diff --git a/BTExpansionCode/BTExpansionAlgorithm.py b/BTExpansionCode/BTExpansionAlgorithm.py
index 723bcbb..4c84d78 100644
--- a/BTExpansionCode/BTExpansionAlgorithm.py
+++ b/BTExpansionCode/BTExpansionAlgorithm.py
@@ -66,8 +66,8 @@ class BTExpAlgorithm:
valid = True
# 这样剪枝存在错误性
- if conflict(c_attr):
- continue
+ # if conflict(c_attr):
+ # continue
for j in self.traversed: # 剪枝操作
if j <= c_attr:
@@ -98,6 +98,11 @@ class BTExpAlgorithm:
return bt
+ def run_algorithm_test(self, start, goal, actions):
+ self.bt = self.run_algorithm_selTree(start, goal, actions)
+ return True
+
+
def run_algorithm(self, start, goal, actions):
# goal_ls = goal.replace(" ", "")
diff --git a/BTExpansionCode/EXP/behavior_lib/cond/AnomalyDetected.py b/BTExpansionCode/EXP/behavior_lib/cond/AnomalyDetected.py
deleted file mode 100644
index 15532d4..0000000
--- a/BTExpansionCode/EXP/behavior_lib/cond/AnomalyDetected.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import py_trees as ptree
-from typing import Any
-from EXP.behavior_lib._base.Cond import Cond
-
-class AnomalyDetected(Cond):
-
-
- def __init__(self):
- super().__init__()
-
-
- def _update(self) -> ptree.common.Status:
- # if self.scene.status?
-
- light_set = {'Is(HallLight,Off)', 'Is(TubeLight,Off)', 'Is(Curtain,Off)'}
- if light_set.issubset(self.scene.state["condition_set"]):
- self.scene.state["anomaly"] = "NoLight"
- return ptree.common.Status.SUCCESS
-
- # light_set = {'Is(Curtain,On)'}
- # if light_set.issubset(self.scene.state["condition_set"]):
- # self.scene.chat_bubble("太暗了，开灯")
- # self.scene.state["anomaly"] = "NoLight"
- # return ptree.common.Status.SUCCESS
-
-
- return ptree.common.Status.FAILURE
diff --git a/BTExpansionCode/EXP/behavior_lib/cond/Chatting.py b/BTExpansionCode/EXP/behavior_lib/cond/Chatting.py
deleted file mode 100644
index 80a7065..0000000
--- a/BTExpansionCode/EXP/behavior_lib/cond/Chatting.py
+++ /dev/null
@@ -1,33 +0,0 @@
-import py_trees as ptree
-from typing import Any
-from EXP.behavior_lib._base.Cond import Cond
-
-class Chatting(Cond):
-
-
- def __init__(self):
- super().__init__()
-
-
- def _update(self) -> ptree.common.Status:
- # if self.scene.status?
- if self.scene.state['chat_list'] == []:
- return ptree.common.Status.FAILURE
-
- name,sentence = self.scene.state['chat_list'][0]
- if name == "Goal":
- return ptree.common.Status.SUCCESS
-
-
- if "customer" in self.scene.state["attention"]:
- attention_customer = self.scene.state["attention"]["customer"]
- if name == attention_customer:
- return ptree.common.Status.SUCCESS
- else:
- # self.scene.chat_bubble("请稍等一下") # 机器人输出对话
- # self.scene.wait_history.add(sentence)
-
- return ptree.common.Status.FAILURE
- else:
- self.scene.state["attention"]["customer"] = name
- return ptree.common.Status.SUCCESS
diff --git a/BTExpansionCode/EXP/behavior_lib/cond/CustomerServed.py b/BTExpansionCode/EXP/behavior_lib/cond/CustomerServed.py
deleted file mode 100644
index be6754e..0000000
--- a/BTExpansionCode/EXP/behavior_lib/cond/CustomerServed.py
+++ /dev/null
@@ -1,33 +0,0 @@
-import py_trees as ptree
-from typing import Any
-from EXP.behavior_lib._base.Cond import Cond
-import itertools
-
-class CustomerServed(Cond):
- can_be_expanded = True
-
- def __init__(self,*args):
- super().__init__(*args)
-
-
- def _update(self) -> ptree.common.Status:
- # if self.scene.status?
-
- customer = self.scene.state["attention"]["customer"]
- serve_state = self.scene.state["serve_state"][customer]
- if serve_state['served']:
- return ptree.common.Status.SUCCESS
- else:
- return ptree.common.Status.FAILURE
-
- # if self.scene.state["attention"]["customer"]
- #
- # if self.name in self.scene.state["condition_set"]:
- # return ptree.common.Status.SUCCESS
- # else:
- # return ptree.common.Status.FAILURE
-
- # if self.scene.state['chat_list'] == []:
- # return ptree.common.Status.FAILURE
- # else:
- # return ptree.common.Status.SUCCESS
diff --git a/BTExpansionCode/EXP/behavior_lib/cond/FocusingCustomer.py b/BTExpansionCode/EXP/behavior_lib/cond/FocusingCustomer.py
deleted file mode 100644
index 9c7a537..0000000
--- a/BTExpansionCode/EXP/behavior_lib/cond/FocusingCustomer.py
+++ /dev/null
@@ -1,20 +0,0 @@
-import py_trees as ptree
-from typing import Any
-from EXP.behavior_lib._base.Cond import Cond
-
-class FocusingCustomer(Cond):
-
- def __init__(self):
- super().__init__()
-
-
- def _update(self) -> ptree.common.Status:
- # if self.scene.status?
- if "customer" in self.scene.state['attention']:
- # if self.scene.take_picture:
- # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio)
- return ptree.common.Status.SUCCESS
- else:
- goal = Cond.place_xy_yaw_dic['Bar']
- self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
- return ptree.common.Status.FAILURE
diff --git a/BTExpansionCode/EXP/behavior_lib/cond/HasSubTask.py b/BTExpansionCode/EXP/behavior_lib/cond/HasSubTask.py
deleted file mode 100644
index 508785a..0000000
--- a/BTExpansionCode/EXP/behavior_lib/cond/HasSubTask.py
+++ /dev/null
@@ -1,14 +0,0 @@
-import py_trees as ptree
-from typing import Any
-from EXP.behavior_lib._base.Cond import Cond
-
-class HasSubTask(Cond):
- def __init__(self):
- super().__init__()
-
- def _update(self) -> ptree.common.Status:
- # if self.scene.status?
