现在可以自动生成行为树扩展动作
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ChenXL97
parent
3f1f8d9d06
commit
9a3143cafc
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@ -7,8 +7,7 @@ class Act(Bahavior):
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def __init__(self,*args):
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super().__init__(*args)
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def get_conds(self):
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pre = set()
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add = set()
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de = set()
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return pre, add, de
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@classmethod
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def get_info(self,*arg):
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return None
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@ -19,7 +19,13 @@ class Bahavior(ptree.behaviour.Behaviour):
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if len(args)>0:
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name = f'{name}({",".join(list(args))})'
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self.name = name
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#get valid args
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# self.valid_arg_list = []
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# lines = self.valid_params.strip().splitlines()
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# for line in lines:
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# self.valid_arg_list.append((x.strip for x in line.split(",")))
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self.args = args
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super().__init__(self.name)
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def _update(self) -> ptree.common.Status:
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@ -3,17 +3,27 @@ from typing import Any
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from robowaiter.behavior_lib._base.Act import Act
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from robowaiter.behavior_lib._base.Behavior import Status
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class MakeCoffee(Act):
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class Make(Act):
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can_be_expanded = True
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num_args = 1
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valid_args = (
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"Coffee",
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)
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def __init__(self, *args):
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super().__init__(*args)
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self.target_obj = self.args[0]
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@classmethod
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def get_info(cls,arg):
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info = None
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if arg == "Coffee":
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info = {
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"add": {f'On(Coffee,Table)'},
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}
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return info
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@property
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def cond_sets(self):
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pre = {"At(Robot,Bar)"}
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add = {"At(Coffee,Bar)"}
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de = {}
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return pre,add,de
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def _update(self) -> ptree.common.Status:
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op_type = 1
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@ -4,9 +4,25 @@ from robowaiter.behavior_lib._base.Act import Act
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from robowaiter.algos.navigate.DstarLite.navigate import Navigator
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class MoveTo(Act):
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can_be_expanded = True
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num_args = 1
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valid_args = (
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"Bar",
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"Table",
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)
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def __init__(self, target_place):
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super().__init__(target_place)
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self.target_place = target_place
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@classmethod
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def get_info(self,arg):
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info = {
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"add": {f'At(Robot,{arg})'},
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}
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return info
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def __init__(self, *args):
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super().__init__(*args)
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def _update(self) -> ptree.common.Status:
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# self.scene.test_move()
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@ -6,7 +6,6 @@ class At(Cond):
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can_be_expanded = True
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num_params = 2
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valid_params = '''
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Coffee, Bar
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Robot, Bar
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'''
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@ -0,0 +1,28 @@
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import py_trees as ptree
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from typing import Any
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from robowaiter.behavior_lib._base.Cond import Cond
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class On(Cond):
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can_be_expanded = True
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num_params = 2
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valid_params = '''
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Robot, Bar
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'''
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def __init__(self,*args):
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super().__init__(*args)
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def _update(self) -> ptree.common.Status:
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# if self.scene.status?
