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+{On(Coffee,WaterTable),Is(ACTemperature,Up)} +{On(Coffee,WaterTable),Is(ACTemperature,Down)} +{On(Coffee,WaterTable),Is(HallLight,Off)} +{On(Coffee,WaterTable),Is(HallLight,On)} +{On(Coffee,WaterTable),Is(TubeLight,Off)} +{On(Coffee,WaterTable),Is(TubeLight,On)} +{On(Coffee,WaterTable),Is(Curtain,Off)} +{On(Coffee,WaterTable),Is(Curtain,On)} +{On(Coffee,CoffeeTable),Is(AC,Off)} +{On(Coffee,CoffeeTable),Is(AC,On)} +{On(Coffee,CoffeeTable),Is(ACTemperature,Up)} +{On(Coffee,CoffeeTable),Is(ACTemperature,Down)} +{On(Coffee,CoffeeTable),Is(HallLight,Off)} +{On(Coffee,CoffeeTable),Is(HallLight,On)} +{On(Coffee,CoffeeTable),Is(TubeLight,Off)} +{On(Coffee,CoffeeTable),Is(TubeLight,On)} +{On(Coffee,CoffeeTable),Is(Curtain,Off)} +{On(Coffee,CoffeeTable),Is(Curtain,On)} +{On(Coffee,Bar2),Is(AC,Off)} +{On(Coffee,Bar2),Is(AC,On)} +{On(Coffee,Bar2),Is(ACTemperature,Up)} +{On(Coffee,Bar2),Is(ACTemperature,Down)} +{On(Coffee,Bar2),Is(HallLight,Off)} +{On(Coffee,Bar2),Is(HallLight,On)} +{On(Coffee,Bar2),Is(TubeLight,Off)} +{On(Coffee,Bar2),Is(TubeLight,On)} +{On(Coffee,Bar2),Is(Curtain,Off)} +{On(Coffee,Bar2),Is(Curtain,On)} +{On(Coffee,TableOn),Is(AC,Off)} +{On(Coffee,TableOn),Is(AC,On)} +{On(Coffee,TableDown),Is(ACTemperature,Up)} +{On(Coffee,TableDown),Is(ACTemperature,Down)} +{On(Coffee,TableOn),Is(HallLight,Off)} +{On(Coffee,TableOn),Is(HallLight,On)} +{On(Coffee,TableOn),Is(TubeLight,Off)} +{On(Coffee,TableOn),Is(TubeLight,On)} +{On(Coffee,TableOn),Is(Curtain,Off)} +{On(Coffee,TableOn),Is(Curtain,On)} +{On(Coffee,Table2),Is(AC,Off)} +{On(Coffee,Table2),Is(AC,On)} +{On(Coffee,Table2),Is(ACTemperature,Up)} +{On(Coffee,Table2),Is(ACTemperature,Down)} +{On(Coffee,Table2),Is(HallLight,Off)} +{On(Coffee,Table2),Is(HallLight,On)} +{On(Coffee,Table2),Is(TubeLight,Off)} +{On(Coffee,Table2),Is(TubeLight,On)} +{On(Coffee,Table2),Is(Curtain,Off)} +{On(Coffee,Table2),Is(Curtain,On)} +{On(Coffee,Table3),Is(AC,Off)} +{On(Coffee,Table3),Is(AC,On)} +{On(Coffee,Table3),Is(ACTemperature,Up)} +{On(Coffee,Table3),Is(ACTemperature,Down)} +{On(Coffee,Table3),Is(HallLight,Off)} +{On(Coffee,Table3),Is(HallLight,On)} +{On(Coffee,Table3),Is(TubeLight,Off)} +{On(Coffee,Table3),Is(TubeLight,On)} +{On(Coffee,Table3),Is(Curtain,Off)} +{On(Coffee,Table3),Is(Curtain,On)} +{On(Water,Bar),Is(AC,Off)} +{On(Water,Bar),Is(AC,On)} +{On(Water,Bar),Is(ACTemperature,Up)} +{On(Water,Bar),Is(ACTemperature,Down)} +{On(Water,Bar),Is(HallLight,Off)} +{On(Water,Bar),Is(HallLight,On)} +{On(Water,Bar),Is(TubeLight,Off)} +{On(Water,Bar),Is(TubeLight,On)} +{On(Water,Bar),Is(Curtain,Off)} +{On(Water,Bar),Is(Curtain,On)} +{On(Water,WaterTable),Is(AC,Off)} +{On(Water,WaterTable),Is(AC,On)} +{On(Water,WaterTable),Is(ACTemperature,Up)} +{On(Water,WaterTable),Is(ACTemperature,Down)} +{On(Water,WaterTable),Is(HallLight,Off)} +{On(Water,WaterTable),Is(HallLight,On)} +{On(Water,WaterTable),Is(TubeLight,Off)} +{On(Water,WaterTable),Is(TubeLight,On)} +{On(Water,WaterTable),Is(Curtain,Off)} +{On(Water,WaterTable),Is(Curtain,On)} +{On(Water,CoffeeTable),Is(AC,Off)} +{On(Water,CoffeeTable),Is(AC,On)} +{On(Water,CoffeeTable),Is(ACTemperature,Up)} +{On(Water,CoffeeTable),Is(ACTemperature,Down)} +{On(Water,CoffeeTable),Is(HallLight,Off)} +{On(Water,CoffeeTable),Is(HallLight,On)} +{On(Water,CoffeeTable),Is(TubeLight,Off)} +{On(Water,CoffeeTable),Is(TubeLight,On)} +{On(Water,CoffeeTable),Is(Curtain,Off)} +{On(Water,CoffeeTable),Is(Curtain,On)} +{On(Water,Bar2),Is(AC,Off)} +{On(Water,Bar2),Is(AC,On)} +{On(Water,Bar2),Is(ACTemperature,Up)} +{On(Water,Bar2),Is(ACTemperature,Down)} +{On(Water,Bar2),Is(HallLight,Off)} +{On(Water,Bar2),Is(HallLight,On)} +{On(Water,Bar2),Is(TubeLight,Off)} +{On(Water,Bar2),Is(TubeLight,On)} +{On(Water,Bar2),Is(Curtain,Off)} +{On(Water,Bar2),Is(Curtain,On)} +{On(Water,TableOn),Is(AC,Off)} +{On(Water,TableOn),Is(AC,On)} +{On(Water,TableDown),Is(ACTemperature,Up)} +{On(Water,TableDown),Is(ACTemperature,Down)} +{On(Water,TableOn),Is(HallLight,Off)} +{On(Water,TableOn),Is(HallLight,On)} +{On(Water,TableOn),Is(TubeLight,Off)} +{On(Water,TableOn),Is(TubeLight,On)} +{On(Water,TableOn),Is(Curtain,Off)} +{On(Water,TableOn),Is(Curtain,On)} +{On(Water,Table2),Is(AC,Off)} +{On(Water,Table2),Is(AC,On)} +{On(Water,Table2),Is(ACTemperature,Up)} +{On(Water,Table2),Is(ACTemperature,Down)} +{On(Water,Table2),Is(HallLight,Off)} +{On(Water,Table2),Is(HallLight,On)} +{On(Water,Table2),Is(TubeLight,Off)} +{On(Water,Table2),Is(TubeLight,On)} +{On(Water,Table2),Is(Curtain,Off)} +{On(Water,Table2),Is(Curtain,On)} +{On(Water,Table3),Is(AC,Off)} +{On(Water,Table3),Is(AC,On)} +{On(Water,Table3),Is(ACTemperature,Up)} +{On(Water,Table3),Is(ACTemperature,Down)} +{On(Water,Table3),Is(HallLight,Off)} +{On(Water,Table3),Is(HallLight,On)} +{On(Water,Table3),Is(TubeLight,Off)} +{On(Water,Table3),Is(TubeLight,On)} +{On(Water,Table3),Is(Curtain,Off)} +{On(Water,Table3),Is(Curtain,On)} +{On(Dessert,Bar),Is(AC,Off)} +{On(Dessert,Bar),Is(AC,On)} +{On(Dessert,Bar),Is(ACTemperature,Up)} +{On(Dessert,Bar),Is(ACTemperature,Down)} +{On(Dessert,Bar),Is(HallLight,Off)} +{On(Dessert,Bar),Is(HallLight,On)} +{On(Dessert,Bar),Is(TubeLight,Off)} +{On(Dessert,Bar),Is(TubeLight,On)} +{On(Dessert,Bar),Is(Curtain,Off)} +{On(Dessert,Bar),Is(Curtain,On)} +{On(Dessert,WaterTable),Is(AC,Off)} +{On(Dessert,WaterTable),Is(AC,On)} +{On(Dessert,WaterTable),Is(ACTemperature,Up)} +{On(Dessert,WaterTable),Is(ACTemperature,Down)} +{On(Dessert,WaterTable),Is(HallLight,Off)} +{On(Dessert,WaterTable),Is(HallLight,On)} +{On(Dessert,WaterTable),Is(TubeLight,Off)} +{On(Dessert,WaterTable),Is(TubeLight,On)} +{On(Dessert,WaterTable),Is(Curtain,Off)} +{On(Dessert,WaterTable),Is(Curtain,On)} +{On(Dessert,CoffeeTable),Is(AC,Off)} +{On(Dessert,CoffeeTable),Is(AC,On)} +{On(Dessert,CoffeeTable),Is(ACTemperature,Up)} +{On(Dessert,CoffeeTable),Is(ACTemperature,Down)} +{On(Dessert,CoffeeTable),Is(HallLight,Off)} +{On(Dessert,CoffeeTable),Is(HallLight,On)} +{On(Dessert,CoffeeTable),Is(TubeLight,Off)} +{On(Dessert,CoffeeTable),Is(TubeLight,On)} +{On(Dessert,CoffeeTable),Is(Curtain,Off)} +{On(Dessert,CoffeeTable),Is(Curtain,On)} +{On(Dessert,Bar2),Is(AC,Off)} +{On(Dessert,Bar2),Is(AC,On)} +{On(Dessert,Bar2),Is(ACTemperature,Up)} +{On(Dessert,Bar2),Is(ACTemperature,Down)} +{On(Dessert,Bar2),Is(HallLight,Off)} +{On(Dessert,Bar2),Is(HallLight,On)} +{On(Dessert,Bar2),Is(TubeLight,Off)} +{On(Dessert,Bar2),Is(TubeLight,On)} +{On(Dessert,Bar2),Is(Curtain,Off)} +{On(Dessert,Bar2),Is(Curtain,On)} +{On(Dessert,TableOn),Is(AC,Off)} +{On(Dessert,TableOn),Is(AC,On)} +{On(Dessert,TableDown),Is(ACTemperature,Up)} +{On(Dessert,TableDown),Is(ACTemperature,Down)} +{On(Dessert,TableOn),Is(HallLight,Off)} +{On(Dessert,TableOn),Is(HallLight,On)} +{On(Dessert,TableOn),Is(TubeLight,Off)} +{On(Dessert,TableOn),Is(TubeLight,On)} +{On(Dessert,TableOn),Is(Curtain,Off)} +{On(Dessert,TableOn),Is(Curtain,On)} +{On(Dessert,Table2),Is(AC,Off)} +{On(Dessert,Table2),Is(AC,On)} +{On(Dessert,Table2),Is(ACTemperature,Up)} +{On(Dessert,Table2),Is(ACTemperature,Down)} +{On(Dessert,Table2),Is(HallLight,Off)} +{On(Dessert,Table2),Is(HallLight,On)} +{On(Dessert,Table2),Is(TubeLight,Off)} +{On(Dessert,Table2),Is(TubeLight,On)} +{On(Dessert,Table2),Is(Curtain,Off)} +{On(Dessert,Table2),Is(Curtain,On)} +{On(Dessert,Table3),Is(AC,Off)} +{On(Dessert,Table3),Is(AC,On)} +{On(Dessert,Table3),Is(ACTemperature,Up)} +{On(Dessert,Table3),Is(ACTemperature,Down)} +{On(Dessert,Table3),Is(HallLight,Off)} +{On(Dessert,Table3),Is(HallLight,On)} +{On(Dessert,Table3),Is(TubeLight,Off)} +{On(Dessert,Table3),Is(TubeLight,On)} +{On(Dessert,Table3),Is(Curtain,Off)} +{On(Dessert,Table3),Is(Curtain,On)} +{On(Coffee,Bar),Is(AC,Off)} +{On(Coffee,Bar),Is(AC,On)} +{On(Coffee,Bar),Is(ACTemperature,Up)} +{On(Coffee,Bar),Is(ACTemperature,Down)} +{On(Coffee,Bar),Is(HallLight,Off)} +{On(Coffee,Bar),Is(HallLight,On)} +{On(Coffee,Bar),Is(TubeLight,Off)} +{On(Coffee,Bar),Is(TubeLight,On)} +{On(Coffee,Bar),Is(Curtain,Off)} +{On(Coffee,Bar),Is(Curtain,On)} +{On(Coffee,WaterTable),Is(AC,Off)} +{On(Coffee,WaterTable),Is(AC,On)} +{On(Coffee,WaterTable),Is(ACTemperature,Up)} +{On(Coffee,WaterTable),Is(ACTemperature,Down)} +{On(Coffee,WaterTable),Is(HallLight,Off)} +{On(Coffee,WaterTable),Is(HallLight,On)} +{On(Coffee,WaterTable),Is(TubeLight,Off)} +{On(Coffee,WaterTable),Is(TubeLight,On)} +{On(Coffee,WaterTable),Is(Curtain,Off)} +{On(Coffee,WaterTable),Is(Curtain,On)} +{On(Coffee,CoffeeTable),Is(AC,Off)} +{On(Coffee,CoffeeTable),Is(AC,On)} +{On(Coffee,CoffeeTable),Is(ACTemperature,Up)} +{On(Coffee,CoffeeTable),Is(ACTemperature,Down)} +{On(Coffee,CoffeeTable),Is(HallLight,Off)} +{On(Coffee,CoffeeTable),Is(HallLight,On)} +{On(Coffee,CoffeeTable),Is(TubeLight,Off)} +{On(Coffee,CoffeeTable),Is(TubeLight,On)} +{On(Coffee,CoffeeTable),Is(Curtain,Off)} +{On(Coffee,CoffeeTable),Is(Curtain,On)} +{On(Coffee,Bar2),Is(AC,Off)} +{On(Coffee,Bar2),Is(AC,On)} +{On(Coffee,Bar2),Is(ACTemperature,Up)} +{On(Coffee,Bar2),Is(ACTemperature,Down)} +{On(Coffee,Bar2),Is(HallLight,Off)} +{On(Coffee,Bar2),Is(HallLight,On)} +{On(Coffee,Bar2),Is(TubeLight,Off)} +{On(Coffee,Bar2),Is(TubeLight,On)} +{On(Coffee,Bar2),Is(Curtain,Off)} +{On(Coffee,Bar2),Is(Curtain,On)} +{On(Coffee,TableOn),Is(AC,Off)} +{On(Coffee,TableOn),Is(AC,On)} +{On(Coffee,TableDown),Is(ACTemperature,Up)} +{On(Coffee,TableDown),Is(ACTemperature,Down)} +{On(Coffee,TableOn),Is(HallLight,Off)} +{On(Coffee,TableOn),Is(HallLight,On)} +{On(Coffee,TableOn),Is(TubeLight,Off)} +{On(Coffee,TableOn),Is(TubeLight,On)} +{On(Coffee,TableOn),Is(Curtain,Off)} +{On(Coffee,TableOn),Is(Curtain,On)} +{On(Coffee,Table2),Is(AC,Off)} +{On(Coffee,Table2),Is(AC,On)} +{On(Coffee,Table2),Is(ACTemperature,Up)} +{On(Coffee,Table2),Is(ACTemperature,Down)} +{On(Coffee,Table2),Is(HallLight,Off)} +{On(Coffee,Table2),Is(HallLight,On)} +{On(Coffee,Table2),Is(TubeLight,Off)} +{On(Coffee,Table2),Is(TubeLight,On)} +{On(Coffee,Table2),Is(Curtain,Off)} +{On(Coffee,Table2),Is(Curtain,On)} +{On(Coffee,Table3),Is(AC,Off)} +{On(Coffee,Table3),Is(AC,On)} +{On(Coffee,Table3),Is(ACTemperature,Up)} +{On(Coffee,Table3),Is(ACTemperature,Down)} +{On(Coffee,Table3),Is(HallLight,Off)} +{On(Coffee,Table3),Is(HallLight,On)} +{On(Coffee,Table3),Is(TubeLight,Off)} +{On(Coffee,Table3),Is(TubeLight,On)} +{On(Coffee,Table3),Is(Curtain,Off)} +{On(Coffee,Table3),Is(Curtain,On)} +{On(Water,Bar),Is(AC,Off)} +{On(Water,Bar),Is(AC,On)} +{On(Water,Bar),Is(ACTemperature,Up)} +{On(Water,Bar),Is(ACTemperature,Down)} +{On(Water,Bar),Is(HallLight,Off)} +{On(Water,Bar),Is(HallLight,On)} +{On(Water,Bar),Is(TubeLight,Off)} +{On(Water,Bar),Is(TubeLight,On)} +{On(Water,Bar),Is(Curtain,Off)} +{On(Water,Bar),Is(Curtain,On)} diff --git a/robowaiter/behavior_tree/dataset/goal_states_generation.py b/robowaiter/behavior_tree/dataset/goal_states_generation.py index 3cc2770..85cd457 100644 --- a/robowaiter/behavior_tree/dataset/goal_states_generation.py +++ b/robowaiter/behavior_tree/dataset/goal_states_generation.py @@ -1,6 +1,10 @@ # the empty string '' represents robot holds nothing -Object = ['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', - 'VacuumCup', ''] +import os +import re + +Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup', 'Nothing'] + +Cookable = ['Coffee', 'Water', 'Dessert'] Place = ['Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3'] @@ -35,13 +39,13 @@ def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]: match predict_pattern: case 'at': - pattern = f'At(%s, %s)' + pattern = f'At(%s,%s)' case 'is': - pattern = f'Is(%s, %s)' + pattern = f'Is(%s,%s)' case 'hold': pattern = f'Holding(%s)' case 'on': - pattern = f'On(%s, %s)' + pattern = f'On(%s,%s)' case _: raise RuntimeError('Incorrect predict pattern!') @@ -49,10 +53,10 @@ def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]: if oplist_2: for str_2 in oplist_2: count += 1 - res.append({pattern % (str_1, str_2)}) + res.append(pattern % (str_1, str_2)) else: count += 1 - res.append({pattern % str_1}) + res.append(pattern % str_1) return count, res @@ -85,27 +89,127 @@ def generate_goal_states(vln_num: int, vlm_num: int, opentask_num: int): } ) - # print(res) - # print(len(res)) + print(res) + print(len(res)) return res -def enumerate_goal_states(): - # goal states for VLN +def enumerate_goal_states(total: int): + + res = [] + + point_15 = int(total * .15) + point_10 = int(total * .10) + + # goal states for VLN, .15 count_vln, list_vln = enumerate_predict(['Robot'], Place, 'at') - print(f'VLN 任务的目标状态数：{count_vln}') + list_vln = ['{%s}'%i for i in list_vln] + if count_vln < point_15: + list_vln *= point_15 // count_vln + for i in range(0, point_15 - len(list_vln)): + list_vln.append(single_predict_generation(['Robot'], Place, 'at')) + # print(f'VLN 任务的目标状态数：{count_vln}') + res += list_vln - # goal states for VLM - count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at') + # goal states for VLM-1, 0.15 + count_vlm_1, list_vlm_1 = enumerate_predict(Object, Place, 'on') + list_vlm_1 = ['{%s}' % i for i in list_vlm_1] + if count_vlm_1 < point_15: + list_vlm_1 *= point_15 // count_vlm_1 + for i in range(0, point_15 - len(list_vlm_1)): + list_vlm_1.append(single_predict_generation(Object, Place, 'on')) + res += list_vlm_1 + + # goal states for VLM-2, 0.15 count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') - print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}') + list_vlm_2 = ['{%s}' % i for i in list_vlm_2] + if count_vlm_2 < point_15: + list_vlm_2 *= point_15 // count_vlm_2 + for i in range(0, point_15 - len(list_vlm_2)): + list_vlm_2.append(single_predict_generation(Operable, ['0', '1'], 'is')) + res += list_vlm_2 - # goal states for open-task - count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at') - count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on') - print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}') + # goal states for VLM-3, 0.1 + count_vlm_3, list_vlm_3 = enumerate_predict(Object, None, 'hold') + list_vlm_3 = ['{%s}' % i for i in list_vlm_3] + if count_vlm_3 < point_10: + list_vlm_3 *= point_10 // count_vlm_3 + for i in range(0, point_10 - len(list_vlm_3)): + list_vlm_3.append(single_predict_generation(Object, None, 'hold')) + res += list_vlm_3 + # goal states for OT, 0.15 + count_ot, list_ot = enumerate_predict(Cookable, Place, 'on') + list_ot = ['{%s}' % i for i in list_ot] + if count_ot < point_15: + list_ot *= point_15 // count_ot + for i in range(0, point_15 - len(list_ot)): + list_ot.append(single_predict_generation(Cookable, Place, 'on')) + res += list_ot + + # goal states for compound-1, 0.1 + count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') + count_2, list_2 = enumerate_predict(Object, Place, 'on') + list_tmp = [] + for i in list_1: + for j in list_2: + list_tmp.append('{%s,%s}' % (i, j)) + if len(list_tmp) < point_10: + list_tmp *= point_10 // len(list_tmp) + list_tmp += list_tmp[0:point_10-len(list_tmp)] + else: + list_tmp = list_tmp[:point_10] + res += list_tmp + + # goal states for compound-2, 0.1 + count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') + count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') + list_tmp = [] + for i in list_1: + for j in list_2: + list_tmp.append('{%s,%s}' % (i, j)) + if len(list_tmp) < point_10: + list_tmp *= point_10 // len(list_tmp) + list_tmp += list_tmp[0:point_10 - len(list_tmp)] + else: + list_tmp = list_tmp[:point_10] + res += list_tmp + + # goal states for compound-3, 0.1 + count_1, list_1 = enumerate_predict(Cookable, Place, 'on') + count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') + list_tmp = [] + for i in list_1: + for j in list_2: + list_tmp.append('{%s,%s}' % (i, j)) + if len(list_tmp) < point_10: + list_tmp *= point_10 // len(list_tmp) + list_tmp += list_tmp[0:point_10 - len(list_tmp)] + else: + list_tmp = list_tmp[:point_10] + res += list_tmp + + # # goal states for VLM-1, 0.15 + # count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at') + # count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') + # print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}') + # + # # goal states for open-task + # count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at') + # count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on') + # print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}') + + with open(os.path.join('./goal_states.txt'), 'w+') as file: + for i in res: + if 'Is' in i and 'ACTemperature' in i: + i = re.sub('0', 'Up', i) + i = re.sub('1', 'Down', i) + elif 'Is' in i and ('AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i): + i = re.sub('0', 'Off', i) + i = re.sub('1', 'On', i) + + file.write(i+'\n') # generate_goal_states(30, 6, 6) -enumerate_goal_states() +enumerate_goal_states(5000) From 5ad86fe560dc0c051d3bbbf33d04593ede1df48b Mon Sep 17 00:00:00 2001 From: wuziji <2193177243@qq.com> Date: Tue, 14 Nov 2023 16:54:30 +0800 Subject: [PATCH 2/5] =?UTF-8?q?New:=20=E5=AE=8C=E6=88=90=E7=9B=AE=E6=A0=87?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E6=95=B0=E6=8D=AE=E9=9B=86=E7=9A=84=E6=9E=84?= =?UTF-8?q?=E5=BB=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../behavior_tree/dataset/goal_states.txt | 84 +++++++++---------- .../dataset/goal_states_generation.py | 10 +-- 2 files changed, 47 insertions(+), 47 deletions(-) diff --git a/robowaiter/behavior_tree/dataset/goal_states.txt b/robowaiter/behavior_tree/dataset/goal_states.txt index fb17464..85c913a 100644 --- a/robowaiter/behavior_tree/dataset/goal_states.txt +++ b/robowaiter/behavior_tree/dataset/goal_states.txt @@ -747,7 +747,7 @@ {At(Robot,Table1)} {At(Robot,Table2)} {At(Robot,Table3)} -At(Robot, Table1) +{At(Robot, Table3)} {On(Softdrink,Bar)} {On(Softdrink,WaterTable)} {On(Softdrink,CoffeeTable)} @@ -1476,28 +1476,28 @@ At(Robot, Table1) {On(Nothing,Table1)} {On(Nothing,Table2)} {On(Nothing,Table3)} -On(Nothing, WaterTable) -On(MilkDrink, CoffeeTable) -On(Softdrink, Bar2) -On(Softdrink, WaterTable) -On(MilkDrink, CoffeeTable) -On(Yogurt, Table2) -On(BottledDrink, Table1) -On(Softdrink, Table1) -On(MilkDrink, WaterTable) -On(Softdrink, WaterTable) -On(VacuumCup, Table1) -On(Yogurt, Table1) -On(ADMilk, Table3) -On(BottledDrink, Table2) -On(Softdrink, Bar2) -On(Nothing, Bar) -On(ADMilk, Bar2) -On(ADMilk, Table3) -On(BottledDrink, Bar) -On(Yogurt, Bar) -On(VacuumCup, Table3) -On(MilkDrink, Bar2) +{On(VacuumCup, Table2)} +{On(VacuumCup, WaterTable)} +{On(BottledDrink, Table2)} +{On(MilkDrink, Table2)} +{On(ADMilk, CoffeeTable)} +{On(Softdrink, Table2)} +{On(Nothing, WaterTable)} +{On(Milk, Bar)} +{On(Milk, WaterTable)} +{On(Nothing, Bar2)} +{On(BottledDrink, CoffeeTable)} +{On(Nothing, Table3)} +{On(Softdrink, Table2)} +{On(Nothing, WaterTable)} +{On(BottledDrink, WaterTable)} +{On(Milk, Table3)} +{On(Milk, CoffeeTable)} +{On(Nothing, Table1)} +{On(MilkDrink, Bar2)} +{On(ADMilk, Table3)} +{On(BottledDrink, Table1)} +{On(Yogurt, WaterTable)} {Is(AC,Off)} {Is(AC,On)} {Is(ACTemperature,Up)} @@ -2744,10 +2744,10 @@ On(MilkDrink, Bar2) {Holding(Milk)} {Holding(VacuumCup)} {Holding(Nothing)} -Holding(Nothing) -Holding(Nothing) -Holding(MilkDrink) -Holding(VacuumCup) +{Holding(Softdrink)} +{Holding(Milk)} +{Holding(BottledDrink)} +{Holding(Nothing)} {On(Coffee,Bar)} {On(Coffee,WaterTable)} {On(Coffee,CoffeeTable)} @@ -3483,21 +3483,21 @@ Holding(VacuumCup) {On(Dessert,Table1)} {On(Dessert,Table2)} {On(Dessert,Table3)} -On(Dessert, Bar2) -On(Dessert, Bar2) -On(Water, Bar) -On(Water, Table1) -On(Water, Bar2) -On(Coffee, Bar) -On(Water, Bar) -On(Coffee, Bar2) -On(Dessert, Table3) -On(Coffee, WaterTable) -On(Dessert, WaterTable) -On(Water, Table3) -On(Coffee, Table2) -On(Water, Table3) -On(Dessert, Table2) +{On(Coffee, CoffeeTable)} +{On(Water, WaterTable)} +{On(Water, CoffeeTable)} +{On(Dessert, WaterTable)} +{On(Water, Table1)} +{On(Coffee, WaterTable)} +{On(Water, CoffeeTable)} +{On(Dessert, Table1)} +{On(Coffee, Bar)} +{On(Coffee, Table3)} +{On(Coffee, Bar2)} +{On(Coffee, Table2)} +{On(Water, Bar2)} +{On(Dessert, Bar)} +{On(Coffee, WaterTable)} {At(Robot,Bar),On(Softdrink,Bar)} {At(Robot,Bar),On(Softdrink,WaterTable)} {At(Robot,Bar),On(Softdrink,CoffeeTable)} diff --git a/robowaiter/behavior_tree/dataset/goal_states_generation.py b/robowaiter/behavior_tree/dataset/goal_states_generation.py index 85cd457..f03dfba 100644 --- a/robowaiter/behavior_tree/dataset/goal_states_generation.py +++ b/robowaiter/behavior_tree/dataset/goal_states_generation.py @@ -108,7 +108,7 @@ def enumerate_goal_states(total: int): if count_vln < point_15: list_vln *= point_15 // count_vln for i in range(0, point_15 - len(list_vln)): - list_vln.append(single_predict_generation(['Robot'], Place, 'at')) + list_vln.append('{%s}' % single_predict_generation(['Robot'], Place, 'at')) # print(f'VLN 任务的目标状态数：{count_vln}') res += list_vln @@ -118,7 +118,7 @@ def enumerate_goal_states(total: int): if count_vlm_1 < point_15: list_vlm_1 *= point_15 // count_vlm_1 for i in range(0, point_15 - len(list_vlm_1)): - list_vlm_1.append(single_predict_generation(Object, Place, 'on')) + list_vlm_1.append('{%s}' % (single_predict_generation(Object, Place, 'on'))) res += list_vlm_1 # goal states for VLM-2, 0.15 @@ -127,7 +127,7 @@ def enumerate_goal_states(total: int): if count_vlm_2 < point_15: list_vlm_2 *= point_15 // count_vlm_2 for i in range(0, point_15 - len(list_vlm_2)): - list_vlm_2.append(single_predict_generation(Operable, ['0', '1'], 'is')) + list_vlm_2.append('{%s}' % single_predict_generation(Operable, ['0', '1'], 'is')) res += list_vlm_2 # goal states for VLM-3, 0.1 @@ -136,7 +136,7 @@ def enumerate_goal_states(total: int): if count_vlm_3 < point_10: list_vlm_3 *= point_10 // count_vlm_3 for i in range(0, point_10 - len(list_vlm_3)): - list_vlm_3.append(single_predict_generation(Object, None, 'hold')) + list_vlm_3.append('{%s}' % single_predict_generation(Object, None, 'hold')) res += list_vlm_3 # goal states for OT, 0.15 @@ -145,7 +145,7 @@ def enumerate_goal_states(total: int): if count_ot < point_15: list_ot *= point_15 // count_ot for i in range(0, point_15 - len(list_ot)): - list_ot.append(single_predict_generation(Cookable, Place, 'on')) + list_ot.append('{%s}' % single_predict_generation(Cookable, Place, 'on')) res += list_ot # goal states for compound-1, 0.1 From 3166a6b57a4e00f6217700708cbabefa1ac2cebc Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Tue, 14 Nov 2023 17:04:26 +0800 Subject: [PATCH 3/5] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=BA=86=E9=83=A8?= =?UTF-8?q?=E5=88=86=E5=8A=A8=E4=BD=9C=E8=8A=82=E7=82=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/behavior_lib/act/PutDown.py | 2 +- robowaiter/behavior_lib/act/Turn.py | 18 +- robowaiter/llm_client/data/test_questions.txt | 2 +- .../llm_client/data_raw/test_questions.csv | 7 +- robowaiter/robot/robot.py | 3 +- robowaiter/scene/scene.py | 7 +- robowaiter/scene/tasks/VLM.py | 20 +- sub_task.ptml | 326 +++++++++++++++++- 8 files changed, 365 insertions(+), 20 deletions(-) diff --git a/robowaiter/behavior_lib/act/PutDown.py b/robowaiter/behavior_lib/act/PutDown.py index 30a6476..532fd31 100644 --- a/robowaiter/behavior_lib/act/PutDown.py +++ b/robowaiter/behavior_lib/act/PutDown.py @@ -21,7 +21,7 @@ class PutDown(Act): info = {} info["pre"] = {f'Holding({arg[0]})',f'At(Robot,{arg[1]})'} info["add"] = {f'Holding(Nothing)',f'At({arg[0]},{arg[1]})'} - info["del_set"] = {f'Holding(Nothing)'} + info["del_set"] = {f'Holding({arg[0]})'} return info diff --git a/robowaiter/behavior_lib/act/Turn.py b/robowaiter/behavior_lib/act/Turn.py index 73d0551..b499e24 100644 --- a/robowaiter/behavior_lib/act/Turn.py +++ b/robowaiter/behavior_lib/act/Turn.py @@ -41,29 +41,33 @@ class Turn(Act): self.op_type = 10 elif self.target_obj=="Curtain": if self.op == 'On': - self.op_type = 11 - elif self.op == 'Off': self.op_type = 12 + elif self.op == 'Off': + self.op_type = 11 @classmethod def get_info(cls,*arg): info = {} + info["pre"] = set() if arg[0]=="TubeLight" or arg[0]=="HallLight" or arg[0]=="Curtain" or arg[0]=='AC': + if arg[0]!="Curtain": + info["pre"] |= {f'Holding(Nothing)'} if arg[1]=="On": - info["pre"] = {f'Is({arg[0]},Off)'} + info["pre"] |= {f'Is({arg[0]},Off)'} info["add"] = {f'Is({arg[0]},On)'} info["del_set"] = {f'Is({arg[0]},Off)'} elif arg[1]=="Off": - info["pre"] = {f'Is({arg[0]},On)'} + info["pre"] |= {f'Is({arg[0]},On)'} info["add"] = {f'Is({arg[0]},Off)'} info["del_set"] = {f'Is({arg[0]},On)'} elif arg[0]=='ACTemperature': + info["pre"] = {f'Holding(Nothing)'} if arg[1]=="Up": - info["pre"] = {f'Is({arg[0]},Down)'} + info["pre"] |= {f'Is({arg[0]},Down)'} info["add"] = {f'Is({arg[0]},Up)'} info["del_set"] = {f'Is({arg[0]},Down)'} - elif arg[1]=="Donw": - info["pre"] = {f'Is({arg[0]},Up)'} + elif arg[1]=="Down": + info["pre"] |= {f'Is({arg[0]},Up)'} info["add"] = {f'Is({arg[0]},Down)'} info["del_set"] = {f'Is({arg[0]},Up)'} return info diff --git a/robowaiter/llm_client/data/test_questions.txt b/robowaiter/llm_client/data/test_questions.txt index 42f5756..44b4914 100644 --- a/robowaiter/llm_client/data/test_questions.txt +++ b/robowaiter/llm_client/data/test_questions.txt @@ -1 +1 @@ -{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}, "测试VLM：前往桌子2": {"Answer": " 测试VLM：前往桌子2", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}} +{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}, "测试VLM：前往桌子2": {"Answer": " 测试VLM：前往桌子2", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关空调": {"Answer": "测试VLM：关空调", "Goal": "{\"Is(AC,Off)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：开大厅灯": {"Answer": "测试VLM：开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：开筒灯": {"Answer": "测试VLM：开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：开窗帘": {"Answer": "测试VLM：开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：整理椅子": {"Answer": "测试VLM：整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}} diff --git a/robowaiter/llm_client/data_raw/test_questions.csv b/robowaiter/llm_client/data_raw/test_questions.csv index fda2291..9313d61 100644 --- a/robowaiter/llm_client/data_raw/test_questions.csv +++ b/robowaiter/llm_client/data_raw/test_questions.csv @@ -4,9 +4,14 @@ Question,Answer,Goal AEM,AEM,"{""EnvExplored()""}" VLMһˮ,VLMһˮ,"{""On(Water,WaterTable)""}" VLMյ,VLMյ,"{""Is(AC,On)""}" +VLMؿյ,VLMؿյ,"{""Is(AC,Off)""}" VLMش,VLMش,"{""Is(HallLight,Off)""}" +VLM,VLM,"{""Is(HallLight,On)""}" VLMͲ,VLMͲ,"{""Is(TubeLight,Off)""}" -VLMش,VLMش,"{""Is(Curtain,Off)""}" +VLMͲ,VLMͲ,"{""Is(TubeLight,On)""}" +VLMش,VLMش,"{""Is(Curtain,Off)""}" +VLM,VLM,"{""Is(Curtain,On)""}" VLMϵ,VLMϵ,"{""Is(Floor,Clean)""}" VLM,VLM,"{""Is(Table1,Clean)""}" +VLM,VLM,"{""Is(Chairs,Clean)""}" VLMѱŵTable2,VLMѱŵTable2,"{""On(BottledDrink,Table2)""}" diff --git a/robowaiter/robot/robot.py b/robowaiter/robot/robot.py index 6d7b275..7dfca8c 100644 --- a/robowaiter/robot/robot.py +++ b/robowaiter/robot/robot.py @@ -48,7 +48,8 @@ class Robot(object): print("\n--------------------") print(f"首次运行行为树扩展算法，收集到{len(self.action_list)}个有效动作:") for a in self.action_list: - print(a.name) + if "Turn" in a.name: + print(a.name) print("--------------------\n") diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 17a0ccd..3c350b8 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -416,13 +416,14 @@ class Scene: self.robo_recover() return True - def gen_obj(self,h=100): + def gen_obj(self,type=5,h=100): # 4;冰红(盒) 5;酸奶 7:保温杯 9;冰红(瓶) 13:代语词典 14:cake 61:甜牛奶 + type= 5 #9 scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID)) ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z] - obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=9), + obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=5), # GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9), - GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=7), + GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=9), ] scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID)) time.sleep(1.0) diff --git a/robowaiter/scene/tasks/VLM.py b/robowaiter/scene/tasks/VLM.py index 85052d5..eae59a5 100644 --- a/robowaiter/scene/tasks/VLM.py +++ b/robowaiter/scene/tasks/VLM.py @@ -13,14 +13,28 @@ class SceneVLM(Scene): self.event_list = [ # (5, self.create_chat_event("测试VLM：做一杯咖啡")), # (5, self.create_chat_event("测试VLM：倒一杯水")), - (5, self.create_chat_event("测试VLM：开空调")), + # (5, self.create_chat_event("测试VLM：开空调")), + # (5, self.create_chat_event("测试VLM：关空调")), + # (5, self.create_chat_event("测试VLM：开大厅灯")), + (5, self.create_chat_event("测试VLM：拖地")), + # (5, self.create_chat_event("测试VLM：擦桌子")), + # (5, self.create_chat_event("测试VLM：整理椅子")), + # (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")), + # (5, self.create_chat_event("测试VLM：关大厅灯")) ] def _reset(self): - self.state["condition_set"] = {'At(Robot,Bar)','Holding(Nothing)','Is(AC,Off)'} + self.state["condition_set"] = {'At(Robot,Bar)','Is(AC,Off)', 'Holding(Nothing)', # 'Holding(Yogurt)', #'Holding(Nothing)', + 'Is(HallLight,Off)','Is(TubeLight,On)','Is(Curtain,On)', + 'Is(Table1,Dirty)','Is(Floor,Dirty)','Is(Chairs,Dirty)'} + # self.gen_obj(type=5) + # # self.gen_obj(type=9) + # self.op_task_execute(op_type=16, obj_id=0) + # self.move_task_area(op_type=4) pass - def _run(self, op_type=7): + def _run(self, op_type=10): + # 共17个操作 # "制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子", # 1-7 # "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘", # 8-12 diff --git a/sub_task.ptml b/sub_task.ptml index e2a81fa..7671dad 100644 --- a/sub_task.ptml +++ b/sub_task.ptml @@ -1,7 +1,327 @@ selector{ -cond Is(AC,On) +cond Is(Floor,Clean) sequence{ -cond Is(AC,Off) -act Turn(AC,On) +cond Holding(Nothing) +act Clean(Floor) +} +sequence{ +cond Holding(Milk), At(Robot,Table2) +act PutDown(Milk,Table2) +} +sequence{ +cond Holding(Milk), At(Robot,WaterTable) +act PutDown(Milk,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable), Holding(Milk) +act PutDown(Milk,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(Milk) +act PutDown(Milk,Bar) +} +sequence{ +cond Holding(Milk), At(Robot,Table1) +act PutDown(Milk,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(Milk) +act PutDown(Milk,Table3) +} +sequence{ +cond Holding(Milk), At(Robot,Bar2) +act PutDown(Milk,Bar2) +} +sequence{ +cond Holding(Coffee), At(Robot,Table2) +act PutDown(Coffee,Table2) +} +sequence{ +cond At(Robot,WaterTable), Holding(Coffee) +act PutDown(Coffee,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable), Holding(Coffee) +act PutDown(Coffee,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(Coffee) +act