- 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/BTExpansionCode/EXP/behavior_lib/cond/NeedExplore.py b/BTExpansionCode/EXP/behavior_lib/cond/NeedExplore.py
deleted file mode 100644
index 1c477e6..0000000
--- a/BTExpansionCode/EXP/behavior_lib/cond/NeedExplore.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import py_trees as ptree
-from typing import Any
-from EXP.behavior_lib._base.Cond import Cond
-
-class NeedExplore(Cond):
- def __init__(self):
- super().__init__()
-
- def _update(self) -> ptree.common.Status:
- # arg_str = self.arg_str
- #
- # if f'EnvExplored()' not in self.scene.state["condition_set"]:
- # return ptree.common.Status.SUCCESS
- # else:
- # return ptree.common.Status.FAILURE
- return ptree.common.Status.FAILURE
-
-
- # if self.scene.status?
- # if self.scene.state['map']['2d'] == None:
- # return ptree.common.Status.FAILURE
- # else:
- # return ptree.common.Status.SUCCESS
diff --git a/BTExpansionCode/EXP/behavior_lib/cond/NewCustomer.py b/BTExpansionCode/EXP/behavior_lib/cond/NewCustomer.py
deleted file mode 100644
index 812c6f0..0000000
--- a/BTExpansionCode/EXP/behavior_lib/cond/NewCustomer.py
+++ /dev/null
@@ -1,41 +0,0 @@
-import py_trees as ptree
-from typing import Any
-from EXP.behavior_lib._base.Cond import Cond
-import itertools
-
-class NewCustomer(Cond):
- can_be_expanded = False
- num_params = 0
- valid_args = ()
-
- def __init__(self,*args):
- super().__init__(*args)
-
-
- def _update(self) -> ptree.common.Status:
-
- if self.scene.show_ui:
- self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio)
-
- # 获取customer的位置
- # bar (247.0, 520.0, 100.0)
- close_to_bar = False
- scene = self.scene.status
- queue_list = []
- for walker in scene.walkers:
- x, y, yaw = walker.pose.X, walker.pose.Y, walker.pose.Yaw
- # 到达一定区域就打招呼
- if y >= 450 and y <= 620 and x >= 40 and x <= 100 and yaw>=-10 and yaw <=10: #450-620
- # close_to_bar = True
- queue_list.append((x,y,walker.name))
-
- if queue_list == []:
- return ptree.common.Status.FAILURE
-
- queue_list.sort()
- x,y,name = queue_list[0]
- if name not in self.scene.state["greeted_customers"]:
- self.scene.state['attention']["customer"] = name
- return ptree.common.Status.SUCCESS
- else:
- return ptree.common.Status.FAILURE
\ No newline at end of file
diff --git a/BTExpansionCode/EXP/exp2.py b/BTExpansionCode/EXP/exp2.py
index 3535971..8f08211 100644
--- a/BTExpansionCode/EXP/exp2.py
+++ b/BTExpansionCode/EXP/exp2.py
@@ -1,9 +1,13 @@
from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str
import copy
+import random
+seed = 1
+random.seed(seed)
-
-action_list = collect_action_nodes()
+action_list = collect_action_nodes(random)
+for act in action_list:
+ print(act.name,act.cost)
start_robowaiter = get_start()
@@ -21,15 +25,17 @@ print(goal_states)
# goal_set_ls.append(goal)
# print(goal_set_ls)
-goal_states={"On_Dessert_Bar"}
-goal_states={"On_MilkDrink_Bar2"}
+# goal_states={"On_Dessert_Bar"}
+# goal_states={"On_MilkDrink_Bar2"}
# goal_states={"Is_TubeLight_On"}
# goal_states = goal_set_ls
-# goal_states = [{'On(VacuumCup,WaterTable)'}]
+# goal_states = {'On(VacuumCup,WaterTable)'}
+# goal_states = {'At(Robot,WaterTable)'}
+# goal_states = {'Is(Table1,Clean)'}
# todo: 行为树鲁棒性测试，随机生成规划问题
# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数
-seed = 1
+
BTTest(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter)
print("\n")
# 对比
diff --git a/BTExpansionCode/EXP/exp_tools.py b/BTExpansionCode/EXP/exp_tools.py
index c3ec0af..7eef699 100644
--- a/BTExpansionCode/EXP/exp_tools.py
+++ b/BTExpansionCode/EXP/exp_tools.py
@@ -3,7 +3,7 @@
from utils.bt.load import load_behavior_tree_lib
from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm
-import random
+
import copy
from tabulate import tabulate
import numpy as np
@@ -50,11 +50,45 @@ def goal_transfer_str(goal):
goal_set.append(g_set)
return goal_set
-
-def collect_action_nodes():
+def collect_action_nodes(random):
+ multiple_num=2
action_list = []
behavior_dict = load_behavior_tree_lib()
+
for cls in behavior_dict["act"].values():
+ if cls.can_be_expanded:
+ print(f"可扩展动作：{cls.__name__}, 存在{len(cls.valid_args)}个有效论域组合")
+ if cls.num_args == 0:
+ for num in range(multiple_num):
+ info = cls.get_info()
+ action_list.append(Action(name=cls.get_ins_name() + str(num), **info))
+ if cls.num_args == 1:
+ for num in range(multiple_num):
+ for arg in cls.valid_args:
+ info = cls.get_info(arg)
+ action_list.append(Action(name=cls.get_ins_name(arg) + str(num), **info))
+ if cls.num_args > 1:
+ for num in range(multiple_num):
+ for args in cls.valid_args:
+ info = cls.get_info(*args)
+ action_list.append(Action(name=cls.get_ins_name(*args) + str(num),**info))
+
+ action_list = sorted(action_list, key=lambda x: x.name)
+ for i in range(len(action_list)):
+ cost = random.randint(1, 100)
+ action_list[i].cost=cost
+ return action_list
+
+def collect_action_nodes_old(random):
+ action_list = []
+ behavior_dict = load_behavior_tree_lib()
+ behavior_ls = list()
+ # behavior_ls.sort()
+
+ behavior_ls = [cls for cls in behavior_ls]
+ behavior_ls = sorted(behavior_ls, key=lambda x: x.__class__.__name__)
+
+ for cls in behavior_ls:
if cls.can_be_expanded:
print(f"可扩展动作：{cls.__name__}, 存在{len(cls.valid_args)}个有效论域组合")
if cls.num_args == 0:
@@ -126,28 +160,17 @@ def BTTest(bt_algo_opt,goal_states,action_list,start_robowaiter):
success_count = 0
failure_count = 0
planning_time_total = 0.0
-
- states = []
+ states=[] ####？？？
actions = copy.deepcopy(action_list)
start = copy.deepcopy(start_robowaiter)
- state = copy.deepcopy(start)
- states.append(state)
+
error=False
