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IMPROVE: 增加目标状态数据，删除非holding谓词的nothing

This commit is contained in:
wuziji 2023-11-14 20:31:19 +08:00
parent 271b5c67e8
commit d7ee6a1249
2 changed files with 177 additions and 177 deletions
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342
robowaiter/behavior_tree/dataset/goal_states.txt
View File

@ -747,7 +747,7 @@
{At(Robot,Table1)}
{At(Robot,Table2)}
{At(Robot,Table3)}
{At(Robot, CoffeeTable)}
{At(Robot, Table3)}
{On(Softdrink,Bar)}
{On(Softdrink,WaterTable)}
{On(Softdrink,CoffeeTable)}
@ -1483,21 +1483,21 @@
{On(VacuumCup,Table1)}
{On(VacuumCup,Table2)}
{On(VacuumCup,Table3)}
{On(VacuumCup, Bar)}
{On(Softdrink, Table3)}
{On(MilkDrink, Bar2)}
{On(Softdrink, CoffeeTable)}
{On(BottledDrink, WaterTable)}
{On(BottledDrink, Table3)}
{On(BottledDrink, Bar2)}
{On(VacuumCup, CoffeeTable)}
{On(BottledDrink, Bar)}
{On(VacuumCup, Bar2)}
{On(BottledDrink, Table2)}
{On(Yogurt, Table1)}
{On(Softdrink, WaterTable)}
{On(Softdrink, CoffeeTable)}
{On(ADMilk, Bar2)}
{On(Softdrink, CoffeeTable)}
{On(Milk, WaterTable)}
{On(Milk, Table3)}
{On(Milk, WaterTable)}
{On(Softdrink, Bar)}
{On(Yogurt, CoffeeTable)}
{On(BottledDrink, CoffeeTable)}
{On(BottledDrink, Bar2)}
{On(Milk, Bar2)}
{On(ADMilk, Bar)}
{On(Milk, Table2)}
{On(Yogurt, Bar2)}
{On(ADMilk, WaterTable)}
{Is(AC,Off)}
{Is(AC,On)}
{Is(ACTemperature,Up)}
@ -2234,20 +2234,20 @@
{Is(Floor,Clean)}
{Is(Table,Dirty)}
{Is(Table,Clean)}
{Is(Chairs, Clean)}
{Is(AC, On)}
{Is(Floor, Clean)}
{Is(Chairs, Clean)}
{Is(Curtain, On)}
{Is(TubeLight, On)}
{Is(HallLight, Off)}
{Is(Table, Clean)}
{Is(Curtain, On)}
{Is(AC, Off)}
{Is(Table, Clean)}
{Is(HallLight, On)}
{Is(Curtain, Off)}
{Is(Chairs, Clean)}
{Is(AC, 1)}
{Is(HallLight, 0)}
{Is(HallLight, 0)}
{Is(AC, 0)}
{Is(Chairs, 1)}
{Is(Table, 1)}
{Is(HallLight, 1)}
{Is(AC, 1)}
{Is(Floor, 1)}
{Is(HallLight, 1)}
{Is(Chairs, 0)}
{Is(Table, 0)}
{Is(TubeLight, 1)}
{Is(HallLight, 1)}
{Holding(Softdrink)}
{Holding(BottledDrink)}
{Holding(Yogurt)}
@ -2744,10 +2744,10 @@
{Holding(Milk)}
{Holding(VacuumCup)}
{Holding(Nothing)}
{Holding(ADMilk)}
{Holding(VacuumCup)}
{Holding(Milk)}
{Holding(Milk)}
{Holding(BottledDrink)}
{Holding(Yogurt)}
{Holding(BottledDrink)}
{Holding(Softdrink)}
{On(Coffee,Bar)}
{On(Coffee,WaterTable)}
{On(Coffee,CoffeeTable)}
@ -3483,21 +3483,21 @@
{On(Dessert,Table1)}
{On(Dessert,Table2)}
{On(Dessert,Table3)}
{On(Water, Table3)}
{On(Coffee, Bar)}
{On(Coffee, Bar)}
{On(Coffee, Bar2)}
{On(Water, Table1)}
{On(Coffee, Bar)}
{On(Water, Bar)}
{On(Water, WaterTable)}
{On(Dessert, CoffeeTable)}
{On(Water, Table1)}
{On(Dessert, WaterTable)}
{On(Coffee, WaterTable)}
{On(Coffee, Table3)}
{On(Coffee, Table1)}
{On(Water, Bar)}
