diff --git a/opt_bt_expansion/README.md b/opt_bt_expansion/README.md index 13791d1..7378773 100644 --- a/opt_bt_expansion/README.md +++ b/opt_bt_expansion/README.md @@ -102,6 +102,7 @@ print(ptml_string) ```python # 判断初始状态能否到达目标状态 start = {'At(Robot,Bar)', 'Holding(VacuumCup)', 'Available(Table)', 'Available(CoffeeMachine)','Available(FrontDesk)'} + # 方法一:算法返回所有可能的初始状态,在里面看看有没有对应的初始状态 right_bt = algo.find_all_leaf_states_contain_start(start) if not right_bt: @@ -109,7 +110,6 @@ if not right_bt: else: print("Right1: The current state can reach the goal state!") - # 方法二:预先跑一边行为树,看能否到达目标状态 right_bt2 = algo.run_bt_from_start(goal,start) if not right_bt2: