From e2bbf23c30b96f1b2b2b8fd6b6557dd4d1b3be15 Mon Sep 17 00:00:00 2001 From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com> Date: Tue, 9 Jan 2024 20:24:23 +0800 Subject: [PATCH] =?UTF-8?q?=E8=A3=85=E9=A5=B0=E5=99=A8=E9=AA=8C=E8=AF=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../EXP/EXP/behavior_lib/__init__.py | 2 + .../EXP/EXP/behavior_lib/_base/Act.py | 13 + .../EXP/EXP/behavior_lib/_base/Behavior.py | 153 + .../EXP/EXP/behavior_lib/_base/Cond.py | 18 + .../EXP/EXP/behavior_lib/_base/Selector.py | 10 + .../EXP/EXP/behavior_lib/_base/Sequence.py | 11 + .../EXP/EXP/behavior_lib/_base/__init__.py | 3 + .../EXP/EXP/behavior_lib/act/Clean.py | 50 + .../EXP/EXP/behavior_lib/act/Make.py | 68 + .../EXP/EXP/behavior_lib/act/MoveTo.py | 28 + .../EXP/EXP/behavior_lib/act/PickUp.py | 74 + .../EXP/EXP/behavior_lib/act/PutDown.py | 64 + .../EXP/EXP/behavior_lib/act/Turn.py | 87 + .../EXP/EXP/behavior_lib/act/__init__.py | 0 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.../EXP/EXP/behavior_tree/ptml/test/test.svg | 151 + BTExpansionCode/EXP/EXP/easy.txt | 50 + BTExpansionCode/EXP/EXP/exp1.py | 220 + BTExpansionCode/EXP/EXP/exp2.py | 45 + BTExpansionCode/EXP/EXP/exp_tools.py | 276 + BTExpansionCode/EXP/EXP/expanded_bt_obt.dot | 3463 ++ BTExpansionCode/EXP/EXP/expanded_bt_obt.png | Bin 0 -> 3124343 bytes BTExpansionCode/EXP/EXP/expanded_bt_obt.svg | 20755 ++++++++++ .../EXP/EXP/expanded_bt_xiaocai.dot | 5527 +++ .../EXP/EXP/expanded_bt_xiaocai.png | Bin 0 -> 351104 bytes .../EXP/EXP/expanded_bt_xiaocai.svg | 33139 ++++++++++++++++ robowaiter/behavior_lib/act/Clean.py | 3 +- robowaiter/behavior_lib/act/GreetCustomer.py | 2 +- robowaiter/behavior_tree/ptml/ptml.g4 | 2 +- robowaiter/llm_client/data/fix_questions.txt | 283 +- .../llm_client/data/fix_questions_en.txt | 113 + robowaiter/llm_client/multi_rounds.py | 2 +- robowaiter/scene/outputs/current_bt.png | Bin 276760 -> 217882 bytes robowaiter/scene/outputs/expanded_bt.dot | 76 +- robowaiter/scene/outputs/expanded_bt.png | Bin 70362 -> 111241 bytes robowaiter/scene/outputs/expanded_bt.svg | 396 +- robowaiter/scene/scene.py | 2 +- robowaiter/utils/draw_bt/Default.ptml | 2 +- robowaiter/utils/draw_bt/Default_bracket.ptml | 2 +- robowaiter/utils/draw_bt/test.dot | 90 +- robowaiter/utils/draw_bt/test.svg | 180 +- .../CafeDailyOperations/CafeOneDay_en.py | 22 +- tasks_no_ui/OT/Open_tasks_0106.py | 56 + tasks_no_ui/OT/Open_tasks_0106_2.py | 60 + tasks_no_ui/OT/Open_tasks_0106_3.py | 50 + tasks_no_ui/OT/Open_tasks_test.py | 4 +- 105 files changed, 80291 insertions(+), 335 deletions(-) create mode 100644 BTExpansionCode/EXP/EXP/behavior_lib/__init__.py create mode 100644 BTExpansionCode/EXP/EXP/behavior_lib/_base/Act.py create mode 100644 BTExpansionCode/EXP/EXP/behavior_lib/_base/Behavior.py create mode 100644 BTExpansionCode/EXP/EXP/behavior_lib/_base/Cond.py create mode 100644 BTExpansionCode/EXP/EXP/behavior_lib/_base/Selector.py create mode 100644 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BTExpansionCode/EXP/EXP/behavior_tree/dataset/sentence_expansion.py create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/W2V_CI.model create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/__init__.py create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output.txt create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output1.txt create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output2.txt create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_state_similarity_match.py create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states.txt create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_generation.py create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_unique.txt create mode 100644 BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.jsonl create 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100644 BTExpansionCode/EXP/EXP/expanded_bt_obt.dot create mode 100644 BTExpansionCode/EXP/EXP/expanded_bt_obt.png create mode 100644 BTExpansionCode/EXP/EXP/expanded_bt_obt.svg create mode 100644 BTExpansionCode/EXP/EXP/expanded_bt_xiaocai.dot create mode 100644 BTExpansionCode/EXP/EXP/expanded_bt_xiaocai.png create mode 100644 BTExpansionCode/EXP/EXP/expanded_bt_xiaocai.svg create mode 100644 robowaiter/llm_client/data/fix_questions_en.txt create mode 100644 tasks_no_ui/OT/Open_tasks_0106.py create mode 100644 tasks_no_ui/OT/Open_tasks_0106_2.py create mode 100644 tasks_no_ui/OT/Open_tasks_0106_3.py diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/__init__.py b/BTExpansionCode/EXP/EXP/behavior_lib/__init__.py new file mode 100644 index 0000000..139597f --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/__init__.py @@ -0,0 +1,2 @@ + + diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Act.py b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Act.py new file mode 100644 index 0000000..4f7dbbf --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Act.py @@ -0,0 +1,13 @@ +from EXP.behavior_lib._base.Behavior import Bahavior + +class Act(Bahavior): + print_name_prefix = "act " + type = 'Act' + + def __init__(self,*args): + super().__init__(*args) + self.info = self.get_info(*args) + + @classmethod + def get_info(self,*arg): + return None diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Behavior.py b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Behavior.py new file mode 100644 index 0000000..425f547 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Behavior.py @@ -0,0 +1,153 @@ +import py_trees as ptree +from typing import Any +import enum +from py_trees.common import Status + + +# _base Behavior +class Bahavior(ptree.behaviour.Behaviour): + + can_be_expanded = False + num_params = 0 + valid_params=''' + None + ''' + scene = None + print_name_prefix = "" + tables_for_placement = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6'} + all_object = { + 'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup', + 'Chips', 'NFCJuice', 'Bernachon', 'SpringWater'} + tables_for_guiding = {"QuietTable1","QuietTable2", + "BrightTable1","BrightTable2","BrightTable3","BrightTable4","BrightTable5","BrightTable6", + 'CoffeeTable','WaterTable','Table1', 'Table2', 'Table3'} + + + # tables_for_placement = {'Bar', 'CoffeeTable', 'Table2',"BrightTable6", 'WaterTable'} + # all_object = {'Coffee', 'Yogurt'} + + + num_of_obj_on_place={ + 'Bar': 0, # (247.0, 520.0, 100.0) + 'Bar2': 0, + 'WaterTable': 0, + 'CoffeeTable': 0, + 'Table1': 0, + 'Table2': 0, + 'Table3': 0, + 'BrightTable6': 0, + } + + place_xyz_dic={ + 'Bar': (247.0, 520.0, 100.0), #(247.0, 520.0, 100.0) + 'Bar2': (240.0, 40.0, 100.0), + 'WaterTable':(-70.0, 500.0, 107), + 'CoffeeTable':(250.0, 310.0, 100.0), + 'Table1': (340.0, 900.0, 99.0), + 'Table2': (-55.0, 0.0, 107), + 'Table3':(-55.0, 150.0, 107), + 'BrightTable6': (5, -315, 116.5), + } + + place_have_obj_xyz_dic = { + 'QuietTable1': (480, 1300, 70), + 'QuietTable2': (250, -240, 70), + 'BrightTable1': (230, 1200, 35), + 'BrightTable2': (65, 1000, 35), + 'BrightTable3': (-80, 850, 35), + 'BrightTable4': (-270, 520, 70), + 'BrightTable5': (-270, 420, 35) + } + place_have_obj_xyz_dic.update(place_xyz_dic) + + place_en2zh_name={ + 'Bar': "吧台", + 'Bar2': "另一侧的吧台", + 'WaterTable': "大厅的茶水桌", + 'CoffeeTable': "咖啡桌", + 'Table1': "前门斜桌子", + 'Table2': "大厅长桌子西侧", + 'Table3': "大厅长桌子东侧", + 'BrightTable6': "后门靠窗边圆桌", + 'QuietTable1': "前门角落双人圆桌", + 'QuietTable2': "后门角落三人圆桌", + 'BrightTable1': "靠窗边第一个四人矮桌", + 'BrightTable2': "靠窗边第二个四人矮桌", + 'BrightTable3': "靠窗边第三个四人矮桌", + 'BrightTable4': "大厅里靠窗边长桌子", + 'BrightTable5': "大厅里靠窗边多人矮桌", + } + + place_xy_yaw_dic={ + 'Bar': (247.0, 520.0, 180), # (247.0, 520.0, 100.0) + 'Bar2': (240.0, 40.0, 100.0), + 'WaterTable': (-70.0, 500.0, 107), + 'CoffeeTable': (250.0, 310.0, 100.0), + 'Table1': (340.0, 900.0, 99.0), + 'Table2': (-55.0, 0.0, 107), + 'Table3': (-55.0, 150.0, 107), + 'BrightTable6': (5, -315, 116.5), + + 'QuietTable1':(480,1300,90), + 'QuietTable2':(250,-240,-65), + 'BrightTable1':(230,1200,-135), + 'BrightTable2': (65, 1000, 135), + 'BrightTable3': (-80, 850, 135), + 'BrightTable4': (-270, 520, 150), + 'BrightTable5': (-270, 420, 90) #(-270, 420, -135) + } + container_dic={ + 'Coffee':'CoffeeCup', + 'Water': 'Glass', + 'Dessert':'Plate' + } + + + + @classmethod + def get_ins_name(cls,*args): + name = cls.__name__ + if len(args) > 0: + ins_name = f'{name}({",".join(list(args))})' + else: + ins_name = f'{name}()' + return ins_name + + def __init__(self,*args): + ins_name = self.__class__.get_ins_name(*args) + self.args = args + + super().__init__(ins_name) + + def _update(self) -> ptree.common.Status: + print("this is just a _base behavior node.") + return Status.INVALID + + @property + def print_name(self): + return f'{self.print_name_prefix}{self.get_ins_name(*self.args)}' + + + + # let behavior node Interact with the scene + def set_scene(self, scene=None): + if scene: + self.scene = scene + self.robot = scene.robot + + def setup(self, **kwargs: Any) -> None: + return super().setup(**kwargs) + + def initialise(self) -> None: + return super().initialise() + + def update(self) -> Status: + re = self._update() + return re + + def terminate(self, new_status: Status) -> None: + return super().terminate(new_status) + + @property + def arg_str(self): + return ",".join(self.args) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Cond.py b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Cond.py new file mode 100644 index 0000000..41366b1 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Cond.py @@ -0,0 +1,18 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Behavior import Bahavior, Status + +class Cond(Bahavior): + print_name_prefix = "cond " + type = 'Cond' + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + if self.scene.state['chat_list'] == []: + return Status.FAILURE + else: + return Status.SUCCESS diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Selector.py b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Selector.py new file mode 100644 index 0000000..1b61ed0 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Selector.py @@ -0,0 +1,10 @@ +import py_trees as ptree +from typing import Any + +class Selector(ptree.composites.Selector): + print_name = "Selector" + ins_name = "Selector" + type = "Selector" + + def __init__(self,*args,**kwargs): + super().__init__(*args,**kwargs) diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/Sequence.py b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Sequence.py new file mode 100644 index 0000000..bd1b75c --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/_base/Sequence.py @@ -0,0 +1,11 @@ +import py_trees as ptree +from typing import Any + +class Sequence(ptree.composites.Sequence): + print_name = "Sequence" + ins_name = "Selector" + type = "Sequence" + + def __init__(self,*args,**kwargs): + super().__init__(*args,**kwargs) + diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/_base/__init__.py b/BTExpansionCode/EXP/EXP/behavior_lib/_base/__init__.py new file mode 100644 index 0000000..94f6330 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/_base/__init__.py @@ -0,0 +1,3 @@ + +from EXP.behavior_lib._base.Sequence import Sequence +from EXP.behavior_lib._base.Selector import Selector \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/Clean.py b/BTExpansionCode/EXP/EXP/behavior_lib/act/Clean.py new file mode 100644 index 0000000..7b39896 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/act/Clean.py @@ -0,0 +1,50 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Act import Act +from EXP.behavior_lib._base.Behavior import Status + +class Clean(Act): + can_be_expanded = True + num_args = 1 + valid_args = ( + 'Table1','Floor','Chairs' + ) + + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + self.op_type = 5 + if self.target_obj=="Table1": + self.op_type = 5 + elif self.target_obj=="Floor": + self.op_type = 4 + elif self.target_obj=="Chairs": + self.op_type = 7 + + + @classmethod + def get_info(cls,arg): + info = {} + info["pre"]= {f'Holding(Nothing)',f'Is(HallLight,On)'} + if arg == "Table1": + info["add"]= {f'Is(Table1,Clean)'} + info["del_set"] = {f'Is(Table1,Dirty)'} + elif arg == "Floor": + info["add"] = {f'Is(Floor,Clean)'} + info["del_set"] = {f'Is(Floor,Dirty)'} + elif arg == "Chairs": + info["add"] = {f'Is(Chairs,Clean)'} + info["del_set"] = {f'Is(Chairs,Dirty)'} + return info + + def _update(self) -> ptree.common.Status: + + self.scene.move_task_area(self.op_type) + self.scene.op_task_execute(self.op_type) + + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + # print("After Clean condition_set:",self.scene.state["condition_set"] ) + return Status.RUNNING \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/Make.py b/BTExpansionCode/EXP/EXP/behavior_lib/act/Make.py new file mode 100644 index 0000000..b980f72 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/act/Make.py @@ -0,0 +1,68 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Act import Act +from EXP.behavior_lib._base.Behavior import Status + +class Make(Act): + can_be_expanded = True + num_args = 1 + valid_args = ( + "Coffee","Water","Dessert" + ) + + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + self.op_type = 1 + if self.target_obj==self.valid_args[0]: + self.op_type = 1 + elif self.target_obj==self.valid_args[1]: + self.op_type = 2 + elif self.target_obj==self.valid_args[2]: + self.op_type = 3 + + + @classmethod + def get_info(cls,arg): + info = {} + info["pre"]= {f'Holding(Nothing)'} + info['del_set'] = set() + info['add'] = {f'Exist({arg})'} + if arg == cls.valid_args[0]: + info["add"] |= {f'On({arg},CoffeeTable)'} + elif arg == cls.valid_args[1]: + info["add"] |= {f'On({arg},WaterTable)'} + elif arg == cls.valid_args[2]: + info["add"] |= {f'On({arg},Bar)'} + info['cost'] = 2 + return info + + 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) + + self.scene.move_task_area(self.op_type) + self.scene.op_task_execute(self.op_type) + + # self.scene.gen_obj(type=40) + + # obj_dict = self.scene.status.objects + # if len(obj_dict) != 0: + # # 获取obj_id + # for id, obj in enumerate(obj_dict): + # print("id:",id,"obj",obj.name) + + # if obj.name == "Coffee": + # obj_info = obj_dict[id] + # obj_x, obj_y, obj_z = obj_info.location.X, obj_info.location.Y, obj_info.location.Z + # print(id,obj.name,obj_x,obj_y,obj_z) + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1) + + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + + # print("condition_set:",self.scene.state["condition_set"]) + + return Status.RUNNING \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/MoveTo.py b/BTExpansionCode/EXP/EXP/behavior_lib/act/MoveTo.py new file mode 100644 index 0000000..2d19716 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/act/MoveTo.py @@ -0,0 +1,28 @@ +import py_trees as ptree +from EXP.behavior_lib._base.Act import Act + +class MoveTo(Act): + can_be_expanded = True + num_args = 1 + valid_args = Act.all_object | Act.tables_for_placement | Act.tables_for_guiding + valid_args.add('Customer') + + def __init__(self, target_place): + super().__init__(target_place) + self.target_place = target_place + + + @classmethod + def get_info(cls,arg): + info = {} + info['pre'] = set() + if arg in Act.all_object: + info['pre'] |= {f'Exist({arg})'} + info["add"] = {f'At(Robot,{arg})'} + info["del_set"] = {f'At(Robot,{place})' for place in cls.valid_args if place != arg} + info['cost'] = 1 #10 + # if arg!='Anything': + # info['cost']=5 + # else: + # info['cost']=0 + return info diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/PickUp.py b/BTExpansionCode/EXP/EXP/behavior_lib/act/PickUp.py new file mode 100644 index 0000000..04a4f37 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/act/PickUp.py @@ -0,0 +1,74 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Act import Act +from EXP.behavior_lib._base.Behavior import Status + +class PickUp(Act): + can_be_expanded = True + num_args = 1 + valid_args = Act.all_object + # valid_args.add("Anything") + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + + + @classmethod + def get_info(cls,arg): + info = {} + info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'} + info["add"] = {f'Holding({arg})'} + info["del_set"] = {f'Holding(Nothing)',f'Exist({arg})'} #, + for place in cls.valid_args: + info["del_set"] |= {f'On({arg},{place})'} + info['cost'] = 2 + + # if arg != 'Anything': + # info['cost'] = 1 + # else: + # info['cost'] = 0 + # + # info["pre"] = {} + + return info + + + def _update(self) -> ptree.common.Status: + # self.scene.test_move() + # op_type=16 + + # 遍历场景里的所有物品，根据名字匹配位置最近的 obj-id + # 是否用容器装好 + if self.target_obj in Act.container_dic: + target_name = Act.container_dic[self.target_obj] + else: + target_name = self.target_obj + # 根据物体名字找到最近的这类物体对应的位置 + obj_id = -1 + min_dis = float('inf') + obj_dict = self.scene.status.objects + if len(obj_dict) != 0: + # 获取obj_id + for id, obj in enumerate(obj_dict): + if obj.name == target_name: + obj_info = obj_dict[id] + dis = self.scene.cal_distance_to_robot(obj_info.location.X, obj_info.location.Y, + obj_info.location.Z) + if dis < min_dis: + min_dis = dis + obj_id = id + # if self.target_place == "CoffeeCup": + # # obj_id = 273 + # obj_id = 275 + if obj_id == -1: + return ptree.common.Status.FAILURE + + self.scene.move_task_area(op_type=16, obj_id=obj_id) + self.scene.op_task_execute(op_type=16, obj_id=obj_id) + + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1) + + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + return Status.RUNNING diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/PutDown.py b/BTExpansionCode/EXP/EXP/behavior_lib/act/PutDown.py new file mode 100644 index 0000000..f27e6ea --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/act/PutDown.py @@ -0,0 +1,64 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Act import Act +from EXP.behavior_lib._base.Behavior import Status +import itertools + +class PutDown(Act): + can_be_expanded = True + num_args = 2 + + valid_args = list(itertools.product(Act.all_object, Act.tables_for_placement)) + valid_args.append(('Anything','Anywhere')) + valid_args = tuple(valid_args) + + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + self.target_place = self.args[1] + + + @classmethod + def get_info(cls,*arg): + if arg[0] != 'Anything': + info = {} + info["pre"] = {f'Holding({arg[0]})',f'At(Robot,{arg[1]})'} + info["add"] = {f'Holding(Nothing)',f'On({arg[0]},{arg[1]})'} + info["del_set"] = {f'Holding({arg[0]})'} + info['cost'] = 100 #1000 + else: + info = {} + info["pre"] = set() + info['add'] = {f'Holding(Nothing)'} + info['del_set'] = {f'Holding({obj})' for obj in cls.all_object} + info['cost'] = 0 + + return info + + + def _update(self) -> ptree.common.Status: + # self.scene.test_move() + + if self.target_obj != 'Anything': + op_type=17 + release_pos = list(Act.place_xyz_dic[self.target_place]) + # # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 70.0], 水杯桌:[-70.0, 500.0, 107] + # # 桌子2:[-55.0, 0.0, 107],桌子3:[-55.0, 150.0, 107] + if Act.num_of_obj_on_place[self.target_place]>=1: + release_pos[1] += 25 + + Act.num_of_obj_on_place[self.target_place]+=1 + + self.scene.move_task_area(op_type, release_pos=release_pos) + + if self.target_obj == "Chips": + release_pos[2] +=3 + self.scene.op_task_execute(op_type, release_pos=release_pos) + + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1) + + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + + return Status.RUNNING diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/Turn.py b/BTExpansionCode/EXP/EXP/behavior_lib/act/Turn.py new file mode 100644 index 0000000..4cd890d --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/act/Turn.py @@ -0,0 +1,87 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Act import Act +from EXP.behavior_lib._base.Behavior import Status +import itertools + +class Turn(Act): + can_be_expanded = True + num_args = 2 + valid_args = [('AC','TubeLight','HallLight','Curtain'), + ('On','Off')] + + valid_args = list(itertools.product(valid_args[0], valid_args[1])) + valid_args.extend([('ACTemperature','Up'),('ACTemperature','Down')]) + valid_args = tuple(valid_args) + + + + def __init__(self, *args): + super().__init__(*args) + self.target_obj = self.args[0] + self.op = self.args[1] + self.op_type = 13 + + if self.target_obj=="AC": + self.op_type = 13 + elif self.target_obj=="ACTemperature": + if self.op == 'Up': + self.op_type = 14 + elif self.op == 'Down': + self.op_type = 15 + elif self.target_obj=="TubeLight": + if self.op == 'On': + self.op_type = 6 + elif self.op == 'Off': + self.op_type = 8 + elif self.target_obj=="HallLight": + if self.op == 'On': + self.op_type = 9 + elif self.op == 'Off': + self.op_type = 10 + elif self.target_obj=="Curtain": + if self.op == 'On': + self.op_type = 12 + elif self.op == 'Off': + self.op_type = 11 + + @classmethod + def get_info(cls,*arg): + info = {} + info["pre"] = set() + if arg[0]=="TubeLight" or arg[0]=="HallLight" or arg[0]=="Curtain" or arg[0]=='AC': + if arg[0]!="Curtain": + info["pre"] |= {f'Holding(Nothing)'} + if arg[1]=="On": + info["pre"] |= {f'Is({arg[0]},Off)'} + info["add"] = {f'Is({arg[0]},On)'} + info["del_set"] = {f'Is({arg[0]},Off)'} + elif arg[1]=="Off": + info["pre"] |= {f'Is({arg[0]},On)'} + info["add"] = {f'Is({arg[0]},Off)'} + info["del_set"] = {f'Is({arg[0]},On)'} + elif arg[0]=='ACTemperature': + info["pre"] = {f'Holding(Nothing)',f'Is(AC,On)'} + if arg[1]=="Up": + # info["pre"] |= {f'Is({arg[0]},Down)'} + info["add"] = {f'Is({arg[0]},Up)'} + info["del_set"] = {f'Is({arg[0]},Down)'} + elif arg[1]=="Down": + # info["pre"] |= {f'Is({arg[0]},Up)'} + info["add"] = {f'Is({arg[0]},Down)'} + info["del_set"] = {f'Is({arg[0]},Up)'} + return info + + 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) + + self.scene.move_task_area(self.op_type) + self.scene.op_task_execute(self.op_type) + if self.scene.show_ui: + self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + self.scene.state["condition_set"] |= (self.info["add"]) + self.scene.state["condition_set"] -= self.info["del_set"] + + return Status.RUNNING \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/act/__init__.py b/BTExpansionCode/EXP/EXP/behavior_lib/act/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/BTExpansionCode/EXP/EXP/behavior_lib/cond/At.py b/BTExpansionCode/EXP/EXP/behavior_lib/cond/At.py new file mode 100644 index 0000000..f88f243 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/cond/At.py @@ -0,0 +1,31 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Cond import Cond +import itertools + +class At(Cond): + can_be_expanded = True + num_params = 2 + + valid_args = list(itertools.product(('Robot','Customer'), tuple(Cond.all_object | Cond.tables_for_placement | Cond.tables_for_guiding | {'Customer'}))) + valid_args.remove(('Customer','Customer')) + valid_args = tuple(valid_args) + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + 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/EXP/behavior_lib/cond/Exist.py b/BTExpansionCode/EXP/EXP/behavior_lib/cond/Exist.py new file mode 100644 index 0000000..740c8fa --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/cond/Exist.py @@ -0,0 +1,28 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Cond import Cond +import itertools + +class Exist(Cond): + can_be_expanded = True + num_params = 2 + valid_args = tuple(Cond.all_object) + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + + + + 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/EXP/behavior_lib/cond/Holding.py b/BTExpansionCode/EXP/EXP/behavior_lib/cond/Holding.py new file mode 100644 index 0000000..7866198 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/cond/Holding.py @@ -0,0 +1,27 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Cond import Cond + +class Holding(Cond): + can_be_expanded = True + num_params = 2 + valid_args = [tuple(Cond.all_object|{'Nothing'})] + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + 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/EXP/behavior_lib/cond/Is.py b/BTExpansionCode/EXP/EXP/behavior_lib/cond/Is.py new file mode 100644 index 0000000..3d58afc --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/cond/Is.py @@ -0,0 +1,37 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Cond import Cond +import itertools + +class Is(Cond): + can_be_expanded = True + num_params = 2 + valid_params1 = [('AC','TubeLight','HallLight','Curtain'), + ('On','Off')] + valid_params2 = [('Table1','Floor','Chairs'), + ('Clean','Dirty')] + valid_params3 = [('ACTemperature'), + ('Up','Down')] + + valid_args = list(itertools.product(valid_params1[0], valid_params1[1])) + valid_args.extend(list(itertools.product(valid_params2[0], valid_params2[1]))) + valid_args.extend(list(itertools.product(valid_params3[0], valid_params3[1]))) + valid_args = tuple(valid_args) + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + 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/EXP/behavior_lib/cond/On.py b/BTExpansionCode/EXP/EXP/behavior_lib/cond/On.py new file mode 100644 index 0000000..b0c033e --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_lib/cond/On.py @@ -0,0 +1,31 @@ +import py_trees as ptree +from typing import Any +from EXP.behavior_lib._base.Cond import Cond + +class On(Cond): + can_be_expanded = True + num_params = 2 + valid_args = [tuple(Cond.all_object), + tuple(Cond.tables_for_placement)] + + + def __init__(self,*args): + super().__init__(*args) + + + def _update(self) -> ptree.common.Status: + # if self.scene.status? + + # print("self.name:",self.name) + # print("On: condition_set:",self.scene.state["condition_set"]) + # self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio) + + 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/EXP/behavior_lib/cond/__init__.py b/BTExpansionCode/EXP/EXP/behavior_lib/cond/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/__init__.py b/BTExpansionCode/EXP/EXP/behavior_tree/__init__.py new file mode 100644 index 0000000..8c15ec4 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/__init__.py @@ -0,0 +1,2 @@ + +# from robowaiter.behavior_tree.behavior_tree import BehaviorTree diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/__init__.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output.txt new file mode 100644 index 0000000..929c465 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output.txt @@ -0,0 +1,386 @@ +At(Robot,Bar) 请给我带来菜单。 +At(Robot,Bar) 请帮我前往吧台。 +At(Robot,Bar) 您好，我需要去吧台那个位置，请问可以帮我吗？ +At(Robot,WaterTable) 请送一些茶水到茶水桌。 +At(Robot,WaterTable) 请帮我前往茶水桌。 +At(Robot,WaterTable) 您好，请问您需要我前往哪个位置呢？ +At(Robot,CoffeeTable) 请问能帮我来到这个咖啡桌吗？ +At(Robot,CoffeeTable) 请前往咖啡桌。 +At(Robot,CoffeeTable) 您好！请问您能帮我前往咖啡桌的位置吗？ +At(Robot,Bar2) 您好，请问您需要前往哪个吧台呢？ +At(Robot,Bar2) 请帮我前往另一个吧台。 +At(Robot,Bar2) 您好，机器人服务员！请问您能告诉我如何前往另一个吧台的位置吗？ +At(Robot,Table1) 请给我送一份菜单到第一桌。 +At(Robot,Table1) 请帮我前往第一桌，谢谢！ +At(Robot,Table1) 您好，我是一名AI助手，请问有什么我可以帮您的？ +At(Robot,Table2) 请帮我来到第二张桌子。 +At(Robot,Table2) 请帮我前往第二桌，谢谢！ +At(Robot,Table2) 您好，机器人服务员！请问您能否前往第二桌的位置提供服务？ +At(Robot,Table3) 请给我带来第三桌子的服务。 +At(Robot,Table3) 请前往第三张桌子。 +At(Robot,Table3) 您好，请问您需要我前往第三张桌子所在的方位吗？ +On(Softdrink,Bar) 请将软饮料放在吧台那个位置。 +On(Softdrink,Bar) 请将软饮料拿到吧台位置。 +On(Softdrink,WaterTable) 请将软饮料放在茶水桌那个位置。 +On(Softdrink,WaterTable) 请给我拿一罐软饮料，放在茶水桌的位置。 +On(Softdrink,CoffeeTable) 请将软饮料放在咖啡桌上的指定位置。 +On(Softdrink,CoffeeTable) 请把软饮料拿到我的咖啡桌位置。 +On(Softdrink,Bar2) 请将软饮料放在另一个酒吧台的位置。 +On(Softdrink,Bar2) 请将软饮料拿到另一个酒吧台位置。 +On(Softdrink,Table1) 请将软饮料放在第一桌的指定位置。 +On(Softdrink,Table1) 请给我拿一罐软饮料,放在第一桌子的位置。 +On(Softdrink,Table2) 请将软饮料放在第二桌的位置。 +On(Softdrink,Table2) 请帮我从一个位置(可能是吧台或货架)取来一瓶软饮料,然后将其放在第二张桌子上。 +On(Softdrink,Table3) 请将软饮料放在第三桌的具体位置。 +On(Softdrink,Table3) 请给我拿一罐软饮料，放 到第三张桌子的位置。 +On(BottledDrink,Bar) 您好，我想让您将瓶装饮料放在吧台那个位置。 +On(BottledDrink,Bar) 请帮我取一下瓶装饮料，放到吧台那里。 +On(BottledDrink,WaterTable) 您好,机器人服务员,我想让您放一瓶饮料在茶水桌上,可以吗? +On(BottledDrink,WaterTable) 请帮我拿一下瓶装饮料，放到茶水桌的位置。 +On(BottledDrink,CoffeeTable) 请将瓶装饮料放在咖啡桌上的指定位置。 +On(BottledDrink,CoffeeTable) 请把瓶装饮料拿到我的咖啡桌位置。 +On(BottledDrink,Bar2) 请将瓶装饮料放在另一个酒吧台的位置。 +On(BottledDrink,Bar2) 请帮我从一个吧台位置取一个瓶装饮料,然后将其拿到另一个吧台位置。 +On(BottledDrink,Table1) 请将瓶装饮料放在第一桌的指定位置。 +On(BottledDrink,Table1) 您好，我需要您帮忙将瓶装饮料拿到第一桌的位置。 +On(BottledDrink,Table2) 您好，我需要您帮助将瓶装饮料放在第二桌的具体位置。 +On(BottledDrink,Table2) 请给我拿一罐饮料,放在第二桌的位置。 +On(BottledDrink,Table3) 请将瓶装饮料放在第三桌的位置。 +On(BottledDrink,Table3) 请给我取一瓶饮料，放到了第三桌子上。 +On(Yogurt,Bar) 您好，我需要您将酸奶放在吧台上的哪个位置。 +On(Yogurt,Bar) 请您把酸奶拿到吧台。 +On(Yogurt,WaterTable) 请将酸奶放在茶水桌那个位置。 +On(Yogurt,WaterTable) 请将酸奶放在茶水桌的位置。 +On(Yogurt,CoffeeTable) 请将酸奶放在咖啡桌上的指定位置。 +On(Yogurt,CoffeeTable) 请把酸奶放在咖啡桌的位置。 +On(Yogurt,Bar2) 请将酸奶放在另一个吧台上的那个位置。 +On(Yogurt,Bar2) 您好，机器人服务员！请问您可以帮我拿一下酸奶，放到那个靠近窗户的吧台位置吗？谢谢！ +On(Yogurt,Table1) 请将酸奶放在第一桌的第一位置。 +On(Yogurt,Table1) 请将酸奶放在第一桌的位置。 +On(Yogurt,Table2) 您好，请问能帮我将酸奶放在第二张桌子的位置吗？谢谢！ +On(Yogurt,Table2) 请把酸奶放在第二桌的位置。 +On(Yogurt,Table3) 您好,机器人服务员,我想让您把酸奶放到第三张桌子的位置。谢谢! +On(Yogurt,Table3) 请把酸奶放在第三桌的位置。 +On(ADMilk,Bar) 请将AD钙奶放在吧台那个位置。 +On(ADMilk,Bar) 请把AD钙奶放到 bar 位置。 +On(ADMilk,WaterTable) 请将AD钙奶放在茶水桌那个位置。 +On(ADMilk,WaterTable) 请帮我取一份AD钙奶，放在茶水桌的位置上。 +On(ADMilk,CoffeeTable) 请将AD钙奶放在咖啡桌上的指定位置。 +On(ADMilk,CoffeeTable) 请将AD钙奶送到我的咖啡桌位置。 +On(ADMilk,Bar2) 请将AD钙奶放在另一个酒吧台的位置。 +On(ADMilk,Bar2) 您好，机器人服务员！请问能帮我拿一下AD钙奶，放到另一个吧台位置吗？谢谢！ +On(ADMilk,Table1) 请将AD钙奶放在第一桌的指定位置。 +On(ADMilk,Table1) 请把AD钙奶放在第一桌的位置。 +On(ADMilk,Table2) 请将AD钙奶放在第二桌的位置。 +On(ADMilk,Table2) 请把AD钙奶放在第二桌的位置。 +On(ADMilk,Table3) 您好,机器人服务员!请问能帮我将AD钙奶放到第三张桌子的位置吗?谢谢! +On(ADMilk,Table3) 请帮我取一份AD钙奶，放至第三桌。 +On(MilkDrink,Bar) 请将牛奶饮料放在吧台那个位置。 +On(MilkDrink,Bar) 请帮我拿一罐牛奶饮料放到吧台的位置。 +On(MilkDrink,WaterTable) 请将牛奶饮料放在茶水桌那个位置。 +On(MilkDrink,WaterTable) 请帮我递一下牛奶饮料，放到茶水桌的位置。 +On(MilkDrink,CoffeeTable) 请将牛奶饮料放在咖啡桌上的指定位置。 +On(MilkDrink,CoffeeTable) 请将牛奶饮料放在我的咖啡桌上。 +On(MilkDrink,Bar2) 请将牛奶饮料放在另一个酒吧台的位置。 +On(MilkDrink,Bar2) 您好，机器人服务员！请问能否帮我拿一下牛奶饮料，并将其放在另一个吧台位置？谢谢！ +On(MilkDrink,Table1) 请将牛奶饮料放在第一桌的指定位置。 +On(MilkDrink,Table1) 请将牛奶饮料拿到第一桌。 +On(MilkDrink,Table2) 请将牛奶饮料放在第二桌的位置上。 +On(MilkDrink,Table2) 请给我拿一罐牛奶饮料,放在第二桌的位置。 +On(MilkDrink,Table3) 请将牛奶饮料放在第三桌的具体位置。 +On(MilkDrink,Table3) 请给我拿一罐牛奶饮料，放到第三张桌子的位置。 +On(Milk,Bar) 请将牛奶放在吧台那个地方。 +On(Milk,Bar) 请把牛奶拿到吧台。 +On(Milk,WaterTable) 请将牛奶放在茶水桌那个位置。 +On(Milk,WaterTable) 请将牛奶放在茶水桌附近。 +On(Milk,CoffeeTable) 请将牛奶放在咖啡桌上的指定位置。 +On(Milk,CoffeeTable) 请把牛奶放在我的咖啡桌上。 +On(Milk,Bar2) 请将牛奶放在另一个酒吧台的位置上。 +On(Milk,Bar2) 请将牛奶拿到另一个吧台位置。 +On(Milk,Table1) 请将牛奶放在第一桌的位置上。 +On(Milk,Table1) 请把牛奶放在第一桌的位置上。 +On(Milk,Table2) 请将牛奶放在第二桌那个位置。 +On(Milk,Table2) 请给我拿一罐牛奶，放的第二张桌子上。 +On(Milk,Table3) 您好，我需要您将牛奶放在第三张桌子的位置。谢谢！ +On(Milk,Table3) 请给我拿一罐牛奶，放到第三桌子的位置。 +On(VacuumCup,Bar) 请将我的保温杯放在吧台上的那个位置。 +On(VacuumCup,Bar) 请将我的保温杯拿到吧台。 +On(VacuumCup,WaterTable) 请将我的保温杯放在茶水桌那个地方。 +On(VacuumCup,WaterTable) 请将保温杯拿到茶水桌那里。 +On(VacuumCup,CoffeeTable) 请将保温杯放置在咖啡桌上的指定位置。 +On(VacuumCup,CoffeeTable) 请把保温杯放在咖啡桌附近。 +On(VacuumCup,Bar2) 请将我的保温杯放在另一个酒吧台上的那个位置。 +On(VacuumCup,Bar2) 请帮我把保温杯拿到另一个吧台位置。 +On(VacuumCup,Table1) 请将保温杯放在第一桌的指定位置。 +On(VacuumCup,Table1) 请把保温杯拿到第一桌子的位置。 +On(VacuumCup,Table2) 请将保温杯放在第二桌的具体位置。 +On(VacuumCup,Table2) 请帮我递一个保温杯到第二桌。 +On(VacuumCup,Table3) 请将保温杯放在第三桌的指定位置。 +On(VacuumCup,Table3) 请把保温杯拿到第三桌的位置。 +Is(AC,0) 当然可以，请问需要我为您执行这个操作吗？ +Is(AC,1) 您好！请问您需要我为您打开空调吗？ +Is(ACTemperature,0) 尊敬的服务员，可以请您把空调温度调高一些吗？谢谢！ +Is(ACTemperature,1) 尊敬的服务员，能否请您将空调温度调低一些呢？ +Is(HallLight,0) 当然可以，请您稍等，我这就帮您关闭大厅灯。 +Is(HallLight,1) 您好！请问您需要我为您做些什么呢？ +Is(TubeLight,0) 尊敬的服务员，请问你能把筒灯调暗一些吗？ +Is(TubeLight,1) 您好，请问您需要我帮您打开筒灯吗？ +Is(Curtain,0) 您好，我能为您做什么？ +Is(Curtain,1) 您好，请问您需要我帮您打开窗帘吗？ +Is(Chairs,0) 您好！请问需要我为您做什么？ +Is(Chairs,1) 您好，请问能帮我清理一下座位上的灰尘吗？ +Is(Floor,0) 抱歉,我理解您的意思了。请问需要我帮忙做些什么来清理地板呢? +Is(Floor,1) 请问你能帮我打扫一下地板吗？ +Is(Table1,0) 您好，请问需要我帮助您做什么呢？如果您需要我清理桌子的灰尘或者污渍，麻烦您告诉我哪一张桌子需要清洁。 +Is(Table1,1) 请帮我清理一下这张桌子的灰尘和垃圾。 +Holding(Softdrink) 您好，我是您的机器人服务员。请问您需要什么帮助呢？ +Holding(Softdrink) 您好,我是一个机器人服务员。请问您需要什么帮助?如果您想要点软饮料,您可以告诉我您的喜好,我会为您推荐一些适合的选项。 +Holding(BottledDrink) 您好，请问您需要什么帮助？我会尽力满足您的需求。 +Holding(BottledDrink) 您好,我是一名机器人服务员。请问您需要我帮忙拿着一瓶装饮料吗? +Holding(Yogurt) 您好，我可以帮助您点餐和回答问题。请问您需要什么食物或饮料？ +Holding(Yogurt) 请问你能一直帮我拿着这个酸奶吗？ +Holding(ADMilk) 你好，尊敬的服务员！能否帮我抓住AD钙奶并递给我呢？ +Holding(ADMilk) 您好,我无法长时间拿着 AD 钙奶。作为一个机器人服务员,我的任务是帮助您解决问题和回答问题,而不是提供物理服务。如果您需要AD钙奶,我可以告诉您在哪里可以找到它,或者指导您如何自己获取它。 +Holding(MilkDrink) 您好！请问有什么我可以帮您的吗？ +Holding(MilkDrink) 您好，我是您的机器人服务员。请问您需要我为您一直拿着这杯牛奶饮料吗？ +Holding(Milk) 你好，尊敬的服务员，能帮我拿一下牛奶吗？ +Holding(Milk) 请问你能一直拿着牛奶吗？ +Holding(VacuumCup) 您好，请问您需要什么帮助？我可以为您提供服务。 +Holding(VacuumCup) 您好，我是一名AI机器人，无法直接为您拿保温杯。但是，我可以为您提供购买保温杯的建议，或者推荐其他相关商品。请问您需要什么帮助吗？ +Holding(Nothing) 抱歉,我需要更多的信息来理解您的请求。请问您能告诉我您具体想要什么帮助吗?我会尽力回答您的问题。 +Holding(Nothing) 请问您能一直拿着无所事事吗？ +On(Coffee,Bar) 您好，我需要一杯咖啡，并希望它能够被送到吧台。 +On(Coffee,Bar) 请帮我准备一杯咖啡,然后把咖啡端到吧台这里。 +On(Coffee,WaterTable) 您好！请问您能帮我制作一杯咖啡并将其端到茶水桌 here 吗？谢谢！ +On(Coffee,WaterTable) 请帮我准备一杯咖啡,然后将它端到茶水桌旁边。 +On(Coffee,CoffeeTable) 当然可以，请问您想喝什么类型的咖啡呢？ +On(Coffee,CoffeeTable) 请帮我准备一杯咖啡,然后将它端到这个咖啡桌上来。 +On(Coffee,Bar2) 您好，机器人服务员！请问您能帮我制作一杯咖啡，然后把咖啡端到这个吧台这里来吗？谢谢！ +On(Coffee,Bar2) 请帮我准备一杯咖啡,然后把咖啡端到这个吧台这里。 +On(Coffee,Table1) 您好，我是一名人工智能助手。请问您需要什么帮助？ +On(Coffee,Table1) 请给我一杯咖啡,并将其放在第一桌子上。 +On(Coffee,Table2) 您好，机器人服务员！我想要一杯咖啡，并且希望它能够被送到第二张桌子上。 +On(Coffee,Table2) 请为我准备一杯咖啡,并将其送到第二桌。 +On(Coffee,Table3) 您好！请问您能否帮我制作一杯咖啡，然后把咖啡端到第三张桌子上呢？谢谢！ +On(Coffee,Table3) 请为我准备一杯咖啡,并将其送到第三张桌子上。 +On(Water,Bar) 您好，我需要一杯水，并且希望它能够被端到吧台那里。 +On(Water,Bar) 请为我准备一杯水,并将其送到吧台。 +On(Water,WaterTable) 您好，我需要一杯水，并希望您能将其端到茶水桌这里。 +On(Water,WaterTable) 请为我送一杯水,并将其放在茶水桌上。 +On(Water,CoffeeTable) 您好，我是一名机器人服务员。请问您需要一杯水，我可以为您制作并在准备好后将其端到咖啡桌旁边。 +On(Water,CoffeeTable) 请给我一杯水,并将其递送到我的咖啡桌上。 +On(Water,Bar2) 您好，机器人服务员！请问你能帮我制作一杯水，然后将其端到距离这里较远的另一个吧台吗？谢谢！ +On(Water,Bar2) 请给我倒一杯水,然后把水端到这个吧台这里。 +On(Water,Table1) 您好，我需要一杯水，并希望它能够被送到我所在的桌子上。 +On(Water,Table1) 请为我准备一杯水,并将其送到这张桌子的位置上。 +On(Water,Table2) 您好，我需要一杯水，并希望你能将它端到第二张桌子上。 +On(Water,Table2) 请给我倒一杯水,并把水杯端到第二桌子上。 +On(Water,Table3) 您好，机器人服务员！请问能否为您制作一杯水，并将其送到第三张桌子呢？ +On(Water,Table3) 请为我准备一杯水,并将其送到第三桌。 +On(Dessert,Bar) 您好，我需要点心和甜品。请帮我制作一下，然后把它们带到吧台来。 +On(Dessert,Bar) 您好，我可以帮您点一些点心或甜品，然后将它们送到吧台。请问您想点什么？ +On(Dessert,WaterTable) 您好，我需要点心和甜品，并将它们端到茶水桌 here。 +On(Dessert,WaterTable) 请为我准备一些点心或甜品,并将其递送到我的茶水桌子上。 +On(Dessert,CoffeeTable) 您好，我是一个人工智能助手，虽然我不能直接为您制作点心或甜品，但我可以帮助您找到附近的餐厅或店铺，为您推荐美味的点心或甜品，您可以品尝一下。如果您有其他需要帮助的地方，也请随时告诉我。 +On(Dessert,CoffeeTable) 请为我准备一些点心或甜品，然后将其放置在咖啡桌附近。 +On(Dessert,Bar2) 您好，我需要点心和甜品。请问您能帮我制作吗？然后把它们端到这里来。谢谢！ +On(Dessert,Bar2) 请帮我点一份点心或甜品,然后把它端到另一个吧台那里。 +On(Dessert,Table1) 您好，我是一位AI助手，无法直接为您制作点心或甜品。但我可以为您推荐菜单上的点心或甜品，或者帮您下单购买。请问您需要什么帮助？ +On(Dessert,Table1) 请帮我点一些点心或甜品，并把它们放在这张桌子上。 +On(Dessert,Table2) 您好，机器人服务员！我需要点心和甜品，可以帮我制作吗？把它们送到第二桌来，谢谢！ +On(Dessert,Table2) 您好，请问有什么我可以帮您的吗？您可以点一些点心或甜品，然后告诉我放在哪一张桌子上，我会马上为您送过去。 +On(Dessert,Table3) 您好，我需要点心和甜品，请把它们送到第三桌。 +On(Dessert,Table3) 您好,机器人服务员!请问您能帮我点些点心或甜品吗?我要把它们送到第三桌。 +At(Robot,Bar) 您好，机器人服务员！请问您能带路来到 Bar 吗？我想要一杯饮料和一些小吃。谢谢！ +At(Robot,Bar) 请帮我前往Bar。 +At(Robot,Bar) 请问你能带我前往Bar位置吗？ +At(Robot,WaterTable) 请帮我找到WaterTable。 +At(Robot,WaterTable) 您好，机器人服务员！请问您能帮我订一张去WaterTable的桌子吗？ +At(Robot,WaterTable) 当然可以！请问您需要我向WaterTable位置发送消息吗？ +At(Robot,CoffeeTable) 请把咖啡机移到CoffeeTable附近。 +At(Robot,CoffeeTable) 请前往CoffeeTable。 +At(Robot,CoffeeTable) 您好，我是一名人工智能助手，请问有什么我可以帮您的？ +At(Robot,Bar2) 您好，我需要去Bar2。 +At(Robot,Bar2) 您好，机器人服务员，请问您能帮我前往Bar2吗？ +At(Robot,Bar2) 您好，我是一名AI助手，无法移动到特定的位置。但我会尽力为您提供帮助。您想前往Bar2吗？如果有其他问题，欢迎随时告诉我。 +At(Robot,Table1) 请把菜单送到Table 1。 +At(Robot,Table1) 请前往Table1。 +At(Robot,Table1) 您好，我能前往Table1位置吗？ +At(Robot,Table2) 请带领我到Table 2。 +At(Robot,Table2) 请前往Table2。 +At(Robot,Table2) 您好！请问您需要我前往Table2位置吗？ +At(Robot,Table3) 请把服务生叫来Table 3。 +At(Robot,Table3) 请去Table3。 +At(Robot,Table3) 您好，我需要您前往Table3位置。 +On(Softdrink,Bar) 请将Softdrink放在Bar那个位置。 +On(Softdrink,Bar) 请把Softdrink拿到Bar位置。 +On(Softdrink,WaterTable) 您好，机器人服务员！请问能帮我将Softdrink放在WaterTable的位置上吗？谢谢！ +On(Softdrink,WaterTable) 请把Softdrink拿到WaterTable的位置。 +On(Softdrink,CoffeeTable) 请将Softdrink放在CoffeeTable那个位置。 +On(Softdrink,CoffeeTable) 请将Softdrink拿到CoffeeTable的位置。 +On(Softdrink,Bar2) 您好，机器人服务员！请问能否帮我放一下Softdrink到Bar2的位置呢？谢谢！ +On(Softdrink,Bar2) 请把Softdrink拿到Bar2的位置。 +On(Softdrink,Table1) 请将Softdrink放在Table1的位置。 +On(Softdrink,Table1) 请把Softdrink拿到Table 1的位置。 +On(Softdrink,Table2) 您好，机器人服务员！请将Softdrink放在Table 2的位置。谢谢！ +On(Softdrink,Table2) 请将Softdrink拿到Table 2的位置。 +On(Softdrink,Table3) 您好，机器人服务员！请问能否将Softdrink放在Table3的位置上？ +On(Softdrink,Table3) 请将Softdrink拿到Table 3的位置。 +On(BottledDrink,Bar) 请将瓶装饮料放在酒吧那个位置。 +On(BottledDrink,Bar) 请将瓶装饮料送到酒吧区域。 +On(BottledDrink,WaterTable) 请将瓶装饮料放在水桌那个位置。 +On(BottledDrink,WaterTable) 请把瓶装饮料拿到水桌的位置。 +On(BottledDrink,CoffeeTable) 请将瓶装饮料放在咖啡桌那个位置。 +On(BottledDrink,CoffeeTable) 请把瓶装饮料放在咖啡桌的位置。 +On(BottledDrink,Bar2) 请将瓶装饮料放在 Bar 2 的位置。 +On(BottledDrink,Bar2) 请把瓶装饮料送到酒吧2号位置。 +On(BottledDrink,Table1) 您好，机器人服务员！请将瓶装饮料放在Table1的位置上。谢谢！ +On(BottledDrink,Table1) 请将瓶装饮料拿到Table 1的位置。 +On(BottledDrink,Table2) 请将Bottled Drink放在Table 2的位置。 +On(BottledDrink,Table2) 请把瓶装饮料送到Table2位置。 +On(BottledDrink,Table3) 请将瓶装饮料放在Table3的位置上。 +On(BottledDrink,Table3) 请把瓶装饮料拿到Table3的位置。 +On(Yogurt,Bar) 您好，请问您需要将酸奶放在哪个位置？ +On(Yogurt,Bar) 请把Yogurt送到Bar位置。 +On(Yogurt,WaterTable) 请将Yogurt放在WaterTable的位置上。 +On(Yogurt,WaterTable) 请把Yogurt送到WaterTable位置。 +On(Yogurt,CoffeeTable) 请将Yogurt放在CoffeeTable那个位置。 +On(Yogurt,CoffeeTable) 请把Yogurt送到CoffeeTable那里。 +On(Yogurt,Bar2) 您好，机器人服务员！请帮我将酸奶（Yogurt）放在 Bar2 的位置上。谢谢！ +On(Yogurt,Bar2) 请将Yogurt送到Bar2位置。 +On(Yogurt,Table1) 您好，机器人服务员！请将酸奶（Yogurt）放到Table1的位置上。谢谢！ +On(Yogurt,Table1) 请将Yogurt拿到Table 1的位置。 +On(Yogurt,Table2) 请将 Yogurt 放在 Table2 的那个位置。 +On(Yogurt,Table2) 请将 Yogurt 拿到 Table 2 的位置。 +On(Yogurt,Table3) 您好，请问可以帮我将Yogurt放在Table3的位置吗？ +On(Yogurt,Table3) 请将Yogurt放在Table 3的位置上。 +On(ADMilk,Bar) 请将AD Milk放在Bar位置。 +On(ADMilk,Bar) 请把ADMilk拿到Bar位置。 +On(ADMilk,WaterTable) 请将AD Milk放在 WaterTable 的那个位置。 +On(ADMilk,WaterTable) 您好，请问能帮我拿一下ADMilk到WaterTable的位置吗？ +On(ADMilk,CoffeeTable) 您好，我需要您将ADMilk放在CoffeeTable那个位置。 +On(ADMilk,CoffeeTable) 请将AD Milk拿到Coffee Table的位置。 +On(ADMilk,Bar2) 请将AD Milk放置在Bar 2的位置。 +On(ADMilk,Bar2) 请把ADMilk拿到Bar2位置。 +On(ADMilk,Table1) 请将ADMilk放到Table1的位置。 +On(ADMilk,Table1) 请将ADMilk搬到Table1的位置。 +On(ADMilk,Table2) 请将ADMilk放在Table2的位置。 +On(ADMilk,Table2) 请把ADMilk搬到Table2的位置。 +On(ADMilk,Table3) 请将ADMilk放在Table3的位置。 +On(ADMilk,Table3) 您好，服务员！能帮我拿一下ADMilk到Table3位置吗？ +On(MilkDrink,Bar) 请将牛奶饮料放在吧台那个位置。 +On(MilkDrink,Bar) 请把牛奶饮料拿到酒吧位置。 +On(MilkDrink,WaterTable) 请将牛奶饮料放在水桌那个位置。 +On(MilkDrink,WaterTable) 请把牛奶饮料拿到水 table 位置。 +On(MilkDrink,CoffeeTable) 请将牛奶饮料放在咖啡桌那个位置。 +On(MilkDrink,CoffeeTable) 请将牛奶饮料递送到咖啡桌位置。 +On(MilkDrink,Bar2) 请将牛奶饮料放在吧台2的位置。 +On(MilkDrink,Bar2) 请把牛奶饮料递送到酒吧2号位置。 +On(MilkDrink,Table1) 请将牛奶饮料放在Table1的位置上。 +On(MilkDrink,Table1) 请把牛奶饮料拿到Table1的位置。 +On(MilkDrink,Table2) 请将牛奶饮料放到桌子2的位置。 +On(MilkDrink,Table2) 请把牛奶饮料送到Table2位置。 +On(MilkDrink,Table3) 请将牛奶饮料放在桌3的位置。 +On(MilkDrink,Table3) 请将牛奶饮料拿到 table 3 的位置。 +On(Milk,Bar) 请将牛奶放在酒吧那个位置。 +On(Milk,Bar) 请把牛奶拿到酒吧位置。 +On(Milk,WaterTable) 请将牛奶放在水 table 的那个位置。 +On(Milk,WaterTable) 请把牛奶拿到 WaterTable 那里。 +On(Milk,CoffeeTable) 请将牛奶放在咖啡桌上的指定位置。 +On(Milk,CoffeeTable) 请把牛奶拿到咖啡桌的位置。 +On(Milk,Bar2) 请将牛奶放在 Bar2 的位置。 +On(Milk,Bar2) 请把牛奶放到Bar2的位置。 +On(Milk,Table1) 您好，机器人服务员！请将牛奶放在Table1的位置。 +On(Milk,Table1) 请把牛奶拿到Table1的位置。 +On(Milk,Table2) 请将牛奶放在Table2的位置。 +On(Milk,Table2) 请把牛奶放在Table2的位置上。 +On(Milk,Table3) 请将牛奶放在Table3的位置上。 +On(Milk,Table3) 请把牛奶拿到Table3的位置。 +On(VacuumCup,Bar) 请将VacuumCup放置在Bar位置。 +On(VacuumCup,Bar) 请把VacuumCup放到Bar位置。 +On(VacuumCup,WaterTable) 请将VacuumCup放置在WaterTable上。 +On(VacuumCup,WaterTable) 请把VacuumCup放到WaterTable的位置。 +On(VacuumCup,CoffeeTable) 请将VacuumCup放在CoffeeTable那个地方。 +On(VacuumCup,CoffeeTable) 请把VacuumCup放到CoffeeTable上。 +On(VacuumCup,Bar2) 请将VacuumCup放置在Bar2的位置上。 +On(VacuumCup,Bar2) 请把VacuumCup移到Bar2的位置。 +On(VacuumCup,Table1) 请将VacuumCup放置在Table1的位置上。 +On(VacuumCup,Table1) 请把VacuumCup移到Table1的位置。 +On(VacuumCup,Table2) 请将VacuumCup放到Table2的位置。 +On(VacuumCup,Table2) 请把VacuumCup放到Table2的位置。 +On(VacuumCup,Table3) 请将VacuumCup放置在Table3的位置上。 +On(VacuumCup,Table3) 请将VacuumCup移至Table3位置。 +Is(AC,0) 请问你能帮我关掉AC吗？ +Is(AC,1) 请问你能帮我打开空调吗？ +Is(ACTemperature,0) 尊敬的服务员，请问您能否将温度调高一些呢？ +Is(ACTemperature,1) 请问你能将咖啡厅的温度调低一些吗? +Is(HallLight,0) 当然可以，请问需要我使用哪个开关来关闭HallLight呢？ +Is(HallLight,1) 您好！请问您需要我帮助您开启还是关闭HallLight呢？ +Is(TubeLight,0) 当然可以，请问您需要我使用哪个遥控器来关闭它呢？ +Is(TubeLight,1) 您好，机器人服务员！请问您能帮我打开一下 tube light 吗？谢谢！ +Is(Curtain,0) 请问你能把窗帘关上吗？ +Is(Curtain,1) 请问你能把窗户帘打开一下吗？ +Is(Chairs,0) 您好，请问您需要我帮助清理座位上的污渍吗？ +Is(Chairs,1) 您好，我是您的顾客。我想请问您是否能帮我清理一下座位上的灰尘和垃圾？ +Is(Floor,0) 您好，我能为您做些什么呢？如果您需要我帮忙打扫地板，请告诉我哪里需要清理，我会尽快为您处理。 +Is(Floor,1) 您好，我需要您帮助打扫一下地板。 +Is(Table1,0) 您好！请问您需要我为您做什么呢？如果您需要我清理Table1，请您告诉我需要使用什么清洁用品，我会按照您的指示进行操作。 +Is(Table1,1) 您好，请问需要我帮您打扫Table1吗？ +Holding(Softdrink) 您好，我是一款人工智能助手，无法直接与现实世界进行交互。但我可以为您提供有关如何抓饮料的信息。您可以尝试用手指将Softdrink抓在手中。如果您需要更多帮助，请随时告诉我。 +Holding(Softdrink) 您好，我是您的机器人服务员。我能帮您拿住Softdrink吗？ +Holding(BottledDrink) 我能帮我拿起那瓶饮料吗？ +Holding(BottledDrink) 您好！请问您需要我帮您一直拿着这瓶饮料吗？ +Holding(Yogurt) 请问你能帮我拿一下 yogurt 吗？ +Holding(Yogurt) 您好，我可以帮助您更好地理解和使用我们的服务。请问您需要我为您拿取什么商品呢？ +Holding(ADMilk) 你能帮我拿一下AD Milk吗？ +Holding(ADMilk) 您好,我需要点一杯AD Milk。麻烦您能帮我拿一下吗? +Holding(MilkDrink) 我想要一杯牛奶饮料,能帮我把它端过来吗? +Holding(MilkDrink) 我需要你一直拿着牛奶饮料。 +Holding(Milk) 您好，请问有什么我可以帮助您的？ +Holding(Milk) 您好，我是您的机器人服务员。请问有什么我可以帮助您的吗？ +Holding(VacuumCup) 您好！请问您需要什么帮助？ +Holding(VacuumCup) 您好！请问您需要我帮助您一直拿着VacuumCup吗？ +Holding(Nothing) 你能帮我把"Nothing"拿在手里吗？ +Holding(Nothing) 您好！作为您的机器人服务员，我会尽力满足您的要求。请问您需要我帮忙做什么呢？ +On(Coffee,Bar) 当然可以！请问您想要什么口味的咖啡呢？ +On(Coffee,Bar) 请给我一杯咖啡，并将其送到吧台。 +On(Coffee,WaterTable) 当然可以，请告诉我您想喝的咖啡口味，我会为您制作一杯美味的咖啡，然后将其送到WaterTable桌旁。 +On(Coffee,WaterTable) 请给我一杯咖啡，并将其送到 WaterTable 那里。 +On(Coffee,CoffeeTable) 您好，我是一名机器人服务员。我能为您制作一杯咖啡，并将其端到CoffeeTable上吗？ +On(Coffee,CoffeeTable) 请给我一杯咖啡，并把它送到Coffee Table那里。 +On(Coffee,Bar2) 当然可以，请告诉我您想要什么口味的咖啡，我会为您制作并在准备好后把咖啡端到Bar 2。 +On(Coffee,Bar2) 请给我一杯咖啡，并将其送到Bar2。 +On(Coffee,Table1) 当然可以！请问您需要什么口味的咖啡呢？ +On(Coffee,Table1) 请给我一杯咖啡，并将其送到Table1。 +On(Coffee,Table2) 您好，机器人服务员！我想要一杯咖啡，并希望它能够被送到 Table 2。 +On(Coffee,Table2) 请为我准备一杯咖啡，并将其送到Table 2。 +On(Coffee,Table3) 您好，机器人服务员！请问您能帮我制作一杯咖啡，然后将其端到Table 3吗？谢谢！ +On(Coffee,Table3) 请为我准备一杯咖啡，并将其送到Table 3。 +On(Water,Bar) 您好，我需要一杯水，请能帮我制作并送到酒吧处谢谢！ +On(Water,Bar) 我需要一杯水,并希望它能够被送到酒吧区域。 +On(Water,WaterTable) 您好，我需要一杯水，并将它送到水桌子上。 +On(Water,WaterTable) 请为我准备一些水，并将其送到水桌 here。 +On(Water,CoffeeTable) 您好，我需要一杯水，并将它送到咖啡桌 here。 +On(Water,CoffeeTable) 请给我倒一杯水，然后将其放在咖啡桌子上。 +On(Water,Bar2) 当然可以！请问您在哪个咖啡厅？我想请您把水送到 Bar 2。 +On(Water,Bar2) 我需要一杯水,并希望它能够被送到Bar2那里。 +On(Water,Table1) 您好，我是一名机器人服务员。请问您需要什么帮助？ +On(Water,Table1) 请给我一杯水，并将其送到Table1位置。 +On(Water,Table2) 当然可以！请问您需要什么温度的水呢？并且您想要在哪个桌子上 receiving 水呢？ +On(Water,Table2) 请给我倒一杯水,并把水送到Table 2那里。 +On(Water,Table3) 您好，机器人服务员！请问您能给我准备一杯水，然后将其送到 Table 3 位置吗？谢谢！ +On(Water,Table3) 请给我倒一杯水,并将其送到 Table 3 桌子上。 +On(Dessert,Bar) 您好，我需要一份甜点并将其送到吧台。 +On(Dessert,Bar) 请送一些甜点来，并将其送到吧台处。 +On(Dessert,WaterTable) 您好，我需要一份甜点，并希望它能够被送到名为"WaterTable"的水 table 那里。 +On(Dessert,WaterTable) 请为我准备一些甜点，并将它送到watertable来。 +On(Dessert,CoffeeTable) 您好，我是一名机器人服务员。我能为您制作甜点，并将其送到咖啡桌旁边。请问您想点什么类型的甜点呢？ +On(Dessert,CoffeeTable) 请为我准备一些甜点，并将其送到咖啡桌这里。 +On(Dessert,Bar2) 您好，我需要一份甜点，并希望它能够被送到酒吧2。 +On(Dessert,Bar2) 请为我准备一些甜点，并将其送到Bar2。 +On(Dessert,Table1) 您好，机器人服务员！我想要一份甜点，并希望它能够被送到Table1那里。 +On(Dessert,Table1) 请为我准备一些甜点，并将其送到Table1。 +On(Dessert,Table2) 您好，我是一名机器人服务员。我能为您制作甜点并将它送到Table 2吗？ +On(Dessert,Table2) 请给我上甜点，并将它送到Table2那里。 +On(Dessert,Table3) 您好，机器人服务员！请问您能帮我制作一份甜点并将其送到Table 3吗？ +On(Dessert,Table3) 请为我准备一些甜点，并将其送到Table3桌子上。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output1.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output1.txt new file mode 100644 index 0000000..ddbd385 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output1.txt @@ -0,0 +1,388 @@ +At(Robot,Bar) 嘿，来酒吧了啊？ +At(Robot,Bar) 你可以去前台一下吗？ +At(Robot,Bar) 当然可以，我可以过去帮忙吗？ +At(Robot,WaterTable) 哎呀，你终于出现了啊！赶紧过来坐一下，我给你倒杯茶水。 +At(Robot,WaterTable) 嘿，你能帮我再去茶水桌那儿拿一下水吗？ +At(Robot,WaterTable) 当然可以啊，我马上就去茶水桌那儿。 +At(Robot,CoffeeTable) 哎呀，你终于出现了啊！赶紧过来坐一下，我给你倒杯咖啡。 +At(Robot,CoffeeTable) 你可以去 coffee table 一下哦。 +At(Robot,CoffeeTable) 当然可以呀！你可以去咖啡桌的那边坐下来，我就在这边的桌子旁陪着你。 +At(Robot,Bar2) 好的，我可以到另一个吧台帮忙吗？ +At(Robot,Bar2) 你可以去另一个酒吧台坐坐吗？ +At(Robot,Bar2) 当然可以，您想让我去哪个吧台呢？ +At(Robot,Table1) 好的,我來試著把第一張桌子搬起來。 +At(Robot,Table1) 你可以去第一桌啊，那里的东西比较好吃。 +At(Robot,Table1) 当然可以,你可以帮我稳住身体,然后我就能过去坐在第一张桌子上啦! +At(Robot,Table2) 请把第二桌子的东西拿过来。 +At(Robot,Table2) 你可以去第二桌啊。 +At(Robot,Table2) 当然可以,你想去哪一张桌子呢? +At(Robot,Table3) 好的，我马上去拿第三张桌子。 +At(Robot,Table3) 请你到第三桌子上坐一下。 +At(Robot,Table3) 当然可以，移到第三张桌子那边怎么样？ +On(Softdrink,Bar) 请把饮料放到酒吧柜台上。 +On(Softdrink,Bar) 嘿，能帮我拿一下饮料吗？放到酒吧台上谢谢！ +On(Softdrink,WaterTable) 你可以把软饮放在茶水桌那个地方哦。 +On(Softdrink,WaterTable) 你可以把饮料放到茶水桌那儿呀。 +On(Softdrink,CoffeeTable) 你可以把饮料放在咖啡桌那个地方呀。 +On(Softdrink,CoffeeTable) 你可以把饮料放到咖啡桌附近呀。 +On(Softdrink,Bar2) 请你把饮料放在另一个酒吧台的位置。 +On(Softdrink,Bar2) 请帮我从一个酒吧台拿杯饮料，放到另一个酒吧台吧。 +On(Softdrink,Table1) 请你把饮料放在第一桌的位子上面。 +On(Softdrink,Table1) 请把饮料放到第一桌的位子上。 +On(Softdrink,Table2) 请你把饮料放到第二桌那个地方。 +On(Softdrink,Table2) 请你把饮料放到第二桌的位置。 +On(Softdrink,Table3) 请你把饮料放到第三桌那个地方。 +On(Softdrink,Table3) 请给我一瓶饮料，放到第三桌子上。 +On(BottledDrink,Bar) 请把瓶装饮料放到酒吧那个地方。 +On(BottledDrink,Bar) 你可以把瓶装饮料放到酒吧台面上。 +On(BottledDrink,WaterTable) 你可以把瓶装饮料放在茶水桌那个地方呀。 +On(BottledDrink,WaterTable) 请把瓶装饮料放到茶水桌那儿吧。 +On(BottledDrink,CoffeeTable) 把瓶装饮料放到咖啡桌那个地方吧。 +On(BottledDrink,CoffeeTable) 请把瓶装饮料放到咖啡桌附近。 +On(BottledDrink,Bar2) 请把瓶装饮料放 到另一个酒吧那个地方。 +On(BottledDrink,Bar2) 你可以把瓶装饮料拿到另一个酒吧台的位置。 +On(BottledDrink,Table1) 请把瓶装饮料放在第一桌的相应位置。 +On(BottledDrink,Table1) 请你把瓶装饮料放到第一桌子的位置。 +On(BottledDrink,Table2) 请你把瓶装饮料放到第二大桌子的那个位置。 +On(BottledDrink,Table2) 请您把瓶装饮料放到第二桌的位置。 +On(BottledDrink,Table3) 请把瓶装饮料放到第三桌的那一边。 +On(BottledDrink,Table3) 请您把瓶装饮料放到第三桌子上。 +On(Yogurt,Bar) 把酸奶放在吧台那个位置。 +On(Yogurt,Bar) 请把酸奶放到吧台哦！ +On(Yogurt,WaterTable) 把酸奶放到茶水桌那个地方哦。 +On(Yogurt,WaterTable) 你可以把酸奶放到茶水桌附近呀。 +On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌那个地方。 +On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌附近。 +On(Yogurt,Bar2) 请你把酸奶放到另一个吧台那个位置。 +On(Yogurt,Bar2) 请把酸奶放到另一个台子的位置吧。 +On(Yogurt,Table1) 请把酸奶放在第一桌的位置哦！ +On(Yogurt,Table1) 请把酸奶放到第一桌的位置。 +On(Yogurt,Table2) 请把酸奶放到第二桌那个位置哦！ +On(Yogurt,Table2) 你可以把酸奶放到第二桌的位置呀。 +On(Yogurt,Table3) 请把酸奶放到第三桌的那儿吧。 +On(Yogurt,Table3) 请你把酸奶放到第三桌子上。 +On(ADMilk,Bar) 把AD钙奶放到吧台那个地方。 +On(ADMilk,Bar) 请把AD钙奶放到吧台哦！ +On(ADMilk,WaterTable) 好的，我帮你把AD钙奶放到茶水桌那个地方。 +On(ADMilk,WaterTable) 你可以把AD钙奶放到茶水桌附近呀。 +On(ADMilk,CoffeeTable) 好的，AD钙奶就放在咖啡桌那个地方吧。 +On(ADMilk,CoffeeTable) 你可以把AD钙奶放到咖啡桌旁边呀。 +On(ADMilk,Bar2) 你能否把AD钙奶放到另一个吧台的位置呢？ +On(ADMilk,Bar2) 你可以把AD钙奶放到另一个酒吧台的位置上。 +On(ADMilk,Table1) 请把AD钙奶放到第一桌的位子上面。 +On(ADMilk,Table1) 请把AD钙奶放到第一桌的位置。 +On(ADMilk,Table2) 请把AD钙奶放到第二桌的那儿吧。 +On(ADMilk,Table2) 请把AD钙奶放到第二桌的位置。 +On(ADMilk,Table3) 请把AD钙奶放到第三桌的那儿吧。 +On(ADMilk,Table3) 请把AD钙奶放到第三桌子的位置。 +On(MilkDrink,Bar) 把牛奶饮料放到吧台那个地方。 +On(MilkDrink,Bar) 你可以把牛奶饮料拿到吧台前面。 +On(MilkDrink,WaterTable) 你可以把牛奶饮料放在茶水桌那个地方哦。 +On(MilkDrink,WaterTable) 你可以把牛奶饮料放到茶水桌附近呀。 +On(MilkDrink,CoffeeTable) 你可以把牛奶放到了咖啡桌那个地方哦。 +On(MilkDrink,CoffeeTable) 请你把牛奶饮料放到咖啡桌附近呀。 +On(MilkDrink,Bar2) 请你把牛奶饮料放到另一个吧台那个位置,好吗? +On(MilkDrink,Bar2) 请把牛奶饮料放到另一个酒吧台的位置。 +On(MilkDrink,Table1) 请把牛奶放第一桌的位置哦！ +On(MilkDrink,Table1) 请把牛奶饮料放到第一桌的位子上。 +On(MilkDrink,Table2) 你可以把牛奶放 到这张桌子的第二個位置。 +On(MilkDrink,Table2) 请你把牛奶饮料放到第二桌的位置。 +On(MilkDrink,Table3) 请你把牛奶放到第三桌的那儿吧。 +On(MilkDrink,Table3) 请你把牛奶饮料放到第三桌子上。 +On(Milk,Bar) 请把牛奶放到吧台那个地方。 +On(Milk,Bar) 请把牛奶放到吧台的位置哦。 +On(Milk,WaterTable) 你可以把牛奶放到茶水桌那个地方哦。 +On(Milk,WaterTable) 请你把牛奶放到茶水桌那个地方。 +On(Milk,CoffeeTable) 你可以把牛奶放在咖啡桌上的那个地方哦。 +On(Milk,CoffeeTable) 你可以把牛奶放到咖啡桌旁边呀，这样就能方便地喝牛奶了。 +On(Milk,Bar2) 请你把牛奶放到另一个吧台那个位置。 +On(Milk,Bar2) 你可以把牛奶放过去一点。 +On(Milk,Table1) 请把牛奶放到第一桌子的位置。 +On(Milk,Table1) 请你把牛奶放到第一桌的位置。 +On(Milk,Table2) 请把牛奶放到第二桌子的那个位置哦！ +On(Milk,Table2) 请你把牛奶放到第二桌的位置。 +On(Milk,Table3) 你可以把牛奶放 third table 的那个位置哦！ +On(Milk,Table3) 请把牛奶放到第三桌子上。 +On(VacuumCup,Bar) 请把保温杯放 到吧台那个地方。 +On(VacuumCup,Bar) 你可以把保温杯放到吧台哦。 +On(VacuumCup,WaterTable) 请把保温杯放茶水桌那个地方哦。 +On(VacuumCup,WaterTable) 请你把保温杯放到茶水桌那儿。 +On(VacuumCup,CoffeeTable) 你可以把你的保温杯放到咖啡桌那个地方呀。 +On(VacuumCup,CoffeeTable) 请把保温杯放到咖啡桌那里。 +On(VacuumCup,Bar2) 你可以把保温杯放到另一个吧台那个地方呀。 +On(VacuumCup,Bar2) 你可以把保温杯放到另一个酒吧台的位置呀。 +On(VacuumCup,Table1) 请把保温杯放到第一桌子的那个位置。 +On(VacuumCup,Table1) 请把保温杯放到第一桌子的位置。 +On(VacuumCup,Table2) 请把保温杯放到第二桌子的那个位置。 +On(VacuumCup,Table2) 你可以把保温杯放到第二桌子的地方。 +On(VacuumCup,Table3) 请把保温杯放到了第三张桌子的那个地方。 +On(VacuumCup,Table3) 请把保温杯放到第三桌子的地方。 +Is(AC,0) 当然可以，您想什么时候关呢？ +Is(AC,1) 当然可以，我马上为您打开空调。 +Is(ACTemperature,0) 当然可以！你把空调的温度调高一点吗？ +Is(ACTemperature,1) 可以啊，您要把空调的温度调低一些吗？ +Is(HallLight,0) 当然可以，我马上为您关掉大厅的灯。 +Is(HallLight,1) 当然可以，我马上为你开启大厅的灯光。 +Is(TubeLight,0) 当然可以，你只需按一下筒灯的开关按钮即可。 +Is(TubeLight,1) 当然可以，请告诉我你想要多亮度的筒灯呢？ +Is(Curtain,0) 好的，我马上帮您关窗帘。 +Is(Curtain,1) 当然可以，您想让阳光照进房间吗？ +Is(Chairs,0) 当然可以，把椅子弄脏一点没问题。不过要注意，我是一个人工智能助手，虽然可以理解您的请求，但实际操作能力有限，可能不能非常完美地完成这个任务。 +Is(Chairs,1) 当然可以，亲爱的。把椅子擦干净需要一些努力和耐心，但我会帮您做得干干净净的。 +Is(Floor,0) 你能把地板弄脏一点吗？ +Is(Floor,1) 能帮我打扫下地板吗？ +Is(Table1,0) 第一，你可以把桌子弄脏一点。 +Is(Table1,1) 当然可以,你想要我尽快完成这个任务吗? +Holding(Softdrink) 你能抓住软饮吗？ +Holding(Softdrink) 你能不能一直拿着软饮呢？ +Holding(BottledDrink) 能抓住瓶装饮料吗?当然可以啊! +Holding(BottledDrink) 你能一直拿着瓶装饮料吗?当然可以啊,只要喜欢喝 bottled water 或者饮料,就可以一直拿着瓶装饮料。不过要注意保持卫生,不要让瓶子变得太脏或者有细菌。如果觉得手持瓶装饮料不方便,也可以选择使用杯子或者其他更方便的容器来盛放饮料。 +Holding(Yogurt) 您可以把酸奶捏在手里,就像您捏着冰淇淋一样。 +Holding(Yogurt) 嗯，我可以理解你想要一直吃酸奶的想法，但是要注意不要过量食用。酸奶是非常健康的食品，富含蛋白质和钙质，对身体有很多好处。不过，每个人的身体状况和需求不同，所以要根据自己的实际情况来适量食用。如果你想要更好地享受酸奶的好处，可以尝试搭配一些水果或者坚果，让口感更丰富多彩。 +Holding(ADMilk) 你能捧起一罐AD钙奶吗？ +Holding(ADMilk) 你能不能一直拿着AD钙奶呀？ +Holding(MilkDrink) 你能把牛奶饮料抓在手里啊？ +Holding(MilkDrink) 你能一直拿著牛奶 drink 嗎? +Holding(Milk) 哈哈，当然可以啦！你可以把牛奶抓在手里，就像你抓住一个球一样。不过要小心，不要让牛奶洒出来哦！ +Holding(Milk) 嘿，你可以一直拿着牛奶，不过我得提醒你，牛奶保质期短，不要喝坏掉的哦！ +Holding(VacuumCup) 你能 hand 住保温杯 吗？ +Holding(VacuumCup) 你能不能一直拿著保温杯呢？ +Holding(Nothing) 哈哈，把"nothing"抓在手里啊。这个表达好像不太对哦，英文里"nothing"是指没有任何东西的意思，不能被抓住。你是要问如何应对"无所适从"的情况吗？可以理解为"nothing happens"或者"没有什么事情发生"。 +Holding(Nothing) 当然可以！如果你觉得需要一直拿着某个东西，那完全可以。 +On(Coffee,Bar) 当然可以！请问您需要什么口味的咖啡呢？我可以为您制作一杯美味的咖啡，然后端到吧台供您享用。 +On(Coffee,Bar) 嘿，老板，能不能给我弄杯咖啡，然后把咖啡杯拿到吧台上来？ +On(Coffee,WaterTable) 当然可以！我马上为您制作一杯香浓的咖啡，然后端到茶水桌上来。 +On(Coffee,WaterTable) 好的,主人。请给我来杯咖啡,然后把咖啡端到茶水桌这里来。谢谢! +On(Coffee,CoffeeTable) 当然可以！我马上为您制作一杯香浓的咖啡，然后端到咖啡桌上来。 +On(Coffee,CoffeeTable) 好的,主人。请给我一杯咖啡,然后把咖啡端到这个咖啡桌上来,谢谢! +On(Coffee,Bar2) 当然可以！我马上为您制作一杯咖啡，然后端到这个吧台这里来。 +On(Coffee,Bar2) 好的,我给你拿杯咖啡,放在另一个吧台给你。 +On(Coffee,Table1) 当然可以！我马上为您制作一杯咖啡，然后端到第一张桌子上来。 +On(Coffee,Table1) 请给我拿杯咖啡，然后把它放到这张桌子的位置上。 +On(Coffee,Table2) 当然可以！你想要什么口味的咖啡呢？然后我就可以把咖啡端到你所在的桌子了。 +On(Coffee,Table2) 嘿，老板，我想喝杯咖啡，然后你能把它端到这里来吗？ +On(Coffee,Table3) 当然可以！请问您需要什么口味的咖啡呢？我好准备给您制作。 +On(Coffee,Table3) 嘿，老板，能不能给我来杯咖啡？然后把咖啡端到这张桌子的 third 位置上来，谢谢！ +On(Water,Bar) 当然可以！您可以告诉我您需要多少水，然后我会给您端过来。 +On(Water,Bar) 好的，我给您倒杯水，然后就放在吧台这里。 +On(Water,WaterTable) 当然可以！请问您需要我怎么制作水呢？ +On(Water,WaterTable) 好的,我给你倒杯水,然后把它放在茶水桌上。 +On(Water,CoffeeTable) 当然可以！我立刻为您制作一杯水，然后把它端到咖啡桌上来。请问您需要加些什么其他的配料呢？ +On(Water,CoffeeTable) 好的,主人,请给我倒杯水,然后把水端到咖啡桌上来,谢谢! +On(Water,Bar2) 当然可以！我马上为您制作一杯水，然后端到这里来。 +On(Water,Bar2) 好的,请给我倒一杯水,然后把它端到这个吧台这里来。 +On(Water,Table1) 当然可以！请问你需要多少水呢？我一会儿就去烧开水，然后把它端到第一张桌子上。 +On(Water,Table1) 好的，我给你倒杯水，然后把它放在第一桌子上。 +On(Water,Table2) 当然可以！我马上给您拿来。 +On(Water,Table2) 能不能给我倒杯水啊?然后把水端到这张桌子的另一边去。 +On(Water,Table3) 当然可以！请您把第三张桌子的位置告诉我，我马上为您制作一杯水送到那儿去。 +On(Water,Table3) 好的,请给我一杯水,然后把它放在第三张桌子上。 +On(Dessert,Bar) 当然可以！我特别擅长制作各种美味的点心、甜品和糕点。如果您需要的话，我可以在吧台为您准备一份精致的小点心或甜品品尝。 +On(Dessert,Bar) 行啊，点些小吃或甜品，然后让它们送到酒吧台这附近来。 +On(Dessert,WaterTable) 你能不能帮我做些点心或甜品，然后把它端到茶水桌这儿呀？ +On(Dessert,WaterTable) 好的，请给我点些小吃或甜品，然后把它端到茶水桌这里来。 +On(Dessert,CoffeeTable) 当然可以！我是一个人工智能助手，虽然不能亲自制作点心或甜品，但我可以为您提供各种食谱和做法。您可以根据我的建议，尝试在家自己制作美味的点心或甜品，然后带到咖啡桌分享。这样不仅可以享受美食，还可以一起度过美好时光。 +On(Dessert,CoffeeTable) 行啊，您想尝点什么点心或甜品呢？然后我给您端过来，放在这咖啡桌上。 +On(Dessert,Bar2) 当然可以！我擅长制作各种美味的点心与甜品，可以随时为你端来。请问你需要什么口味或样式的点心呢？ +On(Dessert,Bar2) 行啊，点些小吃或甜品，然后给您端过去。 +On(Dessert,Table1) 当然可以，我 ability做点心和甜品，把它们放在桌子上给你吃。 +On(Dessert,Table1) 好的，我给你准备了一些小吃和甜品，现在 brings it to your table.（请注意，这里用 "brings" 代替 "portrays" 以符合口语化的风格。） +On(Dessert,Table2) 当然可以！我可以在第一张桌子上制作点心或甜品，然后把它们端到第二张桌子那里。请问你有什么特别喜欢的点心或甜品口味吗？ +On(Dessert,Table2) 好的,主人。请给我提供一些点心或甜品,我会把它们放在第二张桌子上。 +On(Dessert,Table3) 当然可以！我马上为您制作一些美味的点心或甜品，然后 brings it to the third table for you to enjoy. +On(Dessert,Table3) 好的，请问您想点什么种类的点心或甜品呢？然后我会把它们端到第三张桌子上。 +At(Robot,Bar) 好的，那我们来聊聊吧。你想聊什么呢？ +At(Robot,Bar) 你去一下bar吧。 +At(Robot,Bar) 你能到那个酒吧的哪个位置吗？ +At(Robot,WaterTable) 当然可以！ WaterTable 是一个很棒的实时水文气象数据平台。你想了解哪个地区的天气情况呢？ +At(Robot,WaterTable) 你去一下WaterTable吧！ +At(Robot,WaterTable) 当然可以啊！你想要去哪个地方呢？ +At(Robot,CoffeeTable) 嘿，我能去拿一下咖啡桌吗？ +At(Robot,CoffeeTable) 你去一下CoffeeTable吧。 +At(Robot,CoffeeTable) 当然可以，我马上就到CoffeeTable那儿。 +At(Robot,Bar2) 好的，我来试试看 Bar 2。 +At(Robot,Bar2) 你能去bar2吗？ +At(Robot,Bar2) 当然可以啊，我马上就去Bar2那儿！ +At(Robot,Table1) 当然可以！请您提供一下 Table1 的内容，我会尽量用更口语化和合理化的方式来表述它。 +At(Robot,Table1) 嘿，你能不能去一下Table1呢？ +At(Robot,Table1) 当然可以呀，我马上就过去。 +At(Robot,Table2) 当然可以！请您提供一下Table2的内容和您想要我为您做什么，我会尽量帮您进行合理的调整和优化。 +At(Robot,Table2) 好的，我去一下Table2。 +At(Robot,Table2) 当然可以，我马上就过去。 +At(Robot,Table3) 当然可以！请问您需要我帮忙做什么呢？ +At(Robot,Table3) 嘿，去Table3看看怎么样？可能有新东西哦！ +At(Robot,Table3) 当然可以，我马上就到Table3那儿。 +On(Softdrink,Bar) 你可以这样跟Bar说：“嘿，Bar，你能帮我把Softdrink放好吗？谢谢！” +On(Softdrink,Bar) 请把Softdrink拿到Bar那儿。 +On(Softdrink,WaterTable) 你可以把软饮放在水桌那个地方哦。 +On(Softdrink,WaterTable) 你可以把Soft drink拿到水桌的位置呀。 +On(Softdrink,CoffeeTable) 您可以尝试这样说：“嘿，能否帮我把软饮料放在咖啡桌那个位置呀？” +On(Softdrink,CoffeeTable) 你可以把Softdrink拿到CoffeeTable前面啊。 +On(Softdrink,Bar2) 你可以把软饮放在酒吧2的位置。 +On(Softdrink,Bar2) 你可以把Softdrink拿到Bar2的位置呀。 +On(Softdrink,Table1) 你可以把这个软饮料放到表格1的第二行。 +On(Softdrink,Table1) 请把Softdrink放到Table1的位置上。 +On(Softdrink,Table2) 你可以把 Softdrink 放到 Table2 的那个位置哦！ +On(Softdrink,Table2) 你可以把Softdrink移到Table2的位置呀。 +On(Softdrink,Table3) 你可以把 Softdrink 放到 Table3 的那个位置哦！ +On(Softdrink,Table3) 你可以把Softdrink拿到Table3那里。 +On(BottledDrink,Bar) 请你把Bottled Drink放到Bar那个地方。 +On(BottledDrink,Bar) 请把 bottled drink 拿到 Bar 那里。 +On(BottledDrink,WaterTable) 你能把 bottled drink 放到 water table 那个地方吗？ +On(BottledDrink,WaterTable) 你可以把瓶装饮料放到水桌上了吗？ +On(BottledDrink,CoffeeTable) 将瓶装饮料放在咖啡桌那个地方。 +On(BottledDrink,CoffeeTable) 你可以把 bottled drink 拿到咖啡桌 (CoffeeTable) 上。 +On(BottledDrink,Bar2) 你能把 "BottledDrink" 放到 "Bar2" 的位置上吗？ +On(BottledDrink,Bar2) 请把 bottled drink 拿到 Bar2 的位置。 +On(BottledDrink,Table1) 你可以把"Bottled Drink"放到"Table1"的位置。 +On(BottledDrink,Table1) 请你把瓶装饮料拿到Table1那儿。 +On(BottledDrink,Table2) 你把Bottled Drink放到Table2那个地方吧。 +On(BottledDrink,Table2) 你可以把 bottled drink 拿到 Table 2 那里。 +On(BottledDrink,Table3) 你想把瓶装饮料放在Table3那个地方吗？ +On(BottledDrink,Table3) 请把瓶装饮料放到桌子的第三位置。 +On(Yogurt,Bar) 你可以把酸奶放在吧台那个位置哦。 +On(Yogurt,Bar) 嘿，能否帮我拿一下酸奶（Yogurt）到酒吧（Bar）的位置呀？ +On(Yogurt,WaterTable) 你可以把酸奶放在水 table 的那个地方。 +On(Yogurt,WaterTable) 你可以把酸奶放到水 table 那里一下吗？ +On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌那个地方。 +On(Yogurt,CoffeeTable) 你可以把酸奶放到咖啡桌的位置。 +On(Yogurt,Bar2) 把Yogurt放到Bar2那个地方。 +On(Yogurt,Bar2) 你可以把酸奶放到酒吧的第二的位置。 +On(Yogurt,Table1) 请把酸奶放到表格1那个位置哦！ +On(Yogurt,Table1) 请你把Yogurt移到Table1的位置上。 +On(Yogurt,Table2) 你可以把酸奶放到表格2那个位置哦。 +On(Yogurt,Table2) 你可以把酸奶放到桌子第二的位置。 +On(Yogurt,Table3) 您可以把酸奶放到表格三那个位置哦。 +On(Yogurt,Table3) 你可以把酸奶放到桌子第三的位置。 +On(ADMilk,Bar) 你能把ADMilk放到Bar那个地方吗？ +On(ADMilk,Bar) 你可以把ADMilk放到Bar那里。 +On(ADMilk,WaterTable) 你可以把ADMilk放到WaterTable那个地方。 +On(ADMilk,WaterTable) 你可以把ADMilk放到WaterTable的位置啊。 +On(ADMilk,CoffeeTable) 你可以把ADMilk放到咖啡桌那个地方。 +On(ADMilk,CoffeeTable) 你可以把AD Milk放到咖啡桌旁边呀。 +On(ADMilk,Bar2) 请把ADMilk放到Bar2那个位置哦！ +On(ADMilk,Bar2) 你可以把ADMilk放到Bar2的位置呀。 +On(ADMilk,Table1) 请把ADMilk放到Table1那个位置啦！ +On(ADMilk,Table1) 能否帮我将ADMilk放到Table1的位置呢？ +On(ADMilk,Table2) 你可以把ADMilk放到Table2那个地方哦。 +On(ADMilk,Table2) 你可以把ADMilk放到Table2的位置呀。 +On(ADMilk,Table3) 你能把ADMilk放到Table3那个地方吗？ +On(ADMilk,Table3) 你可以把ADMilk放到Table3的位置呀。 +On(MilkDrink,Bar) 你可以这样说：“把牛奶饮料放到酒吧那个位置。” +On(MilkDrink,Bar) 你可以把牛奶带到酒吧位置吗？ +On(MilkDrink,WaterTable) 你能将"MilkDrink"放到"WaterTable"的那个地方吗？ +On(MilkDrink,WaterTable) 你可以把牛奶放到水桌的位置。 +On(MilkDrink,CoffeeTable) 你好！你可以把"MilkDrink"放到"CoffeeTable"那个地方。 +On(MilkDrink,CoffeeTable) 你可以把牛奶放到咖啡桌上了吗？ +On(MilkDrink,Bar2) 你可以把"MilkDrink"放到"Bar2"那个地方。 +On(MilkDrink,Bar2) 请把牛奶饮料拿到酒吧2号位置。 +On(MilkDrink,Table1) 你可以这样跟朋友说：嘿，你知道吗，把"MilkDrink"放到"Table1"那个位置吧！ +On(MilkDrink,Table1) 你可以把牛奶带到Table1那里吗？ +On(MilkDrink,Table2) 你能把"MilkDrink"放到Table2那个地方吗？ +On(MilkDrink,Table2) 你可以把牛奶饮料端到桌子2的位置吗？ +On(MilkDrink,Table3) 你好！我明白你的要求，但是我没有找到与“MilkDrink”相关的内容。如果你能提供更多的信息或者上下文，我会更好地帮助你完成任务。 +On(MilkDrink,Table3) 你可以把牛奶带到桌子3去。 +On(Milk,Bar) 你把牛奶放酒吧的位置吧。 +On(Milk,Bar) 你可以帮我把牛奶放到酒吧的位置吗？ +On(Milk,WaterTable) 你能帮我把牛奶放到水 table 那个地方吗？ +On(Milk,WaterTable) 你可以把牛奶放到水 table 附近吗？ +On(Milk,CoffeeTable) 你可以把牛奶放在咖啡桌那个地方。 +On(Milk,CoffeeTable) 你可以把牛奶放到咖啡桌的位置。 +On(Milk,Bar2) 你可以把牛奶放到酒吧2的位置。 +On(Milk,Bar2) 你可以把牛奶放到酒吧的第二個位置。 +On(Milk,Table1) 你可以这样跟Table1说：“Hey Table1， could you please move the Milk to that spot over there？” +On(Milk,Table1) 你可以把牛奶放到桌子的第一位置呀。 +On(Milk,Table2) 请把牛奶放到表2的那个位置。 +On(Milk,Table2) 请你把牛奶放到Table2的位置上。 +On(Milk,Table3) 你可以把牛奶放到表格三那个位置哦。 +On(Milk,Table3) 你可以把牛奶放到桌子的第三格里呀。 +On(VacuumCup,Bar) 你能把VacuumCup放到Bar的位置吗？ +On(VacuumCup,Bar) 你可以把吸管杯放到酒吧位置吗？ +On(VacuumCup,WaterTable) 你可以尝试这样说：“嘿，把VacuumCup放到WaterTable的位置吧。”这样更加口语化和亲近。 +On(VacuumCup,WaterTable) 你可以把吸尘器杯放在水 table 位置吗？ +On(VacuumCup,CoffeeTable) 你可以把吸尘器杯放在咖啡桌那个地方。 +On(VacuumCup,CoffeeTable) 你可以把吸尘器(VacuumCup)放到咖啡桌(CoffeeTable)的位置。 +On(VacuumCup,Bar2) 你能把VacuumCup放到Bar2那个地方吗？ +On(VacuumCup,Bar2) 你可以把VacuumCup放到Bar2的地方哦。 +On(VacuumCup,Table1) 你可以把这些内容换成： "把 VacuumCup 放到 Table1 的那个地方"。 +On(VacuumCup,Table1) 你可以把VacuumCup放到Table1的位置呀。 +On(VacuumCup,Table2) 你可以把VacuumCup放到Table2那个地方哦。 +On(VacuumCup,Table2) 你可以把VacuumCup放到Table2那里呀。 +On(VacuumCup,Table3) 你可以把这个吸管杯放到表格3的位置。 +On(VacuumCup,Table3) 你可以把VacuumCup放到Table3的位置呀。 +Is(AC,0) 当然可以，您需要我帮您关闭AC吗？ +Is(AC,1) 你好，我能帮你做什么呢？关于打开AC的问题，我可能不太明白你的具体意思。如果你是想打开空调，请告诉我具体是哪个品牌的空调，这样我才能更好地帮助你。 +Is(ACTemperature,0) 当然可以！请告诉我您想将温度调到多少度呢？ +Is(ACTemperature,1) 当然可以，你想要把温度调到多少度呢？ +Is(HallLight,0) 当然可以，HallLight怎么样了？需要我帮你做些什么吗？ +Is(HallLight,1) 当然可以！请问你需要我怎么操作呢？ +Is(TubeLight,0) 当然可以！你想要立即关掉TubeLight吗？ +Is(TubeLight,1) 当然可以！你只需按住"开”按钮，或在屏幕上点击一下就可以开启TubeLight了。 +Is(Curtain,0) 当然可以，您想关闭窗帘吗？ +Is(Curtain,1) 当然可以，curtain（窗帘）打开了。 +Is(Chairs,0) 当然可以，你能把椅子弄脏一点吗？ +Is(Chairs,1) 当然可以，你能帮我打扫一下椅子吗？ +Is(Floor,0) 当然可以，不过我需要先声明一下，作为人工智能助手，我没有实体形象，所以不能直接去“操作”或“改变”现实环境。但我可以提供一些建议或者指导来帮助你完成任务。如果你想要打扫房间，可以告诉我具体是哪个部位需要清洁，然后我会给你相应的建议和步骤。 +Is(Floor,1) 当然可以，你让我来吧！ +Is(Table1,0) 当然可以！不过我需要先了解一下 Table1 包含哪些内容，以及您想要修改的具体是哪方面。这样我才能更好地帮助您进行操作。 +Is(Table1,1) 当然可以，你有什么特别要求吗？比如需要清理什么物品或者怎么清洁？ +Holding(Softdrink) 你能不能把soft drink抓在手里啊？ +Holding(Softdrink) 你能一直拿着一罐饮料吗? +Holding(BottledDrink) 你能把瓶装饮料抓在手里吗? +Holding(BottledDrink) 你能一直拿着这瓶饮料吗？ +Holding(Yogurt) 你能把酸奶抓在手里吗? +Holding(Yogurt) 你能一直抱着羊酸奶吗? +Holding(ADMilk) 你能捧着 AD Milk 吗？ +Holding(ADMilk) 你能一直拿着AD Milk吗? + +如果我能一直拿着AD Milk,那我会很开心,因为我很喜欢喝这个品牌的牛奶。不过,我不确定我能否一直拿着它,因为我需要考虑到我的健康和生活方式。 +Holding(MilkDrink) 哦,你是指那个牛奶饮料品牌“MilkDrink”吗?当然可以啊,你可以像拿任何 other 饮料一样拿起它来。 +Holding(MilkDrink) 你好呀！我能一直拿着这个牛奶饮料吗？ +Holding(Milk) 你能把牛奶抓在手里吗?当然可以,只要你抓住瓶子或者盒子,就可以把牛奶抓在手里。不过要注意,不要把牛奶撒出来哦! +Holding(Milk) 你能不能一直拿着牛奶呀？ +Holding(VacuumCup) 你能把吸尘器杯收入手中吗？ +Holding(VacuumCup) 你能一直拿着吸尘器杯吗? +Holding(Nothing) 你能把“nothing”这个单词抓在手里吗？ +Holding(Nothing) 当然可以啊！如果你说的“ Nothing”是指没有任何事物或事情的话，那我可以一直保持这样的状态。不过，如果你指的是某个具体的事物或场景，那可能就需要根据实际情况来分析了。 +On(Coffee,Bar) 当然可以！我马上为你制作一杯咖啡，然后端到吧台给你。 +On(Coffee,Bar) 给我倒杯咖啡，然后把它端到酒吧这里来。 +On(Coffee,WaterTable) 当然可以！我马上为你制作一杯咖啡，然后端到水 table 这里来。 +On(Coffee,WaterTable) 好的，我给你倒杯咖啡，然后端到水 table 这里来。 +On(Coffee,CoffeeTable) 当然可以！我为您制作一杯咖啡，然后把它端到咖啡桌那里吧。 +On(Coffee,CoffeeTable) 行吗？能不能帮我倒杯咖啡，然后把咖啡端到咖啡桌上来呀？ +On(Coffee,Bar2) 当然可以！我马上为您制作一杯咖啡，然后送到Bar 2那里。请问您喜欢什么口味的咖啡呢？ +On(Coffee,Bar2) 好的，我给您准备了一杯咖啡，现在就端到 Bar 2 这里来。 +On(Coffee,Table1) 当然可以！我马上为您制作一杯咖啡，然后端到Table1这里来。请问您喜欢什么口味的咖啡呢？ +On(Coffee,Table1) 好的,请给我一杯咖啡,然后把它送到 Table1 这里来,谢谢! +On(Coffee,Table2) 当然可以！我马上为您制作一杯咖啡，然后端到Table2这里来。 +On(Coffee,Table2) 好的,我给你拿杯咖啡,放Table2那里。 +On(Coffee,Table3) 当然可以！我马上为你制作一杯咖啡，然后端到你面前的桌子上。 +On(Coffee,Table3) 行吗?我可以给你拿杯咖啡,然后放到了Table 3这里。 +On(Water,Bar) 当然可以！去吧，我给你端来水。 +On(Water,Bar) 好的，让我给您倒一杯水，然后把它端到酒吧这里来。 +On(Water,WaterTable) 当然可以！我可以帮你制作水，然后把水送到水 table 这里来。 +On(Water,WaterTable) 好的，我给你倒一杯水，然后把它放在水 table 上。 +On(Water,CoffeeTable) 当然可以！我马上为您制作水，并把水端到咖啡桌这里来。 +On(Water,CoffeeTable) 好的，我马上给您倒杯水，然后把水端到咖啡桌这里来。 +On(Water,Bar2) 当然可以！我可以帮你制作水，然后把水端到酒吧2（Bar 2）那里。你需要我马上去做吗？ +On(Water,Bar2) 好的，我来给您倒杯水，送到酒吧2怎么样？ +On(Water,Table1) 当然可以！请问你需要多少量的水呢？我会尽快为您准备好的。 +On(Water,Table1) 好的,我给你倒一杯水,你想要端到哪个桌子呢? +On(Water,Table2) 当然可以！我马上帮你制作水，然后把它送到 Table2 这里来。 +On(Water,Table2) 好的,我给你倒一杯水,稍等一下。 +On(Water,Table3) 当然可以！我马上帮您把水送到 Table 3 这里来。 +On(Water,Table3) 好的,我给您倒一杯水,稍等一下,我现在就去拿。请问您要放在哪个桌子上呢?是Table 1还是Table 2?还是您想要自己拿杯子接? +On(Dessert,Bar) 你好！当然可以。Dessert（甜点）是餐后享用的食物，有很多美味的选择，比如蛋糕、饼干、布丁等。请问你想制作哪一种甜点呢？我可以帮你准备材料和制作方法。制作完成后，我们可以一起把甜点带到酒吧享用。 +On(Dessert,Bar) 请给我一点甜点，然后把它送到酒吧这里来。 +On(Dessert,WaterTable) 你能否把甜点做好，然后拿到水 table 那里去呢？ +On(Dessert,WaterTable) 好的，我给您准备了一些甜点，现在就端到水 table 这里来。您觉得怎么样？ +On(Dessert,CoffeeTable) 当然可以！我给您制作一些甜点，然后拿到咖啡桌上去吧。请问您想尝试哪种甜点呢？ +On(Dessert,CoffeeTable) 行啊，那给我来点甜点，然后把它放到咖啡桌子上。 +On(Dessert,Bar2) 当然可以！我会做一些美味的甜点，然后带到酒吧2（Bar 2）来。您想尝尝吗？ +On(Dessert,Bar2) 好的，我给你准备了一些甜点，现在就端到你所在的酒吧2。 +On(Dessert,Table1) 当然可以！我马上为您制作甜点，然后把它端到Table1这里来。 +On(Dessert,Table1) 好的，我给您准备了一些美味的甜点，现在 bring it to Table1 这里。 +On(Dessert,Table2) 当然可以！我马上为您制作甜点，然后端到Table2这里来。 +On(Dessert,Table2) 好的，我给你准备了一些甜点，现在端到你面前的桌子上。 +On(Dessert,Table3) 当然可以！我马上为您制作甜点，然后把它送到Table3这里来。 +On(Dessert,Table3) 好的，我给你准备了一些甜点，现在就端到你面前的桌子上。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output2.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output2.txt new file mode 100644 index 0000000..9c06989 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/expansion_out/output2.txt @@ -0,0 +1,57 @@ +At(Robot,Bar) 请问您需要什么帮助吗？我就在吧台附近，能否请您自己过来呢？ +At(Robot,Bar) 请问你能去一下吧台吗？ +At(Robot,Bar) 请问你能帮我到吧台那个位置吗？ +At(Robot,WaterTable) 请问你能过来一下吗？我正在茶水桌旁。 +At(Robot,WaterTable) 请问你可以去茶水桌一下吗？ +At(Robot,WaterTable) 你能带路去茶水桌吗？ +At(Robot,CoffeeTable) 请问你可以过来一下吗？我在这张咖啡桌旁边。 +At(Robot,CoffeeTable) 请问你可以帮我一下，去一下咖啡桌吗？ +At(Robot,CoffeeTable) 请问你能帮我前往咖啡桌那个位置吗？ +At(Robot,Bar2) 您好，请问您需要什么帮助吗？我正在另一个吧台处理一些事情。 +At(Robot,Bar2) 请问你可以去一下另一个吧台吗？ +At(Robot,Bar2) 你能去另一个吧台的位置吗？ +At(Robot,Table1) 请问你能过来一下吗？我目前在第一桌，需要你的帮助。 +At(Robot,Table1) 请问你能去一下第一桌吗？ +At(Robot,Table1) 请问你能帮我到第一张桌子那个位置吗？ +At(Robot,Table2) 请问您能过来一下吗？我正在第二张桌子这里。 +At(Robot,Table2) 请问你可以去第二张桌子一下吗？ +At(Robot,Table2) 请问你能帮我前往第二桌吗？ +At(Robot,Table3) 请问你能过来一下吗？我正在第三张桌子旁。 +At(Robot,Table3) 请问你能去第三张桌子一下吗？ +At(Robot,Table3) 你能告诉我第三张桌子的位置在哪里吗？ +On(Softdrink,Bar) 您好，请问您需要我帮您把盒装冰红茶放到哪个位置呢？ +On(Softdrink,Bar) 服务员，能否帮我拿来一盒冰红茶放到吧台呢？ +On(Softdrink,WaterTable) 您好，请问您需要我帮忙将盒装冰红茶放到哪个位置吗？ +On(Softdrink,WaterTable) 服务员，能否帮我把盒装冰红茶拿到茶水桌呢？ +On(Softdrink,CoffeeTable) 请问你能把盒装冰红茶放到咖啡桌那个位置吗？ +On(Softdrink,CoffeeTable) 服务员，把盒装冰红茶拿到咖啡桌 position 好吗？ +On(Softdrink,Bar2) 请问你能把盒装冰红茶放到另一个吧台的位置吗？ +On(Softdrink,Bar2) 请问你能把盒装冰红茶拿到另一个吧台位置吗？ +On(Softdrink,Table1) 请问您能否把盒装冰红茶放在第一桌的指定位置呢？ +On(Softdrink,Table1) 请您把盒装冰红茶拿到第一桌的位置。 +On(Softdrink,Table2) 服务员，您好，请问能否帮我將這盒裝冰红茶放 到第二張桌子那個位置呢？ +On(Softdrink,Table2) 服务员，请把盒装冰红茶拿到第二张桌子的位置。 +On(Softdrink,Table3) 请问你可以把盒装冰红茶放到第三张桌子的那个位置吗？ +On(Softdrink,Table3) 请问你能把盒装冰红茶拿到第三张桌子的位置吗？ +On(BottledDrink,Bar) 您好，请问您需要我将瓶装饮料放到哪个位置呢？ +On(BottledDrink,Bar) 请把瓶装饮料拿到吧台的位置。 +On(BottledDrink,WaterTable) 请问你可以把瓶装饮料放到茶水桌那个位置吗？ +On(BottledDrink,WaterTable) 请问你能把瓶装饮料拿到茶水桌位置吗？ +On(BottledDrink,CoffeeTable) 服务员，能否把瓶装饮料放在咖啡桌那个位置呢？ +On(BottledDrink,CoffeeTable) 服务员，能否把瓶装饮料拿到咖啡桌附近呢？ +On(BottledDrink,Bar2) 请问你能把瓶装饮料放到另一个吧台的那个位置吗？ +On(BottledDrink,Bar2) 请把瓶装饮料拿到另一个吧台位置。 +On(BottledDrink,Table1) 请问您能否帮我將瓶裝飲料放至第一張桌子的那個位置呢？ +On(BottledDrink,Table1) 请问你能把瓶装饮料拿到第一桌的位置吗？ +On(BottledDrink,Table2) 请问，你可以把瓶装饮料放到第二张桌子的那个位置吗？ +On(BottledDrink,Table2) 请问你能把瓶装饮料拿到第二张桌子的位置吗？ +On(BottledDrink,Table3) 请问，你能把瓶装饮料放到第三桌的哪个位置吗？ +On(BottledDrink,Table3) 请问你能把瓶装饮料拿到第三张桌子的位置吗？ +On(Yogurt,Bar) 请问你能把酸奶放到吧台那个位置吗？ +On(Yogurt,Bar) 请问你能把酸奶拿到吧台位置吗？ +On(Yogurt,WaterTable) 请问你能把酸奶放到茶水桌那个位置吗？ +On(Yogurt,WaterTable) 服务员，请把酸奶拿到茶水桌的位置。 +On(Yogurt,CoffeeTable) 请问，你能把酸奶放在咖啡桌那个位置吗？ +On(Yogurt,CoffeeTable) 服务员，能否把酸奶拿到咖啡桌的位置呢？ +On(Yogurt,Bar2) 请问你能把酸奶放到另一个吧台的那个位置吗？ +On(Yogurt,Bar2) 请问你能把酸奶拿到另一个吧台位置吗？ diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states.txt new file mode 100644 index 0000000..c72c9cc --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states.txt @@ -0,0 +1,5000 @@ +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Bar2)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,Bar)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} 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+{On(Water,WaterTable),Is(Floor,Dirty)} +{On(Water,WaterTable),Is(Floor,Clean)} +{On(Water,WaterTable),Is(Table1,Dirty)} +{On(Water,WaterTable),Is(Table1,Clean)} +{On(Water,CoffeeTable),Is(AC,Off)} +{On(Water,CoffeeTable),Is(AC,On)} +{On(Water,CoffeeTable),Is(ACTemperature,Up)} +{On(Water,CoffeeTable),Is(ACTemperature,Down)} +{On(Water,CoffeeTable),Is(HallLight,Off)} +{On(Water,CoffeeTable),Is(HallLight,On)} +{On(Water,CoffeeTable),Is(TubeLight,Off)} +{On(Water,CoffeeTable),Is(TubeLight,On)} +{On(Water,CoffeeTable),Is(Curtain,Off)} +{On(Water,CoffeeTable),Is(Curtain,On)} +{On(Water,CoffeeTable),Is(Chairs,Dirty)} +{On(Water,CoffeeTable),Is(Chairs,Clean)} +{On(Water,CoffeeTable),Is(Floor,Dirty)} +{On(Water,CoffeeTable),Is(Floor,Clean)} +{On(Water,CoffeeTable),Is(Table1,Dirty)} +{On(Water,CoffeeTable),Is(Table1,Clean)} +{On(Water,Bar2),Is(AC,Off)} +{On(Water,Bar2),Is(AC,On)} +{On(Water,Bar2),Is(ACTemperature,Up)} +{On(Water,Bar2),Is(ACTemperature,Down)} +{On(Water,Bar2),Is(HallLight,Off)} +{On(Water,Bar2),Is(HallLight,On)} +{On(Water,Bar2),Is(TubeLight,Off)} +{On(Water,Bar2),Is(TubeLight,On)} +{On(Water,Bar2),Is(Curtain,Off)} +{On(Water,Bar2),Is(Curtain,On)} +{On(Water,Bar2),Is(Chairs,Dirty)} +{On(Water,Bar2),Is(Chairs,Clean)} +{On(Water,Bar2),Is(Floor,Dirty)} +{On(Water,Bar2),Is(Floor,Clean)} +{On(Water,Bar2),Is(Table1,Dirty)} +{On(Water,Bar2),Is(Table1,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(Table1,Dirty)} +{On(Water,Table1),Is(Table1,Clean)} +{On(Water,Table2),Is(AC,Off)} +{On(Water,Table2),Is(AC,On)} +{On(Water,Table2),Is(ACTemperature,Up)} +{On(Water,Table2),Is(ACTemperature,Down)} +{On(Water,Table2),Is(HallLight,Off)} +{On(Water,Table2),Is(HallLight,On)} +{On(Water,Table2),Is(TubeLight,Off)} +{On(Water,Table2),Is(TubeLight,On)} +{On(Water,Table2),Is(Curtain,Off)} +{On(Water,Table2),Is(Curtain,On)} +{On(Water,Table2),Is(Chairs,Dirty)} +{On(Water,Table2),Is(Chairs,Clean)} +{On(Water,Table2),Is(Floor,Dirty)} +{On(Water,Table2),Is(Floor,Clean)} +{On(Water,Table2),Is(Table1,Dirty)} +{On(Water,Table2),Is(Table1,Clean)} +{On(Water,Table3),Is(AC,Off)} +{On(Water,Table3),Is(AC,On)} +{On(Water,Table3),Is(ACTemperature,Up)} +{On(Water,Table3),Is(ACTemperature,Down)} +{On(Water,Table3),Is(HallLight,Off)} +{On(Water,Table3),Is(HallLight,On)} +{On(Water,Table3),Is(TubeLight,Off)} +{On(Water,Table3),Is(TubeLight,On)} +{On(Water,Table3),Is(Curtain,Off)} +{On(Water,Table3),Is(Curtain,On)} +{On(Water,Table3),Is(Chairs,Dirty)} +{On(Water,Table3),Is(Chairs,Clean)} +{On(Water,Table3),Is(Floor,Dirty)} +{On(Water,Table3),Is(Floor,Clean)} +{On(Water,Table3),Is(Table1,Dirty)} +{On(Water,Table3),Is(Table1,Clean)} +{On(Dessert,Bar),Is(AC,Off)} +{On(Dessert,Bar),Is(AC,On)} +{On(Dessert,Bar),Is(ACTemperature,Up)} +{On(Dessert,Bar),Is(ACTemperature,Down)} +{On(Dessert,Bar),Is(HallLight,Off)} +{On(Dessert,Bar),Is(HallLight,On)} +{On(Dessert,Bar),Is(TubeLight,Off)} +{On(Dessert,Bar),Is(TubeLight,On)} +{On(Dessert,Bar),Is(Curtain,Off)} +{On(Dessert,Bar),Is(Curtain,On)} +{On(Dessert,Bar),Is(Chairs,Dirty)} +{On(Dessert,Bar),Is(Chairs,Clean)} +{On(Dessert,Bar),Is(Floor,Dirty)} +{On(Dessert,Bar),Is(Floor,Clean)} +{On(Dessert,Bar),Is(Table1,Dirty)} +{On(Dessert,Bar),Is(Table1,Clean)} +{On(Dessert,WaterTable),Is(AC,Off)} +{On(Dessert,WaterTable),Is(AC,On)} +{On(Dessert,WaterTable),Is(ACTemperature,Up)} +{On(Dessert,WaterTable),Is(ACTemperature,Down)} +{On(Dessert,WaterTable),Is(HallLight,Off)} +{On(Dessert,WaterTable),Is(HallLight,On)} +{On(Dessert,WaterTable),Is(TubeLight,Off)} +{On(Dessert,WaterTable),Is(TubeLight,On)} +{On(Dessert,WaterTable),Is(Curtain,Off)} +{On(Dessert,WaterTable),Is(Curtain,On)} +{On(Dessert,WaterTable),Is(Chairs,Dirty)} +{On(Dessert,WaterTable),Is(Chairs,Clean)} +{On(Dessert,WaterTable),Is(Floor,Dirty)} +{On(Dessert,WaterTable),Is(Floor,Clean)} +{On(Dessert,WaterTable),Is(Table1,Dirty)} +{On(Dessert,WaterTable),Is(Table1,Clean)} +{On(Dessert,CoffeeTable),Is(AC,Off)} +{On(Dessert,CoffeeTable),Is(AC,On)} +{On(Dessert,CoffeeTable),Is(ACTemperature,Up)} +{On(Dessert,CoffeeTable),Is(ACTemperature,Down)} +{On(Dessert,CoffeeTable),Is(HallLight,Off)} +{On(Dessert,CoffeeTable),Is(HallLight,On)} +{On(Dessert,CoffeeTable),Is(TubeLight,Off)} +{On(Dessert,CoffeeTable),Is(TubeLight,On)} +{On(Dessert,CoffeeTable),Is(Curtain,Off)} +{On(Dessert,CoffeeTable),Is(Curtain,On)} +{On(Dessert,CoffeeTable),Is(Chairs,Dirty)} +{On(Dessert,CoffeeTable),Is(Chairs,Clean)} +{On(Dessert,CoffeeTable),Is(Floor,Dirty)} 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+{On(Water,WaterTable),Is(Floor,Dirty)} +{On(Water,WaterTable),Is(Floor,Clean)} +{On(Water,WaterTable),Is(Table1,Dirty)} +{On(Water,WaterTable),Is(Table1,Clean)} +{On(Water,CoffeeTable),Is(AC,Off)} +{On(Water,CoffeeTable),Is(AC,On)} +{On(Water,CoffeeTable),Is(ACTemperature,Up)} +{On(Water,CoffeeTable),Is(ACTemperature,Down)} +{On(Water,CoffeeTable),Is(HallLight,Off)} +{On(Water,CoffeeTable),Is(HallLight,On)} +{On(Water,CoffeeTable),Is(TubeLight,Off)} +{On(Water,CoffeeTable),Is(TubeLight,On)} +{On(Water,CoffeeTable),Is(Curtain,Off)} +{On(Water,CoffeeTable),Is(Curtain,On)} +{On(Water,CoffeeTable),Is(Chairs,Dirty)} +{On(Water,CoffeeTable),Is(Chairs,Clean)} +{On(Water,CoffeeTable),Is(Floor,Dirty)} +{On(Water,CoffeeTable),Is(Floor,Clean)} +{On(Water,CoffeeTable),Is(Table1,Dirty)} +{On(Water,CoffeeTable),Is(Table1,Clean)} +{On(Water,Bar2),Is(AC,Off)} +{On(Water,Bar2),Is(AC,On)} +{On(Water,Bar2),Is(ACTemperature,Up)} +{On(Water,Bar2),Is(ACTemperature,Down)} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_generation.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_generation.py new file mode 100644 index 0000000..382f646 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_generation.py @@ -0,0 +1,310 @@ +# the empty string '' represents robot holds nothing +import os +import re + +Object = ['Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk', 'VacuumCup'] + +Cookable = ['Coffee', 'Water', 'Dessert'] + +Place = ['Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3'] + +Entity = ['Robot', 'Customer'] + +Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain', 'Chairs', 'Floor', 'Table1'] + +import random + + +def single_predict_generation(oplist_1, oplist_2, predict_pattern) -> str: + index_1 = random.randint(0, len(oplist_1) - 1) + if oplist_2: + index_2 = random.randint(0, len(oplist_2) - 1) + + match predict_pattern: + case 'at': + return f'At({oplist_1[index_1]}, {oplist_2[index_2]})' + case 'is': + return f'Is({oplist_1[index_1]}, {oplist_2[index_2]})' + case 'hold': + return f'Holding({oplist_1[index_1]})' + case 'on': + return f'On({oplist_1[index_1]}, {oplist_2[index_2]})' + case _: + raise RuntimeError('Incorrect predict pattern!') + + +def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]: + count = 0 + res = [] + + match predict_pattern: + case 'at': + pattern = f'At(%s,%s)' + case 'is': + pattern = f'Is(%s,%s)' + case 'hold': + pattern = f'Holding(%s)' + case 'on': + pattern = f'On(%s,%s)' + case _: + raise RuntimeError('Incorrect predict pattern!') + + for str_1 in oplist_1: + if oplist_2: + for str_2 in oplist_2: + count += 1 + res.append(pattern % (str_1, str_2)) + else: + count += 1 + res.append(pattern % str_1) + + return count, res + + +def generate_goal_states(vln_num: int, vlm_num: int, opentask_num: int): + # res stores lists of sets, while each state represent in set. + res = [] + + # goal states for VLN + for i in range(vln_num): + res.append({single_predict_generation(['Robot'], Place, 'at')}) + + # goal states for VLM + for i in range(int(vlm_num)): + for j in range(int(vlm_num)): + res.append( + { + single_predict_generation(['Robot'], Place, 'at'), + single_predict_generation(Operable, ['0', '1'], 'is') + } + ) + + # goal states for Open-task-1 + for i in range(int(opentask_num)): + for j in range(int(opentask_num)): + res.append( + { + single_predict_generation(['Robot'], Place, 'at'), + single_predict_generation(Object, Place, 'on') + } + ) + + print(res) + print(len(res)) + + return res + + +def enumerate_goal_states(total: int): + res = [] + + point_15 = int(total * .15) + point_10 = int(total * .10) + + # goal states for VLN, .15 + count_vln, list_vln = enumerate_predict(['Robot'], Place, 'at') + list_vln = ['{%s}' % i for i in list_vln] + if count_vln < point_15: + list_vln *= point_15 // count_vln + for i in range(0, point_15 - len(list_vln)): + list_vln.append('{%s}' % single_predict_generation(['Robot'], Place, 'at')) + # print(f'VLN 任务的目标状态数：{count_vln}') + res += list_vln + + # goal states for VLM-1, 0.15 + count_vlm_1, list_vlm_1 = enumerate_predict(Object, Place, 'on') + list_vlm_1 = ['{%s}' % i for i in list_vlm_1] + if count_vlm_1 < point_15: + list_vlm_1 *= point_15 // count_vlm_1 + for i in range(0, point_15 - len(list_vlm_1)): + list_vlm_1.append('{%s}' % (single_predict_generation(Object, Place, 'on'))) + res += list_vlm_1 + + # goal states for VLM-2, 0.15 + count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') + list_vlm_2 = ['{%s}' % i for i in list_vlm_2] + if count_vlm_2 < point_15: + list_vlm_2 *= point_15 // count_vlm_2 + for i in range(0, point_15 - len(list_vlm_2)): + list_vlm_2.append('{%s}' % single_predict_generation(Operable, ['0', '1'], 'is')) + res += list_vlm_2 + + # goal states for VLM-3, 0.1 + count_vlm_3, list_vlm_3 = enumerate_predict(Object + ['Nothing'], None, 'hold') + list_vlm_3 = ['{%s}' % i for i in list_vlm_3] + if count_vlm_3 < point_10: + list_vlm_3 *= point_10 // count_vlm_3 + for i in range(0, point_10 - len(list_vlm_3)): + list_vlm_3.append('{%s}' % single_predict_generation(Object, None, 'hold')) + res += list_vlm_3 + + # goal states for OT, 0.15 + count_ot, list_ot = enumerate_predict(Cookable, Place, 'on') + list_ot = ['{%s}' % i for i in list_ot] + if count_ot < point_15: + list_ot *= point_15 // count_ot + for i in range(0, point_15 - len(list_ot)): + list_ot.append('{%s}' % single_predict_generation(Cookable, Place, 'on')) + res += list_ot + + # goal states for compound-1, 0.1 + count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') + count_2, list_2 = enumerate_predict(Object, Place, 'on') + list_tmp = [] + for i in list_1: + for j in list_2: + list_tmp.append('{%s,%s}' % (i, j)) + if len(list_tmp) < point_10: + list_tmp *= point_10 // len(list_tmp) + list_tmp += list_tmp[0:point_10 - len(list_tmp)] + else: + list_tmp = list_tmp[:point_10] + res += list_tmp + + # goal states for compound-2, 0.1 + count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') + count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') + list_tmp = [] + for i in list_1: + for j in list_2: + list_tmp.append('{%s,%s}' % (i, j)) + if len(list_tmp) < point_10: + list_tmp *= point_10 // len(list_tmp) + list_tmp += list_tmp[0:point_10 - len(list_tmp)] + else: + list_tmp = list_tmp[:point_10] + res += list_tmp + + # goal states for compound-3, 0.1 + count_1, list_1 = enumerate_predict(Cookable, Place, 'on') + count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') + list_tmp = [] + for i in list_1: + for j in list_2: + list_tmp.append('{%s,%s}' % (i, j)) + if len(list_tmp) < point_10: + list_tmp *= point_10 // len(list_tmp) + list_tmp += list_tmp[0:point_10 - len(list_tmp)] + else: + list_tmp = list_tmp[:point_10] + res += list_tmp + + # # goal states for VLM-1, 0.15 + # count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at') + # count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') + # print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}') + # + # # goal states for open-task + # count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at') + # count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on') + # print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}') + + with open(os.path.join('./goal_states.txt'), 'w+') as file: + for i in res: + if 'Is' in i and 'ACTemperature' in i: + i = re.sub(',0', ',Up', i) + i = re.sub(',1', ',Down', i) + elif 'Is' in i and ('AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i): + i = re.sub(',0', ',Off', i) + i = re.sub(',1', ',On', i) + 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) + + file.write(i + '\n') + + +def translate_zero_one(i: str) -> str: + if 'ACTemperature' in i: + i = re.sub('On\)', '调高', i) + i = re.sub('Off\)', '调低', i) + elif 'AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i: + i = re.sub('On\)', '关闭', i) + i = re.sub('Off\)', '打开', i) + elif 'Chairs' in i or 'Floor' in i or 'Table' in i: + i = re.sub('On\)', '脏', i) + i = re.sub('Off\)', '打扫干净', i) + + return i + + +def enumerate_goal_states_with_describe() -> str: + with open(os.path.join('./goal_states_with_description.txt'), 'w', encoding='utf-8') as file: + # vln + count, res = enumerate_predict(['Robot'], Place, 'at') + print(count) + for i in range(count): + tmp = '#' + res[i].split(',')[-1][:-1] + file.write(f'{res[i]}\t你能过来一下吗？我在{tmp}这里。\n') + file.write(f'{res[i]}\t麻烦你去一下{tmp}。\n') + file.write(f'{res[i]}\t你能去{tmp}那个位置吗？\n') + + # vlm, on + count, res = enumerate_predict(Object, Place, 'on') + print(count) + for i in range(count): + tmp = res[i].split(',') + obj = '#' + tmp[0][3:] + pla = '#' + tmp[-1][:-1] + file.write(f'{res[i]}\t麻烦你把{obj}放到{pla}那个位置。\n') + file.write(f'{res[i]}\t请你拿一下{obj}到{pla}位置。\n') + file.write(f'{res[i]}\t你好，我在{pla}，请你拿一下{obj}到位置。\n') + + # vlm, is + count, res = enumerate_predict(Operable, ['On', 'Off'], 'is') + print(count) + for i in res: + tmp = i.split(',') + thing, op = '#' + tmp[0][3:], '#' + tmp[-1] + file.write('%s\t%s\n' % (i, translate_zero_one(f'你能把{thing}{op}一下吗？'))) + + # vlm, holding + count, res = enumerate_predict(Object + ['Nothing'], None, 'hold') + print(count) + for i in res: + tmp = '#' + i.split('(')[-1][:-1] + if tmp == 'Nothing': + file.write(f'{i}\t你手里是没有东西的吗？\n') + continue + file.write(f'{i}\t你能把{tmp}抓在手里吗？\n') + file.write(f'{i}\t你能一直拿着{tmp}吗？\n') + + count, res = enumerate_predict(Cookable, Place, 'on') + print(count) + for i in res: + tmp = i.split(',') + thing, pla = '#' + tmp[0][3:], '#' + tmp[-1][:-1] + + file.write(f'{i}\t你能制作{thing}并把它端到{pla}这里来吗？\n') + file.write(f'{i}\t给我来点{thing}，并把它端到{pla}这里来。\n') + return './goal_states_with_description.txt' + + +from copy import deepcopy + + +def mutex(path: str): + with open(os.path.join(path), 'r', encoding='utf-8') as file: + lines = "".join(file.readlines()) + new_line = deepcopy(lines) + + check = ['#Bar2', '#WaterTable', '#CoffeeTable', '#Bar', '#Table1', '#Table2', '#Table3', '#Coffee', '#Water', + '#Dessert', '#Softdrink', '#BottledDrink', '#Yogurt', '#ADMilk', '#MilkDrink', '#Milk', '#VacuumCup', + '#AC', + '#ACTemperature', '#HallLight', '#TubeLight', '#Curtain', '#Chairs', '#Floor', '#Table1'] + repla = ['#另一个吧台', '#茶水桌', '#咖啡桌', '#吧台', '#第一张桌子', '#第二张桌子', '#第三张桌子', '#咖啡', '#水', + '#点心或者甜品', '#盒装冰红茶', '#瓶装饮料', '#酸奶', '#AD钙奶', '#牛奶味的饮料', '#牛奶', '#保温杯', '#空调', + '#空调温度', '#大厅灯', '#筒灯', '#窗帘', '#椅子', '#地板', '#第一张桌子'] + + for i, j in zip(check, repla): + new_line = re.sub(i, j, new_line) + new_line = re.sub('#', '', new_line) + lines = re.sub('#', '', lines) + + with open(os.path.join(path), 'w', encoding='utf-8') as file: + file.write(new_line) + + +# generate_goal_states(30, 6, 6) +# enumerate_goal_states(5000) +mutex(enumerate_goal_states_with_describe()) diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.jsonl b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.jsonl new file mode 100644 index 0000000..fd2b862 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.jsonl @@ -0,0 +1,193 @@ +{"title":"你能过来一下吗？我在吧台这里。","text":"At(Robot,Bar)"} +{"title":"麻烦你去一下吧台。","text":"At(Robot,Bar)"} +{"title":"你能去吧台那个位置吗？","text":"At(Robot,Bar)"} +{"title":"你能过来一下吗？我在茶水桌这里。","text":"At(Robot,WaterTable)"} +{"title":"麻烦你去一下茶水桌。","text":"At(Robot,WaterTable)"} +{"title":"你能去茶水桌那个位置吗？","text":"At(Robot,WaterTable)"} +{"title":"你能过来一下吗？我在咖啡桌这里。","text":"At(Robot,CoffeeTable)"} +{"title":"麻烦你去一下咖啡桌。","text":"At(Robot,CoffeeTable)"} +{"title":"你能去咖啡桌那个位置吗？","text":"At(Robot,CoffeeTable)"} +{"title":"你能过来一下吗？我在另一个吧台这里。","text":"At(Robot,Bar2)"} +{"title":"麻烦你去一下另一个吧台。","text":"At(Robot,Bar2)"} +{"title":"你能去另一个吧台那个位置吗？","text":"At(Robot,Bar2)"} +{"title":"你能过来一下吗？我在第一张桌子这里。","text":"At(Robot,Table1)"} +{"title":"麻烦你去一下第一张桌子。","text":"At(Robot,Table1)"} +{"title":"你能去第一张桌子那个位置吗？","text":"At(Robot,Table1)"} +{"title":"你能过来一下吗？我在第二张桌子这里。","text":"At(Robot,Table2)"} +{"title":"麻烦你去一下第二张桌子。","text":"At(Robot,Table2)"} +{"title":"你能去第二张桌子那个位置吗？","text":"At(Robot,Table2)"} +{"title":"你能过来一下吗？我在第三张桌子这里。","text":"At(Robot,Table3)"} +{"title":"麻烦你去一下第三张桌子。","text":"At(Robot,Table3)"} +{"title":"你能去第三张桌子那个位置吗？","text":"At(Robot,Table3)"} +{"title":"麻烦你把盒装冰红茶放到吧台那个位置。","text":"On(Softdrink,Bar)"} +{"title":"请你拿一下盒装冰红茶到吧台位置。","text":"On(Softdrink,Bar)"} +{"title":"麻烦你把盒装冰红茶放到茶水桌那个位置。","text":"On(Softdrink,WaterTable)"} +{"title":"请你拿一下盒装冰红茶到茶水桌位置。","text":"On(Softdrink,WaterTable)"} +{"title":"麻烦你把盒装冰红茶放到咖啡桌那个位置。","text":"On(Softdrink,CoffeeTable)"} +{"title":"请你拿一下盒装冰红茶到咖啡桌位置。","text":"On(Softdrink,CoffeeTable)"} +{"title":"麻烦你把盒装冰红茶放到另一个吧台那个位置。","text":"On(Softdrink,Bar2)"} +{"title":"请你拿一下盒装冰红茶到另一个吧台位置。","text":"On(Softdrink,Bar2)"} +{"title":"麻烦你把盒装冰红茶放到第一张桌子那个位置。","text":"On(Softdrink,Table1)"} +{"title":"请你拿一下盒装冰红茶到第一张桌子位置。","text":"On(Softdrink,Table1)"} +{"title":"麻烦你把盒装冰红茶放到第二张桌子那个位置。","text":"On(Softdrink,Table2)"} +{"title":"请你拿一下盒装冰红茶到第二张桌子位置。","text":"On(Softdrink,Table2)"} +{"title":"麻烦你把盒装冰红茶放到第三张桌子那个位置。","text":"On(Softdrink,Table3)"} +{"title":"请你拿一下盒装冰红茶到第三张桌子位置。","text":"On(Softdrink,Table3)"} +{"title":"麻烦你把瓶装饮料放到吧台那个位置。","text":"On(BottledDrink,Bar)"} +{"title":"请你拿一下瓶装饮料到吧台位置。","text":"On(BottledDrink,Bar)"} +{"title":"麻烦你把瓶装饮料放到茶水桌那个位置。","text":"On(BottledDrink,WaterTable)"} +{"title":"请你拿一下瓶装饮料到茶水桌位置。","text":"On(BottledDrink,WaterTable)"} +{"title":"麻烦你把瓶装饮料放到咖啡桌那个位置。","text":"On(BottledDrink,CoffeeTable)"} +{"title":"请你拿一下瓶装饮料到咖啡桌位置。","text":"On(BottledDrink,CoffeeTable)"} +{"title":"麻烦你把瓶装饮料放到另一个吧台那个位置。","text":"On(BottledDrink,Bar2)"} +{"title":"请你拿一下瓶装饮料到另一个吧台位置。","text":"On(BottledDrink,Bar2)"} +{"title":"麻烦你把瓶装饮料放到第一张桌子那个位置。","text":"On(BottledDrink,Table1)"} +{"title":"请你拿一下瓶装饮料到第一张桌子位置。","text":"On(BottledDrink,Table1)"} +{"title":"麻烦你把瓶装饮料放到第二张桌子那个位置。","text":"On(BottledDrink,Table2)"} +{"title":"请你拿一下瓶装饮料到第二张桌子位置。","text":"On(BottledDrink,Table2)"} +{"title":"麻烦你把瓶装饮料放到第三张桌子那个位置。","text":"On(BottledDrink,Table3)"} +{"title":"请你拿一下瓶装饮料到第三张桌子位置。","text":"On(BottledDrink,Table3)"} +{"title":"麻烦你把酸奶放到吧台那个位置。","text":"On(Yogurt,Bar)"} +{"title":"请你拿一下酸奶到吧台位置。","text":"On(Yogurt,Bar)"} +{"title":"麻烦你把酸奶放到茶水桌那个位置。","text":"On(Yogurt,WaterTable)"} +{"title":"请你拿一下酸奶到茶水桌位置。","text":"On(Yogurt,WaterTable)"} +{"title":"麻烦你把酸奶放到咖啡桌那个位置。","text":"On(Yogurt,CoffeeTable)"} +{"title":"请你拿一下酸奶到咖啡桌位置。","text":"On(Yogurt,CoffeeTable)"} +{"title":"麻烦你把酸奶放到另一个吧台那个位置。","text":"On(Yogurt,Bar2)"} +{"title":"请你拿一下酸奶到另一个吧台位置。","text":"On(Yogurt,Bar2)"} +{"title":"麻烦你把酸奶放到第一张桌子那个位置。","text":"On(Yogurt,Table1)"} +{"title":"请你拿一下酸奶到第一张桌子位置。","text":"On(Yogurt,Table1)"} +{"title":"麻烦你把酸奶放到第二张桌子那个位置。","text":"On(Yogurt,Table2)"} +{"title":"请你拿一下酸奶到第二张桌子位置。","text":"On(Yogurt,Table2)"} +{"title":"麻烦你把酸奶放到第三张桌子那个位置。","text":"On(Yogurt,Table3)"} +{"title":"请你拿一下酸奶到第三张桌子位置。","text":"On(Yogurt,Table3)"} +{"title":"麻烦你把AD钙奶放到吧台那个位置。","text":"On(ADMilk,Bar)"} +{"title":"请你拿一下AD钙奶到吧台位置。","text":"On(ADMilk,Bar)"} +{"title":"麻烦你把AD钙奶放到茶水桌那个位置。","text":"On(ADMilk,WaterTable)"} +{"title":"请你拿一下AD钙奶到茶水桌位置。","text":"On(ADMilk,WaterTable)"} +{"title":"麻烦你把AD钙奶放到咖啡桌那个位置。","text":"On(ADMilk,CoffeeTable)"} +{"title":"请你拿一下AD钙奶到咖啡桌位置。","text":"On(ADMilk,CoffeeTable)"} +{"title":"麻烦你把AD钙奶放到另一个吧台那个位置。","text":"On(ADMilk,Bar2)"} +{"title":"请你拿一下AD钙奶到另一个吧台位置。","text":"On(ADMilk,Bar2)"} +{"title":"麻烦你把AD钙奶放到第一张桌子那个位置。","text":"On(ADMilk,Table1)"} +{"title":"请你拿一下AD钙奶到第一张桌子位置。","text":"On(ADMilk,Table1)"} +{"title":"麻烦你把AD钙奶放到第二张桌子那个位置。","text":"On(ADMilk,Table2)"} +{"title":"请你拿一下AD钙奶到第二张桌子位置。","text":"On(ADMilk,Table2)"} +{"title":"麻烦你把AD钙奶放到第三张桌子那个位置。","text":"On(ADMilk,Table3)"} +{"title":"请你拿一下AD钙奶到第三张桌子位置。","text":"On(ADMilk,Table3)"} +{"title":"麻烦你把牛奶味的饮料放到吧台那个位置。","text":"On(MilkDrink,Bar)"} +{"title":"请你拿一下牛奶味的饮料到吧台位置。","text":"On(MilkDrink,Bar)"} +{"title":"麻烦你把牛奶味的饮料放到茶水桌那个位置。","text":"On(MilkDrink,WaterTable)"} +{"title":"请你拿一下牛奶味的饮料到茶水桌位置。","text":"On(MilkDrink,WaterTable)"} +{"title":"麻烦你把牛奶味的饮料放到咖啡桌那个位置。","text":"On(MilkDrink,CoffeeTable)"} +{"title":"请你拿一下牛奶味的饮料到咖啡桌位置。","text":"On(MilkDrink,CoffeeTable)"} +{"title":"麻烦你把牛奶味的饮料放到另一个吧台那个位置。","text":"On(MilkDrink,Bar2)"} +{"title":"请你拿一下牛奶味的饮料到另一个吧台位置。","text":"On(MilkDrink,Bar2)"} +{"title":"麻烦你把牛奶味的饮料放到第一张桌子那个位置。","text":"On(MilkDrink,Table1)"} +{"title":"请你拿一下牛奶味的饮料到第一张桌子位置。","text":"On(MilkDrink,Table1)"} +{"title":"麻烦你把牛奶味的饮料放到第二张桌子那个位置。","text":"On(MilkDrink,Table2)"} +{"title":"请你拿一下牛奶味的饮料到第二张桌子位置。","text":"On(MilkDrink,Table2)"} +{"title":"麻烦你把牛奶味的饮料放到第三张桌子那个位置。","text":"On(MilkDrink,Table3)"} +{"title":"请你拿一下牛奶味的饮料到第三张桌子位置。","text":"On(MilkDrink,Table3)"} +{"title":"麻烦你把牛奶放到吧台那个位置。","text":"On(Milk,Bar)"} +{"title":"请你拿一下牛奶到吧台位置。","text":"On(Milk,Bar)"} +{"title":"麻烦你把牛奶放到茶水桌那个位置。","text":"On(Milk,WaterTable)"} +{"title":"请你拿一下牛奶到茶水桌位置。","text":"On(Milk,WaterTable)"} +{"title":"麻烦你把牛奶放到咖啡桌那个位置。","text":"On(Milk,CoffeeTable)"} +{"title":"请你拿一下牛奶到咖啡桌位置。","text":"On(Milk,CoffeeTable)"} +{"title":"麻烦你把牛奶放到另一个吧台那个位置。","text":"On(Milk,Bar2)"} +{"title":"请你拿一下牛奶到另一个吧台位置。","text":"On(Milk,Bar2)"} +{"title":"麻烦你把牛奶放到第一张桌子那个位置。","text":"On(Milk,Table1)"} +{"title":"请你拿一下牛奶到第一张桌子位置。","text":"On(Milk,Table1)"} +{"title":"麻烦你把牛奶放到第二张桌子那个位置。","text":"On(Milk,Table2)"} +{"title":"请你拿一下牛奶到第二张桌子位置。","text":"On(Milk,Table2)"} +{"title":"麻烦你把牛奶放到第三张桌子那个位置。","text":"On(Milk,Table3)"} +{"title":"请你拿一下牛奶到第三张桌子位置。","text":"On(Milk,Table3)"} +{"title":"麻烦你把保温杯放到吧台那个位置。","text":"On(VacuumCup,Bar)"} +{"title":"请你拿一下保温杯到吧台位置。","text":"On(VacuumCup,Bar)"} +{"title":"麻烦你把保温杯放到茶水桌那个位置。","text":"On(VacuumCup,WaterTable)"} +{"title":"请你拿一下保温杯到茶水桌位置。","text":"On(VacuumCup,WaterTable)"} +{"title":"麻烦你把保温杯放到咖啡桌那个位置。","text":"On(VacuumCup,CoffeeTable)"} +{"title":"请你拿一下保温杯到咖啡桌位置。","text":"On(VacuumCup,CoffeeTable)"} +{"title":"麻烦你把保温杯放到另一个吧台那个位置。","text":"On(VacuumCup,Bar2)"} +{"title":"请你拿一下保温杯到另一个吧台位置。","text":"On(VacuumCup,Bar2)"} +{"title":"麻烦你把保温杯放到第一张桌子那个位置。","text":"On(VacuumCup,Table1)"} +{"title":"请你拿一下保温杯到第一张桌子位置。","text":"On(VacuumCup,Table1)"} +{"title":"麻烦你把保温杯放到第二张桌子那个位置。","text":"On(VacuumCup,Table2)"} +{"title":"请你拿一下保温杯到第二张桌子位置。","text":"On(VacuumCup,Table2)"} +{"title":"麻烦你把保温杯放到第三张桌子那个位置。","text":"On(VacuumCup,Table3)"} +{"title":"请你拿一下保温杯到第三张桌子位置。","text":"On(VacuumCup,Table3)"} +{"title":"你能把空调关闭一下吗？","text":"Is(AC,On)"} +{"title":"你能把空调打开一下吗？","text":"Is(AC,Off)"} +{"title":"你能把空调Temperature调高一下吗？","text":"Is(ACTemperature,On)"} +{"title":"你能把空调Temperature调低一下吗？","text":"Is(ACTemperature,Off)"} +{"title":"你能把大厅灯关闭一下吗？","text":"Is(HallLight,On)"} +{"title":"你能把大厅灯打开一下吗？","text":"Is(HallLight,Off)"} +{"title":"你能把筒灯关闭一下吗？","text":"Is(TubeLight,On)"} +{"title":"你能把筒灯打开一下吗？","text":"Is(TubeLight,Off)"} +{"title":"你能把窗帘关闭一下吗？","text":"Is(Curtain,On)"} +{"title":"你能把窗帘打开一下吗？","text":"Is(Curtain,Off)"} +{"title":"你能把椅子脏一下吗？","text":"Is(Chairs,On)"} +{"title":"你能把椅子打扫干净一下吗？","text":"Is(Chairs,Off)"} +{"title":"你能把地板脏一下吗？","text":"Is(Floor,On)"} +{"title":"你能把地板打扫干净一下吗？","text":"Is(Floor,Off)"} +{"title":"你能把第一张桌子脏一下吗？","text":"Is(Table1,On)"} +{"title":"你能把第一张桌子打扫干净一下吗？","text":"Is(Table1,Off)"} +{"title":"你能把盒装冰红茶抓在手里吗？","text":"Holding(Softdrink)"} +{"title":"你能一直拿着盒装冰红茶吗？","text":"Holding(Softdrink)"} +{"title":"你能把瓶装饮料抓在手里吗？","text":"Holding(BottledDrink)"} +{"title":"你能一直拿着瓶装饮料吗？","text":"Holding(BottledDrink)"} +{"title":"你能把酸奶抓在手里吗？","text":"Holding(Yogurt)"} +{"title":"你能一直拿着酸奶吗？","text":"Holding(Yogurt)"} +{"title":"你能把AD钙奶抓在手里吗？","text":"Holding(ADMilk)"} +{"title":"你能一直拿着AD钙奶吗？","text":"Holding(ADMilk)"} +{"title":"你能把牛奶味的饮料抓在手里吗？","text":"Holding(MilkDrink)"} +{"title":"你能一直拿着牛奶味的饮料吗？","text":"Holding(MilkDrink)"} +{"title":"你能把牛奶抓在手里吗？","text":"Holding(Milk)"} +{"title":"你能一直拿着牛奶吗？","text":"Holding(Milk)"} +{"title":"你能把保温杯抓在手里吗？","text":"Holding(VacuumCup)"} +{"title":"你能一直拿着保温杯吗？","text":"Holding(VacuumCup)"} +{"title":"你能把Nothing抓在手里吗？","text":"Holding(Nothing)"} +{"title":"你能一直拿着Nothing吗？","text":"Holding(Nothing)"} +{"title":"你能制作咖啡并把它端到吧台这里来吗？","text":"On(Coffee,Bar)"} +{"title":"给我来点咖啡，并把它端到吧台这里来。","text":"On(Coffee,Bar)"} +{"title":"你能制作咖啡并把它端到茶水桌这里来吗？","text":"On(Coffee,WaterTable)"} +{"title":"给我来点咖啡，并把它端到茶水桌这里来。","text":"On(Coffee,WaterTable)"} +{"title":"你能制作咖啡并把它端到咖啡桌这里来吗？","text":"On(Coffee,CoffeeTable)"} +{"title":"给我来点咖啡，并把它端到咖啡桌这里来。","text":"On(Coffee,CoffeeTable)"} +{"title":"你能制作咖啡并把它端到另一个吧台这里来吗？","text":"On(Coffee,Bar2)"} +{"title":"给我来点咖啡，并把它端到另一个吧台这里来。","text":"On(Coffee,Bar2)"} +{"title":"你能制作咖啡并把它端到第一张桌子这里来吗？","text":"On(Coffee,Table1)"} +{"title":"给我来点咖啡，并把它端到第一张桌子这里来。","text":"On(Coffee,Table1)"} +{"title":"你能制作咖啡并把它端到第二张桌子这里来吗？","text":"On(Coffee,Table2)"} +{"title":"给我来点咖啡，并把它端到第二张桌子这里来。","text":"On(Coffee,Table2)"} +{"title":"你能制作咖啡并把它端到第三张桌子这里来吗？","text":"On(Coffee,Table3)"} +{"title":"给我来点咖啡，并把它端到第三张桌子这里来。","text":"On(Coffee,Table3)"} +{"title":"你能制作水并把它端到吧台这里来吗？","text":"On(Water,Bar)"} +{"title":"给我来点水，并把它端到吧台这里来。","text":"On(Water,Bar)"} +{"title":"你能制作水并把它端到茶水桌这里来吗？","text":"On(Water,WaterTable)"} +{"title":"给我来点水，并把它端到茶水桌这里来。","text":"On(Water,WaterTable)"} +{"title":"你能制作水并把它端到咖啡桌这里来吗？","text":"On(Water,CoffeeTable)"} +{"title":"给我来点水，并把它端到咖啡桌这里来。","text":"On(Water,CoffeeTable)"} +{"title":"你能制作水并把它端到另一个吧台这里来吗？","text":"On(Water,Bar2)"} +{"title":"给我来点水，并把它端到另一个吧台这里来。","text":"On(Water,Bar2)"} +{"title":"你能制作水并把它端到第一张桌子这里来吗？","text":"On(Water,Table1)"} +{"title":"给我来点水，并把它端到第一张桌子这里来。","text":"On(Water,Table1)"} +{"title":"你能制作水并把它端到第二张桌子这里来吗？","text":"On(Water,Table2)"} +{"title":"给我来点水，并把它端到第二张桌子这里来。","text":"On(Water,Table2)"} +{"title":"你能制作水并把它端到第三张桌子这里来吗？","text":"On(Water,Table3)"} +{"title":"给我来点水，并把它端到第三张桌子这里来。","text":"On(Water,Table3)"} +{"title":"你能制作点心或者甜品并把它端到吧台这里来吗？","text":"On(Dessert,Bar)"} +{"title":"给我来点点心或者甜品，并把它端到吧台这里来。","text":"On(Dessert,Bar)"} +{"title":"你能制作点心或者甜品并把它端到茶水桌这里来吗？","text":"On(Dessert,WaterTable)"} +{"title":"给我来点点心或者甜品，并把它端到茶水桌这里来。","text":"On(Dessert,WaterTable)"} +{"title":"你能制作点心或者甜品并把它端到咖啡桌这里来吗？","text":"On(Dessert,CoffeeTable)"} +{"title":"给我来点点心或者甜品，并把它端到咖啡桌这里来。","text":"On(Dessert,CoffeeTable)"} +{"title":"你能制作点心或者甜品并把它端到另一个吧台这里来吗？","text":"On(Dessert,Bar2)"} +{"title":"给我来点点心或者甜品，并把它端到另一个吧台这里来。","text":"On(Dessert,Bar2)"} +{"title":"你能制作点心或者甜品并把它端到第一张桌子这里来吗？","text":"On(Dessert,Table1)"} +{"title":"给我来点点心或者甜品，并把它端到第一张桌子这里来。","text":"On(Dessert,Table1)"} +{"title":"你能制作点心或者甜品并把它端到第二张桌子这里来吗？","text":"On(Dessert,Table2)"} +{"title":"给我来点点心或者甜品，并把它端到第二张桌子这里来。","text":"On(Dessert,Table2)"} +{"title":"你能制作点心或者甜品并把它端到第三张桌子这里来吗？","text":"On(Dessert,Table3)"} +{"title":"给我来点点心或者甜品，并把它端到第三张桌子这里来。","text":"On(Dessert,Table3)"} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.txt new file mode 100644 index 0000000..fa81cb2 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description.txt @@ -0,0 +1,193 @@ +At(Robot,Bar) 你能过来一下吗？我在吧台这里。 +At(Robot,Bar) 麻烦你去一下吧台。 +At(Robot,Bar) 你能去吧台那个位置吗？ +At(Robot,WaterTable) 你能过来一下吗？我在茶水桌这里。 +At(Robot,WaterTable) 麻烦你去一下茶水桌。 +At(Robot,WaterTable) 你能去茶水桌那个位置吗？ +At(Robot,CoffeeTable) 你能过来一下吗？我在咖啡桌这里。 +At(Robot,CoffeeTable) 麻烦你去一下咖啡桌。 +At(Robot,CoffeeTable) 你能去咖啡桌那个位置吗？ +At(Robot,Bar2) 你能过来一下吗？我在另一个吧台这里。 +At(Robot,Bar2) 麻烦你去一下另一个吧台。 +At(Robot,Bar2) 你能去另一个吧台那个位置吗？ +At(Robot,Table1) 你能过来一下吗？我在第一张桌子这里。 +At(Robot,Table1) 麻烦你去一下第一张桌子。 +At(Robot,Table1) 你能去第一张桌子那个位置吗？ +At(Robot,Table2) 你能过来一下吗？我在第二张桌子这里。 +At(Robot,Table2) 麻烦你去一下第二张桌子。 +At(Robot,Table2) 你能去第二张桌子那个位置吗？ +At(Robot,Table3) 你能过来一下吗？我在第三张桌子这里。 +At(Robot,Table3) 麻烦你去一下第三张桌子。 +At(Robot,Table3) 你能去第三张桌子那个位置吗？ +On(Softdrink,Bar) 麻烦你把盒装冰红茶放到吧台那个位置。 +On(Softdrink,Bar) 请你拿一下盒装冰红茶到吧台位置。 +On(Softdrink,WaterTable) 麻烦你把盒装冰红茶放到茶水桌那个位置。 +On(Softdrink,WaterTable) 请你拿一下盒装冰红茶到茶水桌位置。 +On(Softdrink,CoffeeTable) 麻烦你把盒装冰红茶放到咖啡桌那个位置。 +On(Softdrink,CoffeeTable) 请你拿一下盒装冰红茶到咖啡桌位置。 +On(Softdrink,Bar2) 麻烦你把盒装冰红茶放到另一个吧台那个位置。 +On(Softdrink,Bar2) 请你拿一下盒装冰红茶到另一个吧台位置。 +On(Softdrink,Table1) 麻烦你把盒装冰红茶放到第一张桌子那个位置。 +On(Softdrink,Table1) 请你拿一下盒装冰红茶到第一张桌子位置。 +On(Softdrink,Table2) 麻烦你把盒装冰红茶放到第二张桌子那个位置。 +On(Softdrink,Table2) 请你拿一下盒装冰红茶到第二张桌子位置。 +On(Softdrink,Table3) 麻烦你把盒装冰红茶放到第三张桌子那个位置。 +On(Softdrink,Table3) 请你拿一下盒装冰红茶到第三张桌子位置。 +On(BottledDrink,Bar) 麻烦你把瓶装饮料放到吧台那个位置。 +On(BottledDrink,Bar) 请你拿一下瓶装饮料到吧台位置。 +On(BottledDrink,WaterTable) 麻烦你把瓶装饮料放到茶水桌那个位置。 +On(BottledDrink,WaterTable) 请你拿一下瓶装饮料到茶水桌位置。 +On(BottledDrink,CoffeeTable) 麻烦你把瓶装饮料放到咖啡桌那个位置。 +On(BottledDrink,CoffeeTable) 请你拿一下瓶装饮料到咖啡桌位置。 +On(BottledDrink,Bar2) 麻烦你把瓶装饮料放到另一个吧台那个位置。 +On(BottledDrink,Bar2) 请你拿一下瓶装饮料到另一个吧台位置。 +On(BottledDrink,Table1) 麻烦你把瓶装饮料放到第一张桌子那个位置。 +On(BottledDrink,Table1) 请你拿一下瓶装饮料到第一张桌子位置。 +On(BottledDrink,Table2) 麻烦你把瓶装饮料放到第二张桌子那个位置。 +On(BottledDrink,Table2) 请你拿一下瓶装饮料到第二张桌子位置。 +On(BottledDrink,Table3) 麻烦你把瓶装饮料放到第三张桌子那个位置。 +On(BottledDrink,Table3) 请你拿一下瓶装饮料到第三张桌子位置。 +On(Yogurt,Bar) 麻烦你把酸奶放到吧台那个位置。 +On(Yogurt,Bar) 请你拿一下酸奶到吧台位置。 +On(Yogurt,WaterTable) 麻烦你把酸奶放到茶水桌那个位置。 +On(Yogurt,WaterTable) 请你拿一下酸奶到茶水桌位置。 +On(Yogurt,CoffeeTable) 麻烦你把酸奶放到咖啡桌那个位置。 +On(Yogurt,CoffeeTable) 请你拿一下酸奶到咖啡桌位置。 +On(Yogurt,Bar2) 麻烦你把酸奶放到另一个吧台那个位置。 +On(Yogurt,Bar2) 请你拿一下酸奶到另一个吧台位置。 +On(Yogurt,Table1) 麻烦你把酸奶放到第一张桌子那个位置。 +On(Yogurt,Table1) 请你拿一下酸奶到第一张桌子位置。 +On(Yogurt,Table2) 麻烦你把酸奶放到第二张桌子那个位置。 +On(Yogurt,Table2) 请你拿一下酸奶到第二张桌子位置。 +On(Yogurt,Table3) 麻烦你把酸奶放到第三张桌子那个位置。 +On(Yogurt,Table3) 请你拿一下酸奶到第三张桌子位置。 +On(ADMilk,Bar) 麻烦你把AD钙奶放到吧台那个位置。 +On(ADMilk,Bar) 请你拿一下AD钙奶到吧台位置。 +On(ADMilk,WaterTable) 麻烦你把AD钙奶放到茶水桌那个位置。 +On(ADMilk,WaterTable) 请你拿一下AD钙奶到茶水桌位置。 +On(ADMilk,CoffeeTable) 麻烦你把AD钙奶放到咖啡桌那个位置。 +On(ADMilk,CoffeeTable) 请你拿一下AD钙奶到咖啡桌位置。 +On(ADMilk,Bar2) 麻烦你把AD钙奶放到另一个吧台那个位置。 +On(ADMilk,Bar2) 请你拿一下AD钙奶到另一个吧台位置。 +On(ADMilk,Table1) 麻烦你把AD钙奶放到第一张桌子那个位置。 +On(ADMilk,Table1) 请你拿一下AD钙奶到第一张桌子位置。 +On(ADMilk,Table2) 麻烦你把AD钙奶放到第二张桌子那个位置。 +On(ADMilk,Table2) 请你拿一下AD钙奶到第二张桌子位置。 +On(ADMilk,Table3) 麻烦你把AD钙奶放到第三张桌子那个位置。 +On(ADMilk,Table3) 请你拿一下AD钙奶到第三张桌子位置。 +On(MilkDrink,Bar) 麻烦你把牛奶味的饮料放到吧台那个位置。 +On(MilkDrink,Bar) 请你拿一下牛奶味的饮料到吧台位置。 +On(MilkDrink,WaterTable) 麻烦你把牛奶味的饮料放到茶水桌那个位置。 +On(MilkDrink,WaterTable) 请你拿一下牛奶味的饮料到茶水桌位置。 +On(MilkDrink,CoffeeTable) 麻烦你把牛奶味的饮料放到咖啡桌那个位置。 +On(MilkDrink,CoffeeTable) 请你拿一下牛奶味的饮料到咖啡桌位置。 +On(MilkDrink,Bar2) 麻烦你把牛奶味的饮料放到另一个吧台那个位置。 +On(MilkDrink,Bar2) 请你拿一下牛奶味的饮料到另一个吧台位置。 +On(MilkDrink,Table1) 麻烦你把牛奶味的饮料放到第一张桌子那个位置。 +On(MilkDrink,Table1) 请你拿一下牛奶味的饮料到第一张桌子位置。 +On(MilkDrink,Table2) 麻烦你把牛奶味的饮料放到第二张桌子那个位置。 +On(MilkDrink,Table2) 请你拿一下牛奶味的饮料到第二张桌子位置。 +On(MilkDrink,Table3) 麻烦你把牛奶味的饮料放到第三张桌子那个位置。 +On(MilkDrink,Table3) 请你拿一下牛奶味的饮料到第三张桌子位置。 +On(Milk,Bar) 麻烦你把牛奶放到吧台那个位置。 +On(Milk,Bar) 请你拿一下牛奶到吧台位置。 +On(Milk,WaterTable) 麻烦你把牛奶放到茶水桌那个位置。 +On(Milk,WaterTable) 请你拿一下牛奶到茶水桌位置。 +On(Milk,CoffeeTable) 麻烦你把牛奶放到咖啡桌那个位置。 +On(Milk,CoffeeTable) 请你拿一下牛奶到咖啡桌位置。 +On(Milk,Bar2) 麻烦你把牛奶放到另一个吧台那个位置。 +On(Milk,Bar2) 请你拿一下牛奶到另一个吧台位置。 +On(Milk,Table1) 麻烦你把牛奶放到第一张桌子那个位置。 +On(Milk,Table1) 请你拿一下牛奶到第一张桌子位置。 +On(Milk,Table2) 麻烦你把牛奶放到第二张桌子那个位置。 +On(Milk,Table2) 请你拿一下牛奶到第二张桌子位置。 +On(Milk,Table3) 麻烦你把牛奶放到第三张桌子那个位置。 +On(Milk,Table3) 请你拿一下牛奶到第三张桌子位置。 +On(VacuumCup,Bar) 麻烦你把保温杯放到吧台那个位置。 +On(VacuumCup,Bar) 请你拿一下保温杯到吧台位置。 +On(VacuumCup,WaterTable) 麻烦你把保温杯放到茶水桌那个位置。 +On(VacuumCup,WaterTable) 请你拿一下保温杯到茶水桌位置。 +On(VacuumCup,CoffeeTable) 麻烦你把保温杯放到咖啡桌那个位置。 +On(VacuumCup,CoffeeTable) 请你拿一下保温杯到咖啡桌位置。 +On(VacuumCup,Bar2) 麻烦你把保温杯放到另一个吧台那个位置。 +On(VacuumCup,Bar2) 请你拿一下保温杯到另一个吧台位置。 +On(VacuumCup,Table1) 麻烦你把保温杯放到第一张桌子那个位置。 +On(VacuumCup,Table1) 请你拿一下保温杯到第一张桌子位置。 +On(VacuumCup,Table2) 麻烦你把保温杯放到第二张桌子那个位置。 +On(VacuumCup,Table2) 请你拿一下保温杯到第二张桌子位置。 +On(VacuumCup,Table3) 麻烦你把保温杯放到第三张桌子那个位置。 +On(VacuumCup,Table3) 请你拿一下保温杯到第三张桌子位置。 +Is(AC,On) 你能把空调关闭一下吗？ +Is(AC,Off) 你能把空调打开一下吗？ +Is(ACTemperature,On) 你能把空调Temperature调高一下吗？ +Is(ACTemperature,Off) 你能把空调Temperature调低一下吗？ +Is(HallLight,On) 你能把大厅灯关闭一下吗？ +Is(HallLight,Off) 你能把大厅灯打开一下吗？ +Is(TubeLight,On) 你能把筒灯关闭一下吗？ +Is(TubeLight,Off) 你能把筒灯打开一下吗？ +Is(Curtain,On) 你能把窗帘关闭一下吗？ +Is(Curtain,Off) 你能把窗帘打开一下吗？ +Is(Chairs,On) 你能把椅子脏一下吗？ +Is(Chairs,Off) 你能把椅子打扫干净一下吗？ +Is(Floor,On) 你能把地板脏一下吗？ +Is(Floor,Off) 你能把地板打扫干净一下吗？ +Is(Table1,On) 你能把第一张桌子脏一下吗？ +Is(Table1,Off) 你能把第一张桌子打扫干净一下吗？ +Holding(Softdrink) 你能把盒装冰红茶抓在手里吗？ +Holding(Softdrink) 你能一直拿着盒装冰红茶吗？ +Holding(BottledDrink) 你能把瓶装饮料抓在手里吗？ +Holding(BottledDrink) 你能一直拿着瓶装饮料吗？ +Holding(Yogurt) 你能把酸奶抓在手里吗？ +Holding(Yogurt) 你能一直拿着酸奶吗？ +Holding(ADMilk) 你能把AD钙奶抓在手里吗？ +Holding(ADMilk) 你能一直拿着AD钙奶吗？ +Holding(MilkDrink) 你能把牛奶味的饮料抓在手里吗？ +Holding(MilkDrink) 你能一直拿着牛奶味的饮料吗？ +Holding(Milk) 你能把牛奶抓在手里吗？ +Holding(Milk) 你能一直拿着牛奶吗？ +Holding(VacuumCup) 你能把保温杯抓在手里吗？ +Holding(VacuumCup) 你能一直拿着保温杯吗？ +Holding(Nothing) 你能把Nothing抓在手里吗？ +Holding(Nothing) 你能一直拿着Nothing吗？ +On(Coffee,Bar) 你能制作咖啡并把它端到吧台这里来吗？ +On(Coffee,Bar) 给我来点咖啡，并把它端到吧台这里来。 +On(Coffee,WaterTable) 你能制作咖啡并把它端到茶水桌这里来吗？ +On(Coffee,WaterTable) 给我来点咖啡，并把它端到茶水桌这里来。 +On(Coffee,CoffeeTable) 你能制作咖啡并把它端到咖啡桌这里来吗？ +On(Coffee,CoffeeTable) 给我来点咖啡，并把它端到咖啡桌这里来。 +On(Coffee,Bar2) 你能制作咖啡并把它端到另一个吧台这里来吗？ +On(Coffee,Bar2) 给我来点咖啡，并把它端到另一个吧台这里来。 +On(Coffee,Table1) 你能制作咖啡并把它端到第一张桌子这里来吗？ +On(Coffee,Table1) 给我来点咖啡，并把它端到第一张桌子这里来。 +On(Coffee,Table2) 你能制作咖啡并把它端到第二张桌子这里来吗？ +On(Coffee,Table2) 给我来点咖啡，并把它端到第二张桌子这里来。 +On(Coffee,Table3) 你能制作咖啡并把它端到第三张桌子这里来吗？ +On(Coffee,Table3) 给我来点咖啡，并把它端到第三张桌子这里来。 +On(Water,Bar) 你能制作水并把它端到吧台这里来吗？ +On(Water,Bar) 给我来点水，并把它端到吧台这里来。 +On(Water,WaterTable) 你能制作水并把它端到茶水桌这里来吗？ +On(Water,WaterTable) 给我来点水，并把它端到茶水桌这里来。 +On(Water,CoffeeTable) 你能制作水并把它端到咖啡桌这里来吗？ +On(Water,CoffeeTable) 给我来点水，并把它端到咖啡桌这里来。 +On(Water,Bar2) 你能制作水并把它端到另一个吧台这里来吗？ +On(Water,Bar2) 给我来点水，并把它端到另一个吧台这里来。 +On(Water,Table1) 你能制作水并把它端到第一张桌子这里来吗？ +On(Water,Table1) 给我来点水，并把它端到第一张桌子这里来。 +On(Water,Table2) 你能制作水并把它端到第二张桌子这里来吗？ +On(Water,Table2) 给我来点水，并把它端到第二张桌子这里来。 +On(Water,Table3) 你能制作水并把它端到第三张桌子这里来吗？ +On(Water,Table3) 给我来点水，并把它端到第三张桌子这里来。 +On(Dessert,Bar) 你能制作点心或者甜品并把它端到吧台这里来吗？ +On(Dessert,Bar) 给我来点点心或者甜品，并把它端到吧台这里来。 +On(Dessert,WaterTable) 你能制作点心或者甜品并把它端到茶水桌这里来吗？ +On(Dessert,WaterTable) 给我来点点心或者甜品，并把它端到茶水桌这里来。 +On(Dessert,CoffeeTable) 你能制作点心或者甜品并把它端到咖啡桌这里来吗？ +On(Dessert,CoffeeTable) 给我来点点心或者甜品，并把它端到咖啡桌这里来。 +On(Dessert,Bar2) 你能制作点心或者甜品并把它端到另一个吧台这里来吗？ +On(Dessert,Bar2) 给我来点点心或者甜品，并把它端到另一个吧台这里来。 +On(Dessert,Table1) 你能制作点心或者甜品并把它端到第一张桌子这里来吗？ +On(Dessert,Table1) 给我来点点心或者甜品，并把它端到第一张桌子这里来。 +On(Dessert,Table2) 你能制作点心或者甜品并把它端到第二张桌子这里来吗？ +On(Dessert,Table2) 给我来点点心或者甜品，并把它端到第二张桌子这里来。 +On(Dessert,Table3) 你能制作点心或者甜品并把它端到第三张桌子这里来吗？ +On(Dessert,Table3) 给我来点点心或者甜品，并把它端到第三张桌子这里来。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description_to_json.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description_to_json.py new file mode 100644 index 0000000..9b673be --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/goal_states_with_description_to_json.py @@ -0,0 +1,10 @@ +import os + +with open(os.path.join('./goal_states_with_description.txt'), 'r', encoding='utf-8') as file: + lines = file.readlines() + +with open(os.path.join('./goal_states_with_description.jsonl'), 'w', encoding='utf-8') as file: + + for line in lines: + tmp = line[:-1].split('\t') + file.write("""{"title":"%s","text":"%s"}\n""" % (tmp[1], tmp[0])) diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset/sentence_expansion.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/sentence_expansion.py new file mode 100644 index 0000000..5cd2be4 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset/sentence_expansion.py @@ -0,0 +1,61 @@ +import os +import requests +import urllib3 +from tqdm import tqdm + +######################################## +# 该文件实现了与大模型的简单通信 +######################################## + +# 忽略https的安全性警告 +urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning) + + +def single_round(question, prefix=""): + url = "https://45.125.46.134:25344/v1/chat/completions" + headers = {"Content-Type": "application/json"} + data = { + "model": "RoboWaiter", + "messages": [ + { + "role": "system", + # "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。" + "content": """ + 假设现在你是咖啡厅的一个顾客，请将以下你对咖啡厅服务员说的话改写成更清晰更合理的顾客表述。注意：句中的你指的是咖啡厅服务员，也不要说能帮我。 + 例如：麻烦你去一下吧台。可以转述成：服务员，你能去下吧台吗？ + 另一个例子：请你拿一下酸奶到吧台位置。可以转述成：服务员，拿一杯酸奶来吧台。 + + """ + }, + { + "role": "user", + "content": prefix + question + } + ] + } + + response = requests.post(url, headers=headers, json=data, verify=False) + + if response.status_code == 200: + result = response.json() + return result['choices'][0]['message']['content'].strip() + else: + return "大模型请求失败:", response.status_code + + +if __name__ == '__main__': + with open('./goal_states_with_description.txt', 'r', encoding='utf-8') as file: + lines = file.readlines() + + output_file = './expansion_out/output2.txt' + with open(output_file, 'a', encoding='utf-8') as file: + file.truncate(0) + for line in tqdm(lines): + tmp = line[:-1].split('\t') + # file.write("""{"title":"%s","text":"%s"}\n""" % (tmp[1], tmp[0])) + question = tmp[1] + # print(single_round(question)) + # print(tmp[1]) + with open(output_file, 'a', encoding='utf-8') as file: + file.write(tmp[0] + "\t" + single_round(question, prefix="现在改写一下句子：") + '\n') + print("输出完成") diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/W2V_CI.model b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/W2V_CI.model new file mode 100644 index 0000000000000000000000000000000000000000..8a382375a8ab70a737c649a3b55ded739116f289 GIT binary patch literal 14424 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+At(Robot,CoffeeTable) 请问能帮我来到这个咖啡桌吗？ +At(Robot,CoffeeTable) 请前往咖啡桌。 +At(Robot,CoffeeTable) 您好！请问您能帮我前往咖啡桌的位置吗？ +At(Robot,Bar2) 您好，请问您需要前往哪个吧台呢？ +At(Robot,Bar2) 请帮我前往另一个吧台。 +At(Robot,Bar2) 您好，机器人服务员！请问您能告诉我如何前往另一个吧台的位置吗？ +At(Robot,Table1) 请给我送一份菜单到第一桌。 +At(Robot,Table1) 请帮我前往第一桌，谢谢！ +At(Robot,Table1) 您好，我是一名AI助手，请问有什么我可以帮您的？ +At(Robot,Table2) 请帮我来到第二张桌子。 +At(Robot,Table2) 请帮我前往第二桌，谢谢！ +At(Robot,Table2) 您好，机器人服务员！请问您能否前往第二桌的位置提供服务？ +At(Robot,Table3) 请给我带来第三桌子的服务。 +At(Robot,Table3) 请前往第三张桌子。 +At(Robot,Table3) 您好，请问您需要我前往第三张桌子所在的方位吗？ +On(Softdrink,Bar) 请将软饮料放在吧台那个位置。 +On(Softdrink,Bar) 请将软饮料拿到吧台位置。 +On(Softdrink,WaterTable) 请将软饮料放在茶水桌那个位置。 +On(Softdrink,WaterTable) 请给我拿一罐软饮料，放在茶水桌的位置。 +On(Softdrink,CoffeeTable) 请将软饮料放在咖啡桌上的指定位置。 +On(Softdrink,CoffeeTable) 请把软饮料拿到我的咖啡桌位置。 +On(Softdrink,Bar2) 请将软饮料放在另一个酒吧台的位置。 +On(Softdrink,Bar2) 请将软饮料拿到另一个酒吧台位置。 +On(Softdrink,Table1) 请将软饮料放在第一桌的指定位置。 +On(Softdrink,Table1) 请给我拿一罐软饮料,放在第一桌子的位置。 +On(Softdrink,Table2) 请将软饮料放在第二桌的位置。 +On(Softdrink,Table2) 请帮我从一个位置(可能是吧台或货架)取来一瓶软饮料,然后将其放在第二张桌子上。 +On(Softdrink,Table3) 请将软饮料放在第三桌的具体位置。 +On(Softdrink,Table3) 请给我拿一罐软饮料，放 到第三张桌子的位置。 +On(BottledDrink,Bar) 您好，我想让您将瓶装饮料放在吧台那个位置。 +On(BottledDrink,Bar) 请帮我取一下瓶装饮料，放到吧台那里。 +On(BottledDrink,WaterTable) 您好,机器人服务员,我想让您放一瓶饮料在茶水桌上,可以吗? +On(BottledDrink,WaterTable) 请帮我拿一下瓶装饮料，放到茶水桌的位置。 +On(BottledDrink,CoffeeTable) 请将瓶装饮料放在咖啡桌上的指定位置。 +On(BottledDrink,CoffeeTable) 请把瓶装饮料拿到我的咖啡桌位置。 +On(BottledDrink,Bar2) 请将瓶装饮料放在另一个酒吧台的位置。 +On(BottledDrink,Bar2) 请帮我从一个吧台位置取一个瓶装饮料,然后将其拿到另一个吧台位置。 +On(BottledDrink,Table1) 请将瓶装饮料放在第一桌的指定位置。 +On(BottledDrink,Table1) 您好，我需要您帮忙将瓶装饮料拿到第一桌的位置。 +On(BottledDrink,Table2) 您好，我需要您帮助将瓶装饮料放在第二桌的具体位置。 +On(BottledDrink,Table2) 请给我拿一罐饮料,放在第二桌的位置。 +On(BottledDrink,Table3) 请将瓶装饮料放在第三桌的位置。 +On(BottledDrink,Table3) 请给我取一瓶饮料，放到了第三桌子上。 +On(Yogurt,Bar) 您好，我需要您将酸奶放在吧台上的哪个位置。 +On(Yogurt,Bar) 请您把酸奶拿到吧台。 +On(Yogurt,WaterTable) 请将酸奶放在茶水桌那个位置。 +On(Yogurt,WaterTable) 请将酸奶放在茶水桌的位置。 +On(Yogurt,CoffeeTable) 请将酸奶放在咖啡桌上的指定位置。 +On(Yogurt,CoffeeTable) 请把酸奶放在咖啡桌的位置。 +On(Yogurt,Bar2) 请将酸奶放在另一个吧台上的那个位置。 +On(Yogurt,Bar2) 您好，机器人服务员！请问您可以帮我拿一下酸奶，放到那个靠近窗户的吧台位置吗？谢谢！ +On(Yogurt,Table1) 请将酸奶放在第一桌的第一位置。 +On(Yogurt,Table1) 请将酸奶放在第一桌的位置。 +On(Yogurt,Table2) 您好，请问能帮我将酸奶放在第二张桌子的位置吗？谢谢！ +On(Yogurt,Table2) 请把酸奶放在第二桌的位置。 +On(Yogurt,Table3) 您好,机器人服务员,我想让您把酸奶放到第三张桌子的位置。谢谢! +On(Yogurt,Table3) 请把酸奶放在第三桌的位置。 +On(ADMilk,Bar) 请将AD钙奶放在吧台那个位置。 +On(ADMilk,Bar) 请把AD钙奶放到 bar 位置。 +On(ADMilk,WaterTable) 请将AD钙奶放在茶水桌那个位置。 +On(ADMilk,WaterTable) 请帮我取一份AD钙奶，放在茶水桌的位置上。 +On(ADMilk,CoffeeTable) 请将AD钙奶放在咖啡桌上的指定位置。 +On(ADMilk,CoffeeTable) 请将AD钙奶送到我的咖啡桌位置。 +On(ADMilk,Bar2) 请将AD钙奶放在另一个酒吧台的位置。 +On(ADMilk,Bar2) 您好，机器人服务员！请问能帮我拿一下AD钙奶，放到另一个吧台位置吗？谢谢！ +On(ADMilk,Table1) 请将AD钙奶放在第一桌的指定位置。 +On(ADMilk,Table1) 请把AD钙奶放在第一桌的位置。 +On(ADMilk,Table2) 请将AD钙奶放在第二桌的位置。 +On(ADMilk,Table2) 请把AD钙奶放在第二桌的位置。 +On(ADMilk,Table3) 您好,机器人服务员!请问能帮我将AD钙奶放到第三张桌子的位置吗?谢谢! +On(ADMilk,Table3) 请帮我取一份AD钙奶，放至第三桌。 +On(MilkDrink,Bar) 请将牛奶饮料放在吧台那个位置。 +On(MilkDrink,Bar) 请帮我拿一罐牛奶饮料放到吧台的位置。 +On(MilkDrink,WaterTable) 请将牛奶饮料放在茶水桌那个位置。 +On(MilkDrink,WaterTable) 请帮我递一下牛奶饮料，放到茶水桌的位置。 +On(MilkDrink,CoffeeTable) 请将牛奶饮料放在咖啡桌上的指定位置。 +On(MilkDrink,CoffeeTable) 请将牛奶饮料放在我的咖啡桌上。 +On(MilkDrink,Bar2) 请将牛奶饮料放在另一个酒吧台的位置。 +On(MilkDrink,Bar2) 您好，机器人服务员！请问能否帮我拿一下牛奶饮料，并将其放在另一个吧台位置？谢谢！ +On(MilkDrink,Table1) 请将牛奶饮料放在第一桌的指定位置。 +On(MilkDrink,Table1) 请将牛奶饮料拿到第一桌。 +On(MilkDrink,Table2) 请将牛奶饮料放在第二桌的位置上。 +On(MilkDrink,Table2) 请给我拿一罐牛奶饮料,放在第二桌的位置。 +On(MilkDrink,Table3) 请将牛奶饮料放在第三桌的具体位置。 +On(MilkDrink,Table3) 请给我拿一罐牛奶饮料，放到第三张桌子的位置。 +On(Milk,Bar) 请将牛奶放在吧台那个地方。 +On(Milk,Bar) 请把牛奶拿到吧台。 +On(Milk,WaterTable) 请将牛奶放在茶水桌那个位置。 +On(Milk,WaterTable) 请将牛奶放在茶水桌附近。 +On(Milk,CoffeeTable) 请将牛奶放在咖啡桌上的指定位置。 +On(Milk,CoffeeTable) 请把牛奶放在我的咖啡桌上。 +On(Milk,Bar2) 请将牛奶放在另一个酒吧台的位置上。 +On(Milk,Bar2) 请将牛奶拿到另一个吧台位置。 +On(Milk,Table1) 请将牛奶放在第一桌的位置上。 +On(Milk,Table1) 请把牛奶放在第一桌的位置上。 +On(Milk,Table2) 请将牛奶放在第二桌那个位置。 +On(Milk,Table2) 请给我拿一罐牛奶，放的第二张桌子上。 +On(Milk,Table3) 您好，我需要您将牛奶放在第三张桌子的位置。谢谢！ +On(Milk,Table3) 请给我拿一罐牛奶，放到第三桌子的位置。 +On(VacuumCup,Bar) 请将我的保温杯放在吧台上的那个位置。 +On(VacuumCup,Bar) 请将我的保温杯拿到吧台。 +On(VacuumCup,WaterTable) 请将我的保温杯放在茶水桌那个地方。 +On(VacuumCup,WaterTable) 请将保温杯拿到茶水桌那里。 +On(VacuumCup,CoffeeTable) 请将保温杯放置在咖啡桌上的指定位置。 +On(VacuumCup,CoffeeTable) 请把保温杯放在咖啡桌附近。 +On(VacuumCup,Bar2) 请将我的保温杯放在另一个酒吧台上的那个位置。 +On(VacuumCup,Bar2) 请帮我把保温杯拿到另一个吧台位置。 +On(VacuumCup,Table1) 请将保温杯放在第一桌的指定位置。 +On(VacuumCup,Table1) 请把保温杯拿到第一桌子的位置。 +On(VacuumCup,Table2) 请将保温杯放在第二桌的具体位置。 +On(VacuumCup,Table2) 请帮我递一个保温杯到第二桌。 +On(VacuumCup,Table3) 请将保温杯放在第三桌的指定位置。 +On(VacuumCup,Table3) 请把保温杯拿到第三桌的位置。 +Is(AC,0) 当然可以，请问需要我为您执行这个操作吗？ +Is(AC,1) 您好！请问您需要我为您打开空调吗？ +Is(ACTemperature,0) 尊敬的服务员，可以请您把空调温度调高一些吗？谢谢！ +Is(ACTemperature,1) 尊敬的服务员，能否请您将空调温度调低一些呢？ +Is(HallLight,0) 当然可以，请您稍等，我这就帮您关闭大厅灯。 +Is(HallLight,1) 您好！请问您需要我为您做些什么呢？ +Is(TubeLight,0) 尊敬的服务员，请问你能把筒灯调暗一些吗？ +Is(TubeLight,1) 您好，请问您需要我帮您打开筒灯吗？ +Is(Curtain,0) 您好，我能为您做什么？ +Is(Curtain,1) 您好，请问您需要我帮您打开窗帘吗？ +Is(Chairs,0) 您好！请问需要我为您做什么？ +Is(Chairs,1) 您好，请问能帮我清理一下座位上的灰尘吗？ +Is(Floor,0) 抱歉,我理解您的意思了。请问需要我帮忙做些什么来清理地板呢? +Is(Floor,1) 请问你能帮我打扫一下地板吗？ +Is(Table1,0) 您好，请问需要我帮助您做什么呢？如果您需要我清理桌子的灰尘或者污渍，麻烦您告诉我哪一张桌子需要清洁。 +Is(Table1,1) 请帮我清理一下这张桌子的灰尘和垃圾。 +Holding(Softdrink) 您好，我是您的机器人服务员。请问您需要什么帮助呢？ +Holding(Softdrink) 您好,我是一个机器人服务员。请问您需要什么帮助?如果您想要点软饮料,您可以告诉我您的喜好,我会为您推荐一些适合的选项。 +Holding(BottledDrink) 您好，请问您需要什么帮助？我会尽力满足您的需求。 +Holding(BottledDrink) 您好,我是一名机器人服务员。请问您需要我帮忙拿着一瓶装饮料吗? +Holding(Yogurt) 您好，我可以帮助您点餐和回答问题。请问您需要什么食物或饮料？ +Holding(Yogurt) 请问你能一直帮我拿着这个酸奶吗？ +Holding(ADMilk) 你好，尊敬的服务员！能否帮我抓住AD钙奶并递给我呢？ +Holding(ADMilk) 您好,我无法长时间拿着 AD 钙奶。作为一个机器人服务员,我的任务是帮助您解决问题和回答问题,而不是提供物理服务。如果您需要AD钙奶,我可以告诉您在哪里可以找到它,或者指导您如何自己获取它。 +Holding(MilkDrink) 您好！请问有什么我可以帮您的吗？ +Holding(MilkDrink) 您好，我是您的机器人服务员。请问您需要我为您一直拿着这杯牛奶饮料吗？ +Holding(Milk) 你好，尊敬的服务员，能帮我拿一下牛奶吗？ +Holding(Milk) 请问你能一直拿着牛奶吗？ +Holding(VacuumCup) 您好，请问您需要什么帮助？我可以为您提供服务。 +Holding(VacuumCup) 您好，我是一名AI机器人，无法直接为您拿保温杯。但是，我可以为您提供购买保温杯的建议，或者推荐其他相关商品。请问您需要什么帮助吗？ +Holding(Nothing) 抱歉,我需要更多的信息来理解您的请求。请问您能告诉我您具体想要什么帮助吗?我会尽力回答您的问题。 +Holding(Nothing) 请问您能一直拿着无所事事吗？ +On(Coffee,Bar) 您好，我需要一杯咖啡，并希望它能够被送到吧台。 +On(Coffee,Bar) 请帮我准备一杯咖啡,然后把咖啡端到吧台这里。 +On(Coffee,WaterTable) 您好！请问您能帮我制作一杯咖啡并将其端到茶水桌 here 吗？谢谢！ +On(Coffee,WaterTable) 请帮我准备一杯咖啡,然后将它端到茶水桌旁边。 +On(Coffee,CoffeeTable) 当然可以，请问您想喝什么类型的咖啡呢？ +On(Coffee,CoffeeTable) 请帮我准备一杯咖啡,然后将它端到这个咖啡桌上来。 +On(Coffee,Bar2) 您好，机器人服务员！请问您能帮我制作一杯咖啡，然后把咖啡端到这个吧台这里来吗？谢谢！ +On(Coffee,Bar2) 请帮我准备一杯咖啡,然后把咖啡端到这个吧台这里。 +On(Coffee,Table1) 您好，我是一名人工智能助手。请问您需要什么帮助？ +On(Coffee,Table1) 请给我一杯咖啡,并将其放在第一桌子上。 +On(Coffee,Table2) 您好，机器人服务员！我想要一杯咖啡，并且希望它能够被送到第二张桌子上。 +On(Coffee,Table2) 请为我准备一杯咖啡,并将其送到第二桌。 +On(Coffee,Table3) 您好！请问您能否帮我制作一杯咖啡，然后把咖啡端到第三张桌子上呢？谢谢！ +On(Coffee,Table3) 请为我准备一杯咖啡,并将其送到第三张桌子上。 +On(Water,Bar) 您好，我需要一杯水，并且希望它能够被端到吧台那里。 +On(Water,Bar) 请为我准备一杯水,并将其送到吧台。 +On(Water,WaterTable) 您好，我需要一杯水，并希望您能将其端到茶水桌这里。 +On(Water,WaterTable) 请为我送一杯水,并将其放在茶水桌上。 +On(Water,CoffeeTable) 您好，我是一名机器人服务员。请问您需要一杯水，我可以为您制作并在准备好后将其端到咖啡桌旁边。 +On(Water,CoffeeTable) 请给我一杯水,并将其递送到我的咖啡桌上。 +On(Water,Bar2) 您好，机器人服务员！请问你能帮我制作一杯水，然后将其端到距离这里较远的另一个吧台吗？谢谢！ +On(Water,Bar2) 请给我倒一杯水,然后把水端到这个吧台这里。 +On(Water,Table1) 您好，我需要一杯水，并希望它能够被送到我所在的桌子上。 +On(Water,Table1) 请为我准备一杯水,并将其送到这张桌子的位置上。 +On(Water,Table2) 您好，我需要一杯水，并希望你能将它端到第二张桌子上。 +On(Water,Table2) 请给我倒一杯水,并把水杯端到第二桌子上。 +On(Water,Table3) 您好，机器人服务员！请问能否为您制作一杯水，并将其送到第三张桌子呢？ +On(Water,Table3) 请为我准备一杯水,并将其送到第三桌。 +On(Dessert,Bar) 您好，我需要点心和甜品。请帮我制作一下，然后把它们带到吧台来。 +On(Dessert,Bar) 您好，我可以帮您点一些点心或甜品，然后将它们送到吧台。请问您想点什么？ +On(Dessert,WaterTable) 您好，我需要点心和甜品，并将它们端到茶水桌 here。 +On(Dessert,WaterTable) 请为我准备一些点心或甜品,并将其递送到我的茶水桌子上。 +On(Dessert,CoffeeTable) 您好，我是一个人工智能助手，虽然我不能直接为您制作点心或甜品，但我可以帮助您找到附近的餐厅或店铺，为您推荐美味的点心或甜品，您可以品尝一下。如果您有其他需要帮助的地方，也请随时告诉我。 +On(Dessert,CoffeeTable) 请为我准备一些点心或甜品，然后将其放置在咖啡桌附近。 +On(Dessert,Bar2) 您好，我需要点心和甜品。请问您能帮我制作吗？然后把它们端到这里来。谢谢！ +On(Dessert,Bar2) 请帮我点一份点心或甜品,然后把它端到另一个吧台那里。 +On(Dessert,Table1) 您好，我是一位AI助手，无法直接为您制作点心或甜品。但我可以为您推荐菜单上的点心或甜品，或者帮您下单购买。请问您需要什么帮助？ +On(Dessert,Table1) 请帮我点一些点心或甜品，并把它们放在这张桌子上。 +On(Dessert,Table2) 您好，机器人服务员！我需要点心和甜品，可以帮我制作吗？把它们送到第二桌来，谢谢！ +On(Dessert,Table2) 您好，请问有什么我可以帮您的吗？您可以点一些点心或甜品，然后告诉我放在哪一张桌子上，我会马上为您送过去。 +On(Dessert,Table3) 您好，我需要点心和甜品，请把它们送到第三桌。 +On(Dessert,Table3) 您好,机器人服务员!请问您能帮我点些点心或甜品吗?我要把它们送到第三桌。 +At(Robot,Bar) 您好，机器人服务员！请问您能带路来到 Bar 吗？我想要一杯饮料和一些小吃。谢谢！ +At(Robot,Bar) 请帮我前往Bar。 +At(Robot,Bar) 请问你能带我前往Bar位置吗？ +At(Robot,WaterTable) 请帮我找到WaterTable。 +At(Robot,WaterTable) 您好，机器人服务员！请问您能帮我订一张去WaterTable的桌子吗？ +At(Robot,WaterTable) 当然可以！请问您需要我向WaterTable位置发送消息吗？ +At(Robot,CoffeeTable) 请把咖啡机移到CoffeeTable附近。 +At(Robot,CoffeeTable) 请前往CoffeeTable。 +At(Robot,CoffeeTable) 您好，我是一名人工智能助手，请问有什么我可以帮您的？ +At(Robot,Bar2) 您好，我需要去Bar2。 +At(Robot,Bar2) 您好，机器人服务员，请问您能帮我前往Bar2吗？ +At(Robot,Bar2) 您好，我是一名AI助手，无法移动到特定的位置。但我会尽力为您提供帮助。您想前往Bar2吗？如果有其他问题，欢迎随时告诉我。 +At(Robot,Table1) 请把菜单送到Table 1。 +At(Robot,Table1) 请前往Table1。 +At(Robot,Table1) 您好，我能前往Table1位置吗？ +At(Robot,Table2) 请带领我到Table 2。 +At(Robot,Table2) 请前往Table2。 +At(Robot,Table2) 您好！请问您需要我前往Table2位置吗？ +At(Robot,Table3) 请把服务生叫来Table 3。 +At(Robot,Table3) 请去Table3。 +At(Robot,Table3) 您好，我需要您前往Table3位置。 +On(Softdrink,Bar) 请将Softdrink放在Bar那个位置。 +On(Softdrink,Bar) 请把Softdrink拿到Bar位置。 +On(Softdrink,WaterTable) 您好，机器人服务员！请问能帮我将Softdrink放在WaterTable的位置上吗？谢谢！ +On(Softdrink,WaterTable) 请把Softdrink拿到WaterTable的位置。 +On(Softdrink,CoffeeTable) 请将Softdrink放在CoffeeTable那个位置。 +On(Softdrink,CoffeeTable) 请将Softdrink拿到CoffeeTable的位置。 +On(Softdrink,Bar2) 您好，机器人服务员！请问能否帮我放一下Softdrink到Bar2的位置呢？谢谢！ +On(Softdrink,Bar2) 请把Softdrink拿到Bar2的位置。 +On(Softdrink,Table1) 请将Softdrink放在Table1的位置。 +On(Softdrink,Table1) 请把Softdrink拿到Table 1的位置。 +On(Softdrink,Table2) 您好，机器人服务员！请将Softdrink放在Table 2的位置。谢谢！ +On(Softdrink,Table2) 请将Softdrink拿到Table 2的位置。 +On(Softdrink,Table3) 您好，机器人服务员！请问能否将Softdrink放在Table3的位置上？ +On(Softdrink,Table3) 请将Softdrink拿到Table 3的位置。 +On(BottledDrink,Bar) 请将瓶装饮料放在酒吧那个位置。 +On(BottledDrink,Bar) 请将瓶装饮料送到酒吧区域。 +On(BottledDrink,WaterTable) 请将瓶装饮料放在水桌那个位置。 +On(BottledDrink,WaterTable) 请把瓶装饮料拿到水桌的位置。 +On(BottledDrink,CoffeeTable) 请将瓶装饮料放在咖啡桌那个位置。 +On(BottledDrink,CoffeeTable) 请把瓶装饮料放在咖啡桌的位置。 +On(BottledDrink,Bar2) 请将瓶装饮料放在 Bar 2 的位置。 +On(BottledDrink,Bar2) 请把瓶装饮料送到酒吧2号位置。 +On(BottledDrink,Table1) 您好，机器人服务员！请将瓶装饮料放在Table1的位置上。谢谢！ +On(BottledDrink,Table1) 请将瓶装饮料拿到Table 1的位置。 +On(BottledDrink,Table2) 请将Bottled Drink放在Table 2的位置。 +On(BottledDrink,Table2) 请把瓶装饮料送到Table2位置。 +On(BottledDrink,Table3) 请将瓶装饮料放在Table3的位置上。 +On(BottledDrink,Table3) 请把瓶装饮料拿到Table3的位置。 +On(Yogurt,Bar) 您好，请问您需要将酸奶放在哪个位置？ +On(Yogurt,Bar) 请把Yogurt送到Bar位置。 +On(Yogurt,WaterTable) 请将Yogurt放在WaterTable的位置上。 +On(Yogurt,WaterTable) 请把Yogurt送到WaterTable位置。 +On(Yogurt,CoffeeTable) 请将Yogurt放在CoffeeTable那个位置。 +On(Yogurt,CoffeeTable) 请把Yogurt送到CoffeeTable那里。 +On(Yogurt,Bar2) 您好，机器人服务员！请帮我将酸奶（Yogurt）放在 Bar2 的位置上。谢谢！ +On(Yogurt,Bar2) 请将Yogurt送到Bar2位置。 +On(Yogurt,Table1) 您好，机器人服务员！请将酸奶（Yogurt）放到Table1的位置上。谢谢！ +On(Yogurt,Table1) 请将Yogurt拿到Table 1的位置。 +On(Yogurt,Table2) 请将 Yogurt 放在 Table2 的那个位置。 +On(Yogurt,Table2) 请将 Yogurt 拿到 Table 2 的位置。 +On(Yogurt,Table3) 您好，请问可以帮我将Yogurt放在Table3的位置吗？ +On(Yogurt,Table3) 请将Yogurt放在Table 3的位置上。 +On(ADMilk,Bar) 请将AD Milk放在Bar位置。 +On(ADMilk,Bar) 请把ADMilk拿到Bar位置。 +On(ADMilk,WaterTable) 请将AD Milk放在 WaterTable 的那个位置。 +On(ADMilk,WaterTable) 您好，请问能帮我拿一下ADMilk到WaterTable的位置吗？ +On(ADMilk,CoffeeTable) 您好，我需要您将ADMilk放在CoffeeTable那个位置。 +On(ADMilk,CoffeeTable) 请将AD Milk拿到Coffee Table的位置。 +On(ADMilk,Bar2) 请将AD Milk放置在Bar 2的位置。 +On(ADMilk,Bar2) 请把ADMilk拿到Bar2位置。 +On(ADMilk,Table1) 请将ADMilk放到Table1的位置。 +On(ADMilk,Table1) 请将ADMilk搬到Table1的位置。 +On(ADMilk,Table2) 请将ADMilk放在Table2的位置。 +On(ADMilk,Table2) 请把ADMilk搬到Table2的位置。 +On(ADMilk,Table3) 请将ADMilk放在Table3的位置。 +On(ADMilk,Table3) 您好，服务员！能帮我拿一下ADMilk到Table3位置吗？ +On(MilkDrink,Bar) 请将牛奶饮料放在吧台那个位置。 +On(MilkDrink,Bar) 请把牛奶饮料拿到酒吧位置。 +On(MilkDrink,WaterTable) 请将牛奶饮料放在水桌那个位置。 +On(MilkDrink,WaterTable) 请把牛奶饮料拿到水 table 位置。 +On(MilkDrink,CoffeeTable) 请将牛奶饮料放在咖啡桌那个位置。 +On(MilkDrink,CoffeeTable) 请将牛奶饮料递送到咖啡桌位置。 +On(MilkDrink,Bar2) 请将牛奶饮料放在吧台2的位置。 +On(MilkDrink,Bar2) 请把牛奶饮料递送到酒吧2号位置。 +On(MilkDrink,Table1) 请将牛奶饮料放在Table1的位置上。 +On(MilkDrink,Table1) 请把牛奶饮料拿到Table1的位置。 +On(MilkDrink,Table2) 请将牛奶饮料放到桌子2的位置。 +On(MilkDrink,Table2) 请把牛奶饮料送到Table2位置。 +On(MilkDrink,Table3) 请将牛奶饮料放在桌3的位置。 +On(MilkDrink,Table3) 请将牛奶饮料拿到 table 3 的位置。 +On(Milk,Bar) 请将牛奶放在酒吧那个位置。 +On(Milk,Bar) 请把牛奶拿到酒吧位置。 +On(Milk,WaterTable) 请将牛奶放在水 table 的那个位置。 +On(Milk,WaterTable) 请把牛奶拿到 WaterTable 那里。 +On(Milk,CoffeeTable) 请将牛奶放在咖啡桌上的指定位置。 +On(Milk,CoffeeTable) 请把牛奶拿到咖啡桌的位置。 +On(Milk,Bar2) 请将牛奶放在 Bar2 的位置。 +On(Milk,Bar2) 请把牛奶放到Bar2的位置。 +On(Milk,Table1) 您好，机器人服务员！请将牛奶放在Table1的位置。 +On(Milk,Table1) 请把牛奶拿到Table1的位置。 +On(Milk,Table2) 请将牛奶放在Table2的位置。 +On(Milk,Table2) 请把牛奶放在Table2的位置上。 +On(Milk,Table3) 请将牛奶放在Table3的位置上。 +On(Milk,Table3) 请把牛奶拿到Table3的位置。 +On(VacuumCup,Bar) 请将VacuumCup放置在Bar位置。 +On(VacuumCup,Bar) 请把VacuumCup放到Bar位置。 +On(VacuumCup,WaterTable) 请将VacuumCup放置在WaterTable上。 +On(VacuumCup,WaterTable) 请把VacuumCup放到WaterTable的位置。 +On(VacuumCup,CoffeeTable) 请将VacuumCup放在CoffeeTable那个地方。 +On(VacuumCup,CoffeeTable) 请把VacuumCup放到CoffeeTable上。 +On(VacuumCup,Bar2) 请将VacuumCup放置在Bar2的位置上。 +On(VacuumCup,Bar2) 请把VacuumCup移到Bar2的位置。 +On(VacuumCup,Table1) 请将VacuumCup放置在Table1的位置上。 +On(VacuumCup,Table1) 请把VacuumCup移到Table1的位置。 +On(VacuumCup,Table2) 请将VacuumCup放到Table2的位置。 +On(VacuumCup,Table2) 请把VacuumCup放到Table2的位置。 +On(VacuumCup,Table3) 请将VacuumCup放置在Table3的位置上。 +On(VacuumCup,Table3) 请将VacuumCup移至Table3位置。 +Is(AC,0) 请问你能帮我关掉AC吗？ +Is(AC,1) 请问你能帮我打开空调吗？ +Is(ACTemperature,0) 尊敬的服务员，请问您能否将温度调高一些呢？ +Is(ACTemperature,1) 请问你能将咖啡厅的温度调低一些吗? +Is(HallLight,0) 当然可以，请问需要我使用哪个开关来关闭HallLight呢？ +Is(HallLight,1) 您好！请问您需要我帮助您开启还是关闭HallLight呢？ +Is(TubeLight,0) 当然可以，请问您需要我使用哪个遥控器来关闭它呢？ +Is(TubeLight,1) 您好，机器人服务员！请问您能帮我打开一下 tube light 吗？谢谢！ +Is(Curtain,0) 请问你能把窗帘关上吗？ +Is(Curtain,1) 请问你能把窗户帘打开一下吗？ +Is(Chairs,0) 您好，请问您需要我帮助清理座位上的污渍吗？ +Is(Chairs,1) 您好，我是您的顾客。我想请问您是否能帮我清理一下座位上的灰尘和垃圾？ +Is(Floor,0) 您好，我能为您做些什么呢？如果您需要我帮忙打扫地板，请告诉我哪里需要清理，我会尽快为您处理。 +Is(Floor,1) 您好，我需要您帮助打扫一下地板。 +Is(Table1,0) 您好！请问您需要我为您做什么呢？如果您需要我清理Table1，请您告诉我需要使用什么清洁用品，我会按照您的指示进行操作。 +Is(Table1,1) 您好，请问需要我帮您打扫Table1吗？ +Holding(Softdrink) 您好，我是一款人工智能助手，无法直接与现实世界进行交互。但我可以为您提供有关如何抓饮料的信息。您可以尝试用手指将Softdrink抓在手中。如果您需要更多帮助，请随时告诉我。 +Holding(Softdrink) 您好，我是您的机器人服务员。我能帮您拿住Softdrink吗？ +Holding(BottledDrink) 我能帮我拿起那瓶饮料吗？ +Holding(BottledDrink) 您好！请问您需要我帮您一直拿着这瓶饮料吗？ +Holding(Yogurt) 请问你能帮我拿一下 yogurt 吗？ +Holding(Yogurt) 您好，我可以帮助您更好地理解和使用我们的服务。请问您需要我为您拿取什么商品呢？ +Holding(ADMilk) 你能帮我拿一下AD Milk吗？ +Holding(ADMilk) 您好,我需要点一杯AD Milk。麻烦您能帮我拿一下吗? +Holding(MilkDrink) 我想要一杯牛奶饮料,能帮我把它端过来吗? +Holding(MilkDrink) 我需要你一直拿着牛奶饮料。 +Holding(Milk) 您好，请问有什么我可以帮助您的？ +Holding(Milk) 您好，我是您的机器人服务员。请问有什么我可以帮助您的吗？ +Holding(VacuumCup) 您好！请问您需要什么帮助？ +Holding(VacuumCup) 您好！请问您需要我帮助您一直拿着VacuumCup吗？ +Holding(Nothing) 你能帮我把"Nothing"拿在手里吗？ +Holding(Nothing) 您好！作为您的机器人服务员，我会尽力满足您的要求。请问您需要我帮忙做什么呢？ +On(Coffee,Bar) 当然可以！请问您想要什么口味的咖啡呢？ +On(Coffee,Bar) 请给我一杯咖啡，并将其送到吧台。 +On(Coffee,WaterTable) 当然可以，请告诉我您想喝的咖啡口味，我会为您制作一杯美味的咖啡，然后将其送到WaterTable桌旁。 +On(Coffee,WaterTable) 请给我一杯咖啡，并将其送到 WaterTable 那里。 +On(Coffee,CoffeeTable) 您好，我是一名机器人服务员。我能为您制作一杯咖啡，并将其端到CoffeeTable上吗？ +On(Coffee,CoffeeTable) 请给我一杯咖啡，并把它送到Coffee Table那里。 +On(Coffee,Bar2) 当然可以，请告诉我您想要什么口味的咖啡，我会为您制作并在准备好后把咖啡端到Bar 2。 +On(Coffee,Bar2) 请给我一杯咖啡，并将其送到Bar2。 +On(Coffee,Table1) 当然可以！请问您需要什么口味的咖啡呢？ +On(Coffee,Table1) 请给我一杯咖啡，并将其送到Table1。 +On(Coffee,Table2) 您好，机器人服务员！我想要一杯咖啡，并希望它能够被送到 Table 2。 +On(Coffee,Table2) 请为我准备一杯咖啡，并将其送到Table 2。 +On(Coffee,Table3) 您好，机器人服务员！请问您能帮我制作一杯咖啡，然后将其端到Table 3吗？谢谢！ +On(Coffee,Table3) 请为我准备一杯咖啡，并将其送到Table 3。 +On(Water,Bar) 您好，我需要一杯水，请能帮我制作并送到酒吧处谢谢！ +On(Water,Bar) 我需要一杯水,并希望它能够被送到酒吧区域。 +On(Water,WaterTable) 您好，我需要一杯水，并将它送到水桌子上。 +On(Water,WaterTable) 请为我准备一些水，并将其送到水桌 here。 +On(Water,CoffeeTable) 您好，我需要一杯水，并将它送到咖啡桌 here。 +On(Water,CoffeeTable) 请给我倒一杯水，然后将其放在咖啡桌子上。 +On(Water,Bar2) 当然可以！请问您在哪个咖啡厅？我想请您把水送到 Bar 2。 +On(Water,Bar2) 我需要一杯水,并希望它能够被送到Bar2那里。 +On(Water,Table1) 您好，我是一名机器人服务员。请问您需要什么帮助？ +On(Water,Table1) 请给我一杯水，并将其送到Table1位置。 +On(Water,Table2) 当然可以！请问您需要什么温度的水呢？并且您想要在哪个桌子上 receiving 水呢？ +On(Water,Table2) 请给我倒一杯水,并把水送到Table 2那里。 +On(Water,Table3) 您好，机器人服务员！请问您能给我准备一杯水，然后将其送到 Table 3 位置吗？谢谢！ +On(Water,Table3) 请给我倒一杯水,并将其送到 Table 3 桌子上。 +On(Dessert,Bar) 您好，我需要一份甜点并将其送到吧台。 +On(Dessert,Bar) 请送一些甜点来，并将其送到吧台处。 +On(Dessert,WaterTable) 您好，我需要一份甜点，并希望它能够被送到名为"WaterTable"的水 table 那里。 +On(Dessert,WaterTable) 请为我准备一些甜点，并将它送到watertable来。 +On(Dessert,CoffeeTable) 您好，我是一名机器人服务员。我能为您制作甜点，并将其送到咖啡桌旁边。请问您想点什么类型的甜点呢？ +On(Dessert,CoffeeTable) 请为我准备一些甜点，并将其送到咖啡桌这里。 +On(Dessert,Bar2) 您好，我需要一份甜点，并希望它能够被送到酒吧2。 +On(Dessert,Bar2) 请为我准备一些甜点，并将其送到Bar2。 +On(Dessert,Table1) 您好，机器人服务员！我想要一份甜点，并希望它能够被送到Table1那里。 +On(Dessert,Table1) 请为我准备一些甜点，并将其送到Table1。 +On(Dessert,Table2) 您好，我是一名机器人服务员。我能为您制作甜点并将它送到Table 2吗？ +On(Dessert,Table2) 请给我上甜点，并将它送到Table2那里。 +On(Dessert,Table3) 您好，机器人服务员！请问您能帮我制作一份甜点并将其送到Table 3吗？ +On(Dessert,Table3) 请为我准备一些甜点，并将其送到Table3桌子上。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output1.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output1.txt new file mode 100644 index 0000000..ddbd385 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output1.txt @@ -0,0 +1,388 @@ +At(Robot,Bar) 嘿，来酒吧了啊？ +At(Robot,Bar) 你可以去前台一下吗？ +At(Robot,Bar) 当然可以，我可以过去帮忙吗？ +At(Robot,WaterTable) 哎呀，你终于出现了啊！赶紧过来坐一下，我给你倒杯茶水。 +At(Robot,WaterTable) 嘿，你能帮我再去茶水桌那儿拿一下水吗？ +At(Robot,WaterTable) 当然可以啊，我马上就去茶水桌那儿。 +At(Robot,CoffeeTable) 哎呀，你终于出现了啊！赶紧过来坐一下，我给你倒杯咖啡。 +At(Robot,CoffeeTable) 你可以去 coffee table 一下哦。 +At(Robot,CoffeeTable) 当然可以呀！你可以去咖啡桌的那边坐下来，我就在这边的桌子旁陪着你。 +At(Robot,Bar2) 好的，我可以到另一个吧台帮忙吗？ +At(Robot,Bar2) 你可以去另一个酒吧台坐坐吗？ +At(Robot,Bar2) 当然可以，您想让我去哪个吧台呢？ +At(Robot,Table1) 好的,我來試著把第一張桌子搬起來。 +At(Robot,Table1) 你可以去第一桌啊，那里的东西比较好吃。 +At(Robot,Table1) 当然可以,你可以帮我稳住身体,然后我就能过去坐在第一张桌子上啦! +At(Robot,Table2) 请把第二桌子的东西拿过来。 +At(Robot,Table2) 你可以去第二桌啊。 +At(Robot,Table2) 当然可以,你想去哪一张桌子呢? +At(Robot,Table3) 好的，我马上去拿第三张桌子。 +At(Robot,Table3) 请你到第三桌子上坐一下。 +At(Robot,Table3) 当然可以，移到第三张桌子那边怎么样？ +On(Softdrink,Bar) 请把饮料放到酒吧柜台上。 +On(Softdrink,Bar) 嘿，能帮我拿一下饮料吗？放到酒吧台上谢谢！ +On(Softdrink,WaterTable) 你可以把软饮放在茶水桌那个地方哦。 +On(Softdrink,WaterTable) 你可以把饮料放到茶水桌那儿呀。 +On(Softdrink,CoffeeTable) 你可以把饮料放在咖啡桌那个地方呀。 +On(Softdrink,CoffeeTable) 你可以把饮料放到咖啡桌附近呀。 +On(Softdrink,Bar2) 请你把饮料放在另一个酒吧台的位置。 +On(Softdrink,Bar2) 请帮我从一个酒吧台拿杯饮料，放到另一个酒吧台吧。 +On(Softdrink,Table1) 请你把饮料放在第一桌的位子上面。 +On(Softdrink,Table1) 请把饮料放到第一桌的位子上。 +On(Softdrink,Table2) 请你把饮料放到第二桌那个地方。 +On(Softdrink,Table2) 请你把饮料放到第二桌的位置。 +On(Softdrink,Table3) 请你把饮料放到第三桌那个地方。 +On(Softdrink,Table3) 请给我一瓶饮料，放到第三桌子上。 +On(BottledDrink,Bar) 请把瓶装饮料放到酒吧那个地方。 +On(BottledDrink,Bar) 你可以把瓶装饮料放到酒吧台面上。 +On(BottledDrink,WaterTable) 你可以把瓶装饮料放在茶水桌那个地方呀。 +On(BottledDrink,WaterTable) 请把瓶装饮料放到茶水桌那儿吧。 +On(BottledDrink,CoffeeTable) 把瓶装饮料放到咖啡桌那个地方吧。 +On(BottledDrink,CoffeeTable) 请把瓶装饮料放到咖啡桌附近。 +On(BottledDrink,Bar2) 请把瓶装饮料放 到另一个酒吧那个地方。 +On(BottledDrink,Bar2) 你可以把瓶装饮料拿到另一个酒吧台的位置。 +On(BottledDrink,Table1) 请把瓶装饮料放在第一桌的相应位置。 +On(BottledDrink,Table1) 请你把瓶装饮料放到第一桌子的位置。 +On(BottledDrink,Table2) 请你把瓶装饮料放到第二大桌子的那个位置。 +On(BottledDrink,Table2) 请您把瓶装饮料放到第二桌的位置。 +On(BottledDrink,Table3) 请把瓶装饮料放到第三桌的那一边。 +On(BottledDrink,Table3) 请您把瓶装饮料放到第三桌子上。 +On(Yogurt,Bar) 把酸奶放在吧台那个位置。 +On(Yogurt,Bar) 请把酸奶放到吧台哦！ +On(Yogurt,WaterTable) 把酸奶放到茶水桌那个地方哦。 +On(Yogurt,WaterTable) 你可以把酸奶放到茶水桌附近呀。 +On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌那个地方。 +On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌附近。 +On(Yogurt,Bar2) 请你把酸奶放到另一个吧台那个位置。 +On(Yogurt,Bar2) 请把酸奶放到另一个台子的位置吧。 +On(Yogurt,Table1) 请把酸奶放在第一桌的位置哦！ +On(Yogurt,Table1) 请把酸奶放到第一桌的位置。 +On(Yogurt,Table2) 请把酸奶放到第二桌那个位置哦！ +On(Yogurt,Table2) 你可以把酸奶放到第二桌的位置呀。 +On(Yogurt,Table3) 请把酸奶放到第三桌的那儿吧。 +On(Yogurt,Table3) 请你把酸奶放到第三桌子上。 +On(ADMilk,Bar) 把AD钙奶放到吧台那个地方。 +On(ADMilk,Bar) 请把AD钙奶放到吧台哦！ +On(ADMilk,WaterTable) 好的，我帮你把AD钙奶放到茶水桌那个地方。 +On(ADMilk,WaterTable) 你可以把AD钙奶放到茶水桌附近呀。 +On(ADMilk,CoffeeTable) 好的，AD钙奶就放在咖啡桌那个地方吧。 +On(ADMilk,CoffeeTable) 你可以把AD钙奶放到咖啡桌旁边呀。 +On(ADMilk,Bar2) 你能否把AD钙奶放到另一个吧台的位置呢？ +On(ADMilk,Bar2) 你可以把AD钙奶放到另一个酒吧台的位置上。 +On(ADMilk,Table1) 请把AD钙奶放到第一桌的位子上面。 +On(ADMilk,Table1) 请把AD钙奶放到第一桌的位置。 +On(ADMilk,Table2) 请把AD钙奶放到第二桌的那儿吧。 +On(ADMilk,Table2) 请把AD钙奶放到第二桌的位置。 +On(ADMilk,Table3) 请把AD钙奶放到第三桌的那儿吧。 +On(ADMilk,Table3) 请把AD钙奶放到第三桌子的位置。 +On(MilkDrink,Bar) 把牛奶饮料放到吧台那个地方。 +On(MilkDrink,Bar) 你可以把牛奶饮料拿到吧台前面。 +On(MilkDrink,WaterTable) 你可以把牛奶饮料放在茶水桌那个地方哦。 +On(MilkDrink,WaterTable) 你可以把牛奶饮料放到茶水桌附近呀。 +On(MilkDrink,CoffeeTable) 你可以把牛奶放到了咖啡桌那个地方哦。 +On(MilkDrink,CoffeeTable) 请你把牛奶饮料放到咖啡桌附近呀。 +On(MilkDrink,Bar2) 请你把牛奶饮料放到另一个吧台那个位置,好吗? +On(MilkDrink,Bar2) 请把牛奶饮料放到另一个酒吧台的位置。 +On(MilkDrink,Table1) 请把牛奶放第一桌的位置哦！ +On(MilkDrink,Table1) 请把牛奶饮料放到第一桌的位子上。 +On(MilkDrink,Table2) 你可以把牛奶放 到这张桌子的第二個位置。 +On(MilkDrink,Table2) 请你把牛奶饮料放到第二桌的位置。 +On(MilkDrink,Table3) 请你把牛奶放到第三桌的那儿吧。 +On(MilkDrink,Table3) 请你把牛奶饮料放到第三桌子上。 +On(Milk,Bar) 请把牛奶放到吧台那个地方。 +On(Milk,Bar) 请把牛奶放到吧台的位置哦。 +On(Milk,WaterTable) 你可以把牛奶放到茶水桌那个地方哦。 +On(Milk,WaterTable) 请你把牛奶放到茶水桌那个地方。 +On(Milk,CoffeeTable) 你可以把牛奶放在咖啡桌上的那个地方哦。 +On(Milk,CoffeeTable) 你可以把牛奶放到咖啡桌旁边呀，这样就能方便地喝牛奶了。 +On(Milk,Bar2) 请你把牛奶放到另一个吧台那个位置。 +On(Milk,Bar2) 你可以把牛奶放过去一点。 +On(Milk,Table1) 请把牛奶放到第一桌子的位置。 +On(Milk,Table1) 请你把牛奶放到第一桌的位置。 +On(Milk,Table2) 请把牛奶放到第二桌子的那个位置哦！ +On(Milk,Table2) 请你把牛奶放到第二桌的位置。 +On(Milk,Table3) 你可以把牛奶放 third table 的那个位置哦！ +On(Milk,Table3) 请把牛奶放到第三桌子上。 +On(VacuumCup,Bar) 请把保温杯放 到吧台那个地方。 +On(VacuumCup,Bar) 你可以把保温杯放到吧台哦。 +On(VacuumCup,WaterTable) 请把保温杯放茶水桌那个地方哦。 +On(VacuumCup,WaterTable) 请你把保温杯放到茶水桌那儿。 +On(VacuumCup,CoffeeTable) 你可以把你的保温杯放到咖啡桌那个地方呀。 +On(VacuumCup,CoffeeTable) 请把保温杯放到咖啡桌那里。 +On(VacuumCup,Bar2) 你可以把保温杯放到另一个吧台那个地方呀。 +On(VacuumCup,Bar2) 你可以把保温杯放到另一个酒吧台的位置呀。 +On(VacuumCup,Table1) 请把保温杯放到第一桌子的那个位置。 +On(VacuumCup,Table1) 请把保温杯放到第一桌子的位置。 +On(VacuumCup,Table2) 请把保温杯放到第二桌子的那个位置。 +On(VacuumCup,Table2) 你可以把保温杯放到第二桌子的地方。 +On(VacuumCup,Table3) 请把保温杯放到了第三张桌子的那个地方。 +On(VacuumCup,Table3) 请把保温杯放到第三桌子的地方。 +Is(AC,0) 当然可以，您想什么时候关呢？ +Is(AC,1) 当然可以，我马上为您打开空调。 +Is(ACTemperature,0) 当然可以！你把空调的温度调高一点吗？ +Is(ACTemperature,1) 可以啊，您要把空调的温度调低一些吗？ +Is(HallLight,0) 当然可以，我马上为您关掉大厅的灯。 +Is(HallLight,1) 当然可以，我马上为你开启大厅的灯光。 +Is(TubeLight,0) 当然可以，你只需按一下筒灯的开关按钮即可。 +Is(TubeLight,1) 当然可以，请告诉我你想要多亮度的筒灯呢？ +Is(Curtain,0) 好的，我马上帮您关窗帘。 +Is(Curtain,1) 当然可以，您想让阳光照进房间吗？ +Is(Chairs,0) 当然可以，把椅子弄脏一点没问题。不过要注意，我是一个人工智能助手，虽然可以理解您的请求，但实际操作能力有限，可能不能非常完美地完成这个任务。 +Is(Chairs,1) 当然可以，亲爱的。把椅子擦干净需要一些努力和耐心，但我会帮您做得干干净净的。 +Is(Floor,0) 你能把地板弄脏一点吗？ +Is(Floor,1) 能帮我打扫下地板吗？ +Is(Table1,0) 第一，你可以把桌子弄脏一点。 +Is(Table1,1) 当然可以,你想要我尽快完成这个任务吗? +Holding(Softdrink) 你能抓住软饮吗？ +Holding(Softdrink) 你能不能一直拿着软饮呢？ +Holding(BottledDrink) 能抓住瓶装饮料吗?当然可以啊! +Holding(BottledDrink) 你能一直拿着瓶装饮料吗?当然可以啊,只要喜欢喝 bottled water 或者饮料,就可以一直拿着瓶装饮料。不过要注意保持卫生,不要让瓶子变得太脏或者有细菌。如果觉得手持瓶装饮料不方便,也可以选择使用杯子或者其他更方便的容器来盛放饮料。 +Holding(Yogurt) 您可以把酸奶捏在手里,就像您捏着冰淇淋一样。 +Holding(Yogurt) 嗯，我可以理解你想要一直吃酸奶的想法，但是要注意不要过量食用。酸奶是非常健康的食品，富含蛋白质和钙质，对身体有很多好处。不过，每个人的身体状况和需求不同，所以要根据自己的实际情况来适量食用。如果你想要更好地享受酸奶的好处，可以尝试搭配一些水果或者坚果，让口感更丰富多彩。 +Holding(ADMilk) 你能捧起一罐AD钙奶吗？ +Holding(ADMilk) 你能不能一直拿着AD钙奶呀？ +Holding(MilkDrink) 你能把牛奶饮料抓在手里啊？ +Holding(MilkDrink) 你能一直拿著牛奶 drink 嗎? +Holding(Milk) 哈哈，当然可以啦！你可以把牛奶抓在手里，就像你抓住一个球一样。不过要小心，不要让牛奶洒出来哦！ +Holding(Milk) 嘿，你可以一直拿着牛奶，不过我得提醒你，牛奶保质期短，不要喝坏掉的哦！ +Holding(VacuumCup) 你能 hand 住保温杯 吗？ +Holding(VacuumCup) 你能不能一直拿著保温杯呢？ +Holding(Nothing) 哈哈，把"nothing"抓在手里啊。这个表达好像不太对哦，英文里"nothing"是指没有任何东西的意思，不能被抓住。你是要问如何应对"无所适从"的情况吗？可以理解为"nothing happens"或者"没有什么事情发生"。 +Holding(Nothing) 当然可以！如果你觉得需要一直拿着某个东西，那完全可以。 +On(Coffee,Bar) 当然可以！请问您需要什么口味的咖啡呢？我可以为您制作一杯美味的咖啡，然后端到吧台供您享用。 +On(Coffee,Bar) 嘿，老板，能不能给我弄杯咖啡，然后把咖啡杯拿到吧台上来？ +On(Coffee,WaterTable) 当然可以！我马上为您制作一杯香浓的咖啡，然后端到茶水桌上来。 +On(Coffee,WaterTable) 好的,主人。请给我来杯咖啡,然后把咖啡端到茶水桌这里来。谢谢! +On(Coffee,CoffeeTable) 当然可以！我马上为您制作一杯香浓的咖啡，然后端到咖啡桌上来。 +On(Coffee,CoffeeTable) 好的,主人。请给我一杯咖啡,然后把咖啡端到这个咖啡桌上来,谢谢! +On(Coffee,Bar2) 当然可以！我马上为您制作一杯咖啡，然后端到这个吧台这里来。 +On(Coffee,Bar2) 好的,我给你拿杯咖啡,放在另一个吧台给你。 +On(Coffee,Table1) 当然可以！我马上为您制作一杯咖啡，然后端到第一张桌子上来。 +On(Coffee,Table1) 请给我拿杯咖啡，然后把它放到这张桌子的位置上。 +On(Coffee,Table2) 当然可以！你想要什么口味的咖啡呢？然后我就可以把咖啡端到你所在的桌子了。 +On(Coffee,Table2) 嘿，老板，我想喝杯咖啡，然后你能把它端到这里来吗？ +On(Coffee,Table3) 当然可以！请问您需要什么口味的咖啡呢？我好准备给您制作。 +On(Coffee,Table3) 嘿，老板，能不能给我来杯咖啡？然后把咖啡端到这张桌子的 third 位置上来，谢谢！ +On(Water,Bar) 当然可以！您可以告诉我您需要多少水，然后我会给您端过来。 +On(Water,Bar) 好的，我给您倒杯水，然后就放在吧台这里。 +On(Water,WaterTable) 当然可以！请问您需要我怎么制作水呢？ +On(Water,WaterTable) 好的,我给你倒杯水,然后把它放在茶水桌上。 +On(Water,CoffeeTable) 当然可以！我立刻为您制作一杯水，然后把它端到咖啡桌上来。请问您需要加些什么其他的配料呢？ +On(Water,CoffeeTable) 好的,主人,请给我倒杯水,然后把水端到咖啡桌上来,谢谢! +On(Water,Bar2) 当然可以！我马上为您制作一杯水，然后端到这里来。 +On(Water,Bar2) 好的,请给我倒一杯水,然后把它端到这个吧台这里来。 +On(Water,Table1) 当然可以！请问你需要多少水呢？我一会儿就去烧开水，然后把它端到第一张桌子上。 +On(Water,Table1) 好的，我给你倒杯水，然后把它放在第一桌子上。 +On(Water,Table2) 当然可以！我马上给您拿来。 +On(Water,Table2) 能不能给我倒杯水啊?然后把水端到这张桌子的另一边去。 +On(Water,Table3) 当然可以！请您把第三张桌子的位置告诉我，我马上为您制作一杯水送到那儿去。 +On(Water,Table3) 好的,请给我一杯水,然后把它放在第三张桌子上。 +On(Dessert,Bar) 当然可以！我特别擅长制作各种美味的点心、甜品和糕点。如果您需要的话，我可以在吧台为您准备一份精致的小点心或甜品品尝。 +On(Dessert,Bar) 行啊，点些小吃或甜品，然后让它们送到酒吧台这附近来。 +On(Dessert,WaterTable) 你能不能帮我做些点心或甜品，然后把它端到茶水桌这儿呀？ +On(Dessert,WaterTable) 好的，请给我点些小吃或甜品，然后把它端到茶水桌这里来。 +On(Dessert,CoffeeTable) 当然可以！我是一个人工智能助手，虽然不能亲自制作点心或甜品，但我可以为您提供各种食谱和做法。您可以根据我的建议，尝试在家自己制作美味的点心或甜品，然后带到咖啡桌分享。这样不仅可以享受美食，还可以一起度过美好时光。 +On(Dessert,CoffeeTable) 行啊，您想尝点什么点心或甜品呢？然后我给您端过来，放在这咖啡桌上。 +On(Dessert,Bar2) 当然可以！我擅长制作各种美味的点心与甜品，可以随时为你端来。请问你需要什么口味或样式的点心呢？ +On(Dessert,Bar2) 行啊，点些小吃或甜品，然后给您端过去。 +On(Dessert,Table1) 当然可以，我 ability做点心和甜品，把它们放在桌子上给你吃。 +On(Dessert,Table1) 好的，我给你准备了一些小吃和甜品，现在 brings it to your table.（请注意，这里用 "brings" 代替 "portrays" 以符合口语化的风格。） +On(Dessert,Table2) 当然可以！我可以在第一张桌子上制作点心或甜品，然后把它们端到第二张桌子那里。请问你有什么特别喜欢的点心或甜品口味吗？ +On(Dessert,Table2) 好的,主人。请给我提供一些点心或甜品,我会把它们放在第二张桌子上。 +On(Dessert,Table3) 当然可以！我马上为您制作一些美味的点心或甜品，然后 brings it to the third table for you to enjoy. +On(Dessert,Table3) 好的，请问您想点什么种类的点心或甜品呢？然后我会把它们端到第三张桌子上。 +At(Robot,Bar) 好的，那我们来聊聊吧。你想聊什么呢？ +At(Robot,Bar) 你去一下bar吧。 +At(Robot,Bar) 你能到那个酒吧的哪个位置吗？ +At(Robot,WaterTable) 当然可以！ WaterTable 是一个很棒的实时水文气象数据平台。你想了解哪个地区的天气情况呢？ +At(Robot,WaterTable) 你去一下WaterTable吧！ +At(Robot,WaterTable) 当然可以啊！你想要去哪个地方呢？ +At(Robot,CoffeeTable) 嘿，我能去拿一下咖啡桌吗？ +At(Robot,CoffeeTable) 你去一下CoffeeTable吧。 +At(Robot,CoffeeTable) 当然可以，我马上就到CoffeeTable那儿。 +At(Robot,Bar2) 好的，我来试试看 Bar 2。 +At(Robot,Bar2) 你能去bar2吗？ +At(Robot,Bar2) 当然可以啊，我马上就去Bar2那儿！ +At(Robot,Table1) 当然可以！请您提供一下 Table1 的内容，我会尽量用更口语化和合理化的方式来表述它。 +At(Robot,Table1) 嘿，你能不能去一下Table1呢？ +At(Robot,Table1) 当然可以呀，我马上就过去。 +At(Robot,Table2) 当然可以！请您提供一下Table2的内容和您想要我为您做什么，我会尽量帮您进行合理的调整和优化。 +At(Robot,Table2) 好的，我去一下Table2。 +At(Robot,Table2) 当然可以，我马上就过去。 +At(Robot,Table3) 当然可以！请问您需要我帮忙做什么呢？ +At(Robot,Table3) 嘿，去Table3看看怎么样？可能有新东西哦！ +At(Robot,Table3) 当然可以，我马上就到Table3那儿。 +On(Softdrink,Bar) 你可以这样跟Bar说：“嘿，Bar，你能帮我把Softdrink放好吗？谢谢！” +On(Softdrink,Bar) 请把Softdrink拿到Bar那儿。 +On(Softdrink,WaterTable) 你可以把软饮放在水桌那个地方哦。 +On(Softdrink,WaterTable) 你可以把Soft drink拿到水桌的位置呀。 +On(Softdrink,CoffeeTable) 您可以尝试这样说：“嘿，能否帮我把软饮料放在咖啡桌那个位置呀？” +On(Softdrink,CoffeeTable) 你可以把Softdrink拿到CoffeeTable前面啊。 +On(Softdrink,Bar2) 你可以把软饮放在酒吧2的位置。 +On(Softdrink,Bar2) 你可以把Softdrink拿到Bar2的位置呀。 +On(Softdrink,Table1) 你可以把这个软饮料放到表格1的第二行。 +On(Softdrink,Table1) 请把Softdrink放到Table1的位置上。 +On(Softdrink,Table2) 你可以把 Softdrink 放到 Table2 的那个位置哦！ +On(Softdrink,Table2) 你可以把Softdrink移到Table2的位置呀。 +On(Softdrink,Table3) 你可以把 Softdrink 放到 Table3 的那个位置哦！ +On(Softdrink,Table3) 你可以把Softdrink拿到Table3那里。 +On(BottledDrink,Bar) 请你把Bottled Drink放到Bar那个地方。 +On(BottledDrink,Bar) 请把 bottled drink 拿到 Bar 那里。 +On(BottledDrink,WaterTable) 你能把 bottled drink 放到 water table 那个地方吗？ +On(BottledDrink,WaterTable) 你可以把瓶装饮料放到水桌上了吗？ +On(BottledDrink,CoffeeTable) 将瓶装饮料放在咖啡桌那个地方。 +On(BottledDrink,CoffeeTable) 你可以把 bottled drink 拿到咖啡桌 (CoffeeTable) 上。 +On(BottledDrink,Bar2) 你能把 "BottledDrink" 放到 "Bar2" 的位置上吗？ +On(BottledDrink,Bar2) 请把 bottled drink 拿到 Bar2 的位置。 +On(BottledDrink,Table1) 你可以把"Bottled Drink"放到"Table1"的位置。 +On(BottledDrink,Table1) 请你把瓶装饮料拿到Table1那儿。 +On(BottledDrink,Table2) 你把Bottled Drink放到Table2那个地方吧。 +On(BottledDrink,Table2) 你可以把 bottled drink 拿到 Table 2 那里。 +On(BottledDrink,Table3) 你想把瓶装饮料放在Table3那个地方吗？ +On(BottledDrink,Table3) 请把瓶装饮料放到桌子的第三位置。 +On(Yogurt,Bar) 你可以把酸奶放在吧台那个位置哦。 +On(Yogurt,Bar) 嘿，能否帮我拿一下酸奶（Yogurt）到酒吧（Bar）的位置呀？ +On(Yogurt,WaterTable) 你可以把酸奶放在水 table 的那个地方。 +On(Yogurt,WaterTable) 你可以把酸奶放到水 table 那里一下吗？ +On(Yogurt,CoffeeTable) 请把酸奶放到咖啡桌那个地方。 +On(Yogurt,CoffeeTable) 你可以把酸奶放到咖啡桌的位置。 +On(Yogurt,Bar2) 把Yogurt放到Bar2那个地方。 +On(Yogurt,Bar2) 你可以把酸奶放到酒吧的第二的位置。 +On(Yogurt,Table1) 请把酸奶放到表格1那个位置哦！ +On(Yogurt,Table1) 请你把Yogurt移到Table1的位置上。 +On(Yogurt,Table2) 你可以把酸奶放到表格2那个位置哦。 +On(Yogurt,Table2) 你可以把酸奶放到桌子第二的位置。 +On(Yogurt,Table3) 您可以把酸奶放到表格三那个位置哦。 +On(Yogurt,Table3) 你可以把酸奶放到桌子第三的位置。 +On(ADMilk,Bar) 你能把ADMilk放到Bar那个地方吗？ +On(ADMilk,Bar) 你可以把ADMilk放到Bar那里。 +On(ADMilk,WaterTable) 你可以把ADMilk放到WaterTable那个地方。 +On(ADMilk,WaterTable) 你可以把ADMilk放到WaterTable的位置啊。 +On(ADMilk,CoffeeTable) 你可以把ADMilk放到咖啡桌那个地方。 +On(ADMilk,CoffeeTable) 你可以把AD Milk放到咖啡桌旁边呀。 +On(ADMilk,Bar2) 请把ADMilk放到Bar2那个位置哦！ +On(ADMilk,Bar2) 你可以把ADMilk放到Bar2的位置呀。 +On(ADMilk,Table1) 请把ADMilk放到Table1那个位置啦！ +On(ADMilk,Table1) 能否帮我将ADMilk放到Table1的位置呢？ +On(ADMilk,Table2) 你可以把ADMilk放到Table2那个地方哦。 +On(ADMilk,Table2) 你可以把ADMilk放到Table2的位置呀。 +On(ADMilk,Table3) 你能把ADMilk放到Table3那个地方吗？ +On(ADMilk,Table3) 你可以把ADMilk放到Table3的位置呀。 +On(MilkDrink,Bar) 你可以这样说：“把牛奶饮料放到酒吧那个位置。” +On(MilkDrink,Bar) 你可以把牛奶带到酒吧位置吗？ +On(MilkDrink,WaterTable) 你能将"MilkDrink"放到"WaterTable"的那个地方吗？ +On(MilkDrink,WaterTable) 你可以把牛奶放到水桌的位置。 +On(MilkDrink,CoffeeTable) 你好！你可以把"MilkDrink"放到"CoffeeTable"那个地方。 +On(MilkDrink,CoffeeTable) 你可以把牛奶放到咖啡桌上了吗？ +On(MilkDrink,Bar2) 你可以把"MilkDrink"放到"Bar2"那个地方。 +On(MilkDrink,Bar2) 请把牛奶饮料拿到酒吧2号位置。 +On(MilkDrink,Table1) 你可以这样跟朋友说：嘿，你知道吗，把"MilkDrink"放到"Table1"那个位置吧！ +On(MilkDrink,Table1) 你可以把牛奶带到Table1那里吗？ +On(MilkDrink,Table2) 你能把"MilkDrink"放到Table2那个地方吗？ +On(MilkDrink,Table2) 你可以把牛奶饮料端到桌子2的位置吗？ +On(MilkDrink,Table3) 你好！我明白你的要求，但是我没有找到与“MilkDrink”相关的内容。如果你能提供更多的信息或者上下文，我会更好地帮助你完成任务。 +On(MilkDrink,Table3) 你可以把牛奶带到桌子3去。 +On(Milk,Bar) 你把牛奶放酒吧的位置吧。 +On(Milk,Bar) 你可以帮我把牛奶放到酒吧的位置吗？ +On(Milk,WaterTable) 你能帮我把牛奶放到水 table 那个地方吗？ +On(Milk,WaterTable) 你可以把牛奶放到水 table 附近吗？ +On(Milk,CoffeeTable) 你可以把牛奶放在咖啡桌那个地方。 +On(Milk,CoffeeTable) 你可以把牛奶放到咖啡桌的位置。 +On(Milk,Bar2) 你可以把牛奶放到酒吧2的位置。 +On(Milk,Bar2) 你可以把牛奶放到酒吧的第二個位置。 +On(Milk,Table1) 你可以这样跟Table1说：“Hey Table1， could you please move the Milk to that spot over there？” +On(Milk,Table1) 你可以把牛奶放到桌子的第一位置呀。 +On(Milk,Table2) 请把牛奶放到表2的那个位置。 +On(Milk,Table2) 请你把牛奶放到Table2的位置上。 +On(Milk,Table3) 你可以把牛奶放到表格三那个位置哦。 +On(Milk,Table3) 你可以把牛奶放到桌子的第三格里呀。 +On(VacuumCup,Bar) 你能把VacuumCup放到Bar的位置吗？ +On(VacuumCup,Bar) 你可以把吸管杯放到酒吧位置吗？ +On(VacuumCup,WaterTable) 你可以尝试这样说：“嘿，把VacuumCup放到WaterTable的位置吧。”这样更加口语化和亲近。 +On(VacuumCup,WaterTable) 你可以把吸尘器杯放在水 table 位置吗？ +On(VacuumCup,CoffeeTable) 你可以把吸尘器杯放在咖啡桌那个地方。 +On(VacuumCup,CoffeeTable) 你可以把吸尘器(VacuumCup)放到咖啡桌(CoffeeTable)的位置。 +On(VacuumCup,Bar2) 你能把VacuumCup放到Bar2那个地方吗？ +On(VacuumCup,Bar2) 你可以把VacuumCup放到Bar2的地方哦。 +On(VacuumCup,Table1) 你可以把这些内容换成： "把 VacuumCup 放到 Table1 的那个地方"。 +On(VacuumCup,Table1) 你可以把VacuumCup放到Table1的位置呀。 +On(VacuumCup,Table2) 你可以把VacuumCup放到Table2那个地方哦。 +On(VacuumCup,Table2) 你可以把VacuumCup放到Table2那里呀。 +On(VacuumCup,Table3) 你可以把这个吸管杯放到表格3的位置。 +On(VacuumCup,Table3) 你可以把VacuumCup放到Table3的位置呀。 +Is(AC,0) 当然可以，您需要我帮您关闭AC吗？ +Is(AC,1) 你好，我能帮你做什么呢？关于打开AC的问题，我可能不太明白你的具体意思。如果你是想打开空调，请告诉我具体是哪个品牌的空调，这样我才能更好地帮助你。 +Is(ACTemperature,0) 当然可以！请告诉我您想将温度调到多少度呢？ +Is(ACTemperature,1) 当然可以，你想要把温度调到多少度呢？ +Is(HallLight,0) 当然可以，HallLight怎么样了？需要我帮你做些什么吗？ +Is(HallLight,1) 当然可以！请问你需要我怎么操作呢？ +Is(TubeLight,0) 当然可以！你想要立即关掉TubeLight吗？ +Is(TubeLight,1) 当然可以！你只需按住"开”按钮，或在屏幕上点击一下就可以开启TubeLight了。 +Is(Curtain,0) 当然可以，您想关闭窗帘吗？ +Is(Curtain,1) 当然可以，curtain（窗帘）打开了。 +Is(Chairs,0) 当然可以，你能把椅子弄脏一点吗？ +Is(Chairs,1) 当然可以，你能帮我打扫一下椅子吗？ +Is(Floor,0) 当然可以，不过我需要先声明一下，作为人工智能助手，我没有实体形象，所以不能直接去“操作”或“改变”现实环境。但我可以提供一些建议或者指导来帮助你完成任务。如果你想要打扫房间，可以告诉我具体是哪个部位需要清洁，然后我会给你相应的建议和步骤。 +Is(Floor,1) 当然可以，你让我来吧！ +Is(Table1,0) 当然可以！不过我需要先了解一下 Table1 包含哪些内容，以及您想要修改的具体是哪方面。这样我才能更好地帮助您进行操作。 +Is(Table1,1) 当然可以，你有什么特别要求吗？比如需要清理什么物品或者怎么清洁？ +Holding(Softdrink) 你能不能把soft drink抓在手里啊？ +Holding(Softdrink) 你能一直拿着一罐饮料吗? +Holding(BottledDrink) 你能把瓶装饮料抓在手里吗? +Holding(BottledDrink) 你能一直拿着这瓶饮料吗？ +Holding(Yogurt) 你能把酸奶抓在手里吗? +Holding(Yogurt) 你能一直抱着羊酸奶吗? +Holding(ADMilk) 你能捧着 AD Milk 吗？ +Holding(ADMilk) 你能一直拿着AD Milk吗? + +如果我能一直拿着AD Milk,那我会很开心,因为我很喜欢喝这个品牌的牛奶。不过,我不确定我能否一直拿着它,因为我需要考虑到我的健康和生活方式。 +Holding(MilkDrink) 哦,你是指那个牛奶饮料品牌“MilkDrink”吗?当然可以啊,你可以像拿任何 other 饮料一样拿起它来。 +Holding(MilkDrink) 你好呀！我能一直拿着这个牛奶饮料吗？ +Holding(Milk) 你能把牛奶抓在手里吗?当然可以,只要你抓住瓶子或者盒子,就可以把牛奶抓在手里。不过要注意,不要把牛奶撒出来哦! +Holding(Milk) 你能不能一直拿着牛奶呀？ +Holding(VacuumCup) 你能把吸尘器杯收入手中吗？ +Holding(VacuumCup) 你能一直拿着吸尘器杯吗? +Holding(Nothing) 你能把“nothing”这个单词抓在手里吗？ +Holding(Nothing) 当然可以啊！如果你说的“ Nothing”是指没有任何事物或事情的话，那我可以一直保持这样的状态。不过，如果你指的是某个具体的事物或场景，那可能就需要根据实际情况来分析了。 +On(Coffee,Bar) 当然可以！我马上为你制作一杯咖啡，然后端到吧台给你。 +On(Coffee,Bar) 给我倒杯咖啡，然后把它端到酒吧这里来。 +On(Coffee,WaterTable) 当然可以！我马上为你制作一杯咖啡，然后端到水 table 这里来。 +On(Coffee,WaterTable) 好的，我给你倒杯咖啡，然后端到水 table 这里来。 +On(Coffee,CoffeeTable) 当然可以！我为您制作一杯咖啡，然后把它端到咖啡桌那里吧。 +On(Coffee,CoffeeTable) 行吗？能不能帮我倒杯咖啡，然后把咖啡端到咖啡桌上来呀？ +On(Coffee,Bar2) 当然可以！我马上为您制作一杯咖啡，然后送到Bar 2那里。请问您喜欢什么口味的咖啡呢？ +On(Coffee,Bar2) 好的，我给您准备了一杯咖啡，现在就端到 Bar 2 这里来。 +On(Coffee,Table1) 当然可以！我马上为您制作一杯咖啡，然后端到Table1这里来。请问您喜欢什么口味的咖啡呢？ +On(Coffee,Table1) 好的,请给我一杯咖啡,然后把它送到 Table1 这里来,谢谢! +On(Coffee,Table2) 当然可以！我马上为您制作一杯咖啡，然后端到Table2这里来。 +On(Coffee,Table2) 好的,我给你拿杯咖啡,放Table2那里。 +On(Coffee,Table3) 当然可以！我马上为你制作一杯咖啡，然后端到你面前的桌子上。 +On(Coffee,Table3) 行吗?我可以给你拿杯咖啡,然后放到了Table 3这里。 +On(Water,Bar) 当然可以！去吧，我给你端来水。 +On(Water,Bar) 好的，让我给您倒一杯水，然后把它端到酒吧这里来。 +On(Water,WaterTable) 当然可以！我可以帮你制作水，然后把水送到水 table 这里来。 +On(Water,WaterTable) 好的，我给你倒一杯水，然后把它放在水 table 上。 +On(Water,CoffeeTable) 当然可以！我马上为您制作水，并把水端到咖啡桌这里来。 +On(Water,CoffeeTable) 好的，我马上给您倒杯水，然后把水端到咖啡桌这里来。 +On(Water,Bar2) 当然可以！我可以帮你制作水，然后把水端到酒吧2（Bar 2）那里。你需要我马上去做吗？ +On(Water,Bar2) 好的，我来给您倒杯水，送到酒吧2怎么样？ +On(Water,Table1) 当然可以！请问你需要多少量的水呢？我会尽快为您准备好的。 +On(Water,Table1) 好的,我给你倒一杯水,你想要端到哪个桌子呢? +On(Water,Table2) 当然可以！我马上帮你制作水，然后把它送到 Table2 这里来。 +On(Water,Table2) 好的,我给你倒一杯水,稍等一下。 +On(Water,Table3) 当然可以！我马上帮您把水送到 Table 3 这里来。 +On(Water,Table3) 好的,我给您倒一杯水,稍等一下,我现在就去拿。请问您要放在哪个桌子上呢?是Table 1还是Table 2?还是您想要自己拿杯子接? +On(Dessert,Bar) 你好！当然可以。Dessert（甜点）是餐后享用的食物，有很多美味的选择，比如蛋糕、饼干、布丁等。请问你想制作哪一种甜点呢？我可以帮你准备材料和制作方法。制作完成后，我们可以一起把甜点带到酒吧享用。 +On(Dessert,Bar) 请给我一点甜点，然后把它送到酒吧这里来。 +On(Dessert,WaterTable) 你能否把甜点做好，然后拿到水 table 那里去呢？ +On(Dessert,WaterTable) 好的，我给您准备了一些甜点，现在就端到水 table 这里来。您觉得怎么样？ +On(Dessert,CoffeeTable) 当然可以！我给您制作一些甜点，然后拿到咖啡桌上去吧。请问您想尝试哪种甜点呢？ +On(Dessert,CoffeeTable) 行啊，那给我来点甜点，然后把它放到咖啡桌子上。 +On(Dessert,Bar2) 当然可以！我会做一些美味的甜点，然后带到酒吧2（Bar 2）来。您想尝尝吗？ +On(Dessert,Bar2) 好的，我给你准备了一些甜点，现在就端到你所在的酒吧2。 +On(Dessert,Table1) 当然可以！我马上为您制作甜点，然后把它端到Table1这里来。 +On(Dessert,Table1) 好的，我给您准备了一些美味的甜点，现在 bring it to Table1 这里。 +On(Dessert,Table2) 当然可以！我马上为您制作甜点，然后端到Table2这里来。 +On(Dessert,Table2) 好的，我给你准备了一些甜点，现在端到你面前的桌子上。 +On(Dessert,Table3) 当然可以！我马上为您制作甜点，然后把它送到Table3这里来。 +On(Dessert,Table3) 好的，我给你准备了一些甜点，现在就端到你面前的桌子上。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output2.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output2.txt new file mode 100644 index 0000000..9c06989 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/expansion_out/output2.txt @@ -0,0 +1,57 @@ +At(Robot,Bar) 请问您需要什么帮助吗？我就在吧台附近，能否请您自己过来呢？ +At(Robot,Bar) 请问你能去一下吧台吗？ +At(Robot,Bar) 请问你能帮我到吧台那个位置吗？ +At(Robot,WaterTable) 请问你能过来一下吗？我正在茶水桌旁。 +At(Robot,WaterTable) 请问你可以去茶水桌一下吗？ +At(Robot,WaterTable) 你能带路去茶水桌吗？ +At(Robot,CoffeeTable) 请问你可以过来一下吗？我在这张咖啡桌旁边。 +At(Robot,CoffeeTable) 请问你可以帮我一下，去一下咖啡桌吗？ +At(Robot,CoffeeTable) 请问你能帮我前往咖啡桌那个位置吗？ +At(Robot,Bar2) 您好，请问您需要什么帮助吗？我正在另一个吧台处理一些事情。 +At(Robot,Bar2) 请问你可以去一下另一个吧台吗？ +At(Robot,Bar2) 你能去另一个吧台的位置吗？ +At(Robot,Table1) 请问你能过来一下吗？我目前在第一桌，需要你的帮助。 +At(Robot,Table1) 请问你能去一下第一桌吗？ +At(Robot,Table1) 请问你能帮我到第一张桌子那个位置吗？ +At(Robot,Table2) 请问您能过来一下吗？我正在第二张桌子这里。 +At(Robot,Table2) 请问你可以去第二张桌子一下吗？ +At(Robot,Table2) 请问你能帮我前往第二桌吗？ +At(Robot,Table3) 请问你能过来一下吗？我正在第三张桌子旁。 +At(Robot,Table3) 请问你能去第三张桌子一下吗？ +At(Robot,Table3) 你能告诉我第三张桌子的位置在哪里吗？ +On(Softdrink,Bar) 您好，请问您需要我帮您把盒装冰红茶放到哪个位置呢？ +On(Softdrink,Bar) 服务员，能否帮我拿来一盒冰红茶放到吧台呢？ +On(Softdrink,WaterTable) 您好，请问您需要我帮忙将盒装冰红茶放到哪个位置吗？ +On(Softdrink,WaterTable) 服务员，能否帮我把盒装冰红茶拿到茶水桌呢？ +On(Softdrink,CoffeeTable) 请问你能把盒装冰红茶放到咖啡桌那个位置吗？ +On(Softdrink,CoffeeTable) 服务员，把盒装冰红茶拿到咖啡桌 position 好吗？ +On(Softdrink,Bar2) 请问你能把盒装冰红茶放到另一个吧台的位置吗？ +On(Softdrink,Bar2) 请问你能把盒装冰红茶拿到另一个吧台位置吗？ +On(Softdrink,Table1) 请问您能否把盒装冰红茶放在第一桌的指定位置呢？ +On(Softdrink,Table1) 请您把盒装冰红茶拿到第一桌的位置。 +On(Softdrink,Table2) 服务员，您好，请问能否帮我將這盒裝冰红茶放 到第二張桌子那個位置呢？ +On(Softdrink,Table2) 服务员，请把盒装冰红茶拿到第二张桌子的位置。 +On(Softdrink,Table3) 请问你可以把盒装冰红茶放到第三张桌子的那个位置吗？ +On(Softdrink,Table3) 请问你能把盒装冰红茶拿到第三张桌子的位置吗？ +On(BottledDrink,Bar) 您好，请问您需要我将瓶装饮料放到哪个位置呢？ +On(BottledDrink,Bar) 请把瓶装饮料拿到吧台的位置。 +On(BottledDrink,WaterTable) 请问你可以把瓶装饮料放到茶水桌那个位置吗？ +On(BottledDrink,WaterTable) 请问你能把瓶装饮料拿到茶水桌位置吗？ +On(BottledDrink,CoffeeTable) 服务员，能否把瓶装饮料放在咖啡桌那个位置呢？ +On(BottledDrink,CoffeeTable) 服务员，能否把瓶装饮料拿到咖啡桌附近呢？ +On(BottledDrink,Bar2) 请问你能把瓶装饮料放到另一个吧台的那个位置吗？ +On(BottledDrink,Bar2) 请把瓶装饮料拿到另一个吧台位置。 +On(BottledDrink,Table1) 请问您能否帮我將瓶裝飲料放至第一張桌子的那個位置呢？ +On(BottledDrink,Table1) 请问你能把瓶装饮料拿到第一桌的位置吗？ +On(BottledDrink,Table2) 请问，你可以把瓶装饮料放到第二张桌子的那个位置吗？ +On(BottledDrink,Table2) 请问你能把瓶装饮料拿到第二张桌子的位置吗？ +On(BottledDrink,Table3) 请问，你能把瓶装饮料放到第三桌的哪个位置吗？ +On(BottledDrink,Table3) 请问你能把瓶装饮料拿到第三张桌子的位置吗？ +On(Yogurt,Bar) 请问你能把酸奶放到吧台那个位置吗？ +On(Yogurt,Bar) 请问你能把酸奶拿到吧台位置吗？ +On(Yogurt,WaterTable) 请问你能把酸奶放到茶水桌那个位置吗？ +On(Yogurt,WaterTable) 服务员，请把酸奶拿到茶水桌的位置。 +On(Yogurt,CoffeeTable) 请问，你能把酸奶放在咖啡桌那个位置吗？ +On(Yogurt,CoffeeTable) 服务员，能否把酸奶拿到咖啡桌的位置呢？ +On(Yogurt,Bar2) 请问你能把酸奶放到另一个吧台的那个位置吗？ +On(Yogurt,Bar2) 请问你能把酸奶拿到另一个吧台位置吗？ diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_state_similarity_match.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_state_similarity_match.py new file mode 100644 index 0000000..58c6d67 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_state_similarity_match.py @@ -0,0 +1,172 @@ +import copy +import re +import spacy +nlp_en = spacy.load('en_core_web_lg') + +reply = "at(coffee,Table)" +# 正则表达式 +replay_words = re.sub(r'[^A-Za-z0-9]', ' ', reply) +replay_words = replay_words.split() #['at','coffee','Table'] + +noun_words_ls = [['At','On','Is'],[]]# 完整文档n*2(动作，单词) +together_words_ls = [] +# 示例代码：如何使用Python逐行读取txt文件 +# 打开一个示例的txt文件（这里假设文件名为example.txt） +file_path = './goal_states_unique.txt' +try: + with open(file_path, 'r', encoding='utf-8') as file: + # 逐行读取文件 + for line in file: + cleaned_line = re.sub(r'[^A-Za-z0-9]', ' ', line) + words = cleaned_line.split() + # print(words) + noun_words_ls[-1].extend(words) + # print(line.strip()) # 打印每一行内容，去除行尾的换行符 + + cleaned_line = line.replace("{", "").replace("}", "").replace("\n", "") + together_words_ls.append(cleaned_line) + +except FileNotFoundError: + print(f"File not found: {file_path}") +except Exception as e: + print(f"An error occurred: {e}") + + +# 建立语料库 + +file_path = './goal_states_unique.txt' +try: + with open(file_path, 'r', encoding='utf-8') as file: + # 逐行读取文件 + for line in file: + cleaned_line = re.sub(r'[^A-Za-z0-9]', ' ', line) + words = cleaned_line.split() + # print(words) + noun_words_ls[-1].extend(words) + # print(line.strip()) # 打印每一行内容，去除行尾的换行符 + + cleaned_line = line.replace("{", "").replace("}", "").replace("\n", "") + together_words_ls.append(cleaned_line) + +except FileNotFoundError: + print(f"File not found: {file_path}") +except Exception as e: + print(f"An error occurred: {e}") + + + +# import datetime +# from gensim.models import word2vec +# import numpy as np +# from scipy import spatial +# pre_time=datetime.datetime.now() +# model = word2vec.Word2Vec(together_words_ls, +# vector_size=10,#特征向量的维度 +# alpha=0.04,#学习率 +# window=5,#一个句子内，当前词和预测词之间的最大距离 文本（window）大小：skip-gram通常在10附近，CBOW通常在5附近 +# min_count=0,#最低词频 没有大的变化 +# max_vocab_size=None, +# sample=0.0001, #随机下采样的阈值 +# seed=1,#随机数种子 +# workers=10,#进程数 +# min_alpha=0.00001,#学习率下降的最小值 +# sg=1, #训练算法的选择，sg=1，采用skip-gram，sg=0，采用CBOW---skip-gram（慢、对罕见字有利）vs CBOW（快） +# hs=1,# hs=1,采用hierarchica·softmax，hs=0,采用negative sampling +# #分层softmax（对罕见字有利）vs 负采样（对常见词和低纬向量有利） +# negative=0,#这个值大于0，使用negative sampling去掉'noise words'的个数（通常设置5-20）；为0，不使用negative sampling +# #cbow_mean=1,#为0，使用词向量的和，为1，使用均值；只适用于cbow的情况 +# null_word = 0, +# trim_rule = None, #裁剪词汇规则，使用None（会使用最小min_count） +# sorted_vocab =1,#对词汇降序排序 +# batch_words = 8192,#训练时，每一批次的单词数量 +# compute_loss = False, +# callbacks = ()) +# model.train(together_words_ls, total_examples=len(together_words_ls), epochs=10) +# model.save("./W2V_CI.model") # 保存模型 +# post_time=datetime.datetime.now() +# print("word2vec模型训练保存结束，时间为: ",(post_time-pre_time).seconds*1.0)#1106.0s +# +# w2v_model = word2vec.Word2Vec.load("./W2V_CI.model") +# # w2v_model[word] +# +# def replay_together_w2v(reply): +# return model.wv.most_similar(reply) +# # max_similarity = -1 +# # similar_word = None +# # query_token = w2v_model[reply] +# # for state in together_words_ls: +# # word_token = w2v_model[state] +# # # 计算余弦相似度. spatial.distance.cosine 函数计算的是余弦距离 +# # # 余弦相似度（Cosine similarity），如在 Word2Vec 模型中用来比较两个向量的相似性，其值的范围是 -1 到 1。 +# # similarity = 1 - spatial.distance.cosine(query_token, word_token) +# # # print("similarity:",similarity,real_obj_name) +# # if similarity > max_similarity: +# # max_similarity = similarity +# # similar_word = state +# # if similar_word==None: +# # print("Error: Not Match!") +# # else: +# # return similar_word + + + +def replay_one_by_one(replay_words): + replace_ind = [] + replace_word = [] + for i,word in enumerate(replay_words): + query_token = nlp_en(word) + k=1 + if i==0: k=0 + if not word in noun_words_ls[k]: + max_similarity = 0 + similar_word = None + for act in noun_words_ls[k]: + word_token = nlp_en(act) + # print(act) + # print(word_token) + similarity = query_token.similarity(word_token) + # print("similarity:",similarity,real_obj_name) + if similarity > max_similarity: + max_similarity = similarity + similar_word = act + if similar_word==None: + print("Error: Not Match!") + else: + replay_words[i]=similar_word + # replace_word.append(similar_word) + # replace_ind.append(i) + new_replay = f'{replay_words[0]}({replay_words[1]},{replay_words[2]})' + return new_replay + + # print(replace_word) + # print(replace_ind) + # replace_word = ['on','Table1'] + # replace_ind = [0,2] + # 替换reply中单词 + # for new_word,ind in zip(replace_word,replace_ind): + # 把第 ind 个单词替换成 new_word + +def replay_together(reply): + max_similarity = 0 + similar_word = None + query_token = nlp_en(reply) + for state in together_words_ls: + word_token = nlp_en(state) + similarity = query_token.similarity(word_token) + # print("similarity:",similarity,real_obj_name) + if similarity > max_similarity: + max_similarity = similarity + similar_word = state + if similar_word==None: + print("Error: Not Match!") + else: + return similar_word + +print("原来的：",reply) +new_replay = replay_one_by_one(copy.deepcopy(replay_words)) +print("逐个比较后的现在的：",new_replay) +new_replay2 = replay_together(copy.deepcopy(reply)) +print("集体比较后的现在的：",new_replay2) +# new_replay3 = replay_together_w2v(copy.deepcopy(reply)) +# print("W2V比较后的现在的：",new_replay3) + diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states.txt new file mode 100644 index 0000000..a29c86d --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states.txt @@ -0,0 +1,3250 @@ +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} 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+{On(Softdrink,Table2)} +{On(Softdrink,Table3)} +{On(Softdrink,BrightTable6)} +{On(BottledDrink,Bar)} +{On(BottledDrink,Bar2)} +{On(BottledDrink,WaterTable)} +{On(BottledDrink,CoffeeTable)} +{On(BottledDrink,Table1)} +{On(BottledDrink,Table2)} +{On(BottledDrink,Table3)} +{On(BottledDrink,BrightTable6)} +{On(Yogurt,Bar)} +{On(Yogurt,Bar2)} +{On(Yogurt,WaterTable)} +{On(Yogurt,CoffeeTable)} +{On(Yogurt,Table1)} +{On(Yogurt,Table2)} +{On(Yogurt,Table3)} +{On(Yogurt,BrightTable6)} +{On(ADMilk,Bar)} +{On(ADMilk,Bar2)} +{On(ADMilk,WaterTable)} +{On(ADMilk,CoffeeTable)} +{On(ADMilk,Table1)} +{On(ADMilk,Table2)} +{On(ADMilk,Table3)} +{On(ADMilk,BrightTable6)} +{On(MilkDrink,Bar)} +{On(MilkDrink,Bar2)} +{On(MilkDrink,WaterTable)} +{On(MilkDrink,CoffeeTable)} +{On(MilkDrink,Table1)} +{On(MilkDrink,Table2)} +{On(MilkDrink,Table3)} +{On(MilkDrink,BrightTable6)} +{On(Milk,Bar)} +{On(Milk,Bar2)} +{On(Milk,WaterTable)} +{On(Milk,CoffeeTable)} +{On(Milk,Table1)} +{On(Milk,Table2)} +{On(Milk,Table3)} +{On(Milk,BrightTable6)} +{On(VacuumCup,Bar)} +{On(VacuumCup,Bar2)} +{On(VacuumCup,WaterTable)} +{On(VacuumCup,CoffeeTable)} +{On(VacuumCup,Table1)} +{On(VacuumCup,Table2)} +{On(VacuumCup,Table3)} +{On(VacuumCup,BrightTable6)} +{On(Chips,Bar)} +{On(Chips,Bar2)} +{On(Chips,WaterTable)} +{On(Chips,CoffeeTable)} +{On(Chips,Table1)} +{On(Chips,Table2)} +{On(Chips,Table3)} +{On(Chips,BrightTable6)} +{On(NFCJuice,Bar)} +{On(NFCJuice,Bar2)} +{On(NFCJuice,WaterTable)} +{On(NFCJuice,CoffeeTable)} +{On(NFCJuice,Table1)} +{On(NFCJuice,Table2)} +{On(NFCJuice,Table3)} +{On(NFCJuice,BrightTable6)} +{On(Bernachon,Bar)} +{On(Bernachon,Bar2)} +{On(Bernachon,WaterTable)} +{On(Bernachon,CoffeeTable)} +{On(Bernachon,Table1)} +{On(Bernachon,Table2)} +{On(Bernachon,Table3)} +{On(Bernachon,BrightTable6)} +{On(SpringWater,Bar)} +{On(SpringWater,Bar2)} +{On(SpringWater,WaterTable)} +{On(SpringWater,CoffeeTable)} +{On(SpringWater,Table1)} +{On(SpringWater,Table2)} +{On(SpringWater,Table3)} +{On(SpringWater,BrightTable6)} +{On(Coffee,Bar)} +{On(Coffee,Bar2)} +{On(Coffee,WaterTable)} +{On(Coffee,CoffeeTable)} +{On(Coffee,Table1)} +{On(Coffee,Table2)} +{On(Coffee,Table3)} +{On(Coffee,BrightTable6)} +{On(Water,Bar)} +{On(Water,Bar2)} +{On(Water,WaterTable)} +{On(Water,CoffeeTable)} +{On(Water,Table1)} +{On(Water,Table2)} +{On(Water,Table3)} +{On(Water,BrightTable6)} +{On(Dessert,Bar)} +{On(Dessert,Bar2)} +{On(Dessert,WaterTable)} +{On(Dessert,CoffeeTable)} +{On(Dessert,Table1)} +{On(Dessert,Table2)} +{On(Dessert,Table3)} +{On(Dessert,BrightTable6)} +{On(Softdrink,Bar)} +{On(Softdrink,Bar2)} +{On(Softdrink,WaterTable)} +{On(Softdrink,CoffeeTable)} +{On(Softdrink,Table1)} +{On(Softdrink,Table2)} +{On(Softdrink,Table3)} +{On(Softdrink,BrightTable6)} +{On(BottledDrink,Bar)} +{On(BottledDrink,Bar2)} +{On(BottledDrink,WaterTable)} +{On(BottledDrink,CoffeeTable)} +{On(BottledDrink,Table1)} +{On(BottledDrink,Table2)} +{On(BottledDrink,Table3)} +{On(BottledDrink,BrightTable6)} +{On(Yogurt,Bar)} +{On(Yogurt,Bar2)} +{On(Yogurt,WaterTable)} +{On(Yogurt,CoffeeTable)} +{On(Yogurt,Table1)} +{On(Yogurt,Table2)} +{On(Yogurt,Table3)} +{On(Yogurt,BrightTable6)} +{On(ADMilk,Bar)} +{On(ADMilk,Bar2)} +{On(ADMilk,WaterTable)} +{On(ADMilk,CoffeeTable)} +{On(ADMilk,Table1)} +{On(ADMilk,Table2)} +{On(ADMilk,Table3)} +{On(ADMilk,BrightTable6)} +{On(MilkDrink,Bar)} +{On(MilkDrink,Bar2)} +{On(MilkDrink,WaterTable)} +{On(MilkDrink,CoffeeTable)} +{On(MilkDrink,Table1)} +{On(MilkDrink,Table2)} +{On(MilkDrink,Table3)} +{On(MilkDrink,BrightTable6)} +{On(Milk,Bar)} +{On(Milk,Bar2)} +{On(Milk,WaterTable)} +{On(Milk,CoffeeTable)} +{On(Milk,Table1)} +{On(Milk,Table2)} +{On(Milk,Table3)} +{On(Milk,BrightTable6)} +{On(VacuumCup,Bar)} +{On(VacuumCup,Bar2)} +{On(VacuumCup,WaterTable)} +{On(VacuumCup,CoffeeTable)} +{On(VacuumCup,Table1)} +{On(VacuumCup,Table2)} +{On(VacuumCup,Table3)} +{On(VacuumCup,BrightTable6)} +{On(Chips,Bar)} +{On(Chips,Bar2)} +{On(Chips,WaterTable)} +{On(Chips,CoffeeTable)} +{On(Chips,Table1)} +{On(Chips,Table2)} +{On(Chips,Table3)} +{On(Chips,BrightTable6)} +{On(NFCJuice,Bar)} +{On(NFCJuice,Bar2)} +{On(NFCJuice,WaterTable)} +{On(NFCJuice,CoffeeTable)} +{On(NFCJuice,Table1)} +{On(NFCJuice,Table2)} +{On(NFCJuice,Table3)} +{On(NFCJuice,BrightTable6)} +{On(Bernachon,Bar)} +{On(Bernachon,Bar2)} +{On(Bernachon,WaterTable)} +{On(Bernachon,CoffeeTable)} +{On(Bernachon,Table1)} +{On(Bernachon,Table2)} +{On(Bernachon,Table3)} +{On(Bernachon,BrightTable6)} +{On(SpringWater,Bar)} +{On(SpringWater,Bar2)} +{On(SpringWater,WaterTable)} +{On(SpringWater,CoffeeTable)} +{On(SpringWater,Table1)} +{On(SpringWater,Table2)} +{On(SpringWater,Table3)} +{On(SpringWater,BrightTable6)} +{On(Coffee,Bar)} +{On(Coffee,Bar2)} +{On(Coffee,WaterTable)} +{On(Coffee,CoffeeTable)} +{On(Coffee,Table1)} +{On(Coffee,Table2)} +{On(Coffee,Table3)} +{On(Coffee,BrightTable6)} +{On(Water,Bar)} +{On(Water,Bar2)} +{On(Water,WaterTable)} +{On(Water,CoffeeTable)} +{On(Water,Table1)} +{On(Water,Table2)} +{On(Water,Table3)} +{On(Water,BrightTable6)} +{On(Dessert,Bar)} +{On(Dessert,Bar2)} +{On(Dessert,WaterTable)} +{On(Dessert,CoffeeTable)} +{On(Dessert,Table1)} +{On(Dessert,Table2)} +{On(Dessert,Table3)} +{On(Dessert,BrightTable6)} +{On(Softdrink,Bar)} +{On(Softdrink,Bar2)} +{On(Softdrink,WaterTable)} +{On(Softdrink,CoffeeTable)} +{On(Softdrink,Table1)} +{On(Softdrink,Table2)} +{On(Softdrink,Table3)} +{On(Softdrink,BrightTable6)} +{On(BottledDrink,Bar)} +{On(BottledDrink,Bar2)} +{On(BottledDrink,WaterTable)} +{On(BottledDrink,CoffeeTable)} +{On(BottledDrink,Table1)} +{On(BottledDrink,Table2)} +{On(BottledDrink,Table3)} +{On(BottledDrink,BrightTable6)} +{On(Yogurt,Bar)} +{On(Yogurt,Bar2)} +{On(Yogurt,WaterTable)} +{On(Yogurt,CoffeeTable)} +{On(Yogurt,Table1)} +{On(Yogurt,Table2)} +{On(Yogurt,Table3)} +{On(Yogurt,BrightTable6)} +{On(ADMilk,Bar)} +{On(ADMilk,Bar2)} +{On(ADMilk,WaterTable)} +{On(ADMilk,CoffeeTable)} +{On(ADMilk,Table1)} +{On(ADMilk,Table2)} +{On(ADMilk,Table3)} +{On(ADMilk,BrightTable6)} +{On(MilkDrink,Bar)} +{On(MilkDrink,Bar2)} +{On(MilkDrink,WaterTable)} +{On(MilkDrink,CoffeeTable)} +{On(MilkDrink,Table1)} +{On(MilkDrink,Table2)} +{On(MilkDrink,Table3)} +{On(MilkDrink,BrightTable6)} +{On(Milk,Bar)} +{On(Milk,Bar2)} +{On(Milk,WaterTable)} +{On(Milk,CoffeeTable)} +{On(Milk,Table1)} +{On(Milk,Table2)} +{On(Milk,Table3)} +{On(Milk,BrightTable6)} +{On(VacuumCup,Bar)} +{On(VacuumCup,Bar2)} +{On(VacuumCup,WaterTable)} +{On(VacuumCup,CoffeeTable)} +{On(VacuumCup,Table1)} +{On(VacuumCup,Table2)} +{On(VacuumCup,Table3)} +{On(VacuumCup,BrightTable6)} +{On(Chips,Bar)} +{On(Chips,Bar2)} +{On(Chips,WaterTable)} +{On(Chips,CoffeeTable)} +{On(Chips,Table1)} +{On(Chips,Table2)} +{On(Chips,Table3)} +{On(Chips,BrightTable6)} +{On(NFCJuice,Bar)} +{On(NFCJuice,Bar2)} +{On(NFCJuice,WaterTable)} +{On(NFCJuice,CoffeeTable)} +{On(NFCJuice,Table1)} +{On(NFCJuice,Table2)} +{On(NFCJuice,Table3)} +{On(NFCJuice,BrightTable6)} +{On(Bernachon,Bar)} +{On(Bernachon,Bar2)} +{On(Bernachon,WaterTable)} +{On(Bernachon,CoffeeTable)} +{On(Bernachon,Table1)} +{On(Bernachon,Table2)} +{On(Bernachon,Table3)} +{On(Bernachon,BrightTable6)} +{On(SpringWater,Bar)} +{On(SpringWater,Bar2)} +{On(SpringWater,WaterTable)} +{On(SpringWater,CoffeeTable)} +{On(SpringWater,Table1)} +{On(SpringWater,Table2)} +{On(SpringWater,Table3)} +{On(SpringWater,BrightTable6)} +{On(Coffee,Bar)} +{On(Coffee,Bar2)} +{On(Coffee,WaterTable)} +{On(Coffee,CoffeeTable)} +{On(Coffee,Table1)} +{On(Coffee,Table2)} +{On(Coffee,Table3)} +{On(Coffee,BrightTable6)} +{On(Water,Bar)} +{On(Water,Bar2)} +{On(Water,WaterTable)} +{On(Water,CoffeeTable)} +{On(Water,Table1)} +{On(Water,Table2)} +{On(Water,Table3)} +{On(Water,BrightTable6)} +{On(Dessert,Bar)} +{On(Dessert,Bar2)} +{On(Dessert,WaterTable)} +{On(Dessert,CoffeeTable)} +{On(Dessert,Table1)} +{On(Dessert,Table2)} +{On(Dessert,Table3)} +{On(Dessert,BrightTable6)} +{On(Softdrink,Bar)} +{On(Softdrink,Bar2)} +{On(Softdrink,WaterTable)} +{On(Softdrink,CoffeeTable)} +{On(Softdrink,Table1)} +{On(Softdrink,Table2)} +{On(Softdrink,Table3)} +{On(Softdrink,BrightTable6)} +{On(BottledDrink,Bar)} +{On(BottledDrink,Bar2)} +{On(BottledDrink,WaterTable)} +{On(BottledDrink,CoffeeTable)} +{On(BottledDrink,Table1)} +{On(BottledDrink,Table2)} +{On(BottledDrink,Table3)} +{On(BottledDrink,BrightTable6)} +{On(Yogurt,Bar)} +{On(Yogurt,Bar2)} +{On(Yogurt,WaterTable)} +{On(Yogurt,CoffeeTable)} +{On(Yogurt,Table1)} +{On(Yogurt,Table2)} +{On(Yogurt,Table3)} +{On(Yogurt,BrightTable6)} +{On(ADMilk,Bar)} +{On(ADMilk,Bar2)} +{On(ADMilk,WaterTable)} +{On(ADMilk,CoffeeTable)} +{On(ADMilk,Table1)} +{On(ADMilk,Table2)} +{On(ADMilk,Table3)} +{On(ADMilk,BrightTable6)} +{On(MilkDrink,Bar)} +{On(MilkDrink,Bar2)} +{On(MilkDrink,WaterTable)} +{On(MilkDrink,CoffeeTable)} +{On(MilkDrink,Table1)} +{On(MilkDrink,Table2)} +{On(MilkDrink,Table3)} +{On(MilkDrink,BrightTable6)} +{On(Milk,Bar)} +{On(Milk,Bar2)} +{On(Milk,WaterTable)} +{On(Milk,CoffeeTable)} +{On(Milk,Table1)} +{On(Milk,Table2)} +{On(Milk,Table3)} +{On(Milk,BrightTable6)} +{On(VacuumCup,Bar)} +{On(VacuumCup,Bar2)} +{On(VacuumCup,WaterTable)} +{On(VacuumCup,CoffeeTable)} +{On(VacuumCup,Table1)} +{On(VacuumCup,Table2)} +{On(VacuumCup,Table3)} +{On(VacuumCup,BrightTable6)} +{On(Chips,Bar)} +{On(Chips,Bar2)} +{On(Chips,WaterTable)} +{On(Chips,CoffeeTable)} +{On(Chips,Table1)} +{On(Chips,Table2)} +{On(Chips,Table3)} +{On(Chips,BrightTable6)} +{On(NFCJuice,Bar)} +{On(NFCJuice,Bar2)} +{On(NFCJuice,WaterTable)} +{On(NFCJuice,CoffeeTable)} +{On(NFCJuice,Table1)} +{On(NFCJuice,Table2)} +{On(NFCJuice,Table3)} +{On(NFCJuice,BrightTable6)} +{On(Bernachon,Bar)} +{On(Bernachon,Bar2)} +{On(Bernachon,WaterTable)} +{On(Bernachon,CoffeeTable)} +{On(Bernachon,Table1)} +{On(Bernachon,Table2)} +{On(Bernachon,Table3)} +{On(Bernachon,BrightTable6)} +{On(SpringWater,Bar)} +{On(SpringWater,Bar2)} +{On(SpringWater,WaterTable)} +{On(SpringWater,CoffeeTable)} +{On(SpringWater,Table1)} +{On(SpringWater,Table2)} +{On(SpringWater,Table3)} +{On(SpringWater,BrightTable6)} +{On(Coffee,Bar)} +{On(Coffee,Bar2)} +{On(Coffee,WaterTable)} +{On(Coffee,CoffeeTable)} +{On(Coffee,Table1)} +{On(Coffee,Table2)} +{On(Coffee,Table3)} +{On(Coffee,BrightTable6)} +{On(Water,Bar)} +{On(Water,Bar2)} +{On(Water,WaterTable)} +{On(Water,CoffeeTable)} +{On(Water,Table1)} +{On(Water,Table2)} +{On(Water,Table3)} +{On(Water,BrightTable6)} +{On(Dessert,Bar)} +{On(Dessert,Bar2)} +{On(Dessert,WaterTable)} +{On(Dessert,CoffeeTable)} +{On(Dessert,Table1)} +{On(Dessert,Table2)} +{On(Dessert,Table3)} +{On(Dessert,BrightTable6)} +{On(Softdrink,Bar)} +{On(Softdrink,Bar2)} +{On(Softdrink,WaterTable)} +{On(Softdrink,CoffeeTable)} +{On(Softdrink,Table1)} +{On(Softdrink,Table2)} +{On(Softdrink,Table3)} +{On(Softdrink,BrightTable6)} +{On(BottledDrink,Bar)} +{On(BottledDrink,Bar2)} +{On(BottledDrink,WaterTable)} +{On(BottledDrink,CoffeeTable)} +{On(BottledDrink,Table1)} +{On(BottledDrink,Table2)} +{On(BottledDrink,Table3)} +{On(BottledDrink,BrightTable6)} +{On(Yogurt,Bar)} +{On(Yogurt,Bar2)} +{On(Yogurt,WaterTable)} +{On(Yogurt,CoffeeTable)} +{On(Yogurt,Table1)} +{On(Yogurt,Table2)} +{On(Yogurt,Table3)} +{On(Yogurt,BrightTable6)} +{On(ADMilk,Bar)} +{On(ADMilk,Bar2)} +{On(ADMilk,WaterTable)} +{On(ADMilk,CoffeeTable)} +{On(ADMilk,Table1)} +{On(ADMilk,Table2)} +{On(ADMilk,Table3)} +{On(ADMilk,BrightTable6)} +{On(MilkDrink,Bar)} +{On(MilkDrink,Bar2)} +{On(MilkDrink,WaterTable)} +{On(MilkDrink,CoffeeTable)} +{On(MilkDrink,Table1)} +{On(MilkDrink,Table2)} +{On(MilkDrink,Table3)} +{On(MilkDrink,BrightTable6)} +{On(Milk,Bar)} +{On(Milk,Bar2)} +{On(Milk,WaterTable)} +{On(Milk,CoffeeTable)} +{On(Milk,Table1)} +{On(Milk,Table2)} +{On(Milk,Table3)} +{On(Milk,BrightTable6)} +{On(VacuumCup,Bar)} +{On(VacuumCup,Bar2)} +{On(VacuumCup,WaterTable)} +{On(VacuumCup,CoffeeTable)} +{On(VacuumCup,Table1)} +{On(VacuumCup,Table2)} +{On(VacuumCup,Table3)} +{On(VacuumCup,BrightTable6)} +{On(Chips,Bar)} +{On(Chips,Bar2)} +{On(Chips,WaterTable)} +{On(Chips,CoffeeTable)} +{On(Chips,Table1)} +{On(Chips,Table2)} +{On(Chips,Table3)} +{On(Chips,BrightTable6)} +{On(NFCJuice,Bar)} +{On(NFCJuice,Bar2)} +{On(NFCJuice,WaterTable)} +{On(NFCJuice,CoffeeTable)} +{On(NFCJuice,Table1)} +{On(NFCJuice,Table2)} +{On(NFCJuice,Table3)} +{On(NFCJuice,BrightTable6)} +{On(Bernachon,Bar)} +{On(Bernachon,Bar2)} +{On(Bernachon,WaterTable)} +{On(Bernachon,CoffeeTable)} +{On(Bernachon,Table1)} +{On(Bernachon,Table2)} +{On(Bernachon,Table3)} +{On(Bernachon,BrightTable6)} +{On(SpringWater,Bar)} +{On(SpringWater,Bar2)} +{On(SpringWater,WaterTable)} +{On(SpringWater,CoffeeTable)} +{On(SpringWater,Table1)} +{On(SpringWater,Table2)} +{On(SpringWater,Table3)} +{On(SpringWater,BrightTable6)} +{On(ADMilk,Bar)} +{On(VacuumCup,BrightTable6)} +{On(Chips,Table1)} +{On(MilkDrink,Table1)} +{On(Yogurt,BrightTable6)} +{On(Water,Bar2)} +{On(Dessert,Table1)} +{On(Bernachon,Table2)} 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+{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} +{Exist(Yogurt)} +{Exist(VacuumCup)} +{Exist(SpringWater)} +{Exist(Bernachon)} +{Exist(NFCJuice)} +{Exist(Coffee)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(Water)} +{Exist(Coffee)} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_generation.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_generation.py new file mode 100644 index 0000000..35991f9 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_generation.py @@ -0,0 +1,322 @@ +# the empty string '' represents robot holds nothing +import os +import re + +Object = ['Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk','VacuumCup','Chips', 'NFCJuice', 'Bernachon', 'SpringWater'] +Cookable = ['Coffee', 'Water', 'Dessert'] +Place = ['Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3','BrightTable6'] +Entity = ['Robot'] +Operable = ['AC', 'ACTemperature', 'HallLight', 'TubeLight', 'Curtain', 'Chairs', 'Floor', 'Table1'] + +import random + + +def single_predict_generation(oplist_1, oplist_2, predict_pattern) -> str: + index_1 = random.randint(0, len(oplist_1) - 1) + if oplist_2: + index_2 = random.randint(0, len(oplist_2) - 1) + + match predict_pattern: + case 'at': + return f'At({oplist_1[index_1]},{oplist_2[index_2]})' + case 'is': + return f'Is({oplist_1[index_1]},{oplist_2[index_2]})' + case 'hold': + return f'Holding({oplist_1[index_1]})' + case 'on': + return f'On({oplist_1[index_1]},{oplist_2[index_2]})' + case 'exist': + return f'Exist({oplist_1[index_1]})' + case _: + raise RuntimeError('Incorrect predict pattern!') + + +def enumerate_predict(oplist_1, oplist_2, predict_pattern) -> [int, list]: + count = 0 + res = [] + + match predict_pattern: + case 'at': + pattern = f'At(%s,%s)' + case 'is': + pattern = f'Is(%s,%s)' + case 'hold': + pattern = f'Holding(%s)' + case 'on': + pattern = f'On(%s,%s)' + case 'exist': + pattern = f'Exist(%s)' + case _: + raise RuntimeError('Incorrect predict pattern!') + + for str_1 in oplist_1: + if oplist_2: + for str_2 in oplist_2: + count += 1 + res.append(pattern % (str_1, str_2)) + else: + count += 1 + res.append(pattern % str_1) + + return count, res + + +def generate_goal_states(vln_num: int, vlm_num: int, opentask_num: int): + # res stores lists of sets, while each state represent in set. + res = [] + + # goal states for VLN + for i in range(vln_num): + res.append({single_predict_generation(['Robot'], Place, 'at')}) + + # goal states for VLM + for i in range(int(vlm_num)): + for j in range(int(vlm_num)): + res.append( + { + single_predict_generation(['Robot'], Place, 'at'), + single_predict_generation(Operable, ['0', '1'], 'is') + } + ) + + # goal states for Open-task-1 + for i in range(int(opentask_num)): + for j in range(int(opentask_num)): + res.append( + { + single_predict_generation(['Robot'], Place, 'at'), + single_predict_generation(Object, Place, 'on') + } + ) + + print(res) + print(len(res)) + + return res + + +def enumerate_goal_states(total: int): + res = [] + + point_15 = int(total * .15) + point_10 = int(total * .10) + + # goal states for VLN, .15 + count_vln, list_vln = enumerate_predict(['Robot'], Place, 'at') + list_vln = ['{%s}' % i for i in list_vln] + if count_vln < point_15: + list_vln *= point_15 // count_vln + for i in range(0, point_15 - len(list_vln)): + list_vln.append('{%s}' % single_predict_generation(['Robot'], Place, 'at')) + # print(f'VLN 任务的目标状态数：{count_vln}') + res += list_vln + + # goal states for VLM-1, 0.15 + count_vlm_1, list_vlm_1 = enumerate_predict(Object, Place, 'on') + list_vlm_1 = ['{%s}' % i for i in list_vlm_1] + if count_vlm_1 < point_15: + list_vlm_1 *= point_15 // count_vlm_1 + for i in range(0, point_15 - len(list_vlm_1)): + list_vlm_1.append('{%s}' % (single_predict_generation(Object, Place, 'on'))) + res += list_vlm_1 + + # goal states for VLM-2, 0.15 + count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') + list_vlm_2 = ['{%s}' % i for i in list_vlm_2] + if count_vlm_2 < point_15: + list_vlm_2 *= point_15 // count_vlm_2 + for i in range(0, point_15 - len(list_vlm_2)): + list_vlm_2.append('{%s}' % single_predict_generation(Operable, ['0', '1'], 'is')) + res += list_vlm_2 + + # goal states for VLM-3, 0.1 + count_vlm_3, list_vlm_3 = enumerate_predict(Object + ['Nothing'], None, 'hold') + list_vlm_3 = ['{%s}' % i for i in list_vlm_3] + if count_vlm_3 < point_10: + list_vlm_3 *= point_10 // count_vlm_3 + for i in range(0, point_10 - len(list_vlm_3)): + list_vlm_3.append('{%s}' % single_predict_generation(Object, None, 'hold')) + res += list_vlm_3 + + count_vlm_4, list_vlm_4 = enumerate_predict(Object, None, 'exist') + list_vlm_4 = ['{%s}' % i for i in list_vlm_4] + if count_vlm_4 < point_10: + list_vlm_4 *= point_10 // count_vlm_4 + for i in range(0, point_10 - len(list_vlm_4)): + list_vlm_4.append('{%s}' % single_predict_generation(Object, None, 'exist')) + res += list_vlm_4 + + # goal states for OT, 0.15 + # count_ot, list_ot = enumerate_predict(Cookable, Place, 'on') + # list_ot = ['{%s}' % i for i in list_ot] + # if count_ot < point_15: + # list_ot *= point_15 // count_ot + # for i in range(0, point_15 - len(list_ot)): + # list_ot.append('{%s}' % single_predict_generation(Cookable, Place, 'on')) + # res += list_ot + + # goal states for compound-1, 0.1 + # count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') + # count_2, list_2 = enumerate_predict(Object, Place, 'on') + # list_tmp = [] + # for i in list_1: + # for j in list_2: + # list_tmp.append('{%s,%s}' % (i, j)) + # if len(list_tmp) < point_10: + # list_tmp *= point_10 // len(list_tmp) + # list_tmp += list_tmp[0:point_10 - len(list_tmp)] + # else: + # list_tmp = list_tmp[:point_10] + # res += list_tmp + + # goal states for compound-2, 0.1 + # count_1, list_1 = enumerate_predict(['Robot'], Place, 'at') + # count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') + # list_tmp = [] + # for i in list_1: + # for j in list_2: + # list_tmp.append('{%s,%s}' % (i, j)) + # if len(list_tmp) < point_10: + # list_tmp *= point_10 // len(list_tmp) + # list_tmp += list_tmp[0:point_10 - len(list_tmp)] + # else: + # list_tmp = list_tmp[:point_10] + # res += list_tmp + + # goal states for compound-3, 0.1 + # count_1, list_1 = enumerate_predict(Cookable, Place, 'on') + # count_2, list_2 = enumerate_predict(Operable, ['0', '1'], 'is') + # list_tmp = [] + # for i in list_1: + # for j in list_2: + # list_tmp.append('{%s,%s}' % (i, j)) + # if len(list_tmp) < point_10: + # list_tmp *= point_10 // len(list_tmp) + # list_tmp += list_tmp[0:point_10 - len(list_tmp)] + # else: + # list_tmp = list_tmp[:point_10] + # res += list_tmp + + # # goal states for VLM-1, 0.15 + # count_vlm_1, list_vlm_1 = enumerate_predict(['Robot'], Place, 'at') + # count_vlm_2, list_vlm_2 = enumerate_predict(Operable, ['0', '1'], 'is') + # print(f'VLM 任务的目标状态数：{count_vlm_1 * count_vlm_2}') + # + # # goal states for open-task + # count_opentask_1, list_opentask_1 = enumerate_predict(['Robot'], Place, 'at') + # count_opentask_2, list_opentask_2 = enumerate_predict(Object, Place, 'on') + # print(f'Open-task-1 任务的目标状态数：{count_opentask_1 * count_opentask_2}') + + with open(os.path.join('./goal_states.txt'), 'w+') as file: + for i in res: + if 'Is' in i and 'ACTemperature' in i: + i = re.sub(',0', ',Up', i) + i = re.sub(',1', ',Down', i) + elif 'Is' in i and ('AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i): + i = re.sub(',0', ',Off', i) + i = re.sub(',1', ',On', i) + 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) + + file.write(i + '\n') + + +def translate_zero_one(i: str) -> str: + if 'ACTemperature' in i: + i = re.sub('On\)', '调高', i) + i = re.sub('Off\)', '调低', i) + elif 'AC' in i or 'HallLight' in i or 'TubeLight' in i or 'Curtain' in i: + i = re.sub('On\)', '关闭', i) + i = re.sub('Off\)', '打开', i) + elif 'Chairs' in i or 'Floor' in i or 'Table' in i: + i = re.sub('On\)', '脏', i) + i = re.sub('Off\)', '打扫干净', i) + + return i + + +def enumerate_goal_states_with_describe() -> str: + with open(os.path.join('./goal_states_with_description.txt'), 'w', encoding='utf-8') as file: + # vln + count, res = enumerate_predict(['Robot'], Place, 'at') + print(count) + for i in range(count): + tmp = '#' + res[i].split(',')[-1][:-1] + file.write(f'{res[i]}\t你能过来一下吗？我在{tmp}这里。\n') + file.write(f'{res[i]}\t麻烦你去一下{tmp}。\n') + file.write(f'{res[i]}\t你能去{tmp}那个位置吗？\n') + + # vlm, on + count, res = enumerate_predict(Object, Place, 'on') + print(count) + for i in range(count): + tmp = res[i].split(',') + obj = '#' + tmp[0][3:] + pla = '#' + tmp[-1][:-1] + file.write(f'{res[i]}\t麻烦你把{obj}放到{pla}那个位置。\n') + file.write(f'{res[i]}\t请你拿一下{obj}到{pla}位置。\n') + file.write(f'{res[i]}\t你好，我在{pla}，请你拿一下{obj}到位置。\n') + + # vlm, is + count, res = enumerate_predict(Operable, ['On', 'Off'], 'is') + print(count) + for i in res: + tmp = i.split(',') + thing, op = '#' + tmp[0][3:], '#' + tmp[-1] + file.write('%s\t%s\n' % (i, translate_zero_one(f'你能把{thing}{op}一下吗？'))) + + + # vlm, holding + count, res = enumerate_predict(Object + ['Nothing'], None, 'hold') + print(count) + for i in res: + tmp = '#' + i.split('(')[-1][:-1] + if tmp == 'Nothing': + file.write(f'{i}\t你手里是没有东西的吗？\n') + continue + file.write(f'{i}\t你能把{tmp}抓在手里吗？\n') + file.write(f'{i}\t你能一直拿着{tmp}吗？\n') + + + count, res = enumerate_predict(Cookable, Place, 'on') + print(count) + for i in res: + tmp = i.split(',') + thing, pla = '#' + tmp[0][3:], '#' + tmp[-1][:-1] + + file.write(f'{i}\t你能制作{thing}并把它端到{pla}这里来吗？\n') + file.write(f'{i}\t给我来点{thing}，并把它端到{pla}这里来。\n') + return './goal_states_with_description.txt' + + +from copy import deepcopy + + +def mutex(path: str): + with open(os.path.join(path), 'r', encoding='utf-8') as file: + lines = "".join(file.readlines()) + new_line = deepcopy(lines) + + check = ['#Bar2', '#WaterTable', '#CoffeeTable', '#Bar', '#Table1', '#Table2', '#Table3', '#BrightTable6', + '#Coffee', '#Water','#Dessert', '#Softdrink', '#BottledDrink', '#Yogurt', '#ADMilk', '#MilkDrink', '#Milk', '#VacuumCup', + '#Chips', '#NFCJuice', '#Bernachon', '#SpringWater', + '#AC', + '#ACTemperature', '#HallLight', '#TubeLight', '#Curtain', '#Chairs', '#Floor', '#Table1'] + repla = ['#另一侧的吧台', '#茶水桌', '#咖啡桌', '#吧台', '#前门斜桌子', '#大厅长桌子西侧', '#大厅长桌子东侧', '#后门靠窗边圆桌', '#咖啡', '#水', + '#点心', '#盒装冰红茶', '#瓶装饮料', '#酸奶', '#AD钙奶', '#牛奶味的饮料', '#牛奶', '#保温杯', + '#薯片', '#NFC果汁', '#贝纳颂咖啡', '#矿泉水', + '#空调', + '#空调温度', '#大厅灯', '#筒灯', '#窗帘', '#椅子', '#地板', '#前门斜桌子'] + + for i, j in zip(check, repla): + new_line = re.sub(i, j, new_line) + new_line = re.sub('#', '', new_line) + lines = re.sub('#', '', lines) + + with open(os.path.join(path), 'w', encoding='utf-8') as file: + file.write(new_line) + +# generate_goal_states(30, 6, 6) +enumerate_goal_states(5000) +mutex(enumerate_goal_states_with_describe()) diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_unique.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_unique.txt new file mode 100644 index 0000000..bacfa3e --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_unique.txt @@ -0,0 +1,165 @@ +{At(Robot,Bar)} +{At(Robot,Bar2)} +{At(Robot,WaterTable)} +{At(Robot,CoffeeTable)} +{At(Robot,Table1)} +{At(Robot,Table2)} +{At(Robot,Table3)} +{At(Robot,BrightTable6)} +{On(Coffee,Bar)} +{On(Coffee,Bar2)} +{On(Coffee,WaterTable)} +{On(Coffee,CoffeeTable)} +{On(Coffee,Table1)} +{On(Coffee,Table2)} +{On(Coffee,Table3)} +{On(Coffee,BrightTable6)} +{On(Water,Bar)} +{On(Water,Bar2)} +{On(Water,WaterTable)} +{On(Water,CoffeeTable)} +{On(Water,Table1)} +{On(Water,Table2)} +{On(Water,Table3)} +{On(Water,BrightTable6)} +{On(Dessert,Bar)} +{On(Dessert,Bar2)} +{On(Dessert,WaterTable)} +{On(Dessert,CoffeeTable)} +{On(Dessert,Table1)} +{On(Dessert,Table2)} +{On(Dessert,Table3)} +{On(Dessert,BrightTable6)} +{On(Softdrink,Bar)} +{On(Softdrink,Bar2)} +{On(Softdrink,WaterTable)} +{On(Softdrink,CoffeeTable)} +{On(Softdrink,Table1)} +{On(Softdrink,Table2)} +{On(Softdrink,Table3)} +{On(Softdrink,BrightTable6)} +{On(BottledDrink,Bar)} +{On(BottledDrink,Bar2)} +{On(BottledDrink,WaterTable)} +{On(BottledDrink,CoffeeTable)} +{On(BottledDrink,Table1)} +{On(BottledDrink,Table2)} +{On(BottledDrink,Table3)} +{On(BottledDrink,BrightTable6)} +{On(Yogurt,Bar)} +{On(Yogurt,Bar2)} +{On(Yogurt,WaterTable)} +{On(Yogurt,CoffeeTable)} +{On(Yogurt,Table1)} +{On(Yogurt,Table2)} +{On(Yogurt,Table3)} +{On(Yogurt,BrightTable6)} +{On(ADMilk,Bar)} +{On(ADMilk,Bar2)} +{On(ADMilk,WaterTable)} +{On(ADMilk,CoffeeTable)} +{On(ADMilk,Table1)} +{On(ADMilk,Table2)} +{On(ADMilk,Table3)} +{On(ADMilk,BrightTable6)} +{On(MilkDrink,Bar)} +{On(MilkDrink,Bar2)} +{On(MilkDrink,WaterTable)} +{On(MilkDrink,CoffeeTable)} +{On(MilkDrink,Table1)} +{On(MilkDrink,Table2)} +{On(MilkDrink,Table3)} +{On(MilkDrink,BrightTable6)} +{On(Milk,Bar)} +{On(Milk,Bar2)} +{On(Milk,WaterTable)} +{On(Milk,CoffeeTable)} +{On(Milk,Table1)} +{On(Milk,Table2)} +{On(Milk,Table3)} +{On(Milk,BrightTable6)} +{On(VacuumCup,Bar)} +{On(VacuumCup,Bar2)} +{On(VacuumCup,WaterTable)} +{On(VacuumCup,CoffeeTable)} +{On(VacuumCup,Table1)} +{On(VacuumCup,Table2)} +{On(VacuumCup,Table3)} +{On(VacuumCup,BrightTable6)} +{On(Chips,Bar)} +{On(Chips,Bar2)} +{On(Chips,WaterTable)} +{On(Chips,CoffeeTable)} +{On(Chips,Table1)} +{On(Chips,Table2)} +{On(Chips,Table3)} +{On(Chips,BrightTable6)} +{On(NFCJuice,Bar)} +{On(NFCJuice,Bar2)} +{On(NFCJuice,WaterTable)} +{On(NFCJuice,CoffeeTable)} +{On(NFCJuice,Table1)} +{On(NFCJuice,Table2)} +{On(NFCJuice,Table3)} +{On(NFCJuice,BrightTable6)} +{On(Bernachon,Bar)} +{On(Bernachon,Bar2)} +{On(Bernachon,WaterTable)} +{On(Bernachon,CoffeeTable)} +{On(Bernachon,Table1)} +{On(Bernachon,Table2)} +{On(Bernachon,Table3)} +{On(Bernachon,BrightTable6)} +{On(SpringWater,Bar)} +{On(SpringWater,Bar2)} +{On(SpringWater,WaterTable)} +{On(SpringWater,CoffeeTable)} +{On(SpringWater,Table1)} +{On(SpringWater,Table2)} +{On(SpringWater,Table3)} +{On(SpringWater,BrightTable6)} +{Is(AC,Off)} +{Is(AC,On)} +{Is(ACTemperature,Up)} +{Is(ACTemperature,Down)} +{Is(HallLight,Off)} +{Is(HallLight,On)} +{Is(TubeLight,Off)} +{Is(TubeLight,On)} +{Is(Curtain,Off)} +{Is(Curtain,On)} +{Is(Chairs,Dirty)} +{Is(Chairs,Clean)} +{Is(Floor,Dirty)} +{Is(Floor,Clean)} +{Is(Table1,Dirty)} +{Is(Table1,Clean)} +{Holding(Coffee)} +{Holding(Water)} +{Holding(Dessert)} +{Holding(Softdrink)} +{Holding(BottledDrink)} +{Holding(Yogurt)} +{Holding(ADMilk)} +{Holding(MilkDrink)} +{Holding(Milk)} +{Holding(VacuumCup)} +{Holding(Chips)} +{Holding(NFCJuice)} +{Holding(Bernachon)} +{Holding(SpringWater)} +{Holding(Nothing)} +{Exist(Coffee)} +{Exist(Water)} +{Exist(Dessert)} +{Exist(Softdrink)} +{Exist(BottledDrink)} +{Exist(Yogurt)} +{Exist(ADMilk)} +{Exist(MilkDrink)} +{Exist(Milk)} +{Exist(VacuumCup)} +{Exist(Chips)} +{Exist(NFCJuice)} +{Exist(Bernachon)} +{Exist(SpringWater)} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.jsonl b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.jsonl new file mode 100644 index 0000000..fd2b862 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.jsonl @@ -0,0 +1,193 @@ +{"title":"你能过来一下吗？