); messageList.setAreFootstepsAdjustable(locomotionParameters.getAreFootstepsAdjustable()); From 57982a679cbd643ddfe48be1a6aa29583233d617 Mon Sep 17 00:00:00 2001 From: lpenco Date: Mon, 7 Apr 2025 11:46:36 -0500 Subject: [PATCH 4/8] fixed bugs actions --- .../BehaviorTreeRootNodeExecutor.java | 2 +- .../actions/FootstepPlanActionDefinition.java | 2 +- .../actions/FootstepPlanActionExecutor.java | 2 + .../FootstepPlanActionPlanningThread.java | 82 +++++++++++-------- 4 files changed, 54 insertions(+), 34 deletions(-) diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeRootNodeExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeRootNodeExecutor.java index 4014d752f82..a088aa86999 100644 --- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeRootNodeExecutor.java +++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeRootNodeExecutor.java @@ -291,7 +291,7 @@ private boolean shouldExecuteNextLeaf() } else { - return !currentlyExecutingLeaves.isEmpty(); + return currentlyExecutingLeaves.isEmpty(); } } diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionDefinition.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionDefinition.java index 87fa26c64f5..17a8109e535 100644 --- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionDefinition.java +++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionDefinition.java @@ -75,7 +75,7 @@ public FootstepPlanActionDefinition(CRDTInfo crdtInfo, goalFootstepToGoalYs = new SideDependentList<>(() -> new CRDTBidirectionalDouble(this, 0.0)); goalFootstepToGoalYaws = new SideDependentList<>(() -> new CRDTBidirectionalDouble(this, 0.0)); plannerInitialStanceSide = new CRDTBidirectionalImmutableField<>(this, InitialStanceSide.AUTO); - plannerPerformAStarSearch = new CRDTBidirectionalBoolean(this, true); + plannerPerformAStarSearch = new CRDTBidirectionalBoolean(this, false); plannerWalkWithGoalOrientation = new CRDTBidirectionalBoolean(this, true); plannerParameters = new BehaviorStoredPropertySetDefinition(this, "plannerParameters", initialPlannerParameters); } diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionExecutor.java index 1216bcf900b..a6b9dfc101f 100644 --- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionExecutor.java +++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionExecutor.java @@ -280,6 +280,8 @@ private void buildAndSendCommandAndSetDesiredState() footstepDataListMessage.setFinalTransferDuration(finalTransferDuration); footstepDataListMessage.getQueueingProperties().setExecutionMode(definition.getExecutionMode().getValue().toByte()); footstepDataListMessage.getQueueingProperties().setMessageId(UUID.randomUUID().getLeastSignificantBits()); + footstepDataListMessage.setOffsetFootstepsHeightWithExecutionError(false); + footstepDataListMessage.setTrustHeightOfFootsteps(false); state.getLogger().info("Commanding {} footsteps", footstepDataListMessage.getFootstepDataList().size()); ros2ControllerHelper.publishToController(footstepDataListMessage); for (RobotSide side : RobotSide.values) diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionPlanningThread.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionPlanningThread.java index 09c4374c2e9..74f0173ae4e 100644 --- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionPlanningThread.java +++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionPlanningThread.java @@ -2,12 +2,14 @@ import us.ihmc.avatar.drcRobot.ROS2SyncedRobotModel; import us.ihmc.commons.FormattingTools; +import us.ihmc.commons.thread.ThreadTools; import us.ihmc.commons.thread.TypedNotification; import us.ihmc.euclid.referenceFrame.FramePose3D; import us.ihmc.footstepPlanning.FootstepPlan; import us.ihmc.footstepPlanning.FootstepPlannerOutput; import us.ihmc.footstepPlanning.FootstepPlannerRequest; import us.ihmc.footstepPlanning.FootstepPlanningModule; +import us.ihmc.footstepPlanning.FootstepPlanningResult; import us.ihmc.footstepPlanning.graphSearch.graph.visualization.BipedalFootstepPlannerNodeRejectionReason; import us.ihmc.footstepPlanning.graphSearch.parameters.InitialStanceSide; import us.ihmc.footstepPlanning.log.FootstepPlannerLogger; @@ -51,17 +53,17 @@ public void triggerPlan(ROS2SyncedRobotModel syncedRobot, SideDependentList - { - try - { - plan(started); - } - catch (Throwable throwable) - { - LogTools.error(throwable.getMessage()); - throwable.printStackTrace(); - } - }, getClass().getSimpleName() + started); + { + try + { + plan(started); + } + catch (Throwable throwable) + { + LogTools.error(throwable.getMessage()); + throwable.printStackTrace(); + } + }, getClass().getSimpleName() + started); thread.start(); } @@ -123,13 +125,32 @@ else if (definition.getPlannerInitialStanceSide().getValue() == InitialStanceSid if (!isPreviewPlanner) state.getLogger().info("Planning footsteps..."); + FootstepPlannerOutput footstepPlannerOutput = footstepPlanner.handleRequest(footstepPlannerRequest, isPreviewPlanner); - FootstepPlan footstepPlan = footstepPlannerOutput == null ? new FootstepPlan() : footstepPlannerOutput.getFootstepPlan(); - if (!isPreviewPlanner) - state.getLogger().info("Footstep planner completed with {}, {} step(s)", footstepPlannerOutput.getFootstepPlanningResult(), footstepPlan.getNumberOfSteps()); + boolean plannerBusy = footstepPlannerOutput == null; + boolean foundSolution = !plannerBusy && footstepPlannerOutput.getFootstepPlanningResult() == FootstepPlanningResult.FOUND_SOLUTION; - FootstepPlan footstepPlanResult; - if (footstepPlan.getNumberOfSteps() < 1) // failed + while (plannerBusy) // Retry until planner is free + { + if (isPreviewPlanner) + return; // We don't need to do anything else here, another one will get scheduled + + state.getLogger().info("Planner already running. Trying again in 1 s... (Planner timeout is %.1f s)".formatted(footstepPlannerRequest.getTimeout())); + + ThreadTools.parkAtLeast(1.0); + footstepPlannerOutput = footstepPlanner.handleRequest(footstepPlannerRequest, isPreviewPlanner); + plannerBusy = footstepPlannerOutput == null; + foundSolution = !plannerBusy && footstepPlannerOutput.getFootstepPlanningResult() == FootstepPlanningResult.FOUND_SOLUTION; + } + + if (foundSolution) + { + if (!isPreviewPlanner) + state.getLogger().info("Footstep planner completed with {}, {} step(s)", + footstepPlannerOutput.getFootstepPlanningResult(), + footstepPlannerOutput.getFootstepPlan().getNumberOfSteps()); + } + else { FootstepPlannerRejectionReasonReport rejectionReasonReport = new FootstepPlannerRejectionReasonReport(footstepPlanner); rejectionReasonReport.update(); @@ -138,23 +159,20 @@ else if (definition.getPlannerInitialStanceSide().getValue() == InitialStanceSid double rejectionPercentage = rejectionReasonReport.getRejectionReasonPercentage(reason); state.getLogger().info("Rejection {}%: {}", FormattingTools.getFormattedToSignificantFigures(rejectionPercentage, 3), reason); } - state.getLogger().info("Footstep planning failure..."); - - footstepPlanResult = new FootstepPlan(); + state.getLogger().info("Footstep planning failed with {}, {} step(s)", footstepPlannerOutput.getFootstepPlanningResult(), + footstepPlannerOutput.getFootstepPlan().getNumberOfSteps()); } - else - { - for (int i = 0; i < footstepPlan.getNumberOfSteps(); i++) - { - if (i == 0) - footstepPlan.getFootstep(i).setTransferDuration(definition.getTransferDuration() / 2.0); - else - footstepPlan.getFootstep(i).setTransferDuration(definition.getTransferDuration()); - footstepPlan.getFootstep(i).setSwingDuration(definition.getSwingDuration()); - } + // Copy of the output to be safe & use clean empty plan when no solution found + FootstepPlan modifiedFootstepPlan = new FootstepPlan(foundSolution ? footstepPlannerOutput.getFootstepPlan() : new FootstepPlan()); + for (int i = 0; i < modifiedFootstepPlan.getNumberOfSteps(); i++) + { + if (i == 0) + modifiedFootstepPlan.getFootstep(i).setTransferDuration(definition.getTransferDuration() / 2.0); + else + modifiedFootstepPlan.getFootstep(i).setTransferDuration(definition.getTransferDuration()); - footstepPlanResult = new FootstepPlan(footstepPlan); // Copy of the output to be safe + modifiedFootstepPlan.getFootstep(i).setSwingDuration(definition.getSwingDuration()); } if (!isPreviewPlanner) @@ -167,9 +185,9 @@ else if (definition.getPlannerInitialStanceSide().getValue() == InitialStanceSid // Prevent an ealier plan from overwriting a later one if (sequenceID > completed) { - result = footstepPlanResult; + result = modifiedFootstepPlan; completed = sequenceID; resultNotification.set(result); } } -} +} \ No newline at end of file From 658efe56b815364d37d27f55dd1026f0587c664c Mon Sep 17 00:00:00 2001 From: SravaniRamishetty Date: Mon, 7 Apr 2025 16:22:27 -0400 Subject: [PATCH 5/8] Update behavior coordination, add LLM directory. --- ihmc-interfaces/ros2ws/README.md | 2 +- .../__pycache__/llm_interface.cpython-310.pyc | Bin 0 -> 3657 bytes .../ros2ws/behavior_coordination.py | 223 +- ihmc-interfaces/ros2ws/behaviors_example.py | 28 +- ihmc-interfaces/ros2ws/llm/README.md | 92 + .../ros2ws/llm/behavior_coordination.py | 243 ++ .../ros2ws/llm/behaviors_example.py | 156 + .../ros2ws/llm/behaviors_example_v1.py | 180 ++ ihmc-interfaces/ros2ws/llm/config.json | 9 + ihmc-interfaces/ros2ws/llm/llm_interface.py | 162 + ihmc-interfaces/ros2ws/llm/llm_logs.json | 2868 +++++++++++++++++ 11 files changed, 3907 insertions(+), 56 deletions(-) create mode 100644 ihmc-interfaces/ros2ws/__pycache__/llm_interface.cpython-310.pyc create mode 100644 ihmc-interfaces/ros2ws/llm/README.md create mode 100644 ihmc-interfaces/ros2ws/llm/behavior_coordination.py create mode 100644 ihmc-interfaces/ros2ws/llm/behaviors_example.py create mode 100644 ihmc-interfaces/ros2ws/llm/behaviors_example_v1.py create mode 100644 ihmc-interfaces/ros2ws/llm/config.json create mode 100644 ihmc-interfaces/ros2ws/llm/llm_interface.py create mode 100644 ihmc-interfaces/ros2ws/llm/llm_logs.json diff --git a/ihmc-interfaces/ros2ws/README.md b/ihmc-interfaces/ros2ws/README.md index 417c964e6a1..dd956358643 100644 --- a/ihmc-interfaces/ros2ws/README.md +++ b/ihmc-interfaces/ros2ws/README.md @@ -39,4 +39,4 @@ You can also test the scene graph only by running ``` $ python3 scene_graph_example.py ``` -Observe that some scene nodes are added in the scene graph and in the scene and removed. \ No newline at end of file +Observe that some scene nodes are added in the scene graph and in the scene and removed. diff --git a/ihmc-interfaces/ros2ws/__pycache__/llm_interface.cpython-310.pyc b/ihmc-interfaces/ros2ws/__pycache__/llm_interface.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..24b8d54eccbc533c4099ed86bb331c07ea394468 GIT binary patch literal 3657 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a/ihmc-interfaces/ros2ws/behavior_coordination.py b/ihmc-interfaces/ros2ws/behavior_coordination.py index 51598200c0e..039ff8101d9 100644 --- a/ihmc-interfaces/ros2ws/behavior_coordination.py +++ b/ihmc-interfaces/ros2ws/behavior_coordination.py @@ -15,81 +15,200 @@ import cv2 import numpy as np +from llm_interface import LLMInterface + +# Example usage: +print(" Calling the LLM") +llm = LLMInterface(config_file="config.json") ros2 = {} initialized = False waiting_for_command = True +# Store the list of behaviors to execute in sequence +behavior_queue = [] +current_behavior_index = 0 + def behavior_message_callback(msg): + #print("Received AI2R Status Message") global initialized # Access the global variables global waiting_for_command + global behavior_queue + global current_behavior_index + robot_pose = msg.robot_mid_feet_under_pelvis_pose_in_world if not initialized: # --------- Scene ----------- scene_objects = msg.objects - print("Objects in the scene:") + #print("Objects in the scene:") + #print("scene_objects: ",scene_objects) if scene_objects: # This checks if the list is not empty for obj in scene_objects: id = obj.object_name - print(f"{id}") + #print(f"{id}") pose_in_world = obj.object_pose_in_world pose_wrt_robot = obj.object_pose_in_robot_frame # This is the pose specified wrt to robot_pose else: print("-") + scene_objects_name = [obj.object_name for obj in msg.objects] # --------- Behaviors ----------- behaviors = msg.available_behaviors - print("Available behaviors:") - if behaviors: - for behavior in behaviors: - print(behavior) - else: - print("-") - - # --------- Reasoning ----------- - # CAN DO SOME REASONING HERE based on objects in the scene and available behaviors - - # --------- Monitoring ----------- - completed_behavior = msg.completed_behavior - if not completed_behavior == "-": - print("Completed Behavior: " + completed_behavior) - waiting_for_command = True - else: - waiting_for_command = False - - failed_behavior = msg.failed_behavior - if failed_behavior: - print("[FAILURE] Failed behavior: " + failure_behavior) - # Failure details - failure = msg.failure - print("Description: " + failure.action_name) - print("Type: " + failure.action_type) - print("Frame: " + failure.action_frame) - - position_error = failure.position_error - # Convert Point to numpy array - error_vector = np.array([position_error.x, position_error.y, position_error.z]) - # Calculate the Euclidean norm (L2 norm) - norm = np.linalg.norm(error_vector) - print(f"The position error is: {norm}") - orientation_error = failure.orientation_error - - position_tolerance = failure.position_tolerance - orientation_tolerance = failure.orientation_tolerance - - # --------- Reasoning ----------- - # CAN DO SOME REASONING HERE based on failed behaviors - - if waiting_for_command or not initialized: - # --------- Coordination ----------- - behavior_command = AI2RCommandMessage() - # DECIDE what behavior to execute based on reasoning. For example can decide to scan environment to detect objects - behavior_command.behavior_to_execute = "GOTO" - print("Commanded Behavior: " + behavior_command.behavior_to_execute) - ros2["behavior_publisher"].publish(behavior_command) - waiting_for_command = False - initialized = True + #print("Available behaviors:") + # if behaviors: + # for behavior in behaviors: + # print(behavior) + # else: + # print("-") + + + # Get available behaviors + available_behaviors = msg.available_behaviors + + # Completed and failed behaviors + completed_behavior = msg.completed_behavior + failed_behavior = msg.failed_behavior + #initialized = True + + #print("current_behavior_index: ", current_behavior_index) + + if completed_behavior and completed_behavior != "-": + print(f"Completed Behavior: {completed_behavior}") + waiting_for_command = True + + if failed_behavior: + print(f"[FAILURE] Failed Behavior: {failed_behavior}") + + # Construct input for LLM decision-making + llm_input = { + # "task": current_task, + "scene_objects": scene_objects_name, + "available_behaviors": available_behaviors, + "previously_executed": completed_behavior if completed_behavior != "-" else "", + "failed_behaviors": failed_behavior if failed_behavior else "", + } + + if waiting_for_command: + # Convert the input to a string for LLM processing + llm_input = str(llm_input) + + print("LLM Input for reasoning:", llm_input) + + # Query LLM for next action + response = llm.call_model(llm_input) + print("LLM Response:", response) + + next_behavior = response.strip() + + # Check if the LLM suggests a valid action + if waiting_for_command: + if (next_behavior in available_behaviors): + # Execute the suggested behavior + behavior_command = AI2RCommandMessage() + behavior_command.behavior_to_execute = next_behavior + print(f"Commanded Behavior: {next_behavior}") + ros2["behavior_publisher"].publish(behavior_command) + waiting_for_command = False + current_behavior_index += 1 # Move to the next behavior in the queue + + else: + print("[WARNING] LLM suggested an invalid action or no action needed.") + + + # # Get available behaviors once at initialization + # behavior_queue = msg.available_behaviors + # print("Available behaviors:", behavior_queue) + + # if not behavior_queue: + # print("[ERROR] No available behaviors.") + # return + + # initialized = True + # current_behavior_index = 0 # Start from the first behavior + + # # Monitor behavior execution + # completed_behavior = msg.completed_behavior + # if completed_behavior and completed_behavior in behavior_queue: + # print(f"Completed Behavior: {completed_behavior}") + # waiting_for_command = True + # current_behavior_index += 1 # Move to the next behavior + + # if current_behavior_index < len(behavior_queue) and waiting_for_command: + # # Execute the next behavior in the list + # behavior_command = AI2RCommandMessage() + # behavior_command.behavior_to_execute = behavior_queue[current_behavior_index] + # print(f"Commanded Behavior: {behavior_command.behavior_to_execute}") + # ros2["behavior_publisher"].publish(behavior_command) + + # waiting_for_command = False # Wait until the behavior completes + + # if not initialized: + # # --------- Scene ----------- + # scene_objects = msg.objects + # print("Objects in the scene:") + # #print("scene_objects: ",scene_objects) + # if scene_objects: # This checks if the list is not empty + # for obj in scene_objects: + # id = obj.object_name + # print(f"{id}") + # pose_in_world = obj.object_pose_in_world + # pose_wrt_robot = obj.object_pose_in_robot_frame # This is the pose specified wrt to robot_pose + # else: + # print("-") + + # # --------- Behaviors ----------- + # behaviors = msg.available_behaviors + # print("Available behaviors:") + # if behaviors: + # for behavior in behaviors: + # print(behavior) + # else: + # print("-") + + # # --------- Reasoning ----------- + # # CAN DO SOME REASONING HERE based on objects in the scene and available behaviors + + # # --------- Monitoring ----------- + # completed_behavior = msg.completed_behavior + # if not completed_behavior == "-": + # print("Completed Behavior: " + completed_behavior) + # waiting_for_command = True + # else: + # waiting_for_command = False + + # failed_behavior = msg.failed_behavior + # if failed_behavior: + # print("[FAILURE] Failed behavior: " + failure_behavior) + # # Failure details + # failure = msg.failure + # print("Description: " + failure.action_name) + # print("Type: " + failure.action_type) + # print("Frame: " + failure.action_frame) + + # position_error = failure.position_error + # # Convert Point to numpy array + # error_vector = np.array([position_error.x, position_error.y, position_error.z]) + # # Calculate the Euclidean norm (L2 norm) + # norm = np.linalg.norm(error_vector) + # print(f"The position error is: {norm}") + # orientation_error = failure.orientation_error + + # position_tolerance = failure.position_tolerance + # orientation_tolerance = failure.orientation_tolerance + + # # --------- Reasoning ----------- + # # CAN DO SOME REASONING HERE based on failed behaviors + + # if waiting_for_command or not initialized: + # # --------- Coordination ----------- + # behavior_command = AI2RCommandMessage() + # # DECIDE what behavior to execute based on reasoning. For example can decide to scan environment to detect objects + # behavior_command.behavior_to_execute = "GOTO" + # print("Commanded Behavior: " + behavior_command.behavior_to_execute) + # ros2["behavior_publisher"].publish(behavior_command) + # waiting_for_command = False + # initialized = True def main(args=None): diff --git a/ihmc-interfaces/ros2ws/behaviors_example.py b/ihmc-interfaces/ros2ws/behaviors_example.py index 4b56dcdc430..cf224f698c3 100644 --- a/ihmc-interfaces/ros2ws/behaviors_example.py +++ b/ihmc-interfaces/ros2ws/behaviors_example.py @@ -15,6 +15,14 @@ import cv2 import numpy as np +from llm_interface import LLMInterface + +# Example usage: +print(" Calling the LLM") +llm = LLMInterface(config_file="config.json") + + + ros2 = {} @@ -45,6 +53,20 @@ def behavior_message_callback(msg): # --------- Reasoning ----------- # CAN DO SOME REASONING HERE based on objects in the scene and available behaviors + behaviors_str = str(behaviors) +# messages = [ +# { +# "role": "assistant", +# "content": behaviors_str +# }, +# { +# "role": "user", +# "content": "Summarize all the behaviors in one paragraph" +# } +# ] +# answer = llama32(messages) + response = llm.call_model(behaviors_str) + print("Summarized behaviors: ",response) # --------- Monitoring ----------- completed_behavior = msg.completed_behavior @@ -75,12 +97,12 @@ def behavior_message_callback(msg): # --------- Coordination / Adaptation ----------- behavior_command = AI2RCommandMessage() # DECIDE what behavior to execute based on reasoning. For example can decide to navigate to a specific object - behavior_command.behavior_to_execute = "goto" + behavior_command.behavior_to_execute = "GOTO" # Update the go to behavior to navigate to whatever object or whenever in space according to reasoning new_goto_behavior = AI2RNavigationMessage() # Set the reference frame name - can copy from scene_objects.obj_name - new_goto_behavior.reference_frame_name = "your_reference_frame" + new_goto_behavior.reference_frame_name = "Charge1" # Set the goal stance point - where the robot stance is positioned (position only, no orientation) wrt to the reference_frame_name new_goto_behavior.goal_stance_point = Point(x=1.0, y=2.0, z=0.0) # Set the goal focal point - where the stance is facing (how it is oriented) wrt to the reference_frame_name @@ -92,7 +114,7 @@ def behavior_message_callback(msg): # Set the name of the action. COPY THAT from failed_behavior message new_hand_pose_action.action_name = "action_to_modify" # Set the reference frame name - can copy from scene_objects.obj_name - new_hand_pose_action.reference_frame_name = "your_reference_frame" + new_hand_pose_action.reference_frame_name = "Barrier1" # Set the new position new_hand_pose_action.new_position = Point(x=1.0, y=2.0, z=3.0) # Set the new orientation diff --git a/ihmc-interfaces/ros2ws/llm/README.md b/ihmc-interfaces/ros2ws/llm/README.md new file mode 100644 index 00000000000..2ef6b878597 --- /dev/null +++ b/ihmc-interfaces/ros2ws/llm/README.md @@ -0,0 +1,92 @@ +# Behavior System Examples +These examples should provide insight on how to communicate with the robot (hardware, or simulation) over IHMC's ROS2 interfaces. +This directory can be treated as a colcon workspace. + +Use +``` +$ ./compile_interfaces.sh +``` +to compile the IHMC ROS2 interfaces into the current colcon workspace (this directory). + +After compiling the IHMC ROS2 interfaces, run +``` +$ source install/setup.bash +``` + +Ensure you've set `ROS_DOMAIN_ID` equal to `RTPSDomainID` in `~/.ihmc/IHMCNetworkParameters.ini`. If +you have not created or edited this file, run `NetworkParametersCreator` and set `RTPSDomainID` and +`RTPSSubnet`. +``` +$ export ROS_DOMAIN_ID=99 # Change to the domain ID you've set in IHMCNetworkParameters.ini +``` + +## Running examples +After setting up the colcon workspace and launching `RDXBehaviorSimulationUI`, you are ready to +test that everything's working correctly. + +Requirements (install via pip): +- rclpy +- opencv-python + +In the UI, locate the Behavior Panel and click on AI2RDemo.json to load a predefined list of behaviors. +Then run the module that hosts the reasoning for coordinating the behaviors: +``` +$ python3 behaviors_example.py +``` +Edit the file to coordinate the robot behaviors according to your custom reasoning/heuristics + +You can also test the scene graph only by running +``` +$ python3 scene_graph_example.py +``` +Observe that some scene nodes are added in the scene graph and in the scene and removed. + + +## Errors while running examples +1. /usr/bin/python3.10 behaviors_example.py +Traceback (most recent call last): + File "/home/sravani/nadia/repository-group/ihmc-open-robotics-software/ihmc-interfaces/ros2ws/behaviors_example.py", line 10, in + from behavior_msgs.msg import AI2RCommandMessage +ModuleNotFoundError: No module named 'behavior_msgs' + +Solution: Run + source ~/nadia/repository-group/ihmc-open-robotics-software/ihmc-interfaces/ros2ws/install/setup.bash + +Error: No output + +Solution: export ROS_DOMAIN_ID=32 + +So Order is: + 1. source ~/nadia/repository-group/ihmc-open-robotics-software/ihmc-interfaces/ros2ws/install/setup.bash + 2. export ROS_DOMAIN_ID=32 + 3. /usr/bin/python3.10 behaviors_example.py + +2. API Key Calling +#os.environ["TOGETHER_API_KEY"] = "" + +Do any of the below steps: + 1. export TOGETHER_API_KEY="" + before running script + + 2. echo 'export TOGETHER_API_KEY=""' >> ~/.bashrc + source ~/.bashrc + +3. Current output + + Calling the LLM +Objects in the scene: +scene_objects: [behavior_msgs.msg.AI2RObjectMessage(object_name='DoorLever1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.70865, y=2.41354, z=0.88848), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6919510436971168, w=0.721944425234014)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=-1.2498131093700098, y=1.589958399588408, z=1.0318632493409556), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.7033781153636404, w=0.7108158881366492))), behavior_msgs.msg.AI2RObjectMessage(object_name='DoorPanel1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.03492, y=2.41911, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.7216816418936234, w=0.6922251134954033)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=-0.9235314578794593, y=1.5851188024358236, z=0.14338324934095564), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.710548766780828, w=0.7036479588730749))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.28347, y=-1.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=-0.8023092073183835, y=-2.408759857321994, z=0.14338324934095564), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.86646944047566, w=0.4992301160004239))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person2', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=5.49537, y=-3.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.344164200580669, y=-4.510189538130781, z=0.14338324934095564), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.86646944047566, w=0.4992301160004239))), behavior_msgs.msg.AI2RObjectMessage(object_name='Charge1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.66921, y=-1.70972, z=1.00789), orientation=geometry_msgs.msg.Quaternion(x=-0.013204441066068408, y=-0.0016826147121791343, z=0.9918906986491487, w=0.1263948316869275)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=-1.420749239716663, y=-2.529945650330972, z=1.1512732493409557), orientation=geometry_msgs.msg.Quaternion(x=-0.01322959920961659, y=-0.00147178833051073, z=0.9897485071733179, w=0.14219952212314854))), behavior_msgs.msg.AI2RObjectMessage(object_name='Barrier1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3007, y=-0.68487, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.6844199937260306, w=0.7290879728729999)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=-0.7568917607336343, y=-1.5257592183382385, z=0.14338324934095564), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.6727038919177455, w=0.7399118013646748)))] +DoorLever1 +DoorPanel1 +Person1 +Person2 +Charge1 +Barrier1 +Available behaviors: +GOTO +SCAN +PICK UP CHARGE +PLACE CHARGE ON DOOR +Completed Behavior: GOTO +Commanded Behavior: GOTO + diff --git a/ihmc-interfaces/ros2ws/llm/behavior_coordination.py b/ihmc-interfaces/ros2ws/llm/behavior_coordination.py new file mode 100644 index 00000000000..039ff8101d9 --- /dev/null +++ b/ihmc-interfaces/ros2ws/llm/behavior_coordination.py @@ -0,0 +1,243 @@ +import os +import time +import threading + +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy +from geometry_msgs.msg import Point +from geometry_msgs.msg import Quaternion +from behavior_msgs.msg import AI2RCommandMessage +from behavior_msgs.msg import AI2RObjectMessage +from behavior_msgs.msg import AI2RStatusMessage +from behavior_msgs.msg import AI2RNavigationMessage +from behavior_msgs.msg import AI2RHandPoseAdaptationMessage + +import cv2 +import numpy as np +from llm_interface import LLMInterface + +# Example usage: +print(" Calling the LLM") +llm = LLMInterface(config_file="config.json") + +ros2 = {} +initialized = False +waiting_for_command = True + +# Store the list of behaviors to execute in sequence +behavior_queue = [] +current_behavior_index = 0 + +def behavior_message_callback(msg): + #print("Received AI2R Status Message") + global initialized # Access the global variables + global waiting_for_command + global behavior_queue + global current_behavior_index + + robot_pose = msg.robot_mid_feet_under_pelvis_pose_in_world + + if not initialized: + # --------- Scene ----------- + scene_objects = msg.objects + #print("Objects in the scene:") + #print("scene_objects: ",scene_objects) + if scene_objects: # This checks if the list is not empty + for obj in scene_objects: + id = obj.object_name + #print(f"{id}") + pose_in_world = obj.object_pose_in_world + pose_wrt_robot = obj.object_pose_in_robot_frame # This is the pose specified wrt to robot_pose + else: + print("-") + scene_objects_name = [obj.object_name for obj in msg.objects] + + # --------- Behaviors ----------- + behaviors = msg.available_behaviors + #print("Available behaviors:") + # if behaviors: + # for behavior in behaviors: + # print(behavior) + # else: + # print("-") + + + # Get available behaviors + available_behaviors = msg.available_behaviors + + # Completed and failed behaviors + completed_behavior = msg.completed_behavior + failed_behavior = msg.failed_behavior + #initialized = True + + #print("current_behavior_index: ", current_behavior_index) + + if completed_behavior and completed_behavior != "-": + print(f"Completed Behavior: {completed_behavior}") + waiting_for_command = True + + if failed_behavior: + print(f"[FAILURE] Failed Behavior: {failed_behavior}") + + # Construct input for LLM decision-making + llm_input = { + # "task": current_task, + "scene_objects": scene_objects_name, + "available_behaviors": available_behaviors, + "previously_executed": completed_behavior if completed_behavior != "-" else "", + "failed_behaviors": failed_behavior if failed_behavior else "", + } + + if waiting_for_command: + # Convert the input to a string for LLM processing + llm_input = str(llm_input) + + print("LLM Input for reasoning:", llm_input) + + # Query LLM for next action + response = llm.call_model(llm_input) + print("LLM Response:", response) + + next_behavior = response.strip() + + # Check if the LLM suggests a valid action + if waiting_for_command: + if (next_behavior in available_behaviors): + # Execute the suggested behavior + behavior_command = AI2RCommandMessage() + behavior_command.behavior_to_execute = next_behavior + print(f"Commanded Behavior: {next_behavior}") + ros2["behavior_publisher"].publish(behavior_command) + waiting_for_command = False + current_behavior_index += 1 # Move to the next behavior in the queue + + else: + print("[WARNING] LLM suggested an invalid action or no action needed.") + + + # # Get available behaviors once at initialization + # behavior_queue = msg.available_behaviors + # print("Available behaviors:", behavior_queue) + + # if not behavior_queue: + # print("[ERROR] No available behaviors.") + # return + + # initialized = True + # current_behavior_index = 0 # Start from the first behavior + + # # Monitor behavior execution + # completed_behavior = msg.completed_behavior + # if completed_behavior and completed_behavior in behavior_queue: + # print(f"Completed Behavior: {completed_behavior}") + # waiting_for_command = True + # current_behavior_index += 1 # Move to the next behavior + + # if current_behavior_index < len(behavior_queue) and waiting_for_command: + # # Execute the next behavior in the list + # behavior_command = AI2RCommandMessage() + # behavior_command.behavior_to_execute = behavior_queue[current_behavior_index] + # print(f"Commanded Behavior: {behavior_command.behavior_to_execute}") + # ros2["behavior_publisher"].publish(behavior_command) + + # waiting_for_command = False # Wait until the behavior completes + + # if not initialized: + # # --------- Scene ----------- + # scene_objects = msg.objects + # print("Objects in the scene:") + # #print("scene_objects: ",scene_objects) + # if scene_objects: # This checks if the list is not empty + # for obj in scene_objects: + # id = obj.object_name + # print(f"{id}") + # pose_in_world = obj.object_pose_in_world + # pose_wrt_robot = obj.object_pose_in_robot_frame # This is the pose specified wrt to robot_pose + # else: + # print("-") + + # # --------- Behaviors ----------- + # behaviors = msg.available_behaviors + # print("Available behaviors:") + # if behaviors: + # for behavior in behaviors: + # print(behavior) + # else: + # print("-") + + # # --------- Reasoning ----------- + # # CAN DO SOME REASONING HERE based on objects in the scene and available behaviors + + # # --------- Monitoring ----------- + # completed_behavior = msg.completed_behavior + # if not completed_behavior == "-": + # print("Completed Behavior: " + completed_behavior) + # waiting_for_command = True + # else: + # waiting_for_command = False + + # failed_behavior = msg.failed_behavior + # if failed_behavior: + # print("[FAILURE] Failed behavior: " + failure_behavior) + # # Failure details + # failure = msg.failure + # print("Description: " + failure.action_name) + # print("Type: " + failure.action_type) + # print("Frame: " + failure.action_frame) + + # position_error = failure.position_error + # # Convert Point to numpy array + # error_vector = np.array([position_error.x, position_error.y, position_error.z]) + # # Calculate the Euclidean norm (L2 norm) + # norm = np.linalg.norm(error_vector) + # print(f"The position error is: {norm}") + # orientation_error = failure.orientation_error + + # position_tolerance = failure.position_tolerance + # orientation_tolerance = failure.orientation_tolerance + + # # --------- Reasoning ----------- + # # CAN DO SOME REASONING HERE based on failed behaviors + + # if waiting_for_command or not initialized: + # # --------- Coordination ----------- + # behavior_command = AI2RCommandMessage() + # # DECIDE what behavior to execute based on reasoning. For example can decide to scan environment to detect objects + # behavior_command.behavior_to_execute = "GOTO" + # print("Commanded Behavior: " + behavior_command.behavior_to_execute) + # ros2["behavior_publisher"].publish(behavior_command) + # waiting_for_command = False + # initialized = True + + +def main(args=None): + rclpy.init(args=args) + + qos_profile_reliable = QoSProfile( + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1 + ) + + node = rclpy.create_node('behavior_coordination_node') + ros2["node"] = node + + behavior_subscriber = node.create_subscription(AI2RStatusMessage, + '/ihmc/behavior_tree/ai2r_status', + behavior_message_callback, qos_profile_reliable) + ros2["behavior_subscriber"] = behavior_subscriber + + behavior_publisher = node.create_publisher(AI2RCommandMessage, + '/ihmc/behavior_tree/ai2r_command', + qos_profile_reliable) + ros2["behavior_publisher"] = behavior_publisher + + # Wait until interrupt + try: + rclpy.spin(node) + except KeyboardInterrupt: + node.destroy_node() + +if __name__ == '__main__': + main() diff --git a/ihmc-interfaces/ros2ws/llm/behaviors_example.py b/ihmc-interfaces/ros2ws/llm/behaviors_example.py new file mode 100644 index 00000000000..cf224f698c3 --- /dev/null +++ b/ihmc-interfaces/ros2ws/llm/behaviors_example.py @@ -0,0 +1,156 @@ +import os +import time +import threading + +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy +from geometry_msgs.msg import Point +from geometry_msgs.msg import Quaternion +from behavior_msgs.msg import AI2RCommandMessage +from behavior_msgs.msg import AI2RObjectMessage +from behavior_msgs.msg import AI2RStatusMessage +from behavior_msgs.msg import AI2RNavigationMessage +from behavior_msgs.msg import AI2RHandPoseAdaptationMessage + +import cv2 +import numpy as np +from llm_interface import LLMInterface + +# Example usage: +print(" Calling the LLM") +llm = LLMInterface(config_file="config.json") + + + + +ros2 = {} + +def behavior_message_callback(msg): + print("Received AI2R Status Message") + robot_pose = msg.robot_mid_feet_under_pelvis_pose_in_world + + # --------- Behaviors ----------- + behaviors = msg.available_behaviors + print("Available behaviors:") + if behaviors: + for behavior in behaviors: + print(behavior) + else: + print("-") + + # --------- Scene ----------- + scene_objects = msg.objects + print("Objects in the scene:") + if scene_objects: # This checks if the list is not empty + for obj in scene_objects: + id = obj.object_name + print(f"{id}") + pose_in_world = obj.object_pose_in_world + pose_wrt_robot = obj.object_pose_in_robot_frame # This is the pose specified wrt to robot_pose + else: + print("-") + + # --------- Reasoning ----------- + # CAN DO SOME REASONING HERE based on objects in the scene and available behaviors + behaviors_str = str(behaviors) +# messages = [ +# { +# "role": "assistant", +# "content": behaviors_str +# }, +# { +# "role": "user", +# "content": "Summarize all the behaviors in one paragraph" +# } +# ] +# answer = llama32(messages) + response = llm.call_model(behaviors_str) + print("Summarized behaviors: ",response) + + # --------- Monitoring ----------- + completed_behavior = msg.completed_behavior + print("Completed Behavior: " + completed_behavior) + failed_behavior = msg.failed_behavior + if failed_behavior: + print("[FAILURE] Failed behavior: " + failure_behavior) + # Failure details + failure = msg.failure + print("Description: " + failure.action_name) + print("Type: " + failure.action_type) + print("Frame: " + failure.action_frame) + + position_error = failure.position_error + # Convert Point to numpy array + error_vector = np.array([position_error.x, position_error.y, position_error.z]) + # Calculate the Euclidean norm (L2 norm) + norm = np.linalg.norm(error_vector) + print(f"The position error is: {norm}") + orientation_error = failure.orientation_error + + position_tolerance = failure.position_tolerance + orientation_tolerance = failure.orientation_tolerance + + # --------- Reasoning ----------- + # CAN DO SOME REASONING HERE based on failed behaviors + + # --------- Coordination / Adaptation ----------- + behavior_command = AI2RCommandMessage() + # DECIDE what behavior to execute based on reasoning. For example can decide to navigate to a specific object + behavior_command.behavior_to_execute = "GOTO" + + # Update the go to behavior to navigate to whatever object or whenever in space according to reasoning + new_goto_behavior = AI2RNavigationMessage() + # Set the reference frame name - can copy from scene_objects.obj_name + new_goto_behavior.reference_frame_name = "Charge1" + # Set the goal stance point - where the robot stance is positioned (position only, no orientation) wrt to the reference_frame_name + new_goto_behavior.goal_stance_point = Point(x=1.0, y=2.0, z=0.0) + # Set the goal focal point - where the stance is facing (how it is oriented) wrt to the reference_frame_name + new_goto_behavior.goal_focal_point = Point(x=3.0, y=4.0, z=0.0) + behavior_command.navigation = new_goto_behavior + + # CAN EDIT HAND POSE ACTION, IF failed behavior has failed because of that action + new_hand_pose_action = AI2RHandPoseAdaptationMessage() + # Set the name of the action. COPY THAT from failed_behavior message + new_hand_pose_action.action_name = "action_to_modify" + # Set the reference frame name - can copy from scene_objects.obj_name + new_hand_pose_action.reference_frame_name = "Barrier1" + # Set the new position + new_hand_pose_action.new_position = Point(x=1.0, y=2.0, z=3.0) + # Set the new orientation + new_hand_pose_action.new_orientation = Quaternion(x=0.0, y=0.0, z=0.0, w=1.0) + behavior_command.hand_pose_adaptation = new_hand_pose_action + + ros2["behavior_publisher"].publish(behavior_command) + + +def main(args=None): + rclpy.init(args=args) + + qos_profile_reliable = QoSProfile( + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1 + ) + + node = rclpy.create_node('behavior_coordination_node') + ros2["node"] = node + + behavior_subscriber = node.create_subscription(AI2RStatusMessage, + '/ihmc/behavior_tree/ai2r_status', + behavior_message_callback, qos_profile_reliable) + ros2["behavior_subscriber"] = behavior_subscriber + + behavior_publisher = node.create_publisher(AI2RCommandMessage, + '/ihmc/behavior_tree/ai2r_command', + qos_profile_reliable) + ros2["behavior_publisher"] = behavior_publisher + + # Wait until interrupt + try: + rclpy.spin(node) + except KeyboardInterrupt: + node.destroy_node() + +if __name__ == '__main__': + main() diff --git a/ihmc-interfaces/ros2ws/llm/behaviors_example_v1.py b/ihmc-interfaces/ros2ws/llm/behaviors_example_v1.py new file mode 100644 index 00000000000..4f7f8a5aba4 --- /dev/null +++ b/ihmc-interfaces/ros2ws/llm/behaviors_example_v1.py @@ -0,0 +1,180 @@ +import os +import time +import threading + +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy +from geometry_msgs.msg import Point +from geometry_msgs.msg import Quaternion +from behavior_msgs.msg import AI2RCommandMessage +from behavior_msgs.msg import AI2RObjectMessage +from behavior_msgs.msg import AI2RStatusMessage +from behavior_msgs.msg import AI2RNavigationMessage +from behavior_msgs.msg import AI2RHandPoseAdaptationMessage + +import cv2 +import numpy as np + +# LLM API imports +from together import Together +import os +import requests +import json + +# Get a free API key from https://api.together.xyz/settings/api-keys +os.environ["TOGETHER_API_KEY"] = "1c7f74e3619d28067c154d33480d4063a8dff40b2cf3278312c905e38a796361" + +def llama32(messages, model_size=3): + model = f"meta-llama/Llama-3.2-{model_size}B-Instruct-Turbo" + url = "https://api.together.xyz/v1/chat/completions" + payload = { + "model": model, + "max_tokens": 4096, + "temperature": 0.0, + "stop": ["<|eot_id|>","<|eom_id|>"], + "messages": messages + } + + headers = { + "Accept": "application/json", + "Content-Type": "application/json", + "Authorization": "Bearer " + os.environ["TOGETHER_API_KEY"] + } + res = json.loads(requests.request("POST", url, headers=headers, data=json.dumps(payload)).content) + + if 'error' in res: + raise Exception(res['error']) + + return res['choices'][0]['message']['content'] + + +ros2 = {} + +def behavior_message_callback(msg): + print("Received AI2R Status Message") + robot_pose = msg.robot_mid_feet_under_pelvis_pose_in_world + + # --------- Behaviors ----------- + behaviors = msg.available_behaviors + print("Available behaviors:") + if behaviors: + for behavior in behaviors: + print(behavior) + else: + print("-") + + # --------- Scene ----------- + scene_objects = msg.objects + print("Objects in the scene:") + if scene_objects: # This checks if the list is not empty + for obj in scene_objects: + id = obj.object_name + print(f"{id}") + pose_in_world = obj.object_pose_in_world + pose_wrt_robot = obj.object_pose_in_robot_frame # This is the pose specified wrt to robot_pose + else: + print("-") + + # --------- Reasoning ----------- + # CAN DO SOME REASONING HERE based on objects in the scene and available behaviors + behaviors_str = str(behaviors) + messages = [ + { + "role": "assistant", + "content": behaviors_str + }, + { + "role": "user", + "content": "Summarize all the behaviors in one paragraph" + } + ] + answer = llama32(messages) + print("Summarized behaviors: ",answer) + + # --------- Monitoring ----------- + completed_behavior = msg.completed_behavior + print("Completed Behavior: " + completed_behavior) + failed_behavior = msg.failed_behavior + if failed_behavior: + print("[FAILURE] Failed behavior: " + failure_behavior) + # Failure details + failure = msg.failure + print("Description: " + failure.action_name) + print("Type: " + failure.action_type) + print("Frame: " + failure.action_frame) + + position_error = failure.position_error + # Convert Point to numpy array + error_vector = np.array([position_error.x, position_error.y, position_error.z]) + # Calculate the Euclidean norm (L2 norm) + norm = np.linalg.norm(error_vector) + print(f"The position error is: {norm}") + orientation_error = failure.orientation_error + + position_tolerance = failure.position_tolerance + orientation_tolerance = failure.orientation_tolerance + + # --------- Reasoning ----------- + # CAN DO SOME REASONING HERE based on failed behaviors + + # --------- Coordination / Adaptation ----------- + behavior_command = AI2RCommandMessage() + # DECIDE what behavior to execute based on reasoning. For example can decide to navigate to a specific object + behavior_command.behavior_to_execute = "GOTO" + + # Update the go to behavior to navigate to whatever object or whenever in space according to reasoning + new_goto_behavior = AI2RNavigationMessage() + # Set the reference frame name - can copy from scene_objects.obj_name + new_goto_behavior.reference_frame_name = "Charge1" + # Set the goal stance point - where the robot stance is positioned (position only, no orientation) wrt to the reference_frame_name + new_goto_behavior.goal_stance_point = Point(x=1.0, y=2.0, z=0.0) + # Set the goal focal point - where the stance is facing (how it is oriented) wrt to the reference_frame_name + new_goto_behavior.goal_focal_point = Point(x=3.0, y=4.0, z=0.0) + behavior_command.navigation = new_goto_behavior + + # CAN EDIT HAND POSE ACTION, IF failed behavior has failed because of that action + new_hand_pose_action = AI2RHandPoseAdaptationMessage() + # Set the name of the action. COPY THAT from failed_behavior message + new_hand_pose_action.action_name = "action_to_modify" + # Set the reference frame name - can copy from scene_objects.obj_name + new_hand_pose_action.reference_frame_name = "Barrier1" + # Set the new position + new_hand_pose_action.new_position = Point(x=1.0, y=2.0, z=3.0) + # Set the new orientation + new_hand_pose_action.new_orientation = Quaternion(x=0.0, y=0.0, z=0.0, w=1.0) + behavior_command.hand_pose_adaptation = new_hand_pose_action + + ros2["behavior_publisher"].publish(behavior_command) + + +def main(args=None): + rclpy.init(args=args) + + qos_profile_reliable = QoSProfile( + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1 + ) + + node = rclpy.create_node('behavior_coordination_node') + ros2["node"] = node + + behavior_subscriber = node.create_subscription(AI2RStatusMessage, + '/ihmc/behavior_tree/ai2r_status', + behavior_message_callback, qos_profile_reliable) + ros2["behavior_subscriber"] = behavior_subscriber + + behavior_publisher = node.create_publisher(AI2RCommandMessage, + '/ihmc/behavior_tree/ai2r_command', + qos_profile_reliable) + ros2["behavior_publisher"] = behavior_publisher + + # Wait until interrupt + try: + rclpy.spin(node) + except KeyboardInterrupt: + node.destroy_node() + +if __name__ == '__main__': + main() diff --git a/ihmc-interfaces/ros2ws/llm/config.json b/ihmc-interfaces/ros2ws/llm/config.json new file mode 100644 index 00000000000..18257bda2b5 --- /dev/null +++ b/ihmc-interfaces/ros2ws/llm/config.json @@ -0,0 +1,9 @@ +{ + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." +} diff --git a/ihmc-interfaces/ros2ws/llm/llm_interface.py b/ihmc-interfaces/ros2ws/llm/llm_interface.py new file mode 100644 index 00000000000..dd46f786649 --- /dev/null +++ b/ihmc-interfaces/ros2ws/llm/llm_interface.py @@ -0,0 +1,162 @@ +# LLM API imports +from together import Together +import os +import requests +import json +from datetime import datetime + +# Get a free API key from https://api.together.xyz/settings/api-keys + +def llama32(messages, model_size=3): + model = f"meta-llama/Llama-3.2-{model_size}B-Instruct-Turbo" + url = "https://api.together.xyz/v1/chat/completions" + payload = { + "model": model, + "max_tokens": 4096, + "temperature": 0.0, + "stop": ["<|eot_id|>","<|eom_id|>"], + "messages": messages + } + + headers = { + "Accept": "application/json", + "Content-Type": "application/json", + "Authorization": "Bearer " + os.environ["TOGETHER_API_KEY"] + } + res = json.loads(requests.request("POST", url, headers=headers, data=json.dumps(payload)).content) + + if 'error' in res: + raise Exception(res['error']) + + return res['choices'][0]['message']['content'] + + +# Create a LLM interface class +class LLMInterface: + def __init__(self, config_file): + self.load_config(config_file) + self.api_url = "https://api.together.xyz/v1/chat/completions" + self.api_key = os.environ.get("TOGETHER_API_KEY") + self.log_file = "llm_logs.json" + + def load_config(self, config_file): + with open(config_file, "r") as file: + config = json.load(file) + + self.model = config.get("model", "meta-llama/Llama-3.2-3B-Instruct-Turbo") + self.temperature = config.get("temperature", 0.0) + self.token_limit = config.get("token_limit", 4096) + self.top_k = config.get("top_k", "N/A") + self.top_p = config.get("top_p", 1.0) + self.goal = config.get("goal", "") + self.prompt = config.get("prompt", "Summarize all the behaviors in one paragraph") + + def call_model(self, llm_input): + #messages = [{"role": "user", "content": self.prompt}] + messages = [ + { + "role": "system", + "content": """ You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on: + + Scene Objects: The objects currently detected in the environment and their relationships. + + Available Behaviors: A list of actions the robot can perform. + + Task Description: The high-level goal the robot needs to accomplish.""" + }, + { + "role": "assistant", + "content": llm_input + }, + { + "role": "user", + "content": self.prompt + } + ] + + payload = { + "model": self.model, + "max_tokens": self.token_limit, + "temperature": self.temperature, + "top_k": self.top_k, + "top_p": self.top_p, + "messages": messages + } + + headers = { + "Accept": "application/json", + "Content-Type": "application/json", + "Authorization": f"Bearer {self.api_key}" + } + + response = requests.post(self.api_url, headers=headers, json=payload) + res_json = response.json() + + if 'error' in res_json: + raise Exception(res_json['error']) + + output = res_json['choices'][0]['message']['content'] + self.log_interaction(messages) + self.log_interaction(output) + + return output + + def log_interaction(self, output): + log_data = { + "timestamp": datetime.now().isoformat(), + "model": self.model, + "temperature": self.temperature, + "token_limit": self.token_limit, + "top_k": self.top_k, + "top_p": self.top_p, + "goal": self.goal, + "prompt": self.prompt, + "output": output + } + + try: + if os.path.exists(self.log_file): + with open(self.log_file, "r") as file: + logs = json.load(file) + else: + logs = [] + except json.JSONDecodeError: + logs = [] + + logs.append(log_data) + + with open(self.log_file, "w") as file: + json.dump(logs, file, indent=4) + +# Example usage: +# print(" Calling the LLM") +# llm = LLMInterface(config_file="config.json") +# response = llm.call_model(behaviors_str) +# print(response) + + + # # Get available behaviors once at initialization + # behavior_queue = msg.available_behaviors + # print("Available behaviors:", behavior_queue) + + # if not behavior_queue: + # print("[ERROR] No available behaviors.") + # return + + # initialized = True + # current_behavior_index = 0 # Start from the first behavior + + # # Monitor behavior execution + # completed_behavior = msg.completed_behavior + # if completed_behavior and completed_behavior in behavior_queue: + # print(f"Completed Behavior: {completed_behavior}") + # waiting_for_command = True + # current_behavior_index += 1 # Move to the next behavior + + # if current_behavior_index < len(behavior_queue) and waiting_for_command: + # # Execute the next behavior in the list + # behavior_command = AI2RCommandMessage() + # behavior_command.behavior_to_execute = behavior_queue[current_behavior_index] + # print(f"Commanded Behavior: {behavior_command.behavior_to_execute}") + # ros2["behavior_publisher"].publish(behavior_command) + \ No newline at end of file diff --git a/ihmc-interfaces/ros2ws/llm/llm_logs.json b/ihmc-interfaces/ros2ws/llm/llm_logs.json new file mode 100644 index 00000000000..21afaf5a0c0 --- /dev/null +++ b/ihmc-interfaces/ros2ws/llm/llm_logs.json @@ -0,0 +1,2868 @@ +[ + { + "timestamp": "2025-04-02T14:41:19.355320", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": 40, + "top_p": 0.9, + "goal": "Assist with general knowledge queries", + "prompt": "What is the capital of France?", + "output": "The capital of France is Paris." + }, + { + "timestamp": "2025-04-02T17:08:57.797962", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with general knowledge queries", + "prompt": "What is the capital of India?", + "output": "The capital of India is New Delhi." + }, + { + "timestamp": "2025-04-02T17:08:58.599117", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 5, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with general knowledge queries", + "prompt": "What is the capital of India?", + "output": "The capital of India is" + }, + { + "timestamp": "2025-04-02T17:11:27.392149", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with general knowledge queries", + "prompt": "Summarize all the behaviors in one paragraph.", + "output": "The behaviors appear to be related to a retail or checkout process. The \"GOTO\" action suggests moving to a specific location, possibly a checkout counter. The \"SCAN\" action implies scanning items, likely using a barcode scanner or other inventory management system. The \"PICK UP CHARGE\" action involves retrieving a charge or bill, possibly for the customer's purchase. Finally, the \"PLACE CHARGE ON DOOR\" action involves attaching or affixing the charge to a door, likely a payment terminal or a display screen." + }, + { + "timestamp": "2025-04-02T18:11:06.777037", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": "To assist the robot in completing the task of picking up a charge and placing it on a door, I will provide the next action based on the given available behaviors.\n\nAvailable Behaviors:\n\n1. GOTO (Move to a specific location)\n2. SCAN (Scan the environment for a specific object or target)\n3. PICK UP CHARGE (Pick up a charge from a designated location)\n4. PLACE CHARGE ON DOOR (Place the charge on a specific door)\n\nCurrent Situation:\nThe robot needs to pick up a charge and place it on a door.\n\nNext Action:\nThe robot should first SCAN the environment to locate the door and the charge. This will help the robot to identify the correct location and ensure that it is picking up the correct charge.\n\nAction: SCAN (Search for the door and the charge)\n\nThis action will allow the robot to gather more information about its surroundings and make the next step in the task more accurate." + }, + { + "timestamp": "2025-04-02T18:11:14.847694", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": "To assist the robot in completing the task, I'll provide the next action based on the given available behaviors.\n\n**Current Situation:**\nThe robot needs to pick up a charge and place it on a door.\n\n**Available Behaviors:**\n\n1. GOTO (Move to a specific location)\n2. SCAN (Scan the environment for objects or charges)\n3. PICK UP CHARGE (Pick up a charge from the environment)\n4. PLACE CHARGE ON DOOR (Place the charge on a door)\n\n**Next Action:**\nThe robot should first SCAN the environment to locate the charge and the door.\n\n**Action:** SCAN\n\nThis action will allow the robot to identify the location of the charge and the door, enabling it to plan the next steps in the task.\n\n**Updated Available Behaviors:**\n\n1. GOTO (Move to a specific location)\n2. SCAN (Scan the environment for objects or charges)\n3. PICK UP CHARGE (Pick up a charge from the environment)\n4. PLACE CHARGE ON DOOR (Place the charge on a door)\n\nPlease let me know if you'd like me to proceed with the next action." + }, + { + "timestamp": "2025-04-03T13:31:29.424090", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': [behavior_msgs.msg.AI2RObjectMessage(object_name='DoorLever1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.70865, y=2.41354, z=0.88848), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6919510436971168, w=0.721944425234014)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.755182742811726, y=2.4135399998644864, z=0.8884799446255766), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6919510437269918, w=0.7219444252053802))), behavior_msgs.msg.AI2RObjectMessage(object_name='DoorPanel1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.03492, y=2.41911, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.7216816418936234, w=0.6922251134954033)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.081452742812187, y=2.4191099998374836, z=-5.537442351877253e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.7216816418649783, w=0.6922251135252673))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.28347, y=-1.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3300027424821326, y=-1.5688700001830866, z=-5.537442351877253e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929151934, w=0.4853463224387347))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person2', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=5.49537, y=-3.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=5.541902742316608, y=-3.568870000448911, z=-5.537442351877253e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929151934, w=0.4853463224387347))), behavior_msgs.msg.AI2RObjectMessage(object_name='Charge1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.66921, y=-1.70972, z=1.00789), orientation=geometry_msgs.msg.Quaternion(x=-0.013204441066068408, y=-0.0016826147121791343, z=0.9918906986491487, w=0.1263948316869275)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.7157427424704754, y=-1.709720000132249, z=1.0078899446255765), orientation=geometry_msgs.msg.Quaternion(x=-0.013204441066138039, y=-0.0016826147116327196, z=0.9918906986439183, w=0.12639483172797308))), behavior_msgs.msg.AI2RObjectMessage(object_name='Barrier1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3007, y=-0.68487, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.6844199937260306, w=0.7290879728729999)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3472327425552946, y=-0.6848700001845126, z=-5.537442351877253e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.68441999369586, w=0.729087972901322)))], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take." + } + ] + }, + { + "timestamp": "2025-04-03T13:31:29.424314", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": "Based on the given scene objects and available behaviors, the robot's task is to pick up a charge and place it on a door. Here's a step-by-step plan:\n\n1. **GOTO**: The robot needs to move towards the charge. The charge is located at position (1.66921, -1.70972, 1.00789) in the world frame. The robot can use the 'GOTO' behavior to move towards the charge.