for count, goal_str in enumerate(goal_states):
- # if count>=2:
- # break
- # goal = goal_str
goal = copy.deepcopy(goal_transfer_str(goal_str))
print("count:", count, "goal:", goal)
- # 生成一个规划问题，包括随机的状态和行动，以及目标状态
- states = []
- actions = copy.deepcopy(action_list)
- start = copy.deepcopy(start_robowaiter)
- state = copy.deepcopy(start)
- states.append(state)
if bt_algo_opt:
# if count==874:
@@ -165,21 +188,24 @@ def BTTest(bt_algo_opt,goal_states,action_list,start_robowaiter):
# print_action_data_table(goal, start, list(actions))
if algo.run_algorithm(start, goal, actions): # 运行算法，规划后行为树为algo.bt
total_tree_size.append(algo.bt.count_size() - 1)
- # if count==11:
+ # if count==10:
# algo.print_solution()
# algo.print_solution() # 打印行为树
# 画出行为树
- # ptml_string = algo.get_ptml()
- ptml_string = algo.get_ptml_many_act()
- file_name = "sub_task"
- file_path = f'./{file_name}.ptml'
- with open(file_path, 'w') as file:
- file.write(ptml_string)
- ptml_path = os.path.join(root_path, 'BTExpansionCode/EXP/sub_task.ptml')
- behavior_lib_path = os.path.join(root_path, 'BTExpansionCode/EXP/behavior_lib')
- bt = load_bt_from_ptml(None, ptml_path, behavior_lib_path)
- render_dot_tree(bt.root, target_directory="", name="expanded_bt", png_only=False)
+ # if count == 11:
+ # ptml_string = algo.get_ptml_many_act()
+ # file_name = "sub_task"
+ # file_path = f'./{file_name}.ptml'
+ # with open(file_path, 'w') as file:
+ # file.write(ptml_string)
+ # ptml_path = os.path.join(root_path, 'BTExpansionCode/EXP/sub_task.ptml')
+ # behavior_lib_path = os.path.join(root_path, 'BTExpansionCode/EXP/behavior_lib')
+ # bt = load_bt_from_ptml(None, ptml_path, behavior_lib_path)
+ # if bt_algo_opt:
+ # render_dot_tree(bt.root, target_directory="", name="expanded_bt_obt", png_only=False)
+ # else:
+ # render_dot_tree(bt.root, target_directory="", name="expanded_bt_xiaocai", png_only=False)
else:
print("error")
diff --git a/BTExpansionCode/EXP/expanded_bt.dot b/BTExpansionCode/EXP/expanded_bt.dot
deleted file mode 100644
index 784128a..0000000
--- a/BTExpansionCode/EXP/expanded_bt.dot
+++ /dev/null
@@ -1,641 +0,0 @@
-digraph pastafarianism {
-ordering=out;
-graph [fontname="times-roman"];
-node [fontname="times-roman"];
-edge [fontname="times-roman"];
-"b3eb0566-c750-43a0-94cc-a5ce1383d2a8" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
-"cb3e3b43-c0b7-4ed3-879a-ff11e3eff193" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(MilkDrink,Bar2)", shape=ellipse, style=filled];
-"b3eb0566-c750-43a0-94cc-a5ce1383d2a8" -> "cb3e3b43-c0b7-4ed3-879a-ff11e3eff193";
-"7d290e06-450b-4d6a-873e-cb1add89b66a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"b3eb0566-c750-43a0-94cc-a5ce1383d2a8" -> "7d290e06-450b-4d6a-873e-cb1add89b66a";
-"c16089c9-362b-4a60-8c32-f5f5bff3637d" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
-"7d290e06-450b-4d6a-873e-cb1add89b66a" -> "c16089c9-362b-4a60-8c32-f5f5bff3637d";
-"2b126874-c3aa-4db5-9d9e-506d18287d98" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
-"c16089c9-362b-4a60-8c32-f5f5bff3637d" -> "2b126874-c3aa-4db5-9d9e-506d18287d98";
-"ac7a52a4-be91-4eec-b832-3d11eb642f57" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
-"c16089c9-362b-4a60-8c32-f5f5bff3637d" -> "ac7a52a4-be91-4eec-b832-3d11eb642f57";
-"cbff45f9-d7ce-46f6-a04c-33e10b807a2b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"c16089c9-362b-4a60-8c32-f5f5bff3637d" -> "cbff45f9-d7ce-46f6-a04c-33e10b807a2b";
-"4cd5bc0c-dd37-49cb-ac58-6f4f9030b991" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
-"cbff45f9-d7ce-46f6-a04c-33e10b807a2b" -> "4cd5bc0c-dd37-49cb-ac58-6f4f9030b991";
-"30fdd783-867c-4de3-b395-7318156630f0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
-"4cd5bc0c-dd37-49cb-ac58-6f4f9030b991" -> "30fdd783-867c-4de3-b395-7318156630f0";
-"50d308bd-0b9f-4e78-9faf-09443718d733" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"4cd5bc0c-dd37-49cb-ac58-6f4f9030b991" -> "50d308bd-0b9f-4e78-9faf-09443718d733";
-"4613e442-b6f7-4bcf-9e67-f0dc6873cdb3" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
-"50d308bd-0b9f-4e78-9faf-09443718d733" -> "4613e442-b6f7-4bcf-9e67-f0dc6873cdb3";
-"acc8e037-9586-4dea-b069-8352470356c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
-"4613e442-b6f7-4bcf-9e67-f0dc6873cdb3" -> "acc8e037-9586-4dea-b069-8352470356c7";
-"a4c1d6fa-915c-4d11-839f-1eb1d89bcef2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
-"4613e442-b6f7-4bcf-9e67-f0dc6873cdb3" -> "a4c1d6fa-915c-4d11-839f-1eb1d89bcef2";
-"3c6f0dc6-37d2-4c2e-a7d5-48d4989f50b5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"4613e442-b6f7-4bcf-9e67-f0dc6873cdb3" -> "3c6f0dc6-37d2-4c2e-a7d5-48d4989f50b5";
-"bf523e58-f4b7-48ed-bb19-ff3fbbdac825" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
-"3c6f0dc6-37d2-4c2e-a7d5-48d4989f50b5" -> "bf523e58-f4b7-48ed-bb19-ff3fbbdac825";
-"d63ceb7c-64ec-4978-9c6a-dd37071eed2d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled];
-"3c6f0dc6-37d2-4c2e-a7d5-48d4989f50b5" -> "d63ceb7c-64ec-4978-9c6a-dd37071eed2d";
-"21e5f34b-df90-426d-9ed4-a5284e71b766" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled];
-"3c6f0dc6-37d2-4c2e-a7d5-48d4989f50b5" -> "21e5f34b-df90-426d-9ed4-a5284e71b766";
-"4cbecb8a-2176-493f-8ad7-2c978d8aee78" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Table)", shape=box, style=filled];
-"3c6f0dc6-37d2-4c2e-a7d5-48d4989f50b5" -> "4cbecb8a-2176-493f-8ad7-2c978d8aee78";
-"d6141816-9ec5-4f69-8294-95e6afedf2df" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
-"4613e442-b6f7-4bcf-9e67-f0dc6873cdb3" -> "d6141816-9ec5-4f69-8294-95e6afedf2df";
-"dd03d5ad-298e-4879-b410-4cebe7e5301b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
-"d6141816-9ec5-4f69-8294-95e6afedf2df" -> "dd03d5ad-298e-4879-b410-4cebe7e5301b";
-"6ac400ea-28fc-4579-ae01-1271cc108eef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled];
-"d6141816-9ec5-4f69-8294-95e6afedf2df" -> "6ac400ea-28fc-4579-ae01-1271cc108eef";
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-"f6e6bf0b-5751-4c23-a432-4dcea9143cda" -> "291447ed-1951-4814-b8be-730d9b57e51a";
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-"b8ae0f43-a7a9-4705-b9e3-3eb3bb5bd64f" -> "c3989486-941b-4098-9f3a-240f3fe88e4b";
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-"382a4b70-3888-42ec-8f64-fea45299647e" -> "2076aeb9-be66-4686-bb73-358ba2022941";
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-"fb5c1657-e9c5-485f-bd4f-a8dd29aed3ae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
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-"08c98ebc-1ac7-4a01-93cd-9bccd7a48e72" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled];
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-"82ebb4a8-ecd2-421b-8477-59c0795e76cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled];
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-}
diff --git a/BTExpansionCode/EXP/expanded_bt.png b/BTExpansionCode/EXP/expanded_bt.png
deleted file mode 100644
index 501bdcb..0000000
Binary files a/BTExpansionCode/EXP/expanded_bt.png and /dev/null differ
diff --git a/BTExpansionCode/EXP/expanded_bt.svg b/BTExpansionCode/EXP/expanded_bt.svg
deleted file mode 100644
index 05090e9..0000000
--- a/BTExpansionCode/EXP/expanded_bt.svg
+++ /dev/null
@@ -1,3823 +0,0 @@
-
-
-
-
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diff --git a/BTExpansionCode/EXP/expanded_bt_obt.dot b/BTExpansionCode/EXP/expanded_bt_obt.dot
new file mode 100644
index 0000000..91d0a17
--- /dev/null
+++ b/BTExpansionCode/EXP/expanded_bt_obt.dot
@@ -0,0 +1,3463 @@
+digraph pastafarianism {
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+graph [fontname="times-roman"];
+node [fontname="times-roman"];
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+"e1ed5374-f8e7-4f7c-9dae-f74870072721" -> "ddd046e2-ee86-425e-8c5d-179cdf95e1df";
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+"a09e8739-7fce-49fd-bdd9-16ce943bfd39" -> "83843420-1b90-4385-89b5-a9f9736efe3b";
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+"e73c84e1-d76e-4052-b600-a42e317e145b" -> "f067b4e7-6b09-4f04-ae8a-eea1ff6597d0";
+"b5f4d66f-5aad-4f56-88d3-7c6c2e443cec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled];
+"f067b4e7-6b09-4f04-ae8a-eea1ff6597d0" -> "b5f4d66f-5aad-4f56-88d3-7c6c2e443cec";
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+"6c209b97-f2b1-4472-bad9-1f4a47ef638c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled];
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+"6c886d78-0228-41b5-aa69-665bc3244b46" -> "bd09cbfe-9e92-4577-a319-8016df328dbc";
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+"e090afcd-0d38-4cea-a058-4040755e753e" -> "ea7a38fa-9fe9-4598-8a24-0d3cffba0201";
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+"ea7a38fa-9fe9-4598-8a24-0d3cffba0201" -> "8dd9e63f-7bf4-4428-b676-9d7fc8fef53d";
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+"907c9cc7-0491-4cd1-9e87-7ebbfc7d3af6" -> "94dcfa4d-87e8-4cf9-bafb-323b81eb9c5d";
+"f012e335-9b64-4240-8597-90b9a92105a6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled];
+"94dcfa4d-87e8-4cf9-bafb-323b81eb9c5d" -> "f012e335-9b64-4240-8597-90b9a92105a6";
+"5630ce1f-ae46-424a-88a9-578ba5cee633" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exist(MilkDrink)", shape=ellipse, style=filled];
+"94dcfa4d-87e8-4cf9-bafb-323b81eb9c5d" -> "5630ce1f-ae46-424a-88a9-578ba5cee633";
+"b023a71a-93ce-4587-81a0-3fdb9a268e59" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(MilkDrink)", shape=box, style=filled];
+"94dcfa4d-87e8-4cf9-bafb-323b81eb9c5d" -> "b023a71a-93ce-4587-81a0-3fdb9a268e59";
+}
diff --git a/BTExpansionCode/EXP/expanded_bt_obt.png b/BTExpansionCode/EXP/expanded_bt_obt.png
new file mode 100644
index 0000000..40cbd80
Binary files /dev/null and b/BTExpansionCode/EXP/expanded_bt_obt.png differ
diff --git a/BTExpansionCode/EXP/expanded_bt_obt.svg b/BTExpansionCode/EXP/expanded_bt_obt.svg
new file mode 100644
index 0000000..5aa1271
--- /dev/null
+++ b/BTExpansionCode/EXP/expanded_bt_obt.svg
@@ -0,0 +1,20755 @@
+
+
+
+
+
diff --git a/BTExpansionCode/EXP/expanded_bt_xiaocai.dot b/BTExpansionCode/EXP/expanded_bt_xiaocai.dot
new file mode 100644
index 0000000..ad60848
--- /dev/null
+++ b/BTExpansionCode/EXP/expanded_bt_xiaocai.dot
@@ -0,0 +1,5527 @@
+digraph pastafarianism {
+ordering=out;
+graph [fontname="times-roman"];
+node [fontname="times-roman"];
+edge [fontname="times-roman"];
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+"8407cdcb-73ae-49c8-aaf2-bf3751ced541" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled];
+"a23e4845-02b2-40a5-ae00-092f9516be12" -> "8407cdcb-73ae-49c8-aaf2-bf3751ced541";
+"a1481776-efcf-4951-9af8-3f060e3a2d85" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "a1481776-efcf-4951-9af8-3f060e3a2d85";
+"185f596d-f400-4055-8d07-f579b50bc711" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
+"a1481776-efcf-4951-9af8-3f060e3a2d85" -> "185f596d-f400-4055-8d07-f579b50bc711";
+"6dfe7617-104b-449c-bc93-2480450ffede" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
+"185f596d-f400-4055-8d07-f579b50bc711" -> "6dfe7617-104b-449c-bc93-2480450ffede";
+"d12a6c42-3089-4773-925e-9cb106948c96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
+"185f596d-f400-4055-8d07-f579b50bc711" -> "d12a6c42-3089-4773-925e-9cb106948c96";
+"9419f1c4-688f-46e6-a3d2-e8287d596b48" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
+"185f596d-f400-4055-8d07-f579b50bc711" -> "9419f1c4-688f-46e6-a3d2-e8287d596b48";
+"3dc6a373-605d-49e1-b7e0-157be73bd02d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled];
+"a1481776-efcf-4951-9af8-3f060e3a2d85" -> "3dc6a373-605d-49e1-b7e0-157be73bd02d";
+"7c5a7025-8822-428b-b1f0-6ba69f3871b9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "7c5a7025-8822-428b-b1f0-6ba69f3871b9";
+"90c999b2-e118-47eb-ac33-58114ef78067" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
+"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "90c999b2-e118-47eb-ac33-58114ef78067";
+"ae03ea63-1515-4427-bffe-7de75cc3b7ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled];
+"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "ae03ea63-1515-4427-bffe-7de75cc3b7ea";
+"822f40a3-5c5b-48cf-8628-9382e49b9290" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
+"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "822f40a3-5c5b-48cf-8628-9382e49b9290";
+"654e625e-c14a-4705-9053-e43cb9bdbdec" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled];
+"7c5a7025-8822-428b-b1f0-6ba69f3871b9" -> "654e625e-c14a-4705-9053-e43cb9bdbdec";
+"79959fc1-102b-4dd0-bd26-0024bfab722a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "79959fc1-102b-4dd0-bd26-0024bfab722a";
+"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
+"79959fc1-102b-4dd0-bd26-0024bfab722a" -> "7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a";
+"15edc351-573b-4906-ad03-297f4bd85d93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
+"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" -> "15edc351-573b-4906-ad03-297f4bd85d93";
+"d5b5cc68-7498-434b-9a16-a1c7e6afec4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
+"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" -> "d5b5cc68-7498-434b-9a16-a1c7e6afec4e";
+"dc002244-de3d-4769-89e5-bfa498142b4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
+"7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a" -> "dc002244-de3d-4769-89e5-bfa498142b4c";
+"d187eff6-e61c-4a75-993c-e23f27d59a11" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled];
+"79959fc1-102b-4dd0-bd26-0024bfab722a" -> "d187eff6-e61c-4a75-993c-e23f27d59a11";
+"d02a9e30-e1a8-403e-be19-df39bc160e15" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "d02a9e30-e1a8-403e-be19-df39bc160e15";
+"bd378d36-4f17-4a82-b7ce-cb9e187b3376" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled];
+"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "bd378d36-4f17-4a82-b7ce-cb9e187b3376";
+"bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
+"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "bd7f0ce8-fc6d-4c8b-b0a2-bca7a25c3298";
+"dbc4c650-9570-4d64-b445-d032032f1447" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
+"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "dbc4c650-9570-4d64-b445-d032032f1447";
+"44efea8b-425c-41bb-88e8-77c9d8d91462" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled];
+"d02a9e30-e1a8-403e-be19-df39bc160e15" -> "44efea8b-425c-41bb-88e8-77c9d8d91462";
+"6ff1a552-442a-469e-85a7-005b0545de29" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "6ff1a552-442a-469e-85a7-005b0545de29";
+"9da7cc2d-4610-4e56-834f-734a473cf45f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
+"6ff1a552-442a-469e-85a7-005b0545de29" -> "9da7cc2d-4610-4e56-834f-734a473cf45f";
+"5753e20b-77fb-46bc-bca7-e09f8b90a47d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
+"9da7cc2d-4610-4e56-834f-734a473cf45f" -> "5753e20b-77fb-46bc-bca7-e09f8b90a47d";
+"f2cef2e4-48c6-4746-8fd7-5a6c42eb3e4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
+"9da7cc2d-4610-4e56-834f-734a473cf45f" -> "f2cef2e4-48c6-4746-8fd7-5a6c42eb3e4e";
+"579d5579-5bec-4bcc-9902-9098af0e84b3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
+"9da7cc2d-4610-4e56-834f-734a473cf45f" -> "579d5579-5bec-4bcc-9902-9098af0e84b3";
+"6dfa4b2a-855a-4675-acf1-f27ffd3c4907" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled];
+"6ff1a552-442a-469e-85a7-005b0545de29" -> "6dfa4b2a-855a-4675-acf1-f27ffd3c4907";
+"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "b905bc4e-5fa0-41d1-ab6a-468bf85d2b85";
+"03c0a5b0-59b6-4840-a65b-186db7e4be39" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
+"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "03c0a5b0-59b6-4840-a65b-186db7e4be39";
+"e6035e64-c2b0-452b-a47a-39dc1309d3ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled];
+"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "e6035e64-c2b0-452b-a47a-39dc1309d3ea";
+"7d7bbbb0-d84c-47da-8595-2fe0920193aa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
+"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "7d7bbbb0-d84c-47da-8595-2fe0920193aa";
+"1a4f10a2-f887-44f3-9ff5-d8459cc4e15f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled];
+"b905bc4e-5fa0-41d1-ab6a-468bf85d2b85" -> "1a4f10a2-f887-44f3-9ff5-d8459cc4e15f";
+"7f39a0b3-a29d-47ef-9293-045cf65eb9c6" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "7f39a0b3-a29d-47ef-9293-045cf65eb9c6";
+"c5587f32-fc90-4f69-ba6a-7b75074ba50a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01];
+"7f39a0b3-a29d-47ef-9293-045cf65eb9c6" -> "c5587f32-fc90-4f69-ba6a-7b75074ba50a";
+"691a7203-e4a5-452e-b22d-bd4af678aa01" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
+"c5587f32-fc90-4f69-ba6a-7b75074ba50a" -> "691a7203-e4a5-452e-b22d-bd4af678aa01";
+"63517f53-aacd-45d7-a8f9-0f3fcd62efdd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
+"c5587f32-fc90-4f69-ba6a-7b75074ba50a" -> "63517f53-aacd-45d7-a8f9-0f3fcd62efdd";
+"78a69b57-aa86-44ab-9687-2bcf3e06648b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
+"c5587f32-fc90-4f69-ba6a-7b75074ba50a" -> "78a69b57-aa86-44ab-9687-2bcf3e06648b";
+"250c1cc7-54e9-471f-ac1e-a9e3989d500a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled];
+"7f39a0b3-a29d-47ef-9293-045cf65eb9c6" -> "250c1cc7-54e9-471f-ac1e-a9e3989d500a";
+"b2638e75-d5a6-4b29-9228-dc6b42948ec0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "b2638e75-d5a6-4b29-9228-dc6b42948ec0";
+"3c6de616-03f1-4aa9-a467-26e9bb08ad40" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
+"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "3c6de616-03f1-4aa9-a467-26e9bb08ad40";
+"0eaaf3d0-de63-44e1-a166-f0cb6d262a8c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
+"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "0eaaf3d0-de63-44e1-a166-f0cb6d262a8c";
+"14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled];
+"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3";
+"37267417-bf55-440e-860e-c48b3b8b1fd3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled];
+"b2638e75-d5a6-4b29-9228-dc6b42948ec0" -> "37267417-bf55-440e-860e-c48b3b8b1fd3";
+"c491468c-2123-4406-bb5c-67e268c947c8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar)", shape=box, style=filled];
+"4465f4c9-b8fa-4f4b-b14b-1fea92565591" -> "c491468c-2123-4406-bb5c-67e268c947c8";
+"95ea79df-397e-4ace-932c-370e2db017ae" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01];
+"6198a9aa-bfec-497d-bd83-a9efac95446f" -> "95ea79df-397e-4ace-932c-370e2db017ae";
+"db9f748d-5b42-4c8a-98f7-62a22a435362" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled];
+"95ea79df-397e-4ace-932c-370e2db017ae" -> "db9f748d-5b42-4c8a-98f7-62a22a435362";
+"a30f3c74-e181-46e5-82fe-aa9b75eb2a28" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled];
+"95ea79df-397e-4ace-932c-370e2db017ae" -> "a30f3c74-e181-46e5-82fe-aa9b75eb2a28";
+"a84a7024-3472-4350-bb95-d794977232bb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(MilkDrink,Bar)", shape=box, style=filled];
+"95ea79df-397e-4ace-932c-370e2db017ae" -> "a84a7024-3472-4350-bb95-d794977232bb";
+}
diff --git a/BTExpansionCode/EXP/expanded_bt_xiaocai.png b/BTExpansionCode/EXP/expanded_bt_xiaocai.png
new file mode 100644
index 0000000..e7364fb
Binary files /dev/null and b/BTExpansionCode/EXP/expanded_bt_xiaocai.png differ
diff --git a/BTExpansionCode/EXP/expanded_bt_xiaocai.svg b/BTExpansionCode/EXP/expanded_bt_xiaocai.svg
new file mode 100644
index 0000000..fbd192f
--- /dev/null
+++ b/BTExpansionCode/EXP/expanded_bt_xiaocai.svg
@@ -0,0 +1,33139 @@
+
+
+
+
+
diff --git a/BTExpansionCode/OptimalBTExpansionAlgorithm.py b/BTExpansionCode/OptimalBTExpansionAlgorithm.py
index 92b6a28..d584d47 100644
--- a/BTExpansionCode/OptimalBTExpansionAlgorithm.py
+++ b/BTExpansionCode/OptimalBTExpansionAlgorithm.py
@@ -172,7 +172,7 @@ class OptBTExpAlgorithm:
if c <= start:
if self.bt_merge:
- bt = copy.deepcopy(self.merge_adjacent_conditions_stack(bt))
+ bt = self.merge_adjacent_conditions_stack(bt)
return bt,min_cost
else:
subtree.add_child([copy.deepcopy(pair_node.act_leaf)])
@@ -188,8 +188,14 @@ class OptBTExpAlgorithm:
# 遍历所有动作, 寻找符合条件的动作
current_mincost = pair_node.cond_leaf.mincost # 当前的最短路径是多少
+ traversed_current=[]
+
for i in range(0, len(actions)):
+ # if "MoveTo(WaterTable)" in actions[i].name:
+ # print(actions[i].name,"cost=",actions[i].cost)
+
+
if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set() :
if (c - actions[i].del_set) == c:
if self.verbose:
@@ -214,19 +220,14 @@ class OptBTExpAlgorithm:
a_attr_node = Leaf(type='act', content=actions[i], mincost=current_mincost + actions[i].cost)
cond_anc_pair = CondActPair(cond_leaf=c_attr_node, act_leaf=a_attr_node)
self.nodes.append(copy.deepcopy(cond_anc_pair)) # condition node list
- self.traversed.append(c_attr) # 重点 the set of expanded conditions
+ traversed_current.append(c_attr)
+ # self.traversed.append(c_attr) # 重点 the set of expanded conditions
# 把符合条件的动作节点都放到列表里
if self.verbose:
print("———— -- %s 符合条件放入列表,对应的c为 %s" % (actions[i].name,c_attr))
-
- # self.merge_adjacent_conditions_stack()
- # self.merge_adjacent_conditions_stack_old()
- # self.merge_adjacent_conditions()
- # if self.verbose:
- # print("算法结束！\n")
- # return True
+ self.traversed.extend(traversed_current)
if self.bt_merge:
- bt = copy.deepcopy(self.merge_adjacent_conditions_stack(bt))
+ bt = self.merge_adjacent_conditions_stack(bt)
if self.verbose:
print("算法结束！\n")
return bt,min_cost
@@ -253,6 +254,10 @@ class OptBTExpAlgorithm:
self.bt,mincost = self.run_algorithm_selTree(start, goal[0], actions)
return True
+ def run_algorithm_test(self, start, goal, actions):
+ self.bt,mincost = self.run_algorithm_selTree(start, goal, actions)
+ return True
+
def merge_adjacent_conditions_stack(self,bt_sel):
# 只针对第一层合并，之后要考虑层层递归合并
@@ -296,7 +301,7 @@ class OptBTExpAlgorithm:
and isinstance(last_child.children[2].content, Action) and isinstance( child.children[1].content, Action) \
and last_child.children[2].content.name == child.children[1].content.name \
and c1==set() and c2!=set():
- last_child.children[1].add_child([copy.deepcopy(c2_node)])
+ last_child.children[1].add_child([c2_node])
continue
elif len(last_child.children)==3:
stack.append(child)
@@ -310,30 +315,30 @@ class OptBTExpAlgorithm:
if c2==set():
tmp_tree = ControlBT(type='>')
tmp_tree.add_child(
- [copy.deepcopy(inter_node), copy.deepcopy(a1_node)])
+ [inter_node, a1_node])
else:
_sel = ControlBT(type='?')