我在吧台这里。","text":"At(Robot,Bar)"} +{"title":"麻烦你去一下吧台。","text":"At(Robot,Bar)"} +{"title":"你能去吧台那个位置吗？","text":"At(Robot,Bar)"} +{"title":"你能过来一下吗？我在茶水桌这里。","text":"At(Robot,WaterTable)"} +{"title":"麻烦你去一下茶水桌。","text":"At(Robot,WaterTable)"} +{"title":"你能去茶水桌那个位置吗？","text":"At(Robot,WaterTable)"} +{"title":"你能过来一下吗？我在咖啡桌这里。","text":"At(Robot,CoffeeTable)"} +{"title":"麻烦你去一下咖啡桌。","text":"At(Robot,CoffeeTable)"} +{"title":"你能去咖啡桌那个位置吗？","text":"At(Robot,CoffeeTable)"} +{"title":"你能过来一下吗？我在另一个吧台这里。","text":"At(Robot,Bar2)"} +{"title":"麻烦你去一下另一个吧台。","text":"At(Robot,Bar2)"} +{"title":"你能去另一个吧台那个位置吗？","text":"At(Robot,Bar2)"} +{"title":"你能过来一下吗？我在第一张桌子这里。","text":"At(Robot,Table1)"} +{"title":"麻烦你去一下第一张桌子。","text":"At(Robot,Table1)"} +{"title":"你能去第一张桌子那个位置吗？","text":"At(Robot,Table1)"} +{"title":"你能过来一下吗？我在第二张桌子这里。","text":"At(Robot,Table2)"} +{"title":"麻烦你去一下第二张桌子。","text":"At(Robot,Table2)"} +{"title":"你能去第二张桌子那个位置吗？","text":"At(Robot,Table2)"} +{"title":"你能过来一下吗？我在第三张桌子这里。","text":"At(Robot,Table3)"} +{"title":"麻烦你去一下第三张桌子。","text":"At(Robot,Table3)"} +{"title":"你能去第三张桌子那个位置吗？","text":"At(Robot,Table3)"} +{"title":"麻烦你把盒装冰红茶放到吧台那个位置。","text":"On(Softdrink,Bar)"} +{"title":"请你拿一下盒装冰红茶到吧台位置。","text":"On(Softdrink,Bar)"} +{"title":"麻烦你把盒装冰红茶放到茶水桌那个位置。","text":"On(Softdrink,WaterTable)"} +{"title":"请你拿一下盒装冰红茶到茶水桌位置。","text":"On(Softdrink,WaterTable)"} +{"title":"麻烦你把盒装冰红茶放到咖啡桌那个位置。","text":"On(Softdrink,CoffeeTable)"} +{"title":"请你拿一下盒装冰红茶到咖啡桌位置。","text":"On(Softdrink,CoffeeTable)"} +{"title":"麻烦你把盒装冰红茶放到另一个吧台那个位置。","text":"On(Softdrink,Bar2)"} +{"title":"请你拿一下盒装冰红茶到另一个吧台位置。","text":"On(Softdrink,Bar2)"} +{"title":"麻烦你把盒装冰红茶放到第一张桌子那个位置。","text":"On(Softdrink,Table1)"} +{"title":"请你拿一下盒装冰红茶到第一张桌子位置。","text":"On(Softdrink,Table1)"} +{"title":"麻烦你把盒装冰红茶放到第二张桌子那个位置。","text":"On(Softdrink,Table2)"} +{"title":"请你拿一下盒装冰红茶到第二张桌子位置。","text":"On(Softdrink,Table2)"} +{"title":"麻烦你把盒装冰红茶放到第三张桌子那个位置。","text":"On(Softdrink,Table3)"} +{"title":"请你拿一下盒装冰红茶到第三张桌子位置。","text":"On(Softdrink,Table3)"} +{"title":"麻烦你把瓶装饮料放到吧台那个位置。","text":"On(BottledDrink,Bar)"} +{"title":"请你拿一下瓶装饮料到吧台位置。","text":"On(BottledDrink,Bar)"} +{"title":"麻烦你把瓶装饮料放到茶水桌那个位置。","text":"On(BottledDrink,WaterTable)"} +{"title":"请你拿一下瓶装饮料到茶水桌位置。","text":"On(BottledDrink,WaterTable)"} +{"title":"麻烦你把瓶装饮料放到咖啡桌那个位置。","text":"On(BottledDrink,CoffeeTable)"} +{"title":"请你拿一下瓶装饮料到咖啡桌位置。","text":"On(BottledDrink,CoffeeTable)"} +{"title":"麻烦你把瓶装饮料放到另一个吧台那个位置。","text":"On(BottledDrink,Bar2)"} +{"title":"请你拿一下瓶装饮料到另一个吧台位置。","text":"On(BottledDrink,Bar2)"} +{"title":"麻烦你把瓶装饮料放到第一张桌子那个位置。","text":"On(BottledDrink,Table1)"} +{"title":"请你拿一下瓶装饮料到第一张桌子位置。","text":"On(BottledDrink,Table1)"} +{"title":"麻烦你把瓶装饮料放到第二张桌子那个位置。","text":"On(BottledDrink,Table2)"} +{"title":"请你拿一下瓶装饮料到第二张桌子位置。","text":"On(BottledDrink,Table2)"} +{"title":"麻烦你把瓶装饮料放到第三张桌子那个位置。","text":"On(BottledDrink,Table3)"} +{"title":"请你拿一下瓶装饮料到第三张桌子位置。","text":"On(BottledDrink,Table3)"} +{"title":"麻烦你把酸奶放到吧台那个位置。","text":"On(Yogurt,Bar)"} +{"title":"请你拿一下酸奶到吧台位置。","text":"On(Yogurt,Bar)"} +{"title":"麻烦你把酸奶放到茶水桌那个位置。","text":"On(Yogurt,WaterTable)"} +{"title":"请你拿一下酸奶到茶水桌位置。","text":"On(Yogurt,WaterTable)"} +{"title":"麻烦你把酸奶放到咖啡桌那个位置。","text":"On(Yogurt,CoffeeTable)"} +{"title":"请你拿一下酸奶到咖啡桌位置。","text":"On(Yogurt,CoffeeTable)"} +{"title":"麻烦你把酸奶放到另一个吧台那个位置。","text":"On(Yogurt,Bar2)"} +{"title":"请你拿一下酸奶到另一个吧台位置。","text":"On(Yogurt,Bar2)"} +{"title":"麻烦你把酸奶放到第一张桌子那个位置。","text":"On(Yogurt,Table1)"} +{"title":"请你拿一下酸奶到第一张桌子位置。","text":"On(Yogurt,Table1)"} +{"title":"麻烦你把酸奶放到第二张桌子那个位置。","text":"On(Yogurt,Table2)"} +{"title":"请你拿一下酸奶到第二张桌子位置。","text":"On(Yogurt,Table2)"} +{"title":"麻烦你把酸奶放到第三张桌子那个位置。","text":"On(Yogurt,Table3)"} +{"title":"请你拿一下酸奶到第三张桌子位置。","text":"On(Yogurt,Table3)"} +{"title":"麻烦你把AD钙奶放到吧台那个位置。","text":"On(ADMilk,Bar)"} +{"title":"请你拿一下AD钙奶到吧台位置。","text":"On(ADMilk,Bar)"} +{"title":"麻烦你把AD钙奶放到茶水桌那个位置。","text":"On(ADMilk,WaterTable)"} +{"title":"请你拿一下AD钙奶到茶水桌位置。","text":"On(ADMilk,WaterTable)"} +{"title":"麻烦你把AD钙奶放到咖啡桌那个位置。","text":"On(ADMilk,CoffeeTable)"} +{"title":"请你拿一下AD钙奶到咖啡桌位置。","text":"On(ADMilk,CoffeeTable)"} +{"title":"麻烦你把AD钙奶放到另一个吧台那个位置。","text":"On(ADMilk,Bar2)"} +{"title":"请你拿一下AD钙奶到另一个吧台位置。","text":"On(ADMilk,Bar2)"} +{"title":"麻烦你把AD钙奶放到第一张桌子那个位置。","text":"On(ADMilk,Table1)"} +{"title":"请你拿一下AD钙奶到第一张桌子位置。","text":"On(ADMilk,Table1)"} +{"title":"麻烦你把AD钙奶放到第二张桌子那个位置。","text":"On(ADMilk,Table2)"} +{"title":"请你拿一下AD钙奶到第二张桌子位置。","text":"On(ADMilk,Table2)"} +{"title":"麻烦你把AD钙奶放到第三张桌子那个位置。","text":"On(ADMilk,Table3)"} +{"title":"请你拿一下AD钙奶到第三张桌子位置。","text":"On(ADMilk,Table3)"} +{"title":"麻烦你把牛奶味的饮料放到吧台那个位置。","text":"On(MilkDrink,Bar)"} +{"title":"请你拿一下牛奶味的饮料到吧台位置。","text":"On(MilkDrink,Bar)"} +{"title":"麻烦你把牛奶味的饮料放到茶水桌那个位置。","text":"On(MilkDrink,WaterTable)"} +{"title":"请你拿一下牛奶味的饮料到茶水桌位置。","text":"On(MilkDrink,WaterTable)"} +{"title":"麻烦你把牛奶味的饮料放到咖啡桌那个位置。","text":"On(MilkDrink,CoffeeTable)"} +{"title":"请你拿一下牛奶味的饮料到咖啡桌位置。","text":"On(MilkDrink,CoffeeTable)"} +{"title":"麻烦你把牛奶味的饮料放到另一个吧台那个位置。","text":"On(MilkDrink,Bar2)"} +{"title":"请你拿一下牛奶味的饮料到另一个吧台位置。","text":"On(MilkDrink,Bar2)"} +{"title":"麻烦你把牛奶味的饮料放到第一张桌子那个位置。","text":"On(MilkDrink,Table1)"} +{"title":"请你拿一下牛奶味的饮料到第一张桌子位置。","text":"On(MilkDrink,Table1)"} +{"title":"麻烦你把牛奶味的饮料放到第二张桌子那个位置。","text":"On(MilkDrink,Table2)"} +{"title":"请你拿一下牛奶味的饮料到第二张桌子位置。","text":"On(MilkDrink,Table2)"} +{"title":"麻烦你把牛奶味的饮料放到第三张桌子那个位置。","text":"On(MilkDrink,Table3)"} +{"title":"请你拿一下牛奶味的饮料到第三张桌子位置。","text":"On(MilkDrink,Table3)"} +{"title":"麻烦你把牛奶放到吧台那个位置。","text":"On(Milk,Bar)"} +{"title":"请你拿一下牛奶到吧台位置。","text":"On(Milk,Bar)"} +{"title":"麻烦你把牛奶放到茶水桌那个位置。","text":"On(Milk,WaterTable)"} +{"title":"请你拿一下牛奶到茶水桌位置。","text":"On(Milk,WaterTable)"} +{"title":"麻烦你把牛奶放到咖啡桌那个位置。","text":"On(Milk,CoffeeTable)"} +{"title":"请你拿一下牛奶到咖啡桌位置。","text":"On(Milk,CoffeeTable)"} +{"title":"麻烦你把牛奶放到另一个吧台那个位置。","text":"On(Milk,Bar2)"} +{"title":"请你拿一下牛奶到另一个吧台位置。","text":"On(Milk,Bar2)"} +{"title":"麻烦你把牛奶放到第一张桌子那个位置。","text":"On(Milk,Table1)"} +{"title":"请你拿一下牛奶到第一张桌子位置。","text":"On(Milk,Table1)"} +{"title":"麻烦你把牛奶放到第二张桌子那个位置。","text":"On(Milk,Table2)"} +{"title":"请你拿一下牛奶到第二张桌子位置。","text":"On(Milk,Table2)"} +{"title":"麻烦你把牛奶放到第三张桌子那个位置。","text":"On(Milk,Table3)"} +{"title":"请你拿一下牛奶到第三张桌子位置。","text":"On(Milk,Table3)"} +{"title":"麻烦你把保温杯放到吧台那个位置。","text":"On(VacuumCup,Bar)"} +{"title":"请你拿一下保温杯到吧台位置。","text":"On(VacuumCup,Bar)"} +{"title":"麻烦你把保温杯放到茶水桌那个位置。","text":"On(VacuumCup,WaterTable)"} +{"title":"请你拿一下保温杯到茶水桌位置。","text":"On(VacuumCup,WaterTable)"} +{"title":"麻烦你把保温杯放到咖啡桌那个位置。","text":"On(VacuumCup,CoffeeTable)"} +{"title":"请你拿一下保温杯到咖啡桌位置。","text":"On(VacuumCup,CoffeeTable)"} +{"title":"麻烦你把保温杯放到另一个吧台那个位置。","text":"On(VacuumCup,Bar2)"} +{"title":"请你拿一下保温杯到另一个吧台位置。","text":"On(VacuumCup,Bar2)"} +{"title":"麻烦你把保温杯放到第一张桌子那个位置。","text":"On(VacuumCup,Table1)"} +{"title":"请你拿一下保温杯到第一张桌子位置。","text":"On(VacuumCup,Table1)"} +{"title":"麻烦你把保温杯放到第二张桌子那个位置。","text":"On(VacuumCup,Table2)"} +{"title":"请你拿一下保温杯到第二张桌子位置。","text":"On(VacuumCup,Table2)"} +{"title":"麻烦你把保温杯放到第三张桌子那个位置。","text":"On(VacuumCup,Table3)"} +{"title":"请你拿一下保温杯到第三张桌子位置。","text":"On(VacuumCup,Table3)"} +{"title":"你能把空调关闭一下吗？","text":"Is(AC,On)"} +{"title":"你能把空调打开一下吗？","text":"Is(AC,Off)"} +{"title":"你能把空调Temperature调高一下吗？","text":"Is(ACTemperature,On)"} +{"title":"你能把空调Temperature调低一下吗？","text":"Is(ACTemperature,Off)"} +{"title":"你能把大厅灯关闭一下吗？","text":"Is(HallLight,On)"} +{"title":"你能把大厅灯打开一下吗？","text":"Is(HallLight,Off)"} +{"title":"你能把筒灯关闭一下吗？","text":"Is(TubeLight,On)"} +{"title":"你能把筒灯打开一下吗？","text":"Is(TubeLight,Off)"} +{"title":"你能把窗帘关闭一下吗？","text":"Is(Curtain,On)"} +{"title":"你能把窗帘打开一下吗？","text":"Is(Curtain,Off)"} +{"title":"你能把椅子脏一下吗？","text":"Is(Chairs,On)"} +{"title":"你能把椅子打扫干净一下吗？","text":"Is(Chairs,Off)"} +{"title":"你能把地板脏一下吗？","text":"Is(Floor,On)"} +{"title":"你能把地板打扫干净一下吗？","text":"Is(Floor,Off)"} +{"title":"你能把第一张桌子脏一下吗？","text":"Is(Table1,On)"} +{"title":"你能把第一张桌子打扫干净一下吗？","text":"Is(Table1,Off)"} +{"title":"你能把盒装冰红茶抓在手里吗？","text":"Holding(Softdrink)"} +{"title":"你能一直拿着盒装冰红茶吗？","text":"Holding(Softdrink)"} +{"title":"你能把瓶装饮料抓在手里吗？","text":"Holding(BottledDrink)"} +{"title":"你能一直拿着瓶装饮料吗？","text":"Holding(BottledDrink)"} +{"title":"你能把酸奶抓在手里吗？","text":"Holding(Yogurt)"} +{"title":"你能一直拿着酸奶吗？","text":"Holding(Yogurt)"} +{"title":"你能把AD钙奶抓在手里吗？","text":"Holding(ADMilk)"} +{"title":"你能一直拿着AD钙奶吗？","text":"Holding(ADMilk)"} +{"title":"你能把牛奶味的饮料抓在手里吗？","text":"Holding(MilkDrink)"} +{"title":"你能一直拿着牛奶味的饮料吗？","text":"Holding(MilkDrink)"} +{"title":"你能把牛奶抓在手里吗？","text":"Holding(Milk)"} +{"title":"你能一直拿着牛奶吗？","text":"Holding(Milk)"} +{"title":"你能把保温杯抓在手里吗？","text":"Holding(VacuumCup)"} +{"title":"你能一直拿着保温杯吗？","text":"Holding(VacuumCup)"} +{"title":"你能把Nothing抓在手里吗？","text":"Holding(Nothing)"} +{"title":"你能一直拿着Nothing吗？","text":"Holding(Nothing)"} +{"title":"你能制作咖啡并把它端到吧台这里来吗？","text":"On(Coffee,Bar)"} +{"title":"给我来点咖啡，并把它端到吧台这里来。","text":"On(Coffee,Bar)"} +{"title":"你能制作咖啡并把它端到茶水桌这里来吗？","text":"On(Coffee,WaterTable)"} +{"title":"给我来点咖啡，并把它端到茶水桌这里来。","text":"On(Coffee,WaterTable)"} +{"title":"你能制作咖啡并把它端到咖啡桌这里来吗？","text":"On(Coffee,CoffeeTable)"} +{"title":"给我来点咖啡，并把它端到咖啡桌这里来。","text":"On(Coffee,CoffeeTable)"} +{"title":"你能制作咖啡并把它端到另一个吧台这里来吗？","text":"On(Coffee,Bar2)"} +{"title":"给我来点咖啡，并把它端到另一个吧台这里来。","text":"On(Coffee,Bar2)"} +{"title":"你能制作咖啡并把它端到第一张桌子这里来吗？","text":"On(Coffee,Table1)"} +{"title":"给我来点咖啡，并把它端到第一张桌子这里来。","text":"On(Coffee,Table1)"} +{"title":"你能制作咖啡并把它端到第二张桌子这里来吗？","text":"On(Coffee,Table2)"} +{"title":"给我来点咖啡，并把它端到第二张桌子这里来。","text":"On(Coffee,Table2)"} +{"title":"你能制作咖啡并把它端到第三张桌子这里来吗？","text":"On(Coffee,Table3)"} +{"title":"给我来点咖啡，并把它端到第三张桌子这里来。","text":"On(Coffee,Table3)"} +{"title":"你能制作水并把它端到吧台这里来吗？","text":"On(Water,Bar)"} +{"title":"给我来点水，并把它端到吧台这里来。","text":"On(Water,Bar)"} +{"title":"你能制作水并把它端到茶水桌这里来吗？","text":"On(Water,WaterTable)"} +{"title":"给我来点水，并把它端到茶水桌这里来。","text":"On(Water,WaterTable)"} +{"title":"你能制作水并把它端到咖啡桌这里来吗？","text":"On(Water,CoffeeTable)"} +{"title":"给我来点水，并把它端到咖啡桌这里来。","text":"On(Water,CoffeeTable)"} +{"title":"你能制作水并把它端到另一个吧台这里来吗？","text":"On(Water,Bar2)"} +{"title":"给我来点水，并把它端到另一个吧台这里来。","text":"On(Water,Bar2)"} +{"title":"你能制作水并把它端到第一张桌子这里来吗？","text":"On(Water,Table1)"} +{"title":"给我来点水，并把它端到第一张桌子这里来。","text":"On(Water,Table1)"} +{"title":"你能制作水并把它端到第二张桌子这里来吗？","text":"On(Water,Table2)"} +{"title":"给我来点水，并把它端到第二张桌子这里来。","text":"On(Water,Table2)"} +{"title":"你能制作水并把它端到第三张桌子这里来吗？","text":"On(Water,Table3)"} +{"title":"给我来点水，并把它端到第三张桌子这里来。","text":"On(Water,Table3)"} +{"title":"你能制作点心或者甜品并把它端到吧台这里来吗？","text":"On(Dessert,Bar)"} +{"title":"给我来点点心或者甜品，并把它端到吧台这里来。","text":"On(Dessert,Bar)"} +{"title":"你能制作点心或者甜品并把它端到茶水桌这里来吗？","text":"On(Dessert,WaterTable)"} +{"title":"给我来点点心或者甜品，并把它端到茶水桌这里来。","text":"On(Dessert,WaterTable)"} +{"title":"你能制作点心或者甜品并把它端到咖啡桌这里来吗？","text":"On(Dessert,CoffeeTable)"} +{"title":"给我来点点心或者甜品，并把它端到咖啡桌这里来。","text":"On(Dessert,CoffeeTable)"} +{"title":"你能制作点心或者甜品并把它端到另一个吧台这里来吗？","text":"On(Dessert,Bar2)"} +{"title":"给我来点点心或者甜品，并把它端到另一个吧台这里来。","text":"On(Dessert,Bar2)"} +{"title":"你能制作点心或者甜品并把它端到第一张桌子这里来吗？","text":"On(Dessert,Table1)"} +{"title":"给我来点点心或者甜品，并把它端到第一张桌子这里来。","text":"On(Dessert,Table1)"} +{"title":"你能制作点心或者甜品并把它端到第二张桌子这里来吗？","text":"On(Dessert,Table2)"} +{"title":"给我来点点心或者甜品，并把它端到第二张桌子这里来。","text":"On(Dessert,Table2)"} +{"title":"你能制作点心或者甜品并把它端到第三张桌子这里来吗？","text":"On(Dessert,Table3)"} +{"title":"给我来点点心或者甜品，并把它端到第三张桌子这里来。","text":"On(Dessert,Table3)"} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.txt b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.txt new file mode 100644 index 0000000..7434478 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description.txt @@ -0,0 +1,454 @@ +At(Robot,Bar) 你能过来一下吗？我在吧台这里。 +At(Robot,Bar) 麻烦你去一下吧台。 +At(Robot,Bar) 你能去吧台那个位置吗？ +At(Robot,Bar2) 你能过来一下吗？我在另一侧的吧台这里。 +At(Robot,Bar2) 麻烦你去一下另一侧的吧台。 +At(Robot,Bar2) 你能去另一侧的吧台那个位置吗？ +At(Robot,WaterTable) 你能过来一下吗？我在茶水桌这里。 +At(Robot,WaterTable) 麻烦你去一下茶水桌。 +At(Robot,WaterTable) 你能去茶水桌那个位置吗？ +At(Robot,CoffeeTable) 你能过来一下吗？我在咖啡桌这里。 +At(Robot,CoffeeTable) 麻烦你去一下咖啡桌。 +At(Robot,CoffeeTable) 你能去咖啡桌那个位置吗？ +At(Robot,Table1) 你能过来一下吗？我在前门斜桌子这里。 +At(Robot,Table1) 麻烦你去一下前门斜桌子。 +At(Robot,Table1) 你能去前门斜桌子那个位置吗？ +At(Robot,Table2) 你能过来一下吗？我在大厅长桌子西侧这里。 +At(Robot,Table2) 麻烦你去一下大厅长桌子西侧。 +At(Robot,Table2) 你能去大厅长桌子西侧那个位置吗？ +At(Robot,Table3) 你能过来一下吗？我在大厅长桌子东侧这里。 +At(Robot,Table3) 麻烦你去一下大厅长桌子东侧。 +At(Robot,Table3) 你能去大厅长桌子东侧那个位置吗？ +At(Robot,BrightTable6) 你能过来一下吗？我在后门靠窗边圆桌这里。 +At(Robot,BrightTable6) 麻烦你去一下后门靠窗边圆桌。 +At(Robot,BrightTable6) 你能去后门靠窗边圆桌那个位置吗？ +On(Coffee,Bar) 麻烦你把咖啡放到吧台那个位置。 +On(Coffee,Bar) 请你拿一下咖啡到吧台位置。 +On(Coffee,Bar) 你好，我在吧台，请你拿一下咖啡到位置。 +On(Coffee,Bar2) 麻烦你把咖啡放到另一侧的吧台那个位置。 +On(Coffee,Bar2) 请你拿一下咖啡到另一侧的吧台位置。 +On(Coffee,Bar2) 你好，我在另一侧的吧台，请你拿一下咖啡到位置。 +On(Coffee,WaterTable) 麻烦你把咖啡放到茶水桌那个位置。 +On(Coffee,WaterTable) 请你拿一下咖啡到茶水桌位置。 +On(Coffee,WaterTable) 你好，我在茶水桌，请你拿一下咖啡到位置。 +On(Coffee,CoffeeTable) 麻烦你把咖啡放到咖啡桌那个位置。 +On(Coffee,CoffeeTable) 请你拿一下咖啡到咖啡桌位置。 +On(Coffee,CoffeeTable) 你好，我在咖啡桌，请你拿一下咖啡到位置。 +On(Coffee,Table1) 麻烦你把咖啡放到前门斜桌子那个位置。 +On(Coffee,Table1) 请你拿一下咖啡到前门斜桌子位置。 +On(Coffee,Table1) 你好，我在前门斜桌子，请你拿一下咖啡到位置。 +On(Coffee,Table2) 麻烦你把咖啡放到大厅长桌子西侧那个位置。 +On(Coffee,Table2) 请你拿一下咖啡到大厅长桌子西侧位置。 +On(Coffee,Table2) 你好，我在大厅长桌子西侧，请你拿一下咖啡到位置。 +On(Coffee,Table3) 麻烦你把咖啡放到大厅长桌子东侧那个位置。 +On(Coffee,Table3) 请你拿一下咖啡到大厅长桌子东侧位置。 +On(Coffee,Table3) 你好，我在大厅长桌子东侧，请你拿一下咖啡到位置。 +On(Coffee,BrightTable6) 麻烦你把咖啡放到后门靠窗边圆桌那个位置。 +On(Coffee,BrightTable6) 请你拿一下咖啡到后门靠窗边圆桌位置。 +On(Coffee,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下咖啡到位置。 +On(Water,Bar) 麻烦你把水放到吧台那个位置。 +On(Water,Bar) 请你拿一下水到吧台位置。 +On(Water,Bar) 你好，我在吧台，请你拿一下水到位置。 +On(Water,Bar2) 麻烦你把水放到另一侧的吧台那个位置。 +On(Water,Bar2) 请你拿一下水到另一侧的吧台位置。 +On(Water,Bar2) 你好，我在另一侧的吧台，请你拿一下水到位置。 +On(Water,WaterTable) 麻烦你把水放到茶水桌那个位置。 +On(Water,WaterTable) 请你拿一下水到茶水桌位置。 +On(Water,WaterTable) 你好，我在茶水桌，请你拿一下水到位置。 +On(Water,CoffeeTable) 麻烦你把水放到咖啡桌那个位置。 +On(Water,CoffeeTable) 请你拿一下水到咖啡桌位置。 +On(Water,CoffeeTable) 你好，我在咖啡桌，请你拿一下水到位置。 +On(Water,Table1) 麻烦你把水放到前门斜桌子那个位置。 +On(Water,Table1) 请你拿一下水到前门斜桌子位置。 +On(Water,Table1) 你好，我在前门斜桌子，请你拿一下水到位置。 +On(Water,Table2) 麻烦你把水放到大厅长桌子西侧那个位置。 +On(Water,Table2) 请你拿一下水到大厅长桌子西侧位置。 +On(Water,Table2) 你好，我在大厅长桌子西侧，请你拿一下水到位置。 +On(Water,Table3) 麻烦你把水放到大厅长桌子东侧那个位置。 +On(Water,Table3) 请你拿一下水到大厅长桌子东侧位置。 +On(Water,Table3) 你好，我在大厅长桌子东侧，请你拿一下水到位置。 +On(Water,BrightTable6) 麻烦你把水放到后门靠窗边圆桌那个位置。 +On(Water,BrightTable6) 请你拿一下水到后门靠窗边圆桌位置。 +On(Water,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下水到位置。 +On(Dessert,Bar) 麻烦你把点心放到吧台那个位置。 +On(Dessert,Bar) 请你拿一下点心到吧台位置。 +On(Dessert,Bar) 你好，我在吧台，请你拿一下点心到位置。 +On(Dessert,Bar2) 麻烦你把点心放到另一侧的吧台那个位置。 +On(Dessert,Bar2) 请你拿一下点心到另一侧的吧台位置。 +On(Dessert,Bar2) 你好，我在另一侧的吧台，请你拿一下点心到位置。 +On(Dessert,WaterTable) 麻烦你把点心放到茶水桌那个位置。 +On(Dessert,WaterTable) 请你拿一下点心到茶水桌位置。 +On(Dessert,WaterTable) 你好，我在茶水桌，请你拿一下点心到位置。 +On(Dessert,CoffeeTable) 麻烦你把点心放到咖啡桌那个位置。 +On(Dessert,CoffeeTable) 请你拿一下点心到咖啡桌位置。 +On(Dessert,CoffeeTable) 你好，我在咖啡桌，请你拿一下点心到位置。 +On(Dessert,Table1) 麻烦你把点心放到前门斜桌子那个位置。 +On(Dessert,Table1) 请你拿一下点心到前门斜桌子位置。 +On(Dessert,Table1) 你好，我在前门斜桌子，请你拿一下点心到位置。 +On(Dessert,Table2) 麻烦你把点心放到大厅长桌子西侧那个位置。 +On(Dessert,Table2) 请你拿一下点心到大厅长桌子西侧位置。 +On(Dessert,Table2) 你好，我在大厅长桌子西侧，请你拿一下点心到位置。 +On(Dessert,Table3) 麻烦你把点心放到大厅长桌子东侧那个位置。 +On(Dessert,Table3) 请你拿一下点心到大厅长桌子东侧位置。 +On(Dessert,Table3) 你好，我在大厅长桌子东侧，请你拿一下点心到位置。 +On(Dessert,BrightTable6) 麻烦你把点心放到后门靠窗边圆桌那个位置。 +On(Dessert,BrightTable6) 请你拿一下点心到后门靠窗边圆桌位置。 +On(Dessert,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下点心到位置。 +On(Softdrink,Bar) 麻烦你把盒装冰红茶放到吧台那个位置。 +On(Softdrink,Bar) 请你拿一下盒装冰红茶到吧台位置。 +On(Softdrink,Bar) 你好，我在吧台，请你拿一下盒装冰红茶到位置。 +On(Softdrink,Bar2) 麻烦你把盒装冰红茶放到另一侧的吧台那个位置。 +On(Softdrink,Bar2) 请你拿一下盒装冰红茶到另一侧的吧台位置。 +On(Softdrink,Bar2) 你好，我在另一侧的吧台，请你拿一下盒装冰红茶到位置。 +On(Softdrink,WaterTable) 麻烦你把盒装冰红茶放到茶水桌那个位置。 +On(Softdrink,WaterTable) 请你拿一下盒装冰红茶到茶水桌位置。 +On(Softdrink,WaterTable) 你好，我在茶水桌，请你拿一下盒装冰红茶到位置。 +On(Softdrink,CoffeeTable) 麻烦你把盒装冰红茶放到咖啡桌那个位置。 +On(Softdrink,CoffeeTable) 请你拿一下盒装冰红茶到咖啡桌位置。 +On(Softdrink,CoffeeTable) 你好，我在咖啡桌，请你拿一下盒装冰红茶到位置。 +On(Softdrink,Table1) 麻烦你把盒装冰红茶放到前门斜桌子那个位置。 +On(Softdrink,Table1) 请你拿一下盒装冰红茶到前门斜桌子位置。 +On(Softdrink,Table1) 你好，我在前门斜桌子，请你拿一下盒装冰红茶到位置。 +On(Softdrink,Table2) 麻烦你把盒装冰红茶放到大厅长桌子西侧那个位置。 +On(Softdrink,Table2) 请你拿一下盒装冰红茶到大厅长桌子西侧位置。 +On(Softdrink,Table2) 你好，我在大厅长桌子西侧，请你拿一下盒装冰红茶到位置。 +On(Softdrink,Table3) 麻烦你把盒装冰红茶放到大厅长桌子东侧那个位置。 +On(Softdrink,Table3) 请你拿一下盒装冰红茶到大厅长桌子东侧位置。 +On(Softdrink,Table3) 你好，我在大厅长桌子东侧，请你拿一下盒装冰红茶到位置。 +On(Softdrink,BrightTable6) 麻烦你把盒装冰红茶放到后门靠窗边圆桌那个位置。 +On(Softdrink,BrightTable6) 请你拿一下盒装冰红茶到后门靠窗边圆桌位置。 +On(Softdrink,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下盒装冰红茶到位置。 +On(BottledDrink,Bar) 麻烦你把瓶装饮料放到吧台那个位置。 +On(BottledDrink,Bar) 请你拿一下瓶装饮料到吧台位置。 +On(BottledDrink,Bar) 你好，我在吧台，请你拿一下瓶装饮料到位置。 +On(BottledDrink,Bar2) 麻烦你把瓶装饮料放到另一侧的吧台那个位置。 +On(BottledDrink,Bar2) 请你拿一下瓶装饮料到另一侧的吧台位置。 +On(BottledDrink,Bar2) 你好，我在另一侧的吧台，请你拿一下瓶装饮料到位置。 +On(BottledDrink,WaterTable) 麻烦你把瓶装饮料放到茶水桌那个位置。 +On(BottledDrink,WaterTable) 请你拿一下瓶装饮料到茶水桌位置。 +On(BottledDrink,WaterTable) 你好，我在茶水桌，请你拿一下瓶装饮料到位置。 +On(BottledDrink,CoffeeTable) 麻烦你把瓶装饮料放到咖啡桌那个位置。 +On(BottledDrink,CoffeeTable) 请你拿一下瓶装饮料到咖啡桌位置。 +On(BottledDrink,CoffeeTable) 你好，我在咖啡桌，请你拿一下瓶装饮料到位置。 +On(BottledDrink,Table1) 麻烦你把瓶装饮料放到前门斜桌子那个位置。 +On(BottledDrink,Table1) 请你拿一下瓶装饮料到前门斜桌子位置。 +On(BottledDrink,Table1) 你好，我在前门斜桌子，请你拿一下瓶装饮料到位置。 +On(BottledDrink,Table2) 麻烦你把瓶装饮料放到大厅长桌子西侧那个位置。 +On(BottledDrink,Table2) 请你拿一下瓶装饮料到大厅长桌子西侧位置。 +On(BottledDrink,Table2) 你好，我在大厅长桌子西侧，请你拿一下瓶装饮料到位置。 +On(BottledDrink,Table3) 麻烦你把瓶装饮料放到大厅长桌子东侧那个位置。 +On(BottledDrink,Table3) 请你拿一下瓶装饮料到大厅长桌子东侧位置。 +On(BottledDrink,Table3) 你好，我在大厅长桌子东侧，请你拿一下瓶装饮料到位置。 +On(BottledDrink,BrightTable6) 麻烦你把瓶装饮料放到后门靠窗边圆桌那个位置。 +On(BottledDrink,BrightTable6) 请你拿一下瓶装饮料到后门靠窗边圆桌位置。 +On(BottledDrink,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下瓶装饮料到位置。 +On(Yogurt,Bar) 麻烦你把酸奶放到吧台那个位置。 +On(Yogurt,Bar) 请你拿一下酸奶到吧台位置。 +On(Yogurt,Bar) 你好，我在吧台，请你拿一下酸奶到位置。 +On(Yogurt,Bar2) 麻烦你把酸奶放到另一侧的吧台那个位置。 +On(Yogurt,Bar2) 请你拿一下酸奶到另一侧的吧台位置。 +On(Yogurt,Bar2) 你好，我在另一侧的吧台，请你拿一下酸奶到位置。 +On(Yogurt,WaterTable) 麻烦你把酸奶放到茶水桌那个位置。 +On(Yogurt,WaterTable) 请你拿一下酸奶到茶水桌位置。 +On(Yogurt,WaterTable) 你好，我在茶水桌，请你拿一下酸奶到位置。 +On(Yogurt,CoffeeTable) 麻烦你把酸奶放到咖啡桌那个位置。 +On(Yogurt,CoffeeTable) 请你拿一下酸奶到咖啡桌位置。 +On(Yogurt,CoffeeTable) 你好，我在咖啡桌，请你拿一下酸奶到位置。 +On(Yogurt,Table1) 麻烦你把酸奶放到前门斜桌子那个位置。 +On(Yogurt,Table1) 请你拿一下酸奶到前门斜桌子位置。 +On(Yogurt,Table1) 你好，我在前门斜桌子，请你拿一下酸奶到位置。 +On(Yogurt,Table2) 麻烦你把酸奶放到大厅长桌子西侧那个位置。 +On(Yogurt,Table2) 请你拿一下酸奶到大厅长桌子西侧位置。 +On(Yogurt,Table2) 你好，我在大厅长桌子西侧，请你拿一下酸奶到位置。 +On(Yogurt,Table3) 麻烦你把酸奶放到大厅长桌子东侧那个位置。 +On(Yogurt,Table3) 请你拿一下酸奶到大厅长桌子东侧位置。 +On(Yogurt,Table3) 你好，我在大厅长桌子东侧，请你拿一下酸奶到位置。 +On(Yogurt,BrightTable6) 麻烦你把酸奶放到后门靠窗边圆桌那个位置。 +On(Yogurt,BrightTable6) 请你拿一下酸奶到后门靠窗边圆桌位置。 +On(Yogurt,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下酸奶到位置。 +On(ADMilk,Bar) 麻烦你把AD钙奶放到吧台那个位置。 +On(ADMilk,Bar) 请你拿一下AD钙奶到吧台位置。 +On(ADMilk,Bar) 你好，我在吧台，请你拿一下AD钙奶到位置。 +On(ADMilk,Bar2) 麻烦你把AD钙奶放到另一侧的吧台那个位置。 +On(ADMilk,Bar2) 请你拿一下AD钙奶到另一侧的吧台位置。 +On(ADMilk,Bar2) 你好，我在另一侧的吧台，请你拿一下AD钙奶到位置。 +On(ADMilk,WaterTable) 麻烦你把AD钙奶放到茶水桌那个位置。 +On(ADMilk,WaterTable) 请你拿一下AD钙奶到茶水桌位置。 +On(ADMilk,WaterTable) 你好，我在茶水桌，请你拿一下AD钙奶到位置。 +On(ADMilk,CoffeeTable) 麻烦你把AD钙奶放到咖啡桌那个位置。 +On(ADMilk,CoffeeTable) 请你拿一下AD钙奶到咖啡桌位置。 +On(ADMilk,CoffeeTable) 你好，我在咖啡桌，请你拿一下AD钙奶到位置。 +On(ADMilk,Table1) 麻烦你把AD钙奶放到前门斜桌子那个位置。 +On(ADMilk,Table1) 请你拿一下AD钙奶到前门斜桌子位置。 +On(ADMilk,Table1) 你好，我在前门斜桌子，请你拿一下AD钙奶到位置。 +On(ADMilk,Table2) 麻烦你把AD钙奶放到大厅长桌子西侧那个位置。 +On(ADMilk,Table2) 请你拿一下AD钙奶到大厅长桌子西侧位置。 +On(ADMilk,Table2) 你好，我在大厅长桌子西侧，请你拿一下AD钙奶到位置。 +On(ADMilk,Table3) 麻烦你把AD钙奶放到大厅长桌子东侧那个位置。 +On(ADMilk,Table3) 请你拿一下AD钙奶到大厅长桌子东侧位置。 +On(ADMilk,Table3) 你好，我在大厅长桌子东侧，请你拿一下AD钙奶到位置。 +On(ADMilk,BrightTable6) 麻烦你把AD钙奶放到后门靠窗边圆桌那个位置。 +On(ADMilk,BrightTable6) 请你拿一下AD钙奶到后门靠窗边圆桌位置。 +On(ADMilk,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下AD钙奶到位置。 +On(MilkDrink,Bar) 麻烦你把牛奶味的饮料放到吧台那个位置。 +On(MilkDrink,Bar) 请你拿一下牛奶味的饮料到吧台位置。 +On(MilkDrink,Bar) 你好，我在吧台，请你拿一下牛奶味的饮料到位置。 +On(MilkDrink,Bar2) 麻烦你把牛奶味的饮料放到另一侧的吧台那个位置。 +On(MilkDrink,Bar2) 请你拿一下牛奶味的饮料到另一侧的吧台位置。 +On(MilkDrink,Bar2) 你好，我在另一侧的吧台，请你拿一下牛奶味的饮料到位置。 +On(MilkDrink,WaterTable) 麻烦你把牛奶味的饮料放到茶水桌那个位置。 +On(MilkDrink,WaterTable) 请你拿一下牛奶味的饮料到茶水桌位置。 +On(MilkDrink,WaterTable) 你好，我在茶水桌，请你拿一下牛奶味的饮料到位置。 +On(MilkDrink,CoffeeTable) 麻烦你把牛奶味的饮料放到咖啡桌那个位置。 +On(MilkDrink,CoffeeTable) 请你拿一下牛奶味的饮料到咖啡桌位置。 +On(MilkDrink,CoffeeTable) 你好，我在咖啡桌，请你拿一下牛奶味的饮料到位置。 +On(MilkDrink,Table1) 麻烦你把牛奶味的饮料放到前门斜桌子那个位置。 +On(MilkDrink,Table1) 请你拿一下牛奶味的饮料到前门斜桌子位置。 +On(MilkDrink,Table1) 你好，我在前门斜桌子，请你拿一下牛奶味的饮料到位置。 +On(MilkDrink,Table2) 麻烦你把牛奶味的饮料放到大厅长桌子西侧那个位置。 +On(MilkDrink,Table2) 请你拿一下牛奶味的饮料到大厅长桌子西侧位置。 +On(MilkDrink,Table2) 你好，我在大厅长桌子西侧，请你拿一下牛奶味的饮料到位置。 +On(MilkDrink,Table3) 麻烦你把牛奶味的饮料放到大厅长桌子东侧那个位置。 +On(MilkDrink,Table3) 请你拿一下牛奶味的饮料到大厅长桌子东侧位置。 +On(MilkDrink,Table3) 你好，我在大厅长桌子东侧，请你拿一下牛奶味的饮料到位置。 +On(MilkDrink,BrightTable6) 麻烦你把牛奶味的饮料放到后门靠窗边圆桌那个位置。 +On(MilkDrink,BrightTable6) 请你拿一下牛奶味的饮料到后门靠窗边圆桌位置。 +On(MilkDrink,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下牛奶味的饮料到位置。 +On(Milk,Bar) 麻烦你把牛奶放到吧台那个位置。 +On(Milk,Bar) 请你拿一下牛奶到吧台位置。 +On(Milk,Bar) 你好，我在吧台，请你拿一下牛奶到位置。 +On(Milk,Bar2) 麻烦你把牛奶放到另一侧的吧台那个位置。 +On(Milk,Bar2) 请你拿一下牛奶到另一侧的吧台位置。 +On(Milk,Bar2) 你好，我在另一侧的吧台，请你拿一下牛奶到位置。 +On(Milk,WaterTable) 麻烦你把牛奶放到茶水桌那个位置。 +On(Milk,WaterTable) 请你拿一下牛奶到茶水桌位置。 +On(Milk,WaterTable) 你好，我在茶水桌，请你拿一下牛奶到位置。 +On(Milk,CoffeeTable) 麻烦你把牛奶放到咖啡桌那个位置。 +On(Milk,CoffeeTable) 请你拿一下牛奶到咖啡桌位置。 +On(Milk,CoffeeTable) 你好，我在咖啡桌，请你拿一下牛奶到位置。 +On(Milk,Table1) 麻烦你把牛奶放到前门斜桌子那个位置。 +On(Milk,Table1) 请你拿一下牛奶到前门斜桌子位置。 +On(Milk,Table1) 你好，我在前门斜桌子，请你拿一下牛奶到位置。 +On(Milk,Table2) 麻烦你把牛奶放到大厅长桌子西侧那个位置。 +On(Milk,Table2) 请你拿一下牛奶到大厅长桌子西侧位置。 +On(Milk,Table2) 你好，我在大厅长桌子西侧，请你拿一下牛奶到位置。 +On(Milk,Table3) 麻烦你把牛奶放到大厅长桌子东侧那个位置。 +On(Milk,Table3) 请你拿一下牛奶到大厅长桌子东侧位置。 +On(Milk,Table3) 你好，我在大厅长桌子东侧，请你拿一下牛奶到位置。 +On(Milk,BrightTable6) 麻烦你把牛奶放到后门靠窗边圆桌那个位置。 +On(Milk,BrightTable6) 请你拿一下牛奶到后门靠窗边圆桌位置。 +On(Milk,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下牛奶到位置。 +On(VacuumCup,Bar) 麻烦你把保温杯放到吧台那个位置。 +On(VacuumCup,Bar) 请你拿一下保温杯到吧台位置。 +On(VacuumCup,Bar) 你好，我在吧台，请你拿一下保温杯到位置。 +On(VacuumCup,Bar2) 麻烦你把保温杯放到另一侧的吧台那个位置。 +On(VacuumCup,Bar2) 请你拿一下保温杯到另一侧的吧台位置。 +On(VacuumCup,Bar2) 你好，我在另一侧的吧台，请你拿一下保温杯到位置。 +On(VacuumCup,WaterTable) 麻烦你把保温杯放到茶水桌那个位置。 +On(VacuumCup,WaterTable) 请你拿一下保温杯到茶水桌位置。 +On(VacuumCup,WaterTable) 你好，我在茶水桌，请你拿一下保温杯到位置。 +On(VacuumCup,CoffeeTable) 麻烦你把保温杯放到咖啡桌那个位置。 +On(VacuumCup,CoffeeTable) 请你拿一下保温杯到咖啡桌位置。 +On(VacuumCup,CoffeeTable) 你好，我在咖啡桌，请你拿一下保温杯到位置。 +On(VacuumCup,Table1) 麻烦你把保温杯放到前门斜桌子那个位置。 +On(VacuumCup,Table1) 请你拿一下保温杯到前门斜桌子位置。 +On(VacuumCup,Table1) 你好，我在前门斜桌子，请你拿一下保温杯到位置。 +On(VacuumCup,Table2) 麻烦你把保温杯放到大厅长桌子西侧那个位置。 +On(VacuumCup,Table2) 请你拿一下保温杯到大厅长桌子西侧位置。 +On(VacuumCup,Table2) 你好，我在大厅长桌子西侧，请你拿一下保温杯到位置。 +On(VacuumCup,Table3) 麻烦你把保温杯放到大厅长桌子东侧那个位置。 +On(VacuumCup,Table3) 请你拿一下保温杯到大厅长桌子东侧位置。 +On(VacuumCup,Table3) 你好，我在大厅长桌子东侧，请你拿一下保温杯到位置。 +On(VacuumCup,BrightTable6) 麻烦你把保温杯放到后门靠窗边圆桌那个位置。 +On(VacuumCup,BrightTable6) 请你拿一下保温杯到后门靠窗边圆桌位置。 +On(VacuumCup,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下保温杯到位置。 +On(Chips,Bar) 麻烦你把薯片放到吧台那个位置。 +On(Chips,Bar) 请你拿一下薯片到吧台位置。 +On(Chips,Bar) 你好，我在吧台，请你拿一下薯片到位置。 +On(Chips,Bar2) 麻烦你把薯片放到另一侧的吧台那个位置。 +On(Chips,Bar2) 请你拿一下薯片到另一侧的吧台位置。 +On(Chips,Bar2) 你好，我在另一侧的吧台，请你拿一下薯片到位置。 +On(Chips,WaterTable) 麻烦你把薯片放到茶水桌那个位置。 +On(Chips,WaterTable) 请你拿一下薯片到茶水桌位置。 +On(Chips,WaterTable) 你好，我在茶水桌，请你拿一下薯片到位置。 +On(Chips,CoffeeTable) 麻烦你把薯片放到咖啡桌那个位置。 +On(Chips,CoffeeTable) 请你拿一下薯片到咖啡桌位置。 +On(Chips,CoffeeTable) 你好，我在咖啡桌，请你拿一下薯片到位置。 +On(Chips,Table1) 麻烦你把薯片放到前门斜桌子那个位置。 +On(Chips,Table1) 请你拿一下薯片到前门斜桌子位置。 +On(Chips,Table1) 你好，我在前门斜桌子，请你拿一下薯片到位置。 +On(Chips,Table2) 麻烦你把薯片放到大厅长桌子西侧那个位置。 +On(Chips,Table2) 请你拿一下薯片到大厅长桌子西侧位置。 +On(Chips,Table2) 你好，我在大厅长桌子西侧，请你拿一下薯片到位置。 +On(Chips,Table3) 麻烦你把薯片放到大厅长桌子东侧那个位置。 +On(Chips,Table3) 请你拿一下薯片到大厅长桌子东侧位置。 +On(Chips,Table3) 你好，我在大厅长桌子东侧，请你拿一下薯片到位置。 +On(Chips,BrightTable6) 麻烦你把薯片放到后门靠窗边圆桌那个位置。 +On(Chips,BrightTable6) 请你拿一下薯片到后门靠窗边圆桌位置。 +On(Chips,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下薯片到位置。 +On(NFCJuice,Bar) 麻烦你把NFC果汁放到吧台那个位置。 +On(NFCJuice,Bar) 请你拿一下NFC果汁到吧台位置。 +On(NFCJuice,Bar) 你好，我在吧台，请你拿一下NFC果汁到位置。 +On(NFCJuice,Bar2) 麻烦你把NFC果汁放到另一侧的吧台那个位置。 +On(NFCJuice,Bar2) 请你拿一下NFC果汁到另一侧的吧台位置。 +On(NFCJuice,Bar2) 你好，我在另一侧的吧台，请你拿一下NFC果汁到位置。 +On(NFCJuice,WaterTable) 麻烦你把NFC果汁放到茶水桌那个位置。 +On(NFCJuice,WaterTable) 请你拿一下NFC果汁到茶水桌位置。 +On(NFCJuice,WaterTable) 你好，我在茶水桌，请你拿一下NFC果汁到位置。 +On(NFCJuice,CoffeeTable) 麻烦你把NFC果汁放到咖啡桌那个位置。 +On(NFCJuice,CoffeeTable) 请你拿一下NFC果汁到咖啡桌位置。 +On(NFCJuice,CoffeeTable) 你好，我在咖啡桌，请你拿一下NFC果汁到位置。 +On(NFCJuice,Table1) 麻烦你把NFC果汁放到前门斜桌子那个位置。 +On(NFCJuice,Table1) 请你拿一下NFC果汁到前门斜桌子位置。 +On(NFCJuice,Table1) 你好，我在前门斜桌子，请你拿一下NFC果汁到位置。 +On(NFCJuice,Table2) 麻烦你把NFC果汁放到大厅长桌子西侧那个位置。 +On(NFCJuice,Table2) 请你拿一下NFC果汁到大厅长桌子西侧位置。 +On(NFCJuice,Table2) 你好，我在大厅长桌子西侧，请你拿一下NFC果汁到位置。 +On(NFCJuice,Table3) 麻烦你把NFC果汁放到大厅长桌子东侧那个位置。 +On(NFCJuice,Table3) 请你拿一下NFC果汁到大厅长桌子东侧位置。 +On(NFCJuice,Table3) 你好，我在大厅长桌子东侧，请你拿一下NFC果汁到位置。 +On(NFCJuice,BrightTable6) 麻烦你把NFC果汁放到后门靠窗边圆桌那个位置。 +On(NFCJuice,BrightTable6) 请你拿一下NFC果汁到后门靠窗边圆桌位置。 +On(NFCJuice,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下NFC果汁到位置。 +On(Bernachon,Bar) 麻烦你把贝纳颂咖啡放到吧台那个位置。 +On(Bernachon,Bar) 请你拿一下贝纳颂咖啡到吧台位置。 +On(Bernachon,Bar) 你好，我在吧台，请你拿一下贝纳颂咖啡到位置。 +On(Bernachon,Bar2) 麻烦你把贝纳颂咖啡放到另一侧的吧台那个位置。 +On(Bernachon,Bar2) 请你拿一下贝纳颂咖啡到另一侧的吧台位置。 +On(Bernachon,Bar2) 你好，我在另一侧的吧台，请你拿一下贝纳颂咖啡到位置。 +On(Bernachon,WaterTable) 麻烦你把贝纳颂咖啡放到茶水桌那个位置。 +On(Bernachon,WaterTable) 请你拿一下贝纳颂咖啡到茶水桌位置。 +On(Bernachon,WaterTable) 你好，我在茶水桌，请你拿一下贝纳颂咖啡到位置。 +On(Bernachon,CoffeeTable) 麻烦你把贝纳颂咖啡放到咖啡桌那个位置。 +On(Bernachon,CoffeeTable) 请你拿一下贝纳颂咖啡到咖啡桌位置。 +On(Bernachon,CoffeeTable) 你好，我在咖啡桌，请你拿一下贝纳颂咖啡到位置。 +On(Bernachon,Table1) 麻烦你把贝纳颂咖啡放到前门斜桌子那个位置。 +On(Bernachon,Table1) 请你拿一下贝纳颂咖啡到前门斜桌子位置。 +On(Bernachon,Table1) 你好，我在前门斜桌子，请你拿一下贝纳颂咖啡到位置。 +On(Bernachon,Table2) 麻烦你把贝纳颂咖啡放到大厅长桌子西侧那个位置。 +On(Bernachon,Table2) 请你拿一下贝纳颂咖啡到大厅长桌子西侧位置。 +On(Bernachon,Table2) 你好，我在大厅长桌子西侧，请你拿一下贝纳颂咖啡到位置。 +On(Bernachon,Table3) 麻烦你把贝纳颂咖啡放到大厅长桌子东侧那个位置。 +On(Bernachon,Table3) 请你拿一下贝纳颂咖啡到大厅长桌子东侧位置。 +On(Bernachon,Table3) 你好，我在大厅长桌子东侧，请你拿一下贝纳颂咖啡到位置。 +On(Bernachon,BrightTable6) 麻烦你把贝纳颂咖啡放到后门靠窗边圆桌那个位置。 +On(Bernachon,BrightTable6) 请你拿一下贝纳颂咖啡到后门靠窗边圆桌位置。 +On(Bernachon,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下贝纳颂咖啡到位置。 +On(SpringWater,Bar) 麻烦你把矿泉水放到吧台那个位置。 +On(SpringWater,Bar) 请你拿一下矿泉水到吧台位置。 +On(SpringWater,Bar) 你好，我在吧台，请你拿一下矿泉水到位置。 +On(SpringWater,Bar2) 麻烦你把矿泉水放到另一侧的吧台那个位置。 +On(SpringWater,Bar2) 请你拿一下矿泉水到另一侧的吧台位置。 +On(SpringWater,Bar2) 你好，我在另一侧的吧台，请你拿一下矿泉水到位置。 +On(SpringWater,WaterTable) 麻烦你把矿泉水放到茶水桌那个位置。 +On(SpringWater,WaterTable) 请你拿一下矿泉水到茶水桌位置。 +On(SpringWater,WaterTable) 你好，我在茶水桌，请你拿一下矿泉水到位置。 +On(SpringWater,CoffeeTable) 麻烦你把矿泉水放到咖啡桌那个位置。 +On(SpringWater,CoffeeTable) 请你拿一下矿泉水到咖啡桌位置。 +On(SpringWater,CoffeeTable) 你好，我在咖啡桌，请你拿一下矿泉水到位置。 +On(SpringWater,Table1) 麻烦你把矿泉水放到前门斜桌子那个位置。 +On(SpringWater,Table1) 请你拿一下矿泉水到前门斜桌子位置。 +On(SpringWater,Table1) 你好，我在前门斜桌子，请你拿一下矿泉水到位置。 +On(SpringWater,Table2) 麻烦你把矿泉水放到大厅长桌子西侧那个位置。 +On(SpringWater,Table2) 请你拿一下矿泉水到大厅长桌子西侧位置。 +On(SpringWater,Table2) 你好，我在大厅长桌子西侧，请你拿一下矿泉水到位置。 +On(SpringWater,Table3) 麻烦你把矿泉水放到大厅长桌子东侧那个位置。 +On(SpringWater,Table3) 请你拿一下矿泉水到大厅长桌子东侧位置。 +On(SpringWater,Table3) 你好，我在大厅长桌子东侧，请你拿一下矿泉水到位置。 +On(SpringWater,BrightTable6) 麻烦你把矿泉水放到后门靠窗边圆桌那个位置。 +On(SpringWater,BrightTable6) 请你拿一下矿泉水到后门靠窗边圆桌位置。 +On(SpringWater,BrightTable6) 你好，我在后门靠窗边圆桌，请你拿一下矿泉水到位置。 +Is(AC,On) 你能把空调关闭一下吗？ +Is(AC,Off) 你能把空调打开一下吗？ +Is(ACTemperature,On) 你能把空调Temperature调高一下吗？ +Is(ACTemperature,Off) 你能把空调Temperature调低一下吗？ +Is(HallLight,On) 你能把大厅灯关闭一下吗？ +Is(HallLight,Off) 你能把大厅灯打开一下吗？ +Is(TubeLight,On) 你能把筒灯关闭一下吗？ +Is(TubeLight,Off) 你能把筒灯打开一下吗？ +Is(Curtain,On) 你能把窗帘关闭一下吗？ +Is(Curtain,Off) 你能把窗帘打开一下吗？ +Is(Chairs,On) 你能把椅子脏一下吗？ +Is(Chairs,Off) 你能把椅子打扫干净一下吗？ +Is(Floor,On) 你能把地板脏一下吗？ +Is(Floor,Off) 你能把地板打扫干净一下吗？ +Is(Table1,On) 你能把前门斜桌子脏一下吗？ +Is(Table1,Off) 你能把前门斜桌子打扫干净一下吗？ +Holding(Coffee) 你能把咖啡抓在手里吗？ +Holding(Coffee) 你能一直拿着咖啡吗？ +Holding(Water) 你能把水抓在手里吗？ +Holding(Water) 你能一直拿着水吗？ +Holding(Dessert) 你能把点心抓在手里吗？ +Holding(Dessert) 你能一直拿着点心吗？ +Holding(Softdrink) 你能把盒装冰红茶抓在手里吗？ +Holding(Softdrink) 你能一直拿着盒装冰红茶吗？ +Holding(BottledDrink) 你能把瓶装饮料抓在手里吗？ +Holding(BottledDrink) 你能一直拿着瓶装饮料吗？ +Holding(Yogurt) 你能把酸奶抓在手里吗？ +Holding(Yogurt) 你能一直拿着酸奶吗？ +Holding(ADMilk) 你能把AD钙奶抓在手里吗？ +Holding(ADMilk) 你能一直拿着AD钙奶吗？ +Holding(MilkDrink) 你能把牛奶味的饮料抓在手里吗？ +Holding(MilkDrink) 你能一直拿着牛奶味的饮料吗？ +Holding(Milk) 你能把牛奶抓在手里吗？ +Holding(Milk) 你能一直拿着牛奶吗？ +Holding(VacuumCup) 你能把保温杯抓在手里吗？ +Holding(VacuumCup) 你能一直拿着保温杯吗？ +Holding(Chips) 你能把薯片抓在手里吗？ +Holding(Chips) 你能一直拿着薯片吗？ +Holding(NFCJuice) 你能把NFC果汁抓在手里吗？ +Holding(NFCJuice) 你能一直拿着NFC果汁吗？ +Holding(Bernachon) 你能把贝纳颂咖啡抓在手里吗？ +Holding(Bernachon) 你能一直拿着贝纳颂咖啡吗？ +Holding(SpringWater) 你能把矿泉水抓在手里吗？ +Holding(SpringWater) 你能一直拿着矿泉水吗？ +Holding(Nothing) 你能把Nothing抓在手里吗？ +Holding(Nothing) 你能一直拿着Nothing吗？ +On(Coffee,Bar) 你能制作咖啡并把它端到吧台这里来吗？ +On(Coffee,Bar) 给我来点咖啡，并把它端到吧台这里来。 +On(Coffee,Bar2) 你能制作咖啡并把它端到另一侧的吧台这里来吗？ +On(Coffee,Bar2) 给我来点咖啡，并把它端到另一侧的吧台这里来。 +On(Coffee,WaterTable) 你能制作咖啡并把它端到茶水桌这里来吗？ +On(Coffee,WaterTable) 给我来点咖啡，并把它端到茶水桌这里来。 +On(Coffee,CoffeeTable) 你能制作咖啡并把它端到咖啡桌这里来吗？ +On(Coffee,CoffeeTable) 给我来点咖啡，并把它端到咖啡桌这里来。 +On(Coffee,Table1) 你能制作咖啡并把它端到前门斜桌子这里来吗？ +On(Coffee,Table1) 给我来点咖啡，并把它端到前门斜桌子这里来。 +On(Coffee,Table2) 你能制作咖啡并把它端到大厅长桌子西侧这里来吗？ +On(Coffee,Table2) 给我来点咖啡，并把它端到大厅长桌子西侧这里来。 +On(Coffee,Table3) 你能制作咖啡并把它端到大厅长桌子东侧这里来吗？ +On(Coffee,Table3) 给我来点咖啡，并把它端到大厅长桌子东侧这里来。 +On(Coffee,BrightTable6) 你能制作咖啡并把它端到后门靠窗边圆桌这里来吗？ +On(Coffee,BrightTable6) 给我来点咖啡，并把它端到后门靠窗边圆桌这里来。 +On(Water,Bar) 你能制作水并把它端到吧台这里来吗？ +On(Water,Bar) 给我来点水，并把它端到吧台这里来。 +On(Water,Bar2) 你能制作水并把它端到另一侧的吧台这里来吗？ +On(Water,Bar2) 给我来点水，并把它端到另一侧的吧台这里来。 +On(Water,WaterTable) 你能制作水并把它端到茶水桌这里来吗？ +On(Water,WaterTable) 给我来点水，并把它端到茶水桌这里来。 +On(Water,CoffeeTable) 你能制作水并把它端到咖啡桌这里来吗？ +On(Water,CoffeeTable) 给我来点水，并把它端到咖啡桌这里来。 +On(Water,Table1) 你能制作水并把它端到前门斜桌子这里来吗？ +On(Water,Table1) 给我来点水，并把它端到前门斜桌子这里来。 +On(Water,Table2) 你能制作水并把它端到大厅长桌子西侧这里来吗？ +On(Water,Table2) 给我来点水，并把它端到大厅长桌子西侧这里来。 +On(Water,Table3) 你能制作水并把它端到大厅长桌子东侧这里来吗？ +On(Water,Table3) 给我来点水，并把它端到大厅长桌子东侧这里来。 +On(Water,BrightTable6) 你能制作水并把它端到后门靠窗边圆桌这里来吗？ +On(Water,BrightTable6) 给我来点水，并把它端到后门靠窗边圆桌这里来。 +On(Dessert,Bar) 你能制作点心并把它端到吧台这里来吗？ +On(Dessert,Bar) 给我来点点心，并把它端到吧台这里来。 +On(Dessert,Bar2) 你能制作点心并把它端到另一侧的吧台这里来吗？ +On(Dessert,Bar2) 给我来点点心，并把它端到另一侧的吧台这里来。 +On(Dessert,WaterTable) 你能制作点心并把它端到茶水桌这里来吗？ +On(Dessert,WaterTable) 给我来点点心，并把它端到茶水桌这里来。 +On(Dessert,CoffeeTable) 你能制作点心并把它端到咖啡桌这里来吗？ +On(Dessert,CoffeeTable) 给我来点点心，并把它端到咖啡桌这里来。 +On(Dessert,Table1) 你能制作点心并把它端到前门斜桌子这里来吗？ +On(Dessert,Table1) 给我来点点心，并把它端到前门斜桌子这里来。 +On(Dessert,Table2) 你能制作点心并把它端到大厅长桌子西侧这里来吗？ +On(Dessert,Table2) 给我来点点心，并把它端到大厅长桌子西侧这里来。 +On(Dessert,Table3) 你能制作点心并把它端到大厅长桌子东侧这里来吗？ +On(Dessert,Table3) 给我来点点心，并把它端到大厅长桌子东侧这里来。 +On(Dessert,BrightTable6) 你能制作点心并把它端到后门靠窗边圆桌这里来吗？ +On(Dessert,BrightTable6) 给我来点点心，并把它端到后门靠窗边圆桌这里来。 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description_to_json.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description_to_json.py new file mode 100644 index 0000000..9b673be --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/goal_states_with_description_to_json.py @@ -0,0 +1,10 @@ +import os + +with open(os.path.join('./goal_states_with_description.txt'), 'r', encoding='utf-8') as file: + lines = file.readlines() + +with open(os.path.join('./goal_states_with_description.jsonl'), 'w', encoding='utf-8') as file: + + for line in lines: + tmp = line[:-1].split('\t') + file.write("""{"title":"%s","text":"%s"}\n""" % (tmp[1], tmp[0])) diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/sentence_expansion.py b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/sentence_expansion.py new file mode 100644 index 0000000..5cd2be4 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/dataset1224/sentence_expansion.py @@ -0,0 +1,61 @@ +import os +import requests +import urllib3 +from tqdm import tqdm + +######################################## +# 该文件实现了与大模型的简单通信 +######################################## + +# 忽略https的安全性警告 +urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning) + + +def single_round(question, prefix=""): + url = "https://45.125.46.134:25344/v1/chat/completions" + headers = {"Content-Type": "application/json"} + data = { + "model": "RoboWaiter", + "messages": [ + { + "role": "system", + # "content": "你是一个机器人服务员：RoboWaiter. 你的职责是为顾客提供对话及具身服务。" + "content": """ + 假设现在你是咖啡厅的一个顾客，请将以下你对咖啡厅服务员说的话改写成更清晰更合理的顾客表述。注意：句中的你指的是咖啡厅服务员，也不要说能帮我。 + 例如：麻烦你去一下吧台。可以转述成：服务员，你能去下吧台吗？ + 另一个例子：请你拿一下酸奶到吧台位置。可以转述成：服务员，拿一杯酸奶来吧台。 + + """ + }, + { + "role": "user", + "content": prefix + question + } + ] + } + + response = requests.post(url, headers=headers, json=data, verify=False) + + if response.status_code == 200: + result = response.json() + return result['choices'][0]['message']['content'].strip() + else: + return "大模型请求失败:", response.status_code + + +if __name__ == '__main__': + with open('./goal_states_with_description.txt', 'r', encoding='utf-8') as file: + lines = file.readlines() + + output_file = './expansion_out/output2.txt' + with open(output_file, 'a', encoding='utf-8') as file: + file.truncate(0) + for line in tqdm(lines): + tmp = line[:-1].split('\t') + # file.write("""{"title":"%s","text":"%s"}\n""" % (tmp[1], tmp[0])) + question = tmp[1] + # print(single_round(question)) + # print(tmp[1]) + with open(output_file, 'a', encoding='utf-8') as file: + file.write(tmp[0] + "\t" + single_round(question, prefix="现在改写一下句子：") + '\n') + print("输出完成") diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BTExpansionAlgorithm.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BTExpansionAlgorithm.py new file mode 100644 index 0000000..0de8662 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BTExpansionAlgorithm.py @@ -0,0 +1,316 @@ +import random +import numpy as np +import copy +import time +from robowaiter.behavior_tree.obtea.BehaviorTree import Leaf,ControlBT +from robowaiter.behavior_tree.obtea.OptimalBTExpansionAlgorithm import Action,generate_random_state,state_transition,conflict + + + +# 本文所提出的完备规划算法 +class BTalgorithm: + def __init__(self,verbose=False): + self.bt = None + self.nodes = [] + self.traversed = [] + self.conditions = [] + self.conditions_index = [] + self.verbose = verbose + # print (self.conditions_list[0]) + + def clear(self): + self.bt = None + self.nodes = [] + self.traversed = [] + self.conditions = [] + self.conditions_index = [] + + # 运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt + def run_algorithm_selTree(self, start, goal, actions): + # 初始行为树只包含目标条件 + bt = ControlBT(type='cond') + g_node = Leaf(type='cond', content=goal,mincost=0) + bt.add_child([g_node]) + + self.conditions.append(goal) + self.nodes.append(g_node) # condition node list + # 尝试在初始状态执行行为树 + val, obj = bt.tick(start) + canrun = False + if val == 'success' or val == 'running': + canrun = True + # 循环扩展，直到行为树能够在初始状态运行 + while not canrun: + index = -1 + for i in range(0, len(self.nodes)): + if self.nodes[i].content in self.traversed: + continue + else: + c_node = self.nodes[i] + index = i + break + if index == -1: # 树中结点扩展完毕，仍无法运行行为树，返回失败 + print('Failure') + return False + # 根据所选择条件结点扩展子树 + subtree = ControlBT(type='?') + subtree.add_child([copy.deepcopy(c_node)]) # 子树首先保留所扩展结点 + c = c_node.content # 子树所扩展结点对应的条件（一个文字的set） + + for i in range(0, len(actions)): # 选择符合条件的行动， + # print("have action") + if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set(): + # print ("pass add") + if (c - actions[i].del_set) == c: + # print("pass delete") + c_attr = (actions[i].pre | c) - actions[i].add + valid = True + + # 这样剪枝存在错误性 + if conflict(c_attr): + continue + + for j in self.traversed: # 剪枝操作 + if j <= c_attr: + valid = False + break + + if valid: + # print("pass prune") + # 构建行动的顺序结构 + sequence_structure = ControlBT(type='>') + c_attr_node = Leaf(type='cond', content=c_attr, mincost=0) + a_node = Leaf(type='act', content=actions[i], mincost=0) + sequence_structure.add_child([c_attr_node, a_node]) + # 将顺序结构添加到子树 + subtree.add_child([sequence_structure]) + + self.nodes.append(c_attr_node) + # 将原条件结点c_node替换为扩展后子树subtree + parent_of_c = c_node.parent + parent_of_c.children[0] = subtree + # 记录已扩展条件 + self.traversed.append(c) + # 尝试在初始状态运行行为树 + val, obj = bt.tick(start) + canrun = False + if val == 'success' or val == 'running': + canrun = True + return bt + + + + def run_algorithm(self, start, goal, actions): + # goal_ls = goal.replace(" ", "") + # goal_ls = goal_ls.split("|") + self.bt = ControlBT(type='cond') + subtree = ControlBT(type='?') + if len(goal) > 1: + for g in goal: + print("goal",g) + bt_sel_tree = self.run_algorithm_selTree(start, g, actions) + print("bt_sel_tree.children",bt_sel_tree.children) + # print(bt_sel_tree.children[0]) + subtree.add_child([copy.deepcopy(bt_sel_tree.children[0])]) + self.bt.add_child([subtree]) + else: + self.bt = self.run_algorithm_selTree(start, goal[0], actions) + return True + + def print_solution(self): + print(len(self.nodes)) + # for i in self.nodes: + # if isinstance(i,Node): + # print (i.content) + # else: + # print (i) + + # 树的dfs + def dfs_ptml(self,parnode,is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + + elif child.type == 'act': + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + self.dfs_ptml(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml( parnode=child) + self.ptml_string += '}\n' + + + def get_ptml(self): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string + + + def save_ptml_file(self,file_name): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0]) + self.ptml_string += '}\n' + with open(f'./{file_name}.ptml', 'w') as file: + file.write(self.ptml_string) + return self.ptml_string + + +# 所对比的基准算法，具体扩展细节有差异 + + + +if __name__ == '__main__': + random.seed(1) + # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 + literals_num = 10 + depth = 10 + iters = 10 + total_tree_size = [] + total_action_num = [] + total_state_num = [] + total_steps_num = [] + # fail_count=0 + # danger_count=0 + success_count = 0 + failure_count = 0 + planning_time_total = 0.0 + # 实验1000次 + for count in range(0, 1000): + # 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 = [] + start = generate_random_state(literals_num) + state = start + states.append(state) + # print (state) + for i in range(0, depth): + a = Action() + a.generate_from_state(state, literals_num) + if not a in actions: + actions.append(a) + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + # print(state) + + goal = states[-1] + state = start + for i in range(0, iters): + a = Action() + a.generate_from_state(state, literals_num) + if not a in actions: + actions.append(a) + state = state_transition(state, a) + if state in states: + pass + else: + states.append(state) + state = random.sample(states, 1)[0] + # 选择测试本文算法btalgorithm，或对比算法weakalgorithm + algo = BTalgorithm() + # algo = Weakalgorithm() + start_time = time.time() + if algo.run_algorithm(start, goal, list(actions)): # 运行算法，规划后行为树为algo.bt + total_tree_size.append(algo.bt.count_size() - 1) + 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 + val, obj = algo.bt.tick(state) # tick行为树，obj为所运行的行动 + 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 = algo.bt.tick(state) + if (val == 'failure'): + print("bt fails at step", steps) + 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 + + else: # 正确解，满足目标条件 + # print ("right solution",steps) + success_count += 1 + total_steps_num.append(steps) + algo.clear() + total_action_num.append(len(actions)) + total_state_num.append(len(states)) + print(success_count, failure_count) # 算法成功和失败次数 + + print(np.mean(total_tree_size), np.std(total_tree_size, ddof=1)) # 1000次测试树大小 + print(np.mean(total_steps_num), np.std(total_steps_num, ddof=1)) + print(np.mean(total_state_num)) # 1000次问题的平均状态数 + print(np.mean(total_action_num)) # 1000次问题的平均行动数 + print(planning_time_total, planning_time_total / 1000.0) + + # print(total_state_num) + + # casestudy begin 对应论文的case study，包含三个行动的移动机械臂场景 + + actions = [] + a = Action(name='movebtob') + a.pre = {1, 2} + a.add = {3} + a.del_set = {1, 4} + actions.append(a) + a = Action(name='moveatob') + a.pre = {1} + a.add = {5, 2} + a.del_set = {1, 6} + actions.append(a) + a = Action(name='moveatoa') + a.pre = {7} + a.add = {8, 2} + a.del_set = {7, 6} + actions.append(a) + + start = {1, 7, 4, 6} + goal = {3} + algo = BTalgorithm() + algo.clear() + algo.run_algorithm(start, goal, list(actions)) + state = start + steps = 0 + val, obj = algo.bt.tick(state) + while val != 'success' and val != 'failure': + state = state_transition(state, obj) + print(obj.name) + val, obj = algo.bt.tick(state) + if (val == 'failure'): + print("bt fails at step", steps) + steps += 1 + if not goal <= state: + print("wrong solution", steps) + else: + print("right solution", steps) + # algo.bt.print_nodes() + print(algo.bt.count_size() - 1) + algo.clear() + +# case study end diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BehaviorTree.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BehaviorTree.py new file mode 100644 index 0000000..c8f3878 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/BehaviorTree.py @@ -0,0 +1,95 @@ + +#叶结点 +class Leaf: + def __init__(self,type,content,mincost=0): + self.type=type + self.content=content #conditionset or action + self.parent=None + self.parent_index=0 + self.mincost=mincost + + # tick 叶节点，返回返回值以及对应的条件或行动对象self.content + def tick(self,state): + if self.type=='cond': + if self.content <= state: + return 'success',self.content + else: + return 'failure',self.content + if self.type=='act': + if self.content.pre<=state: + return 'running',self.content #action + else: + return 'failure',self.content + + def __str__(self): + print( self.content) + return '' + + def print_nodes(self): + print(self.content) + + def count_size(self): + return 1 + + +#可能包含控制结点的行为树 +class ControlBT: + def __init__(self,type): + self.type=type + self.children=[] + self.parent=None + self.parent_index=0 + + + def add_child(self,subtree_list): + for subtree in subtree_list: + self.children.append(subtree) + subtree.parent=self + subtree.parent_index=len(self.children)-1 + + # tick行为树，根据不同控制结点逻辑tick子结点 + def tick(self,state): + if len(self.children) < 1: + print("error,no child") + if self.type =='?':#选择结点，即或结点 + for child in self.children: + val,obj=child.tick(state) + if val=='success': + return val,obj + if val=='running': + return val,obj + return 'failure','?fails' + if self.type =='>':#顺序结点，即与结点 + for child in self.children: + val,obj=child.tick(state) + if val=='failure': + return val,obj + if val=='running': + return val,obj + return 'success', '>success' + if self.type =='act':#行动结点 + return self.children[0].tick(state) + if self.type =='cond':#条件结点 + return self.children[0].tick(state) + + def getFirstChild(self): + return self.children[0] + + def __str__(self): + print(self.type+'\n') + for child in self.children: + print (child) + return '' + + def print_nodes(self): + print(self.type) + for child in self.children: + child.print_nodes() + + # 递归统计树中结点数 + def count_size(self): + result=1 + for child in self.children: + result+= child.count_size() + return result + diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/MakeCoffee.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/MakeCoffee.ptml new file mode 100644 index 0000000..d2f0b28 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/MakeCoffee.ptml @@ -0,0 +1,59 @@ +selector{ +cond At(Table,Coffee) +selector{ +cond Holding(Coffee), At(Robot,Table) +act PutDown(Table,Coffee) +} +selector{ +cond NotHolding, At(Robot,Coffee), At(Robot,Table) +act PickUp(Coffee) +} +selector{ +cond Holding(Coffee), Available(Table) +act MoveTo(Table) +} +selector{ +cond Holding(VacuumCup), At(Robot,Coffee), At(Robot,Table) +act PutDown(Table,VacuumCup) +} +selector{ +cond NotHolding, At(Robot,CoffeeMachine), At(Robot,Table) +act OpCoffeeMachine +} +selector{ +cond NotHolding, Available(Table), At(Robot,Coffee) +act PickUp(Coffee) +} +selector{ +cond Holding(VacuumCup), At(Robot,Table), At(Robot,CoffeeMachine) +act PutDown(Table,VacuumCup) +} +selector{ +cond NotHolding, Available(Coffee), Available(Table) +act MoveTo(Coffee) +} +selector{ +cond NotHolding, Available(Table), At(Robot,CoffeeMachine) +act OpCoffeeMachine +} +selector{ +cond Holding(VacuumCup), Available(Coffee), Available(Table), At(Robot,Table) +act PutDown(Table,VacuumCup) +} +selector{ +cond Available(CoffeeMachine), NotHolding, Available(Table) +act MoveTo(CoffeeMachine) +} +selector{ +cond Holding(VacuumCup), Available(Coffee), Available(Table) +act MoveTo(Table) +} +selector{ +cond Available(CoffeeMachine), Holding(VacuumCup), Available(Table), At(Robot,Table) +act PutDown(Table,VacuumCup) +} +selector{ +cond Available(CoffeeMachine), Holding(VacuumCup), Available(Table) +act MoveTo(Table) +} +} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py new file mode 100644 index 0000000..5fc148f --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py @@ -0,0 +1,429 @@ +import copy +import random +from robowaiter.behavior_tree.obtea.BehaviorTree import Leaf,ControlBT + + + +class CondActPair: + def __init__(self, cond_leaf,act_leaf): + self.cond_leaf = cond_leaf + self.act_leaf = act_leaf + +#定义行动类，行动包括前提、增加和删除影响 +class Action: + def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1): + self.pre=copy.deepcopy(pre) + self.add=copy.deepcopy(add) + self.del_set=copy.deepcopy(del_set) + self.name=name + self.cost=cost + + def __str__(self): + return self.name + # 从状态随机生成一个行动 + def generate_from_state(self,state,num): + for i in range(0,num): + if i in state: + if random.random() >0.5: + self.pre.add(i) + if random.random() >0.5: + self.del_set.add(i) + continue + if random.random() > 0.5: + self.add.add(i) + continue + if random.random() >0.5: + self.del_set.add(i) + def print_action(self): + print (self.pre) + print(self.add) + print(self.del_set) + +#生成随机状态 +def generate_random_state(num): + result = set() + for i in range(0,num): + if random.random()>0.5: + result.add(i) + return result +#从状态和行动生成后继状态 +def state_transition(state,action): + if not action.pre <= state: + print ('error: action not applicable') + return state + new_state=(state | action.add) - action.del_set + return new_state + + +def conflict(c): + have_at = False + have_holding = False + for str in c: + if 'At' in str: + if not have_at: + have_at = True + else: + return True + + if 'Holding' in str: + if not have_holding: + have_holding = True + else: + return True + return False + + +#本文所提出的完备规划算法 +class OptBTExpAlgorithm: + def __init__(self,verbose=False): + self.bt = None + self.nodes=[] + self.traversed=[] + self.mounted=[] + self.conditions=[] + self.conditions_index=[] + self.verbose=verbose + self.goal=None + self.bt_merge = True + + def clear(self): + self.bt = None + self.goal = None + self.nodes = [] + self.traversed = [] #存cond + self.expanded = [] #存整个 + self.conditions = [] + self.conditions_index = [] + + #运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt + # def run_algorithm(self,goal,actions,scene): + def run_algorithm_selTree(self, start, goal, actions): + # self.scene = scene + self.goal = goal + if self.verbose: + print("\n算法开始！") + + + bt = ControlBT(type='cond') + # 初始行为树只包含目标条件 + gc_node = Leaf(type='cond', content=goal,mincost=0) # 为了统一，都成对出现 + ga_node = Leaf(type='act', content=None, mincost=0) + subtree = ControlBT(type='?') + subtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([subtree]) + + # self.conditions.append(goal) + cond_anc_pair = CondActPair(cond_leaf=gc_node,act_leaf=ga_node) + self.nodes.append(copy.deepcopy(cond_anc_pair)) # the set of explored but unexpanded conditions + self.traversed = [goal] # the set of expanded conditions + + while len(self.nodes)!=0: + + # Find the condition for the shortest cost path + pair_node = None + min_cost = float ('inf') + index= -1 + for i,cond_anc_pair in enumerate(self.nodes): + + ########### 剪枝操作 + # cond_tmp = cond_anc_pair.cond_leaf.content + # valid = True + # for pn in self.expanded: # 剪枝操作 + # if isinstance(pn.act_leaf.content,Action): + # if pn.act_leaf.content.name==cond_anc_pair.act_leaf.content.name and cond_tmp <= pn.cond_leaf.content: + # valid = False + # break + # if not valid: + # continue + ########### 剪枝操作 + + if cond_anc_pair.cond_leaf.mincost < min_cost: + min_cost = cond_anc_pair.cond_leaf.mincost + pair_node = copy.deepcopy(cond_anc_pair) + index = i + + if self.verbose: + print("选择扩展条件结点：",pair_node.cond_leaf.content) + # Update self.nodes and self.traversed + self.nodes.pop(index) # the set of explored but unexpanded conditions. self.nodes.remove(pair_node) + c = pair_node.cond_leaf.content # 子树所扩展结点对应的条件（一个文字的set） + + # Mount the action node and extend BT. T = Eapand(T,c,A(c)) + if c!=goal: + if c!=set(): + + # 挂在上去的时候判断要不要挂载 + ########### 剪枝操作 发现行不通 + # valid = True + # for pn in self.expanded: # 剪枝操作 + # if isinstance(pn.act_leaf.content,Action): + # if pn.act_leaf.content.name==pair_node.act_leaf.content.name and c <= pn.cond_leaf.content: + # valid = False + # break + # if valid: + ########### 剪枝操作 + sequence_structure = ControlBT(type='>') + sequence_structure.add_child( + [copy.deepcopy(pair_node.cond_leaf), copy.deepcopy(pair_node.act_leaf)]) + subtree.add_child([copy.deepcopy(sequence_structure)]) # subtree 是回不断变化的，它的父亲是self.bt + self.expanded.append(copy.deepcopy(pair_node)) + # 增加实时条件判断，满足条件就不再扩展 + # if c <= self.scene.state["condition_set"]: + if c <= start: + if self.bt_merge: + bt = copy.deepcopy(self.merge_adjacent_conditions_stack(bt)) + return bt,min_cost + # return True + else: + subtree.add_child([copy.deepcopy(pair_node.act_leaf)]) + + + if self.verbose: + print("完成扩展 a_node= %s,对应的新条件 c_attr= %s,mincost=%d" \ + % (pair_node.act_leaf.content.name, pair_node.cond_leaf.content, + pair_node.cond_leaf.mincost)) + + if self.verbose: + print("遍历所有动作, 寻找符合条件的动作") + # 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 + + for i in range(0, len(actions)): + + if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set(): + if (c - actions[i].del_set) == c: + if self.verbose: + print("———— 满足条件可以扩展:",actions[i].name) + c_attr = (actions[i].pre | c) - actions[i].add + + # 这样剪枝存在错误性 + if conflict(c_attr): + continue + + # 剪枝操作,现在的条件是以前扩展过的条件的超集 + valid = True + for j in self.traversed: # 剪枝操作 + if j <= c_attr: + valid = False + if self.verbose: + print("———— --被剪枝:",actions[i].name,"c_attr=",c_attr) + break + + if valid: + c_attr_node = Leaf(type='cond', content=c_attr, mincost=current_mincost + actions[i].cost) + 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 + # 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),"cost=",current_mincost + actions[i].cost) + if self.bt_merge: + bt = copy.deepcopy(self.merge_adjacent_conditions_stack(bt)) + if self.verbose: + print("算法结束！\n") + return bt,min_cost + # return True + + def run_algorithm(self, start, goal, actions): + self.bt = ControlBT(type='cond') + subtree = ControlBT(type='?') + + subtree_with_costs_ls=[] + + if len(goal) > 1: + for g in goal: + bt_sel_tree,mincost = self.run_algorithm_selTree(start, g, actions) + subtree_with_costs_ls.append((bt_sel_tree,mincost)) + # 要排个序再一次add + # subtree.add_child([copy.deepcopy(bt_sel_tree.children[0])]) + # self.bt.add_child([subtree]) + sorted_trees = sorted(subtree_with_costs_ls, key=lambda x: x[1]) + for tree,cost in sorted_trees: + subtree.add_child([copy.deepcopy(tree.children[0])]) + self.bt.add_child([subtree]) + else: + self.bt,mincost = self.run_algorithm_selTree(start, goal[0], 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 + bt = ControlBT(type='cond') + sbtree = ControlBT(type='?') + # gc_node = Leaf(type='cond', content=self.goal, mincost=0) # 为了统一，都成对出现 + # sbtree.add_child([copy.deepcopy(gc_node)]) # 子树首先保留所扩展结 + bt.add_child([sbtree]) + + parnode = copy.deepcopy(bt_sel.children[0]) + stack=[] + for child in parnode.children: + if isinstance(child, ControlBT) and child.type == '>': + if stack==[]: + stack.append(child) + continue + # 检查合并的条件，前面一个的条件包含了后面的条件，把包含部分提取出来 + last_child = stack[-1] + if isinstance(last_child, ControlBT) and last_child.type == '>': + set1 = last_child.children[0].content + set2 = child.children[0].content + inter = set1 & set2 + if inter!=set(): + c1 = set1-set2 + c2 = set2-set1 + inter_node = Leaf(type='cond', content=inter) + c1_node = Leaf(type='cond', content=c1) + c2_node = Leaf(type='cond', content=c2) + a1_node = copy.deepcopy(last_child.children[1]) + a2_node = copy.deepcopy(child.children[1]) + + + # set1<=set2,此时set2对应的动作永远不会执行 + if (c1==set() and isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action)): + continue + + # 再写一个特殊情况处理，三个结点动作last 遇到 两个结点 且动作相同 + if len(last_child.children)==3 and \ + isinstance(last_child.children[2], Leaf) and isinstance(child.children[1], Leaf) \ + 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)]) + continue + elif len(last_child.children)==3: + stack.append(child) + continue + + # 判断动作相不相同 + if isinstance(last_child.children[1], Leaf) and isinstance(child.children[1], Leaf) \ + and isinstance(last_child.children[1].content, Action) and isinstance(child.children[1].content, Action) \ + and last_child.children[1].content.name == child.children[1].content.name: + + if c2==set(): + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [copy.deepcopy(inter_node), copy.deepcopy(a1_node)]) + else: + _sel = ControlBT(type='?') + _sel.add_child([copy.deepcopy(c1_node), copy.deepcopy(c2_node)]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [copy.deepcopy(inter_node), copy.deepcopy(_sel),copy.deepcopy(a1_node)]) + else: + if c1 == set(): + seq1 = copy.deepcopy(last_child.children[1]) + else: + seq1 = ControlBT(type='>') + seq1.add_child([copy.deepcopy(c1_node), copy.deepcopy(a1_node)]) + + if c2 == set(): + seq2 = copy.deepcopy(child.children[1]) + else: + seq2 = ControlBT(type='>') + seq2.add_child([copy.deepcopy(c2_node), copy.deepcopy(a2_node)]) + sel = ControlBT(type='?') + sel.add_child([copy.deepcopy(seq1), copy.deepcopy(seq2)]) + tmp_tree = ControlBT(type='>') + tmp_tree.add_child( + [copy.deepcopy(inter_node), copy.deepcopy(sel)]) + + stack.pop() + stack.append(tmp_tree) + + else: + stack.append(child) + else: + stack.append(child) + else: + stack.append(child) + + for tree in stack: + sbtree.add_child([tree]) + bt_sel = copy.deepcopy(bt) + return bt_sel + + + + def print_solution(self): + print("========= BT ==========") # 树的bfs遍历 + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + print("Parrent:", parnode.type) + for child in parnode.children: + if isinstance(child, Leaf): + print("---- Leaf:", child.content) + elif isinstance(child, ControlBT): + print("---- ControlBT:", child.type) + nodes_ls.append(child) + print() + nodes_ls.pop(0) + print("========= BT ==========\n") + + # 返回所有能到达目标状态的初始状态 + def get_all_state_leafs(self): + state_leafs=[] + + nodes_ls = [] + nodes_ls.append(self.bt) + while len(nodes_ls) != 0: + parnode = nodes_ls[0] + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == "cond": + state_leafs.append(child.content) + elif isinstance(child, ControlBT): + nodes_ls.append(child) + nodes_ls.pop(0) + + return state_leafs + + + # 树的dfs + def dfs_ptml(self,parnode,is_root=False): + for child in parnode.children: + if isinstance(child, Leaf): + if child.type == 'cond': + + if is_root and len(child.content) > 1: + # 把多个 cond 串起来 + self.ptml_string += "sequence{\n" + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + self.ptml_string += '}\n' + else: + self.ptml_string += "cond " + c_set_str = '\n cond '.join(map(str, child.content)) + "\n" + self.ptml_string += c_set_str + + elif child.type == 'act': + if '(' not in child.content.name: + self.ptml_string += 'act ' + child.content.name + "()\n" + else: + self.ptml_string += 'act ' + child.content.name + "\n" + elif isinstance(child, ControlBT): + if child.type == '?': + self.ptml_string += "selector{\n" + self.dfs_ptml(parnode=child) + elif child.type == '>': + self.ptml_string += "sequence{\n" + self.dfs_ptml( parnode=child) + self.ptml_string += '}\n' + + + def get_ptml(self): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0],is_root=True) + self.ptml_string += '}\n' + return self.ptml_string + + + def save_ptml_file(self,file_name): + self.ptml_string = "selector{\n" + self.dfs_ptml(self.bt.children[0]) + self.ptml_string += '}\n' + with open(f'./{file_name}.ptml', 'w') as file: + file.write(self.ptml_string) + return self.ptml_string diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/README.assets/image-20231103191141047.png b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/README.assets/image-20231103191141047.png new file mode 100644 index 0000000000000000000000000000000000000000..6453647b76058878bfa6767963b630e8410b921c GIT binary 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ZoE*=jX`）、动作节点（`act`）或条件节点（`cond`）。 +- 上述两个类都包含 `tick` 方法。 + +### 2. `OptimalBTExpansionAlgorithm.py` 实现最优行为树扩展算法 + +![image-20231103191141047](README.assets/image-20231103191141047.png) + +定义行动类 +```python +#定义行动类，行动包括前提、增加和删除影响 +class Action: + def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1): + self.pre=copy.deepcopy(pre) + self.add=copy.deepcopy(add) + self.del_set=copy.deepcopy(del_set) + self.name=name + self.cost=cost + + def __str__(self): + return self.name +``` + +调用算法 +```python +algo = OptBTExpAlgorithm(verbose=True) +algo.clear() +algo.run_algorithm(start, goal, actions) # 使用算法得到行为树在 algo.bt +algo.print_solution() # 打印行为树 +val, obj = algo.bt.tick(state) # 执行行为树 +algo.save_ptml_file("bt.ptml") # 保存行为树为 ptml 文件 +``` + +### 3. **`tools.py`** 实现打印数据、行为树测试等模块 + +使用方法 + +```python +print_action_data_table(goal,start,actions) # 打印所有变量 + +# 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 +literals_num=10 +depth = 10 +iters= 10 +BTTest(seed=seed,literals_num=literals_num,depth=depth,iters=iters) +``` + +### 4. `example.py` 中设计规划案例 goals, start, actions + +```python +def MoveBtoB (): + actions=[] + a = Action(name="Move(b,ab)") + a.pre={'Free(ab)','WayClear'} + a.add={'At(b,ab)'} + a.del_set= {'Free(ab)','At(b,pb)'} + a.cost = 1 + actions.append(a) + + a=Action(name="Move(s,ab)") + a.pre={'Free(ab)'} + a.add={'Free(ab)','WayClear'} + a.del_set={'Free(ab)','At(s,ps)'} + a.cost = 1 + actions.append(a) + + a=Action(name="Move(s,as)") + a.pre={'Free(as)'} + a.add={'At(s,ps)','WayClear'} + a.del_set={'Free(as)','At(s,ps)'} + a.cost = 1 + actions.append(a) + + start = {'Free(ab)','Free(as)','At(b,pb)','At(s,ps)'} + goal= {'At(b,ab)'} + return goal,start,actions +``` + +### 5. `opt_bt_exp_main.py` 为主函数，在此演示如何调用最优行为树扩展算法得到完全扩展最优行为树 + +初始化的时候：传入 actions (包含 pre,add,del,cost). +调用的时候，传入 goal 状态集合 (set类型)，返回完全最优扩展行为树的 ptml 形式 (string类型) + +```python +actions=[ + Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1) + ………… +] +algo = BTOptExpInterface(actions) + +goal = {'At(Table,Coffee)'} +ptml_string = algo.process(goal,start) +print(ptml_string) + +``` +两种检测方法，用于检测当前状态 `start` 能否到达目标状态 `goal` + +```python +# 判断初始状态能否到达目标状态 +start = {'At(Robot,Bar)', 'Holding(VacuumCup)', 'Available(Table)', 'Available(CoffeeMachine)','Available(FrontDesk)'} + +# 方法一：算法返回所有可能的初始状态，在里面看看有没有对应的初始状态 +right_bt = algo.find_all_leaf_states_contain_start(start) +if not right_bt: + print("ERROR1: The current state cannot reach the goal state!") +else: + print("Right1: The current state can reach the goal state!") + +# 方法二：预先跑一边行为树，看能否到达目标状态 +right_bt2 = algo.run_bt_from_start(goal,start) +if not right_bt2: + print("ERROR2: The current state cannot reach the goal state!") +else: + print("Right2: The current state can reach the goal state!") + +``` + diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/__init__.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/examples.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/examples.py new file mode 100644 index 0000000..f2d52e4 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/examples.py @@ -0,0 +1,174 @@ + +from robowaiter.behavior_tree.obtea.OptimalBTExpansionAlgorithm import Action + + + +def MakeCoffee(): + actions=[ + Action(name='Put(Table,Coffee)', pre={'Holding(Coffee)','At(Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1), + Action(name='Put(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1), + + Action(name='Grasp(Coffee)', pre={'NotHolding','At(Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=1), + + Action(name='MoveTo(Table)', pre={'Exist(Table)'}, add={'At(Table)'}, del_set={'At(FrontDesk)','At(Coffee)','At(CoffeeMachine)'}, cost=1), + Action(name='MoveTo(Coffee)', pre={'Exist(Coffee)'}, add={'At(Coffee)'}, del_set={'At(FrontDesk)','At(Table)','At(CoffeeMachine)'}, cost=1), + Action(name='MoveTo(CoffeeMachine)', pre={'Exist(CoffeeMachine)'}, add={'At(CoffeeMachine)'}, del_set={'At(FrontDesk)','At(Coffee)','At(Table)'}, cost=1), + + Action(name='OpCoffeeMachine', pre={'At(CoffeeMachine)','NotHolding'}, add={'Exist(Coffee)','At(Coffee)'}, del_set=set(), cost=1), + ] + + start = {'At(FrontDesk)','Holding(VacuumCup)','Exist(Table)','Exist(CoffeeMachine)','Exist(FrontDesk)'} + goal = {'At(Table,Coffee)'} + return goal,start,actions + +# 本例子中，将 VacuumCup 放到 FrontDesk，比 MoveTo(Table) 再 Put(Table,VacuumCup) 的 cost 要小 +def MakeCoffeeCost(): + actions=[ + Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1), + Action(name='PutDown(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Robot,Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1), + + Action(name='PickUp(Coffee)', pre={'NotHolding','At(Robot,Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=1), + + Action(name='MoveTo(Table)', pre={'Available(Table)'}, add={'At(Robot,Table)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,CoffeeMachine)'}, cost=1), + Action(name='MoveTo(Coffee)', pre={'Available(Coffee)'}, add={'At(Robot,Coffee)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Table)','At(Robot,CoffeeMachine)'}, cost=1), + Action(name='MoveTo(CoffeeMachine)', pre={'Available(CoffeeMachine)'}, add={'At(Robot,CoffeeMachine)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,Table)'}, cost=1), + + Action(name='OpCoffeeMachine', pre={'At(Robot,CoffeeMachine)','NotHolding'}, add={'Available(Coffee)','At(Robot,Coffee)'}, del_set=set(), cost=1), + ] + + start = {'At(Robot,Bar)','Holding(VacuumCup)','Available(Table)','Available(CoffeeMachine)','Available(FrontDesk)'} + goal = {'At(Table,Coffee)'} + + return goal,start,actions + + +# test +def Test(): + actions=[ + Action(name='a1', pre={6}, add={0,2,4}, del_set={1,5}, cost=1), + Action(name='a2', pre=set(), add={0,1}, del_set=set(), cost=1), + Action(name='a3', pre={1,6}, add={0,2,3,5}, del_set={1,6}, cost=1), + Action(name='a4', pre={0,2,3}, add={4,5}, del_set={0,6}, cost=1), + Action(name='a5', pre={0,1,4}, add={2,3,6}, del_set={0}, cost=1), + ] + + start = {1,2,6} + goal={0,1,2,4,6} + return goal,start,actions + +# def Test(): +# actions=[ +# Action(name='a1', pre={2}, add={1}, del_set=set(), cost=1), +# Action(name='a2', pre=set(), add={1}, del_set={0,2}, cost=1), +# Action(name='a3', pre={1}, add=set(), del_set={0,2}, cost=1), +# Action(name='a4', pre=set(), add={0}, del_set=set(), cost=1), +# Action(name='a5', pre={1}, add={0,2}, del_set={1}, cost=1), +# Action(name='a6', pre={1}, add=set(), del_set={0,1,2}, cost=1), +# Action(name='a7', pre={1}, add={2}, del_set={0, 2}, cost=1), +# ] +# +# start = {1,2} +# goal={0,1} +# return goal,start,actions + + +# todo: 最原始的例子 +def MoveBtoB_num (): + actions=[] + a = Action(name='a1') + a.pre={1,4} + a.add={"c_goal"} + a.del_set={1,4} + a.cost = 1 + actions.append(a) + + a=Action(name='a2') + a.pre={1,2,3} + a.add={"c_goal"} + a.del_set={1,2,3} + a.cost = 1 + actions.append(a) + + a=Action(name='a3') + a.pre={1,2} + a.add={4} + a.del_set={2} + a.cost = 1 + actions.append(a) + + a=Action(name='a4') + a.pre={"c_start"} + a.add={1,2,3} + a.del_set={"c_start",4} + a.cost = 1 + actions.append(a) + + start = {"c_start"} + goal={"c_goal"} + return goal,start,actions + + +# todo: 最原始的例子 +def MoveBtoB (): + actions=[] + a = Action(name="Move(b,ab)") #'movebtob' + a.pre={'Free(ab)','WayClear'} #{1,2} + a.add={'At(b,ab)'} #{3} + a.del_set= {'Free(ab)','At(b,pb)'} #{1,4} + a.cost = 1 + actions.append(a) + + a=Action(name="Move(s,ab)") #'moveatob' + a.pre={'Free(ab)'} #{1} + a.add={'Free(ab)','WayClear'} #{5,2} + a.del_set={'Free(ab)','At(s,ps)'} #{1,6} + a.cost = 1 + actions.append(a) + + a=Action(name="Move(s,as)") #'moveatoa' + a.pre={'Free(as)'} #{7} + a.add={'At(s,ps)','WayClear'} #{8,2} + a.del_set={'Free(as)','At(s,ps)'} #{7,6} + a.cost = 1 + actions.append(a) + + start = {'Free(ab)','Free(as)','At(b,pb)','At(s,ps)'} #{1,7,4,6} + goal= {'At(b,ab)'} #{3} + return goal,start,actions + + +# 小蔡师兄论文里的例子 +def Cond2BelongsToCond3(): + actions=[] + a = Action(name='a1') + a.pre={1,4} + a.add={"c_goal"} + a.del_set={1,4} + a.cost = 1 + actions.append(a) + + a=Action(name='a2') + a.pre={1,2,3} + a.add={"c_goal"} + a.del_set={1,2,3} + a.cost = 100 + actions.append(a) + + a=Action(name='a3') + a.pre={1,2} + a.add={4} + a.del_set={2} + a.cost = 1 + actions.append(a) + + a=Action(name='a4') + a.pre={"c_start"} + a.add={1,2,3} + a.del_set={"c_start",4} + a.cost = 1 + actions.append(a) + + start = {"c_start"} + goal={"c_goal"} + return goal,start,actions + diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/opt_bt_exp_main.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/opt_bt_exp_main.py new file mode 100644 index 0000000..112d144 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/opt_bt_exp_main.py @@ -0,0 +1,131 @@ + +from robowaiter.behavior_tree.obtea.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm,state_transition # 调用最优行为树扩展算法 +from robowaiter.behavior_tree.obtea.BTExpansionAlgorithm import BTalgorithm # 调用最优行为树扩展算法 + +from robowaiter.behavior_tree.obtea.examples import * + + +# 封装好的主接口 +class BTOptExpInterface: + def __init__(self, action_list,scene): + """ + Initialize the BTOptExpansion with a list of actions. + :param action_list: A list of actions to be used in the behavior tree. + """ + # self.actions = [] + # for act in action_list: + # a = Action(name=act.name) + # a.pre=act['pre'] + # a.add=act['add'] + # a.del_set= act['del_set'] + # a.cost = 1 + # self.actions.append(a) + self.actions = action_list + self.has_processed = False + + self.scene = scene + self.bt_algo_opt = self.scene.bt_algo_opt + + + def process(self, goal): + """ + Process the input sets and return a string result. + :param input_set: The set of goal states and the set of initial states. + :return: A PTML string representing the outcome of the behavior tree. + """ + self.goal = goal + if self.bt_algo_opt: + self.algo = OptBTExpAlgorithm(verbose=False) + else: + self.algo = BTalgorithm(verbose=False) + + self.algo.clear() + self.algo.run_algorithm(self.scene.state["condition_set"],self.goal, self.actions) # 调用算法得到行为树保存至 algo.bt + + + self.ptml_string = self.algo.get_ptml() + self.has_processed = True + # algo.print_solution() # print behavior tree + + return self.ptml_string + + # 方法一：查找所有初始状态是否包含当前状态 + def find_all_leaf_states_contain_start(self,start): + if not self.has_processed: + raise RuntimeError("The process method must be called before find_all_leaf_states_contain_start!") + # 返回所有能到达目标状态的初始状态 + state_leafs = self.algo.get_all_state_leafs() + for state in state_leafs: + if start >= state: + return True + return False + + # 方法二：模拟跑一遍行为树，看 start 能够通过执行一系列动作到达 goal + def run_bt_from_start(self,goal,start): + if not self.has_processed: + raise RuntimeError("The process method must be called before run_bt_from_start!") + # 检查是否能到达目标 + right_bt = True + state = start + steps = 0 + val, obj = self.algo.bt.tick(state) + while val != 'success' and val != 'failure': + state = state_transition(state, obj) + val, obj = self.algo.bt.tick(state) + if (val == 'failure'): + # print("bt fails at step", steps) + right_bt = False + steps += 1 + if not goal <= state: + # print("wrong solution", steps) + right_bt = False + else: + pass + # print("right solution", steps) + return right_bt + + + + +if __name__ == '__main__' : + + # todo: Example Cafe + # todo: Define goal, start, actions + actions=[ + Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1), + Action(name='PutDown(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Robot,Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1), + + Action(name='PickUp(Coffee)', pre={'NotHolding','At(Robot,Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=1), + + Action(name='MoveTo(Table)', pre={'Available(Table)'}, add={'At(Robot,Table)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,CoffeeMachine)'}, cost=1), + Action(name='MoveTo(Coffee)', pre={'Available(Coffee)'}, add={'At(Robot,Coffee)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Table)','At(Robot,CoffeeMachine)'}, cost=1), + Action(name='MoveTo(CoffeeMachine)', pre={'Available(CoffeeMachine)'}, add={'At(Robot,CoffeeMachine)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,Table)'}, cost=1), + + Action(name='OpCoffeeMachine', pre={'At(Robot,CoffeeMachine)','NotHolding'}, add={'Available(Coffee)','At(Robot,Coffee)'}, del_set=set(), cost=1), + ] + algo = BTOptExpInterface(actions) + + + goal = {'At(Table,Coffee)'} + ptml_string = algo.process(goal) + print(ptml_string) + + file_name = "sub_task" + with open(f'./{file_name}.ptml', 'w') as file: + file.write(ptml_string) + + + # 判断初始状态能否到达目标状态 + start = {'At(Robot,Bar)', 'Holding(VacuumCup)', 'Available(Table)', 'Available(CoffeeMachine)','Available(FrontDesk)'} + # 方法一：算法返回所有可能的初始状态，在里面看看有没有对应的初始状态 + right_bt = algo.find_all_leaf_states_contain_start(start) + if not right_bt: + print("ERROR1: The current state cannot reach the goal state!") + else: + print("Right1: The current state can reach the goal state!") + # 方法二：预先跑一边行为树，看能否到达目标状态 + right_bt2 = algo.run_bt_from_start(goal,start) + if not right_bt2: + print("ERROR2: The current state cannot reach the goal state!") + else: + print("Right2: The current state can reach the goal state!") diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/obtea/tools.py b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/tools.py new file mode 100644 index 0000000..c705ce5 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/obtea/tools.py @@ -0,0 +1,167 @@ + + +from tabulate import tabulate +import numpy as np +import random +from robowaiter.behavior_tree.obtea.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm +import time + + +def print_action_data_table(goal,start,actions): + data = [] + for a in actions: + data.append([a.name , a.pre , a.add , a.del_set , a.cost]) + data.append(["Goal" ,goal ," " ,"Start" ,start]) + print(tabulate(data, headers=["Name", "Pre", "Add" ,"Del" ,"Cost"], tablefmt="fancy_grid")) # grid plain simple github fancy_grid + + +# 从状态随机生成一个行动 +def generate_from_state(act,state,num): + for i in range(0,num): + if i in state: + if random.random() >0.5: + act.pre.add(i) + if random.random() >0.5: + act.del_set.add(i) + continue + if random.random() > 0.5: + act.add.add(i) + continue + if random.random() >0.5: + act.del_set.add(i) + +def print_action(act): + print (act.pre) + print(act.add) + print(act.del_set) + + + +#行为树测试代码 +def BTTest(seed=1,literals_num=10,depth=10,iters=10,total_count=1000): + print("============= BT Test ==============") + random.seed(seed) + # 设置生成规划问题集的超参数：文字数、解深度、迭代次数 + literals_num=literals_num + depth = depth + iters= iters + total_tree_size = [] + total_action_num = [] + total_state_num = [] + total_steps_num=[] + #fail_count=0 + #danger_count=0 + success_count =0 + failure_count = 0 + planning_time_total = 0.0 + # 实验1000次 + for count in range (total_count): + + action_num = 1 + + # 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 = [] + start = generate_random_state(literals_num) + state = start + states.append(state) + #print (state) + for i in range (0,depth): + a = Action() + generate_from_state(a,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) + #print(state) + + goal = states[-1] + state = start + for i in range (0,iters): + a = Action() + generate_from_state(a,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] + + # 选择测试本文算法btalgorithm，或对比算法weakalgorithm + algo = OptBTExpAlgorithm() + #algo = Weakalgorithm() + start_time = time.time() + # 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) + # 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 + val, obj = algo.bt.tick(state)#tick行为树，obj为所运行的行动 + 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 = algo.bt.tick(state) + if(val == 'failure'): + print("bt fails at step",steps) + 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 + + else:#正确解，满足目标条件 + #print ("right solution",steps) + success_count+=1 + total_steps_num.append(steps) + algo.clear() + total_action_num.append(len(actions)) + total_state_num.append(len(states)) + + 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("============ End 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 + # 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 + diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/__init__.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/compile.sh b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/compile.sh new file mode 100644 index 0000000..9b84246 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/compile.sh @@ -0,0 +1,2 @@ +cd ./robowaiter/behavior_tree/ptml +antlr4 -Dlanguage=Python3 ptml.g4 \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.g4 b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.g4 new file mode 100644 index 0000000..24f0c03 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.g4 @@ -0,0 +1,20 @@ +grammar ptml; + +root : tree+ EOF; + +tree : internal_node '{' (action_sign|tree)* '}' ; +internal_node : 'sequence' | 'selector' | 'parallel' Integer ; +action_sign : ('act'|'cond') String '(' action_parm? ')'; +action_parm : (Integer|Float|boolean|String) (',' (Integer|Float|boolean|String))* ; +// var_decls : var_type Names ; +// var_type : 'int' | 'float' | 'bool' | 'string' ; +boolean : 'True' | 'False' ; + +String : [a-zA-Z_][a-zA-Z_0-9]* ; +Integer : '-'?[1-9][0-9]* | '0' ; +Float : [0-9]+'.'[0-9]* | '.'[0-9]+ ; + +// comments +LINE_COMMENT : '//' .*? '\r'?'\n' -> skip ; +// useless +WS : [ \t\u000C\r\n]+ -> skip ; diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.interp b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.interp new file mode 100644 index 0000000..4edd60b --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.interp @@ -0,0 +1,51 @@ +token literal names: +null +'{' +'}' +'sequence' +'selector' +'parallel' +'act' +'cond' +'(' +')' +',' +'True' +'False' +null +null +null +null +null + +token symbolic names: +null +null +null +null +null +null +null +null +null +null +null +null +null +String +Integer +Float +LINE_COMMENT +WS + +rule names: +root +tree +internal_node +action_sign +action_parm +boolean + + +atn: +[4, 1, 17, 65, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 1, 0, 4, 0, 14, 8, 0, 11, 0, 12, 0, 15, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 5, 1, 24, 8, 1, 10, 1, 12, 1, 27, 9, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 35, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 41, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 49, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 56, 8, 4, 5, 4, 58, 8, 4, 10, 4, 12, 4, 61, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 6, 7, 1, 0, 11, 12, 71, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 34, 1, 0, 0, 0, 6, 36, 1, 0, 0, 0, 8, 48, 1, 0, 0, 0, 10, 62, 1, 0, 0, 0, 12, 14, 3, 2, 1, 0, 13, 12, 1, 0, 0, 0, 14, 15, 1, 0, 0, 0, 15, 13, 1, 0, 0, 0, 15, 16, 1, 0, 0, 0, 16, 17, 1, 0, 0, 0, 17, 18, 5, 0, 0, 1, 18, 1, 1, 0, 0, 0, 19, 20, 3, 4, 2, 0, 20, 25, 5, 1, 0, 0, 21, 24, 3, 6, 3, 0, 22, 24, 3, 2, 1, 0, 23, 21, 1, 0, 0, 0, 23, 22, 1, 0, 0, 0, 24, 27, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 28, 1, 0, 0, 0, 27, 25, 1, 0, 0, 0, 28, 29, 5, 2, 0, 0, 29, 3, 1, 0, 0, 0, 30, 35, 5, 3, 0, 0, 31, 35, 5, 4, 0, 0, 32, 33, 5, 5, 0, 0, 33, 35, 5, 14, 0, 0, 34, 30, 1, 0, 0, 0, 34, 31, 1, 0, 0, 0, 34, 32, 1, 0, 0, 0, 35, 5, 1, 0, 0, 0, 36, 37, 7, 0, 0, 0, 37, 38, 5, 13, 0, 0, 38, 40, 5, 8, 0, 0, 39, 41, 3, 8, 4, 0, 40, 39, 1, 0, 0, 0, 40, 41, 1, 0, 0, 0, 41, 42, 1, 0, 0, 0, 42, 43, 5, 9, 0, 0, 43, 7, 1, 0, 0, 0, 44, 49, 5, 14, 0, 0, 45, 49, 5, 15, 0, 0, 46, 49, 3, 10, 5, 0, 47, 49, 5, 13, 0, 0, 48, 44, 1, 0, 0, 0, 48, 45, 1, 0, 0, 0, 48, 46, 1, 0, 0, 0, 48, 47, 1, 0, 0, 0, 49, 59, 1, 0, 0, 0, 50, 55, 5, 10, 0, 0, 51, 56, 5, 14, 0, 0, 52, 56, 5, 15, 0, 0, 53, 56, 3, 10, 5, 0, 54, 56, 5, 13, 0, 0, 55, 51, 1, 0, 0, 0, 55, 52, 1, 0, 0, 0, 55, 53, 1, 0, 0, 0, 55, 54, 1, 0, 0, 0, 56, 58, 1, 0, 0, 0, 57, 50, 1, 0, 0, 0, 58, 61, 1, 0, 0, 0, 59, 57, 1, 0, 0, 0, 59, 60, 1, 0, 0, 0, 60, 9, 1, 0, 0, 0, 61, 59, 1, 0, 0, 0, 62, 63, 7, 1, 0, 0, 63, 11, 1, 0, 0, 0, 8, 15, 23, 25, 34, 40, 48, 55, 59] \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.tokens b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.tokens new file mode 100644 index 0000000..6f604be --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptml.tokens @@ -0,0 +1,29 @@ +T__0=1 +T__1=2 +T__2=3 +T__3=4 +T__4=5 +T__5=6 +T__6=7 +T__7=8 +T__8=9 +T__9=10 +T__10=11 +T__11=12 +String=13 +Integer=14 +Float=15 +LINE_COMMENT=16 +WS=17 +'{'=1 +'}'=2 +'sequence'=3 +'selector'=4 +'parallel'=5 +'act'=6 +'cond'=7 +'('=8 +')'=9 +','=10 +'True'=11 +'False'=12 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlCompiler.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlCompiler.py new file mode 100644 index 0000000..4f3f061 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlCompiler.py @@ -0,0 +1,208 @@ +import os +import sys +from antlr4 import * + +if "." in __name__: + from .ptmlTranslator import ptmlTranslator + from .ptmlParser import ptmlParser as Parser + from .ptmlLexer import ptmlLexer as Lexer + +else: + from ptmlTranslator import ptmlTranslator + from ptmlParser import ptmlParser as Parser + from ptmlLexer import ptmlLexer as Lexer + + +def load(scene, ptml_path: str, behaviour_lib_path: str): + """_summary_ + + Args: + ptml_path (str): _description_ + behaviour_lib_path (str): _description_ + + Raises: + FileNotFoundError: _description_ + FileNotFoundError: _description_ + """ + # error handle + if not os.path.exists(ptml_path): + raise FileNotFoundError("Given a fault ptml path: {}".format(ptml_path)) + if not os.path.exists(behaviour_lib_path): + raise FileNotFoundError( + "Given a fault behaviour library path: {}".format(behaviour_lib_path) + ) + + # noting fault, go next + ptml_path = format_trans_to_bracket(ptml_path) + # print(ptml_path) + input_stream = FileStream(ptml_path, encoding="utf-8") + + lexer = Lexer(input_stream) + stream = CommonTokenStream(lexer) + parser = Parser(stream) + tree = parser.root() + + walker = ParseTreeWalker() + + sys.path.append(os.path.join(behaviour_lib_path, "cond")) + sys.path.append(os.path.join(behaviour_lib_path, "act")) + + ptml = ptmlTranslator(scene, behaviour_lib_path) # listener mode + walker.walk(ptml, tree) + + return ptml.bt_root + +def parse_indentation(text): + tree = {} + stack = [(-1, tree)] # 使用栈来跟踪节点层级和父节点 + + for line in text.splitlines(): + indent = len(line) - len(line.lstrip()) + content = line.strip() + + if not content: + continue # 跳过空行 + + # 找到当前行的父级 + while stack and stack[-1][0] >= indent: + stack.pop() + + # 确保栈不为空 + if not stack: + raise ValueError("缩进错误") + + # 检查当前行是否已存在于父级中 + parent = stack[-1][1] + if content not in parent: + parent[content] = [] + + # 添加新节点 + node = {} + parent[content].append(node) + stack.append((indent, node)) + + return tree + +def format_nested_dict(d, indent=0, outermost=True): + """ 格式化嵌套字典为特定字符串格式，如果没有子级就不添加大括号 """ + indention = " " * indent # 用空格表示缩进 + formatted_str = "" + + if (not outermost) and d: # 添加大括号，除非是空字典 + formatted_str += "{\n" + + for key, value_list in d.items(): + for value in value_list: # 遍历列表中的每个字典 + formatted_str += f"{indention}{' ' if (not outermost) and d else ''}{key}\n" + + if isinstance(value, dict): + # 如果值是字典，则递归调用 + formatted_str += format_nested_dict(value, indent + (0 if outermost else 1), False) + else: + # 否则，直接添加值 + formatted_str += f"{indention}{' ' * 2}{value}\n" + + if (not outermost) and d: # 如果不是空字典，才关闭大括号 + formatted_str += indention + "}\n" + + return formatted_str.strip() + +def format_trans_to_bracket(file_path: str) -> str: + """_summary_ + + Args: + file_path (str): _description_ + + Raises: + FileNotFoundError: _description_ + + Returns: + str: the path tp temp file with '{}' form. + """ + import autopep8 + + if not os.path.exists(file_path): + raise FileNotFoundError("Given a fault ptml path: {}".format(file_path)) + + with open(file_path, 'r') as file: + f = file.read().strip() + if "{" in f: + return file_path + + parsed_tree = parse_indentation(f) + + formatted_output = format_nested_dict(parsed_tree) + + # def counter_(input: str) -> int: + # length = 0 + # for i in range(len(input)): + # if input[i] == ' ': + # length += 1 + # else: + # if length % 4 != 0: + # raise TabError('Tab length in ptml file should be 4.') + # return length + # + # with open(file_path, 'r') as file: + # ptml_new = '' + # ptml_tab = file.readlines() + # + # level = 0 + # for i in ptml_tab: + # + # if i.startswith('//'): + # continue + # + # new_level = counter_(i) // 4 + # if new_level == level: + # ptml_new += i + # elif new_level > level: + # ptml_new += '{\n' + i + # level += 1 + # elif new_level < level: + # ptml_new += '\n}' + i + # level -= 1 + # for i in range(level): + # ptml_new += '}' + + file_name = os.path.basename(file_path).split(".")[0] + dir_path = os.path.dirname(file_path) + # import re + # new_path = re.sub('\\\[a-zA-Z0-9_]*\.ptml', '/bracket_ptml.ptml', file_path) + new_path = os.path.join(dir_path,file_name+"_bracket.ptml") + with open(new_path, 'w') as file: + file.write(formatted_output) + return new_path + +# format_trans_to_bracket('C:\\Users\\Estrella\\Desktop\\RoboWaiter\\robowaiter\\behavior_tree\\ptml\\test\\Default.ptml') + +if __name__ == '__main__': + # 示例文本 + text = """ +selector + sequence + cond Chatting() + act DealChat() + sequence + cond HasSubTask() + sequence + act SubTaskPlaceHolder() + sequence + cond FocusingCustomer() + act ServeCustomer() + sequence + cond NewCustomer() + selector + cond At(Robot,Bar) + act MoveTo(Bar) + act GreetCustomer() + sequence + cond AnomalyDetected() + act ResolveAnomaly() + """ + + parsed_tree = parse_indentation(text) + print(parsed_tree) + + formatted_output = format_nested_dict(parsed_tree) + print(formatted_output) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.interp b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.interp new file mode 100644 index 0000000..a624c96 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.interp @@ -0,0 +1,68 @@ +token literal names: +null +'{' +'}' +'sequence' +'selector' +'parallel' +'act' +'cond' +'(' +')' +',' +'True' +'False' +null +null +null +null +null + +token symbolic names: +null +null +null +null +null +null +null +null +null +null +null +null +null +String +Integer +Float +LINE_COMMENT +WS + +rule names: +T__0 +T__1 +T__2 +T__3 +T__4 +T__5 +T__6 +T__7 +T__8 +T__9 +T__10 +T__11 +String +Integer +Float +LINE_COMMENT +WS + +channel names: +DEFAULT_TOKEN_CHANNEL +HIDDEN + +mode names: +DEFAULT_MODE + +atn: +[4, 0, 17, 155, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 1, 0, 1, 0, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 6, 1, 6, 1, 6, 1, 7, 1, 7, 1, 8, 1, 8, 1, 9, 1, 9, 1, 10, 1, 10, 1, 10, 1, 10, 1, 10, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 12, 1, 12, 5, 12, 95, 8, 12, 10, 12, 12, 12, 98, 9, 12, 1, 13, 3, 13, 101, 8, 13, 1, 13, 1, 13, 5, 13, 105, 8, 13, 10, 13, 12, 13, 108, 9, 13, 1, 13, 3, 13, 111, 8, 13, 1, 14, 4, 14, 114, 8, 14, 11, 14, 12, 14, 115, 1, 14, 1, 14, 5, 14, 120, 8, 14, 10, 14, 12, 14, 123, 9, 14, 1, 14, 1, 14, 4, 14, 127, 8, 14, 11, 14, 12, 14, 128, 3, 14, 131, 8, 14, 1, 15, 1, 15, 1, 15, 1, 15, 5, 15, 137, 8, 15, 10, 15, 12, 15, 140, 9, 15, 1, 15, 3, 15, 143, 8, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 16, 4, 16, 150, 8, 16, 11, 16, 12, 16, 151, 1, 16, 1, 16, 1, 138, 0, 17, 1, 1, 3, 2, 5, 3, 7, 4, 9, 5, 11, 6, 13, 7, 15, 8, 17, 9, 19, 10, 21, 11, 23, 12, 25, 13, 27, 14, 29, 15, 31, 16, 33, 17, 1, 0, 5, 3, 0, 65, 90, 95, 95, 97, 122, 4, 0, 48, 57, 65, 90, 95, 95, 97, 122, 1, 0, 49, 57, 1, 0, 48, 57, 3, 0, 9, 10, 12, 13, 32, 32, 165, 0, 1, 1, 0, 0, 0, 0, 3, 1, 0, 0, 0, 0, 5, 1, 0, 0, 0, 0, 7, 1, 0, 0, 0, 0, 9, 1, 0, 0, 0, 0, 11, 1, 0, 0, 0, 0, 13, 1, 0, 0, 0, 0, 15, 1, 0, 0, 0, 0, 17, 1, 0, 0, 0, 0, 19, 1, 0, 0, 0, 0, 21, 1, 0, 0, 0, 0, 23, 1, 0, 0, 0, 0, 25, 1, 0, 0, 0, 0, 27, 1, 0, 0, 0, 0, 29, 1, 0, 0, 0, 0, 31, 1, 0, 0, 0, 0, 33, 1, 0, 0, 0, 1, 35, 1, 0, 0, 0, 3, 37, 1, 0, 0, 0, 5, 39, 1, 0, 0, 0, 7, 48, 1, 0, 0, 0, 9, 57, 1, 0, 0, 0, 11, 66, 1, 0, 0, 0, 13, 70, 1, 0, 0, 0, 15, 75, 1, 0, 0, 0, 17, 77, 1, 0, 0, 0, 19, 79, 1, 0, 0, 0, 21, 81, 1, 0, 0, 0, 23, 86, 1, 0, 0, 0, 25, 92, 1, 0, 0, 0, 27, 110, 1, 0, 0, 0, 29, 130, 1, 0, 0, 0, 31, 132, 1, 0, 0, 0, 33, 149, 1, 0, 0, 0, 35, 36, 5, 123, 0, 0, 36, 2, 1, 0, 0, 0, 37, 38, 5, 125, 0, 0, 38, 4, 1, 0, 0, 0, 39, 40, 5, 115, 0, 0, 40, 41, 5, 101, 0, 0, 41, 42, 5, 113, 0, 0, 42, 43, 5, 117, 0, 0, 43, 44, 5, 101, 0, 0, 44, 45, 5, 110, 0, 0, 45, 46, 5, 99, 0, 0, 46, 47, 5, 101, 0, 0, 47, 6, 1, 0, 0, 0, 48, 49, 5, 115, 0, 0, 49, 50, 5, 101, 0, 0, 50, 51, 5, 108, 0, 0, 51, 52, 5, 101, 0, 0, 52, 53, 5, 99, 0, 0, 53, 54, 5, 116, 0, 0, 54, 55, 5, 111, 0, 0, 55, 56, 5, 114, 0, 0, 56, 8, 1, 0, 0, 0, 57, 58, 5, 112, 0, 0, 58, 59, 5, 97, 0, 0, 59, 60, 5, 114, 0, 0, 60, 61, 5, 97, 0, 0, 61, 62, 5, 108, 0, 0, 62, 63, 5, 108, 0, 0, 63, 64, 5, 101, 0, 0, 64, 65, 5, 108, 0, 0, 65, 10, 1, 0, 0, 0, 66, 67, 5, 97, 0, 0, 67, 68, 5, 99, 0, 0, 68, 69, 5, 116, 0, 0, 69, 12, 1, 0, 0, 0, 70, 71, 5, 99, 0, 0, 71, 72, 5, 111, 0, 0, 72, 73, 5, 110, 0, 0, 73, 74, 5, 100, 0, 0, 74, 14, 1, 0, 0, 0, 75, 76, 5, 40, 0, 0, 76, 16, 1, 0, 0, 0, 77, 78, 5, 41, 0, 0, 78, 18, 1, 0, 0, 0, 79, 80, 5, 44, 0, 0, 80, 20, 1, 0, 0, 0, 81, 82, 5, 84, 0, 0, 82, 83, 5, 114, 0, 0, 83, 84, 5, 117, 0, 0, 84, 85, 5, 101, 0, 0, 85, 22, 1, 0, 0, 0, 86, 87, 5, 70, 0, 0, 87, 88, 5, 97, 0, 0, 88, 89, 5, 108, 0, 0, 89, 90, 5, 115, 0, 0, 90, 91, 5, 101, 0, 0, 91, 24, 1, 0, 0, 0, 92, 96, 7, 0, 0, 0, 93, 95, 7, 1, 0, 0, 94, 93, 1, 0, 0, 0, 95, 98, 1, 0, 0, 0, 96, 94, 1, 0, 0, 0, 96, 97, 1, 0, 0, 0, 97, 26, 1, 0, 0, 0, 98, 96, 1, 0, 0, 0, 99, 101, 5, 45, 0, 0, 100, 99, 1, 0, 0, 0, 100, 101, 1, 0, 0, 0, 101, 102, 1, 0, 0, 0, 102, 106, 7, 2, 0, 0, 103, 105, 7, 3, 0, 0, 104, 103, 1, 0, 0, 0, 105, 108, 1, 0, 0, 0, 106, 104, 1, 0, 0, 0, 106, 107, 1, 0, 0, 0, 107, 111, 1, 0, 0, 0, 108, 106, 1, 0, 0, 0, 109, 111, 5, 48, 0, 0, 110, 100, 1, 0, 0, 0, 110, 109, 1, 0, 0, 0, 111, 28, 1, 0, 0, 0, 112, 114, 7, 3, 0, 0, 113, 112, 1, 0, 0, 0, 114, 115, 1, 0, 0, 0, 115, 113, 1, 0, 0, 0, 115, 116, 1, 0, 0, 0, 116, 117, 1, 0, 0, 0, 117, 121, 5, 46, 0, 0, 118, 120, 7, 3, 0, 0, 119, 118, 1, 0, 0, 0, 120, 123, 1, 0, 0, 0, 121, 119, 1, 0, 0, 0, 121, 122, 1, 0, 0, 0, 122, 131, 1, 0, 0, 0, 123, 121, 1, 0, 0, 0, 124, 126, 5, 46, 0, 0, 125, 127, 7, 3, 0, 0, 126, 125, 1, 0, 0, 0, 127, 128, 1, 0, 0, 0, 128, 126, 1, 0, 0, 0, 128, 129, 1, 0, 0, 0, 129, 131, 1, 0, 0, 0, 130, 113, 1, 0, 0, 0, 130, 124, 1, 0, 0, 0, 131, 30, 1, 0, 0, 0, 132, 133, 5, 47, 0, 0, 133, 134, 5, 47, 0, 0, 134, 138, 1, 0, 0, 0, 135, 137, 9, 0, 0, 0, 136, 135, 1, 0, 0, 0, 137, 140, 1, 0, 0, 0, 138, 139, 1, 0, 0, 0, 138, 136, 1, 0, 0, 0, 139, 142, 1, 0, 0, 0, 140, 138, 1, 0, 0, 0, 141, 143, 5, 13, 0, 0, 142, 141, 1, 0, 0, 0, 142, 143, 1, 0, 0, 0, 143, 144, 1, 0, 0, 0, 144, 145, 5, 10, 0, 0, 145, 146, 1, 0, 0, 0, 146, 147, 6, 15, 0, 0, 147, 32, 1, 0, 0, 0, 148, 150, 7, 4, 0, 0, 149, 148, 1, 0, 0, 0, 150, 151, 1, 0, 0, 0, 151, 149, 1, 0, 0, 0, 151, 152, 1, 0, 0, 0, 152, 153, 1, 0, 0, 0, 153, 154, 6, 16, 0, 0, 154, 34, 1, 0, 0, 0, 12, 0, 96, 100, 106, 110, 115, 121, 128, 130, 138, 142, 151, 1, 6, 0, 0] \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.py new file mode 100644 index 0000000..0cee05f --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.py @@ -0,0 +1,118 @@ +# Generated from ptml.g4 by ANTLR 4.13.1 +from antlr4 import * +from io import StringIO +import sys +if sys.version_info[1] > 5: + from typing import TextIO +else: + from typing.io import TextIO + + +def serializedATN(): + return [ + 4,0,17,155,6,-1,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5, + 2,6,7,6,2,7,7,7,2,8,7,8,2,9,7,9,2,10,7,10,2,11,7,11,2,12,7,12,2, + 13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,1,0,1,0,1,1,1,1,1,2,1,2,1, + 2,1,2,1,2,1,2,1,2,1,2,1,2,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1,3,1, + 4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,5,1,5,1,5,1,5,1,6,1,6,1,6,1, + 6,1,6,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,10,1,10,1,10,1,11,1,11, + 1,11,1,11,1,11,1,11,1,12,1,12,5,12,95,8,12,10,12,12,12,98,9,12,1, + 13,3,13,101,8,13,1,13,1,13,5,13,105,8,13,10,13,12,13,108,9,13,1, + 13,3,13,111,8,13,1,14,4,14,114,8,14,11,14,12,14,115,1,14,1,14,5, + 14,120,8,14,10,14,12,14,123,9,14,1,14,1,14,4,14,127,8,14,11,14,12, + 14,128,3,14,131,8,14,1,15,1,15,1,15,1,15,5,15,137,8,15,10,15,12, + 15,140,9,15,1,15,3,15,143,8,15,1,15,1,15,1,15,1,15,1,16,4,16,150, + 8,16,11,16,12,16,151,1,16,1,16,1,138,0,17,1,1,3,2,5,3,7,4,9,5,11, + 6,13,7,15,8,17,9,19,10,21,11,23,12,25,13,27,14,29,15,31,16,33,17, + 1,0,5,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,95,97,122,1,0,49, + 57,1,0,48,57,3,0,9,10,12,13,32,32,165,0,1,1,0,0,0,0,3,1,0,0,0,0, + 5,1,0,0,0,0,7,1,0,0,0,0,9,1,0,0,0,0,11,1,0,0,0,0,13,1,0,0,0,0,15, + 1,0,0,0,0,17,1,0,0,0,0,19,1,0,0,0,0,21,1,0,0,0,0,23,1,0,0,0,0,25, + 1,0,0,0,0,27,1,0,0,0,0,29,1,0,0,0,0,31,1,0,0,0,0,33,1,0,0,0,1,35, + 1,0,0,0,3,37,1,0,0,0,5,39,1,0,0,0,7,48,1,0,0,0,9,57,1,0,0,0,11,66, + 1,0,0,0,13,70,1,0,0,0,15,75,1,0,0,0,17,77,1,0,0,0,19,79,1,0,0,0, + 21,81,1,0,0,0,23,86,1,0,0,0,25,92,1,0,0,0,27,110,1,0,0,0,29,130, + 1,0,0,0,31,132,1,0,0,0,33,149,1,0,0,0,35,36,5,123,0,0,36,2,1,0,0, + 0,37,38,5,125,0,0,38,4,1,0,0,0,39,40,5,115,0,0,40,41,5,101,0,0,41, + 42,5,113,0,0,42,43,5,117,0,0,43,44,5,101,0,0,44,45,5,110,0,0,45, + 46,5,99,0,0,46,47,5,101,0,0,47,6,1,0,0,0,48,49,5,115,0,0,49,50,5, + 101,0,0,50,51,5,108,0,0,51,52,5,101,0,0,52,53,5,99,0,0,53,54,5,116, + 0,0,54,55,5,111,0,0,55,56,5,114,0,0,56,8,1,0,0,0,57,58,5,112,0,0, + 58,59,5,97,0,0,59,60,5,114,0,0,60,61,5,97,0,0,61,62,5,108,0,0,62, + 63,5,108,0,0,63,64,5,101,0,0,64,65,5,108,0,0,65,10,1,0,0,0,66,67, + 5,97,0,0,67,68,5,99,0,0,68,69,5,116,0,0,69,12,1,0,0,0,70,71,5,99, + 0,0,71,72,5,111,0,0,72,73,5,110,0,0,73,74,5,100,0,0,74,14,1,0,0, + 0,75,76,5,40,0,0,76,16,1,0,0,0,77,78,5,41,0,0,78,18,1,0,0,0,79,80, + 5,44,0,0,80,20,1,0,0,0,81,82,5,84,0,0,82,83,5,114,0,0,83,84,5,117, + 0,0,84,85,5,101,0,0,85,22,1,0,0,0,86,87,5,70,0,0,87,88,5,97,0,0, + 88,89,5,108,0,0,89,90,5,115,0,0,90,91,5,101,0,0,91,24,1,0,0,0,92, + 96,7,0,0,0,93,95,7,1,0,0,94,93,1,0,0,0,95,98,1,0,0,0,96,94,1,0,0, + 0,96,97,1,0,0,0,97,26,1,0,0,0,98,96,1,0,0,0,99,101,5,45,0,0,100, + 99,1,0,0,0,100,101,1,0,0,0,101,102,1,0,0,0,102,106,7,2,0,0,103,105, + 7,3,0,0,104,103,1,0,0,0,105,108,1,0,0,0,106,104,1,0,0,0,106,107, + 1,0,0,0,107,111,1,0,0,0,108,106,1,0,0,0,109,111,5,48,0,0,110,100, + 1,0,0,0,110,109,1,0,0,0,111,28,1,0,0,0,112,114,7,3,0,0,113,112,1, + 0,0,0,114,115,1,0,0,0,115,113,1,0,0,0,115,116,1,0,0,0,116,117,1, + 0,0,0,117,121,5,46,0,0,118,120,7,3,0,0,119,118,1,0,0,0,120,123,1, + 0,0,0,121,119,1,0,0,0,121,122,1,0,0,0,122,131,1,0,0,0,123,121,1, + 0,0,0,124,126,5,46,0,0,125,127,7,3,0,0,126,125,1,0,0,0,127,128,1, + 0,0,0,128,126,1,0,0,0,128,129,1,0,0,0,129,131,1,0,0,0,130,113,1, + 0,0,0,130,124,1,0,0,0,131,30,1,0,0,0,132,133,5,47,0,0,133,134,5, + 47,0,0,134,138,1,0,0,0,135,137,9,0,0,0,136,135,1,0,0,0,137,140,1, + 0,0,0,138,139,1,0,0,0,138,136,1,0,0,0,139,142,1,0,0,0,140,138,1, + 0,0,0,141,143,5,13,0,0,142,141,1,0,0,0,142,143,1,0,0,0,143,144,1, + 0,0,0,144,145,5,10,0,0,145,146,1,0,0,0,146,147,6,15,0,0,147,32,1, + 0,0,0,148,150,7,4,0,0,149,148,1,0,0,0,150,151,1,0,0,0,151,149,1, + 0,0,0,151,152,1,0,0,0,152,153,1,0,0,0,153,154,6,16,0,0,154,34,1, + 0,0,0,12,0,96,100,106,110,115,121,128,130,138,142,151,1,6,0,0 + ] + +class ptmlLexer(Lexer): + + atn = ATNDeserializer().deserialize(serializedATN()) + + decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ] + + T__0 = 1 + T__1 = 2 + T__2 = 3 + T__3 = 4 + T__4 = 5 + T__5 = 6 + T__6 = 7 + T__7 = 8 + T__8 = 9 + T__9 = 10 + T__10 = 11 + T__11 = 12 + String = 13 + Integer = 14 + Float = 15 + LINE_COMMENT = 16 + WS = 17 + + channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ] + + modeNames = [ "DEFAULT_MODE" ] + + literalNames = [ "", + "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'act'", + "'cond'", "'('", "')'", "','", "'True'", "'False'" ] + + symbolicNames = [ "", + "String", "Integer", "Float", "LINE_COMMENT", "WS" ] + + ruleNames = [ "T__0", "T__1", "T__2", "T__3", "T__4", "T__5", "T__6", + "T__7", "T__8", "T__9", "T__10", "T__11", "String", "Integer", + "Float", "LINE_COMMENT", "WS" ] + + grammarFileName = "ptml.g4" + + def __init__(self, input=None, output:TextIO = sys.stdout): + super().__init__(input, output) + self.checkVersion("4.13.1") + self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache()) + self._actions = None + self._predicates = None + + diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.tokens b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.tokens new file mode 100644 index 0000000..6f604be --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlLexer.tokens @@ -0,0 +1,29 @@ +T__0=1 +T__1=2 +T__2=3 +T__3=4 +T__4=5 +T__5=6 +T__6=7 +T__7=8 +T__8=9 +T__9=10 +T__10=11 +T__11=12 +String=13 +Integer=14 +Float=15 +LINE_COMMENT=16 +WS=17 +'{'=1 +'}'=2 +'sequence'=3 +'selector'=4 +'parallel'=5 +'act'=6 +'cond'=7 +'('=8 +')'=9 +','=10 +'True'=11 +'False'=12 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlListener.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlListener.py new file mode 100644 index 0000000..536aaf2 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlListener.py @@ -0,0 +1,66 @@ +# Generated from ptml.g4 by ANTLR 4.13.1 +from antlr4 import * +if "." in __name__: + from .ptmlParser import ptmlParser +else: + from ptmlParser import ptmlParser + +# This class defines a complete listener for a parse tree produced by ptmlParser. +class ptmlListener(ParseTreeListener): + + # Enter a parse tree produced by ptmlParser#root. + def enterRoot(self, ctx:ptmlParser.RootContext): + pass + + # Exit a parse tree produced by ptmlParser#root. + def exitRoot(self, ctx:ptmlParser.RootContext): + pass + + + # Enter a parse tree produced by ptmlParser#tree. + def enterTree(self, ctx:ptmlParser.TreeContext): + pass + + # Exit a parse tree produced by ptmlParser#tree. + def exitTree(self, ctx:ptmlParser.TreeContext): + pass + + + # Enter a parse tree produced by ptmlParser#internal_node. + def enterInternal_node(self, ctx:ptmlParser.Internal_nodeContext): + pass + + # Exit a parse tree produced by ptmlParser#internal_node. + def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext): + pass + + + # Enter a parse tree produced by ptmlParser#action_sign. + def enterAction_sign(self, ctx:ptmlParser.Action_signContext): + pass + + # Exit a parse tree produced by ptmlParser#action_sign. + def exitAction_sign(self, ctx:ptmlParser.Action_signContext): + pass + + + # Enter a parse tree produced by ptmlParser#action_parm. + def enterAction_parm(self, ctx:ptmlParser.Action_parmContext): + pass + + # Exit a parse tree produced by ptmlParser#action_parm. + def exitAction_parm(self, ctx:ptmlParser.Action_parmContext): + pass + + + # Enter a parse tree produced by ptmlParser#boolean. + def enterBoolean(self, ctx:ptmlParser.BooleanContext): + pass + + # Exit a parse tree produced by ptmlParser#boolean. + def exitBoolean(self, ctx:ptmlParser.BooleanContext): + pass + + + +del ptmlParser \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlParser.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlParser.py new file mode 100644 index 0000000..a3dd2d4 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlParser.py @@ -0,0 +1,528 @@ +# Generated from ptml.g4 by ANTLR 4.13.1 +# encoding: utf-8 +from antlr4 import * +from io import StringIO +import sys +if sys.version_info[1] > 5: + from typing import TextIO +else: + from typing.io import TextIO + +def serializedATN(): + return [ + 4,1,17,65,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4, + 0,14,8,0,11,0,12,0,15,1,0,1,0,1,1,1,1,1,1,1,1,5,1,24,8,1,10,1,12, + 1,27,9,1,1,1,1,1,1,2,1,2,1,2,1,2,3,2,35,8,2,1,3,1,3,1,3,1,3,3,3, + 41,8,3,1,3,1,3,1,4,1,4,1,4,1,4,3,4,49,8,4,1,4,1,4,1,4,1,4,1,4,3, + 4,56,8,4,5,4,58,8,4,10,4,12,4,61,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8, + 10,0,2,1,0,6,7,1,0,11,12,71,0,13,1,0,0,0,2,19,1,0,0,0,4,34,1,0,0, + 0,6,36,1,0,0,0,8,48,1,0,0,0,10,62,1,0,0,0,12,14,3,2,1,0,13,12,1, + 0,0,0,14,15,1,0,0,0,15,13,1,0,0,0,15,16,1,0,0,0,16,17,1,0,0,0,17, + 18,5,0,0,1,18,1,1,0,0,0,19,20,3,4,2,0,20,25,5,1,0,0,21,24,3,6,3, + 0,22,24,3,2,1,0,23,21,1,0,0,0,23,22,1,0,0,0,24,27,1,0,0,0,25,23, + 1,0,0,0,25,26,1,0,0,0,26,28,1,0,0,0,27,25,1,0,0,0,28,29,5,2,0,0, + 29,3,1,0,0,0,30,35,5,3,0,0,31,35,5,4,0,0,32,33,5,5,0,0,33,35,5,14, + 0,0,34,30,1,0,0,0,34,31,1,0,0,0,34,32,1,0,0,0,35,5,1,0,0,0,36,37, + 7,0,0,0,37,38,5,13,0,0,38,40,5,8,0,0,39,41,3,8,4,0,40,39,1,0,0,0, + 40,41,1,0,0,0,41,42,1,0,0,0,42,43,5,9,0,0,43,7,1,0,0,0,44,49,5,14, + 0,0,45,49,5,15,0,0,46,49,3,10,5,0,47,49,5,13,0,0,48,44,1,0,0,0,48, + 45,1,0,0,0,48,46,1,0,0,0,48,47,1,0,0,0,49,59,1,0,0,0,50,55,5,10, + 0,0,51,56,5,14,0,0,52,56,5,15,0,0,53,56,3,10,5,0,54,56,5,13,0,0, + 55,51,1,0,0,0,55,52,1,0,0,0,55,53,1,0,0,0,55,54,1,0,0,0,56,58,1, + 0,0,0,57,50,1,0,0,0,58,61,1,0,0,0,59,57,1,0,0,0,59,60,1,0,0,0,60, + 9,1,0,0,0,61,59,1,0,0,0,62,63,7,1,0,0,63,11,1,0,0,0,8,15,23,25,34, + 40,48,55,59 + ] + +class ptmlParser ( Parser ): + + grammarFileName = "ptml.g4" + + atn = ATNDeserializer().deserialize(serializedATN()) + + decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ] + + sharedContextCache = PredictionContextCache() + + literalNames = [ "", "'{'", "'}'", "'sequence'", "'selector'", + "'parallel'", "'act'", "'cond'", "'('", "')'", "','", + "'True'", "'False'" ] + + symbolicNames = [ "", "", "", "", + "", "", "", "", + "", "", "", "", + "", "String", "Integer", "Float", "LINE_COMMENT", + "WS" ] + + RULE_root = 0 + RULE_tree = 1 + RULE_internal_node = 2 + RULE_action_sign = 3 + RULE_action_parm = 4 + RULE_boolean = 5 + + ruleNames = [ "root", "tree", "internal_node", "action_sign", "action_parm", + "boolean" ] + + EOF = Token.EOF + T__0=1 + T__1=2 + T__2=3 + T__3=4 + T__4=5 + T__5=6 + T__6=7 + T__7=8 + T__8=9 + T__9=10 + T__10=11 + T__11=12 + String=13 + Integer=14 + Float=15 + LINE_COMMENT=16 + WS=17 + + def __init__(self, input:TokenStream, output:TextIO = sys.stdout): + super().__init__(input, output) + self.checkVersion("4.13.1") + self._interp = ParserATNSimulator(self, self.atn, self.decisionsToDFA, self.sharedContextCache) + self._predicates = None + + + + + class RootContext(ParserRuleContext): + __slots__ = 'parser' + + def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): + super().__init__(parent, invokingState) + self.parser = parser + + def EOF(self): + return self.getToken(ptmlParser.EOF, 0) + + def tree(self, i:int=None): + if i is None: + return self.getTypedRuleContexts(ptmlParser.TreeContext) + else: + return self.getTypedRuleContext(ptmlParser.TreeContext,i) + + + def getRuleIndex(self): + return ptmlParser.RULE_root + + def enterRule(self, listener:ParseTreeListener): + if hasattr( listener, "enterRoot" ): + listener.enterRoot(self) + + def exitRule(self, listener:ParseTreeListener): + if hasattr( listener, "exitRoot" ): + listener.exitRoot(self) + + + + + def root(self): + + localctx = ptmlParser.RootContext(self, self._ctx, self.state) + self.enterRule(localctx, 0, self.RULE_root) + self._la = 0 # Token type + try: + self.enterOuterAlt(localctx, 1) + self.state = 13 + self._errHandler.sync(self) + _la = self._input.LA(1) + while True: + self.state = 12 + self.tree() + self.state = 15 + self._errHandler.sync(self) + _la = self._input.LA(1) + if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 56) != 0)): + break + + self.state = 17 + self.match(ptmlParser.EOF) + except RecognitionException as re: + localctx.exception = re + self._errHandler.reportError(self, re) + self._errHandler.recover(self, re) + finally: + self.exitRule() + return localctx + + + class TreeContext(ParserRuleContext): + __slots__ = 'parser' + + def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): + super().__init__(parent, invokingState) + self.parser = parser + + def internal_node(self): + return self.getTypedRuleContext(ptmlParser.Internal_nodeContext,0) + + + def action_sign(self, i:int=None): + if i is None: + return self.getTypedRuleContexts(ptmlParser.Action_signContext) + else: + return self.getTypedRuleContext(ptmlParser.Action_signContext,i) + + + def tree(self, i:int=None): + if i is None: + return self.getTypedRuleContexts(ptmlParser.TreeContext) + else: + return self.getTypedRuleContext(ptmlParser.TreeContext,i) + + + def getRuleIndex(self): + return ptmlParser.RULE_tree + + def enterRule(self, listener:ParseTreeListener): + if hasattr( listener, "enterTree" ): + listener.enterTree(self) + + def exitRule(self, listener:ParseTreeListener): + if hasattr( listener, "exitTree" ): + listener.exitTree(self) + + + + + def tree(self): + + localctx = ptmlParser.TreeContext(self, self._ctx, self.state) + self.enterRule(localctx, 2, self.RULE_tree) + self._la = 0 # Token type + try: + self.enterOuterAlt(localctx, 1) + self.state = 19 + self.internal_node() + self.state = 20 + self.match(ptmlParser.T__0) + self.state = 25 + self._errHandler.sync(self) + _la = self._input.LA(1) + while (((_la) & ~0x3f) == 0 and ((1 << _la) & 248) != 0): + self.state = 23 + self._errHandler.sync(self) + token = self._input.LA(1) + if token in [6, 7]: + self.state = 21 + self.action_sign() + pass + elif token in [3, 4, 5]: + self.state = 22 + self.tree() + pass + else: + raise NoViableAltException(self) + + self.state = 27 + self._errHandler.sync(self) + _la = self._input.LA(1) + + self.state = 28 + self.match(ptmlParser.T__1) + except RecognitionException as re: + localctx.exception = re + self._errHandler.reportError(self, re) + self._errHandler.recover(self, re) + finally: + self.exitRule() + return localctx + + + class Internal_nodeContext(ParserRuleContext): + __slots__ = 'parser' + + def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): + super().__init__(parent, invokingState) + self.parser = parser + + def Integer(self): + return self.getToken(ptmlParser.Integer, 0) + + def getRuleIndex(self): + return ptmlParser.RULE_internal_node + + def enterRule(self, listener:ParseTreeListener): + if hasattr( listener, "enterInternal_node" ): + listener.enterInternal_node(self) + + def exitRule(self, listener:ParseTreeListener): + if hasattr( listener, "exitInternal_node" ): + listener.exitInternal_node(self) + + + + + def internal_node(self): + + localctx = ptmlParser.Internal_nodeContext(self, self._ctx, self.state) + self.enterRule(localctx, 4, self.RULE_internal_node) + try: + self.state = 34 + self._errHandler.sync(self) + token = self._input.LA(1) + if token in [3]: + self.enterOuterAlt(localctx, 1) + self.state = 30 + self.match(ptmlParser.T__2) + pass + elif token in [4]: + self.enterOuterAlt(localctx, 2) + self.state = 31 + self.match(ptmlParser.T__3) + pass + elif token in [5]: + self.enterOuterAlt(localctx, 3) + self.state = 32 + self.match(ptmlParser.T__4) + self.state = 33 + self.match(ptmlParser.Integer) + pass + else: + raise NoViableAltException(self) + + except RecognitionException as re: + localctx.exception = re + self._errHandler.reportError(self, re) + self._errHandler.recover(self, re) + finally: + self.exitRule() + return localctx + + + class Action_signContext(ParserRuleContext): + __slots__ = 'parser' + + def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): + super().__init__(parent, invokingState) + self.parser = parser + + def String(self): + return self.getToken(ptmlParser.String, 0) + + def action_parm(self): + return self.getTypedRuleContext(ptmlParser.Action_parmContext,0) + + + def getRuleIndex(self): + return ptmlParser.RULE_action_sign + + def enterRule(self, listener:ParseTreeListener): + if hasattr( listener, "enterAction_sign" ): + listener.enterAction_sign(self) + + def exitRule(self, listener:ParseTreeListener): + if hasattr( listener, "exitAction_sign" ): + listener.exitAction_sign(self) + + + + + def action_sign(self): + + localctx = ptmlParser.Action_signContext(self, self._ctx, self.state) + self.enterRule(localctx, 6, self.RULE_action_sign) + self._la = 0 # Token type + try: + self.enterOuterAlt(localctx, 1) + self.state = 36 + _la = self._input.LA(1) + if not(_la==6 or _la==7): + self._errHandler.recoverInline(self) + else: + self._errHandler.reportMatch(self) + self.consume() + self.state = 37 + self.match(ptmlParser.String) + self.state = 38 + self.match(ptmlParser.T__7) + self.state = 40 + self._errHandler.sync(self) + _la = self._input.LA(1) + if (((_la) & ~0x3f) == 0 and ((1 << _la) & 63488) != 0): + self.state = 39 + self.action_parm() + + + self.state = 42 + self.match(ptmlParser.T__8) + except RecognitionException as re: + localctx.exception = re + self._errHandler.reportError(self, re) + self._errHandler.recover(self, re) + finally: + self.exitRule() + return localctx + + + class Action_parmContext(ParserRuleContext): + __slots__ = 'parser' + + def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): + super().__init__(parent, invokingState) + self.parser = parser + + def Integer(self, i:int=None): + if i is None: + return self.getTokens(ptmlParser.Integer) + else: + return self.getToken(ptmlParser.Integer, i) + + def Float(self, i:int=None): + if i is None: + return self.getTokens(ptmlParser.Float) + else: + return self.getToken(ptmlParser.Float, i) + + def boolean(self, i:int=None): + if i is None: + return self.getTypedRuleContexts(ptmlParser.BooleanContext) + else: + return self.getTypedRuleContext(ptmlParser.BooleanContext,i) + + + def String(self, i:int=None): + if i is None: + return self.getTokens(ptmlParser.String) + else: + return self.getToken(ptmlParser.String, i) + + def getRuleIndex(self): + return ptmlParser.RULE_action_parm + + def enterRule(self, listener:ParseTreeListener): + if hasattr( listener, "enterAction_parm" ): + listener.enterAction_parm(self) + + def exitRule(self, listener:ParseTreeListener): + if hasattr( listener, "exitAction_parm" ): + listener.exitAction_parm(self) + + + + + def action_parm(self): + + localctx = ptmlParser.Action_parmContext(self, self._ctx, self.state) + self.enterRule(localctx, 8, self.RULE_action_parm) + self._la = 0 # Token type + try: + self.enterOuterAlt(localctx, 1) + self.state = 48 + self._errHandler.sync(self) + token = self._input.LA(1) + if token in [14]: + self.state = 44 + self.match(ptmlParser.Integer) + pass + elif token in [15]: + self.state = 45 + self.match(ptmlParser.Float) + pass + elif token in [11, 12]: + self.state = 46 + self.boolean() + pass + elif token in [13]: + self.state = 47 + self.match(ptmlParser.String) + pass + else: + raise NoViableAltException(self) + + self.state = 59 + self._errHandler.sync(self) + _la = self._input.LA(1) + while _la==10: + self.state = 50 + self.match(ptmlParser.T__9) + self.state = 55 + self._errHandler.sync(self) + token = self._input.LA(1) + if token in [14]: + self.state = 51 + self.match(ptmlParser.Integer) + pass + elif token in [15]: + self.state = 52 + self.match(ptmlParser.Float) + pass + elif token in [11, 12]: + self.state = 53 + self.boolean() + pass + elif token in [13]: + self.state = 54 + self.match(ptmlParser.String) + pass + else: + raise NoViableAltException(self) + + self.state = 61 + self._errHandler.sync(self) + _la = self._input.LA(1) + + except RecognitionException as re: + localctx.exception = re + self._errHandler.reportError(self, re) + self._errHandler.recover(self, re) + finally: + self.exitRule() + return localctx + + + class BooleanContext(ParserRuleContext): + __slots__ = 'parser' + + def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1): + super().__init__(parent, invokingState) + self.parser = parser + + + def getRuleIndex(self): + return ptmlParser.RULE_boolean + + def enterRule(self, listener:ParseTreeListener): + if hasattr( listener, "enterBoolean" ): + listener.enterBoolean(self) + + def exitRule(self, listener:ParseTreeListener): + if hasattr( listener, "exitBoolean" ): + listener.exitBoolean(self) + + + + + def boolean(self): + + localctx = ptmlParser.BooleanContext(self, self._ctx, self.state) + self.enterRule(localctx, 10, self.RULE_boolean) + self._la = 0 # Token type + try: + self.enterOuterAlt(localctx, 1) + self.state = 62 + _la = self._input.LA(1) + if not(_la==11 or _la==12): + self._errHandler.recoverInline(self) + else: + self._errHandler.reportMatch(self) + self.consume() + except RecognitionException as re: + localctx.exception = re + self._errHandler.reportError(self, re) + self._errHandler.recover(self, re) + finally: + self.exitRule() + return localctx + + + + + diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlTranslator.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlTranslator.py new file mode 100644 index 0000000..ecd89f0 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/ptmlTranslator.py @@ -0,0 +1,119 @@ +import shortuuid +import py_trees as ptree +from EXP.behavior_lib._base import Selector, Sequence +from antlr4 import * + +if "." in __name__: + from .ptmlListener import ptmlListener + from .ptmlParser import ptmlParser +else: + from ptmlListener import ptmlListener + from ptmlParser import ptmlParser + +short_uuid = lambda: shortuuid.ShortUUID().random(length=8) + + +class ptmlTranslator(ptmlListener): + """Translate the ptml language to BT. + + Args: + ptmlListener (_type_): _description_ + """ + + def __init__(self, scene, behaviour_lib_path) -> None: + super().__init__() + self.bt_root = None + self.stack = [] + self.scene = scene + self.behaviour_lib_path = behaviour_lib_path + + # Enter a parse tree produced by ptmlParser#root. + def enterRoot(self, ctx: ptmlParser.RootContext): + pass + + # Exit a parse tree produced by ptmlParser#root. + def exitRoot(self, ctx: ptmlParser.RootContext): + pass + + # Enter a parse tree produced by ptmlParser#tree. + def enterTree(self, ctx: ptmlParser.TreeContext): + type = str(ctx.internal_node().children[0]) + + if type== "sequence": + node = Sequence(name="Sequence", memory=False) + elif type=="selector": + node = Selector(name="Selector", memory=False) + elif type== "parallel": + tag = "parallel_" + short_uuid() + # threshold = int(ctx.children[1]) + # default policy, success on all + node = ptree.composites.Parallel( + name=tag, policy=ptree.common.ParallelPolicy.SuccessOnAll + ) + else: + raise TypeError("Unknown Composite Type: {}".format(type)) + + self.stack.append(node) + + # Exit a parse tree produced by ptmlParser#tree. + def exitTree(self, ctx: ptmlParser.TreeContext): + if len(self.stack) >= 2: + child = self.stack.pop() + self.stack[-1].add_child(child) + else: + self.bt_root = self.stack[0] + + # Enter a parse tree produced by ptmlParser#internal_node. + def enterInternal_node(self, ctx: ptmlParser.Internal_nodeContext): + pass + + # Exit a parse tree produced by ptmlParser#internal_node. + def exitInternal_node(self, ctx: ptmlParser.Internal_nodeContext): + pass + + # Enter a parse tree produced by ptmlParser#action_sign. + def enterAction_sign(self, ctx: ptmlParser.Action_signContext): + # cond / act + node_type = str(ctx.children[0]) + name = str(ctx.String()) + + # if have params + args = [] + if len(ctx.children) > 4: + params = ctx.action_parm() + for i in params.children: + if isinstance(i, ptmlParser.BooleanContext): + args.append(str(i.children[0])) + elif str(i) == ',': + args.append(',') + else: + args.append(f"'{i}'") + args = "".join(args) + + exec(f"from {name} import {name}") + # tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid() + + node = eval(f"{name}({args})") + node.set_scene(self.scene) + # connect + self.stack[-1].add_child(node) + + # Exit a parse tree produced by ptmlParser#action_sign. + def exitAction_sign(self, ctx: ptmlParser.Action_signContext): + pass + + # Enter a parse tree produced by ptmlParser#action_parm. + def enterAction_parm(self, ctx: ptmlParser.Action_parmContext): + pass + + # Exit a parse tree produced by ptmlParser#action_parm. + def exitAction_parm(self, ctx: ptmlParser.Action_parmContext): + pass + + # Enter a parse tree produced by ptmlParser#boolean. + def enterBoolean(self, ctx: ptmlParser.BooleanContext): + pass + + # Exit a parse tree produced by ptmlParser#boolean. + def exitBoolean(self, ctx: ptmlParser.BooleanContext): + pass diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/CoffeeDelivery.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/CoffeeDelivery.ptml new file mode 100644 index 0000000..f6ce360 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/CoffeeDelivery.ptml @@ -0,0 +1,35 @@ +//sequence: +// act action1() +// act action2(2, 2.3, True) +// +// parallel 2: +// act action3(int a, float b) +// act action4() + +sequence{ + selector{ + cond CoffeeCupFound() + act FindCoffeeCup() + sequence{ + cond SeqTest() + act Move(1.2, 2, 2.3, True) + act Grasp() + parallel 3 { + cond Isact() + act Testact() + } + } + } + selector{ + cond CoffeeCupGrasped() + act GraspCoffeeCup() + } + selector{ + cond DestinationAReached() + act ReachDestinationA() + } + selector{ + cond CoffeeCupPlaced() + act PlaceCoffeeCup() + } +} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Default.