\n\n2. **PICK UP CHARGE**: Once the robot reaches the charge, it can use the 'PICK UP CHARGE' behavior to pick up the charge.\n\n3. **PLACE CHARGE ON DOOR**: After picking up the charge, the robot needs to move towards the door. The door is located at position (2.03492, 2.41911, 0) in the world frame. The robot can use the 'GOTO' behavior to move towards the door.\n\n4. **PLACE CHARGE ON DOOR**: Once the robot reaches the door, it can use the 'PLACE CHARGE ON DOOR' behavior to place the charge on the door.\n\nHere's the next action to take:\n\n**Action:** GOTO (move towards the charge)\n\n**Reasoning:** The robot needs to move towards the charge to start the task of picking up the charge. The 'GOTO' behavior is the most suitable action to take in this situation, as it allows the robot to move towards the charge and perform the next step in the task.\n\n**Additional Considerations:**\n\n* The robot should check for any obstacles or other objects in the environment that may interfere with its movement towards the charge.\n* The robot should also check for any other scene objects that may be relevant to the task, such as the door or other charges.\n* The robot should use its sensors to gather more information about the environment and the charge, such as its size, weight, and orientation." + }, + { + "timestamp": "2025-04-03T13:31:34.935725", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': [behavior_msgs.msg.AI2RObjectMessage(object_name='DoorLever1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.70865, y=2.41354, z=0.88848), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6919510436971168, w=0.721944425234014)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.7551827428103386, y=2.413539999868228, z=0.8884799446258723), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6919510437267147, w=0.7219444252056458))), behavior_msgs.msg.AI2RObjectMessage(object_name='DoorPanel1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.03492, y=2.41911, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.7216816418936234, w=0.6922251134954033)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.081452742810795, y=2.4191099998414756, z=-5.537412769984762e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.721681641865244, w=0.6922251135249903))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.28347, y=-1.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3300027424838023, y=-1.5688700001789042, z=-5.537412769984762e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929153797, w=0.48534632243839915))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person2', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=5.49537, y=-3.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=5.541902742319814, y=-3.5688700004422627, z=-5.537412769984762e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929153797, w=0.48534632243839915))), behavior_msgs.msg.AI2RObjectMessage(object_name='Charge1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.66921, y=-1.70972, z=1.00789), orientation=geometry_msgs.msg.Quaternion(x=-0.013204441066068408, y=-0.0016826147121791343, z=0.9918906986491487, w=0.1263948316869275)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.7157427424722536, y=-1.709720000128538, z=1.0078899446258722), orientation=geometry_msgs.msg.Quaternion(x=-0.013204441066137393, y=-0.0016826147116377882, z=0.9918906986439668, w=0.12639483172759236))), behavior_msgs.msg.AI2RObjectMessage(object_name='Barrier1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3007, y=-0.68487, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.6844199937260306, w=0.7290879728729999)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.347232742556286, y=-0.6848700001803169, z=-5.537412769984762e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.6844199936961398, w=0.7290879729010593)))], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take." + } + ] + }, + { + "timestamp": "2025-04-03T13:31:34.936028", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": "Based on the given scene objects and available behaviors, the robot's task is to pick up a charge and place it on a door. \n\nThe scene objects detected in the environment are:\n\n- DoorLever1\n- DoorPanel1\n- Person1\n- Person2\n- Charge1\n- Barrier1\n\nThe available behaviors are:\n\n- GOTO\n- SCAN\n- PICK UP CHARGE\n- PLACE CHARGE ON DOOR\n\nTo complete the task, the robot should first pick up the charge. The charge is located at position (1.66921, -1.70972, 1.00789) in the world frame.\n\nThe next action to take is to execute the 'PICK UP CHARGE' behavior. This behavior will allow the robot to move towards the charge and pick it up.\n\nHere's the reasoning:\n\n1. The robot needs to move towards the charge to pick it up.\n2. The 'PICK UP CHARGE' behavior is the most suitable action to take in this situation.\n3. The robot should execute the 'PICK UP CHARGE' behavior to pick up the charge.\n\nThe updated scene object list after executing the 'PICK UP CHARGE' behavior will be:\n\n- DoorLever1\n- DoorPanel1\n- Person1\n- Person2\n- Charge1\n- Barrier1\n\nThe updated available behaviors will be:\n\n- GOTO\n- SCAN\n- PLACE CHARGE ON DOOR\n\nThe updated previously executed behavior will be 'PICK UP CHARGE'.\n\nThe updated failed behaviors will be an empty string.\n\nThe next action to take will depend on the outcome of the 'PICK UP CHARGE' behavior. If the robot successfully picks up the charge, the next action will be to place the charge on the door." + }, + { + "timestamp": "2025-04-03T14:02:41.153631", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': [behavior_msgs.msg.AI2RObjectMessage(object_name='DoorLever1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.70865, y=2.41354, z=0.88848), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6919510436971168, w=0.721944425234014)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.7551827428095903, y=2.4135399998665177, z=0.8884799446258249), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.69195104372659, w=0.7219444252057653))), behavior_msgs.msg.AI2RObjectMessage(object_name='DoorPanel1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.03492, y=2.41911, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.7216816418936234, w=0.6922251134954033)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.081452742810045, y=2.419109999839878, z=-5.537417516188192e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.7216816418653637, w=0.6922251135248656))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.28347, y=-1.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3300027424844294, y=-1.5688700001804157, z=-5.537417516188192e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929154638, w=0.4853463224382481))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person2', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=5.49537, y=-3.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=5.541902742321132, y=-3.5688700004426646, z=-5.537417516188192e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929154638, w=0.4853463224382481))), behavior_msgs.msg.AI2RObjectMessage(object_name='Charge1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.66921, y=-1.70972, z=1.00789), orientation=geometry_msgs.msg.Quaternion(x=-0.013204441066068408, y=-0.0016826147121791343, z=0.9918906986491487, w=0.1263948316869275)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.7157427424729297, y=-1.709720000130262, z=1.0078899446258247), orientation=geometry_msgs.msg.Quaternion(x=-0.013204441066137102, y=-0.001682614711640069, z=0.9918906986439887, w=0.12639483172742105))), behavior_msgs.msg.AI2RObjectMessage(object_name='Barrier1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3007, y=-0.68487, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.6844199937260306, w=0.7290879728729999)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3472327425566073, y=-0.6848700001818225, z=-5.537417516188192e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.6844199936962658, w=0.7290879729009411)))], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take." + } + ] + }, + { + "timestamp": "2025-04-03T14:02:41.168135", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": "Based on the given scene objects and available behaviors, the robot's task is to pick up a charge and place it on a door. The scene objects detected are:\n\n- DoorLever1\n- DoorPanel1\n- Person1\n- Person2\n- Charge1\n- Barrier1\n\nThe available behaviors are:\n\n- GOTO\n- SCAN\n- PICK UP CHARGE\n- PLACE CHARGE ON DOOR\n\nTo complete the task, the robot should first pick up the charge. The next action to take is:\n\n- PICK UP CHARGE\n\nThis behavior will allow the robot to move towards the charge and grasp it. After picking up the charge, the robot can then proceed to place it on the door.\n\nHere's a possible sequence of actions:\n\n1. PICK UP CHARGE\n2. GOTO (to the door)\n3. PLACE CHARGE ON DOOR\n\nThis sequence of actions will allow the robot to complete the task of picking up a charge and placing it on a door." + }, + { + "timestamp": "2025-04-03T14:02:44.771664", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': [behavior_msgs.msg.AI2RObjectMessage(object_name='DoorLever1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.70865, y=2.41354, z=0.88848), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6919510436971168, w=0.721944425234014)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.755182742811218, y=2.4135399998672167, z=0.8884799446257756), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=-0.6919510437268555, w=0.7219444252055108))), behavior_msgs.msg.AI2RObjectMessage(object_name='DoorPanel1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.03492, y=2.41911, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.7216816418936234, w=0.6922251134954033)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.081452742811677, y=2.4191099998403374, z=-5.537422448353979e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.721681641865109, w=0.692225113525131))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.28347, y=-1.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.330002742483128, y=-1.5688700001801394, z=-5.537422448353979e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.874321992915285, w=0.48534632243856973))), behavior_msgs.msg.AI2RObjectMessage(object_name='Person2', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=5.49537, y=-3.56887, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.8743219929352777, w=0.4853463224025543)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=5.541902742318358, y=-3.568870000444751, z=-5.537422448353979e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.874321992915285, w=0.48534632243856973))), behavior_msgs.msg.AI2RObjectMessage(object_name='Charge1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.66921, y=-1.70972, z=1.00789), orientation=geometry_msgs.msg.Quaternion(x=-0.013204441066068408, y=-0.0016826147121791343, z=0.9918906986491487, w=0.1263948316869275)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=1.7157427424715244, y=-1.7097200001295336, z=1.0078899446257754), orientation=geometry_msgs.msg.Quaternion(x=-0.01320444106613772, y=-0.0016826147116352115, z=0.9918906986439422, w=0.12639483172778587))), behavior_msgs.msg.AI2RObjectMessage(object_name='Barrier1', object_pose_in_world=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3007, y=-0.68487, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.6844199937260306, w=0.7290879728729999)), object_pose_in_robot_frame=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=2.3472327425559563, y=-0.6848700001815589, z=-5.537422448353979e-08), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.6844199936959976, w=0.7290879729011929)))], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take." + } + ] + }, + { + "timestamp": "2025-04-03T14:02:44.803738", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": "Based on the given scene objects and available behaviors, the robot's task is to pick up a charge and place it on a door. The scene objects detected in the environment are:\n\n- DoorLever1\n- DoorPanel1\n- Person1\n- Person2\n- Charge1\n- Barrier1\n\nThe available behaviors are:\n\n- GOTO\n- SCAN\n- PICK UP CHARGE\n- PLACE CHARGE ON DOOR\n\nTo complete the task, the robot should first pick up the charge. The next action to take is:\n\n- PICK UP CHARGE\n\nThis behavior will allow the robot to move towards the charge and grasp it. After picking up the charge, the robot can then proceed to place it on the door.\n\nHere's a more detailed plan:\n\n1. PICK UP CHARGE\n2. GOTO (to the door)\n3. PLACE CHARGE ON DOOR\n\nThis plan assumes that the robot has a clear path to the door and that the door is accessible. The robot should also be aware of its surroundings and avoid any obstacles or people that may be in the way.\n\nHere's a more detailed plan with the robot's current pose and the pose of the charge:\n\n- PICK UP CHARGE\n - Move towards the charge (GOTO)\n - Grasp the charge (PICK UP CHARGE)\n- GOTO (to the door)\n - Move towards the door (GOTO)\n- PLACE CHARGE ON DOOR\n - Place the charge on the door (PLACE CHARGE ON DOOR)\n\nThis plan is just a suggestion and may need to be adjusted based on the robot's specific capabilities and the environment it is operating in." + }, + { + "timestamp": "2025-04-03T14:03:50.733954", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take." + } + ] + }, + { + "timestamp": "2025-04-03T14:03:50.734402", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": "Based on the given scene objects and available behaviors, the robot's current state is:\n\n{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}\n\nTo complete the task of picking up a charge and placing it on a door, the robot should first identify the charge and the door. \n\nThe next action to take is to 'SCAN' the scene objects to gather more information about the charge and the door. This will help the robot to determine the location of the charge and the door, and to identify any potential obstacles or barriers.