- _sel.add_child([copy.deepcopy(c1_node), copy.deepcopy(c2_node)])
+ _sel.add_child([c1_node, c2_node])
tmp_tree = ControlBT(type='>')
tmp_tree.add_child(
- [copy.deepcopy(inter_node), copy.deepcopy(_sel),copy.deepcopy(a1_node)])
+ [inter_node, _sel,a1_node])
else:
if c1 == set():
- seq1 = copy.deepcopy(last_child.children[1])
+ seq1 = last_child.children[1]
else:
seq1 = ControlBT(type='>')
- seq1.add_child([copy.deepcopy(c1_node), copy.deepcopy(a1_node)])
+ seq1.add_child([c1_node, a1_node])
if c2 == set():
- seq2 = copy.deepcopy(child.children[1])
+ seq2 = child.children[1]
else:
seq2 = ControlBT(type='>')
- seq2.add_child([copy.deepcopy(c2_node), copy.deepcopy(a2_node)])
+ seq2.add_child([c2_node, a2_node])
sel = ControlBT(type='?')
sel.add_child([seq1, seq2])
tmp_tree = ControlBT(type='>')
tmp_tree.add_child(
- [copy.deepcopy(inter_node), copy.deepcopy(sel)])
+ [inter_node,sel])
stack.pop()
stack.append(tmp_tree)
@@ -347,7 +352,7 @@ class OptBTExpAlgorithm:
for tree in stack:
sbtree.add_child([tree])
- bt_sel = copy.deepcopy(bt)
+ bt_sel = bt
return bt_sel
diff --git a/BTExpansionCode/main.py b/BTExpansionCode/main.py
index 830ffb2..dd71d84 100644
--- a/BTExpansionCode/main.py
+++ b/BTExpansionCode/main.py
@@ -6,7 +6,7 @@ from BehaviorTree import Leaf,ControlBT # 行为结点类：叶子结点和非
from OptimalBTExpansionAlgorithm_single_goal import Action,OptBTExpAlgorithm # 调用最优行为树扩展算法
from BTExpansionAlgorithm import BTExpAlgorithm
from OptimalBTExpansionAlgorithm_single_goal import generate_random_state,state_transition
-from tools import print_action_data_table,BTTest
+from tools import print_action_data_table,BTTest,BTTest_act_start_goal,get_act_start_goal
from Examples import MoveBtoB_num,MoveBtoB,Cond2BelongsToCond3 # 导入三个例子
from Examples import *
# from utils.bt.draw import render_dot_tree
@@ -157,9 +157,16 @@ if __name__ == '__main__' :
# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数
seed=1
literals_num= 10
- depth = 50
+ depth = 10
iters= 10
- BTTest(bt_algo_opt=True,seed=seed,literals_num=literals_num,depth=depth,iters=iters)
+
+
+ act_list, start_list, goal_list = get_act_start_goal(seed=seed,literals_num=literals_num,depth=depth,iters=iters,total_count=1)
+ BTTest_act_start_goal(bt_algo_opt=True,act_list=act_list, start_list=start_list, goal_list=goal_list)
print("\n")
+ BTTest_act_start_goal(bt_algo_opt=False, act_list=act_list, start_list=start_list, goal_list=goal_list)
+
+ # BTTest(bt_algo_opt=True,seed=seed,literals_num=literals_num,depth=depth,iters=iters)
+ # print("\n")
# 对比
- BTTest(bt_algo_opt=False,seed=seed,literals_num=literals_num,depth=depth,iters=iters)
+ # BTTest(bt_algo_opt=False,seed=seed,literals_num=literals_num,depth=depth,iters=iters)
diff --git a/BTExpansionCode/tools.py b/BTExpansionCode/tools.py
index d974bb8..8ede6d4 100644
--- a/BTExpansionCode/tools.py
+++ b/BTExpansionCode/tools.py
@@ -4,14 +4,14 @@ from tabulate import tabulate
import numpy as np
import random
-from OptimalBTExpansionAlgorithm_single_goal import generate_random_state,state_transition
-from OptimalBTExpansionAlgorithm_single_goal import Action,OptBTExpAlgorithm
+from OptimalBTExpansionAlgorithm import generate_random_state,state_transition
+from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm
from BTExpansionAlgorithm import BTExpAlgorithm # 调用最优行为树扩展算法
import time
-
-
+np.random.seed(1)
+random.seed(1)
def print_action_data_table(goal,start,actions):
data = []
for a in actions:
@@ -58,6 +58,8 @@ def BTTest_old(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_c
state = copy.deepcopy(start)
states.append(state)
#print (state)
+
+
for i in range (0,depth):
a = Action()
a.generate_from_state(state,literals_num)
@@ -233,20 +235,21 @@ def BTTest(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_count
state = copy.deepcopy(start)
states.append(state)
#print (state)
- for i in range (0,depth):
- a = Action()
- a.generate_from_state(state,literals_num)
- a.cost = random.randint(1, 100)
- if not a in actions:
- a.name = "a"+str(action_num)
- action_num+=1
- actions.append(a)
- state = state_transition(state,a)
- if state in states:
- pass
- else:
- states.append(state)
- #print(state)
+ for k in range(10):
+ for i in range (0,depth):
+ a = Action()
+ a.generate_from_state(state,literals_num)
+ a.cost = random.randint(1, 100)
+ if not a in actions:
+ a.name = "a"+str(action_num)
+ action_num+=1
+ actions.append(a)
+ state = state_transition(state,a)
+ if state in states:
+ pass
+ else:
+ states.append(state)
+ #print(state)
goal = states[-1]
state = copy.deepcopy(start)
@@ -277,12 +280,12 @@ def BTTest(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_count
#algo = Weakalgorithm()
start_time = time.time()
- # if count == 352 : #874:
- # print_action_data_table(goal, start, list(actions))
+ if count == 0 : #874:
+ print_action_data_table(goal, start, list(actions))
# print_action_data_table(goal, start, list(actions))
- if algo.run_algorithm(start, goal, actions):#运行算法，规划后行为树为algo.bt
+ if algo.run_algorithm_test(start, goal, actions):#运行算法，规划后行为树为algo.bt
total_tree_size.append( algo.bt.count_size()-1)
- # if count==352:
+ # if count==0:
# algo.print_solution()
# algo.print_solution() # 打印行为树
else:
@@ -361,6 +364,198 @@ def BTTest(bt_algo_opt=True,seed=1,literals_num=10,depth=10,iters=10,total_count
# Average number of actions 20.0
# Planning Time Total: 1.4748523235321045 0.0014748523235321046
+ # our
+ # success: 1000 failure: 0
+ # Total Tree Size: mean= 48.764 std= 20.503626574406358