{On(Coffee, Table1)}
{On(Coffee, Table1)}
{On(Water, Bar)}
{On(Dessert, Table2)}
{On(Water, WaterTable)}
{On(Water, CoffeeTable)}
{On(Dessert, WaterTable)}
{On(Water, Bar)}
{On(Dessert, Table2)}
{On(Coffee, Table1)}
{On(Coffee, Table1)}
{At(Robot,Bar),On(Softdrink,Bar)}
{At(Robot,Bar),On(Softdrink,WaterTable)}
{At(Robot,Bar),On(Softdrink,CoffeeTable)}
@ -4062,22 +4062,22 @@
{At(Robot,Bar2),Is(Floor,Clean)}
{At(Robot,Bar2),Is(Table,Dirty)}
{At(Robot,Bar2),Is(Table,Clean)}
{At(Robot,TableOn),Is(AC,Off)}
{At(Robot,TableOn),Is(AC,On)}
{At(Robot,TableDown),Is(ACTemperature,Up)}
{At(Robot,TableDown),Is(ACTemperature,Down)}
{At(Robot,TableOn),Is(HallLight,Off)}
{At(Robot,TableOn),Is(HallLight,On)}
{At(Robot,TableOn),Is(TubeLight,Off)}
{At(Robot,TableOn),Is(TubeLight,On)}
{At(Robot,TableOn),Is(Curtain,Off)}
{At(Robot,TableOn),Is(Curtain,On)}
{At(Robot,TableClean),Is(Chairs,Dirty)}
{At(Robot,TableClean),Is(Chairs,Clean)}
{At(Robot,TableClean),Is(Floor,Dirty)}
{At(Robot,TableClean),Is(Floor,Clean)}
{At(Robot,TableClean),Is(Table,Dirty)}
{At(Robot,TableClean),Is(Table,Clean)}
{At(Robot,Table1),Is(AC,Off)}
{At(Robot,Table1),Is(AC,On)}
{At(Robot,Table1),Is(ACTemperature,Up)}
{At(Robot,Table1),Is(ACTemperature,Down)}
{At(Robot,Table1),Is(HallLight,Off)}
{At(Robot,Table1),Is(HallLight,On)}
{At(Robot,Table1),Is(TubeLight,Off)}
{At(Robot,Table1),Is(TubeLight,On)}
{At(Robot,Table1),Is(Curtain,Off)}
{At(Robot,Table1),Is(Curtain,On)}
{At(Robot,Table1),Is(Chairs,Dirty)}
{At(Robot,Table1),Is(Chairs,Clean)}
{At(Robot,Table1),Is(Floor,Dirty)}
{At(Robot,Table1),Is(Floor,Clean)}
{At(Robot,Table1),Is(Table,Dirty)}
{At(Robot,Table1),Is(Table,Clean)}
{At(Robot,Table2),Is(AC,Off)}
{At(Robot,Table2),Is(AC,On)}
{At(Robot,Table2),Is(ACTemperature,Up)}
@ -4174,22 +4174,22 @@
{At(Robot,Bar2),Is(Floor,Clean)}
{At(Robot,Bar2),Is(Table,Dirty)}
{At(Robot,Bar2),Is(Table,Clean)}
{At(Robot,TableOn),Is(AC,Off)}
{At(Robot,TableOn),Is(AC,On)}
{At(Robot,TableDown),Is(ACTemperature,Up)}
{At(Robot,TableDown),Is(ACTemperature,Down)}
{At(Robot,TableOn),Is(HallLight,Off)}
{At(Robot,TableOn),Is(HallLight,On)}
{At(Robot,TableOn),Is(TubeLight,Off)}
{At(Robot,TableOn),Is(TubeLight,On)}
{At(Robot,TableOn),Is(Curtain,Off)}
{At(Robot,TableOn),Is(Curtain,On)}
{At(Robot,TableClean),Is(Chairs,Dirty)}
{At(Robot,TableClean),Is(Chairs,Clean)}
{At(Robot,TableClean),Is(Floor,Dirty)}
{At(Robot,TableClean),Is(Floor,Clean)}
{At(Robot,TableClean),Is(Table,Dirty)}
{At(Robot,TableClean),Is(Table,Clean)}
{At(Robot,Table1),Is(AC,Off)}
{At(Robot,Table1),Is(AC,On)}
{At(Robot,Table1),Is(ACTemperature,Up)}
{At(Robot,Table1),Is(ACTemperature,Down)}
{At(Robot,Table1),Is(HallLight,Off)}
{At(Robot,Table1),Is(HallLight,On)}
{At(Robot,Table1),Is(TubeLight,Off)}
