Create app.py

app.py

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+import gradio as gr
+from ai2thor.controller import Controller
+
+from ai2thor.platform import CloudRendering
+# 初始化全局模拟器对象，启用 headless 模式
+controller = Controller(platform=CloudRendering)
+
+# 用于记录所有动作的列表
+action_history = []
+
+def initialize_simulation():
+    """
+    初始化 ai2thor 模拟器，并返回初始场景的截图。
+    """
+    controller.reset('FloorPlan28')  # 指定场景
+    event = controller.step(action='Pass')  # 不执行任何动作，只获取初始图像
+    image = event.frame
+    action_history.clear()  # 清空历史记录
+    action_history.append((image, "初始化"))
+    return image, "初始化", action_history
+
+def move_forward():
+    """
+    在 ai2thor 模拟器中执行"向前移动"操作，并返回当前环境的截图。
+    """
+    action = "向前移动"
+    event = controller.step(action='MoveAhead')
+    image = event.frame
+    action_history.append((image, action))
+    return image, action, action_history
+
+def move_backward():
+    """
+    在 ai2thor 模拟器中执行"向后移动"操作，并返回当前环境的截图。
+    """
+    action = "向后移动"
+    event = controller.step(action='MoveBack')
+    image = event.frame
+    action_history.append((image, action))
+    return image, action, action_history
+
+def move_left():
+    """
+    在 ai2thor 模拟器中执行"向左旋转"操作，并返回当前环境的截图。
+    """
+    action = "向左旋转"
+    event = controller.step(action='RotateLeft')
+    image = event.frame
+    action_history.append((image, action))
+    return image, action, action_history
+
+def move_right():
+    """
+    在 ai2thor 模拟器中执行"向右旋转"操作，并返回当前环境的截图。
+    """
+    action = "向右旋转"
+    event = controller.step(action='RotateRight')
+    image = event.frame
+    action_history.append((image, action))
+    return image, action, action_history
+
+# 使用 Gradio 构建交互界面
+with gr.Blocks() as iface:
+    gr.Markdown("## 具身模型演示")
+    init_button = gr.Button("初始化")
+    forward_button = gr.Button("向前移动")
+    backward_button = gr.Button("向后移动")
+    left_button = gr.Button("向左旋转")
+    right_button = gr.Button("向右旋转")
+    image_output = gr.Image()
+    current_action_output = gr.Textbox(label="当前动作")
+    action_history_output = gr.Gallery(label="动作历史")
+
+    init_button.click(fn=initialize_simulation, outputs=[image_output, current_action_output, action_history_output])
+    forward_button.click(fn=move_forward, outputs=[image_output, current_action_output, action_history_output])
+    backward_button.click(fn=move_backward, outputs=[image_output, current_action_output, action_history_output])
+    left_button.click(fn=move_left, outputs=[image_output, current_action_output, action_history_output])
+    right_button.click(fn=move_right, outputs=[image_output, current_action_output, action_history_output])
+
+iface.launch()