PutDown(Coffee,Bar) +} +sequence{ +cond At(Robot,Table1), Holding(Coffee) +act PutDown(Coffee,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(Coffee) +act PutDown(Coffee,Table3) +} +sequence{ +cond At(Robot,Bar2), Holding(Coffee) +act PutDown(Coffee,Bar2) +} +sequence{ +cond Holding(Softdrink), At(Robot,Table2) +act PutDown(Softdrink,Table2) +} +sequence{ +cond Holding(Softdrink), At(Robot,WaterTable) +act PutDown(Softdrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable), Holding(Softdrink) +act PutDown(Softdrink,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(Softdrink) +act PutDown(Softdrink,Bar) +} +sequence{ +cond Holding(Softdrink), At(Robot,Table1) +act PutDown(Softdrink,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(Softdrink) +act PutDown(Softdrink,Table3) +} +sequence{ +cond Holding(Softdrink), At(Robot,Bar2) +act PutDown(Softdrink,Bar2) +} +sequence{ +cond Holding(MilkDrink), At(Robot,Table2) +act PutDown(MilkDrink,Table2) +} +sequence{ +cond Holding(MilkDrink), At(Robot,WaterTable) +act PutDown(MilkDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable), Holding(MilkDrink) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(MilkDrink) +act PutDown(MilkDrink,Bar) +} +sequence{ +cond Holding(MilkDrink), At(Robot,Table1) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(MilkDrink) +act PutDown(MilkDrink,Table3) +} +sequence{ +cond Holding(MilkDrink), At(Robot,Bar2) +act PutDown(MilkDrink,Bar2) +} +sequence{ +cond Holding(Water), At(Robot,Table2) +act PutDown(Water,Table2) +} +sequence{ +cond Holding(Water), At(Robot,WaterTable) +act PutDown(Water,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable), Holding(Water) +act PutDown(Water,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(Water) +act PutDown(Water,Bar) +} +sequence{ +cond Holding(Water), At(Robot,Table1) +act PutDown(Water,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(Water) +act PutDown(Water,Table3) +} +sequence{ +cond Holding(Water), At(Robot,Bar2) +act PutDown(Water,Bar2) +} +sequence{ +cond Holding(ADMilk), At(Robot,Table2) +act PutDown(ADMilk,Table2) +} +sequence{ +cond At(Robot,WaterTable), Holding(ADMilk) +act PutDown(ADMilk,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable), Holding(ADMilk) +act PutDown(ADMilk,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(ADMilk) +act PutDown(ADMilk,Bar) +} +sequence{ +cond At(Robot,Table1), Holding(ADMilk) +act PutDown(ADMilk,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(ADMilk) +act PutDown(ADMilk,Table3) +} +sequence{ +cond At(Robot,Bar2), Holding(ADMilk) +act PutDown(ADMilk,Bar2) +} +sequence{ +cond At(Robot,Table2), Holding(VacuumCup) +act PutDown(VacuumCup,Table2) +} +sequence{ +cond At(Robot,WaterTable), Holding(VacuumCup) +act PutDown(VacuumCup,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable), Holding(VacuumCup) +act PutDown(VacuumCup,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(VacuumCup) +act PutDown(VacuumCup,Bar) +} +sequence{ +cond At(Robot,Table1), Holding(VacuumCup) +act PutDown(VacuumCup,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(VacuumCup) +act PutDown(VacuumCup,Table3) +} +sequence{ +cond At(Robot,Bar2), Holding(VacuumCup) +act PutDown(VacuumCup,Bar2) +} +sequence{ +cond Holding(BottledDrink), At(Robot,Table2) +act PutDown(BottledDrink,Table2) +} +sequence{ +cond Holding(BottledDrink), At(Robot,WaterTable) +act PutDown(BottledDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable), Holding(BottledDrink) +act PutDown(BottledDrink,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(BottledDrink) +act PutDown(BottledDrink,Bar) +} +sequence{ +cond Holding(BottledDrink), At(Robot,Table1) +act PutDown(BottledDrink,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(BottledDrink) +act PutDown(BottledDrink,Table3) +} +sequence{ +cond Holding(BottledDrink), At(Robot,Bar2) +act PutDown(BottledDrink,Bar2) +} +sequence{ +cond Holding(Dessert), At(Robot,Table2) +act PutDown(Dessert,Table2) +} +sequence{ +cond Holding(Dessert), At(Robot,WaterTable) +act PutDown(Dessert,WaterTable) +} +sequence{ +cond Holding(Dessert), At(Robot,CoffeeTable) +act PutDown(Dessert,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(Dessert) +act PutDown(Dessert,Bar) +} +sequence{ +cond Holding(Dessert), At(Robot,Table1) +act PutDown(Dessert,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(Dessert) +act PutDown(Dessert,Table3) +} +sequence{ +cond Holding(Dessert), At(Robot,Bar2) +act PutDown(Dessert,Bar2) +} +sequence{ +cond Holding(Yogurt), At(Robot,Table2) +act PutDown(Yogurt,Table2) +} +sequence{ +cond Holding(Yogurt), At(Robot,WaterTable) +act PutDown(Yogurt,WaterTable) +} +sequence{ +cond Holding(Yogurt), At(Robot,CoffeeTable) +act PutDown(Yogurt,CoffeeTable) +} +sequence{ +cond At(Robot,Bar), Holding(Yogurt) +act PutDown(Yogurt,Bar) +} +sequence{ +cond Holding(Yogurt), At(Robot,Table1) +act PutDown(Yogurt,Table1) +} +sequence{ +cond At(Robot,Table3), Holding(Yogurt) +act PutDown(Yogurt,Table3) +} +sequence{ +cond Holding(Yogurt), At(Robot,Bar2) +act PutDown(Yogurt,Bar2) +} +sequence{ +cond Holding(Milk) +act MoveTo(Table2) +} +sequence{ +cond Holding(Coffee) +act MoveTo(Table2) +} +sequence{ +cond Holding(Softdrink) +act MoveTo(Table2) +} +sequence{ +cond Holding(MilkDrink) +act MoveTo(Table2) +} +sequence{ +cond Holding(Water) +act MoveTo(Table2) +} +sequence{ +cond Holding(ADMilk) +act MoveTo(Table2) +} +sequence{ +cond Holding(VacuumCup) +act MoveTo(Table2) +} +sequence{ +cond Holding(BottledDrink) +act MoveTo(Table2) +} +sequence{ +cond Holding(Dessert) +act MoveTo(Table2) +} +sequence{ +cond Holding(Yogurt) +act MoveTo(Table2) } } From 0a3e3a8f3ce0914916606623373f1a7a8eb91397 Mon Sep 17 00:00:00 2001 From: wuziji <2193177243@qq.com> Date: Tue, 14 Nov 2023 17:31:13 +0800 Subject: [PATCH 4/5] =?UTF-8?q?FIX:=20=E5=A2=9E=E5=8A=A0sub=5Ftask=5Fseq?= =?UTF-8?q?=E4=B8=BA=E7=A9=BA=E7=9A=84=E9=94=99=E8=AF=AF=E5=A4=84=E7=90=86?= =?UTF-8?q?=EF=BC=8C=E7=94=B1=E5=BC=82=E5=B8=B8=E6=9B=B4=E6=94=B9=E4=B8=BA?= =?UTF-8?q?=E8=AD=A6=E5=91=8A=E2=9A=A0=EF=BC=88=E9=97=AE=E9=A2=98=E5=B9=B6?= =?UTF-8?q?=E6=B2=A1=E6=9C=89=E5=AE=8C=E5=85=A8=E8=A7=A3=E5=86=B3=EF=BC=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- robowaiter/behavior_lib/cond/HasSubTask.py | 2 +- robowaiter/robot/robot.py | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/robowaiter/behavior_lib/cond/HasSubTask.py b/robowaiter/behavior_lib/cond/HasSubTask.py index 3bbc52f..571c8c0 100644 --- a/robowaiter/behavior_lib/cond/HasSubTask.py +++ b/robowaiter/behavior_lib/cond/HasSubTask.py @@ -8,7 +8,7 @@ class HasSubTask(Cond): def _update(self) -> ptree.common.Status: # if self.scene.status? - if self.scene.sub_task_seq.children == []: + if not self.scene.sub_task_seq or not self.scene.sub_task_seq.children: return ptree.common.Status.FAILURE else: return ptree.common.Status.SUCCESS diff --git a/robowaiter/robot/robot.py b/robowaiter/robot/robot.py index 6d7b275..185c7d7 100644 --- a/robowaiter/robot/robot.py +++ b/robowaiter/robot/robot.py @@ -70,7 +70,11 @@ class Robot(object): del_sub_tree.set_scene(self.scene) seq.add_child(del_sub_tree) - self.scene.sub_task_seq.add_child(seq) + if self.scene.sub_task_seq: + self.scene.sub_task_seq.add_child(seq) + else: + print('Warning: have none sub task sequence') + self.scene.sub_task_seq = seq print("当前行为树为：") print_tree_from_root(self.bt.root) From a012fabf6d42c198ccda71572d623f2e35ce7318 Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Tue, 14 Nov 2023 19:30:06 +0800 Subject: [PATCH 5/5] =?UTF-8?q?=E6=9B=B4=E6=94=B9=E4=BA=86=20ptml=20?= =?UTF-8?q?=E8=BE=93=E5=87=BA=E6=A0=BC=E5=BC=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../obtea/OptimalBTExpansionAlgorithm.py | 2 +- robowaiter/scene/tasks/VLM.py | 4 +- sub_task.ptml | 1326 +++++++++++++---- 3 files changed, 1038 insertions(+), 294 deletions(-) diff --git a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py index 333a644..fba4325 100644 --- a/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py +++ b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py @@ -183,7 +183,7 @@ class OptBTExpAlgorithm: if isinstance(child, Leaf): if child.type == 'cond': self.ptml_string += "cond " - c_set_str = ', '.join(map(str, child.content)) + "\n" + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" self.ptml_string += c_set_str elif child.type == 'act': if '(' not in child.content.name: diff --git a/robowaiter/scene/tasks/VLM.py b/robowaiter/scene/tasks/VLM.py index eae59a5..2bf37f2 100644 --- a/robowaiter/scene/tasks/VLM.py +++ b/robowaiter/scene/tasks/VLM.py @@ -11,12 +11,12 @@ class SceneVLM(Scene): super().__init__(robot) # 在这里加入场景中发生的事件， (事件发生的时间，事件函数) self.event_list = [ - # (5, self.create_chat_event("测试VLM：做一杯咖啡")), + (5, self.create_chat_event("测试VLM：做一杯咖啡")), # (5, self.create_chat_event("测试VLM：倒一杯水")), # (5, self.create_chat_event("测试VLM：开空调")), # (5, self.create_chat_event("测试VLM：关空调")), # (5, self.create_chat_event("测试VLM：开大厅灯")), - (5, self.create_chat_event("测试VLM：拖地")), + # (5, self.create_chat_event("测试VLM：拖地")), # (5, self.create_chat_event("测试VLM：擦桌子")), # (5, self.create_chat_event("测试VLM：整理椅子")), # (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")), diff --git a/sub_task.ptml b/sub_task.ptml index 7671dad..2b7fc48 100644 --- a/sub_task.ptml +++ b/sub_task.ptml @@ -1,327 +1,1071 @@ selector{ -cond Is(Floor,Clean) +cond At(Coffee,Bar) sequence{ -cond Holding(Nothing) -act Clean(Floor) -} -sequence{ -cond Holding(Milk), At(Robot,Table2) -act PutDown(Milk,Table2) -} -sequence{ -cond Holding(Milk), At(Robot,WaterTable) -act PutDown(Milk,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(Milk) -act PutDown(Milk,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Milk) -act PutDown(Milk,Bar) -} -sequence{ -cond Holding(Milk), At(Robot,Table1) -act PutDown(Milk,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(Milk) -act PutDown(Milk,Table3) -} -sequence{ -cond Holding(Milk), At(Robot,Bar2) -act PutDown(Milk,Bar2) -} -sequence{ -cond Holding(Coffee), At(Robot,Table2) -act PutDown(Coffee,Table2) -} -sequence{ -cond At(Robot,WaterTable), Holding(Coffee) -act PutDown(Coffee,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(Coffee) -act PutDown(Coffee,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Coffee) +cond Holding(Coffee) + cond At(Robot,Bar) act PutDown(Coffee,Bar) } sequence{ -cond At(Robot,Table1), Holding(Coffee) -act PutDown(Coffee,Table1) +cond Holding(Coffee) +act MoveTo(Bar) } sequence{ -cond At(Robot,Table3), Holding(Coffee) -act PutDown(Coffee,Table3) +cond Holding(Nothing) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PickUp(Coffee) } sequence{ -cond At(Robot,Bar2), Holding(Coffee) -act PutDown(Coffee,Bar2) +cond Holding(Nothing) + cond At(Robot,Coffee) +act PickUp(Coffee) } sequence{ -cond Holding(Softdrink), At(Robot,Table2) -act PutDown(Softdrink,Table2) -} -sequence{ -cond Holding(Softdrink), At(Robot,WaterTable) -act PutDown(Softdrink,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(Softdrink) -act PutDown(Softdrink,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Softdrink) -act PutDown(Softdrink,Bar) -} -sequence{ -cond Holding(Softdrink), At(Robot,Table1) -act PutDown(Softdrink,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(Softdrink) -act PutDown(Softdrink,Table3) -} -sequence{ -cond Holding(Softdrink), At(Robot,Bar2) -act PutDown(Softdrink,Bar2) -} -sequence{ -cond Holding(MilkDrink), At(Robot,Table2) -act PutDown(MilkDrink,Table2) -} -sequence{ -cond Holding(MilkDrink), At(Robot,WaterTable) -act PutDown(MilkDrink,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(MilkDrink) -act PutDown(MilkDrink,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(MilkDrink) -act PutDown(MilkDrink,Bar) -} -sequence{ -cond Holding(MilkDrink), At(Robot,Table1) -act PutDown(MilkDrink,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(MilkDrink) -act PutDown(MilkDrink,Table3) -} -sequence{ -cond Holding(MilkDrink), At(Robot,Bar2) -act PutDown(MilkDrink,Bar2) -} -sequence{ -cond Holding(Water), At(Robot,Table2) -act PutDown(Water,Table2) -} -sequence{ -cond Holding(Water), At(Robot,WaterTable) -act PutDown(Water,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(Water) +cond At(Robot,CoffeeTable) + cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,Bar) act PutDown(Water,CoffeeTable) } sequence{ -cond At(Robot,Bar), Holding(Water) -act PutDown(Water,Bar) -} -sequence{ -cond Holding(Water), At(Robot,Table1) +cond Holding(Water) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) act PutDown(Water,Table1) } sequence{ -cond At(Robot,Table3), Holding(Water) -act PutDown(Water,Table3) -} -sequence{ -cond Holding(Water), At(Robot,Bar2) +cond Holding(Water) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond At(Robot,Bar2) act PutDown(Water,Bar2) } sequence{ -cond Holding(ADMilk), At(Robot,Table2) -act PutDown(ADMilk,Table2) -} -sequence{ -cond At(Robot,WaterTable), Holding(ADMilk) -act PutDown(ADMilk,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(ADMilk) -act PutDown(ADMilk,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(ADMilk) -act PutDown(ADMilk,Bar) -} -sequence{ -cond At(Robot,Table1), Holding(ADMilk) -act PutDown(ADMilk,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(ADMilk) -act PutDown(ADMilk,Table3) -} -sequence{ -cond At(Robot,Bar2), Holding(ADMilk) -act PutDown(ADMilk,Bar2) -} -sequence{ -cond At(Robot,Table2), Holding(VacuumCup) -act PutDown(VacuumCup,Table2) -} -sequence{ -cond At(Robot,WaterTable), Holding(VacuumCup) -act PutDown(VacuumCup,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(VacuumCup) -act PutDown(VacuumCup,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(VacuumCup) -act PutDown(VacuumCup,Bar) -} -sequence{ -cond At(Robot,Table1), Holding(VacuumCup) -act PutDown(VacuumCup,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(VacuumCup) -act PutDown(VacuumCup,Table3) -} -sequence{ -cond At(Robot,Bar2), Holding(VacuumCup) -act PutDown(VacuumCup,Bar2) -} -sequence{ -cond Holding(BottledDrink), At(Robot,Table2) -act PutDown(BottledDrink,Table2) -} -sequence{ -cond Holding(BottledDrink), At(Robot,WaterTable) -act PutDown(BottledDrink,WaterTable) -} -sequence{ -cond At(Robot,CoffeeTable), Holding(BottledDrink) -act PutDown(BottledDrink,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(BottledDrink) -act PutDown(BottledDrink,Bar) -} -sequence{ -cond Holding(BottledDrink), At(Robot,Table1) -act PutDown(BottledDrink,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(BottledDrink) -act PutDown(BottledDrink,Table3) -} -sequence{ -cond Holding(BottledDrink), At(Robot,Bar2) -act PutDown(BottledDrink,Bar2) -} -sequence{ -cond Holding(Dessert), At(Robot,Table2) -act PutDown(Dessert,Table2) -} -sequence{ -cond Holding(Dessert), At(Robot,WaterTable) -act PutDown(Dessert,WaterTable) -} -sequence{ -cond Holding(Dessert), At(Robot,CoffeeTable) -act PutDown(Dessert,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Dessert) -act PutDown(Dessert,Bar) -} -sequence{ -cond Holding(Dessert), At(Robot,Table1) -act PutDown(Dessert,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(Dessert) -act PutDown(Dessert,Table3) -} -sequence{ -cond Holding(Dessert), At(Robot,Bar2) -act