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arg_str = self.arg_str
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if f'At({arg_str})' in self.scene.state["condition_set"]:
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return ptree.common.Status.SUCCESS
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else:
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return ptree.common.Status.FAILURE
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# if self.scene.state['chat_list'] == []:
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# return ptree.common.Status.FAILURE
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# else:
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# return ptree.common.Status.SUCCESS
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@ -1,5 +1,7 @@
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import io
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import contextlib
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import os
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import importlib.util
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from robowaiter.utils.bt.load import load_bt_from_ptml,find_node_by_name,print_tree_from_root
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from robowaiter.utils.bt.visitor import StatusVisitor
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@ -9,7 +11,7 @@ from robowaiter.behavior_tree.obtea.opt_bt_exp_main import BTOptExpInterface
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from robowaiter.behavior_lib.act.DelSubTree import DelSubTree
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from robowaiter.behavior_lib._base.Sequence import Sequence
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from robowaiter.utils.bt.load import load_behavior_tree_lib
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class Robot(object):
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scene = None
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@ -67,15 +69,30 @@ class Robot(object):
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print("当前行为树为：")
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print_tree_from_root(self.bt.root)
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# 获取所有action的pre,add,del列表
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def collect_action_nodes(self):
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action_list = [
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Action(name='MakeCoffee', pre={'At(Robot,CoffeeMachine)'},
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add={'At(Coffee,Bar)'}, del_set=set(), cost=1),
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Action(name='MoveTo(Table)', pre={'At(Robot,Bar)'},
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add={'At(Robot,Table)'}, del_set=set(), cost=1),
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Action(name='ExploreEnv()', pre={'At(Robot,Bar)'},
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add={'EnvExplored()'}, del_set=set(), cost=1),
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]
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action_list = []
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behavior_dict = load_behavior_tree_lib()
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for cls in behavior_dict["act"].values():
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if cls.can_be_expanded:
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if cls.num_args == 0:
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action_list.append(Action(name=cls.__name__,**cls.get_info()))
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if cls.num_args == 1:
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for arg in cls.valid_args:
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action_list.append(Action(name=cls.__name__, **cls.get_info(arg)))
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if cls.num_args > 1:
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for args in cls.valid_args:
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action_list.append(Action(name=cls.__name__,**cls.get_info(*args)))
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print(action_list)
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# action_list = [
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# Action(name='MakeCoffee', pre={'At(Robot,CoffeeMachine)'},
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# add={'At(Coffee,Bar)'}, del_set=set(), cost=1),
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# Action(name='MoveTo(Table)', pre={'At(Robot,Bar)'},
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# add={'At(Robot,Table)'}, del_set=set(), cost=1),
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# Action(name='ExploreEnv()', pre=set(),
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# add={'EnvExplored()'}, del_set=set(), cost=1),
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# ]
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return action_list
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def step(self):
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@ -2,11 +2,4 @@ import os
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from robowaiter.utils import *
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from robowaiter.utils import *
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def get_root_path():
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return os.path.abspath(
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os.path.join(__file__, "../../..")
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)
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from robowaiter.utils.basic import get_root_path
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@ -0,0 +1,6 @@
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import os
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def get_root_path():
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return os.path.abspath(
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os.path.join(__file__, "../../..")
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)
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@ -1,6 +1,8 @@
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import py_trees as ptree
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from robowaiter.behavior_tree.ptml import ptmlCompiler
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import os
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import importlib.util
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from robowaiter.utils.basic import get_root_path
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def load_bt_from_ptml(scene, ptml_path, behavior_lib_path):
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ptml_bt = ptmlCompiler.load(scene, ptml_path, behavior_lib_path)
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@ -48,6 +50,40 @@ def find_node_by_name(tree, name):
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def get_classes_from_folder(folder_path):
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cls_dict = {}
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for filename in os.listdir(folder_path):
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if filename.endswith('.py'):
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# 构建模块的完整路径
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module_path = os.path.join(folder_path, filename)
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# 获取模块名（不含.py扩展名）
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module_name = os.path.splitext(filename)[0]
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# 动态导入模块
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spec = importlib.util.spec_from_file_location(module_name, module_path)
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module = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(module)
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# 获取模块中定义的所有类
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for name, obj in module.__dict__.items():
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if isinstance(obj, type):
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cls_dict[module_name] = obj
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return cls_dict
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def load_behavior_tree_lib():
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root_path = get_root_path()
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type_list = ["act","cond"]
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behavior_dict = {}
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for type in type_list:
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path = os.path.join(root_path,"robowaiter","behavior_lib",type)
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behavior_dict[type] = get_classes_from_folder(path)
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return behavior_dict
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if __name__ == '__main__':
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print(load_behavior_tree_lib())
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# class BehaviorTree(ptree):
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# def __init__(self):
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# super().__init__()
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@ -1,7 +1,3 @@
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selector{
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cond EnvExplored()
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selector{
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cond At(Robot,Bar)
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act ExploreEnv()
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}
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}
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