{At(Robot,Table1),Is(TubeLight,On)}
{At(Robot,Table1),Is(Curtain,Off)}
{At(Robot,Table1),Is(Curtain,On)}
{At(Robot,Table1),Is(Chairs,Dirty)}
{At(Robot,Table1),Is(Chairs,Clean)}
{At(Robot,Table1),Is(Floor,Dirty)}
{At(Robot,Table1),Is(Floor,Clean)}
{At(Robot,Table1),Is(Table,Dirty)}
{At(Robot,Table1),Is(Table,Clean)}
{At(Robot,Table2),Is(AC,Off)}
{At(Robot,Table2),Is(AC,On)}
{At(Robot,Table2),Is(ACTemperature,Up)}
@ -4286,22 +4286,22 @@
{At(Robot,Bar2),Is(Floor,Clean)}
{At(Robot,Bar2),Is(Table,Dirty)}
{At(Robot,Bar2),Is(Table,Clean)}
{At(Robot,TableOn),Is(AC,Off)}
{At(Robot,TableOn),Is(AC,On)}
{At(Robot,TableDown),Is(ACTemperature,Up)}
{At(Robot,TableDown),Is(ACTemperature,Down)}
{At(Robot,TableOn),Is(HallLight,Off)}
{At(Robot,TableOn),Is(HallLight,On)}
{At(Robot,TableOn),Is(TubeLight,Off)}
{At(Robot,TableOn),Is(TubeLight,On)}
{At(Robot,TableOn),Is(Curtain,Off)}
{At(Robot,TableOn),Is(Curtain,On)}
{At(Robot,TableClean),Is(Chairs,Dirty)}
{At(Robot,TableClean),Is(Chairs,Clean)}
{At(Robot,TableClean),Is(Floor,Dirty)}
{At(Robot,TableClean),Is(Floor,Clean)}
{At(Robot,TableClean),Is(Table,Dirty)}
{At(Robot,TableClean),Is(Table,Clean)}
{At(Robot,Table1),Is(AC,Off)}
{At(Robot,Table1),Is(AC,On)}
{At(Robot,Table1),Is(ACTemperature,Up)}
{At(Robot,Table1),Is(ACTemperature,Down)}
{At(Robot,Table1),Is(HallLight,Off)}
{At(Robot,Table1),Is(HallLight,On)}
{At(Robot,Table1),Is(TubeLight,Off)}
{At(Robot,Table1),Is(TubeLight,On)}
{At(Robot,Table1),Is(Curtain,Off)}
{At(Robot,Table1),Is(Curtain,On)}
{At(Robot,Table1),Is(Chairs,Dirty)}
{At(Robot,Table1),Is(Chairs,Clean)}
{At(Robot,Table1),Is(Floor,Dirty)}
{At(Robot,Table1),Is(Floor,Clean)}
{At(Robot,Table1),Is(Table,Dirty)}
{At(Robot,Table1),Is(Table,Clean)}
{At(Robot,Table2),Is(AC,Off)}
{At(Robot,Table2),Is(AC,On)}
{At(Robot,Table2),Is(ACTemperature,Up)}
@ -4398,22 +4398,22 @@
{At(Robot,Bar2),Is(Floor,Clean)}
{At(Robot,Bar2),Is(Table,Dirty)}
{At(Robot,Bar2),Is(Table,Clean)}
{At(Robot,TableOn),Is(AC,Off)}
{At(Robot,TableOn),Is(AC,On)}
{At(Robot,TableDown),Is(ACTemperature,Up)}
{At(Robot,TableDown),Is(ACTemperature,Down)}
{At(Robot,TableOn),Is(HallLight,Off)}
{At(Robot,TableOn),Is(HallLight,On)}
{At(Robot,TableOn),Is(TubeLight,Off)}
{At(Robot,TableOn),Is(TubeLight,On)}
{At(Robot,TableOn),Is(Curtain,Off)}
{At(Robot,TableOn),Is(Curtain,On)}
{At(Robot,TableClean),Is(Chairs,Dirty)}
{At(Robot,TableClean),Is(Chairs,Clean)}
{At(Robot,TableClean),Is(Floor,Dirty)}
{At(Robot,TableClean),Is(Floor,Clean)}
{At(Robot,TableClean),Is(Table,Dirty)}
{At(Robot,TableClean),Is(Table,Clean)}
{At(Robot,Table1),Is(AC,Off)}
{At(Robot,Table1),Is(AC,On)}
{At(Robot,Table1),Is(ACTemperature,Up)}
{At(Robot,Table1),Is(ACTemperature,Down)}