+ # Total Steps Num: mean= 1.785 std= 0.8120556843187752
+ # Average number of states: 20.678
+ # Average number of actions 20.0
+ # Planning Time Total: 3.3271877765655518 0.0033271877765655516
+
+
+def get_act_start_goal(seed=1,literals_num=10,depth=10,iters=10,total_count=1000):
+ act_list=[]
+ start_list=[]
+ goal_list=[]
+
+ for count in range(total_count):
+ # 生成一个规划问题，包括随机的状态和行动，以及目标状态
+ action_num=1
+ states = []
+ actions = []
+ start = generate_random_state(literals_num)
+ state = copy.deepcopy(start)
+ states.append(state)
+ # print (state)
+ for k in range(int(iters/5)):
+ state = copy.deepcopy(start)
+ for i in range(0, depth):
+ a = Action()
+ a.generate_from_state(state, literals_num)
+ a.cost = random.randint(1, 100)
+ if not a in actions:
+ a.name = "a" + str(action_num)
+ action_num += 1
+ actions.append(a)
+ state = state_transition(state, a)
+ if state in states:
+ pass
+ else:
+ states.append(state)
+ # print(state)
+
+ goal = states[-1]
+ state = copy.deepcopy(start)
+ for i in range(0, int(iters/5)):
+ a = Action()
+ a.generate_from_state(state, literals_num)
+ if not a in actions:
+ a.name = "a" + str(action_num)
+ action_num += 1
+ actions.append(a)
+ state = state_transition(state, a)
+ if state in states:
+ pass
+ else:
+ states.append(state)
+ state = random.sample(states, 1)[0]
+
+ act_list.append(actions)
+ start_list.append(start)
+ goal_list.append(goal)
+ # print("action:",len(actions))
+ return act_list, start_list, goal_list
+
+
+def BTTest_act_start_goal(bt_algo_opt,act_list,start_list,goal_list):
+
+ if bt_algo_opt:
+ print("============= OptBT Test ==============")
+ else:
+ print("============= XiaoCai BT Test ==============")
+
+ # 设置生成规划问题集的超参数：文字数、解深度、迭代次数
+
+ total_tree_size = []
+ total_action_num = []
+ total_state_num = []
+ total_steps_num=[]
+ total_cost=[]
+ total_tick=[]
+ #fail_count=0
+ #danger_count=0
+ success_count =0
+ failure_count = 0
+ planning_time_total = 0.0
+
+ error = False
+
+ # 实验1000次
+ for count, (actions, start, goal) in enumerate(zip(act_list, start_list, goal_list)):
+
+
+ states=[]
+ # 生成一个规划问题，包括随机的状态和行动，以及目标状态
+ state = copy.deepcopy(start)
+ states.append(state)
+
+ # 选择测试本文算法btalgorithm，或对比算法weakalgorithm
+
+ if bt_algo_opt:
+ # if count==874:
+ # algo = OptBTExpAlgorithm(verbose=False)
+ # else:
+ algo = OptBTExpAlgorithm(verbose=False)
+ else:
+ algo = BTExpAlgorithm(verbose=False)
+ algo.clear()
+
+ #algo = Weakalgorithm()
+ start_time = time.time()
+ if count == 0 : #874:
+ print_action_data_table(goal, start, list(actions))
+ # print_action_data_table(goal, start, list(actions))
+ if algo.run_algorithm_test(start, goal, actions):#运行算法，规划后行为树为algo.bt
+ total_tree_size.append( algo.bt.count_size()-1)
+ if count==0:
+ algo.print_solution()
+ # algo.print_solution() # 打印行为树
+ else:
+ print ("error")
+ end_time = time.time()
+ planning_time_total += (end_time-start_time)
+
+ #开始从初始状态运行行为树，测试
+ state=start
+ steps=0
+ current_cost = 0
+ current_tick_time=0
+ val, obj, cost, tick_time = algo.bt.cost_tick(state,0,0)#tick行为树，obj为所运行的行动
+
+ current_tick_time+=tick_time
+ current_cost += cost
+ while val !='success' and val !='failure':#运行直到行为树成功或失败
+ state = state_transition(state,obj)
+ val, obj,cost, tick_time = algo.bt.cost_tick(state,0,0)
+ current_cost += cost
+ current_tick_time += tick_time
+ if(val == 'failure'):
+ print("bt fails at step",steps)
+ error = True
+ break
+ steps+=1
+ if(steps>=500):#至多运行500步
+ break
+ if not goal <= state:#错误解，目标条件不在执行后状态满足
+ #print ("wrong solution",steps)
+ failure_count+=1
+ error = True
+ else:#正确解，满足目标条件
+ #print ("right solution",steps)
+ success_count+=1
+ total_steps_num.append(steps)
+ if error:
+ print_action_data_table(goal, start, list(actions))
+ algo.print_solution()
+ break
+
+
+ algo.clear()
+ total_action_num.append(len(actions))
+ total_state_num.append(len(states))
+ total_cost.append(current_cost)
+ total_tick.append(current_tick_time)
+
+ print("success:",success_count,"failure:",failure_count)#算法成功和失败次数
+ print("Total Tree Size: mean=",np.mean(total_tree_size), "std=",np.std(total_tree_size, ddof=1))#1000次测试树大小
+ print("Total Steps Num: mean=",np.mean(total_steps_num),"std=",np.std(total_steps_num,ddof=1))
+ print("Average Number of States:",np.mean(total_state_num))#1000次问题的平均状态数
+ print("Average Number of Actions",np.mean(total_action_num))#1000次问题的平均行动数
+ print("Planning Time Total:",planning_time_total,planning_time_total/1000.0)
+ print("Average Number of Ticks", np.mean(total_tick),"std=",np.std(total_tick,ddof=1))
+ print("Average Cost of Execution:", np.mean(total_cost),"std=",np.std(total_cost,ddof=1))
+ # print(total_steps_num) 第21个
+ if bt_algo_opt:
+ print("============= End OptBT Test ==============")
+ else:
+ print("============= End XiaoCai BT Test ==============")
+
+ # xiao cai
+ # success: 1000 failure: 0
+ # Total Tree Size: mean= 35.303 std= 29.71336526001515
+ # Total Steps Num: mean= 1.898 std= 0.970844240101644
+ # Average number of states: 20.678
+ # Average number of actions 20.0
+ # Planning Time Total: 0.6280641555786133 0.0006280641555786133
+
+ # our start
+ # success: 1000 failure: 0
+ # Total Tree Size: mean= 17.945 std= 12.841997192488865
+ # Total Steps Num: mean= 1.785 std= 0.8120556843187752
+ # Average number of states: 20.678
+ # Average number of actions 20.0
+ # Planning Time Total: 1.4748523235321045 0.0014748523235321046
+
# our
# success: 1000 failure: 0
# Total Tree Size: mean= 48.764 std= 20.503626574406358