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Default.ptml new file mode 100644 index 0000000..be4dc5e --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Default.ptml @@ -0,0 +1,12 @@ +selector + selector + cond HasMap() + act ExploreEnv() + sequence + cond Chatting() + act DealChat() + sequence + cond HasSubTask() + sequence + cond At(Robot,Table) + // cond At(Robot,Table) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Test.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Test.ptml new file mode 100644 index 0000000..62564fa --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/Test.ptml @@ -0,0 +1,7 @@ +selector{ + sequence{ + cond Chatting() + act DealChat() + } + act At(Coffee,Table) +} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/__init__.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/bracket_ptml.ptml b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/bracket_ptml.ptml new file mode 100644 index 0000000..7ac38d6 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/bracket_ptml.ptml @@ -0,0 +1,20 @@ +selector +{ + selector +{ + cond HasMap() + act ExploreEnv() + +} sequence +{ + cond Chatting() + act DealChat() + +} sequence +{ + cond HasSubTask() + sequence +{ + cond At(Robot,Table) + +} // cond At(Robot,Table)}} \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/ptml_test.py b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/ptml_test.py new file mode 100644 index 0000000..70d629f --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/ptml_test.py @@ -0,0 +1,25 @@ +# from robowaiter.scene.scene import Scene +# from robowaiter.behavior_tree.ptml.ptmlCompiler import load + +import os +from robowaiter import Robot, task_map +from robowaiter.utils.bt.draw import render_dot_tree + +if __name__ == '__main__': + TASK_NAME = 'OT' + + # create robot + project_path = "../../../" + ptml_path = os.path.join(project_path, 'behavior_tree/ptml/test/Default.ptml') + behavior_lib_path = os.path.join(project_path, 'behavior_lib') + + robot = Robot(ptml_path, behavior_lib_path) + + # create task + task = task_map[TASK_NAME](robot) + + render_dot_tree(robot.bt.root,name="test") + # build and tick + # scene.BT = ptree.trees.BehaviourTree(scene.BT) + # todo: tick this bt + print(robot.bt) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.dot b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.dot new file mode 100644 index 0000000..1efeebd --- /dev/null +++ b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.dot @@ -0,0 +1,29 @@ +digraph pastafarianism { +ordering=out; +graph [fontname="times-roman"]; +node [fontname="times-roman"]; +edge [fontname="times-roman"]; +"34d1cf8a-42d6-49de-a458-0c7d3bffc436" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label="?", shape=diamond, style=filled, width=0.01]; +"33446211-2d5c-4e1d-bdb5-5ded443a713c" [fillcolor=cyan, fontcolor=black, fontsize=20, height=0.01, label="?", shape=diamond, style=filled, width=0.01]; +"34d1cf8a-42d6-49de-a458-0c7d3bffc436" -> "33446211-2d5c-4e1d-bdb5-5ded443a713c"; +"96622c49-e2f6-4de9-9284-0c5eabbdd741" [fillcolor=yellow, fontcolor=black, fontsize=20, label=HasMap, shape=ellipse, style=filled]; +"33446211-2d5c-4e1d-bdb5-5ded443a713c" -> "96622c49-e2f6-4de9-9284-0c5eabbdd741"; +"dc007c72-0338-4616-bac2-bc39c81d2b77" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label=ExploreEnv, shape=box, style=filled]; +"33446211-2d5c-4e1d-bdb5-5ded443a713c" -> "dc007c72-0338-4616-bac2-bc39c81d2b77"; +"6fe9e522-557f-473a-a582-2f0d17d1a4f1" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=">", shape=octagon, style=filled, width=0.01]; +"34d1cf8a-42d6-49de-a458-0c7d3bffc436" -> "6fe9e522-557f-473a-a582-2f0d17d1a4f1"; +"cf3e4033-88b1-41bb-a638-26cc06e7a3dd" [fillcolor=yellow, fontcolor=black, fontsize=20, label=Chatting, shape=ellipse, style=filled]; +"6fe9e522-557f-473a-a582-2f0d17d1a4f1" -> "cf3e4033-88b1-41bb-a638-26cc06e7a3dd"; +"d2e8364e-dd83-4abb-8234-8466ff0c0483" [fillcolor=lawngreen, fontcolor=black, fontsize=20, label=DealChat, shape=box, style=filled]; +"6fe9e522-557f-473a-a582-2f0d17d1a4f1" -> "d2e8364e-dd83-4abb-8234-8466ff0c0483"; +"d78eaf31-cc9d-484d-b564-dbd5912378fa" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=">", shape=octagon, style=filled, width=0.01]; +"34d1cf8a-42d6-49de-a458-0c7d3bffc436" -> "d78eaf31-cc9d-484d-b564-dbd5912378fa"; +"85284b02-fc8e-4418-8d6b-7a154d2004f6" [fillcolor=yellow, fontcolor=black, fontsize=20, label=HasSubTask, shape=ellipse, style=filled]; +"d78eaf31-cc9d-484d-b564-dbd5912378fa" -> "85284b02-fc8e-4418-8d6b-7a154d2004f6"; +"eb1bba56-55b1-4a71-8b31-0381812f588a" [fillcolor=orange, fontcolor=black, fontsize=20, height=0.01, label=">", shape=octagon, style=filled, width=0.01]; +"d78eaf31-cc9d-484d-b564-dbd5912378fa" -> "eb1bba56-55b1-4a71-8b31-0381812f588a"; +"20b57b46-d59d-4b04-a4ed-eff12e6adc91" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table)", shape=ellipse, style=filled]; +"eb1bba56-55b1-4a71-8b31-0381812f588a" -> "20b57b46-d59d-4b04-a4ed-eff12e6adc91"; +"3d7f6aa9-62b5-4852-ab3e-ac0199cc46a8" [fillcolor=yellow, fontcolor=black, fontsize=20, label="At(Robot,Table)", shape=ellipse, style=filled]; +"d78eaf31-cc9d-484d-b564-dbd5912378fa" -> "3d7f6aa9-62b5-4852-ab3e-ac0199cc46a8"; +} diff --git a/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.png b/BTExpansionCode/EXP/EXP/behavior_tree/ptml/test/test.png new file mode 100644 index 0000000000000000000000000000000000000000..df4a1f98b95584499d3fb6683b1143a32e22f714 GIT binary patch literal 53221 zcma&OcRZK>|2F(4l@bwYm@OqMBQrBILMSU~$OsuBo7P9jiWD+3vO@NzA&F#fAtPCd zl#y{Cr+&ZB?|WU>ecg}S_m6KM-tY5#ov+t(9M9u#L{>9VSlJZX*iUtD=|D2c>QQjwR{aeg}a+3oxTi?z)^ET8)Z zKMI#)*kZ`DFIgw2RXp%Y=;bJe92#Hl{JX93FT+miv|oyE5!KOF?#kc0(~xc?II(@7 z!U>jdCw?wBW#*qtG5s3zc66m*y~WWZrhnoWlgDVq_lDE-Tkla|0mP5|U3JI5|00o! 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+85284b02-fc8e-4418-8d6b-7a154d2004f6 + +HasSubTask + + + +d78eaf31-cc9d-484d-b564-dbd5912378fa->85284b02-fc8e-4418-8d6b-7a154d2004f6 + + + + + +eb1bba56-55b1-4a71-8b31-0381812f588a + +> + + + +d78eaf31-cc9d-484d-b564-dbd5912378fa->eb1bba56-55b1-4a71-8b31-0381812f588a + + + + + +3d7f6aa9-62b5-4852-ab3e-ac0199cc46a8 + +At(Robot,Table) + + + +d78eaf31-cc9d-484d-b564-dbd5912378fa->3d7f6aa9-62b5-4852-ab3e-ac0199cc46a8 + + + + + +20b57b46-d59d-4b04-a4ed-eff12e6adc91 + +At(Robot,Table) + + + +eb1bba56-55b1-4a71-8b31-0381812f588a->20b57b46-d59d-4b04-a4ed-eff12e6adc91 + + + + + diff --git a/BTExpansionCode/EXP/EXP/easy.txt b/BTExpansionCode/EXP/EXP/easy.txt new file mode 100644 index 0000000..4ab3cc1 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/easy.txt @@ -0,0 +1,50 @@ +On_VacuumCup_WaterTable +On_Water_Table1 +On_Yogurt_Table2 +Is_AC_On +On_BottledDrink_Table3 +On_Dessert_Bar +On_Chips_Table3 +Is_TubeLight_On +Is_Curtain_Off +Is_Table1_Clean +On_Bernachon_BrightTable6 +On_MilkDrink_Bar2 +Is_AC_Off +Is_HallLight_On +On_NFCJuice_Table2 +On_SpringWater_Table1 +Is_Floor_Clean +Is_Chairs_Clean +Is_ACTemperature_Down +On_ADMilk_CoffeeTable +On_Milk_Bar +Is_Curtain_On +Is_TubeLight_Off +On_Softdrink_Table3 +Is_Chairs_Clean +On_Dessert_Bar +Is_HallLight_Off +Is_ACTemperature_Up +On_Chips_BrightTable6 +On_Water_Bar2 +On_Coffee_Table3 +Is_AC_On +Is_ACTemperature_Down +On_Yogurt_Table2 +On_VacuumCup_Bar +Is_TubeLight_Off +On_NFCJuice_WaterTable +On_SpringWater_Table3 +Is_Floor_Clean +Is_Chairs_Clean +On_Coffee_Table2 +Is_ACTemperature_Up +Exist_Water +Is_ACTemperature_Down +Is_Floor_Clean +On_Bernachon_Bar +On_MilkDrink_Table2 +Is_AC_Off +On_VacuumCup_CoffeeTable +Is_TubeLight_On \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/exp1.py b/BTExpansionCode/EXP/EXP/exp1.py new file mode 100644 index 0000000..168985d --- /dev/null +++ b/BTExpansionCode/EXP/EXP/exp1.py @@ -0,0 +1,220 @@ + + +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 + +from sympy import symbols, Not, Or, And, to_dnf +from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm +from BTExpansionAlgorithm import BTExpAlgorithm # 调用最优行为树扩展算法 +import time + + +# 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 ,seed=seed) +# print("\n") +# BTTest(bt_algo_opt=False ,seed=seed ) + +def collect_action_nodes(): + 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(2): + cost = random.randint(1, 100) + info = cls.get_info() + info.pop('cost', None) + action_list.append(Action(name=cls.get_ins_name()+str(num),cost=cost, **info)) + if cls.num_args == 1: + for num in range(2): + for arg in cls.valid_args: + cost = random.randint(1, 100) + info = cls.get_info(arg) + info.pop('cost', None) + action_list.append(Action(name=cls.get_ins_name(arg)+str(num),cost=cost, **info)) + if cls.num_args > 1: + for num in range(2): + for args in cls.valid_args: + cost = random.randint(1, 100) + info = cls.get_info(*args) + info.pop('cost', None) + action_list.append(Action(name=cls.get_ins_name(*args)+str(num),cost=cost, **info)) + return action_list +action_list = collect_action_nodes() + +start_robowaiter = {'At(Robot,Bar)', 'Is(AC,Off)', + 'Exist(Yogurt)', 'Exist(BottledDrink)', 'Exist(Softdrink)', 'Exist(ADMilk)', + 'On(Yogurt,Bar)','On(BottledDrink,Bar)','On(ADMilk,Bar)','On(Chips,Bar)', + 'Exist(Milk)', 'On(Softdrink,Table1)', 'On(Softdrink,Table3)', + 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', 'Exist(MilkDrink)', + 'Exist(ADMilk)','On(ADMilk,Bar)','On(Bernachon,Bar)','On(SpringWater,Bar2)','On(MilkDrink,Bar)', + 'Holding(Nothing)', + 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} + +def print_action_data_table(goal,start,actions): + data = [] + for a in actions: + data.append([a.name ,a.pre ,a.add ,a.del_set ,a.cost]) + data.append(["Goal" ,goal ," " ,"Start" ,start]) + print(tabulate(data, headers=["Name", "Pre", "Add" ,"Del" ,"Cost"], tablefmt="fancy_grid")) # grid plain simple github fancy_grid + +def state_transition(state,action): + if not action.pre <= state: + print ('error: action not applicable') + return state + new_state=(state | action.add) - action.del_set + return new_state + + + +total_tree_size = [] +total_action_num = [] +total_state_num = [] +total_steps_num=[] +total_cost=[] +total_tick=[] +success_count =0 +failure_count = 0 +planning_time_total = 0.0 + +error = False + +goal_states = [] +# Open the file and read the lines +with open('easy.txt', 'r') as file: + for line in file: + # Strip newline characters and any leading/trailing whitespace + clean_line = line.strip() + # Add the cleaned line to the list + goal_states.append(clean_line) +# Now goal_states list contains all the lines from easy.txt +print(goal_states) + + +def goal_transfer_str(goal): + goal_dnf = str(to_dnf(goal, simplify=True)) + # print(goal_dnf) + goal_set = [] + if ('|' in goal or '&' in goal or 'Not' in goal) or not '(' in goal: + goal_ls = goal_dnf.split("|") + for g in goal_ls: + g_set = set() + g = g.replace(" ", "").replace("(", "").replace(")", "") + g = g.split("&") + for literal in g: + if '_' in literal: + first_part, rest = literal.split('_', 1) + literal = first_part + '(' + rest + # 添加 ')' 到末尾 + literal += ')' + # 替换剩余的 '_' 为 ',' + literal = literal.replace('_', ',') + g_set.add(literal) + goal_set.append(g_set) + + else: + g_set = set() + w = goal.split(")") + g_set.add(w[0] + ")") + if len(w) > 1: + for x in w[1:]: + if x != "": + g_set.add(x[1:] + ")") + goal_set.append(g_set) + return goal_set + +# 实验1000次 +for count,goal_str in enumerate(goal_states): + + # if count>=2: + # break + + 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) + + # algo = OptBTExpAlgorithm(verbose=False) + algo = BTExpAlgorithm(verbose=False) + algo.clear() + + #algo = Weakalgorithm() + start_time = time.time() + # if count == 11 : #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 + total_tree_size.append( algo.bt.count_size()-1) + # if count==11: + # 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[0] <= 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)) + diff --git a/BTExpansionCode/EXP/EXP/exp2.py b/BTExpansionCode/EXP/EXP/exp2.py new file mode 100644 index 0000000..ebbc75b --- /dev/null +++ b/BTExpansionCode/EXP/EXP/exp2.py @@ -0,0 +1,45 @@ + +from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes +import copy +import random +seed = 1 +random.seed(seed) + +action_list = collect_action_nodes(random) +# for act in action_list: +# print(act.name,act.cost) + +start_robowaiter = get_start() + +# 计算state总数 +num = collect_cond_nodes() +print("states num: ",num) + +goal_states = [] +with open('easy.txt', 'r') as file: + for line in file: + clean_line = line.strip() + goal_states.append(clean_line) +print(goal_states) + +# goal_set_ls=[] +# for count, goal_str in enumerate(goal_states): +# goal = copy.deepcopy(goal_transfer_str(goal_str)) +# goal_set_ls.append(goal) +# print(goal_set_ls) + +# 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 = {'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 + +BTTest(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) +print("\n") +# 对比 +BTTest(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) \ No newline at end of file diff --git a/BTExpansionCode/EXP/EXP/exp_tools.py b/BTExpansionCode/EXP/EXP/exp_tools.py new file mode 100644 index 0000000..5717554 --- /dev/null +++ b/BTExpansionCode/EXP/EXP/exp_tools.py @@ -0,0 +1,276 @@ + + + +from utils.bt.load import load_behavior_tree_lib +from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm + +import copy +from tabulate import tabulate +import numpy as np +import os + +from sympy import symbols, Not, Or, And, to_dnf +from OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm +from BTExpansionAlgorithm import BTExpAlgorithm # 调用最优行为树扩展算法 +import time +from utils.bt.draw import render_dot_tree +from utils.bt.load import load_bt_from_ptml +root_path = os.path.abspath( + os.path.join(__file__, "../../..") + ) +def goal_transfer_str(goal): + goal_dnf = str(to_dnf(goal, simplify=True)) + # print(goal_dnf) + goal_set = [] + if ('|' in goal or '&' in goal or 'Not' in goal) or not '(' in goal: + goal_ls = goal_dnf.split("|") + for g in goal_ls: + g_set = set() + g = g.replace(" ", "").replace("(", "").replace(")", "") + g = g.split("&") + for literal in g: + if '_' in literal: + first_part, rest = literal.split('_', 1) + literal = first_part + '(' + rest + # 添加 ')' 到末尾 + literal += ')' + # 替换剩余的 '_' 为 ',' + literal = literal.replace('_', ',') + g_set.add(literal) + goal_set.append(g_set) + + else: + g_set = set() + w = goal.split(")") + g_set.add(w[0] + ")") + if len(w) > 1: + for x in w[1:]: + if x != "": + g_set.add(x[1:] + ")") + goal_set.append(g_set) + return goal_set + + +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: + for num in range(2): + cost = random.randint(1, 100) + info = cls.get_info() + info.pop('cost', None) + action_list.append(Action(name=cls.get_ins_name()+str(num),cost=cost, **info)) + if cls.num_args == 1: + for num in range(2): + for arg in cls.valid_args: + cost = random.randint(1, 100) + info = cls.get_info(arg) + info.pop('cost', None) + action_list.append(Action(name=cls.get_ins_name(arg)+str(num),cost=cost, **info)) + if cls.num_args > 1: + for num in range(2): + for args in cls.valid_args: + cost = random.randint(1, 100) + info = cls.get_info(*args) + info.pop('cost', None) + action_list.append(Action(name=cls.get_ins_name(*args)+str(num),cost=cost, **info)) + return action_list + + +def collect_cond_nodes(): + action_list = [] + behavior_dict = load_behavior_tree_lib() + num=0 + for cls in behavior_dict["cond"].values(): + if cls.can_be_expanded: + print(f"可扩展条件：{cls.__name__}, 存在{len(cls.valid_args)}个有效论域组合") + num+=len(cls.valid_args) + return num + + +def get_start(): + start_robowaiter = {'At(Robot,Bar)', 'Is(AC,Off)', + 'Exist(Yogurt)', 'Exist(BottledDrink)', 'Exist(Softdrink)', 'Exist(ADMilk)', + 'On(Yogurt,Bar)','On(BottledDrink,Bar)','On(ADMilk,Bar)','On(Chips,Bar)', + 'Exist(Milk)', 'On(Softdrink,Table1)', 'On(Softdrink,Table3)', + 'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)', 'Exist(MilkDrink)', + 'Exist(ADMilk)','On(ADMilk,Bar)','On(Bernachon,Bar)','On(SpringWater,Bar2)','On(MilkDrink,Bar)', + 'Holding(Nothing)', + 'Exist(VacuumCup)', 'On(VacuumCup,Table2)', + 'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)', + 'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'} + return start_robowaiter + + +def print_action_data_table(goal,start,actions): + data = [] + for a in actions: + data.append([a.name ,a.pre ,a.add ,a.del_set ,a.cost]) + data.append(["Goal" ,goal ," " ,"Start" ,start]) + print(tabulate(data, headers=["Name", "Pre", "Add" ,"Del" ,"Cost"], tablefmt="fancy_grid")) # grid plain simple github fancy_grid + + +def state_transition(state,action): + if not action.pre <= state: + print ('error: action not applicable') + return state + new_state=(state | action.add) - action.del_set + return new_state + + +def BTTest(bt_algo_opt,goal_states,action_list,start_robowaiter): + + if bt_algo_opt: + print("============= OptBT Test ==============") + else: + print("============= XiaoCai BT Test ==============") + + total_tree_size = [] + total_action_num = [] + total_state_num = [] + total_steps_num = [] + total_cost = [] + total_tick = [] + success_count = 0 + failure_count = 0 + planning_time_total = 0.0 + states=[] ####？？？ + actions = copy.deepcopy(action_list) + start = copy.deepcopy(start_robowaiter) + + error=False + + for count, goal_str in enumerate(goal_states): + + goal = copy.deepcopy(goal_transfer_str(goal_str)) + print("count:", count, "goal:", goal) + + + 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 == 11 : #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 + total_tree_size.append(algo.bt.count_size() - 1) + # if count==10: + # algo.print_solution() + # algo.print_solution() # 打印行为树 + + # 画出行为树 + # 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") + 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[0] <= 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", 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[fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"c0317628-ede8-4066-88fb-d1957c0a29f4" -> "00a847a2-7a8a-4032-ae26-c71813e90091"; +"8dd3e990-6ca4-4192-a239-b59c873c149b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"00a847a2-7a8a-4032-ae26-c71813e90091" -> "8dd3e990-6ca4-4192-a239-b59c873c149b"; +"04ce46f1-7778-4ea2-b47a-89a792555690" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"8dd3e990-6ca4-4192-a239-b59c873c149b" -> "04ce46f1-7778-4ea2-b47a-89a792555690"; +"dc6576b3-e09b-45eb-be31-bd4c829383a7" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"04ce46f1-7778-4ea2-b47a-89a792555690" -> "dc6576b3-e09b-45eb-be31-bd4c829383a7"; +"6df244a9-d0e3-4afb-acc0-3c57e1f849fa" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, 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width=0.01]; +"c6eb1df9-c639-411c-8a5d-4df6ee1b8ac1" -> "b170a1d5-5316-44b0-a548-2ba26e761fe0"; +"6f4d70e9-d60f-405c-9303-1240b1db3eac" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"b170a1d5-5316-44b0-a548-2ba26e761fe0" -> "6f4d70e9-d60f-405c-9303-1240b1db3eac"; +"552ba4ab-1f0a-4b3d-be89-7b2c0e68a506" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"6f4d70e9-d60f-405c-9303-1240b1db3eac" -> "552ba4ab-1f0a-4b3d-be89-7b2c0e68a506"; +"7c8070d3-8878-49fa-a316-bcb565c1d7a6" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"552ba4ab-1f0a-4b3d-be89-7b2c0e68a506" -> "7c8070d3-8878-49fa-a316-bcb565c1d7a6"; +"8f8b6712-c336-41c9-a958-3bbc0f7917b4" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"7c8070d3-8878-49fa-a316-bcb565c1d7a6" -> "8f8b6712-c336-41c9-a958-3bbc0f7917b4"; +"ac31a68d-e995-4d21-8da1-9b370463554a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"8f8b6712-c336-41c9-a958-3bbc0f7917b4" -> "ac31a68d-e995-4d21-8da1-9b370463554a"; +"f3df9e91-27bf-4ca6-b5ef-f9547adb35a2" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"ac31a68d-e995-4d21-8da1-9b370463554a" -> "f3df9e91-27bf-4ca6-b5ef-f9547adb35a2"; +"b36051c2-dd84-4a0c-9326-8d37be3809b6" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"f3df9e91-27bf-4ca6-b5ef-f9547adb35a2" -> "b36051c2-dd84-4a0c-9326-8d37be3809b6"; +"eb6a1163-b9cb-4d0a-a39e-68f2f14323e4" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"b36051c2-dd84-4a0c-9326-8d37be3809b6" -> "eb6a1163-b9cb-4d0a-a39e-68f2f14323e4"; 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fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; +"2e2e4c65-6b62-47e6-95a7-c5bc6dae0ecb" -> "2a5b95c5-f343-4db2-a907-71c7a3e5ccb9"; +"513473c0-d65c-4d90-967b-fef1bbd23a52" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"81c99573-0eea-464f-8d51-b799ee18a835" -> "513473c0-d65c-4d90-967b-fef1bbd23a52"; +"72eb9fcb-8c48-48b6-b674-46450ae09d36" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"513473c0-d65c-4d90-967b-fef1bbd23a52" -> "72eb9fcb-8c48-48b6-b674-46450ae09d36"; +"3bdc9a57-5847-4c4f-8b2b-8b0f8af2dd49" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"513473c0-d65c-4d90-967b-fef1bbd23a52" -> "3bdc9a57-5847-4c4f-8b2b-8b0f8af2dd49"; +"b867df19-ca63-4f47-9e0d-7aa9a10d4018" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; +"513473c0-d65c-4d90-967b-fef1bbd23a52" -> "b867df19-ca63-4f47-9e0d-7aa9a10d4018"; +"9d85da11-9565-437e-b88c-d86bab73887a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"eb6a1163-b9cb-4d0a-a39e-68f2f14323e4" -> "9d85da11-9565-437e-b88c-d86bab73887a"; +"00eaf19f-462b-486a-a79e-36316549be89" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"9d85da11-9565-437e-b88c-d86bab73887a" -> "00eaf19f-462b-486a-a79e-36316549be89"; +"08f160b8-20de-480b-9236-b66121e6dce2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"9d85da11-9565-437e-b88c-d86bab73887a" -> "08f160b8-20de-480b-9236-b66121e6dce2"; +"f73ea383-7619-464b-9394-e3c9a618a559" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; +"9d85da11-9565-437e-b88c-d86bab73887a" -> "f73ea383-7619-464b-9394-e3c9a618a559"; +"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"b36051c2-dd84-4a0c-9326-8d37be3809b6" -> "ded7ee1c-6186-4f48-a8a0-bb43c3c2a857"; +"f5627266-d96c-4669-93b9-be258441a1ad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" -> "f5627266-d96c-4669-93b9-be258441a1ad"; +"15670bd3-4a8e-4a9e-afdd-e732ec602959" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" -> "15670bd3-4a8e-4a9e-afdd-e732ec602959"; +"da5fe5f3-6d23-4c1f-beec-cba7d3164266" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,WaterTable)", shape=box, style=filled]; +"ded7ee1c-6186-4f48-a8a0-bb43c3c2a857" -> 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style=filled, width=0.01]; +"3e15b5fb-b9e0-4998-a5c6-cf6d9a2bc485" -> "785bee13-46ed-42c7-b1c2-afd5071767f7"; +"b901f988-aa6b-49a1-a92c-92ca244bef51" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"785bee13-46ed-42c7-b1c2-afd5071767f7" -> "b901f988-aa6b-49a1-a92c-92ca244bef51"; +"fb91924f-ffda-4973-a837-34943d54e8d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"785bee13-46ed-42c7-b1c2-afd5071767f7" -> "fb91924f-ffda-4973-a837-34943d54e8d8"; +"338f2150-e9d1-4f72-bdb2-096aca18f084" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; +"785bee13-46ed-42c7-b1c2-afd5071767f7" -> "338f2150-e9d1-4f72-bdb2-096aca18f084"; +"c83d3a89-967b-4f36-8744-24f6d8eec61d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"093cee6f-557c-41cf-abe9-4c44c3b97182" -> 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"d9a4f305-e312-4d82-86be-d5a8810b9207" -> "d4e5c1b9-4c20-4fe9-98b2-87a7ba5f1fef"; +"f89231f1-a4b1-4924-986b-2f686df09cdd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"d9a4f305-e312-4d82-86be-d5a8810b9207" -> "f89231f1-a4b1-4924-986b-2f686df09cdd"; +"c9534f28-0e44-4dfa-9761-59541e9b8473" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; +"d9a4f305-e312-4d82-86be-d5a8810b9207" -> "c9534f28-0e44-4dfa-9761-59541e9b8473"; +"1f9494fb-5549-4899-bc6d-07c1e5b31fde" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"f2397a99-284e-47a7-a5c6-4906fe3e469d" -> "1f9494fb-5549-4899-bc6d-07c1e5b31fde"; +"9db0055a-6599-4c65-b0c3-7255395fd5be" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"1f9494fb-5549-4899-bc6d-07c1e5b31fde" -> "9db0055a-6599-4c65-b0c3-7255395fd5be"; +"76679c05-648f-49c6-9cd4-3fb270f78148" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"1f9494fb-5549-4899-bc6d-07c1e5b31fde" -> "76679c05-648f-49c6-9cd4-3fb270f78148"; +"6158fe20-cb1a-4068-9658-2277d81916dd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; +"1f9494fb-5549-4899-bc6d-07c1e5b31fde" -> "6158fe20-cb1a-4068-9658-2277d81916dd"; +"4f947b7c-c82c-44cd-8a07-02f766e680ad" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"91e05fca-fbb5-4003-92b4-55baac05b1d1" -> "4f947b7c-c82c-44cd-8a07-02f766e680ad"; +"a99949a0-15f0-419d-b245-0aa9993d581c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; 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+"1dbbd4f6-6335-4999-8bb1-3fe5970a740f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"445ff676-c820-4321-b420-3e25bad2fa46" -> "1dbbd4f6-6335-4999-8bb1-3fe5970a740f"; +"6a55e7b1-ee29-4cfc-8ac7-6c6115b73af4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"1dbbd4f6-6335-4999-8bb1-3fe5970a740f" -> "6a55e7b1-ee29-4cfc-8ac7-6c6115b73af4"; +"93ad1052-46d3-482d-8d4e-f77bcd3fff9a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"1dbbd4f6-6335-4999-8bb1-3fe5970a740f" -> "93ad1052-46d3-482d-8d4e-f77bcd3fff9a"; +"299b9ea7-2b9a-4592-a8b3-21253fb55b0f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; +"1dbbd4f6-6335-4999-8bb1-3fe5970a740f" -> "299b9ea7-2b9a-4592-a8b3-21253fb55b0f"; +"fddb3fd3-3a80-46d4-800f-27c85188ac35" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"dd811019-5e94-4b7a-a8f3-dfaacd919e60" -> "fddb3fd3-3a80-46d4-800f-27c85188ac35"; +"837526c8-3f87-4888-803e-2a7230ab4d24" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"fddb3fd3-3a80-46d4-800f-27c85188ac35" -> "837526c8-3f87-4888-803e-2a7230ab4d24"; +"19e02c66-29a9-4903-8052-93d83a36cdaf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"fddb3fd3-3a80-46d4-800f-27c85188ac35" -> "19e02c66-29a9-4903-8052-93d83a36cdaf"; +"588a88fc-3193-4125-8c92-4af744142949" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; +"fddb3fd3-3a80-46d4-800f-27c85188ac35" -> "588a88fc-3193-4125-8c92-4af744142949"; +"4420c96e-5dc0-472f-9b43-583bb8881e0a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"8abbbe14-7bb3-4cdd-a878-f771d9a76405" -> "4420c96e-5dc0-472f-9b43-583bb8881e0a"; +"57570039-5327-4562-9eac-fe0cff3859cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"4420c96e-5dc0-472f-9b43-583bb8881e0a" -> "57570039-5327-4562-9eac-fe0cff3859cc"; +"3579af47-3ccd-4228-8cb7-4504cd60641e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"4420c96e-5dc0-472f-9b43-583bb8881e0a" -> "3579af47-3ccd-4228-8cb7-4504cd60641e"; +"d19fe253-149b-41f5-b8ee-3c7ed46eca1d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; +"4420c96e-5dc0-472f-9b43-583bb8881e0a" -> "d19fe253-149b-41f5-b8ee-3c7ed46eca1d"; +"828d319d-b761-4e6d-a4a0-8e849b5e518a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1b44901e-bc2e-43f7-8184-38a882f90b21" -> "828d319d-b761-4e6d-a4a0-8e849b5e518a"; +"b38b6526-ce1c-4d10-b611-80e2e37c40c6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"828d319d-b761-4e6d-a4a0-8e849b5e518a" -> "b38b6526-ce1c-4d10-b611-80e2e37c40c6"; +"a2447d54-5597-4ce9-8c57-57a65fe5623d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; +"828d319d-b761-4e6d-a4a0-8e849b5e518a" -> "a2447d54-5597-4ce9-8c57-57a65fe5623d"; +"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"91a774b2-afce-4652-a025-0833b932cfad" -> "2fdc5379-f4d4-493a-8833-6f67ab5f4d09"; +"00553d6b-5309-47c5-88d4-01f1223178ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" -> "00553d6b-5309-47c5-88d4-01f1223178ff"; +"e71843bd-491d-47c9-a038-ba1c4db024ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" -> "e71843bd-491d-47c9-a038-ba1c4db024ff"; +"f542972b-e9e4-43a8-a70d-762ceb041785" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; +"2fdc5379-f4d4-493a-8833-6f67ab5f4d09" -> "f542972b-e9e4-43a8-a70d-762ceb041785"; +"5c5f3a4f-4ccd-41e3-8ce3-feb81296a181" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"75a64a3c-9acb-4edd-b73a-fc9da0dd4042" -> "5c5f3a4f-4ccd-41e3-8ce3-feb81296a181"; +"5e06de8f-6a5c-419d-b364-e9a6ae8a36bf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"5c5f3a4f-4ccd-41e3-8ce3-feb81296a181" -> "5e06de8f-6a5c-419d-b364-e9a6ae8a36bf"; +"6a1d6f5e-38f0-460e-a92d-a0e309ef2de3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"5c5f3a4f-4ccd-41e3-8ce3-feb81296a181" -> "6a1d6f5e-38f0-460e-a92d-a0e309ef2de3"; +"65bce72b-bd43-42a7-b43e-15ac243d8e92" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; +"5c5f3a4f-4ccd-41e3-8ce3-feb81296a181" -> "65bce72b-bd43-42a7-b43e-15ac243d8e92"; +"42464321-f838-4c84-94f1-278d8cba1140" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"f6c0e26b-991d-4556-8188-fb33372c1db1" -> "42464321-f838-4c84-94f1-278d8cba1140"; +"a0c4f1da-a957-4af7-8a18-a94fa81ba8b3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"42464321-f838-4c84-94f1-278d8cba1140" -> "a0c4f1da-a957-4af7-8a18-a94fa81ba8b3"; +"f7b41db3-1716-4ffd-88d1-ea4046494846" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"42464321-f838-4c84-94f1-278d8cba1140" -> "f7b41db3-1716-4ffd-88d1-ea4046494846"; +"dbd2c7b0-0b19-4d89-909c-bff63e2306b9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; +"42464321-f838-4c84-94f1-278d8cba1140" -> "dbd2c7b0-0b19-4d89-909c-bff63e2306b9"; +"bf325ccd-77c2-405a-9f65-5b8f708b1318" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"b23bd517-39e5-4ade-a10b-9954cc314de3" -> "bf325ccd-77c2-405a-9f65-5b8f708b1318"; +"5e782315-7d35-4678-b6ae-ff7185280f93" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"bf325ccd-77c2-405a-9f65-5b8f708b1318" -> "5e782315-7d35-4678-b6ae-ff7185280f93"; +"ebee8bc8-b10b-46bf-9f43-e3b4e71c0f8e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"bf325ccd-77c2-405a-9f65-5b8f708b1318" -> "ebee8bc8-b10b-46bf-9f43-e3b4e71c0f8e"; +"78266c3d-83f5-40d0-91a6-1cc154dc1b80" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; +"bf325ccd-77c2-405a-9f65-5b8f708b1318" -> "78266c3d-83f5-40d0-91a6-1cc154dc1b80"; +"dc2264f0-e947-4060-ad89-0907a5c9d54d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"22b0f4df-118b-4921-bf88-e29e667a20df" -> "dc2264f0-e947-4060-ad89-0907a5c9d54d"; +"58382970-74a2-49ce-b81a-70111007f373" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"dc2264f0-e947-4060-ad89-0907a5c9d54d" -> "58382970-74a2-49ce-b81a-70111007f373"; +"b2c0b744-0e4c-4bf8-938c-27fe48b2c993" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; +"dc2264f0-e947-4060-ad89-0907a5c9d54d" -> "b2c0b744-0e4c-4bf8-938c-27fe48b2c993"; +"a5353d30-768a-475c-b5a8-7234de505cac" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"975b80c6-d9a3-4a36-a09d-01e3baf3b861" -> "a5353d30-768a-475c-b5a8-7234de505cac"; +"9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"a5353d30-768a-475c-b5a8-7234de505cac" -> "9d1c22cf-b5be-4b5c-ae84-cf27e7e98ad0"; +"5ff437fc-cf02-4f45-9fee-88ce714e4218" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"a5353d30-768a-475c-b5a8-7234de505cac" -> "5ff437fc-cf02-4f45-9fee-88ce714e4218"; +"34fcacac-b8ec-4d08-80f2-8a8693a20b6d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; +"a5353d30-768a-475c-b5a8-7234de505cac" -> "34fcacac-b8ec-4d08-80f2-8a8693a20b6d"; +"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"c7bced11-3911-4897-89f7-1954bff7e8e5" -> "110e9c91-6bd5-4ea6-b1d1-8e557eab3918"; +"c82038f2-4c62-4776-8757-9da9c47990a5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" -> "c82038f2-4c62-4776-8757-9da9c47990a5"; +"6047e98a-b183-425e-9a3a-762c595da13a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" -> "6047e98a-b183-425e-9a3a-762c595da13a"; +"4dd29ff1-8ec0-4af7-b775-54cff7026216" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; +"110e9c91-6bd5-4ea6-b1d1-8e557eab3918" -> "4dd29ff1-8ec0-4af7-b775-54cff7026216"; +"d4d510fa-1141-41dc-8a50-c7fde736e019" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"3801ed79-9e8b-413f-b2b4-7081c7160187" -> "d4d510fa-1141-41dc-8a50-c7fde736e019"; +"06c2b9c6-2b67-4fbd-b37a-bc7f2e03135c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"d4d510fa-1141-41dc-8a50-c7fde736e019" -> "06c2b9c6-2b67-4fbd-b37a-bc7f2e03135c"; +"f01f92ad-44cf-4fe3-888c-ff0a216176c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"d4d510fa-1141-41dc-8a50-c7fde736e019" -> "f01f92ad-44cf-4fe3-888c-ff0a216176c8"; +"51e777b5-00b7-4178-a663-0ba485c0d490" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; +"d4d510fa-1141-41dc-8a50-c7fde736e019" -> "51e777b5-00b7-4178-a663-0ba485c0d490"; +"a49b9ddb-78ba-47d2-8e05-962e3f1521a8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"b98c289f-eeae-4d76-aa6b-8b8ec4b93334" -> "a49b9ddb-78ba-47d2-8e05-962e3f1521a8"; +"9be1d6ba-d537-4e47-a97f-f8d3cc339b24" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"a49b9ddb-78ba-47d2-8e05-962e3f1521a8" -> "9be1d6ba-d537-4e47-a97f-f8d3cc339b24"; +"b5da0763-457f-443a-ba43-59ee3367b59f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"a49b9ddb-78ba-47d2-8e05-962e3f1521a8" -> "b5da0763-457f-443a-ba43-59ee3367b59f"; +"a92fe07e-ee29-438d-a0fc-a645bb24c1f1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; +"a49b9ddb-78ba-47d2-8e05-962e3f1521a8" -> "a92fe07e-ee29-438d-a0fc-a645bb24c1f1"; +"770de18c-016a-41a8-9edf-140f8c9e470a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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"19d8afdb-494e-4c22-83ec-df322276364a"; +"cbbbdf9b-8e80-4160-a45d-f847ab12ac2d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"19d8afdb-494e-4c22-83ec-df322276364a" -> "cbbbdf9b-8e80-4160-a45d-f847ab12ac2d"; +"b5c29a9a-3466-4d25-9758-5da2f1c28bb5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"19d8afdb-494e-4c22-83ec-df322276364a" -> "b5c29a9a-3466-4d25-9758-5da2f1c28bb5"; +"d3beea2e-1911-44d2-bb78-9dac64dd50e0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; +"19d8afdb-494e-4c22-83ec-df322276364a" -> "d3beea2e-1911-44d2-bb78-9dac64dd50e0"; +"6e81f6ba-deda-47bd-b738-0f4d45250e6e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"e8f116c7-9b98-4aa7-9bbe-bba05d4eb196" -> "6e81f6ba-deda-47bd-b738-0f4d45250e6e"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" -> "3b5cef66-1203-4c9f-bb6c-579f43865fd6"; +"a9c352d8-c0ba-46c6-834f-d578e4117c41" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" -> "a9c352d8-c0ba-46c6-834f-d578e4117c41"; +"b8522f83-3f41-4a92-b94b-046ee1e05b98" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; +"ac0c3a5c-7d14-4aca-b5fa-e3d4a5f5a042" -> "b8522f83-3f41-4a92-b94b-046ee1e05b98"; +"7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"10016163-9e6a-4af0-88f7-55cef970d54a" -> "7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe"; +"880f5dad-cdf4-485e-9fde-dc4af658c30c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe" -> "880f5dad-cdf4-485e-9fde-dc4af658c30c"; +"8ab7e758-ee22-46f2-a95a-9a2bc8d105ec" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe" -> "8ab7e758-ee22-46f2-a95a-9a2bc8d105ec"; +"af304235-f3c4-4d16-b562-6bf44dc5c2e5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; +"7ca1f59b-c9a2-44f1-a6e4-6a39e85f66fe" -> "af304235-f3c4-4d16-b562-6bf44dc5c2e5"; +"96b7cc8b-243d-4ad8-9a07-b66c7452d38b" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"5d229a97-2d12-4200-8cbe-d09f317acf60" -> "96b7cc8b-243d-4ad8-9a07-b66c7452d38b"; +"7f564479-a80a-4ad8-8ab1-fb9bf9e2f7af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="PutDown(Yogurt,Table)", shape=box, style=filled]; +"77f2cd0c-2116-47c6-9d2f-ec78902dc7d8" -> "5fe49bcd-96cd-4fef-910d-5cc2f52b8944"; +"d56ffac4-40cc-4a6f-9015-8f69d5bcf242" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"37674f9e-2668-4867-85e5-87ff7872d728" -> "d56ffac4-40cc-4a6f-9015-8f69d5bcf242"; +"d5bbc537-6a78-4a9f-a8eb-fe00b1fac138" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"d56ffac4-40cc-4a6f-9015-8f69d5bcf242" -> "d5bbc537-6a78-4a9f-a8eb-fe00b1fac138"; +"9f492abf-3bcd-438f-83a7-b777b2df4187" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; +"d56ffac4-40cc-4a6f-9015-8f69d5bcf242" -> "9f492abf-3bcd-438f-83a7-b777b2df4187"; +"3de47dc2-1b1d-49f8-bba1-75b84143f082" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"f83aae1b-2c2f-423a-b976-27be5c041f96" -> "3de47dc2-1b1d-49f8-bba1-75b84143f082"; +"961ab194-1e54-4bc4-b1b6-5ecb2fdb48c4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"3de47dc2-1b1d-49f8-bba1-75b84143f082" -> "961ab194-1e54-4bc4-b1b6-5ecb2fdb48c4"; +"709cad57-8f58-4cff-9035-c683406d2d41" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"3de47dc2-1b1d-49f8-bba1-75b84143f082" -> "709cad57-8f58-4cff-9035-c683406d2d41"; +"9eef9e79-7b05-44d6-811c-e076f3a84fe7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"3de47dc2-1b1d-49f8-bba1-75b84143f082" -> "9eef9e79-7b05-44d6-811c-e076f3a84fe7"; +"e48f0f38-110d-4b0b-9a9c-72c997bd67fd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,CoffeeTable)", shape=box, style=filled]; 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fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"3d8b8b44-b647-424b-9537-b8b8fd44e205" -> "e3146bad-d503-41a0-982d-432fc406d0cf"; +"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"a542388b-fb34-42c8-8331-a7bb8dab6228" -> "c28cc49f-4cc9-4b40-acc7-58181fbedfa5"; +"43b8292e-5cf6-4600-91a8-84500c1cbf1a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" -> "43b8292e-5cf6-4600-91a8-84500c1cbf1a"; +"6b2fb587-f191-4b57-bf6a-bf1b80b3103b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" -> "6b2fb587-f191-4b57-bf6a-bf1b80b3103b"; +"da59efbb-cdad-48a7-9d33-d37834666a3b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" -> "da59efbb-cdad-48a7-9d33-d37834666a3b"; +"3c431ab3-b142-4266-aab9-ad3af3005506" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; +"c28cc49f-4cc9-4b40-acc7-58181fbedfa5" -> "3c431ab3-b142-4266-aab9-ad3af3005506"; +"777943a8-4870-4f42-b54e-7c34c65c0348" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"f8ba80cb-0f09-4dda-b8ee-85afa7a211b4" -> "777943a8-4870-4f42-b54e-7c34c65c0348"; +"91e811e6-e031-421c-9277-dcfc5e92d55f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"777943a8-4870-4f42-b54e-7c34c65c0348" -> "91e811e6-e031-421c-9277-dcfc5e92d55f"; +"81190fe2-6954-4659-9a71-6de9e0f921ef" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; +"cddbabf5-4840-46df-9106-fa9b8c39db4a" -> "a92088f3-d7c7-4a6e-8961-e559230bdba0"; +"c48d43c6-b345-4dcf-9501-bf3d2d43626d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"2a03c2de-1bd5-46e8-a39a-7bf3dcd16cbb" -> "c48d43c6-b345-4dcf-9501-bf3d2d43626d"; +"066d2cb3-1353-4a8d-9a90-6ca5886b51d2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"c48d43c6-b345-4dcf-9501-bf3d2d43626d" -> "066d2cb3-1353-4a8d-9a90-6ca5886b51d2"; +"7b06bee5-6af9-4e27-aa48-fc5d6d8eb05c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"c48d43c6-b345-4dcf-9501-bf3d2d43626d" -> "7b06bee5-6af9-4e27-aa48-fc5d6d8eb05c"; +"e024f87f-9eec-4ad8-ad36-c4fd5e09afd0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"ac75c0eb-1604-4171-b420-9ec922baf009" -> "e3e4b8fd-0f24-4220-b1cb-e5effc9952e2"; +"0b1343f6-cd35-4117-b74a-367ec4b107fa" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,BrightTable)", shape=box, style=filled]; +"ac75c0eb-1604-4171-b420-9ec922baf009" -> "0b1343f6-cd35-4117-b74a-367ec4b107fa"; +"b3dd9303-135f-4282-a733-40e66a08acd4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"a6a03915-2780-4144-a136-e27071f04ae3" -> "b3dd9303-135f-4282-a733-40e66a08acd4"; +"3fc67e68-bc9d-43cd-9433-2286980b6b68" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"b3dd9303-135f-4282-a733-40e66a08acd4" -> "3fc67e68-bc9d-43cd-9433-2286980b6b68"; +"e6c0889a-dd7c-4824-9377-f623393530ff" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"b3dd9303-135f-4282-a733-40e66a08acd4" -> "e6c0889a-dd7c-4824-9377-f623393530ff"; +"92fdc637-7f76-467a-bba8-5c7d7ec0d0ab" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; +"b3dd9303-135f-4282-a733-40e66a08acd4" -> "92fdc637-7f76-467a-bba8-5c7d7ec0d0ab"; +"e186f38d-9873-4327-9047-f7936f3c51b4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4e9a10b7-1cef-4d7b-b687-fdc5eaa2e157" -> "e186f38d-9873-4327-9047-f7936f3c51b4"; +"85a0756b-fe6d-44c2-9fa0-ee5423898151" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"e186f38d-9873-4327-9047-f7936f3c51b4" -> "85a0756b-fe6d-44c2-9fa0-ee5423898151"; +"4466e5fa-331e-45c2-9a5e-49ba9c45d6d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; 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style=filled]; +"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "b8bc2d13-61e2-4d7b-bf15-bd1936f4e28d"; +"5d331ec1-31e0-491f-9f2d-02ef63288bf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "5d331ec1-31e0-491f-9f2d-02ef63288bf2"; +"3192259d-0ac1-42c6-8055-17a50c6931ba" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; +"2ea5c9b7-401b-4771-98b9-0cb9f84cf93f" -> "3192259d-0ac1-42c6-8055-17a50c6931ba"; +"f727407f-28e9-4157-be0e-0776c8c9b234" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"dd20004b-9276-47ff-85ca-58620d796052" -> "f727407f-28e9-4157-be0e-0776c8c9b234"; +"0c2d75f1-03b8-4a2e-aea4-40274c78b40a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"f727407f-28e9-4157-be0e-0776c8c9b234" -> 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fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"62e4898d-5171-483e-a228-8f9a42a15d5e" -> "e9fb5b22-f970-4d3d-b0a6-8520344eca95"; +"61086fc2-68ac-4c53-be58-23f7f4cde3c2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"62e4898d-5171-483e-a228-8f9a42a15d5e" -> "61086fc2-68ac-4c53-be58-23f7f4cde3c2"; +"43692518-19ba-4c06-b0b4-ee872f43a223" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,BrightTable)", shape=box, style=filled]; +"62e4898d-5171-483e-a228-8f9a42a15d5e" -> "43692518-19ba-4c06-b0b4-ee872f43a223"; +"5a643705-c422-4be1-bd03-ab97e650e6d2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"2228dd03-f9f2-4278-b48e-5a9193f1e732" -> "5a643705-c422-4be1-bd03-ab97e650e6d2"; +"ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"5a643705-c422-4be1-bd03-ab97e650e6d2" -> "ec7ec5c6-66bf-4204-a5d6-8fc35efd9f7d"; +"878f5fb0-f80f-443b-b82b-ca9172dda9a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"5a643705-c422-4be1-bd03-ab97e650e6d2" -> "878f5fb0-f80f-443b-b82b-ca9172dda9a2"; +"aec37d57-bdda-46f1-854f-f524dc17e96a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; +"5a643705-c422-4be1-bd03-ab97e650e6d2" -> "aec37d57-bdda-46f1-854f-f524dc17e96a"; +"54f16326-fb05-4358-94c5-800240d91cc9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"8937cf83-4a84-43ea-9287-974867ba5d4a" -> "54f16326-fb05-4358-94c5-800240d91cc9"; +"ad378294-328c-4168-bdb9-e11a53f3f391" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"54f16326-fb05-4358-94c5-800240d91cc9" -> "ad378294-328c-4168-bdb9-e11a53f3f391"; +"709eff6e-629e-4cf0-b3e1-f7638cbd485b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"54f16326-fb05-4358-94c5-800240d91cc9" -> "709eff6e-629e-4cf0-b3e1-f7638cbd485b"; +"6c257551-94b8-402f-9b8b-2da373da7400" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"54f16326-fb05-4358-94c5-800240d91cc9" -> "6c257551-94b8-402f-9b8b-2da373da7400"; +"c0bb2a92-f285-479f-973a-d496e08a32ce" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,WaterTable)", shape=box, style=filled]; +"54f16326-fb05-4358-94c5-800240d91cc9" -> "c0bb2a92-f285-479f-973a-d496e08a32ce"; +"da34b6e2-6a1e-4240-8270-e8c15221daa5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"65d3cf0f-75ba-4923-8f85-38c6abbee3df" -> "da34b6e2-6a1e-4240-8270-e8c15221daa5"; +"604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "604b2ed8-afb4-4ea5-ae5c-cf34ba0f55bf"; +"ce32a4ed-7d51-4545-a382-eca150065ade" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "ce32a4ed-7d51-4545-a382-eca150065ade"; +"c2f9c606-8021-40a3-9b11-91e271005078" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "c2f9c606-8021-40a3-9b11-91e271005078"; +"806e24e2-e0a5-48f6-93ba-28af6529e656" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Table)", shape=box, style=filled]; +"da34b6e2-6a1e-4240-8270-e8c15221daa5" -> "806e24e2-e0a5-48f6-93ba-28af6529e656"; 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fontcolor=black, fontsize=20, label="PutDown(Softdrink,Table)", shape=box, style=filled]; +"9fd64a3c-7f94-47ee-a67a-31905d90ac92" -> "3675c0db-86c1-4ad2-be97-fc04c66aad17"; +"bb02971f-4aae-471f-8dab-09dff9c8f696" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"8ea19ab2-f32f-4012-bc3b-ce5755487f43" -> "bb02971f-4aae-471f-8dab-09dff9c8f696"; +"cba7e126-a209-4c34-bde4-8c80a9566e31" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"bb02971f-4aae-471f-8dab-09dff9c8f696" -> "cba7e126-a209-4c34-bde4-8c80a9566e31"; +"1bfc4fb5-f58b-452a-a0a5-1ffca35407cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"bb02971f-4aae-471f-8dab-09dff9c8f696" -> "1bfc4fb5-f58b-452a-a0a5-1ffca35407cc"; +"15de4356-531c-4f01-9866-e36c803c73bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"bb02971f-4aae-471f-8dab-09dff9c8f696" -> "15de4356-531c-4f01-9866-e36c803c73bd"; +"c503ca42-c06d-44a1-8d3b-cb6ce26435df" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; +"bb02971f-4aae-471f-8dab-09dff9c8f696" -> "c503ca42-c06d-44a1-8d3b-cb6ce26435df"; +"21973779-00b7-4010-a639-5132ed55acec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0322cea6-8fbc-4d89-ad84-c15d4a984d38" -> "21973779-00b7-4010-a639-5132ed55acec"; +"ff36f6be-0589-41ea-be22-20cd30bc22fc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"21973779-00b7-4010-a639-5132ed55acec" -> "ff36f6be-0589-41ea-be22-20cd30bc22fc"; +"b1fc8b04-8e06-46b3-8503-3f778dc7ee9f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; 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"a7233cbd-b043-4cf3-b66b-75bf4f5b45b5"; +"4687c2ea-e137-4135-9c6e-96f4d8b5ede2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; +"97864247-400f-4c30-9bda-e3efb2b65f09" -> "4687c2ea-e137-4135-9c6e-96f4d8b5ede2"; +"4014f6fe-14e4-471a-8fea-66ab305f6127" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"9a8ff6ee-7344-4adb-9452-5aeaaa3cb29a" -> "4014f6fe-14e4-471a-8fea-66ab305f6127"; +"3c52ce20-1816-45d3-a5a7-3167587c0919" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"4014f6fe-14e4-471a-8fea-66ab305f6127" -> "3c52ce20-1816-45d3-a5a7-3167587c0919"; +"255c1613-cd3a-4785-9d6e-fc9fc432133a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"4014f6fe-14e4-471a-8fea-66ab305f6127" -> "255c1613-cd3a-4785-9d6e-fc9fc432133a"; +"b92f24c8-7392-4a9c-b39c-e9d4b55b69d0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; +"4014f6fe-14e4-471a-8fea-66ab305f6127" -> "b92f24c8-7392-4a9c-b39c-e9d4b55b69d0"; +"8dd7e518-0a93-4774-ace7-d4ee136e8fef" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"cdebe500-7ce8-48b0-9351-012ebdaabf09" -> "8dd7e518-0a93-4774-ace7-d4ee136e8fef"; +"75c95506-08e9-42a7-8419-b9abe291ed7b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"8dd7e518-0a93-4774-ace7-d4ee136e8fef" -> "75c95506-08e9-42a7-8419-b9abe291ed7b"; +"be696c22-3ab1-47ea-95d9-36c25544fb72" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"8dd7e518-0a93-4774-ace7-d4ee136e8fef" -> "be696c22-3ab1-47ea-95d9-36c25544fb72"; +"bdba34f7-0b5a-41d5-96d4-6f1b3cf1a882" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"8dd7e518-0a93-4774-ace7-d4ee136e8fef" -> "bdba34f7-0b5a-41d5-96d4-6f1b3cf1a882"; +"43fec34b-8178-4e3f-a124-b9f408b481ca" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; +"8dd7e518-0a93-4774-ace7-d4ee136e8fef" -> "43fec34b-8178-4e3f-a124-b9f408b481ca"; +"16e95ea7-900d-4c9b-9b41-136ba8e71113" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"7f81c8e8-5fe7-4def-89b8-f108e4c3d790" -> "16e95ea7-900d-4c9b-9b41-136ba8e71113"; +"c3ddd6c6-6a50-456a-8904-477d8d2a6bca" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"16e95ea7-900d-4c9b-9b41-136ba8e71113" -> "c3ddd6c6-6a50-456a-8904-477d8d2a6bca"; +"5f80db81-2a79-4e65-98da-0be87c709964" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, 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"b3f91120-5de5-42a5-825b-59a18c8675c6"; +"0a60d085-830d-4959-9197-9ab252e65b35" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; +"7494652d-64a1-48b9-9956-b4fe65019ad8" -> "0a60d085-830d-4959-9197-9ab252e65b35"; +"e7c0766e-5de8-4816-9ec4-7147c68b6592" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"03022e80-ad4d-4ab9-bfb0-2a8f13501f93" -> "e7c0766e-5de8-4816-9ec4-7147c68b6592"; +"ddfed584-480c-40f4-bde0-7e9b21473a3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"e7c0766e-5de8-4816-9ec4-7147c68b6592" -> "ddfed584-480c-40f4-bde0-7e9b21473a3d"; +"70b36b68-61bd-445e-baae-61f7fd08bee0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"e7c0766e-5de8-4816-9ec4-7147c68b6592" -> "70b36b68-61bd-445e-baae-61f7fd08bee0"; 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fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"d6c17b61-b091-44ff-b2b8-b13bd2c7badf" -> "9ba782db-dd98-401c-b1ec-342d22ee0dab"; +"aa0d480f-32fe-405f-a187-0a4942239a15" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,CoffeeTable)", shape=box, style=filled]; +"d6c17b61-b091-44ff-b2b8-b13bd2c7badf" -> "aa0d480f-32fe-405f-a187-0a4942239a15"; +"13835c1d-0502-4e60-882b-4bb846b43271" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"eb09ed02-bc8b-4849-a77e-1093c6f91298" -> "13835c1d-0502-4e60-882b-4bb846b43271"; +"f3108373-0c05-4447-aca9-d55cdd021ec5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"13835c1d-0502-4e60-882b-4bb846b43271" -> "f3108373-0c05-4447-aca9-d55cdd021ec5"; +"4855d77d-4f6d-4afa-977d-52379a4615cc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"13835c1d-0502-4e60-882b-4bb846b43271" -> "4855d77d-4f6d-4afa-977d-52379a4615cc"; +"348fe856-9357-4d0d-bed5-2f051ed1a179" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"13835c1d-0502-4e60-882b-4bb846b43271" -> "348fe856-9357-4d0d-bed5-2f051ed1a179"; +"27d91b91-06ea-4939-b286-0742662eb8e0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; +"13835c1d-0502-4e60-882b-4bb846b43271" -> "27d91b91-06ea-4939-b286-0742662eb8e0"; +"4a460311-2bb1-43b5-baf2-fcbf1afed5f2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"232af14c-bc2c-4fac-b0b4-a73ab8ebe388" -> "4a460311-2bb1-43b5-baf2-fcbf1afed5f2"; +"603b1dcd-e423-4877-80da-388e20057bb2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"4a460311-2bb1-43b5-baf2-fcbf1afed5f2" -> 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"faeec06c-caaa-4fc2-b2a4-04dc26afac6c" -> "2ebb8dba-fb7d-4e5a-a9b0-319e9f5d7b42"; +"6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"faeec06c-caaa-4fc2-b2a4-04dc26afac6c" -> "6a3b50b1-75dc-43eb-9bcd-5907f8a0cb81"; +"18d11699-9155-4776-80e0-4f781207e44d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; +"faeec06c-caaa-4fc2-b2a4-04dc26afac6c" -> "18d11699-9155-4776-80e0-4f781207e44d"; +"a1fa30b6-280f-4a5f-9f7d-0e78025a2e66" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"b8a71a53-e324-41b4-90a3-c3c22ac99495" -> "a1fa30b6-280f-4a5f-9f7d-0e78025a2e66"; +"38e0e8c7-b3a2-4f9f-8b05-f51c75c2b18f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"a1fa30b6-280f-4a5f-9f7d-0e78025a2e66" -> "38e0e8c7-b3a2-4f9f-8b05-f51c75c2b18f"; +"2ed978ae-a160-48a9-8a3f-6d7fcda113ba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"a1fa30b6-280f-4a5f-9f7d-0e78025a2e66" -> "2ed978ae-a160-48a9-8a3f-6d7fcda113ba"; +"91b82c9c-b659-4f2e-89ef-88849128f1db" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; +"a1fa30b6-280f-4a5f-9f7d-0e78025a2e66" -> "91b82c9c-b659-4f2e-89ef-88849128f1db"; +"19c105f0-a4f5-490c-97d1-673e80c12e0a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"d97956b7-d14f-4527-a10f-d81f3efced53" -> "19c105f0-a4f5-490c-97d1-673e80c12e0a"; +"cd9dcedc-1f87-4f17-a108-d0a9b7729f33" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; 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"c30b4742-6aaf-4efb-9255-547c5b4754fd"; +"680fb62b-2d9e-4f12-a8a5-e094839a5dfe" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"c30b4742-6aaf-4efb-9255-547c5b4754fd" -> "680fb62b-2d9e-4f12-a8a5-e094839a5dfe"; +"906b6039-76b7-44af-9b39-f6054b265dd5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"c30b4742-6aaf-4efb-9255-547c5b4754fd" -> "906b6039-76b7-44af-9b39-f6054b265dd5"; +"3fcce7d9-5fab-435a-b7d5-40bb2df70bb2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Bar)", shape=box, style=filled]; +"c30b4742-6aaf-4efb-9255-547c5b4754fd" -> "3fcce7d9-5fab-435a-b7d5-40bb2df70bb2"; +"fa9691bb-77c7-447d-88d2-9c89dd0a6613" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"2ead2019-1dad-47f3-ad5f-7057bf1a4527" -> "fa9691bb-77c7-447d-88d2-9c89dd0a6613"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"4ab320b6-025a-4df8-8c02-c69080b47b87" -> "eac40a1e-d6c4-4bb2-9380-12b92d5f7cef"; +"8a54e21a-8890-4687-8850-41e07c4a4d99" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"4ab320b6-025a-4df8-8c02-c69080b47b87" -> "8a54e21a-8890-4687-8850-41e07c4a4d99"; +"0682a0df-2d52-4c68-9b05-dfdc3656d33d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; +"4ab320b6-025a-4df8-8c02-c69080b47b87" -> "0682a0df-2d52-4c68-9b05-dfdc3656d33d"; +"02384e82-67c4-4289-9635-30cdebc7bc58" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1e033c88-f144-443b-a7f4-64f7a6139d14" -> "02384e82-67c4-4289-9635-30cdebc7bc58"; +"5ca0dc91-08e8-4172-9294-de3ec48de710" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"02384e82-67c4-4289-9635-30cdebc7bc58" -> "5ca0dc91-08e8-4172-9294-de3ec48de710"; +"13183db8-06a3-4e34-bd92-3d247e796af1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"02384e82-67c4-4289-9635-30cdebc7bc58" -> "13183db8-06a3-4e34-bd92-3d247e796af1"; +"eaefc7de-fa28-4e98-b306-772277184bfb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; +"02384e82-67c4-4289-9635-30cdebc7bc58" -> "eaefc7de-fa28-4e98-b306-772277184bfb"; +"625d83d9-e08c-4ac3-aa8a-e3e4c340793e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1b017079-e14d-4e13-8491-1a1777242d0a" -> "625d83d9-e08c-4ac3-aa8a-e3e4c340793e"; +"f8d2716c-b3f2-4702-a731-bff0e2453004" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, 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fontcolor=black, fontsize=20, label="PutDown(Chips,BrightTable)", shape=box, style=filled]; +"aff42b81-f528-4d7e-85de-4dcf531b057e" -> "2e06a655-0f3f-4064-a249-f58ae557ffc3"; +"cbf7b199-6629-412c-9137-692cf2a5d42c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1b870b46-c11c-48f3-ae42-efa9bcc80bf6" -> "cbf7b199-6629-412c-9137-692cf2a5d42c"; +"21cf96ff-e94a-40a3-80dc-b17e38731d82" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"cbf7b199-6629-412c-9137-692cf2a5d42c" -> "21cf96ff-e94a-40a3-80dc-b17e38731d82"; +"13efdb93-b016-4304-870a-18e8d8aafdbe" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"cbf7b199-6629-412c-9137-692cf2a5d42c" -> "13efdb93-b016-4304-870a-18e8d8aafdbe"; +"87119439-531e-4661-b8a1-44efe26cf124" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"cbf7b199-6629-412c-9137-692cf2a5d42c" -> "87119439-531e-4661-b8a1-44efe26cf124"; +"efd7fd42-a6d7-4203-a978-6cfa89268981" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; +"cbf7b199-6629-412c-9137-692cf2a5d42c" -> "efd7fd42-a6d7-4203-a978-6cfa89268981"; +"3aac1498-9cbd-47fc-9279-fd9df032ffe0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"f8c96a86-adb3-42cd-8c08-9ad29a839191" -> "3aac1498-9cbd-47fc-9279-fd9df032ffe0"; +"c0c06538-5e97-4ecd-82c9-7e8e203af45b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "c0c06538-5e97-4ecd-82c9-7e8e203af45b"; +"e61e9b1b-8594-449e-b8f7-ec253c475aba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "e61e9b1b-8594-449e-b8f7-ec253c475aba"; +"9cb90b6a-2c29-4b34-addb-b0561a9fcee8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "9cb90b6a-2c29-4b34-addb-b0561a9fcee8"; +"2c33e1f7-af3b-4fc9-8046-a556e7af9d77" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Table)", shape=box, style=filled]; +"3aac1498-9cbd-47fc-9279-fd9df032ffe0" -> "2c33e1f7-af3b-4fc9-8046-a556e7af9d77"; +"f71fd15d-367c-4cc6-8b2b-0024d9369f77" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"79c089ff-c9df-4d57-b38d-06a107557312" -> "f71fd15d-367c-4cc6-8b2b-0024d9369f77"; +"19ff069d-85f6-4d66-8736-d44dc5d76317" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"f71fd15d-367c-4cc6-8b2b-0024d9369f77" -> "19ff069d-85f6-4d66-8736-d44dc5d76317"; 