{At(Robot,Table1),Is(HallLight,Off)}
{At(Robot,Table1),Is(HallLight,On)}
{At(Robot,Table1),Is(TubeLight,Off)}
{At(Robot,Table1),Is(TubeLight,On)}
{At(Robot,Table1),Is(Curtain,Off)}
{At(Robot,Table1),Is(Curtain,On)}
{At(Robot,Table1),Is(Chairs,Dirty)}
{At(Robot,Table1),Is(Chairs,Clean)}
{At(Robot,Table1),Is(Floor,Dirty)}
{At(Robot,Table1),Is(Floor,Clean)}
{At(Robot,Table1),Is(Table,Dirty)}
{At(Robot,Table1),Is(Table,Clean)}
{At(Robot,Table2),Is(AC,Off)}
{At(Robot,Table2),Is(AC,On)}
{At(Robot,Table2),Is(ACTemperature,Up)}
@ -4562,22 +4562,22 @@
{On(Coffee,Bar2),Is(Floor,Clean)}
{On(Coffee,Bar2),Is(Table,Dirty)}
{On(Coffee,Bar2),Is(Table,Clean)}
{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,TableClean),Is(Chairs,Dirty)}
{On(Coffee,TableClean),Is(Chairs,Clean)}
{On(Coffee,TableClean),Is(Floor,Dirty)}
{On(Coffee,TableClean),Is(Floor,Clean)}
{On(Coffee,TableClean),Is(Table,Dirty)}
{On(Coffee,TableClean),Is(Table,Clean)}
{On(Coffee,Table1),Is(AC,Off)}
{On(Coffee,Table1),Is(AC,On)}
{On(Coffee,Table1),Is(ACTemperature,Up)}
{On(Coffee,Table1),Is(ACTemperature,Down)}
{On(Coffee,Table1),Is(HallLight,Off)}
{On(Coffee,Table1),Is(HallLight,On)}
{On(Coffee,Table1),Is(TubeLight,Off)}
{On(Coffee,Table1),Is(TubeLight,On)}
{On(Coffee,Table1),Is(Curtain,Off)}
{On(Coffee,Table1),Is(Curtain,On)}
{On(Coffee,Table1),Is(Chairs,Dirty)}
{On(Coffee,Table1),Is(Chairs,Clean)}
{On(Coffee,Table1),Is(Floor,Dirty)}
{On(Coffee,Table1),Is(Floor,Clean)}
{On(Coffee,Table1),Is(Table,Dirty)}
{On(Coffee,Table1),Is(Table,Clean)}
{On(Coffee,Table2),Is(AC,Off)}
{On(Coffee,Table2),Is(AC,On)}
{On(Coffee,Table2),Is(ACTemperature,Up)}
@ -4674,22 +4674,22 @@
{On(Water,Bar2),Is(Floor,Clean)}
{On(Water,Bar2),Is(Table,Dirty)}
{On(Water,Bar2),Is(Table,Clean)}
{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,TableClean),Is(Chairs,Dirty)}
{On(Water,TableClean),Is(Chairs,Clean)}
{On(Water,TableClean),Is(Floor,Dirty)}
{On(Water,TableClean),Is(Floor,Clean)}
{On(Water,TableClean),Is(Table,Dirty)}
{On(Water,TableClean),Is(Table,Clean)}
{On(Water,Table1),Is(AC,Off)}
{On(Water,Table1),Is(AC,On)}
{On(Water,Table1),Is(ACTemperature,Up)}
{On(Water,Table1),Is(ACTemperature,Down)}
{On(Water,Table1),Is(HallLight,Off)}
{On(Water,Table1),Is(HallLight,On)}
{On(Water,Table1),Is(TubeLight,Off)}
{On(Water,Table1),Is(TubeLight,On)}
{On(Water,Table1),Is(Curtain,Off)}
{On(Water,Table1),Is(Curtain,On)}
{On(Water,Table1),Is(Chairs,Dirty)}
{On(Water,Table1),Is(Chairs,Clean)}
{On(Water,Table1),Is(Floor,Dirty)}
{On(Water,Table1),Is(Floor,Clean)}
{On(Water,Table1),Is(Table,Dirty)}
{On(Water,Table1),Is(Table,Clean)}
{On(Water,Table2),Is(AC,Off)}
{On(Water,Table2),Is(AC,On)}
{On(Water,Table2),Is(ACTemperature,Up)}
@ -4786,22 +4786,22 @@
