copy yiyang

README.md

@@ -1,14 +1,12 @@
 ---
-title: Grutopia Nav
-emoji: 😻
-colorFrom: blue
-colorTo: pink
+title: Grdemo
+emoji: 🦀
+colorFrom: red
+colorTo: red
 sdk: gradio
-sdk_version: 5.36.2
+sdk_version: 5.35.0
 app_file: app.py
 pinned: false
-license: mit
-short_description: nav
 ---
 
 Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference

app.py

@@ -1,7 +1,282 @@
 import gradio as gr
+import requests
+# import json
+import os
+from typing import Optional
 
-def greet(name):
-    return "Hello " + name + "!!"
+# 后端API配置（可配置化）
+BACKEND_URL = os.getenv("BACKEND_URL", "http://your-backend-server:5000")
+API_ENDPOINTS = {
+    "submit_task": f"{BACKEND_URL}/api/v1/submit",
+    "query_status": f"{BACKEND_URL}/api/v1/status",
+    "get_result": f"{BACKEND_URL}/api/v1/result"
+}
 
-demo = gr.Interface(fn=greet, inputs="text", outputs="text")
-demo.launch()
+# 模拟场景配置
+SCENE_CONFIGS = {
+    "default_desk": {
+        "description": "标准实验桌",
+        "objects": ["番茄酱", "盐瓶", "餐刀", "杯子"]
+    },
+    "cluttered_desk": {
+        "description": "杂乱桌面场景",
+        "objects": ["书本", "笔", "手机", "水杯", "零食袋"]
+    },
+    "industrial_table": {
+        "description": "工业工作台",
+        "objects": ["扳手", "螺丝", "电路板", "润滑剂"]
+    }
+}
+
+# 可用模型列表
+MODEL_CHOICES = [
+    "GRManipulation-v1.0",
+    "GR00T-N1",
+    "GR00T-1.5",
+    "Pi0",
+    "DP+CLIP",
+    "AcT+CLIP"
+]
+
+def submit_to_backend(
+    scene: str,
+    prompt: str,
+    model: str,
+    max_steps: int = 100,
+    visualize: bool = True
+) -> dict:
+    """
+    提交任务到后端API
+    """
+    payload = {
+        "scene_config": scene,
+        "prompt": prompt,
+        "model": model,
+        "params": {
+            "max_steps": max_steps,
+            "visualize": visualize
+        },
+        "metadata": {
+            "submit_from": "gradio_ui"
+        }
+    }
+    
+    try:
+        response = requests.post(
+            API_ENDPOINTS["submit_task"],
+            json=payload,
+            timeout=10
+        )
+        return response.json()
+    except Exception as e:
+        return {"status": "error", "message": str(e)}
+
+def get_task_status(task_id: str) -> dict:
+    """
+    查询任务状态
+    """
+    try:
+        response = requests.get(
+            f"{API_ENDPOINTS['query_status']}/{task_id}",
+            timeout=5
+        )
+        return response.json()
+    except Exception as e:
+        return {"status": "error", "message": str(e)}
+
+def get_task_result(task_id: str) -> Optional[dict]:
+    """
+    获取任务结果
+    """
+    try:
+        response = requests.get(
+            f"{API_ENDPOINTS['get_result']}/{task_id}",
+            timeout=5
+        )
+        return response.json()
+    except Exception as e:
+        print(f"Error fetching result: {e}")
+        return None
+
+def run_simulation(
+    scene: str,
+    prompt: str,
+    model: str,
+    progress=gr.Progress()
+) -> dict:
+    """
+    运行仿真的主函数
+    """
+    # 提交任务到后端
+    progress(0.1, desc="提交任务到后端...")
+    submission = submit_to_backend(scene, prompt, model)
+    
+    if submission.get("status") != "success":
+        raise gr.Error(f"提交失败: {submission.get('message', '未知错误')}")
+    
+    task_id = submission["task_id"]
+    progress(0.3, desc="任务已提交，等待执行...")
+    
+    # 轮询任务状态
+    max_checks = 20
+    for i in range(max_checks):
+        status = get_task_status(task_id)
+        
+        if status.get("status") == "completed":
+            progress(0.9, desc="获取结果...")
+            result = get_task_result(task_id)
+            if result:
+                return {
+                    "video": result.get("video_path"),
+                    "metrics": result.get("metrics"),
+                    "log": result.get("log")
+                }
+            else:
+                raise gr.Error("获取结果失败")
+        
+        elif status.get("status") == "failed":
+            raise gr.Error(f"任务执行失败: {status.get('message')}")
+        
+        progress(0.3 + 0.6 * (i/max_checks), desc=f"任务执行中...({status.get('progress', 0)}%)")
