more

app.py

@@ -62,10 +62,10 @@ r_coverage = 10
 # ---------------------------- #
 def create_standing_animation():
     path = [(agent_pos.x, agent_pos.y)]
-    return create_animation(path, targets_x, targets_y, r_coverage)
+    return create_animation(path, r_coverage)
 
 
-def create_animation(path, targets_x, targets_y, r_coverage):
+def create_animation(path, r_coverage):
     # path = [(i,i) for i in range(90)]
     # targets_x = [20, 80, 80, 20]
     # targets_y = [20, 20, 80, 80]
@@ -76,9 +76,14 @@ def create_animation(path, targets_x, targets_y, r_coverage):
     ln1, = plt.plot([path[0][0]], [path[0][1]], marker='o', color='b', alpha=0.5, linewidth=5, markersize=15)
 
     # targets
+    targets_x, targets_y = [], []
+    for k, v in goal_dict.items():
+        targets_x.append(v[0])
+        targets_y.append(v[1])
     ln2, = plt.plot(targets_x, targets_y, marker='X', color='orange', alpha=0.5, linestyle='none', markersize=15)
-    for t_x, t_y in zip(targets_x, targets_y):
+    for t_name, (t_x, t_y) in goal_dict.items():
         circle = Circle((t_x, t_y), r_coverage, color='orange', fill=True, alpha=0.3)
+        plt.text(t_x, t_y, f"{t_name}", fontsize=20, color='k')
         ax.add_patch(circle)
     # plt.tight_layout()
 
@@ -130,7 +135,7 @@ def move_agent(target_input: int):
     agent_pos.x = path[-1][0]
     agent_pos.y = path[-1][1]
     # create animation
-    video_output = create_animation(path, targets_x, targets_y, r_coverage)
+    video_output = create_animation(path, r_coverage)
 
     # update status
     status = f'Went to target {target_input}.'
@@ -167,8 +172,8 @@ def get_target_from_request(request_text):
 def create_demo():
     # main blocks
     with gr.Blocks() as demo:
-        gr.Markdown("## Agent Control with Language")
-        gr.Markdown('## Say the agent where to go and what to do')
+        gr.Markdown("# Agent Control with Language")
+        gr.Markdown('Say the agent where to go and what to do')
 
         with gr.Row():
             with gr.Column():
@@ -179,6 +184,13 @@ def create_demo():
                 status = gr.Textbox(label='Plan status:', lines=2)
             with gr.Column():
                 output_env = gr.Video(label="Env:", autoplay=True)
+        with gr.Accordion("TODO List", open=False):
+            gr.Markdown("""
+            ## Thing to improve
+            - insert a model that understands the desired goal and not to use a simple function for it that can produce false goals
+            - to incorporate a longer chain of goals; for example, go there and pick the package, then come back
+            - to introduce additional learnt capabilities
+            """)
 
         # EVENTS:
         # gr.on(triggers=["load"], fn=load_image_on_start, outputs=output_env_image)