{On(Dessert,Bar2),Is(Floor,Clean)}
{On(Dessert,Bar2),Is(Table,Dirty)}
{On(Dessert,Bar2),Is(Table,Clean)}
{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,TableClean),Is(Chairs,Dirty)}
{On(Dessert,TableClean),Is(Chairs,Clean)}
{On(Dessert,TableClean),Is(Floor,Dirty)}
{On(Dessert,TableClean),Is(Floor,Clean)}
{On(Dessert,TableClean),Is(Table,Dirty)}
{On(Dessert,TableClean),Is(Table,Clean)}
{On(Dessert,Table1),Is(AC,Off)}
{On(Dessert,Table1),Is(AC,On)}
{On(Dessert,Table1),Is(ACTemperature,Up)}
{On(Dessert,Table1),Is(ACTemperature,Down)}
{On(Dessert,Table1),Is(HallLight,Off)}
{On(Dessert,Table1),Is(HallLight,On)}
{On(Dessert,Table1),Is(TubeLight,Off)}
{On(Dessert,Table1),Is(TubeLight,On)}
{On(Dessert,Table1),Is(Curtain,Off)}
{On(Dessert,Table1),Is(Curtain,On)}
{On(Dessert,Table1),Is(Chairs,Dirty)}
{On(Dessert,Table1),Is(Chairs,Clean)}
{On(Dessert,Table1),Is(Floor,Dirty)}
{On(Dessert,Table1),Is(Floor,Clean)}
{On(Dessert,Table1),Is(Table,Dirty)}
{On(Dessert,Table1),Is(Table,Clean)}
{On(Dessert,Table2),Is(AC,Off)}
{On(Dessert,Table2),Is(AC,On)}
{On(Dessert,Table2),Is(ACTemperature,Up)}
@ -4898,22 +4898,22 @@
{On(Coffee,Bar2),Is(Floor,Clean)}
{On(Coffee,Bar2),Is(Table,Dirty)}
{On(Coffee,Bar2),Is(Table,Clean)}
{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,TableClean),Is(Chairs,Dirty)}
{On(Coffee,TableClean),Is(Chairs,Clean)}
{On(Coffee,TableClean),Is(Floor,Dirty)}
{On(Coffee,TableClean),Is(Floor,Clean)}
{On(Coffee,TableClean),Is(Table,Dirty)}
{On(Coffee,TableClean),Is(Table,Clean)}
{On(Coffee,Table1),Is(AC,Off)}
{On(Coffee,Table1),Is(AC,On)}
{On(Coffee,Table1),Is(ACTemperature,Up)}
{On(Coffee,Table1),Is(ACTemperature,Down)}
{On(Coffee,Table1),Is(HallLight,Off)}
{On(Coffee,Table1),Is(HallLight,On)}
{On(Coffee,Table1),Is(TubeLight,Off)}
{On(Coffee,Table1),Is(TubeLight,On)}
{On(Coffee,Table1),Is(Curtain,Off)}
{On(Coffee,Table1),Is(Curtain,On)}
{On(Coffee,Table1),Is(Chairs,Dirty)}
{On(Coffee,Table1),Is(Chairs,Clean)}
{On(Coffee,Table1),Is(Floor,Dirty)}
{On(Coffee,Table1),Is(Floor,Clean)}
{On(Coffee,Table1),Is(Table,Dirty)}
{On(Coffee,Table1),Is(Table,Clean)}
{On(Coffee,Table2),Is(AC,Off)}
{On(Coffee,Table2),Is(AC,On)}
{On(Coffee,Table2),Is(ACTemperature,Up)}

12
robowaiter/behavior_tree/dataset/goal_states_generation.py
View File

@ -202,14 +202,14 @@ def enumerate_goal_states(total: int):
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)
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)
i = re.sub(',0', ',Off', i)
i = re.sub(',1', ',On', i)
elif 'Is' in i and ('Chairs' in i or 'Floor' in i or 'Table' in i):
i = re.sub('0', 'Dirty', i)
i = re.sub('1', 'Clean', i)
i = re.sub(',0', ',Dirty', i)
i = re.sub(',1', ',Clean', i)
file.write(i + '\n')