73 lines
2.3 KiB
Python
73 lines
2.3 KiB
Python
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from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes
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import copy
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import random
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seed = 1
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random.seed(seed)
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multiple_num=1
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action_list = collect_action_nodes(random,multiple_num)
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# for act in action_list:
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# print(act.name,act.cost)
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start_robowaiter = get_start()
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# 计算state总数
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state_num = collect_cond_nodes()
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print("states num: ",state_num)
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print("act num: ",len(action_list))
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# goal_states = []
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# with open('easy.txt', 'r') as file:
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# # with open('easy_easy.txt', 'r') as file:
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# for line in file:
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# clean_line = line.strip()
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# goal_states.append(clean_line)
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# print(goal_states)
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# goal_set_ls=[]
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# for count, goal_str in enumerate(goal_states):
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# goal = copy.deepcopy(goal_transfer_str(goal_str))
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# goal_set_ls.append(goal)
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# print(goal_set_ls)
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# goal_states={"On_Dessert_Bar"}
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# goal_states={"On_MilkDrink_Bar2"}
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# goal_states={"Is_TubeLight_On"}
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# goal_states = goal_set_ls
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# goal_states = {'On(VacuumCup,WaterTable)'}
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# goal_states = {'At(Robot,WaterTable)'}
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# goal_states = {'Is(Table1,Clean)'}
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# goal_states = {'On(Coffee,Bar)'}
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# goal_states = {'IsClean_Table1'}
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# goal_states = {'~On_Water_Bar'}
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# goal_states = {'~On_Water_Table2'}
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# goal_states = {'~Near_Robot_Bar'}
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# goal_states = {'~Low_ACTemperature'}
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# goal_states = {'~Closed_Curtain'}
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# goal_states = {'~Active_TubeLight'}
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# goal_states = {'~Active_HallLight'}
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# goal_states = {'~On_Water_Bar & (On_Coffee_Table2 | On_Bernachon_Table2)'}
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# goal_states = {'~On_Water_Bar & On_Coffee_Table2'}
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# goal_states = {'On_Water_Bar'}
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# goal_states = {'~On_Water_Bar'}
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# goal_states = {'On_Softdrink_Bar'}
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# goal_states = {'On_Coffee_Table2 | On_Bernachon_Table2'}
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# goal_states = {'Low_ACTemperature'}
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# goal_states = {'~On_Softdrink_Table1 & Closed_Curtain'}
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goal_states = {'On_Coffee_Bar & (IsClean_Floor | ~Active_TubeLight)'}
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# goal_states = {'~Closed_Curtain & On_Coffee_Bar'}
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# todo: 行为树鲁棒性测试，随机生成规划问题
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# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数
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BTTest(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter)
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# print("\n")
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# 对比
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# BTTest(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter)
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