PutDown(Dessert,Bar2) -} -sequence{ -cond Holding(Yogurt), At(Robot,Table2) -act PutDown(Yogurt,Table2) -} -sequence{ -cond Holding(Yogurt), At(Robot,WaterTable) -act PutDown(Yogurt,WaterTable) -} -sequence{ -cond Holding(Yogurt), At(Robot,CoffeeTable) -act PutDown(Yogurt,CoffeeTable) -} -sequence{ -cond At(Robot,Bar), Holding(Yogurt) -act PutDown(Yogurt,Bar) -} -sequence{ -cond Holding(Yogurt), At(Robot,Table1) -act PutDown(Yogurt,Table1) -} -sequence{ -cond At(Robot,Table3), Holding(Yogurt) -act PutDown(Yogurt,Table3) -} -sequence{ -cond Holding(Yogurt), At(Robot,Bar2) -act PutDown(Yogurt,Bar2) -} -sequence{ -cond Holding(Milk) -act MoveTo(Table2) -} -sequence{ -cond Holding(Coffee) -act MoveTo(Table2) -} -sequence{ -cond Holding(Softdrink) -act MoveTo(Table2) -} -sequence{ -cond Holding(MilkDrink) -act MoveTo(Table2) +cond Holding(Water) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Water,Table3) } sequence{ cond Holding(Water) -act MoveTo(Table2) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Water,Table2) } sequence{ -cond Holding(ADMilk) -act MoveTo(Table2) +cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Water,Bar) } sequence{ -cond Holding(VacuumCup) -act MoveTo(Table2) +cond At(Robot,CoffeeTable) + cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,CoffeeTable) } sequence{ -cond Holding(BottledDrink) -act MoveTo(Table2) +cond Holding(Softdrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,Table1) } sequence{ -cond Holding(Dessert) -act MoveTo(Table2) +cond Holding(Softdrink) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond At(Robot,Bar2) +act PutDown(Softdrink,Bar2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,Table3) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,Table2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Softdrink,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Milk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,CoffeeTable) +} +sequence{ +cond Holding(Milk) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(Milk) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(Milk,Bar2) +} +sequence{ +cond Holding(Milk) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,Table3) +} +sequence{ +cond At(Robot,Table2) + cond Holding(Milk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,Table2) +} +sequence{ +cond Holding(Milk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Milk,Bar) } sequence{ cond Holding(Yogurt) -act MoveTo(Table2) + cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,CoffeeTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,Table1) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Coffee) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(Yogurt,Bar2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,Table3) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,Table2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(Yogurt,Bar) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Coffee) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(MilkDrink,Bar2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,Table3) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,Table2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(MilkDrink,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,CoffeeTable) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(VacuumCup) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(VacuumCup,Bar2) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table3) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Table2) + cond Holding(VacuumCup) + cond At(Robot,Bar) +act PutDown(VacuumCup,Table2) +} +sequence{ +cond At(Robot,Bar) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,CoffeeTable) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Table1) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(Dessert) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(Dessert,Bar2) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Table3) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Table3) +} +sequence{ +cond At(Robot,Coffee) + cond At(Robot,Table2) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Table2) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(ADMilk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,CoffeeTable) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(ADMilk) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(ADMilk,Bar2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,Table3) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,Table2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(ADMilk,Bar) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(BottledDrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,CoffeeTable) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,Table1) +} +sequence{ +cond At(Robot,Coffee) + cond Holding(BottledDrink) + cond At(Robot,Bar2) + cond At(Robot,Bar) +act PutDown(BottledDrink,Bar2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,Table3) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table2) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,Table2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Coffee) + cond At(Robot,Bar) +act PutDown(BottledDrink,Bar) +} +sequence{ +cond Holding(Nothing) +act MoveTo(Coffee) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Water) + cond At(Robot,Coffee) +act PutDown(Water,CoffeeTable) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(Water,Table1) +} +sequence{ +cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,Bar2) +act PutDown(Water,Bar2) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Water,Table3) +} +sequence{ +cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Water,Table2) +} +sequence{ +cond Holding(Water) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Water,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Softdrink) + cond At(Robot,Coffee) +act PutDown(Softdrink,CoffeeTable) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(Softdrink,Table1) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,Bar2) +act PutDown(Softdrink,Bar2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Softdrink,Table3) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Softdrink,Table2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Softdrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,Table3) +} +sequence{ +cond At(Robot,Table2) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,Table2) +} +sequence{ +cond At(Robot,WaterTable) + cond At(Robot,Coffee) + cond Holding(Milk) +act PutDown(Milk,WaterTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) +act PutDown(Yogurt,CoffeeTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(Yogurt,Table1) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Bar2) + cond At(Robot,Coffee) +act PutDown(Yogurt,Bar2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Yogurt,Table3) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Yogurt,Table2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Yogurt,WaterTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Bar2) + cond At(Robot,Coffee) +act PutDown(MilkDrink,Bar2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(MilkDrink,Table3) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(MilkDrink,Table2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(MilkDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond At(Robot,Coffee) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table3) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(VacuumCup,Table2) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(VacuumCup,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Dessert) + cond