\n\nAction: SCAN" + }, + { + "timestamp": "2025-04-03T14:03:53.743878", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take." + } + ] + }, + { + "timestamp": "2025-04-03T14:03:53.744259", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": "Based on the given scene objects and available behaviors, I will analyze the situation and decide the next action.\n\nThe robot's goal is to pick up a charge and place it on a door. The available behaviors are:\n\n1. GOTO (move to a specific location)\n2. SCAN (scan the environment for objects)\n3. PICK UP CHARGE (pick up a charge)\n4. PLACE CHARGE ON DOOR (place a charge on a door)\n\nThe scene objects detected in the environment are:\n\n1. DoorLever1\n2. DoorPanel1\n3. Person1\n4. Person2\n5. Charge1\n6. Barrier1\n\nTo complete the task, the robot needs to pick up the Charge1 and place it on the DoorPanel1. However, the robot is currently in a location where it can see the Charge1 and the DoorPanel1.\n\nThe next action to take is:\n\n**SCAN** (scan the environment for objects)\n\nThis action will allow the robot to confirm the location of the Charge1 and DoorPanel1, and also detect any other objects or obstacles in the environment that may affect the robot's movement or interaction with the objects.\n\nAfter scanning the environment, the robot can then proceed to:\n\n**PICK UP CHARGE** (pick up the Charge1)\n\nand finally:\n\n**PLACE CHARGE ON DOOR** (place the Charge1 on the DoorPanel1)" + }, + { + "timestamp": "2025-04-03T14:03:57.834172", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take." + } + ] + }, + { + "timestamp": "2025-04-03T14:03:57.834573", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Assist a robot to complete a task of picking up a charge and placing it on a door. The robot has a set of given available behaviors. Provide the next action to take.", + "output": "Based on the given scene objects and available behaviors, I will analyze the situation and decide the next action.\n\nThe robot's goal is to pick up a charge and place it on a door. The available behaviors are:\n\n1. GOTO (move to a specific location)\n2. SCAN (scan the environment for objects)\n3. PICK UP CHARGE (pick up a charge)\n4. PLACE CHARGE ON DOOR (place a charge on a door)\n\nThe scene objects detected in the environment are:\n\n1. DoorLever1\n2. DoorPanel1\n3. Person1\n4. Person2\n5. Charge1\n6. Barrier1\n\nTo complete the task, the robot needs to pick up the charge and place it on the door. However, the charge is not currently in the robot's grasp, and the door is not in the robot's current location.\n\nThe next action to take would be to:\n\n1. GOTO (move to the location of the charge) - This will allow the robot to move towards the charge and potentially pick it up.\n\nReasoning:\n\n* The robot cannot pick up the charge without moving to its location.\n* The robot cannot place the charge on the door without first picking it up.\n* The robot's current location is not near the charge, so moving to the charge's location is the most logical next step.\n\nAction: GOTO (move to the location of the charge)" + }, + { + "timestamp": "2025-04-03T14:05:33.283710", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:05:33.284129", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not explicitly provided, but based on the scene objects, it appears that the robot is in a room with a door, two people, and a charge. The available behaviors suggest that the robot can interact with the door, scan the environment, pick up the charge, or place the charge on the door.\n\nGiven the presence of a door and a charge, it is likely that the task is to place the charge on the door. Therefore, the next behavior to execute is:\n\n'PLACE CHARGE ON DOOR'" + }, + { + "timestamp": "2025-04-03T14:05:36.613899", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:05:36.614371", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not provided, but I can infer that the robot's goal is to interact with the scene objects. The available behaviors are:\n\n- GOTO: Move to a specific location\n- SCAN: Examine the scene objects\n- PICK UP CHARGE: Interact with the Charge object\n- PLACE CHARGE ON DOOR: Interact with the DoorPanel1 and DoorLever1 objects\n\nThe scene objects are:\n\n- DoorLever1: A lever on a door\n- DoorPanel1: A panel on a door\n- Person1: A person in the environment\n- Person2: A person in the environment\n- Charge1: A charge object\n\nBased on the available behaviors and scene objects, I will execute the behavior 'PLACE CHARGE ON DOOR' as it seems to be the most relevant action to the scene objects.\n\nNext Behavior: PLACE CHARGE ON DOOR" + }, + { + "timestamp": "2025-04-03T14:05:38.183106", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:05:38.183562", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not explicitly provided, but based on the scene objects, it appears that the robot is in a room with a door, two people, and a charge. The available behaviors suggest that the robot can interact with the door, scan the environment, pick up the charge, or place the charge on the door.\n\nGiven the presence of a door and a charge, it is likely that the task is to place the charge on the door. Therefore, the next behavior to execute is:\n\n'PLACE CHARGE ON DOOR'" + }, + { + "timestamp": "2025-04-03T14:05:39.600833", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:05:39.601586", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not explicitly provided, but based on the scene objects, it appears that the robot is in a room with a door, two people, and a charge. The available behaviors suggest that the robot can interact with the door, scan the environment, pick up the charge, or place the charge on the door.\n\nGiven the presence of a door and a charge, it is likely that the task is to place the charge on the door. Therefore, the next behavior to execute is:\n\n'PLACE CHARGE ON DOOR'" + }, + { + "timestamp": "2025-04-03T14:05:42.840092", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:05:42.840596", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not explicitly provided, but based on the scene objects, it appears that the robot is in a room with a door, two people, and a charge. The available behaviors suggest that the robot can interact with the door, scan the environment, pick up the charge, or place the charge on the door.\n\nGiven the presence of a door and a charge, it is likely that the task is to place the charge on the door. Therefore, the next behavior to execute is:\n\n'PLACE CHARGE ON DOOR'" + }, + { + "timestamp": "2025-04-03T14:05:44.880603", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:05:44.881193", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not explicitly provided, but based on the scene objects, it appears that the robot is in a room with a door, two people, and a charge. The available behaviors suggest that the robot can interact with the door, scan the environment, pick up the charge, or place the charge on the door.\n\nGiven the presence of a door and a charge, it is likely that the task is to place the charge on the door. Therefore, the next behavior to execute is:\n\n'PLACE CHARGE ON DOOR'" + }, + { + "timestamp": "2025-04-03T14:05:47.599430", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:05:47.600523", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not explicitly provided, but based on the scene objects, it appears that the robot is in a room with a door, two people, and a charge. The available behaviors suggest that the robot can interact with the door, scan the environment, pick up the charge, or place the charge on the door.\n\nGiven the presence of a door and a charge, it is likely that the task is to place the charge on the door. Therefore, the next behavior to execute is:\n\n'PLACE CHARGE ON DOOR'" + }, + { + "timestamp": "2025-04-03T14:06:02.146519", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:06:02.147438", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not provided, but I can infer that the robot's goal is to interact with the scene objects. The available behaviors are:\n\n- GOTO: Move to a specific location\n- SCAN: Examine the scene objects\n- PICK UP CHARGE: Interact with the Charge object\n- PLACE CHARGE ON DOOR: Interact with the DoorPanel1 and DoorLever1 objects\n\nThe scene objects are:\n\n- DoorLever1: A lever on a door\n- DoorPanel1: A panel on a door\n- Person1: A person in the environment\n- Person2: A person in the environment\n- Charge1: A charge object\n\nBased on the available behaviors and scene objects, the next action could be to place the charge on the door. This action requires the robot to interact with the DoorPanel1 and DoorLever1 objects.\n\nNext Behavior: PLACE CHARGE ON DOOR" + }, + { + "timestamp": "2025-04-03T14:06:04.693830", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:06:04.694617", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not explicitly provided, but based on the scene objects, it appears that the robot is in a room with a door, two people, and a charge. The available behaviors suggest that the robot can interact with the door, scan the environment, pick up the charge, or place the charge on the door.\n\nGiven the presence of a door and a charge, it is likely that the task is to place the charge on the door. Therefore, the next behavior to execute is:\n\n'PLACE CHARGE ON DOOR'" + }, + { + "timestamp": "2025-04-03T14:06:06.797681", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:06:06.798711", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not explicitly provided, but based on the scene objects, it appears that the robot is in a room with a door, two people, and a charge. The available behaviors suggest that the robot can interact with the door, scan the environment, pick up the charge, or place the charge on the door.\n\nGiven the presence of a door and a charge, it is likely that the task is to place the charge on the door. Therefore, the next behavior to execute is:\n\n'PLACE CHARGE ON DOOR'" + }, + { + "timestamp": "2025-04-03T14:06:09.145675", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:06:09.146740", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not provided, but I can infer that the robot's goal is to interact with the scene objects. The available behaviors are:\n\n- GOTO: Move to a specific location\n- SCAN: Examine the scene objects\n- PICK UP CHARGE: Interact with the Charge object\n- PLACE CHARGE ON DOOR: Interact with the DoorPanel1 and DoorLever1 objects\n\nThe scene objects are:\n\n- DoorLever1: A lever on a door\n- DoorPanel1: A panel on a door\n- Person1: A person in the environment\n- Person2: A person in the environment\n- Charge1: A charge object\n\nBased on the available behaviors and scene objects, I will execute the behavior 'PLACE CHARGE ON DOOR' as it seems to be the most relevant action to the scene objects.\n\nNext Behavior: PLACE CHARGE ON DOOR" + }, + { + "timestamp": "2025-04-03T14:06:11.827260", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:06:11.827987", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "Based on the provided information, I will analyze the scene objects and available behaviors to determine the next action.\n\nThe task description is not provided, but I can infer that the robot's goal is to interact with the scene objects. The available behaviors are:\n\n- GOTO: Move to a specific location\n- SCAN: Examine the scene objects\n- PICK UP CHARGE: Interact with the Charge object\n- PLACE CHARGE ON DOOR: Interact with the DoorPanel1 and DoorLever1 objects\n\nThe scene objects are:\n\n- DoorLever1: A lever on a door\n- DoorPanel1: A panel on a door\n- Person1: A person in the environment\n- Person2: A person in the environment\n- Charge1: A charge object\n\nBased on the available behaviors and scene objects, the next action could be to place the charge on the door. This action requires the robot to interact with the DoorPanel1 and DoorLever1 objects.