+    
+    raise gr.Error("任务执行超时")
+
+# 自定义CSS样式
+custom_css = """
+#simulation-panel {
+    border-radius: 8px;
+    padding: 20px;
+    background: #f9f9f9;
+    box-shadow: 0 2px 4px rgba(0,0,0,0.1);
+}
+#result-panel {
+    border-radius: 8px;
+    padding: 20px;
+    background: #f0f8ff;
+}
+.dark #simulation-panel { background: #2a2a2a; }
+.dark #result-panel { background: #1a2a3a; }
+"""
+
+# 创建Gradio界面
+with gr.Blocks(title="机械臂操作训练系统", css=custom_css) as demo:
+    # 标题和描述
+    gr.Markdown("""
+    # 🤖 IsaacSim 机械臂操作评测演示
+    ### 基于GRManipulation框架的仿真训练
+    """)
+    
+    with gr.Row():
+        # 左侧控制面板
+        with gr.Column(elem_id="simulation-panel"):
+            gr.Markdown("### 仿真参数配置")
+            
+            # 场景选择
+            scene_dropdown = gr.Dropdown(
+                label="选择场景配置",
+                choices=list(SCENE_CONFIGS.keys()),
+                value="default_desk",
+                interactive=True
+            )
+            
+            # 场景描述预览
+            scene_description = gr.Markdown("")
+            
+            # 动态更新场景描述
+            def update_scene_desc(scene):
+                config = SCENE_CONFIGS.get(scene, {})
+                desc = config.get("description", "无描述")
+                objects = "、".join(config.get("objects", []))
+                return f"**{desc}**  \n包含物体: {objects}"
+            
+            scene_dropdown.change(
+                update_scene_desc,
+                inputs=scene_dropdown,
+                outputs=scene_description
+            )
+            
+            # 操作指令输入
+            prompt_input = gr.Textbox(
+                label="操作指令",
+                placeholder="例如: '请把桌子上的番茄酱拿起来'",
+                lines=2,
+                max_lines=4
+            )
+            
+            # 模型选择
+            model_dropdown = gr.Dropdown(
+                label="选择训练模型",
+                choices=MODEL_CHOICES,
+                value=MODEL_CHOICES[0]
+            )
+            
+            # 高级参数
+            with gr.Accordion("高级参数", open=False):
+                max_steps = gr.Slider(
+                    minimum=50,
+                    maximum=500,
+                    value=100,
+                    step=10,
+                    label="最大步数"
+                )
+                visualize = gr.Checkbox(
+                    value=True,
+                    label="启用可视化"
+                )
+            
+            # 提交按钮
+            submit_btn = gr.Button("开始仿真", variant="primary")
+        
+        # 右侧结果面板
+        with gr.Column(elem_id="result-panel"):
+            gr.Markdown("### 仿真结果")
+            
+            # 视频输出
+            video_output = gr.Video(
+                label="操作过程回放",
+                interactive=False,
+                format="mp4"
+            )
+            
+            # 指标展示
+            metrics_output = gr.JSON(
+                label="性能指标",
+                visible=False
+            )
+            
+            # 日志输出
+            log_output = gr.Textbox(
+                label="执行日志",
+                visible=False,
+                lines=10,
+                max_lines=20
+            )
+    
+    # 示例
+    gr.Examples(
+        examples=[
+            ["default_desk", "请把番茄酱移动到桌子左侧", "GR00T-N1"],
+            ["cluttered_desk", "将手机放到书本旁边", "DP+CLIP"],
+            ["industrial_table", "拿起电路板并旋转90度", "AcT+CLIP"]
+        ],
+        inputs=[scene_dropdown, prompt_input, model_dropdown],
+        label="快速示例"
+    )
+    
+    # 提交处理
+    submit_btn.click(
+        fn=run_simulation,
+        inputs=[scene_dropdown, prompt_input, model_dropdown],
+        outputs=[video_output, metrics_output, log_output],
+        api_name="run_simulation"
+    )
+    
+    # 初始化场景描述
+    demo.load(
+        fn=lambda: update_scene_desc("default_desk"),
+        outputs=scene_description
+    )
+
+# 启动应用
+if __name__ == "__main__":
+    demo.launch()

requirements.txt

@@ -0,0 +1,2 @@
+requests
+typing-extensions