diff --git a/robowaiter/behavior_tree/dataset/goal_states.txt b/robowaiter/behavior_tree/dataset/goal_states.txt index 784a813..8bfc62d 100644 --- a/robowaiter/behavior_tree/dataset/goal_states.txt +++ b/robowaiter/behavior_tree/dataset/goal_states.txt @@ -747,7 +747,7 @@ {At(Robot,Table1)} {At(Robot,Table2)} {At(Robot,Table3)} -{At(Robot, 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)} diff --git a/robowaiter/behavior_tree/dataset/goal_states_generation.py b/robowaiter/behavior_tree/dataset/goal_states_generation.py index d686e48..5016610 100644 --- a/robowaiter/behavior_tree/dataset/goal_states_generation.py +++ b/robowaiter/behavior_tree/dataset/goal_states_generation.py @@ -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')