\n\nNext Behavior: PLACE CHARGE ON DOOR" + }, + { + "timestamp": "2025-04-03T14:07:32.160245", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:07:32.161089", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "NO_ACTION" + }, + { + "timestamp": "2025-04-03T14:07:32.765138", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:07:32.766097", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "NO_ACTION" + }, + { + "timestamp": "2025-04-03T14:09:15.028427", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:09:15.029548", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:09:18.656790", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:09:18.658050", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:09:22.417030", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:09:22.418279", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:09:24.800609", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:09:24.801384", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:19:15.685390", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:19:15.686203", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:19:16.272814", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:19:16.273648", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:19:20.347023", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:19:20.347959", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:19:21.234068", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:19:21.235426", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:19:22.900258", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:19:22.901134", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:19:24.693073", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:19:24.694615", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:19:25.257455", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:19:25.258383", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:19:27.362302", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:19:27.363863", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:19:28.355106", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:19:28.356050", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:28:37.178382", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:28:37.179845", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:29:52.003986", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:29:52.005079", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:29:55.136215", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:29:55.137289", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:29:56.767077", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:29:56.768824", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:29:59.118594", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:29:59.120470", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:30:00.655721", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:30:00.657727", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:30:03.484427", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:30:03.486249", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:30:05.260012", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:30:05.261172", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:33:04.672574", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:04.674571", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:33:06.570758", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:06.572077", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:33:07.048807", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:07.050062", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:33:08.643295", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:08.658312", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:33:11.384226", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:11.385494", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:33:12.510795", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': 'GOTO', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:12.512025", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:33:13.918129", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': 'GOTO', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:13.919584", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:33:14.908339", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:14.909749", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:33:15.775776", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:15.777115", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:33:17.867530", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:17.881892", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:33:20.196582", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:20.198545", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:33:21.296521", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:21.298293", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:33:21.945803", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:33:21.947150", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:30.417719", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:30.419141", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:32.453160", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:32.455082", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:32.899939", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:32.901399", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:35.367451", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:35.368872", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:35.784764", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:35.786356", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:37.640878", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:37.643339", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:38.631395", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': 'GOTO', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:38.632957", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:37:40.453552", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': 'GOTO', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:40.455144", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:37:42.814504", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:42.816069", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:44.456733", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:44.471382", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:46.334603", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:46.336172", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:48.062483", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:48.065178", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:49.641033", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:49.655479", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:50.915755", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:50.917555", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:52.547372", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:52.549159", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:53.493571", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:53.496529", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:53.863150", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:53.865822", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:37:54.716091", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:37:54.718476", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:40:46.585038", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:40:46.586782", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:41:01.321311", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:41:01.323150", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:41:08.973805", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': 'GOTO', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:41:08.975544", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:41:10.881359", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': 'GOTO', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:41:10.883141", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:49:55.200156", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': '', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:49:55.202403", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "GOTO" + }, + { + "timestamp": "2025-04-03T14:50:02.714580", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': 'GOTO', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:50:02.716575", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + }, + { + "timestamp": "2025-04-03T14:50:03.338876", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": [ + { + "role": "system", + "content": " You are an AI reasoning module for a robot operating in a dynamic environment. Your task is to decide the most appropriate action the robot should take next based on:\n\n Scene Objects: The objects currently detected in the environment and their relationships.\n\n Available Behaviors: A list of actions the robot can perform.\n\n Task Description: The high-level goal the robot needs to accomplish." + }, + { + "role": "assistant", + "content": "{'scene_objects': ['DoorLever1', 'DoorPanel1', 'Person1', 'Person2', 'Charge1', 'Barrier1'], 'available_behaviors': ['GOTO', 'SCAN', 'PICK UP CHARGE', 'PLACE CHARGE ON DOOR'], 'previously_executed': 'GOTO', 'failed_behaviors': ''}" + }, + { + "role": "user", + "content": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION." + } + ] + }, + { + "timestamp": "2025-04-03T14:50:03.341666", + "model": "meta-llama/Llama-3.2-3B-Instruct-Turbo", + "temperature": 0.0, + "token_limit": 2048, + "top_k": "N/A", + "top_p": 1.0, + "goal": "Assist with selecting next behavior", + "prompt": "Task: Deliver the charge to the door, You should return only the name of the next behavior to execute based on the task, scene objects, and available behaviors. If the task is already completed or no valid action exists, return NO_ACTION.", + "output": "PICK UP CHARGE" + } +] \ No newline at end of file From 97fe2d465535b484e47d0f408b5c2e130e585d10 Mon Sep 17 00:00:00 2001 From: lpenco Date: Tue, 6 May 2025 16:11:53 -0500 Subject: [PATCH 6/8] added distance to frame for navigation action --- .../ihmc/behaviors/ai2r/AI2RNodeExecutor.java | 14 +++++- ihmc-interfaces/ros2ws/behaviors_example.py | 6 +-- .../msg/AI2RNavigationMessage_.idl | 9 +--- .../msg/dds/AI2RCommandMessagePubSubType.java | 2 +- .../msg/dds/AI2RNavigationMessage.java | 43 +++++++------------ .../dds/AI2RNavigationMessagePubSubType.java | 27 ++++-------- .../msg/AI2RNavigationMessage.msg | 7 +-- .../msg/AI2RNavigationMessage.msg | 7 +-- 8 files changed, 46 insertions(+), 69 deletions(-) diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java index 8d79b2e8803..b5835253577 100644 --- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java +++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java @@ -20,6 +20,7 @@ import us.ihmc.communication.crdt.CRDTInfo; import us.ihmc.communication.crdt.CRDTStatusFootstepList; import us.ihmc.euclid.geometry.interfaces.Pose3DReadOnly; +import us.ihmc.euclid.referenceFrame.FramePoint3D; import us.ihmc.euclid.referenceFrame.ReferenceFrame; import us.ihmc.euclid.transform.RigidBodyTransform; import us.ihmc.euclid.tuple3D.Point3D; @@ -85,13 +86,22 @@ public AI2RNodeExecutor(long id, AI2RNavigationMessage navigationMessage = message.getNavigation(); // Set goals for GoTo behavior String referenceFrame = navigationMessage.getReferenceFrameName().toString(); - Point3D goalStancePoint = navigationMessage.getGoalStancePoint(); - Point3D goalFocalPoint = navigationMessage.getGoalFocalPoint(); + double distanceToReferenceFrame = navigationMessage.getDistanceToFrame(); + for (var leaf : state.getActionSequence().getOrderedLeaves()) { if (leaf.getDefinition().getName().toLowerCase().contains("go to action") && leaf instanceof FootstepPlanActionState gotoActionState) { gotoActionState.getDefinition().setParentFrameName(referenceFrame); + + FramePoint3D goalStancePoint = new FramePoint3D(gotoActionState.getParentFrame()); + LogTools.info(gotoActionState.getParentFrame().getName()); + goalStancePoint.addX(distanceToReferenceFrame); + goalStancePoint.changeFrame(ReferenceFrame.getWorldFrame()); + + FramePoint3D goalFocalPoint = new FramePoint3D(gotoActionState.getParentFrame()); + goalFocalPoint.changeFrame(ReferenceFrame.getWorldFrame()); + gotoActionState.getDefinition().getGoalStancePoint().getValue().set(goalStancePoint); gotoActionState.getDefinition().getGoalFocalPoint().getValue().set(goalFocalPoint); break; diff --git a/ihmc-interfaces/ros2ws/behaviors_example.py b/ihmc-interfaces/ros2ws/behaviors_example.py index cf224f698c3..0138597ea16 100644 --- a/ihmc-interfaces/ros2ws/behaviors_example.py +++ b/ihmc-interfaces/ros2ws/behaviors_example.py @@ -103,10 +103,8 @@ def behavior_message_callback(msg): new_goto_behavior = AI2RNavigationMessage() # Set the reference frame name - can copy from scene_objects.obj_name new_goto_behavior.reference_frame_name = "Charge1" - # Set the goal stance point - where the robot stance is positioned (position only, no orientation) wrt to the reference_frame_name - new_goto_behavior.goal_stance_point = Point(x=1.0, y=2.0, z=0.0) - # Set the goal focal point - where the stance is facing (how it is oriented) wrt to the reference_frame_name - new_goto_behavior.goal_focal_point = Point(x=3.0, y=4.0, z=0.0) + # Set the distance to the object + new_goto_behavior.distance_to_frame = 0.6 behavior_command.navigation = new_goto_behavior # CAN EDIT HAND POSE ACTION, IF failed behavior has failed because of that action diff --git a/ihmc-interfaces/src/main/generated-idl/behavior_msgs/msg/AI2RNavigationMessage_.idl b/ihmc-interfaces/src/main/generated-idl/behavior_msgs/msg/AI2RNavigationMessage_.idl index 27e7f4f0d8a..24a2ab95390 100644 --- a/ihmc-interfaces/src/main/generated-idl/behavior_msgs/msg/AI2RNavigationMessage_.idl +++ b/ihmc-interfaces/src/main/generated-idl/behavior_msgs/msg/AI2RNavigationMessage_.idl @@ -1,7 +1,6 @@ #ifndef __behavior_msgs__msg__AI2RNavigationMessage__idl__ #define __behavior_msgs__msg__AI2RNavigationMessage__idl__ -#include "geometry_msgs/msg/./Point_.idl" module behavior_msgs { module msg @@ -17,13 +16,9 @@ module behavior_msgs */ string reference_frame_name; /** - * Goto action - The position to which the goal stance is aligned + * Goto action - The distance to the frame */ - geometry_msgs::msg::dds::Point goal_stance_point; - /** - * Goto action - The point that the robot should be facing in the goal stance - */ - geometry_msgs::msg::dds::Point goal_focal_point; + double distance_to_frame; }; }; }; diff --git a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessagePubSubType.java b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessagePubSubType.java index 4c76065fc2e..419e9118852 100644 --- a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessagePubSubType.java +++ b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RCommandMessagePubSubType.java @@ -15,7 +15,7 @@ public class AI2RCommandMessagePubSubType implements us.ihmc.pubsub.TopicDataTyp @Override public final java.lang.String getDefinitionChecksum() { - return "b9d13ab92c7aa7e569f07b172ca31e07b01ec4f8855d4cf84f542e1bb84ca3cf"; + return "f511c836e8938880106920d683424a7418c36dcfd1ff3e8c24c8631d164a2a84"; } @Override diff --git a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RNavigationMessage.java b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RNavigationMessage.java index 288179c261a..8a77c43e28b 100644 --- a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RNavigationMessage.java +++ b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RNavigationMessage.java @@ -13,19 +13,13 @@ public class AI2RNavigationMessage extends Packet impleme */ public java.lang.StringBuilder reference_frame_name_; /** - * Goto action - The position to which the goal stance is aligned + * Goto action - The distance to the frame */ - public us.ihmc.euclid.tuple3D.Point3D goal_stance_point_; - /** - * Goto action - The point that the robot should be facing in the goal stance - */ - public us.ihmc.euclid.tuple3D.Point3D goal_focal_point_; + public double distance_to_frame_; public AI2RNavigationMessage() { reference_frame_name_ = new java.lang.StringBuilder(255); - goal_stance_point_ = new us.ihmc.euclid.tuple3D.Point3D(); - goal_focal_point_ = new