From 5cfd97ba17b597e46a01387b5916955886cc3ffb Mon Sep 17 00:00:00 2001 From: wuziji <2193177243@qq.com> Date: Tue, 14 Nov 2023 16:18:13 +0800 Subject: [PATCH] =?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 | 5000 +++++++++++++++++ .../dataset/goal_states_generation.py | 144 +- 2 files changed, 5124 insertions(+), 20 deletions(-) create mode 100644 robowaiter/behavior_tree/dataset/goal_states.txt diff --git a/robowaiter/behavior_tree/dataset/goal_states.txt b/robowaiter/behavior_tree/dataset/goal_states.txt new file mode 100644 index 0000000..fb17464 --- /dev/null +++ b/robowaiter/behavior_tree/dataset/goal_states.txt @@ -0,0 +1,5000 @@ +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} 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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)