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fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" -> "127a9013-ea01-4f30-a92f-831b088b62ce"; +"1f0ae071-5dcd-4438-9a1a-159a2e81ad3d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" -> "1f0ae071-5dcd-4438-9a1a-159a2e81ad3d"; +"7f9beeff-e7d6-49b1-9898-1a60351e2092" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; +"0713f79f-1dc8-485f-83b5-9ac2e15bdd02" -> "7f9beeff-e7d6-49b1-9898-1a60351e2092"; +"eb6139cb-d6c4-4acf-9481-edf3894b3511" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"08436766-f477-43dd-a09d-b5617b70f31d" -> "eb6139cb-d6c4-4acf-9481-edf3894b3511"; +"8b86c7ad-f2ee-4a4a-9644-7f14d5be3535" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"eb6139cb-d6c4-4acf-9481-edf3894b3511" -> "8b86c7ad-f2ee-4a4a-9644-7f14d5be3535"; +"fa21fcf0-619e-4d21-87ca-148123cbc14d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"eb6139cb-d6c4-4acf-9481-edf3894b3511" -> "fa21fcf0-619e-4d21-87ca-148123cbc14d"; +"e8a5bfd8-1895-4cb2-8f58-3ae16f6c3cca" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,BrightTable)", shape=box, style=filled]; +"eb6139cb-d6c4-4acf-9481-edf3894b3511" -> "e8a5bfd8-1895-4cb2-8f58-3ae16f6c3cca"; +"7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"05f8c3e9-f956-423c-b839-03115d159e07" -> "7fcae3a3-a7fd-45d8-90fa-1679efb5cc4a"; +"7b8d4254-e73e-4af1-a00e-697b22c184bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; 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"d6e52e33-b65f-41da-8e5e-bf2227b42589"; +"247c0ccd-9707-4a6c-bb1d-566c91b6aac9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"a736acd0-8bfc-4884-b4f8-f6c4e8c84adc" -> "247c0ccd-9707-4a6c-bb1d-566c91b6aac9"; +"6fb8a925-6be7-4a8b-b0ee-be91f220850a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,Bar)", shape=box, style=filled]; +"a736acd0-8bfc-4884-b4f8-f6c4e8c84adc" -> "6fb8a925-6be7-4a8b-b0ee-be91f220850a"; +"6d35016c-e20b-4da7-b20e-c0f469e87258" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"e2663fe2-b6b8-46b6-b144-aaed69b30e67" -> "6d35016c-e20b-4da7-b20e-c0f469e87258"; +"c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"6d35016c-e20b-4da7-b20e-c0f469e87258" -> "c3a6cd8c-64be-4f67-9bb5-e4dee5fe807b"; +"53e07dc5-d8cc-417b-8d7f-1bbfaf272315" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"6d35016c-e20b-4da7-b20e-c0f469e87258" -> "53e07dc5-d8cc-417b-8d7f-1bbfaf272315"; +"6a170051-1032-4004-85a6-3d71d91f408d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"6d35016c-e20b-4da7-b20e-c0f469e87258" -> "6a170051-1032-4004-85a6-3d71d91f408d"; +"5acf912c-6ac0-4461-90cf-da19390f2655" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Table)", shape=box, style=filled]; +"6d35016c-e20b-4da7-b20e-c0f469e87258" -> "5acf912c-6ac0-4461-90cf-da19390f2655"; +"7b991051-6f88-42a4-b316-9801bc229121" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4c959985-cc3f-4ae6-9c8d-6bd9cdd4e5f4" -> "7b991051-6f88-42a4-b316-9801bc229121"; +"402b0fee-e30e-40b8-895b-0baef293a2ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"7b991051-6f88-42a4-b316-9801bc229121" -> "402b0fee-e30e-40b8-895b-0baef293a2ea"; +"ca818b84-6b8f-41b8-9f42-546cb1dd0267" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"7b991051-6f88-42a4-b316-9801bc229121" -> "ca818b84-6b8f-41b8-9f42-546cb1dd0267"; +"69ed2fe0-5613-4e88-b17b-cb6c6e696e4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"7b991051-6f88-42a4-b316-9801bc229121" -> "69ed2fe0-5613-4e88-b17b-cb6c6e696e4e"; +"088c04d4-7fe8-4370-bfdd-639f973f036a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; +"7b991051-6f88-42a4-b316-9801bc229121" -> "088c04d4-7fe8-4370-bfdd-639f973f036a"; +"08700f66-ea41-48ef-8047-80f0085084e3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"a53284f9-cd1a-4ee1-9a5d-e2eda0baea7a" -> "08700f66-ea41-48ef-8047-80f0085084e3"; +"36c90cfe-877c-4b67-9f0b-098409e534df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"08700f66-ea41-48ef-8047-80f0085084e3" -> "36c90cfe-877c-4b67-9f0b-098409e534df"; +"93c1130d-b14a-4e3e-8955-0c5959faa0c5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"08700f66-ea41-48ef-8047-80f0085084e3" -> "93c1130d-b14a-4e3e-8955-0c5959faa0c5"; +"9e6ede65-3570-4c5c-80b9-693b96226195" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; +"08700f66-ea41-48ef-8047-80f0085084e3" -> "9e6ede65-3570-4c5c-80b9-693b96226195"; +"30ad7df2-542d-4cbb-abe1-4b5b66950ff4" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"29bbf4c7-fb1e-4aad-bdb2-5645d3fe7cf0" -> "30ad7df2-542d-4cbb-abe1-4b5b66950ff4"; +"2c0604bf-2fb6-4c52-9db1-9a95562fab32" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"30ad7df2-542d-4cbb-abe1-4b5b66950ff4" -> "2c0604bf-2fb6-4c52-9db1-9a95562fab32"; +"f1e9ec7e-d498-4c53-ab95-f21b5de5a9e0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"30ad7df2-542d-4cbb-abe1-4b5b66950ff4" -> "f1e9ec7e-d498-4c53-ab95-f21b5de5a9e0"; +"5589dee3-0240-49e0-a18a-7824f4d6513d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; +"30ad7df2-542d-4cbb-abe1-4b5b66950ff4" -> "5589dee3-0240-49e0-a18a-7824f4d6513d"; +"6da04b02-dd38-4464-8dd5-d4bff3780df8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"004f17d7-1676-4f1c-9e6f-7816026332a6" -> 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label="PutDown(Bernachon,WaterTable)", shape=box, style=filled]; +"eeea53a2-4bcd-431c-b158-f2fb0f1b7044" -> "de252508-e970-4614-8c46-1c9dc16c6381"; +"2ecaa42a-192e-404b-9eef-0859b7572009" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"84b0c8f4-7297-4441-ba47-cefa147440ac" -> "2ecaa42a-192e-404b-9eef-0859b7572009"; +"8c9ab08f-b132-448d-bbe2-84752d5fce37" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"2ecaa42a-192e-404b-9eef-0859b7572009" -> "8c9ab08f-b132-448d-bbe2-84752d5fce37"; +"c9ab5c24-50c4-4583-9e40-76fd9ebece5a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"2ecaa42a-192e-404b-9eef-0859b7572009" -> "c9ab5c24-50c4-4583-9e40-76fd9ebece5a"; +"435e064b-f46e-4847-9a57-6f334e5d52e4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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label="PutDown(Milk,Table)", shape=box, style=filled]; +"177d1f3b-65bc-4b34-9503-9470b49aede7" -> "2958eb51-9948-4750-9f94-18df6c505a70"; +"9f499f30-73bb-480e-a39f-b587d90426f5" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"2f82702d-34c4-46cd-b7f9-4b2e2ca0635e" -> "9f499f30-73bb-480e-a39f-b587d90426f5"; +"6be54bb0-915e-4eb6-8a25-c349e6b6931c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"9f499f30-73bb-480e-a39f-b587d90426f5" -> "6be54bb0-915e-4eb6-8a25-c349e6b6931c"; +"a97dea86-290b-4b81-bae0-0734085e47c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"9f499f30-73bb-480e-a39f-b587d90426f5" -> "a97dea86-290b-4b81-bae0-0734085e47c3"; +"f557d0f3-df7e-4b26-8143-f90fd5606c59" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Table)", shape=box, style=filled]; 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label="At(Robot,Bar)", shape=ellipse, style=filled]; +"89492c29-fbf6-44ba-a996-06db94f78073" -> "9c1612a8-8571-44e1-92da-d9ffeb32b8c5"; +"7b93fa6e-339f-45c5-b78f-7d30c196824f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; +"89492c29-fbf6-44ba-a996-06db94f78073" -> "7b93fa6e-339f-45c5-b78f-7d30c196824f"; +"027384f4-79f9-4882-8b91-0ed3a677cc5a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"78b5fe64-0f4a-4a9c-aacf-3c960917a552" -> "027384f4-79f9-4882-8b91-0ed3a677cc5a"; +"0387e629-3b69-4b83-bbdb-29c46476dc58" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"027384f4-79f9-4882-8b91-0ed3a677cc5a" -> "0387e629-3b69-4b83-bbdb-29c46476dc58"; +"cf0fe3c7-a17f-4a99-bd47-0e7964fede6b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; 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"32cf3641-33af-4478-8557-e24ac074977c"; +"67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Table)", shape=box, style=filled]; +"5db03d6c-bb8c-4c4e-a851-1b880d2304ec" -> "67b56bdd-00cf-44e6-8bd2-ea0c4dfe3322"; +"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"e2526972-9479-4ff1-842c-4934730759ee" -> "3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe"; +"98b367c0-2ad3-4c3b-9e43-548a7b324274" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" -> "98b367c0-2ad3-4c3b-9e43-548a7b324274"; +"5d50943c-e92c-4fb2-8777-12b0c363afb0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"3e34fd54-a4d2-489c-b181-0e1b9bbfa6fe" -> "5d50943c-e92c-4fb2-8777-12b0c363afb0"; 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[fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,CoffeeTable)", shape=box, style=filled]; +"3c001919-c566-45d8-8a3e-ece15d47ff4e" -> "be6f0429-1347-4e55-8400-3ae0a2625869"; +"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"92bc4b9e-cf77-4744-8947-87a8b252cb8f" -> "60b60bf9-6bef-4cd0-8b2e-4dff52e21df9"; +"97714157-6033-471b-b0ec-3ab685c8fbf7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" -> "97714157-6033-471b-b0ec-3ab685c8fbf7"; +"e53a85c8-fc0a-44be-a0c6-31d6fcfad294" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" -> "e53a85c8-fc0a-44be-a0c6-31d6fcfad294"; +"3ffab793-f8bb-4c86-ab1a-474549d5fc79" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Table)", shape=box, style=filled]; +"60b60bf9-6bef-4cd0-8b2e-4dff52e21df9" -> "3ffab793-f8bb-4c86-ab1a-474549d5fc79"; +"f140a3d3-aee2-49bf-b202-cef758185d3f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"3e129f78-f55f-4e80-85a1-158623b1db63" -> "f140a3d3-aee2-49bf-b202-cef758185d3f"; +"d1111e99-05bd-4c42-b322-12719d5bf47b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"f140a3d3-aee2-49bf-b202-cef758185d3f" -> "d1111e99-05bd-4c42-b322-12719d5bf47b"; +"c6d9397f-368e-4408-8ee7-df270aca61bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"f140a3d3-aee2-49bf-b202-cef758185d3f" -> "c6d9397f-368e-4408-8ee7-df270aca61bd"; +"51e89b6c-a00c-4d9e-b342-a829a5ad779f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1a6769bf-f3ee-4218-b9aa-b1bea5fd9a76" -> "b7fea883-e83f-43be-b0fe-00b3a1a4bbe3"; +"bb67e849-cd88-486b-a1d4-6d9cffc9513e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"b7fea883-e83f-43be-b0fe-00b3a1a4bbe3" -> "bb67e849-cd88-486b-a1d4-6d9cffc9513e"; +"346b3b68-891b-47df-a2c8-3a50a4627675" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Yogurt)", shape=ellipse, style=filled]; +"b7fea883-e83f-43be-b0fe-00b3a1a4bbe3" -> "346b3b68-891b-47df-a2c8-3a50a4627675"; +"64d57ccc-ae64-4876-a1d0-36d55984d7c2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Yogurt,CoffeeTable)", shape=box, style=filled]; +"b7fea883-e83f-43be-b0fe-00b3a1a4bbe3" -> "64d57ccc-ae64-4876-a1d0-36d55984d7c2"; +"a70aacfb-87ab-4ac2-9768-04f341c16117" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"a460b03b-745f-4719-90fe-46db5ddf43a8" -> "a70aacfb-87ab-4ac2-9768-04f341c16117"; +"640ecc4e-7878-41c3-a85a-8539c298d297" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"a70aacfb-87ab-4ac2-9768-04f341c16117" -> "640ecc4e-7878-41c3-a85a-8539c298d297"; +"1bdd7779-ddc7-48e8-aed6-e5a627b3adb4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"a70aacfb-87ab-4ac2-9768-04f341c16117" -> "1bdd7779-ddc7-48e8-aed6-e5a627b3adb4"; +"4f73d64e-8710-4e7b-a466-7cb49b9495c5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; +"a70aacfb-87ab-4ac2-9768-04f341c16117" -> "4f73d64e-8710-4e7b-a466-7cb49b9495c5"; +"d97bfc33-4579-4024-a3ca-8048e2682ee2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "f216c705-05f3-4814-b99a-dc2cb2d0270a"; +"57fae6c5-2f97-4751-ae9b-eb1d84d032df" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"f216c705-05f3-4814-b99a-dc2cb2d0270a" -> "57fae6c5-2f97-4751-ae9b-eb1d84d032df"; +"b3e24e78-fed4-424d-83b4-7d583d5fa5c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"f216c705-05f3-4814-b99a-dc2cb2d0270a" -> "b3e24e78-fed4-424d-83b4-7d583d5fa5c7"; +"db6edf72-d407-45b7-ae27-ddb404abae89" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"f216c705-05f3-4814-b99a-dc2cb2d0270a" -> "db6edf72-d407-45b7-ae27-ddb404abae89"; +"f274860c-b1c8-4094-80ff-6e24801009e3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", 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-> "b948791b-abb1-4111-b0b0-a4898b9dd35d"; +"609d0323-4aed-474e-90d0-1def19bf90ad" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,Bar)", shape=box, style=filled]; +"3049d991-2145-4012-bb24-9a9b91caa120" -> "609d0323-4aed-474e-90d0-1def19bf90ad"; +"12ca484e-1e54-4ff5-8289-77bc6efb6027" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "12ca484e-1e54-4ff5-8289-77bc6efb6027"; +"dee22561-ad74-4f59-a07a-5a11e228bec3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"12ca484e-1e54-4ff5-8289-77bc6efb6027" -> "dee22561-ad74-4f59-a07a-5a11e228bec3"; +"0ccfb2c3-e3a0-4af7-90d3-2285d4ed752c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"12ca484e-1e54-4ff5-8289-77bc6efb6027" -> "0ccfb2c3-e3a0-4af7-90d3-2285d4ed752c"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7" -> "2afb5d86-d5a8-4683-8fbc-18284284bdd2"; +"d886cd5a-0fe5-40e1-bd52-ee8e3c58faca" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7" -> "d886cd5a-0fe5-40e1-bd52-ee8e3c58faca"; +"e4c0ae03-79e5-4469-801a-3b04b92a0017" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,BrightTable)", shape=box, style=filled]; +"8df2ce8d-68f7-42eb-a0b2-62cd7e3d96c7" -> "e4c0ae03-79e5-4469-801a-3b04b92a0017"; +"0d9cdeea-2854-4ca4-9914-993600dbc841" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "0d9cdeea-2854-4ca4-9914-993600dbc841"; +"f7f87c98-0765-46af-ae64-409519a38abc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Softdrink)", shape=ellipse, style=filled]; +"0d9cdeea-2854-4ca4-9914-993600dbc841" -> "f7f87c98-0765-46af-ae64-409519a38abc"; +"d7de3ea6-ac4a-49a7-ae54-62fdc67c4ec9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"0d9cdeea-2854-4ca4-9914-993600dbc841" -> "d7de3ea6-ac4a-49a7-ae54-62fdc67c4ec9"; +"7a06b0fb-b544-457d-a693-534297a05e00" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"0d9cdeea-2854-4ca4-9914-993600dbc841" -> "7a06b0fb-b544-457d-a693-534297a05e00"; +"628b6758-bd53-41ce-890b-1f51766e780a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,CoffeeTable)", shape=box, style=filled]; +"0d9cdeea-2854-4ca4-9914-993600dbc841" -> "628b6758-bd53-41ce-890b-1f51766e780a"; +"23f4ac93-9b7e-473c-b76d-a32ab8d2bbd0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, 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[fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "7f0d0e2d-aec4-46a8-bd42-43af822d8e2f"; +"972c7cf0-6f72-42e1-bc55-56e772876de2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"7f0d0e2d-aec4-46a8-bd42-43af822d8e2f" -> "972c7cf0-6f72-42e1-bc55-56e772876de2"; +"502867af-b0a6-47c9-a1b1-90d4d83f88d8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"7f0d0e2d-aec4-46a8-bd42-43af822d8e2f" -> "502867af-b0a6-47c9-a1b1-90d4d83f88d8"; +"8c68a3e4-32b2-4962-a162-25ba391050dd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"7f0d0e2d-aec4-46a8-bd42-43af822d8e2f" -> "8c68a3e4-32b2-4962-a162-25ba391050dd"; +"af790aa2-49b6-4f16-a4c6-2b8968bef3b2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,CoffeeTable)", shape=box, style=filled]; +"7f0d0e2d-aec4-46a8-bd42-43af822d8e2f" -> "af790aa2-49b6-4f16-a4c6-2b8968bef3b2"; +"49514a35-2550-4662-ac9f-cb0c8227056e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "49514a35-2550-4662-ac9f-cb0c8227056e"; +"2fcee86b-8750-4113-88d7-04bf9883c9d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"49514a35-2550-4662-ac9f-cb0c8227056e" -> "2fcee86b-8750-4113-88d7-04bf9883c9d4"; +"310477a5-fde3-4175-a85d-9f635336e9a9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"49514a35-2550-4662-ac9f-cb0c8227056e" -> "310477a5-fde3-4175-a85d-9f635336e9a9"; +"0aebb6fd-e3ee-4319-a8d3-aa42e007c4cb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"49514a35-2550-4662-ac9f-cb0c8227056e" -> "0aebb6fd-e3ee-4319-a8d3-aa42e007c4cb"; +"c535a73c-565e-4292-945d-4e2450e8232c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; +"49514a35-2550-4662-ac9f-cb0c8227056e" -> "c535a73c-565e-4292-945d-4e2450e8232c"; +"684b4f3d-8135-43d5-b21a-699010d98938" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "684b4f3d-8135-43d5-b21a-699010d98938"; +"08d7c2c4-ca97-48a0-8422-a547d4cf6132" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"684b4f3d-8135-43d5-b21a-699010d98938" -> "08d7c2c4-ca97-48a0-8422-a547d4cf6132"; +"87ad5172-4800-4b6d-968b-90e561977cc2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"684b4f3d-8135-43d5-b21a-699010d98938" -> "87ad5172-4800-4b6d-968b-90e561977cc2"; +"c0bbba4e-f59c-4684-b96a-683363df9cae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"684b4f3d-8135-43d5-b21a-699010d98938" -> "c0bbba4e-f59c-4684-b96a-683363df9cae"; +"1ab442f2-24e0-436b-979c-c1917829f641" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; +"684b4f3d-8135-43d5-b21a-699010d98938" -> "1ab442f2-24e0-436b-979c-c1917829f641"; +"72ffc880-0039-47aa-8270-11742cdc19a2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "72ffc880-0039-47aa-8270-11742cdc19a2"; +"c243ff20-0550-4f84-b542-03acd228f6d4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"72ffc880-0039-47aa-8270-11742cdc19a2" -> "c243ff20-0550-4f84-b542-03acd228f6d4"; +"ba37857d-99f3-4b06-b9a2-90a16bbda37d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"72ffc880-0039-47aa-8270-11742cdc19a2" -> "ba37857d-99f3-4b06-b9a2-90a16bbda37d"; +"620bd279-a0fc-4b57-863d-e68ff5b0581c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"72ffc880-0039-47aa-8270-11742cdc19a2" -> "620bd279-a0fc-4b57-863d-e68ff5b0581c"; +"3b8e4d40-4c21-4994-8ac5-6d8f009097f9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; +"72ffc880-0039-47aa-8270-11742cdc19a2" -> "3b8e4d40-4c21-4994-8ac5-6d8f009097f9"; +"b35bdd7e-05b2-4388-9251-09e1680d53d1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b35bdd7e-05b2-4388-9251-09e1680d53d1"; +"52015462-007a-47f1-b56c-e95932028d14" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"b35bdd7e-05b2-4388-9251-09e1680d53d1" -> "52015462-007a-47f1-b56c-e95932028d14"; +"a361b4b1-e0ea-4e5f-857b-885a82283c18" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"b35bdd7e-05b2-4388-9251-09e1680d53d1" -> "a361b4b1-e0ea-4e5f-857b-885a82283c18"; +"47d4cc33-3c9f-4bbd-9c9c-503d5e355739" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"b35bdd7e-05b2-4388-9251-09e1680d53d1" -> "47d4cc33-3c9f-4bbd-9c9c-503d5e355739"; +"7534013c-3eb0-4b50-9a21-0197c2ee2ec7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; +"b35bdd7e-05b2-4388-9251-09e1680d53d1" -> "7534013c-3eb0-4b50-9a21-0197c2ee2ec7"; +"b2c41091-071e-4e10-a8ae-dd6ed200475d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b2c41091-071e-4e10-a8ae-dd6ed200475d"; +"02544ff3-ebc5-4e5f-8ba0-56ca3703ece0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"b2c41091-071e-4e10-a8ae-dd6ed200475d" -> "02544ff3-ebc5-4e5f-8ba0-56ca3703ece0"; +"41d451ca-fe46-4a02-8fb4-06548e9ba7bb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"b2c41091-071e-4e10-a8ae-dd6ed200475d" -> "41d451ca-fe46-4a02-8fb4-06548e9ba7bb"; +"b625f75d-04ce-403f-a034-fa1025e4ab55" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"b2c41091-071e-4e10-a8ae-dd6ed200475d" -> "b625f75d-04ce-403f-a034-fa1025e4ab55"; +"cba7f62f-d9bf-44af-96ff-4ef41fe650f5" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; +"b2c41091-071e-4e10-a8ae-dd6ed200475d" -> "cba7f62f-d9bf-44af-96ff-4ef41fe650f5"; +"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "e07b9dea-ca10-4ac9-b909-26fa6f6019bb"; +"767d3027-6aa2-49e7-b39f-d07853d69595" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" -> "767d3027-6aa2-49e7-b39f-d07853d69595"; +"d04b78c7-eedd-4b19-81c4-d33857e6e90d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" -> "d04b78c7-eedd-4b19-81c4-d33857e6e90d"; +"7ad6df93-500c-4b58-bd86-ccfd24d6c812" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" -> "7ad6df93-500c-4b58-bd86-ccfd24d6c812"; +"d310c531-141b-4095-bd1f-1dce2daf01a8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; +"e07b9dea-ca10-4ac9-b909-26fa6f6019bb" -> "d310c531-141b-4095-bd1f-1dce2daf01a8"; +"9a73cb33-e4ee-4ad6-9437-f630a8c77b5d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "9a73cb33-e4ee-4ad6-9437-f630a8c77b5d"; +"1622185d-444e-4bad-8399-d3760f9d8b59" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"9a73cb33-e4ee-4ad6-9437-f630a8c77b5d" -> "1622185d-444e-4bad-8399-d3760f9d8b59"; +"cb1f6c1c-a5e1-46b1-8a2a-7d0dfa10b5ed" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"9a73cb33-e4ee-4ad6-9437-f630a8c77b5d" -> "cb1f6c1c-a5e1-46b1-8a2a-7d0dfa10b5ed"; +"2cf4f4d6-9938-4c07-9f4a-3b328ef22e30" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"9a73cb33-e4ee-4ad6-9437-f630a8c77b5d" -> "2cf4f4d6-9938-4c07-9f4a-3b328ef22e30"; +"03d65e54-664e-4653-a1d7-09def6540504" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; +"9a73cb33-e4ee-4ad6-9437-f630a8c77b5d" -> "03d65e54-664e-4653-a1d7-09def6540504"; +"d4f71d0a-88d5-41c0-9cdb-89c0226d98d2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "d4f71d0a-88d5-41c0-9cdb-89c0226d98d2"; +"614b5564-d010-48da-b9ac-133dda848bcc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"d4f71d0a-88d5-41c0-9cdb-89c0226d98d2" -> "614b5564-d010-48da-b9ac-133dda848bcc"; +"9ba83ca6-be44-40dc-9297-6a7485490f16" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"d4f71d0a-88d5-41c0-9cdb-89c0226d98d2" -> "9ba83ca6-be44-40dc-9297-6a7485490f16"; +"3087ebcc-735d-4fb1-b0dc-d5108e48683c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"d4f71d0a-88d5-41c0-9cdb-89c0226d98d2" -> "3087ebcc-735d-4fb1-b0dc-d5108e48683c"; +"16c28baf-e0b2-42e5-9cbb-c6d5fccde5aa" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,WaterTable)", shape=box, style=filled]; +"d4f71d0a-88d5-41c0-9cdb-89c0226d98d2" -> "16c28baf-e0b2-42e5-9cbb-c6d5fccde5aa"; +"09abb069-f5de-4604-9442-7c71db5c76d7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "09abb069-f5de-4604-9442-7c71db5c76d7"; +"d4456511-d9e4-4617-8888-ba387374e45c" [fillcolor="#FFFF80", fontcolor=black, 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-> "9f251026-b6ef-430c-9a22-29432608fc39"; +"7df7692d-99d5-4214-a41f-cec825f20b30" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; +"3c66aa9f-8895-4188-8f96-143f1597f946" -> "7df7692d-99d5-4214-a41f-cec825f20b30"; +"fbe19be3-6809-480c-81b2-f5edc3656124" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "fbe19be3-6809-480c-81b2-f5edc3656124"; +"743eaee0-f0e9-4f25-a32a-fef08c4d9ef5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"fbe19be3-6809-480c-81b2-f5edc3656124" -> "743eaee0-f0e9-4f25-a32a-fef08c4d9ef5"; +"a3828ca5-3d8c-46f9-8f0f-457a17b1a76d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"fbe19be3-6809-480c-81b2-f5edc3656124" -> "a3828ca5-3d8c-46f9-8f0f-457a17b1a76d"; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"044b416d-9024-4fc5-9074-28cc1e219166" -> "42777d91-a6cf-43f0-92cd-f67022f0973c"; +"6143feec-a65b-4699-8599-b1aee490e77c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"044b416d-9024-4fc5-9074-28cc1e219166" -> "6143feec-a65b-4699-8599-b1aee490e77c"; +"e6f83acb-cda5-4f98-9458-4049949ab160" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,WaterTable)", shape=box, style=filled]; +"044b416d-9024-4fc5-9074-28cc1e219166" -> "e6f83acb-cda5-4f98-9458-4049949ab160"; +"4b4fd5b6-75e8-405e-be78-323ecdae5a66" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "4b4fd5b6-75e8-405e-be78-323ecdae5a66"; +"694177fe-9f5e-4123-b083-5b4751f6f442" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"4b4fd5b6-75e8-405e-be78-323ecdae5a66" -> "694177fe-9f5e-4123-b083-5b4751f6f442"; +"7a451830-1fe1-42cc-b3b5-d46f1b4b8321" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"4b4fd5b6-75e8-405e-be78-323ecdae5a66" -> "7a451830-1fe1-42cc-b3b5-d46f1b4b8321"; +"558c90e8-60ab-4507-a54a-075d9a6d2d3b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"4b4fd5b6-75e8-405e-be78-323ecdae5a66" -> "558c90e8-60ab-4507-a54a-075d9a6d2d3b"; +"6e1c80f3-7d65-4322-a3bc-30146da58fdb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; +"4b4fd5b6-75e8-405e-be78-323ecdae5a66" -> "6e1c80f3-7d65-4322-a3bc-30146da58fdb"; +"7d83f724-a3d3-4c81-9c32-b6d8b5c02e4c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; 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fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"d4389079-5bd0-4c46-92d7-0a4e1c1e927b" -> "f780f035-028c-46e1-beda-cc39532e9b21"; +"5b799be4-7e7d-4cfe-8037-b9549dfd153c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; +"d4389079-5bd0-4c46-92d7-0a4e1c1e927b" -> "5b799be4-7e7d-4cfe-8037-b9549dfd153c"; +"3f3b5a0a-6392-467f-acce-ace7fbb9ed0a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "3f3b5a0a-6392-467f-acce-ace7fbb9ed0a"; +"2866a276-fda0-47c8-9d3e-3b2fe969754b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"3f3b5a0a-6392-467f-acce-ace7fbb9ed0a" -> "2866a276-fda0-47c8-9d3e-3b2fe969754b"; +"9a80eee2-9eca-4892-a6ef-68ab6a9fa7aa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"3f3b5a0a-6392-467f-acce-ace7fbb9ed0a" -> "9a80eee2-9eca-4892-a6ef-68ab6a9fa7aa"; +"51e6516a-d4c1-4554-9583-af62ed9b6a2f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"3f3b5a0a-6392-467f-acce-ace7fbb9ed0a" -> "51e6516a-d4c1-4554-9583-af62ed9b6a2f"; +"6657a394-1a55-477f-b546-13699adb1e23" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,BrightTable)", shape=box, style=filled]; +"3f3b5a0a-6392-467f-acce-ace7fbb9ed0a" -> "6657a394-1a55-477f-b546-13699adb1e23"; +"77d586d6-bc67-4563-a15e-3928cbc26b24" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "77d586d6-bc67-4563-a15e-3928cbc26b24"; +"95499daf-f31a-407d-96a0-dfd1a96ada66" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; 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fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; +"43f1412b-eade-4e41-b384-7a4281d51b6a" -> "3ed259b7-1a9b-414c-96e5-a0027b7e515c"; +"3cbc5010-3968-45a6-937a-cc0617c55555" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "3cbc5010-3968-45a6-937a-cc0617c55555"; +"77fbbe09-49a6-4466-a77d-04f2349211f2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,Off)", shape=ellipse, style=filled]; +"3cbc5010-3968-45a6-937a-cc0617c55555" -> "77fbbe09-49a6-4466-a77d-04f2349211f2"; +"82130e97-ba4e-4731-bc0c-095bc96f31c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"3cbc5010-3968-45a6-937a-cc0617c55555" -> "82130e97-ba4e-4731-bc0c-095bc96f31c8"; +"293a8181-4944-4a77-a0c2-395fb92da429" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"3cbc5010-3968-45a6-937a-cc0617c55555" -> "293a8181-4944-4a77-a0c2-395fb92da429"; +"28538aff-92f5-44b6-a7bb-3fc064d88f34" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(AC,On)", shape=box, style=filled]; +"3cbc5010-3968-45a6-937a-cc0617c55555" -> "28538aff-92f5-44b6-a7bb-3fc064d88f34"; +"cc9c6876-7bfd-4668-957b-22007c8eef59" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "cc9c6876-7bfd-4668-957b-22007c8eef59"; +"2a5169c5-3cb7-4c38-852d-e7f7fecc0aa8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"cc9c6876-7bfd-4668-957b-22007c8eef59" -> "2a5169c5-3cb7-4c38-852d-e7f7fecc0aa8"; +"6fe486b0-cf2a-4612-87e2-92987e476fb7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"cc9c6876-7bfd-4668-957b-22007c8eef59" -> "6fe486b0-cf2a-4612-87e2-92987e476fb7"; +"45003d83-2342-4e51-a035-86137bff3b9e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"cc9c6876-7bfd-4668-957b-22007c8eef59" -> "45003d83-2342-4e51-a035-86137bff3b9e"; +"6dde11aa-2738-4584-9575-f827384923dc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled]; +"cc9c6876-7bfd-4668-957b-22007c8eef59" -> "6dde11aa-2738-4584-9575-f827384923dc"; +"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b7a1f95c-7154-4d5c-9e53-df475a8ac8fe"; +"941de543-d2c2-4e7a-bfef-d6dc0ada1337" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" -> "941de543-d2c2-4e7a-bfef-d6dc0ada1337"; +"5c9af632-74fc-40e2-b4fc-927256bd85c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" -> "5c9af632-74fc-40e2-b4fc-927256bd85c8"; +"23375cd4-a3fe-4c4e-879d-1639ef95a5ad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" -> "23375cd4-a3fe-4c4e-879d-1639ef95a5ad"; +"9eb434c3-e503-493c-9adc-a82d762d586a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Down)", shape=box, style=filled]; +"b7a1f95c-7154-4d5c-9e53-df475a8ac8fe" -> "9eb434c3-e503-493c-9adc-a82d762d586a"; +"153ba37e-b408-419a-9c90-7f2a028495b2" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "153ba37e-b408-419a-9c90-7f2a028495b2"; +"d95cd8e4-e6cf-4445-9997-a3e7baca49a0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"153ba37e-b408-419a-9c90-7f2a028495b2" -> "d95cd8e4-e6cf-4445-9997-a3e7baca49a0"; +"4aeab62f-e599-43b3-bafd-e302262d4ffa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"153ba37e-b408-419a-9c90-7f2a028495b2" -> "4aeab62f-e599-43b3-bafd-e302262d4ffa"; +"4d777bdd-f3e1-41e5-b2cd-88f45725f492" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"153ba37e-b408-419a-9c90-7f2a028495b2" -> "4d777bdd-f3e1-41e5-b2cd-88f45725f492"; +"4f68e88b-ed85-4a4d-953e-b865502c07f0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Up)", shape=box, style=filled]; +"153ba37e-b408-419a-9c90-7f2a028495b2" -> "4f68e88b-ed85-4a4d-953e-b865502c07f0"; +"43bd2501-8497-44cf-816e-7b1d92dffde8" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "43bd2501-8497-44cf-816e-7b1d92dffde8"; +"aa1362f4-3d0e-42e0-af0e-261b75fcebf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"43bd2501-8497-44cf-816e-7b1d92dffde8" -> "aa1362f4-3d0e-42e0-af0e-261b75fcebf2"; +"51801e5e-b4dc-426d-929a-6bde538d048d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"43bd2501-8497-44cf-816e-7b1d92dffde8" -> "51801e5e-b4dc-426d-929a-6bde538d048d"; +"26f5465c-1b9e-4970-ab5f-fe4fa9838903" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(AC,On)", shape=ellipse, style=filled]; +"43bd2501-8497-44cf-816e-7b1d92dffde8" -> "26f5465c-1b9e-4970-ab5f-fe4fa9838903"; +"ca700651-9410-41b3-8515-385ef35fba1a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(ACTemperature,Up)", shape=box, style=filled]; +"43bd2501-8497-44cf-816e-7b1d92dffde8" -> "ca700651-9410-41b3-8515-385ef35fba1a"; +"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317"; +"cf48efd6-e66b-4bf1-ab38-8d1ce6e0eda0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" -> "cf48efd6-e66b-4bf1-ab38-8d1ce6e0eda0"; +"c2cea7e5-1a6c-4c30-b131-e1ad3c3ded32" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" -> "c2cea7e5-1a6c-4c30-b131-e1ad3c3ded32"; +"9c64fa3f-efc1-4752-80fd-7e8b9ce8d7bc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" -> "9c64fa3f-efc1-4752-80fd-7e8b9ce8d7bc"; +"aa38b7a0-4f66-4e81-bc63-b2d6d2a7e655" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,Off)", shape=box, style=filled]; +"b5ca3acc-1a68-41cc-9b21-5c7bb3ae4317" -> "aa38b7a0-4f66-4e81-bc63-b2d6d2a7e655"; +"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "bc0cbfff-650c-4b61-9dcc-bfe2a8895524"; +"d6036efd-e852-45de-8cfd-08270944d42f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" -> "d6036efd-e852-45de-8cfd-08270944d42f"; +"50790486-112c-4551-bb75-2182cfadedf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" -> "50790486-112c-4551-bb75-2182cfadedf2"; +"c5f42ef3-c170-41d9-8473-b16d00239b0a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" -> "c5f42ef3-c170-41d9-8473-b16d00239b0a"; +"b843cdb2-ff72-4241-8087-0180bd5797cc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,Off)", shape=box, style=filled]; +"bc0cbfff-650c-4b61-9dcc-bfe2a8895524" -> "b843cdb2-ff72-4241-8087-0180bd5797cc"; +"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9"; +"6191c3d6-f4f9-435f-a3d3-439114f8f1f0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,Off)", shape=ellipse, style=filled]; +"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" -> "6191c3d6-f4f9-435f-a3d3-439114f8f1f0"; +"b1c8089d-7646-4116-b227-b498270b8a96" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" -> "b1c8089d-7646-4116-b227-b498270b8a96"; +"8f120095-58f3-4732-bac6-0bccb201ae49" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" -> "8f120095-58f3-4732-bac6-0bccb201ae49"; +"719c49bd-8d3a-4f6a-b242-f40c67237040" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,On)", shape=box, style=filled]; +"4b0ffbb6-c2a4-470d-9806-05aa6e64a0c9" -> "719c49bd-8d3a-4f6a-b242-f40c67237040"; +"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "4a17b594-7ff7-46af-8b71-1f02b5b3e42c"; +"2b4769c2-3de2-46e9-a1a4-77ed768a6c64" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,Off)", shape=ellipse, style=filled]; +"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" -> "2b4769c2-3de2-46e9-a1a4-77ed768a6c64"; +"28be1710-e38f-4ece-aafc-e5c4ed6d7896" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" -> "28be1710-e38f-4ece-aafc-e5c4ed6d7896"; +"2929935a-0d13-41d0-b0f3-e7022ece035d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" -> "2929935a-0d13-41d0-b0f3-e7022ece035d"; +"07c4487a-9bda-40ba-bf8e-584abcce469c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(HallLight,On)", shape=box, style=filled]; +"4a17b594-7ff7-46af-8b71-1f02b5b3e42c" -> "07c4487a-9bda-40ba-bf8e-584abcce469c"; +"46192f43-7060-41ce-aa31-dabc6fe5b1b3" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "46192f43-7060-41ce-aa31-dabc6fe5b1b3"; +"09bc58a6-e2b0-42a5-8d0a-e6d64a8e7474" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"46192f43-7060-41ce-aa31-dabc6fe5b1b3" -> "09bc58a6-e2b0-42a5-8d0a-e6d64a8e7474"; +"54aba7d7-034f-4430-8e47-e880eab1e876" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"46192f43-7060-41ce-aa31-dabc6fe5b1b3" -> "54aba7d7-034f-4430-8e47-e880eab1e876"; +"ea6b159d-2aec-4397-804b-6ca51de8467b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled]; +"46192f43-7060-41ce-aa31-dabc6fe5b1b3" -> "ea6b159d-2aec-4397-804b-6ca51de8467b"; +"399e9866-eadb-44b4-9ff4-92ecec8a11a7" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled]; +"46192f43-7060-41ce-aa31-dabc6fe5b1b3" -> "399e9866-eadb-44b4-9ff4-92ecec8a11a7"; +"d3a0ea81-121e-4cb1-8240-850d5798e3c1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "d3a0ea81-121e-4cb1-8240-850d5798e3c1"; +"a2794aea-a1de-4ef7-93eb-27f34cdcec78" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"d3a0ea81-121e-4cb1-8240-850d5798e3c1" -> "a2794aea-a1de-4ef7-93eb-27f34cdcec78"; +"9a37d685-93bb-412e-a1e3-f1e19749e71c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"d3a0ea81-121e-4cb1-8240-850d5798e3c1" -> "9a37d685-93bb-412e-a1e3-f1e19749e71c"; +"e30b3cd8-b8dc-4efc-b253-f7ecb7ea977d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled]; +"d3a0ea81-121e-4cb1-8240-850d5798e3c1" -> "e30b3cd8-b8dc-4efc-b253-f7ecb7ea977d"; +"d75a08c2-c604-41d5-8366-d4eb2f673e21" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled]; +"d3a0ea81-121e-4cb1-8240-850d5798e3c1" -> "d75a08c2-c604-41d5-8366-d4eb2f673e21"; +"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef"; +"d2745cd3-df57-46ce-9786-92941548695e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "d2745cd3-df57-46ce-9786-92941548695e"; +"1558b313-ba00-4a35-9b33-78fd31ee8fd4" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "1558b313-ba00-4a35-9b33-78fd31ee8fd4"; +"c0d5a5ce-4b8d-4fab-8ed5-3dea61d7eb65" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled]; +"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "c0d5a5ce-4b8d-4fab-8ed5-3dea61d7eb65"; +"6b883883-7f0e-40f8-b094-cb93a28e7a30" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled]; +"cb6dbb6f-6e14-4df2-8017-5b6f20ab2cef" -> "6b883883-7f0e-40f8-b094-cb93a28e7a30"; +"5adaae44-afd2-4387-a568-569cb2bfc1af" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"1ada7f65-4cfc-4f57-81b6-80cc867dcdce" -> "5adaae44-afd2-4387-a568-569cb2bfc1af"; +"59d8bfc0-b8a3-4fc8-bfda-2fd9c06214e7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"5adaae44-afd2-4387-a568-569cb2bfc1af" -> "59d8bfc0-b8a3-4fc8-bfda-2fd9c06214e7"; +"9b046497-53c6-4730-8cec-c8f6898f0e34" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"5adaae44-afd2-4387-a568-569cb2bfc1af" -> "9b046497-53c6-4730-8cec-c8f6898f0e34"; +"5105b369-d457-41c5-915e-1005e2997c08" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled]; +"5adaae44-afd2-4387-a568-569cb2bfc1af" -> "5105b369-d457-41c5-915e-1005e2997c08"; +"74b6a96b-0e17-4909-aa0e-505c003e9472" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled]; +"5adaae44-afd2-4387-a568-569cb2bfc1af" -> "74b6a96b-0e17-4909-aa0e-505c003e9472"; +"3967d2b4-648e-4dfd-b25e-1aa784813266" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; +"0d027cbc-4d3a-48ed-9d82-a5dcd86c844d" -> "3967d2b4-648e-4dfd-b25e-1aa784813266"; +"4a7729ee-b319-4f3f-b05a-6b9e28132562" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0436df48-93c8-490d-af8c-ea3144c29ef4" -> "4a7729ee-b319-4f3f-b05a-6b9e28132562"; +"e81cc950-9b01-4f65-af1b-c7cc8d017a31" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"4a7729ee-b319-4f3f-b05a-6b9e28132562" -> "e81cc950-9b01-4f65-af1b-c7cc8d017a31"; +"dfb932c2-a728-46dc-94c1-403b812fd121" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"4a7729ee-b319-4f3f-b05a-6b9e28132562" -> "dfb932c2-a728-46dc-94c1-403b812fd121"; +"86f2ff30-84ec-4391-af26-8c0f3789a0a9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; +"4a7729ee-b319-4f3f-b05a-6b9e28132562" -> "86f2ff30-84ec-4391-af26-8c0f3789a0a9"; +"1e344576-bced-47f1-8a1d-dc61827847e2" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled]; +"79334f30-98f4-451a-a037-cf8bb0447077" -> "1e344576-bced-47f1-8a1d-dc61827847e2"; +"422c8b7e-6bc0-4276-9163-aa7d9a97395e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "422c8b7e-6bc0-4276-9163-aa7d9a97395e"; +"b8a8650d-e5ce-4323-88bf-a69c30a1bd92" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"422c8b7e-6bc0-4276-9163-aa7d9a97395e" -> "b8a8650d-e5ce-4323-88bf-a69c30a1bd92"; +"33e66130-b4cd-46aa-8b1d-2a8018c0a91a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled]; +"422c8b7e-6bc0-4276-9163-aa7d9a97395e" -> "33e66130-b4cd-46aa-8b1d-2a8018c0a91a"; +"7f8e6286-84e6-4b60-8a3e-a5fd50cfd33c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "7f8e6286-84e6-4b60-8a3e-a5fd50cfd33c"; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"7f8e6286-84e6-4b60-8a3e-a5fd50cfd33c" -> "0dc269ea-c832-4b1a-b9da-bd24df9c655a"; +"d399256c-80ea-49a2-8271-fc498d3e1f45" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d399256c-80ea-49a2-8271-fc498d3e1f45"; +"de195d80-ef44-499d-8609-30fd45b38cf9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "de195d80-ef44-499d-8609-30fd45b38cf9"; +"ab049362-2256-4be9-b6fb-a3c4af3c0c44" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "ab049362-2256-4be9-b6fb-a3c4af3c0c44"; +"bfb4a80f-72e7-4d1b-b853-8286ea839cec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "bfb4a80f-72e7-4d1b-b853-8286ea839cec"; +"6225269e-b587-41ba-8b75-a5aa10d5eaad" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "6225269e-b587-41ba-8b75-a5aa10d5eaad"; +"80595db0-adbd-40d1-b111-17291dd0f357" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "80595db0-adbd-40d1-b111-17291dd0f357"; +"a65885be-e53b-4176-ab2d-9a3f2fdfdcd2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "a65885be-e53b-4176-ab2d-9a3f2fdfdcd2"; +"37172bd4-521d-472e-8cd1-58e2bc30113f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "37172bd4-521d-472e-8cd1-58e2bc30113f"; +"c8516e6a-8f35-4f6b-919e-eca639f7d7a9" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Chairs)", shape=box, style=filled]; +"bfb4a80f-72e7-4d1b-b853-8286ea839cec" -> "c8516e6a-8f35-4f6b-919e-eca639f7d7a9"; +"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "fc3c37fa-95ba-4d67-ba7d-2178b77b5e22"; +"091ec51c-d491-4d70-9afa-562bf54b9fe9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "091ec51c-d491-4d70-9afa-562bf54b9fe9"; +"2365ca31-392f-4d5b-9358-36b3cae4b998" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "2365ca31-392f-4d5b-9358-36b3cae4b998"; +"901bffcd-9ff9-46fc-893c-b9a023ff4972" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "901bffcd-9ff9-46fc-893c-b9a023ff4972"; +"d87e5173-5c7b-4d65-a840-e1dcd8cb3dbd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "d87e5173-5c7b-4d65-a840-e1dcd8cb3dbd"; +"f88efbab-7228-4e7f-93d6-abfe49639004" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Chairs)", shape=box, style=filled]; +"fc3c37fa-95ba-4d67-ba7d-2178b77b5e22" -> "f88efbab-7228-4e7f-93d6-abfe49639004"; +"a8972ad8-5539-449e-9c33-3ea25c5187ae" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "a8972ad8-5539-449e-9c33-3ea25c5187ae"; +"14ccb286-5b9e-47e5-b33f-ec94b572aed8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "14ccb286-5b9e-47e5-b33f-ec94b572aed8"; +"54606ca9-3c5b-448e-bb1a-5abceae90b3e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "54606ca9-3c5b-448e-bb1a-5abceae90b3e"; +"4401bde4-5527-444c-beb0-10826d394e32" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "4401bde4-5527-444c-beb0-10826d394e32"; +"39ddd05f-ea53-46dc-8664-de927ffcdcc3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "39ddd05f-ea53-46dc-8664-de927ffcdcc3"; +"7770dd21-aec6-42d0-b15a-4a4e6bf614a0" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Clean(Floor)", shape=box, style=filled]; +"a8972ad8-5539-449e-9c33-3ea25c5187ae" -> "7770dd21-aec6-42d0-b15a-4a4e6bf614a0"; +"05ca37fc-db68-4bfb-b898-6d97ef555d46" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "05ca37fc-db68-4bfb-b898-6d97ef555d46"; +"76dc5841-5780-4989-ac03-040d4d0f7603" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(HallLight,On)", shape=ellipse, style=filled]; +"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "76dc5841-5780-4989-ac03-040d4d0f7603"; +"34ffb13c-c55f-4d4a-9d63-79f25cf2d313" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "34ffb13c-c55f-4d4a-9d63-79f25cf2d313"; +"b973ee26-ec87-43b4-a20f-9c197236137c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"05ca37fc-db68-4bfb-b898-6d97ef555d46" -> "b973ee26-ec87-43b4-a20f-9c197236137c"; +"fa667db2-6cb6-4d1b-9705-740dbe46f246" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, 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shape=ellipse, style=filled]; +"06ea4b68-7e97-4384-8429-42e06277df0d" -> "2118a626-739f-46e7-b887-f9f13ee30da0"; +"041ae835-3da0-4c12-a193-ccc386affae2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"06ea4b68-7e97-4384-8429-42e06277df0d" -> "041ae835-3da0-4c12-a193-ccc386affae2"; +"8b0d1a38-ebd0-483d-96ea-445f054549cd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"06ea4b68-7e97-4384-8429-42e06277df0d" -> "8b0d1a38-ebd0-483d-96ea-445f054549cd"; +"d06cbea0-fd1e-491c-bb53-0e4b23126ee4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Table)", shape=box, style=filled]; +"06ea4b68-7e97-4384-8429-42e06277df0d" -> "d06cbea0-fd1e-491c-bb53-0e4b23126ee4"; +"94258199-a204-4c0b-b8ce-948815aff9ca" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "94258199-a204-4c0b-b8ce-948815aff9ca"; +"bee0ea60-2ae1-42b0-90e6-90279e88f763" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"94258199-a204-4c0b-b8ce-948815aff9ca" -> "bee0ea60-2ae1-42b0-90e6-90279e88f763"; +"6eb285cd-2368-4971-825e-61445bfa2e2a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"94258199-a204-4c0b-b8ce-948815aff9ca" -> "6eb285cd-2368-4971-825e-61445bfa2e2a"; +"43f1e64d-df6d-40c6-afb4-3d7d58e21751" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"94258199-a204-4c0b-b8ce-948815aff9ca" -> "43f1e64d-df6d-40c6-afb4-3d7d58e21751"; +"b5f61c46-a235-459d-8557-2a342d7be854" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"94258199-a204-4c0b-b8ce-948815aff9ca" -> "b5f61c46-a235-459d-8557-2a342d7be854"; 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fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "ff54400e-ed82-4a38-8287-9668be7fab62"; +"a671bc5f-4059-4ba0-972e-07dfd50684f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "a671bc5f-4059-4ba0-972e-07dfd50684f3"; +"892500fb-ada3-47e1-9edd-946701aa44eb" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "892500fb-ada3-47e1-9edd-946701aa44eb"; +"f6e18d48-1a41-4d49-b669-637324d7e49c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "f6e18d48-1a41-4d49-b669-637324d7e49c"; +"7a0238d5-31b0-485f-91ae-b85cd46d1389" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,CoffeeTable)", shape=box, style=filled]; +"152a0c78-fe7d-4c95-b2cf-515e09d61e2c" -> "7a0238d5-31b0-485f-91ae-b85cd46d1389"; +"f062ee78-08c2-4635-b86c-b1d61d1ce780" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f062ee78-08c2-4635-b86c-b1d61d1ce780"; +"68e8d5fd-6314-47fa-84a9-ebfdb3b7656d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "68e8d5fd-6314-47fa-84a9-ebfdb3b7656d"; +"9f0f1564-6824-4904-9cd7-24dcf64a9c80" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "9f0f1564-6824-4904-9cd7-24dcf64a9c80"; +"efdf9e09-6dcb-42d5-b9c6-edf95436a688" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "efdf9e09-6dcb-42d5-b9c6-edf95436a688"; +"239f2050-5285-482c-8eea-68bddfa9728f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "239f2050-5285-482c-8eea-68bddfa9728f"; +"82c13004-f5c7-46d7-986e-6ee7e2f92cdb" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,CoffeeTable)", shape=box, style=filled]; +"f062ee78-08c2-4635-b86c-b1d61d1ce780" -> "82c13004-f5c7-46d7-986e-6ee7e2f92cdb"; +"1a251157-2e17-40f2-ba6c-a6f9bd4c4421" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "1a251157-2e17-40f2-ba6c-a6f9bd4c4421"; +"23a27ffc-edd0-4937-b2ad-65bb734fc599" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"1a251157-2e17-40f2-ba6c-a6f9bd4c4421" -> "23a27ffc-edd0-4937-b2ad-65bb734fc599"; 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fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f2b87ec4-db2e-48de-b46d-e14c4c2a3e85"; +"98d7404f-dd5a-40d7-b630-5763e4a5bcd9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "98d7404f-dd5a-40d7-b630-5763e4a5bcd9"; +"85048b9a-9975-418a-a6d9-34e5c44ef607" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; +"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "85048b9a-9975-418a-a6d9-34e5c44ef607"; +"eb3e6750-6a7b-488a-b013-83a56b71697c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "eb3e6750-6a7b-488a-b013-83a56b71697c"; +"84a6978f-9f0d-4acc-8ff0-f8837468f7b7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "84a6978f-9f0d-4acc-8ff0-f8837468f7b7"; +"e6e83dcc-2dbf-480e-8334-bd3aad6cced8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; +"f2b87ec4-db2e-48de-b46d-e14c4c2a3e85" -> "e6e83dcc-2dbf-480e-8334-bd3aad6cced8"; +"483c3b89-03fb-4327-a675-fd2d185c6b1a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "483c3b89-03fb-4327-a675-fd2d185c6b1a"; +"7ecba0e4-739b-41ca-b4a5-d1b5f61b4b1c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "7ecba0e4-739b-41ca-b4a5-d1b5f61b4b1c"; +"e9a91d69-5c3e-4274-9f99-b49974881a8f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "e9a91d69-5c3e-4274-9f99-b49974881a8f"; +"665dc59b-c4ce-4374-9179-e5f21185506d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "665dc59b-c4ce-4374-9179-e5f21185506d"; +"b6dc0660-03e6-43b6-80a4-4d606324d4ea" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "b6dc0660-03e6-43b6-80a4-4d606324d4ea"; +"e3a767ee-8ab5-482a-923c-5d6212bfb15d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; +"483c3b89-03fb-4327-a675-fd2d185c6b1a" -> "e3a767ee-8ab5-482a-923c-5d6212bfb15d"; +"5734c96d-b12d-4ac7-99d4-0b8378d957c9" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "5734c96d-b12d-4ac7-99d4-0b8378d957c9"; 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fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; +"5734c96d-b12d-4ac7-99d4-0b8378d957c9" -> "4894ea3d-1fc5-48d3-a3d7-ac865c366c4c"; +"08f02a9b-15cb-49cd-863f-a6adeaf910ca" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "08f02a9b-15cb-49cd-863f-a6adeaf910ca"; +"0e6edf62-51e1-48d9-8fc4-40db4e4e666a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "0e6edf62-51e1-48d9-8fc4-40db4e4e666a"; +"2338d5ff-6e3b-41fc-a1b1-97eaacf95eab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "2338d5ff-6e3b-41fc-a1b1-97eaacf95eab"; +"3ad5ccb8-92e0-4d59-b58b-242d1d190a41" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "3ad5ccb8-92e0-4d59-b58b-242d1d190a41"; +"04b95868-3639-42ab-ad2b-234547064076" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "04b95868-3639-42ab-ad2b-234547064076"; +"ee14313c-024b-4fa7-a3ce-15c2e57371f8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; +"08f02a9b-15cb-49cd-863f-a6adeaf910ca" -> "ee14313c-024b-4fa7-a3ce-15c2e57371f8"; +"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "f741e061-f36f-48f9-b3ec-32ec3e3d7d17"; +"28e795e6-2776-4279-bac5-8783301d2f9b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "28e795e6-2776-4279-bac5-8783301d2f9b"; +"47538db7-618c-4eab-a667-876d6b3bcf55" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "47538db7-618c-4eab-a667-876d6b3bcf55"; +"ac716817-8653-4fc8-81f9-16d9222e5364" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "ac716817-8653-4fc8-81f9-16d9222e5364"; +"bc6a9354-403c-4383-8ae5-36d3f58b4d97" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "bc6a9354-403c-4383-8ae5-36d3f58b4d97"; +"8e8039c0-336a-4d40-94e0-b4ef541f3265" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Table)", shape=box, style=filled]; +"f741e061-f36f-48f9-b3ec-32ec3e3d7d17" -> "8e8039c0-336a-4d40-94e0-b4ef541f3265"; +"303f84e5-f9e7-46f9-8a89-ad5aececeaaf" 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label="Holding(Softdrink)", shape=ellipse, style=filled]; +"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "c7e602d1-6581-4621-af1c-6cfc67e62a4c"; +"fdf722b1-053a-4cf9-b97b-b894d7249270" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "fdf722b1-053a-4cf9-b97b-b894d7249270"; +"57cb32b0-c56b-4830-8aa3-72f3a6ba6029" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,WaterTable)", shape=ellipse, style=filled]; +"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "57cb32b0-c56b-4830-8aa3-72f3a6ba6029"; +"6aa8d59f-8b74-4957-a8bc-c9b1b9d71a62" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"419acfc1-aa9b-4572-9561-217e20dbf7da" -> "6aa8d59f-8b74-4957-a8bc-c9b1b9d71a62"; +"dc923371-bda2-4190-a201-86bc5d4bb6dd" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Softdrink,WaterTable)", shape=box, style=filled]; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "53bd47b5-0a5b-486d-b0fe-f98b85079e57"; +"d6f4b983-571a-4f96-9fd5-6c9dab97f013" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "d6f4b983-571a-4f96-9fd5-6c9dab97f013"; +"25a0dc72-3aaf-4419-8340-35675963abce" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "25a0dc72-3aaf-4419-8340-35675963abce"; +"b4adf49a-74c2-46be-92d2-e300e07fc1b6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "b4adf49a-74c2-46be-92d2-e300e07fc1b6"; +"3381c632-765c-465a-a8a2-0a6a716cfaa1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "3381c632-765c-465a-a8a2-0a6a716cfaa1"; +"92e20f04-b5ce-42b5-a106-60d6d53f4370" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; +"53bd47b5-0a5b-486d-b0fe-f98b85079e57" -> "92e20f04-b5ce-42b5-a106-60d6d53f4370"; +"ee858d86-4fac-4681-8f13-a50fec769602" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "ee858d86-4fac-4681-8f13-a50fec769602"; +"960e0182-e7ea-4a18-b7ff-ecdd7a804106" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"ee858d86-4fac-4681-8f13-a50fec769602" -> "960e0182-e7ea-4a18-b7ff-ecdd7a804106"; +"c9e72ce4-b00c-4d69-bdae-06ddf2bc2866" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; 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"3d49ff67-9b5f-46a7-bf94-9bc93fdf0912"; +"7b02338a-05b9-43bf-b03f-1c187183271d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "7b02338a-05b9-43bf-b03f-1c187183271d"; +"1c62a5b7-7f08-42a7-a7b4-f054a6260d54" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "1c62a5b7-7f08-42a7-a7b4-f054a6260d54"; +"e6d8651c-0c4d-44dd-858e-4067b873f31a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Bar)", shape=box, style=filled]; +"3fd069d8-bdc2-4ab0-bf64-26289b3f2b0b" -> "e6d8651c-0c4d-44dd-858e-4067b873f31a"; +"7b1242bd-b528-45d0-bbe0-9901f89d3048" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "7b1242bd-b528-45d0-bbe0-9901f89d3048"; 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fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; +"7b1242bd-b528-45d0-bbe0-9901f89d3048" -> "3a941fb5-3fbe-4f55-912f-d8c39d302dd9"; +"bcbdf785-4877-4e2e-af09-94e7fe764a9c" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "bcbdf785-4877-4e2e-af09-94e7fe764a9c"; +"274d4d6e-b4f7-4588-bf40-575f0c836a07" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "274d4d6e-b4f7-4588-bf40-575f0c836a07"; +"d4e7fb66-74bd-43af-ac44-8efee75d0346" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "d4e7fb66-74bd-43af-ac44-8efee75d0346"; +"ce8588e4-cd34-4606-ba16-21718af4c14b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "ce8588e4-cd34-4606-ba16-21718af4c14b"; +"a421e929-698f-44a3-a1e9-9cf29a95f173" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "a421e929-698f-44a3-a1e9-9cf29a95f173"; +"c24a0a17-1114-4197-a422-502a10a4a386" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,BrightTable)", shape=box, style=filled]; +"bcbdf785-4877-4e2e-af09-94e7fe764a9c" -> "c24a0a17-1114-4197-a422-502a10a4a386"; +"d5a11f3d-4498-422c-9363-c25a18274e15" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d5a11f3d-4498-422c-9363-c25a18274e15"; +"ce27e756-127d-4b48-bbb9-1723ccd0d360" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, 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-> "4dde59c3-139d-4f1a-83bd-f101df1e13f6"; +"8e52d219-0e0c-41ce-83d1-d01c85336169" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "8e52d219-0e0c-41ce-83d1-d01c85336169"; +"6f27d961-bf8b-498d-9483-049abafdf443" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"8e52d219-0e0c-41ce-83d1-d01c85336169" -> "6f27d961-bf8b-498d-9483-049abafdf443"; +"e0e55da1-a57b-47f1-be86-286c76140a34" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,CoffeeTable)", shape=ellipse, style=filled]; +"8e52d219-0e0c-41ce-83d1-d01c85336169" -> "e0e55da1-a57b-47f1-be86-286c76140a34"; +"f5e1ab44-1577-4786-bc95-be83be2bec1c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"8e52d219-0e0c-41ce-83d1-d01c85336169" -> "f5e1ab44-1577-4786-bc95-be83be2bec1c"; 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label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "e696add1-1e77-42c9-81f8-d85fb97b6e8c"; +"ae49647e-da74-4406-8676-472adbd51c73" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"e696add1-1e77-42c9-81f8-d85fb97b6e8c" -> "ae49647e-da74-4406-8676-472adbd51c73"; +"e0f6f1e5-c264-4199-94e3-0baca9b96347" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"e696add1-1e77-42c9-81f8-d85fb97b6e8c" -> "e0f6f1e5-c264-4199-94e3-0baca9b96347"; +"7bf275e4-a768-4929-b736-369b047890bd" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"e696add1-1e77-42c9-81f8-d85fb97b6e8c" -> "7bf275e4-a768-4929-b736-369b047890bd"; +"1157dd05-84fc-4aa0-b6b0-64456b0396c3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table1)", shape=ellipse, style=filled]; 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shape=ellipse, style=filled]; +"ee1891b1-c1ca-4937-9797-e1561f63ba99" -> "031848ca-382f-49c8-b057-964066b9c76f"; +"7c93f875-2de1-4025-b66b-d02801dadb0b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(SpringWater)", shape=ellipse, style=filled]; +"ee1891b1-c1ca-4937-9797-e1561f63ba99" -> "7c93f875-2de1-4025-b66b-d02801dadb0b"; +"840532f7-edf2-48ea-9938-5e3109e38c13" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(SpringWater,Table)", shape=box, style=filled]; +"ee1891b1-c1ca-4937-9797-e1561f63ba99" -> "840532f7-edf2-48ea-9938-5e3109e38c13"; +"07db873c-4419-4b4f-8205-6bbc486d423a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "07db873c-4419-4b4f-8205-6bbc486d423a"; +"ab887bfb-9143-4ca8-89c7-a359225ab80a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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-> "baeff367-13e1-498a-b28e-bce2aff7491a"; +"63f90689-f405-4727-b2d9-5e59633242d7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table2)", shape=ellipse, style=filled]; +"d9824a78-a503-4435-a735-762f770d3813" -> "63f90689-f405-4727-b2d9-5e59633242d7"; +"344402b7-89cc-422b-9afe-1e2be790495c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; +"d9824a78-a503-4435-a735-762f770d3813" -> "344402b7-89cc-422b-9afe-1e2be790495c"; +"17329e69-af80-4180-9904-8cec14e717ab" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "17329e69-af80-4180-9904-8cec14e717ab"; +"fcda5a3f-de41-464a-828c-7556c20f6803" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"17329e69-af80-4180-9904-8cec14e717ab" -> "fcda5a3f-de41-464a-828c-7556c20f6803"; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "290d5562-d7bc-4920-b539-3e51f2377361"; +"6260a159-47d6-494d-9712-f2028d68df2f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"290d5562-d7bc-4920-b539-3e51f2377361" -> "6260a159-47d6-494d-9712-f2028d68df2f"; +"69c3035b-e6e0-417f-94ad-3a2b51ab24a5" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"290d5562-d7bc-4920-b539-3e51f2377361" -> "69c3035b-e6e0-417f-94ad-3a2b51ab24a5"; +"fcd2eb97-af08-43b9-b6a1-347076c24a44" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"290d5562-d7bc-4920-b539-3e51f2377361" -> "fcd2eb97-af08-43b9-b6a1-347076c24a44"; +"c5abc375-7ac4-4445-8e24-d254f5b7065e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Table3)", shape=ellipse, style=filled]; +"290d5562-d7bc-4920-b539-3e51f2377361" -> "c5abc375-7ac4-4445-8e24-d254f5b7065e"; +"b33809b1-5d7b-4a97-b78a-0aefe9e7073b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(VacuumCup,Table)", shape=box, style=filled]; +"290d5562-d7bc-4920-b539-3e51f2377361" -> "b33809b1-5d7b-4a97-b78a-0aefe9e7073b"; +"2d2645c1-433b-4138-beac-caa410346f8e" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "2d2645c1-433b-4138-beac-caa410346f8e"; +"18786d2d-7b00-4262-abc0-16bf5ca538ae" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(VacuumCup)", shape=ellipse, style=filled]; +"2d2645c1-433b-4138-beac-caa410346f8e" -> "18786d2d-7b00-4262-abc0-16bf5ca538ae"; +"1836cf05-9041-47cd-9514-c3d6787d5b6e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; 