us.ihmc.euclid.tuple3D.Point3D(); } public AI2RNavigationMessage(AI2RNavigationMessage other) @@ -39,8 +33,8 @@ public void set(AI2RNavigationMessage other) reference_frame_name_.setLength(0); reference_frame_name_.append(other.reference_frame_name_); - geometry_msgs.msg.dds.PointPubSubType.staticCopy(other.goal_stance_point_, goal_stance_point_); - geometry_msgs.msg.dds.PointPubSubType.staticCopy(other.goal_focal_point_, goal_focal_point_); + distance_to_frame_ = other.distance_to_frame_; + } /** @@ -67,22 +61,19 @@ public java.lang.StringBuilder getReferenceFrameName() return reference_frame_name_; } - /** - * Goto action - The position to which the goal stance is aligned + * Goto action - The distance to the frame */ - public us.ihmc.euclid.tuple3D.Point3D getGoalStancePoint() + public void setDistanceToFrame(double distance_to_frame) { - return goal_stance_point_; + distance_to_frame_ = distance_to_frame; } - - /** - * Goto action - The point that the robot should be facing in the goal stance + * Goto action - The distance to the frame */ - public us.ihmc.euclid.tuple3D.Point3D getGoalFocalPoint() + public double getDistanceToFrame() { - return goal_focal_point_; + return distance_to_frame_; } @@ -105,8 +96,8 @@ public boolean epsilonEquals(AI2RNavigationMessage other, double epsilon) if (!us.ihmc.idl.IDLTools.epsilonEqualsStringBuilder(this.reference_frame_name_, other.reference_frame_name_, epsilon)) return false; - if (!this.goal_stance_point_.epsilonEquals(other.goal_stance_point_, epsilon)) return false; - if (!this.goal_focal_point_.epsilonEquals(other.goal_focal_point_, epsilon)) return false; + if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.distance_to_frame_, other.distance_to_frame_, epsilon)) return false; + return true; } @@ -122,8 +113,8 @@ public boolean equals(Object other) if (!us.ihmc.idl.IDLTools.equals(this.reference_frame_name_, otherMyClass.reference_frame_name_)) return false; - if (!this.goal_stance_point_.equals(otherMyClass.goal_stance_point_)) return false; - if (!this.goal_focal_point_.equals(otherMyClass.goal_focal_point_)) return false; + if(this.distance_to_frame_ != otherMyClass.distance_to_frame_) return false; + return true; } @@ -136,10 +127,8 @@ public java.lang.String toString() builder.append("AI2RNavigationMessage {"); builder.append("reference_frame_name="); builder.append(this.reference_frame_name_); builder.append(", "); - builder.append("goal_stance_point="); - builder.append(this.goal_stance_point_); builder.append(", "); - builder.append("goal_focal_point="); - builder.append(this.goal_focal_point_); + builder.append("distance_to_frame="); + builder.append(this.distance_to_frame_); builder.append("}"); return builder.toString(); } diff --git a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RNavigationMessagePubSubType.java b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RNavigationMessagePubSubType.java index c5258f74750..d206fb72d8d 100644 --- a/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RNavigationMessagePubSubType.java +++ b/ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/AI2RNavigationMessagePubSubType.java @@ -15,7 +15,7 @@ public class AI2RNavigationMessagePubSubType implements us.ihmc.pubsub.TopicData @Override public final java.lang.String getDefinitionChecksum() { - return "9950968b8edaa1114a5eca043378a225da3f1ded1ee08b742cee2ad6c78c0d24"; + return "1012faf962742db3e1a0ad5a2a5330e57c090f0eea02325fcaa6f85a1ba60d16"; } @Override @@ -53,9 +53,7 @@ public static int getMaxCdrSerializedSize(int current_alignment) int initial_alignment = current_alignment; current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4) + 255 + 1; - current_alignment += geometry_msgs.msg.dds.PointPubSubType.getMaxCdrSerializedSize(current_alignment); - - current_alignment += geometry_msgs.msg.dds.PointPubSubType.getMaxCdrSerializedSize(current_alignment); + current_alignment += 8 + us.ihmc.idl.CDR.alignment(current_alignment, 8); return current_alignment - initial_alignment; @@ -72,9 +70,8 @@ public final static int getCdrSerializedSize(behavior_msgs.msg.dds.AI2RNavigatio current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4) + data.getReferenceFrameName().length() + 1; - current_alignment += geometry_msgs.msg.dds.PointPubSubType.getCdrSerializedSize(data.getGoalStancePoint(), current_alignment); + current_alignment += 8 + us.ihmc.idl.CDR.alignment(current_alignment, 8); - current_alignment += geometry_msgs.msg.dds.PointPubSubType.getCdrSerializedSize(data.getGoalFocalPoint(), current_alignment); return current_alignment - initial_alignment; @@ -86,15 +83,15 @@ public static void write(behavior_msgs.msg.dds.AI2RNavigationMessage data, us.ih cdr.write_type_d(data.getReferenceFrameName());else throw new RuntimeException("reference_frame_name field exceeds the maximum length: %d > %d".formatted(data.getReferenceFrameName().length(), 255)); - geometry_msgs.msg.dds.PointPubSubType.write(data.getGoalStancePoint(), cdr); - geometry_msgs.msg.dds.PointPubSubType.write(data.getGoalFocalPoint(), cdr); + cdr.write_type_6(data.getDistanceToFrame()); + } public static void read(behavior_msgs.msg.dds.AI2RNavigationMessage data, us.ihmc.idl.CDR cdr) { cdr.read_type_d(data.getReferenceFrameName()); - geometry_msgs.msg.dds.PointPubSubType.read(data.getGoalStancePoint(), cdr); - geometry_msgs.msg.dds.PointPubSubType.read(data.getGoalFocalPoint(), cdr); + data.setDistanceToFrame(cdr.read_type_6()); + } @@ -102,20 +99,14 @@ public static void read(behavior_msgs.msg.dds.AI2RNavigationMessage data, us.ihm public final void serialize(behavior_msgs.msg.dds.AI2RNavigationMessage data, us.ihmc.idl.InterchangeSerializer ser) { ser.write_type_d("reference_frame_name", data.getReferenceFrameName()); - ser.write_type_a("goal_stance_point", new geometry_msgs.msg.dds.PointPubSubType(), data.getGoalStancePoint()); - - ser.write_type_a("goal_focal_point", new geometry_msgs.msg.dds.PointPubSubType(), data.getGoalFocalPoint()); - + ser.write_type_6("distance_to_frame", data.getDistanceToFrame()); } @Override public final void deserialize(us.ihmc.idl.InterchangeSerializer ser, behavior_msgs.msg.dds.AI2RNavigationMessage data) { ser.read_type_d("reference_frame_name", data.getReferenceFrameName()); - ser.read_type_a("goal_stance_point", new geometry_msgs.msg.dds.PointPubSubType(), data.getGoalStancePoint()); - - ser.read_type_a("goal_focal_point", new geometry_msgs.msg.dds.PointPubSubType(), data.getGoalFocalPoint()); - + data.setDistanceToFrame(ser.read_type_6("distance_to_frame")); } public static void staticCopy(behavior_msgs.msg.dds.AI2RNavigationMessage src, behavior_msgs.msg.dds.AI2RNavigationMessage dest) diff --git a/ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/AI2RNavigationMessage.msg b/ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/AI2RNavigationMessage.msg index b0bf444e74b..31f8be5c058 100644 --- a/ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/AI2RNavigationMessage.msg +++ b/ihmc-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/AI2RNavigationMessage.msg @@ -1,8 +1,5 @@ # Goto action - Reference frame for the action string reference_frame_name -# Goto action - The position to which the goal stance is aligned -geometry_msgs/Point goal_stance_point - -# Goto action - The point that the robot should be facing in the goal stance -geometry_msgs/Point goal_focal_point \ No newline at end of file +# Goto action - The distance to the frame +float64 distance_to_frame \ No newline at end of file diff --git a/ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/AI2RNavigationMessage.msg b/ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/AI2RNavigationMessage.msg index f2af50ec165..58c7d01b920 100644 --- a/ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/AI2RNavigationMessage.msg +++ b/ihmc-interfaces/src/main/messages/ros1/behavior_msgs/msg/AI2RNavigationMessage.msg @@ -2,10 +2,7 @@ # Goto action - Reference frame for the action string reference_frame_name -# Goto action - The position to which the goal stance is aligned -geometry_msgs/Point goal_stance_point - -# Goto action - The point that the robot should be facing in the goal stance -geometry_msgs/Point goal_focal_point +# Goto action - The distance to the frame +float64 distance_to_frame From dc3881c97ff6a1b9ba139d999b166b9ba113d103 Mon Sep 17 00:00:00 2001 From: lpenco Date: Wed, 7 May 2025 14:36:44 -0500 Subject: [PATCH 7/8] debug logs --- .../src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java index b5835253577..371d6b2adff 100644 --- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java +++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java @@ -78,6 +78,7 @@ public AI2RNodeExecutor(long id, break; } } + LogTools.warn(commandedBehaviorIndex); // Generic adaptable skills // GoTo behavior - Navigation @@ -138,6 +139,7 @@ else if (behaviorToExecuteName.contains("PICKUP") || behaviorToExecuteName.conta state.getActionSequence().setExecutionNextIndex(commandedBehaviorIndex); state.getActionSequence().setAutomaticExecution(true); statusMessage.setCompletedBehavior("-"); + LogTools.warn("Automatic execution"); } }); } From 0cda4bbde45a07379414d2eff7d26d9f2f7dd373 Mon Sep 17 00:00:00 2001 From: Luigi Penco Date: Fri, 9 May 2025 14:52:17 -0500 Subject: [PATCH 8/8] issue with footstep collsiion checking --- .../ihmc/behaviors/ai2r/AI2RNodeExecutor.java | 8 +- .../ros2ws/behavior_coordination_test.py | 124 ++++++++++++++++++ 2 files changed, 131 insertions(+), 1 deletion(-) create mode 100644 ihmc-interfaces/ros2ws/behavior_coordination_test.py diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java index 371d6b2adff..a29de5aac24 100644 --- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java +++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/ai2r/AI2RNodeExecutor.java @@ -273,7 +273,9 @@ public void update() else // Check if the next step's pose is too close with any object in the scene { int stepsLeft = gotoActionState.getNumberOfIncompleteFootsteps(); - if (stepsLeft > 0) + if (stepsLeft > plannedSteps.getSize()) + plannedSteps = gotoActionState.getPreviewFootsteps(); + if (stepsLeft > 0 && plannedSteps.getSize() >= stepsLeft) { Point3DReadOnly positionNextStep = plannedSteps.getPoseReadOnly(plannedSteps.getSize() - stepsLeft).getTranslation(); for (var object : statusMessage.getObjects()) @@ -290,6 +292,10 @@ public void update() } } } + else + { + LogTools.warn("Cannot check collision of next step. Needed more time to get the plan"); + } } } break; diff --git a/ihmc-interfaces/ros2ws/behavior_coordination_test.py b/ihmc-interfaces/ros2ws/behavior_coordination_test.py new file mode 100644 index 00000000000..d202154fafb --- /dev/null +++ b/ihmc-interfaces/ros2ws/behavior_coordination_test.py @@ -0,0 +1,124 @@ +import os +import time +import threading + +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy +from geometry_msgs.msg import Point +from geometry_msgs.msg import Quaternion +from behavior_msgs.msg import AI2RCommandMessage +from behavior_msgs.msg import AI2RObjectMessage +from behavior_msgs.msg import AI2RStatusMessage +from behavior_msgs.msg import AI2RNavigationMessage +from behavior_msgs.msg import AI2RHandPoseAdaptationMessage + +import cv2 +import numpy as np + +ros2 = {} +initialized = False +waiting_for_command = True + +def behavior_message_callback(msg): + global initialized # Access the global variables + global waiting_for_command + robot_pose = msg.robot_mid_feet_under_pelvis_pose_in_world + + if not initialized: + # --------- Scene ----------- + scene_objects = msg.objects + print("Objects in the scene:") + if scene_objects: # This checks if the list is not empty + for obj in scene_objects: + id = obj.object_name + print(f"{id}") + pose_in_world = obj.object_pose_in_world + pose_wrt_robot = obj.object_pose_in_robot_frame # This is the pose specified wrt to robot_pose + else: + print("-") + + # --------- Behaviors ----------- + behaviors = msg.available_behaviors + print("Available behaviors:") + if behaviors: + for behavior in behaviors: + print(behavior) + else: + print("-") + + # --------- Reasoning ----------- + # CAN DO SOME REASONING HERE based on objects in the scene and available behaviors + + # --------- Monitoring ----------- + completed_behavior = msg.completed_behavior + if not completed_behavior == "-": + print("Completed Behavior: " + completed_behavior) + waiting_for_command = True + else: + waiting_for_command = False + + failed_behavior = msg.failed_behavior + if failed_behavior: + print("[FAILURE] Failed behavior: " + failure_behavior) + # Failure details + failure = msg.failure + print("Description: " + failure.action_name) + print("Type: " + failure.action_type) + print("Frame: " + failure.action_frame) + + position_error = failure.position_error + # Convert Point to numpy array + error_vector = np.array([position_error.x, position_error.y, position_error.z]) + # Calculate the Euclidean norm (L2 norm) + norm = np.linalg.norm(error_vector) + print(f"The position error is: {norm}") + orientation_error = failure.orientation_error + + position_tolerance = failure.position_tolerance + orientation_tolerance = failure.orientation_tolerance + + # --------- Reasoning ----------- + # CAN DO SOME REASONING HERE based on failed behaviors + + if waiting_for_command or not initialized: + # --------- Coordination ----------- + behavior_command = AI2RCommandMessage() + # DECIDE what behavior to execute based on reasoning. For example can decide to scan environment to detect objects + behavior_command.behavior_to_execute = "GOTO CHARGE" + print("Commanded Behavior: " + behavior_command.behavior_to_execute) + ros2["behavior_publisher"].publish(behavior_command) + waiting_for_command = False + initialized = True + + +def main(args=None): + rclpy.init(args=args) + + qos_profile_reliable = QoSProfile( + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1 + ) + + node = rclpy.create_node('behavior_coordination_node') + ros2["node"] = node + + behavior_subscriber = node.create_subscription(AI2RStatusMessage, + '/ihmc/behavior_tree/ai2r_status', + behavior_message_callback, qos_profile_reliable) + ros2["behavior_subscriber"] = behavior_subscriber + + behavior_publisher = node.create_publisher(AI2RCommandMessage, + '/ihmc/behavior_tree/ai2r_command', + qos_profile_reliable) + ros2["behavior_publisher"] = behavior_publisher + + # Wait until interrupt + try: + rclpy.spin(node) + except KeyboardInterrupt: + node.destroy_node() + +if __name__ == '__main__': + main()