At(Robot,Coffee) +act PutDown(Dessert,CoffeeTable) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(Dessert,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Dessert) + cond At(Robot,Coffee) +act PutDown(Dessert,Bar2) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(Dessert,Table3) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(Dessert,Table2) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(Dessert,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(ADMilk) + cond At(Robot,Coffee) +act PutDown(ADMilk,CoffeeTable) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(ADMilk,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(ADMilk) + cond At(Robot,Coffee) +act PutDown(ADMilk,Bar2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(ADMilk,Table3) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(ADMilk,Table2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(ADMilk,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(BottledDrink) + cond At(Robot,Coffee) +act PutDown(BottledDrink,CoffeeTable) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table1) + cond At(Robot,Coffee) +act PutDown(BottledDrink,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(BottledDrink) + cond At(Robot,Coffee) +act PutDown(BottledDrink,Bar2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table3) + cond At(Robot,Coffee) +act PutDown(BottledDrink,Table3) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Coffee) + cond At(Robot,Table2) +act PutDown(BottledDrink,Table2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Coffee) + cond At(Robot,WaterTable) +act PutDown(BottledDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Water) +act PutDown(Water,CoffeeTable) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table1) +act PutDown(Water,Table1) +} +sequence{ +cond Holding(Water) + cond At(Robot,Bar2) +act PutDown(Water,Bar2) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table3) +act PutDown(Water,Table3) +} +sequence{ +cond Holding(Water) + cond At(Robot,Table2) +act PutDown(Water,Table2) +} +sequence{ +cond Holding(Water) + cond At(Robot,Bar) +act PutDown(Water,Bar) +} +sequence{ +cond Holding(Water) + cond At(Robot,WaterTable) +act PutDown(Water,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Softdrink) +act PutDown(Softdrink,CoffeeTable) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table1) +act PutDown(Softdrink,Table1) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Bar2) +act PutDown(Softdrink,Bar2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table3) +act PutDown(Softdrink,Table3) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Table2) +act PutDown(Softdrink,Table2) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,Bar) +act PutDown(Softdrink,Bar) +} +sequence{ +cond Holding(Softdrink) + cond At(Robot,WaterTable) +act PutDown(Softdrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Milk) +act PutDown(Milk,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(Milk) +act PutDown(Milk,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Milk) +act PutDown(Milk,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond Holding(Milk) +act PutDown(Milk,Table3) +} +sequence{ +cond At(Robot,Table2) + cond Holding(Milk) +act PutDown(Milk,Table2) +} +sequence{ +cond At(Robot,Bar) + cond Holding(Milk) +act PutDown(Milk,Bar) +} +sequence{ +cond At(Robot,WaterTable) + cond Holding(Milk) +act PutDown(Milk,WaterTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,CoffeeTable) +act PutDown(Yogurt,CoffeeTable) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table1) +act PutDown(Yogurt,Table1) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Bar2) +act PutDown(Yogurt,Bar2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table3) +act PutDown(Yogurt,Table3) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Table2) +act PutDown(Yogurt,Table2) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,Bar) +act PutDown(Yogurt,Bar) +} +sequence{ +cond Holding(Yogurt) + cond At(Robot,WaterTable) +act PutDown(Yogurt,WaterTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,CoffeeTable) +act PutDown(MilkDrink,CoffeeTable) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table1) +act PutDown(MilkDrink,Table1) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Bar2) +act PutDown(MilkDrink,Bar2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table3) +act PutDown(MilkDrink,Table3) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Table2) +act PutDown(MilkDrink,Table2) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,Bar) +act PutDown(MilkDrink,Bar) +} +sequence{ +cond Holding(MilkDrink) + cond At(Robot,WaterTable) +act PutDown(MilkDrink,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(VacuumCup) +act PutDown(VacuumCup,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond Holding(VacuumCup) +act PutDown(VacuumCup,Table3) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Table2) +act PutDown(VacuumCup,Table2) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,Bar) +act PutDown(VacuumCup,Bar) +} +sequence{ +cond Holding(VacuumCup) + cond At(Robot,WaterTable) +act PutDown(VacuumCup,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(Dessert) +act PutDown(Dessert,CoffeeTable) +} +sequence{ +cond At(Robot,Table1) + cond Holding(Dessert) +act PutDown(Dessert,Table1) +} +sequence{ +cond At(Robot,Bar2) + cond Holding(Dessert) +act PutDown(Dessert,Bar2) +} +sequence{ +cond At(Robot,Table3) + cond Holding(Dessert) +act PutDown(Dessert,Table3) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Table2) +act PutDown(Dessert,Table2) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,Bar) +act PutDown(Dessert,Bar) +} +sequence{ +cond Holding(Dessert) + cond At(Robot,WaterTable) +act PutDown(Dessert,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(ADMilk) +act PutDown(ADMilk,CoffeeTable) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table1) +act PutDown(ADMilk,Table1) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Bar2) +act PutDown(ADMilk,Bar2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table3) +act PutDown(ADMilk,Table3) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Table2) +act PutDown(ADMilk,Table2) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,Bar) +act PutDown(ADMilk,Bar) +} +sequence{ +cond Holding(ADMilk) + cond At(Robot,WaterTable) +act PutDown(ADMilk,WaterTable) +} +sequence{ +cond At(Robot,CoffeeTable) + cond Holding(BottledDrink) +act PutDown(BottledDrink,CoffeeTable) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table1) +act PutDown(BottledDrink,Table1) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Bar2) +act PutDown(BottledDrink,Bar2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table3) +act PutDown(BottledDrink,Table3) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Table2) +act PutDown(BottledDrink,Table2) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,Bar) +act PutDown(BottledDrink,Bar) +} +sequence{ +cond Holding(BottledDrink) + cond At(Robot,WaterTable) +act PutDown(BottledDrink,WaterTable) +} +sequence{ +cond Holding(Water) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(Softdrink) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(Milk) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(Yogurt) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(MilkDrink) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(VacuumCup) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(Dessert) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(ADMilk) +act MoveTo(CoffeeTable) +} +sequence{ +cond Holding(BottledDrink) +act MoveTo(CoffeeTable) } }