现在测试场景可以直接运行

robowaiter/robot/robot.py

@@ -13,11 +13,18 @@ from robowaiter.behavior_lib.act.DelSubTree import DelSubTree
 from robowaiter.behavior_lib._base.Sequence import Sequence
 from robowaiter.utils.bt.load import load_behavior_tree_lib
 
+from robowaiter.utils import get_root_path
+root_path = get_root_path()
+ptml_path = os.path.join(root_path, 'robowaiter/robot/Default.ptml')
+behavior_lib_path = os.path.join(root_path, 'robowaiter/behavior_lib')
+
+
+
 class Robot(object):
     scene = None
     response_frequency = 1
 
-    def __init__(self,ptml_path,behavior_lib_path):
+    def __init__(self,ptml_path=ptml_path,behavior_lib_path=behavior_lib_path):
         self.ptml_path = ptml_path
         self.behavior_lib_path = behavior_lib_path
 

robowaiter/scene/tasks/VLN.py

@@ -33,3 +33,15 @@ class SceneVLN(Scene):
 
         self.state['map']['2d'] = map
         self.state['map']['obj_pos']['Table'] = np.array((-100, 700))
+
+
+if __name__ == '__main__':
+    import os
+    from robowaiter.robot.robot import Robot
+
+    robot = Robot()
+
+    # create task
+    task = SceneVLN(robot)
+    task.reset()
+    task.run()