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[fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" -> "cbf799b8-1b49-404c-9380-af018958a916"; +"9e0ebfbd-0f56-426b-ae0f-301f44ef154b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" -> "9e0ebfbd-0f56-426b-ae0f-301f44ef154b"; +"037b3c8c-0f69-4a29-bb5e-f7a345b4b06b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; +"2cf6bd3f-d7b4-4236-bcad-5bd7b5b9d4d3" -> "037b3c8c-0f69-4a29-bb5e-f7a345b4b06b"; +"5f362f89-c782-474d-be59-53598c8aa969" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "5f362f89-c782-474d-be59-53598c8aa969"; +"d8cfabad-4a31-4736-9d2b-fe71cf5d35f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"5f362f89-c782-474d-be59-53598c8aa969" -> "d8cfabad-4a31-4736-9d2b-fe71cf5d35f3"; +"4c840a0c-4bd2-4ed0-aed8-9886d2a850d6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"5f362f89-c782-474d-be59-53598c8aa969" -> "4c840a0c-4bd2-4ed0-aed8-9886d2a850d6"; +"e5707913-d39f-40cd-9e04-74134a4c0ca9" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"5f362f89-c782-474d-be59-53598c8aa969" -> "e5707913-d39f-40cd-9e04-74134a4c0ca9"; +"d3d816e7-c870-405c-913d-cbf092c227af" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"5f362f89-c782-474d-be59-53598c8aa969" -> "d3d816e7-c870-405c-913d-cbf092c227af"; +"424ef6e3-4622-4f09-8b17-1a46413f6992" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; +"5f362f89-c782-474d-be59-53598c8aa969" -> 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fontcolor=black, fontsize=20, label="Holding(Water)", shape=ellipse, style=filled]; +"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "bba16fe9-4805-4acb-a1f9-e86864f96d78"; +"78b3fd77-4601-4812-96cc-6865e95f4031" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Water,Bar)", shape=box, style=filled]; +"fd9e2412-2a05-4377-9807-573a4de33e6e" -> "78b3fd77-4601-4812-96cc-6865e95f4031"; +"369c501f-069a-41ea-889f-15482c82ed21" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "369c501f-069a-41ea-889f-15482c82ed21"; +"6a60bddc-f42c-42ce-80ea-1355ee068ad2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,BrightTable6)", shape=ellipse, style=filled]; +"369c501f-069a-41ea-889f-15482c82ed21" -> "6a60bddc-f42c-42ce-80ea-1355ee068ad2"; +"a081bb1b-ad83-447a-9511-f68ed21445be" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", 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style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "b3361f93-c501-4bf5-bdd7-da4fca5f788d"; +"1d84df2b-00ac-4ce4-acca-d072bc4d3253" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,On)", shape=ellipse, style=filled]; +"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "1d84df2b-00ac-4ce4-acca-d072bc4d3253"; +"b04b8a4e-337d-42cd-8574-bf32e3d14da0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "b04b8a4e-337d-42cd-8574-bf32e3d14da0"; +"b2d4495e-8819-4132-939b-790f05705c12" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "b2d4495e-8819-4132-939b-790f05705c12"; +"10fadc09-1f95-4c56-a036-7017e34b454f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "10fadc09-1f95-4c56-a036-7017e34b454f"; +"62259e36-7192-41cc-b8af-c9dd55698def" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,Off)", shape=box, style=filled]; +"b3361f93-c501-4bf5-bdd7-da4fca5f788d" -> "62259e36-7192-41cc-b8af-c9dd55698def"; +"d8112776-987a-40cc-aea5-a988d434820f" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"0dc269ea-c832-4b1a-b9da-bd24df9c655a" -> "d8112776-987a-40cc-aea5-a988d434820f"; +"9d4dacd4-138f-454a-bf9e-ee912a80846b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"d8112776-987a-40cc-aea5-a988d434820f" -> "9d4dacd4-138f-454a-bf9e-ee912a80846b"; +"0d3898b7-800e-4e02-b5ae-f9fd2f8f712e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"d8112776-987a-40cc-aea5-a988d434820f" -> "0d3898b7-800e-4e02-b5ae-f9fd2f8f712e"; 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fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"dd539879-2232-4b19-9e46-b9e529164e39" -> "c09e2c97-8e7f-4a42-a9eb-4aa62036e2e4"; +"721c2699-58a4-4f21-9b29-d59f5638de0f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"dd539879-2232-4b19-9e46-b9e529164e39" -> "721c2699-58a4-4f21-9b29-d59f5638de0f"; +"7528f112-c933-45c1-8a44-199aa4c947c8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"dd539879-2232-4b19-9e46-b9e529164e39" -> "7528f112-c933-45c1-8a44-199aa4c947c8"; +"392fa799-0e95-4b0b-9dc6-6fd4c756ddd1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Is(TubeLight,Off)", shape=ellipse, style=filled]; +"dd539879-2232-4b19-9e46-b9e529164e39" -> "392fa799-0e95-4b0b-9dc6-6fd4c756ddd1"; +"25488972-8f9e-4133-8ef5-614d1f44fa21" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Turn(TubeLight,On)", shape=box, style=filled]; +"dd539879-2232-4b19-9e46-b9e529164e39" -> "25488972-8f9e-4133-8ef5-614d1f44fa21"; +"30159de6-fa5b-4a6b-a35d-746511f9e77e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; +"7f8e6286-84e6-4b60-8a3e-a5fd50cfd33c" -> "30159de6-fa5b-4a6b-a35d-746511f9e77e"; +"44779d09-30a2-45c9-a92f-f44080ab466d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "44779d09-30a2-45c9-a92f-f44080ab466d"; +"43ec745e-4af5-4f95-9491-8a1f56c08517" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,MilkDrink)", shape=ellipse, style=filled]; +"44779d09-30a2-45c9-a92f-f44080ab466d" -> "43ec745e-4af5-4f95-9491-8a1f56c08517"; +"b9a89fba-a181-40ae-ab24-57f90fdc4841" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"44779d09-30a2-45c9-a92f-f44080ab466d" -> "b9a89fba-a181-40ae-ab24-57f90fdc4841"; +"a8e81fa6-7fef-4c5e-91d9-f6ae292cad90" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"44779d09-30a2-45c9-a92f-f44080ab466d" -> "a8e81fa6-7fef-4c5e-91d9-f6ae292cad90"; +"e097aa28-deb9-4a84-b19a-b9430d1f577c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(MilkDrink)", shape=box, style=filled]; +"44779d09-30a2-45c9-a92f-f44080ab466d" -> "e097aa28-deb9-4a84-b19a-b9430d1f577c"; +"ee994789-611a-41f7-9e4a-882a85a8f84d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "ee994789-611a-41f7-9e4a-882a85a8f84d"; +"54a62036-3639-43ea-91ce-0ce4d445507b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"ee994789-611a-41f7-9e4a-882a85a8f84d" -> "54a62036-3639-43ea-91ce-0ce4d445507b"; 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fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "92737c2e-e4ef-4aba-a173-db324c8f545a"; +"7fe2cc4c-2825-43cb-b93d-f5e24456d291" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(ADMilk)", shape=ellipse, style=filled]; +"92737c2e-e4ef-4aba-a173-db324c8f545a" -> "7fe2cc4c-2825-43cb-b93d-f5e24456d291"; +"92f0d697-ba3a-40c9-b43d-df7d97d13b0a" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"92737c2e-e4ef-4aba-a173-db324c8f545a" -> "92f0d697-ba3a-40c9-b43d-df7d97d13b0a"; +"d8fec24c-fcc8-4c39-bd75-f6b6ce63b4fa" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"92737c2e-e4ef-4aba-a173-db324c8f545a" -> "d8fec24c-fcc8-4c39-bd75-f6b6ce63b4fa"; +"a4b01280-6d45-4f24-b206-7ed4d1baa0df" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(ADMilk,Bar)", shape=box, style=filled]; +"92737c2e-e4ef-4aba-a173-db324c8f545a" -> "a4b01280-6d45-4f24-b206-7ed4d1baa0df"; +"a7f6796d-5664-494a-9040-9c85fe75f1fd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "a7f6796d-5664-494a-9040-9c85fe75f1fd"; +"3ee90b91-65ce-424d-bc4b-a734249dd7e6" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"a7f6796d-5664-494a-9040-9c85fe75f1fd" -> "3ee90b91-65ce-424d-bc4b-a734249dd7e6"; +"ed698829-defc-4bd7-b5b5-a787873ab161" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "ed698829-defc-4bd7-b5b5-a787873ab161"; +"d2970d23-0525-42c5-a6d5-d1801429c17b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "d2970d23-0525-42c5-a6d5-d1801429c17b"; +"8614c8da-8a04-4907-a164-6d4e6e21ac2c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"3ee90b91-65ce-424d-bc4b-a734249dd7e6" -> "8614c8da-8a04-4907-a164-6d4e6e21ac2c"; +"7b1ddbba-b4d2-443c-b646-39eb933fd102" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; +"a7f6796d-5664-494a-9040-9c85fe75f1fd" -> "7b1ddbba-b4d2-443c-b646-39eb933fd102"; +"8b6ff78e-014c-44d7-ba78-2006b86db3fd" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "8b6ff78e-014c-44d7-ba78-2006b86db3fd"; +"1c09ff47-400c-466e-8714-d8c8429db7e6" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Bernachon)", shape=ellipse, style=filled]; +"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "1c09ff47-400c-466e-8714-d8c8429db7e6"; +"327e2478-87b5-4eba-9dd1-6918366c7da1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "327e2478-87b5-4eba-9dd1-6918366c7da1"; +"60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "60bf2fdd-e40b-4c79-ab2b-24c6bff0ae97"; +"c5e01a62-e85f-4707-a45f-49eb624b5da4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Bernachon,Bar)", shape=box, style=filled]; +"8b6ff78e-014c-44d7-ba78-2006b86db3fd" -> "c5e01a62-e85f-4707-a45f-49eb624b5da4"; +"eb9ec3da-8aec-484c-b0da-62884f057827" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "eb9ec3da-8aec-484c-b0da-62884f057827"; +"02754f4b-66b5-46f8-b427-c9043b6c323d" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"eb9ec3da-8aec-484c-b0da-62884f057827" -> "02754f4b-66b5-46f8-b427-c9043b6c323d"; +"66773396-42d7-4b86-b195-289ee353bea1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"02754f4b-66b5-46f8-b427-c9043b6c323d" -> "66773396-42d7-4b86-b195-289ee353bea1"; +"10caf46d-5682-45ed-b60d-d30a074d9cab" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"02754f4b-66b5-46f8-b427-c9043b6c323d" -> "10caf46d-5682-45ed-b60d-d30a074d9cab"; +"38a751c3-d97d-4e30-b2a1-92cc0bf1748c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"02754f4b-66b5-46f8-b427-c9043b6c323d" -> "38a751c3-d97d-4e30-b2a1-92cc0bf1748c"; +"4b866074-42e4-4eb6-bf22-e3f9e3efc8c4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; +"eb9ec3da-8aec-484c-b0da-62884f057827" -> "4b866074-42e4-4eb6-bf22-e3f9e3efc8c4"; +"226631db-0755-4e1c-83c7-9c23e7fc31ec" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "226631db-0755-4e1c-83c7-9c23e7fc31ec"; +"f7b2afd5-172e-4f61-a7fd-7635fdf998c7" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(BottledDrink)", shape=ellipse, style=filled]; +"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "f7b2afd5-172e-4f61-a7fd-7635fdf998c7"; +"e16be6cb-8fec-486e-a03d-6dff87de936e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "e16be6cb-8fec-486e-a03d-6dff87de936e"; +"d48b849a-4b45-4e2b-bfa2-006c7f88d051" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "d48b849a-4b45-4e2b-bfa2-006c7f88d051"; +"9e20a4f6-e58f-4110-a538-14881df9fba1" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(BottledDrink,Bar)", shape=box, style=filled]; +"226631db-0755-4e1c-83c7-9c23e7fc31ec" -> "9e20a4f6-e58f-4110-a538-14881df9fba1"; +"80bb0311-1f87-4af6-a786-20e869ddffbf" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "80bb0311-1f87-4af6-a786-20e869ddffbf"; +"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"80bb0311-1f87-4af6-a786-20e869ddffbf" -> "f6e6a3e1-0759-44e1-8e5b-d350636a36b0"; +"ec10b3b5-792b-47d7-bb00-0454a405e5e1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "ec10b3b5-792b-47d7-bb00-0454a405e5e1"; +"8614a2e8-9005-4fca-8d71-60143de2b08d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "8614a2e8-9005-4fca-8d71-60143de2b08d"; +"557ba623-a633-432b-8779-eac1ead8c539" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"f6e6a3e1-0759-44e1-8e5b-d350636a36b0" -> "557ba623-a633-432b-8779-eac1ead8c539"; +"e044fc55-062c-472c-9c8e-4f32bbead6d6" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; +"80bb0311-1f87-4af6-a786-20e869ddffbf" -> "e044fc55-062c-472c-9c8e-4f32bbead6d6"; +"d05a6846-39b7-44e5-b12a-a98dabae6736" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "d05a6846-39b7-44e5-b12a-a98dabae6736"; +"a1732476-b4cc-481c-9d25-22295111d762" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Chips)", shape=ellipse, style=filled]; +"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "a1732476-b4cc-481c-9d25-22295111d762"; +"49c6c9ec-3b95-43dc-88f5-06675d0e5bf1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "49c6c9ec-3b95-43dc-88f5-06675d0e5bf1"; +"ed55981d-75e8-4ad0-bc1f-7332e123d260" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "ed55981d-75e8-4ad0-bc1f-7332e123d260"; +"04fb64d5-6c56-4f53-9a86-e498ed641ba3" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Chips,Bar)", shape=box, style=filled]; +"d05a6846-39b7-44e5-b12a-a98dabae6736" -> "04fb64d5-6c56-4f53-9a86-e498ed641ba3"; +"e6a68b9e-80e9-49aa-98f5-ac87f6288da7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "e6a68b9e-80e9-49aa-98f5-ac87f6288da7"; +"e477cd0c-327d-4be3-af19-45dc454ff83e" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"e6a68b9e-80e9-49aa-98f5-ac87f6288da7" -> "e477cd0c-327d-4be3-af19-45dc454ff83e"; +"8603671b-a28b-4c77-a70d-7693a479c895" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"e477cd0c-327d-4be3-af19-45dc454ff83e" -> "8603671b-a28b-4c77-a70d-7693a479c895"; +"9e6e96b9-4e95-4f6c-8ed5-b69fe487087d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"e477cd0c-327d-4be3-af19-45dc454ff83e" -> "9e6e96b9-4e95-4f6c-8ed5-b69fe487087d"; +"c1afe35f-6e04-4ae8-bc21-5810d71efd7d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"e477cd0c-327d-4be3-af19-45dc454ff83e" -> "c1afe35f-6e04-4ae8-bc21-5810d71efd7d"; +"98150a13-3731-47c8-9a8e-d78a55e3645d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; +"e6a68b9e-80e9-49aa-98f5-ac87f6288da7" -> "98150a13-3731-47c8-9a8e-d78a55e3645d"; +"132bf3f9-ef25-4e05-9813-002cf8021409" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "132bf3f9-ef25-4e05-9813-002cf8021409"; +"e60445d9-2ff8-46a5-bfe4-c28830bb672b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"132bf3f9-ef25-4e05-9813-002cf8021409" -> "e60445d9-2ff8-46a5-bfe4-c28830bb672b"; +"a9da3177-f487-4698-a59f-bfa320d329f2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"132bf3f9-ef25-4e05-9813-002cf8021409" -> "a9da3177-f487-4698-a59f-bfa320d329f2"; +"dc8676aa-bd2e-4961-8f2f-a337d17e05d0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"132bf3f9-ef25-4e05-9813-002cf8021409" -> "dc8676aa-bd2e-4961-8f2f-a337d17e05d0"; +"14fdadac-4678-4f2a-a5db-89bb1300fb3a" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; +"132bf3f9-ef25-4e05-9813-002cf8021409" -> "14fdadac-4678-4f2a-a5db-89bb1300fb3a"; +"6b5035f6-4e7d-4914-881e-efc040a46e92" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "6b5035f6-4e7d-4914-881e-efc040a46e92"; +"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"6b5035f6-4e7d-4914-881e-efc040a46e92" -> "34aa96bb-cb46-4b9e-a46a-f07b7d5b435f"; +"c6647b89-208f-4669-9079-5b68c076ab9c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" -> "c6647b89-208f-4669-9079-5b68c076ab9c"; +"82cb330f-8288-4c34-ba33-3f0af489a8a8" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" -> "82cb330f-8288-4c34-ba33-3f0af489a8a8"; +"e452ea52-2d8e-41d5-a217-f401cd032e2b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"34aa96bb-cb46-4b9e-a46a-f07b7d5b435f" -> "e452ea52-2d8e-41d5-a217-f401cd032e2b"; +"be59844a-9caf-45e2-94a6-a19f660a279c" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; +"6b5035f6-4e7d-4914-881e-efc040a46e92" -> "be59844a-9caf-45e2-94a6-a19f660a279c"; +"32096f54-f5d3-49cc-9702-3bddf080d2fe" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "32096f54-f5d3-49cc-9702-3bddf080d2fe"; +"ef27f545-f3b5-46a1-aea1-3e77e4c7ef99" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "ef27f545-f3b5-46a1-aea1-3e77e4c7ef99"; +"f2892b78-6688-4c60-91d3-97750ceb48f3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Dessert)", shape=ellipse, style=filled]; +"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "f2892b78-6688-4c60-91d3-97750ceb48f3"; +"4980523b-34b7-4b53-ba9b-bf4c5212c479" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "4980523b-34b7-4b53-ba9b-bf4c5212c479"; +"5354575b-84af-40ed-8e01-c31e8b1d3b90" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Dessert,Bar)", shape=box, style=filled]; +"32096f54-f5d3-49cc-9702-3bddf080d2fe" -> "5354575b-84af-40ed-8e01-c31e8b1d3b90"; +"4939a51b-2fed-4df4-8db8-b3914cb99572" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "4939a51b-2fed-4df4-8db8-b3914cb99572"; +"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"4939a51b-2fed-4df4-8db8-b3914cb99572" -> "a822d82e-b6b0-4a56-8a3e-0241521d3d0c"; +"55c3bd46-df99-4607-8f4a-43713ffd728b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" -> "55c3bd46-df99-4607-8f4a-43713ffd728b"; +"3ce080d0-3205-4929-9166-49c4ff633e79" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" -> "3ce080d0-3205-4929-9166-49c4ff633e79"; +"0cfd551b-c03c-42e1-b315-24b151ca76c2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"a822d82e-b6b0-4a56-8a3e-0241521d3d0c" -> "0cfd551b-c03c-42e1-b315-24b151ca76c2"; +"636ee734-15b7-4024-a99a-c4a1be49cb4b" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; +"4939a51b-2fed-4df4-8db8-b3914cb99572" -> "636ee734-15b7-4024-a99a-c4a1be49cb4b"; +"71eb1e55-077c-481e-a969-d95c0c50de23" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "71eb1e55-077c-481e-a969-d95c0c50de23"; +"18fd2435-dc2d-4bb5-92cb-41bae1112cdc" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Milk)", shape=ellipse, style=filled]; +"71eb1e55-077c-481e-a969-d95c0c50de23" -> "18fd2435-dc2d-4bb5-92cb-41bae1112cdc"; +"5f1c3314-2fd1-45e9-b521-ed2b72c21796" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"71eb1e55-077c-481e-a969-d95c0c50de23" -> "5f1c3314-2fd1-45e9-b521-ed2b72c21796"; +"a3783c9f-ae12-49ae-907a-f474593665a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"71eb1e55-077c-481e-a969-d95c0c50de23" -> "a3783c9f-ae12-49ae-907a-f474593665a2"; +"19c9848f-caa2-40af-8534-43e9c2f16cc8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Milk,Bar)", shape=box, style=filled]; +"71eb1e55-077c-481e-a969-d95c0c50de23" -> "19c9848f-caa2-40af-8534-43e9c2f16cc8"; +"44c46a4a-e646-4274-a23b-ffd4686afa61" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "44c46a4a-e646-4274-a23b-ffd4686afa61"; +"ed86cd17-3f27-4930-aed4-c55dda092d5a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"44c46a4a-e646-4274-a23b-ffd4686afa61" -> "ed86cd17-3f27-4930-aed4-c55dda092d5a"; +"0977779f-a2d6-44af-b12b-9a00dc620cf2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"ed86cd17-3f27-4930-aed4-c55dda092d5a" -> "0977779f-a2d6-44af-b12b-9a00dc620cf2"; +"69c7c338-8c7a-466d-bec4-006beff4df4c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"ed86cd17-3f27-4930-aed4-c55dda092d5a" -> "69c7c338-8c7a-466d-bec4-006beff4df4c"; +"602e1341-9186-4478-ae53-0c0feed21e4e" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"ed86cd17-3f27-4930-aed4-c55dda092d5a" -> "602e1341-9186-4478-ae53-0c0feed21e4e"; +"51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(NFCJuice,Bar)", shape=box, style=filled]; +"44c46a4a-e646-4274-a23b-ffd4686afa61" -> "51bc0f4e-b9ff-4bf2-95e6-b5ecc1782efc"; +"be610373-908a-4cdf-a276-eb63c0927891" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"4662ab1d-be51-4494-8802-bf443d90cfc2" -> "be610373-908a-4cdf-a276-eb63c0927891"; +"b1da90b9-0bca-40b0-be7c-52025d64cb95" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(NFCJuice)", shape=ellipse, style=filled]; +"be610373-908a-4cdf-a276-eb63c0927891" -> "b1da90b9-0bca-40b0-be7c-52025d64cb95"; +"51176ed0-b011-4b3a-88e1-a2cbe51f50cf" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar2)", shape=ellipse, style=filled]; +"be610373-908a-4cdf-a276-eb63c0927891" -> "51176ed0-b011-4b3a-88e1-a2cbe51f50cf"; +"ac5a6273-34c5-4827-8f01-6cff2ce195b3" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(MilkDrink)", shape=ellipse, style=filled]; +"be610373-908a-4cdf-a276-eb63c0927891" -> "ac5a6273-34c5-4827-8f01-6cff2ce195b3"; 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+a3256f70-bcb0-4ef0-a81b-741752b6d07e + +→ - + -5ced2d60-8b01-4312-97c4-19e366000072->0c6604f3-36df-499b-8a56-84289c53f910 - - +f4f33a8f-ff13-493a-a78f-da05090f8336->a3256f70-bcb0-4ef0-a81b-741752b6d07e + + - + -79c6fc3e-b3fb-4bab-a5ab-39ea75ebbd1c - -Is(AC,Off) +e74e83a6-bc77-4dc9-aa78-4f400bc9a730 + +→ - + -1d74f511-6321-416b-a7f9-a2c051c6f981->79c6fc3e-b3fb-4bab-a5ab-39ea75ebbd1c - - +f4f33a8f-ff13-493a-a78f-da05090f8336->e74e83a6-bc77-4dc9-aa78-4f400bc9a730 + + - + + +813bbab4-bc04-427c-9040-a006399f5c45 + +Is(AC,On) + + + +a3256f70-bcb0-4ef0-a81b-741752b6d07e->813bbab4-bc04-427c-9040-a006399f5c45 + + + + + +94284302-d3f9-4a66-bf32-52eda963058e + +Clean(Floor) + + + +a3256f70-bcb0-4ef0-a81b-741752b6d07e->94284302-d3f9-4a66-bf32-52eda963058e + + + + -b215b2df-15a0-44cc-bdff-5a15a91a36ae - -Holding(Nothing) +093a1c94-4aae-4cff-8fcb-06d18c6a9790 + +Is(AC,Off) - + -1d74f511-6321-416b-a7f9-a2c051c6f981->b215b2df-15a0-44cc-bdff-5a15a91a36ae - - +e74e83a6-bc77-4dc9-aa78-4f400bc9a730->093a1c94-4aae-4cff-8fcb-06d18c6a9790 + + - + -4587a9ec-fab2-4b65-8b9d-2836668409a9 - -Turn(AC,On) +0ec75c23-457b-4541-99d8-628102646eef + +Is(Floor,Clean) - + -1d74f511-6321-416b-a7f9-a2c051c6f981->4587a9ec-fab2-4b65-8b9d-2836668409a9 - - +e74e83a6-bc77-4dc9-aa78-4f400bc9a730->0ec75c23-457b-4541-99d8-628102646eef + + + + + +0a54b3fc-0cce-4cf4-be75-5f18647b52d4 + +Turn(AC,On) + + + +e74e83a6-bc77-4dc9-aa78-4f400bc9a730->0a54b3fc-0cce-4cf4-be75-5f18647b52d4 + + + + + +856fa507-12df-4ab7-a7c0-2c327abfebb1 + +Is(AC,On) + + + +bb7a8a0f-cbd8-4595-be11-ad28a431cdd7->856fa507-12df-4ab7-a7c0-2c327abfebb1 + + + + + +15f01872-190c-44eb-8903-ca38a7a51aeb + +PutDown(Anything,Anywhere) + + + +bb7a8a0f-cbd8-4595-be11-ad28a431cdd7->15f01872-190c-44eb-8903-ca38a7a51aeb + + + + + +c480f850-8188-4c14-9289-9043f0c4f9cc + +Is(AC,Off) + + + +521017a2-5249-4dcf-a960-09032a615bf4->c480f850-8188-4c14-9289-9043f0c4f9cc + + + + + +12dd8c3d-d161-4ae6-9592-b8782884939e + +? + + + +521017a2-5249-4dcf-a960-09032a615bf4->12dd8c3d-d161-4ae6-9592-b8782884939e + + + + + +6c30bf44-028c-4dab-8e38-ff859419cfcf + +→ + + + +12dd8c3d-d161-4ae6-9592-b8782884939e->6c30bf44-028c-4dab-8e38-ff859419cfcf + + + + + +69417d3a-d3da-4767-9eea-4b9c64bd24b4 + +→ + + + +12dd8c3d-d161-4ae6-9592-b8782884939e->69417d3a-d3da-4767-9eea-4b9c64bd24b4 + + + + + +f7c780d5-aec3-4a6e-a11d-3f3f4fd651f3 + +Is(Floor,Clean) + + + +6c30bf44-028c-4dab-8e38-ff859419cfcf->f7c780d5-aec3-4a6e-a11d-3f3f4fd651f3 + + + + + +891f47a3-c914-4b53-b30e-36a0fb51f15a + +PutDown(Anything,Anywhere) + + + +6c30bf44-028c-4dab-8e38-ff859419cfcf->891f47a3-c914-4b53-b30e-36a0fb51f15a + + + + + +69afa45a-6e57-4c11-89bd-b437d400dee4 + +Holding(Nothing) + + + +69417d3a-d3da-4767-9eea-4b9c64bd24b4->69afa45a-6e57-4c11-89bd-b437d400dee4 + + + + + +bae4444e-5746-403d-be66-17b721dd5a3f + +Turn(AC,On) + + + +69417d3a-d3da-4767-9eea-4b9c64bd24b4->bae4444e-5746-403d-be66-17b721dd5a3f + + diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py index 156d28d..10922a9 100644 --- a/robowaiter/scene/scene.py +++ b/robowaiter/scene/scene.py @@ -282,7 +282,7 @@ class Scene: self.sub_task_seq = None os.makedirs(self.output_path,exist_ok=True) - self.show_bubble = True + self.show_bubble = False # 是否展示UI self.show_ui = False # 图像分割 diff --git a/robowaiter/utils/draw_bt/Default.ptml b/robowaiter/utils/draw_bt/Default.ptml index faa7387..373ef76 100644 --- a/robowaiter/utils/draw_bt/Default.ptml +++ b/robowaiter/utils/draw_bt/Default.ptml @@ -1,7 +1,7 @@ selector cond On(Coffee,Bar) sequence - cond Holding(Coffee) + not cond Holding(Coffee) selector sequence cond At(Robot,Bar) diff --git a/robowaiter/utils/draw_bt/Default_bracket.ptml b/robowaiter/utils/draw_bt/Default_bracket.ptml index ced19d5..2c2db27 100644 --- a/robowaiter/utils/draw_bt/Default_bracket.ptml +++ b/robowaiter/utils/draw_bt/Default_bracket.ptml @@ -3,7 +3,7 @@ selector cond On(Coffee,Bar) sequence { - cond Holding(Coffee) + not cond Holding(Coffee) selector { sequence diff --git a/robowaiter/utils/draw_bt/test.dot b/robowaiter/utils/draw_bt/test.dot index be7a354..8556134 100644 --- a/robowaiter/utils/draw_bt/test.dot +++ b/robowaiter/utils/draw_bt/test.dot @@ -3,49 +3,49 @@ ordering=out; graph [fontname="times-roman"]; node [fontname="times-roman"]; edge [fontname="times-roman"]; -"22d96bbc-8512-4f16-aaa3-2e6004c5bd9c" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"beefe100-69d4-42c8-943e-7e6a44cf6dba" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Coffee,Bar)", shape=ellipse, style=filled]; -"22d96bbc-8512-4f16-aaa3-2e6004c5bd9c" -> "beefe100-69d4-42c8-943e-7e6a44cf6dba"; -"46e28392-6794-4550-b6e2-0e73ec120193" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"22d96bbc-8512-4f16-aaa3-2e6004c5bd9c" -> "46e28392-6794-4550-b6e2-0e73ec120193"; -"0d7304bc-7515-400b-80e2-c01196ec55a2" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; -"46e28392-6794-4550-b6e2-0e73ec120193" -> "0d7304bc-7515-400b-80e2-c01196ec55a2"; -"4829a7d0-0f74-4826-9d82-94e0503d0e38" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"46e28392-6794-4550-b6e2-0e73ec120193" -> "4829a7d0-0f74-4826-9d82-94e0503d0e38"; -"93fb3deb-6e14-4cb7-b90b-d885e6be0af7" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"4829a7d0-0f74-4826-9d82-94e0503d0e38" -> "93fb3deb-6e14-4cb7-b90b-d885e6be0af7"; -"9765c81a-a42e-469c-9617-28c7a2314e0f" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; -"93fb3deb-6e14-4cb7-b90b-d885e6be0af7" -> "9765c81a-a42e-469c-9617-28c7a2314e0f"; -"2aed0c9b-0584-4ecf-bddd-8a863f4c1b9d" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; -"93fb3deb-6e14-4cb7-b90b-d885e6be0af7" -> "2aed0c9b-0584-4ecf-bddd-8a863f4c1b9d"; -"38414809-7783-46fc-9b2b-4191032e7936" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled]; -"4829a7d0-0f74-4826-9d82-94e0503d0e38" -> "38414809-7783-46fc-9b2b-4191032e7936"; -"e2a0f9ad-dbfd-41dd-aaf3-f9ed9329116d" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"22d96bbc-8512-4f16-aaa3-2e6004c5bd9c" -> "e2a0f9ad-dbfd-41dd-aaf3-f9ed9329116d"; -"7e87efb6-6091-413d-8b22-dd66ebe60767" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled]; -"e2a0f9ad-dbfd-41dd-aaf3-f9ed9329116d" -> "7e87efb6-6091-413d-8b22-dd66ebe60767"; -"afa21845-cfa3-447a-ac96-a83cf1951a6b" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; -"e2a0f9ad-dbfd-41dd-aaf3-f9ed9329116d" -> "afa21845-cfa3-447a-ac96-a83cf1951a6b"; -"9567c5fd-7666-4887-b871-5aa129200fbb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"afa21845-cfa3-447a-ac96-a83cf1951a6b" -> "9567c5fd-7666-4887-b871-5aa129200fbb"; -"31863371-28b9-441b-a0c0-80b0175ebc9d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"9567c5fd-7666-4887-b871-5aa129200fbb" -> "31863371-28b9-441b-a0c0-80b0175ebc9d"; -"c0da3640-d486-436b-836f-684d165e1870" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled]; -"9567c5fd-7666-4887-b871-5aa129200fbb" -> "c0da3640-d486-436b-836f-684d165e1870"; -"6781847e-5cc9-43aa-864a-15d6b1ea991e" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"afa21845-cfa3-447a-ac96-a83cf1951a6b" -> "6781847e-5cc9-43aa-864a-15d6b1ea991e"; -"18fffbc9-1a98-40f8-a8ef-3a8f6564e041" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"22d96bbc-8512-4f16-aaa3-2e6004c5bd9c" -> "18fffbc9-1a98-40f8-a8ef-3a8f6564e041"; -"17aa2547-5d2a-4100-b1cc-9e6795a0bed1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exist(Coffee)", shape=ellipse, style=filled]; -"18fffbc9-1a98-40f8-a8ef-3a8f6564e041" -> "17aa2547-5d2a-4100-b1cc-9e6795a0bed1"; -"7540b9ff-e074-459b-a197-a13019794d30" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Coffee)", shape=box, style=filled]; -"18fffbc9-1a98-40f8-a8ef-3a8f6564e041" -> "7540b9ff-e074-459b-a197-a13019794d30"; -"16721d61-c6ad-455f-8c14-c628d04337fb" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; -"22d96bbc-8512-4f16-aaa3-2e6004c5bd9c" -> "16721d61-c6ad-455f-8c14-c628d04337fb"; -"67a45deb-eea1-405c-b956-f27b4aba93a0" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; -"16721d61-c6ad-455f-8c14-c628d04337fb" -> "67a45deb-eea1-405c-b956-f27b4aba93a0"; -"54a17c08-13b6-420a-bccb-ef411c9a6924" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled]; -"16721d61-c6ad-455f-8c14-c628d04337fb" -> "54a17c08-13b6-420a-bccb-ef411c9a6924"; -"13731b58-283a-4ec4-9f51-12f86a9f29ea" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; -"22d96bbc-8512-4f16-aaa3-2e6004c5bd9c" -> "13731b58-283a-4ec4-9f51-12f86a9f29ea"; +"b11ddc3c-39f5-4864-b95b-491e8c018e3a" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"4f5fe036-8e24-4442-8f53-7fb3b666b682" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="On(Coffee,Bar)", shape=ellipse, style=filled]; +"b11ddc3c-39f5-4864-b95b-491e8c018e3a" -> "4f5fe036-8e24-4442-8f53-7fb3b666b682"; +"cde06c67-35f3-465a-b8f8-3035b7fa36aa" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"b11ddc3c-39f5-4864-b95b-491e8c018e3a" -> "cde06c67-35f3-465a-b8f8-3035b7fa36aa"; +"6c80808e-bca6-487a-8719-c8225a37114b" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Coffee)", shape=ellipse, style=filled]; +"cde06c67-35f3-465a-b8f8-3035b7fa36aa" -> "6c80808e-bca6-487a-8719-c8225a37114b"; +"be13f225-da19-44e5-9c32-2b54a2378905" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"cde06c67-35f3-465a-b8f8-3035b7fa36aa" -> "be13f225-da19-44e5-9c32-2b54a2378905"; +"fe644e9f-fcfa-4167-8ed2-dab8e2425451" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"be13f225-da19-44e5-9c32-2b54a2378905" -> "fe644e9f-fcfa-4167-8ed2-dab8e2425451"; +"26534f23-3190-480c-b177-964b617cc3e1" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Bar)", shape=ellipse, style=filled]; +"fe644e9f-fcfa-4167-8ed2-dab8e2425451" -> "26534f23-3190-480c-b177-964b617cc3e1"; +"081d2e2e-8271-4797-ade3-2ec7a191c20f" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Coffee,Bar)", shape=box, style=filled]; +"fe644e9f-fcfa-4167-8ed2-dab8e2425451" -> "081d2e2e-8271-4797-ade3-2ec7a191c20f"; +"ae29dc79-c229-4bca-a572-bb0d86edba68" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Bar)", shape=box, style=filled]; +"be13f225-da19-44e5-9c32-2b54a2378905" -> "ae29dc79-c229-4bca-a572-bb0d86edba68"; +"89fdef53-87be-4d08-acaa-4c9ad93f8995" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"b11ddc3c-39f5-4864-b95b-491e8c018e3a" -> "89fdef53-87be-4d08-acaa-4c9ad93f8995"; +"da41325e-8425-4f53-8bc7-23a29f92336d" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="At(Robot,Coffee)", shape=ellipse, style=filled]; +"89fdef53-87be-4d08-acaa-4c9ad93f8995" -> "da41325e-8425-4f53-8bc7-23a29f92336d"; +"e976bacc-3672-45b0-b52b-12411df5fd40" [fillcolor="#B0FFFF", fontcolor=black, fontsize=20, height=0.01, label="?", shape=box, style=filled, width=0.01]; +"89fdef53-87be-4d08-acaa-4c9ad93f8995" -> "e976bacc-3672-45b0-b52b-12411df5fd40"; +"a780d470-cd36-4ad9-9f27-d24264f33aa0" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"e976bacc-3672-45b0-b52b-12411df5fd40" -> "a780d470-cd36-4ad9-9f27-d24264f33aa0"; +"99ab7825-32ec-4e5e-bb06-b9e0e8a0c443" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"a780d470-cd36-4ad9-9f27-d24264f33aa0" -> "99ab7825-32ec-4e5e-bb06-b9e0e8a0c443"; +"42875956-8aa0-4dac-bfbc-e37302ef7728" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PickUp(Coffee)", shape=box, style=filled]; +"a780d470-cd36-4ad9-9f27-d24264f33aa0" -> "42875956-8aa0-4dac-bfbc-e37302ef7728"; +"b27ad3d6-778b-424a-884f-31c306cae1e4" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"e976bacc-3672-45b0-b52b-12411df5fd40" -> "b27ad3d6-778b-424a-884f-31c306cae1e4"; +"c795f7b3-81a8-4155-8e0a-8947699defc1" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"b11ddc3c-39f5-4864-b95b-491e8c018e3a" -> "c795f7b3-81a8-4155-8e0a-8947699defc1"; +"308cc39f-c281-4f5b-9095-8b490a20479c" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Exist(Coffee)", shape=ellipse, style=filled]; +"c795f7b3-81a8-4155-8e0a-8947699defc1" -> "308cc39f-c281-4f5b-9095-8b490a20479c"; +"a11d2b78-0458-41cb-9753-411b79f7b2c8" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="MoveTo(Coffee)", shape=box, style=filled]; +"c795f7b3-81a8-4155-8e0a-8947699defc1" -> "a11d2b78-0458-41cb-9753-411b79f7b2c8"; +"6466a725-2237-4041-81ef-7a2d824da53a" [fillcolor="#FF8080", fontcolor=black, fontsize=20, height=0.01, label="→", shape=box, style=filled, width=0.01]; +"b11ddc3c-39f5-4864-b95b-491e8c018e3a" -> "6466a725-2237-4041-81ef-7a2d824da53a"; +"8fc04c6f-ff85-4ea6-93ed-4cf0912fc380" [fillcolor="#FFFF80", fontcolor=black, fontsize=20, label="Holding(Nothing)", shape=ellipse, style=filled]; +"6466a725-2237-4041-81ef-7a2d824da53a" -> "8fc04c6f-ff85-4ea6-93ed-4cf0912fc380"; +"47a0a4a3-7226-49cf-8ced-4de64113fe53" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="Make(Coffee)", shape=box, style=filled]; +"6466a725-2237-4041-81ef-7a2d824da53a" -> "47a0a4a3-7226-49cf-8ced-4de64113fe53"; +"c4875db5-7aed-4211-8e8f-0c8f40256d63" [fillcolor=lightgreen, fontcolor=black, fontsize=20, label="PutDown(Anything,Anywhere)", shape=box, style=filled]; +"b11ddc3c-39f5-4864-b95b-491e8c018e3a" -> "c4875db5-7aed-4211-8e8f-0c8f40256d63"; } diff --git a/robowaiter/utils/draw_bt/test.svg b/robowaiter/utils/draw_bt/test.svg index d158e4f..fe10ba5 100644 --- a/robowaiter/utils/draw_bt/test.svg +++ b/robowaiter/utils/draw_bt/test.svg @@ -9,273 +9,273 @@ pastafarianism - + -22d96bbc-8512-4f16-aaa3-2e6004c5bd9c +b11ddc3c-39f5-4864-b95b-491e8c018e3a ? - + -beefe100-69d4-42c8-943e-7e6a44cf6dba +4f5fe036-8e24-4442-8f53-7fb3b666b682 On(Coffee,Bar) - + -22d96bbc-8512-4f16-aaa3-2e6004c5bd9c->beefe100-69d4-42c8-943e-7e6a44cf6dba +b11ddc3c-39f5-4864-b95b-491e8c018e3a->4f5fe036-8e24-4442-8f53-7fb3b666b682 - + -46e28392-6794-4550-b6e2-0e73ec120193 +cde06c67-35f3-465a-b8f8-3035b7fa36aa → - + -22d96bbc-8512-4f16-aaa3-2e6004c5bd9c->46e28392-6794-4550-b6e2-0e73ec120193 +b11ddc3c-39f5-4864-b95b-491e8c018e3a->cde06c67-35f3-465a-b8f8-3035b7fa36aa - + -e2a0f9ad-dbfd-41dd-aaf3-f9ed9329116d +89fdef53-87be-4d08-acaa-4c9ad93f8995 → - + -22d96bbc-8512-4f16-aaa3-2e6004c5bd9c->e2a0f9ad-dbfd-41dd-aaf3-f9ed9329116d +b11ddc3c-39f5-4864-b95b-491e8c018e3a->89fdef53-87be-4d08-acaa-4c9ad93f8995 - + -18fffbc9-1a98-40f8-a8ef-3a8f6564e041 +c795f7b3-81a8-4155-8e0a-8947699defc1 → - + -22d96bbc-8512-4f16-aaa3-2e6004c5bd9c->18fffbc9-1a98-40f8-a8ef-3a8f6564e041 +b11ddc3c-39f5-4864-b95b-491e8c018e3a->c795f7b3-81a8-4155-8e0a-8947699defc1 - + -16721d61-c6ad-455f-8c14-c628d04337fb +6466a725-2237-4041-81ef-7a2d824da53a → - + -22d96bbc-8512-4f16-aaa3-2e6004c5bd9c->16721d61-c6ad-455f-8c14-c628d04337fb +b11ddc3c-39f5-4864-b95b-491e8c018e3a->6466a725-2237-4041-81ef-7a2d824da53a - + -13731b58-283a-4ec4-9f51-12f86a9f29ea +c4875db5-7aed-4211-8e8f-0c8f40256d63 PutDown(Anything,Anywhere) - + -22d96bbc-8512-4f16-aaa3-2e6004c5bd9c->13731b58-283a-4ec4-9f51-12f86a9f29ea +b11ddc3c-39f5-4864-b95b-491e8c018e3a->c4875db5-7aed-4211-8e8f-0c8f40256d63 - + -0d7304bc-7515-400b-80e2-c01196ec55a2 +6c80808e-bca6-487a-8719-c8225a37114b Holding(Coffee) - + -46e28392-6794-4550-b6e2-0e73ec120193->0d7304bc-7515-400b-80e2-c01196ec55a2 +cde06c67-35f3-465a-b8f8-3035b7fa36aa->6c80808e-bca6-487a-8719-c8225a37114b - + -4829a7d0-0f74-4826-9d82-94e0503d0e38 +be13f225-da19-44e5-9c32-2b54a2378905 ? - + -46e28392-6794-4550-b6e2-0e73ec120193->4829a7d0-0f74-4826-9d82-94e0503d0e38 +cde06c67-35f3-465a-b8f8-3035b7fa36aa->be13f225-da19-44e5-9c32-2b54a2378905 - + -93fb3deb-6e14-4cb7-b90b-d885e6be0af7 +fe644e9f-fcfa-4167-8ed2-dab8e2425451 → - + -4829a7d0-0f74-4826-9d82-94e0503d0e38->93fb3deb-6e14-4cb7-b90b-d885e6be0af7 +be13f225-da19-44e5-9c32-2b54a2378905->fe644e9f-fcfa-4167-8ed2-dab8e2425451 - + -38414809-7783-46fc-9b2b-4191032e7936 +ae29dc79-c229-4bca-a572-bb0d86edba68 MoveTo(Bar) - + -4829a7d0-0f74-4826-9d82-94e0503d0e38->38414809-7783-46fc-9b2b-4191032e7936 +be13f225-da19-44e5-9c32-2b54a2378905->ae29dc79-c229-4bca-a572-bb0d86edba68 - + -9765c81a-a42e-469c-9617-28c7a2314e0f +26534f23-3190-480c-b177-964b617cc3e1 At(Robot,Bar) - + -93fb3deb-6e14-4cb7-b90b-d885e6be0af7->9765c81a-a42e-469c-9617-28c7a2314e0f +fe644e9f-fcfa-4167-8ed2-dab8e2425451->26534f23-3190-480c-b177-964b617cc3e1 - + -2aed0c9b-0584-4ecf-bddd-8a863f4c1b9d +081d2e2e-8271-4797-ade3-2ec7a191c20f PutDown(Coffee,Bar) - + -93fb3deb-6e14-4cb7-b90b-d885e6be0af7->2aed0c9b-0584-4ecf-bddd-8a863f4c1b9d +fe644e9f-fcfa-4167-8ed2-dab8e2425451->081d2e2e-8271-4797-ade3-2ec7a191c20f - + -7e87efb6-6091-413d-8b22-dd66ebe60767 +da41325e-8425-4f53-8bc7-23a29f92336d At(Robot,Coffee) - + -e2a0f9ad-dbfd-41dd-aaf3-f9ed9329116d->7e87efb6-6091-413d-8b22-dd66ebe60767 +89fdef53-87be-4d08-acaa-4c9ad93f8995->da41325e-8425-4f53-8bc7-23a29f92336d - + -afa21845-cfa3-447a-ac96-a83cf1951a6b +e976bacc-3672-45b0-b52b-12411df5fd40 ? - + -e2a0f9ad-dbfd-41dd-aaf3-f9ed9329116d->afa21845-cfa3-447a-ac96-a83cf1951a6b +89fdef53-87be-4d08-acaa-4c9ad93f8995->e976bacc-3672-45b0-b52b-12411df5fd40 - + -9567c5fd-7666-4887-b871-5aa129200fbb +a780d470-cd36-4ad9-9f27-d24264f33aa0 → - + -afa21845-cfa3-447a-ac96-a83cf1951a6b->9567c5fd-7666-4887-b871-5aa129200fbb +e976bacc-3672-45b0-b52b-12411df5fd40->a780d470-cd36-4ad9-9f27-d24264f33aa0 - + -6781847e-5cc9-43aa-864a-15d6b1ea991e +b27ad3d6-778b-424a-884f-31c306cae1e4 PutDown(Anything,Anywhere) - + -afa21845-cfa3-447a-ac96-a83cf1951a6b->6781847e-5cc9-43aa-864a-15d6b1ea991e +e976bacc-3672-45b0-b52b-12411df5fd40->b27ad3d6-778b-424a-884f-31c306cae1e4 - + -31863371-28b9-441b-a0c0-80b0175ebc9d +99ab7825-32ec-4e5e-bb06-b9e0e8a0c443 Holding(Nothing) - + -9567c5fd-7666-4887-b871-5aa129200fbb->31863371-28b9-441b-a0c0-80b0175ebc9d +a780d470-cd36-4ad9-9f27-d24264f33aa0->99ab7825-32ec-4e5e-bb06-b9e0e8a0c443 - + -c0da3640-d486-436b-836f-684d165e1870 +42875956-8aa0-4dac-bfbc-e37302ef7728 PickUp(Coffee) - + -9567c5fd-7666-4887-b871-5aa129200fbb->c0da3640-d486-436b-836f-684d165e1870 +a780d470-cd36-4ad9-9f27-d24264f33aa0->42875956-8aa0-4dac-bfbc-e37302ef7728 - + -17aa2547-5d2a-4100-b1cc-9e6795a0bed1 +308cc39f-c281-4f5b-9095-8b490a20479c Exist(Coffee) - + -18fffbc9-1a98-40f8-a8ef-3a8f6564e041->17aa2547-5d2a-4100-b1cc-9e6795a0bed1 +c795f7b3-81a8-4155-8e0a-8947699defc1->308cc39f-c281-4f5b-9095-8b490a20479c - + -7540b9ff-e074-459b-a197-a13019794d30 +a11d2b78-0458-41cb-9753-411b79f7b2c8 MoveTo(Coffee) - + -18fffbc9-1a98-40f8-a8ef-3a8f6564e041->7540b9ff-e074-459b-a197-a13019794d30 +c795f7b3-81a8-4155-8e0a-8947699defc1->a11d2b78-0458-41cb-9753-411b79f7b2c8 - + -67a45deb-eea1-405c-b956-f27b4aba93a0 +8fc04c6f-ff85-4ea6-93ed-4cf0912fc380 Holding(Nothing) - + -16721d61-c6ad-455f-8c14-c628d04337fb->67a45deb-eea1-405c-b956-f27b4aba93a0 +6466a725-2237-4041-81ef-7a2d824da53a->8fc04c6f-ff85-4ea6-93ed-4cf0912fc380 - + -54a17c08-13b6-420a-bccb-ef411c9a6924 +47a0a4a3-7226-49cf-8ced-4de64113fe53 Make(Coffee) - + -16721d61-c6ad-455f-8c14-c628d04337fb->54a17c08-13b6-420a-bccb-ef411c9a6924 +6466a725-2237-4041-81ef-7a2d824da53a->47a0a4a3-7226-49cf-8ced-4de64113fe53 diff --git a/tasks_no_ui/CafeDailyOperations/CafeOneDay_en.py b/tasks_no_ui/CafeDailyOperations/CafeOneDay_en.py index 8e88d79..8a13332 100644 --- a/tasks_no_ui/CafeDailyOperations/CafeOneDay_en.py +++ b/tasks_no_ui/CafeDailyOperations/CafeOneDay_en.py @@ -13,7 +13,7 @@ class SceneVLM(Scene): super().__init__(robot) # 在这里加入场景中发生的事件， (事件发生的时间，事件函数) - self.scene_flag = 1 + self.scene_flag = 2 self.st1 = 3 # self.st2 = self.st1 + 30 # self.st3 = self.st2 + 65 @@ -24,24 +24,28 @@ class SceneVLM(Scene): self.signal_event_list = [ # 场景1：带小女孩找阳光下的空位 - (3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3" - (1, self.control_walker, (0, False, 200, 60, 520, 0)), - (9, self.customer_say, (0, "Good morning! I'm looking for a place where I can enjoy the sunshine.")), - (1, self.customer_say, (0, "Could you take me there?")),#可以带我过去嘛？ - (13, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦 + # (3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3" + # (1, self.control_walker, (0, False, 200, 60, 520, 0)), + # (9, self.customer_say, (0, "Good morning! I'm looking for a place where I can enjoy the sunshine.")), + # (1, self.customer_say, (0, "Could you take me there?")),#可以带我过去嘛？ + # (13, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦 # # 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子 - # (3, self.add_walker, (5, 230, 1200)), # 小女孩 - # # # 上述准备 + (3, self.add_walker, (5, 230, 1200)), # 小女孩 + # # # # 上述准备 (10, self.add_walker, (26, -28, -150, 90)), (0, self.add_walker, (10, -70, -200, -45)), (5, self.customer_say, (1, "Hey, RoboWaiter, come here for a moment!")), - (10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "What drinks do you have here?"]]])), #6 + (20, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "What drinks do you have here?"]]])), #6 # 20 胖胖男到了 BrightTable6 (2, self.customer_say, (1, "What kinds of coffee do you have?")), # 10 (2, self.customer_say, (1, "I'll have a cappuccino, please.")), # 15 # # 场景3：有位女士要杯水和冰红茶 + (3, self.add_walker, (5, 230, 1200)), + (3, self.add_walker, (26, -30, -200, -90)), + (3, self.add_walker, (10, -80, -180, -45)), + ###### (3, self.add_walkers, ([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])), (0, self.control_walker, (5, True, 50, 250, 1200, 180)), # 设置id=4 的2小男孩随机游走红随机游走 diff --git a/tasks_no_ui/OT/Open_tasks_0106.py b/tasks_no_ui/OT/Open_tasks_0106.py new file mode 100644 index 0000000..c9d542c --- /dev/null +++ b/tasks_no_ui/OT/Open_tasks_0106.py @@ -0,0 +1,56 @@ +""" +人提出请求，机器人完成任务 +1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上 +2. 倒水 +3. 夹点心 + +具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。 + +""" +import time + +# todo: 接收点单信息，大模型生成任务规划 + +from robowaiter.scene.scene import Scene + +class SceneOT(Scene): + + def __init__(self, robot): + super().__init__(robot) + # 在这里加入场景中发生的事件 + self.signal_event_list = [ + (3, self.add_walkers, + ([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])), + (0, self.control_walker, (5, True, 50, 250, 1200, 180)), # 设置id=4 的2小男孩随机游走红随机游走 + (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 + (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), + (5, self.customer_say, (4, "Wow, it's so crowded today, are there any seats available?")), # 女士问 38 + (5, self.customer_say, (4, "I'm with my child, I'd like a spacious and well-lit spot.")), # 女士问 + (8, self.customer_say, (4, "The tables in the hall look good, please take me there!")), + (15, self.control_walker, (4, False, 50, -250, 480, 0)), # #290, 400 + (3, self.customer_say, (4, "I'll have a cappuccino, please.")), + # (3, self.customer_say, (4, "I'd like a glass of water, and please get a yogurt for my child.")), + # # ### 9号灰色男 排队排着排着，不排了 + # (0, self.control_walker, (10, False, 100, 100, 760, 180)), + # (0, self.control_walker, (10, True, 100, 0, 0, 180)), + (90, self.customer_say, (4, "Thank you for the water and yogurt!")), # 倒水+取放酸奶 90s + ] + + def _reset(self): + self.gen_obj() + pass + + def _run(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneOT(robot) + task.reset() + task.run() diff --git a/tasks_no_ui/OT/Open_tasks_0106_2.py b/tasks_no_ui/OT/Open_tasks_0106_2.py new file mode 100644 index 0000000..4392f46 --- /dev/null +++ b/tasks_no_ui/OT/Open_tasks_0106_2.py @@ -0,0 +1,60 @@ +""" +人提出请求，机器人完成任务 +1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上 +2. 倒水 +3. 夹点心 + +具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。 + +""" +import time + +# todo: 接收点单信息，大模型生成任务规划 + +from robowaiter.scene.scene import Scene + +class SceneOT(Scene): + + def __init__(self, robot): + super().__init__(robot) + # 在这里加入场景中发生的事件 + self.signal_event_list = [ + # (3, self.add_walker, (5, 230, 1200)), + # (3, self.add_walker, (26, -30, -200, -90)), + # (3, self.add_walker, (10, -80, -180, -45)), + (3, self.add_walkers, + ([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])), + (0, self.control_walker, (5, True, 50, 250, 1200, 180)), # 设置id=4 的2小男孩随机游走红随机游走 + (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 + (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), + (3, self.control_walker, (4, False, 50, -250, 480, 0)), # #290, 400 + + (10, self.control_walkers_and_say, ([[[5, False, 100, 60, 520, 0, #180 + "I think I left my VacuumCup in your café yesterday, have you seen it?"]]])), + (5, self.customer_say, (5, "Can you bring it to me? I'm waiting at the table near the front door.")), + (1, self.control_walker, (5, False, 80, -10, 520, 90)), # 红女士在吧台前后退一步 + (1, self.control_walker, (5, False, 80, 240, 1000, -45)), # 红女士走到Table1前 + (1, self.control_walker, (6, False, 100, 60, 600, -90)), # 大胖男排队往前走一步 + (2, self.control_walker, (7, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步 + (20, self.customer_say, (5, "That's the one! Found it, I'm so happy!")), # 红女士在Table1前 + (5, self.customer_say, (5, "No need anymore.")), # 红女士在Table1前 + ] + + def _reset(self): + self.gen_obj() + pass + + def _run(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneOT(robot) + task.reset() + task.run() diff --git a/tasks_no_ui/OT/Open_tasks_0106_3.py b/tasks_no_ui/OT/Open_tasks_0106_3.py new file mode 100644 index 0000000..6b44227 --- /dev/null +++ b/tasks_no_ui/OT/Open_tasks_0106_3.py @@ -0,0 +1,50 @@ +""" +人提出请求，机器人完成任务 +1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上 +2. 倒水 +3. 夹点心 + +具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。 + +""" +import time + +# todo: 接收点单信息，大模型生成任务规划 + +from robowaiter.scene.scene import Scene + +class SceneOT(Scene): + + def __init__(self, robot): + super().__init__(robot) + # 在这里加入场景中发生的事件 + self.signal_event_list = [ + (3, self.add_walker, (5, 230, 1200)), + (0, self.add_walker, (26, -30, -200, -90)), + (0, self.add_walker, (10, -80, -180, -45)), + # (0, self.add_walkers, + # ([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])), + # (0, self.control_walker, (5, True, 50, 250, 1200, 180)), # 设置id=4 的2小男孩随机游走红随机游走 + # (0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈 + # (0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])), + (3, self.customer_say, ("System", "Please turn on the air conditioning and mop the floor.")), + ] + + def _reset(self): + self.gen_obj() + pass + + def _run(self): + pass + + +if __name__ == '__main__': + import os + from robowaiter.robot.robot import Robot + + robot = Robot() + + # create task + task = SceneOT(robot) + task.reset() + task.run() diff --git a/tasks_no_ui/OT/Open_tasks_test.py b/tasks_no_ui/OT/Open_tasks_test.py index 1e5fb0b..fa1401a 100644 --- a/tasks_no_ui/OT/Open_tasks_test.py +++ b/tasks_no_ui/OT/Open_tasks_test.py @@ -18,7 +18,9 @@ class SceneOT(Scene): super().__init__(robot) # 在这里加入场景中发生的事件 self.signal_event_list = [ - (3, self.customer_say, ("System", "冰红茶")), + (3, self.customer_say, ("System", "I'll have a cappuccino, please.")), + + # (3, self.customer_say, ("System", "冰红茶")), # (3, self.customer_say, ("System", "有多少盒装饮料")), # (3, self.customer_say, ("System", "桌子有几张")), # (3, self.customer_say, ("System", "你们这儿有军棋吗")),

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+7c5a7025-8822-428b-b1f0-6ba69f3871b9->654e625e-c14a-4705-9053-e43cb9bdbdec + + + + + +7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a + +? + + + +79959fc1-102b-4dd0-bd26-0024bfab722a->7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a + + + + + +d187eff6-e61c-4a75-993c-e23f27d59a11 + +PutDown(VacuumCup,Bar) + + + +79959fc1-102b-4dd0-bd26-0024bfab722a->d187eff6-e61c-4a75-993c-e23f27d59a11 + + + + + +15edc351-573b-4906-ad03-297f4bd85d93 + +Holding(VacuumCup) + + + +7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a->15edc351-573b-4906-ad03-297f4bd85d93 + + + + + +d5b5cc68-7498-434b-9a16-a1c7e6afec4e + +At(Robot,Bar2) + + + +7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a->d5b5cc68-7498-434b-9a16-a1c7e6afec4e + + + + + +dc002244-de3d-4769-89e5-bfa498142b4c + +Holding(MilkDrink) + + + +7a6a8b0d-9a57-43b4-a60d-d7db21ce7f2a->dc002244-de3d-4769-89e5-bfa498142b4c + + + + + +bd378d36-4f17-4a82-b7ce-cb9e187b3376 + +Holding(VacuumCup) + + + +d02a9e30-e1a8-403e-be19-df39bc160e15->bd378d36-4f17-4a82-b7ce-cb9e187b3376 + + + + + 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+250c1cc7-54e9-471f-ac1e-a9e3989d500a + +PutDown(Yogurt,Bar) + + + +7f39a0b3-a29d-47ef-9293-045cf65eb9c6->250c1cc7-54e9-471f-ac1e-a9e3989d500a + + + + + +691a7203-e4a5-452e-b22d-bd4af678aa01 + +At(Robot,Bar2) + + + +c5587f32-fc90-4f69-ba6a-7b75074ba50a->691a7203-e4a5-452e-b22d-bd4af678aa01 + + + + + +63517f53-aacd-45d7-a8f9-0f3fcd62efdd + +Holding(Yogurt) + + + +c5587f32-fc90-4f69-ba6a-7b75074ba50a->63517f53-aacd-45d7-a8f9-0f3fcd62efdd + + + + + +78a69b57-aa86-44ab-9687-2bcf3e06648b + +Holding(MilkDrink) + + + +c5587f32-fc90-4f69-ba6a-7b75074ba50a->78a69b57-aa86-44ab-9687-2bcf3e06648b + + + + + +3c6de616-03f1-4aa9-a467-26e9bb08ad40 + +At(Robot,Bar2) + + + +b2638e75-d5a6-4b29-9228-dc6b42948ec0->3c6de616-03f1-4aa9-a467-26e9bb08ad40 + + + + + +0eaaf3d0-de63-44e1-a166-f0cb6d262a8c + +Holding(MilkDrink) + + + +b2638e75-d5a6-4b29-9228-dc6b42948ec0->0eaaf3d0-de63-44e1-a166-f0cb6d262a8c + + + + + +14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3 + +Holding(Yogurt) + + + +b2638e75-d5a6-4b29-9228-dc6b42948ec0->14b23eb1-5b8e-4aad-97a8-f3e8d8a5c4a3 + + + + + +37267417-bf55-440e-860e-c48b3b8b1fd3 + +PutDown(Yogurt,Bar) + + + +b2638e75-d5a6-4b29-9228-dc6b42948ec0->37267417-bf55-440e-860e-c48b3b8b1fd3 + + + + + +db9f748d-5b42-4c8a-98f7-62a22a435362 + +At(Robot,Bar2) + + + +95ea79df-397e-4ace-932c-370e2db017ae->db9f748d-5b42-4c8a-98f7-62a22a435362 + + + + + +a30f3c74-e181-46e5-82fe-aa9b75eb2a28 + +Holding(MilkDrink) + + + +95ea79df-397e-4ace-932c-370e2db017ae->a30f3c74-e181-46e5-82fe-aa9b75eb2a28 + + + + + +a84a7024-3472-4350-bb95-d794977232bb + +PutDown(MilkDrink,Bar) + + + +95ea79df-397e-4ace-932c-370e2db017ae->a84a7024-3472-4350-bb95-d794977232bb + + + + + diff --git a/robowaiter/behavior_lib/act/Clean.py b/robowaiter/behavior_lib/act/Clean.py index 714cce8..7d707dd 100644 --- a/robowaiter/behavior_lib/act/Clean.py +++ b/robowaiter/behavior_lib/act/Clean.py @@ -25,7 +25,8 @@ class Clean(Act): @classmethod def get_info(cls,arg): info = {} - info["pre"]= {f'Holding(Nothing)',f'Is(HallLight,On)'} + # info["pre"]= {f'Holding(Nothing)',f'Is(HallLight,On)'} + info["pre"] = {f'Holding(Nothing)'} if arg == "Table1": info["add"]= {f'Is(Table1,Clean)'} info["del_set"] = {f'Is(Table1,Dirty)'} diff --git a/robowaiter/behavior_lib/act/GreetCustomer.py b/robowaiter/behavior_lib/act/GreetCustomer.py index 8dd5e73..9589f7d 100644 --- a/robowaiter/behavior_lib/act/GreetCustomer.py +++ b/robowaiter/behavior_lib/act/GreetCustomer.py @@ -31,7 +31,7 @@ class GreetCustomer(Act): if self.scene.show_bubble: # self.scene.chat_bubble("欢迎光临！") # self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？") - self.scene.chat_bubble("Welcome! How may I assist you today?") + self.scene.chat_bubble("Welcome! How can I help you?") customer_name = self.scene.state['attention']['customer'] self.scene.state['greeted_customers'].add(customer_name) diff --git a/robowaiter/behavior_tree/ptml/ptml.g4 b/robowaiter/behavior_tree/ptml/ptml.g4 index 8e2db82..ad032f4 100644 --- a/robowaiter/behavior_tree/ptml/ptml.g4 +++ b/robowaiter/behavior_tree/ptml/ptml.g4 @@ -4,7 +4,7 @@ root : tree+ EOF; tree : internal_node '{' (action_sign|tree)* '}' ; internal_node : 'sequence' | 'selector' | 'parallel' Integer ; -action_sign : 'not'? ('act'|'cond') String '(' action_parm? ')'; +action_sign : ('act'|'cond') 'Not'? String '(' action_parm? ')'; action_parm : (Integer|Float|boolean|String) (',' (Integer|Float|boolean|String))* ; // var_decls : var_type Names ; // var_type : 'int' | 'float' | 'bool' | 'string' ; diff --git a/robowaiter/llm_client/data/fix_questions.txt b/robowaiter/llm_client/data/fix_questions.txt index ff30bda..6025e2c 100644 --- a/robowaiter/llm_client/data/fix_questions.txt +++ b/robowaiter/llm_client/data/fix_questions.txt @@ -1,75 +1,282 @@ -Hello! -Hello, I am the waiter of this coffee shop. What would you like to order? +你好 +您好，我是这家咖啡厅的服务员，请问您要点什么？ -Thanks, that's enough. You can go on with your work. -Ok, if you need anything, just let me know. -Make a cup of coffee, please. -Sure, I'll make the coffee right away. +感谢，这些够啦，你去忙吧。 +ok, 有需要您再找我。 + + +做一杯咖啡 +好的，我马上做咖啡 create_sub_task {"goal":"On(Coffee,CoffeeTable)"} -No need anymore. -Alright, if you need anything, just tell me. +不用了。 +好的，您有需要再跟我说 stop_serve {} +来一号桌 +好的，我马上来一号桌 +create_sub_task +{"goal":"At(Robot,Table1)"} -Good morning! I'm looking for a place where I can enjoy the sunshine. -There's a sunny spot right on your right. +早上好呀，我想找个能晒太阳的地方。 +您右手边就有能晒太阳的位置呢。 get_object_info -{"obj":"BrightTable"} +{"obj":"晒太阳的地方"} -Thank you! -You're welcome, I hope you have a pleasant time in the sunshine. +谢谢！ +不客气，希望你在阳光下有个愉快的时光。 -Could you take me there? -Of course, please follow me! + +可以带我过去嘛？ +当然，请跟我来！ +create_sub_task +{"goal":"At(Robot,BrightTable1)"} + +你可以带我过去嘛？ +当然，请跟我来！ create_sub_task {"goal":"At(Robot,BrightTable1)"} -Hey, RoboWaiter, come here for a moment! -I'm on my way, please wait a moment! +嘿，RoboWaiter，过来一下！ +我在来的路上啦，请稍等噢！ create_sub_task {"goal":"At(Robot,BrightTable6)"} -What drinks do you have here? -Our coffee shop offers a variety of flavored coffees, water, iced black tea, yogurt drinks, and also desserts like pastries and cakes. What would you like to order? -I'll have a cappuccino, please. -Ok, please wait a moment! +你们这有什么饮料嘛？ +我们咖啡厅提供各种口味咖啡，水，冰红茶，酸奶等饮品，还提供点心蛋糕等甜品。您想点什么？ + + +来杯卡布奇诺吧。 +ok，请稍等！ create_sub_task {"goal":"On(Coffee,BrightTable6)"} -I'm with my child, I'd like a spacious and well-lit spot. -Alright, I understand. We recommend the tables in the hall, where the space is more spacious and the environment is brighter, making it suitable for dining with children. - -The tables in the hall look good, please take me there! -Okay, great, please follow me. -create_sub_task -{"goal":"At(Robot,WaterTable)"} - -I'd like a glass of water, and please get a yogurt for my child. -Ok, no problem, please wait a moment! -create_sub_task -{"goal":"On(Water,WaterTable),On(Yogurt,WaterTable)"} -I think I left my VacuumCup in your café yesterday, have you seen it? -Yes, I remember seeing it. The thermos is on table number 2 in the hall. +我昨天保温杯好像落在你们咖啡厅了，你看到了吗？ +是的，我有印象，保温杯在大厅的2号桌子上。 get_object_info -{"obj":"VacuumCup"} +{"obj":"保温杯"} -Can you bring it to me? I'm waiting at the table near the front door. -Of course, please wait a moment! + +给我来份午餐套餐。 +本店的午餐套餐包括咖啡和点心，请问您是打包还是堂食？ + +打包吧，快点！ +请稍等，马上就好！ +create_sub_task +{"goal":"On(Dessert,Bar),On(Coffee,Bar)"} + + +你可以帮我拿来吗，我在前门的桌子前等你。 +当然，请稍等！ create_sub_task {"goal":"On(VacuumCup,Table1)"} +麻烦啦！ +没事儿，为您服务是我的荣幸！ + +大厅的桌子好啊，快带我去呀！ +好的好的，请跟我来。 +create_sub_task +{"goal":"At(Robot,WaterTable)"} +我想来杯水，帮我孩子拿个酸奶吧。 +ok，没问题，请稍等！ +create_sub_task +{"goal":"On(Water,WaterTable),On(Yogurt,WaterTable)"} + +来杯酸奶吧。 +好的没问题，请稍等！ +create_sub_task +{"goal":"On(Yogurt,WaterTable)"} + + +还有酸奶吗 +不好意思，酸奶卖完了呢 +get_number_of_objects +{"obj":"酸奶"} + +那好吧，那就先把窗帘给我关上，再开个空调 +抱歉，我这就去开空调和关窗帘。 +create_sub_task +{"goal":"Is(AC,On),Is(Curtain,Off)"} + + +下班啦！别忘了打扫卫生。 +收到！下班啦！ +create_sub_task +{"goal":"Is(Floor,Clean),Is(Table1,Clean),Is(Chairs,Clean),Is(AC,Off),Is(HallLight,Off),Is(TubeLight,Off),Is(Curtain,Off)"} + + +请问洗手间在哪里？ +洗手间在这附近 +get_object_info +{"obj":"洗手间"} + + + +给我来杯酸奶和冰红茶，我坐在对面的桌子那儿。 +好的，请稍等。 +create_sub_task +{"goal":"On(BottledDrink,WaterTable),On(Yogurt,WaterTable)"} + + +给我来份薯片和果汁，我坐在对面的桌子那儿。 +好的，请稍等。 +create_sub_task +{"goal":"On(Chips,WaterTable),On(NFCJuice,WaterTable)"} + +给我来份薯片和果汁，我坐在对面的水杯桌那儿。 +好的，请稍等。 +create_sub_task +{"goal":"On(Chips,WaterTable),On(NFCJuice,WaterTable)"} + +好热呀，想开空调，想要温度调低点！ +抱歉，我马上去开空调并调低空调温度。 +create_sub_task +{"goal":"Is(ACTemperature,Down)"} + +请问有空位吗？ +现在有不少空位呢，请问您有什么要求嘛？ + +我想坐高脚凳子。 +没问题，大厅里就有这样的位置呢！ +get_object_info +{"obj":"高脚凳子的空位"} + + +你带我去吧。 +OK，请跟我来！ +create_sub_task +{"goal":"At(Robot,BrightTable5)"} + + +可以关筒灯和关窗帘吗？ +好的，请稍等。 +create_sub_task +{"goal":"Is(TubeLight,Off),Is(Curtain,Off)"} + + +给我来杯咖啡，哦对，再倒一杯水。 +速速就好，请稍等！ +create_sub_task +{"goal":"On(Water,WaterTable),On(Coffee,WaterTable)"} + + +我想来份点心和酸奶。 +稍等片刻噢~ +create_sub_task +{"goal":"On(Yogurt,Bar),On(Dessert,Bar)"} + +酸奶。 +稍等片刻噢~ +create_sub_task +{"goal":"On(Yogurt,Bar)"} + + + +你好呀，你们这有啥好吃的？ +我们咖啡厅有咖啡，还有饮料和点心蛋糕呢？您想点什么不？ +get_object_info +{"obj":"饮料,水果,点心"} + + +听起来都好甜呀，我女朋友爱吃水果。 +没问题，我们也提供草莓、橘子和苹果等水果呢。 + + +你们这人可真多。 +目前还有空位呢，你们可以坐下来一起品尝水果呢？ +get_object_info +{"obj":"空位"} + +我女朋友怕晒，有空余的阴凉位置嘛？ +我查询完毕，阴凉位置有两个。在你们右侧往里走，就有适合你们二位的沙发呢。 +get_object_info +{"obj":"阴凉空位"} + +那还不错。 +是的，那边安静，不会晒到太阳呢。 + +我们还想一起下下棋,切磋切磋。 +我们这有两份军棋呢,在大厅的三号桌上。 +get_object_info +{"obj":"棋"} + +请问洗手间在哪呢？ +在后门，你们的左侧往里走就是了呢。 +get_object_info +{"obj":"洗手间"} + +我带着孩子呢，想要宽敞亮堂的地方。 +好的，我明白了，那么我们推荐您到大厅的桌子，那里的空间比较宽敞，环境也比较明亮，适合带着孩子一起用餐。 + + +水杯 +好的 +create_sub_task +{"goal":"On(Water,Bar)"} + +点心 +好的 +create_sub_task +{"goal":"On(Dessert,Bar)"} + +酸奶 +好的 +create_sub_task +{"goal":"On(Yogurt,Bar)"} + + +做一杯咖啡 +好的，我马上做咖啡 +create_sub_task +{"goal":"On(Coffee,CoffeeTable)"} + + +把盒装冰红茶放到水桌 +好的 +create_sub_task +{"goal":"On(Softdrink,WaterTable)"} + +点心 +好的 +create_sub_task +{"goal":"On(Dessert,Bar)"} + +把咖啡放到吧台上 +好的 +create_sub_task +{"goal":"On(Coffee,Bar)"} + +把咖啡放到水桌 +好的 +create_sub_task +{"goal":"On(Coffee,Bar)"} + +把咖啡放到6号桌 +好的 +create_sub_task +{"goal":"On(Coffee,BrightTable6)"} + +把咖啡放到3号桌 +好的 +create_sub_task +{"goal":"On(Coffee,Table3)"} + +把咖啡放到吧台上，再拿一杯咖啡放到6号桌 +好的 +create_sub_task +{"goal":"On(Coffee,WaterTable),On(Coffee,BrightTable6)"} 打开空调并降低空调温度 diff --git a/robowaiter/llm_client/data/fix_questions_en.txt b/robowaiter/llm_client/data/fix_questions_en.txt new file mode 100644 index 0000000..75370b9 --- /dev/null +++ b/robowaiter/llm_client/data/fix_questions_en.txt @@ -0,0 +1,113 @@ +Hello! +Hello, I am the waiter of this coffee shop. What would you like to order? + +Thanks, that's enough. You can go on with your work. +Ok, if you need anything, just let me know. + +Make a cup of coffee, please. +Sure, I'll make the coffee right away. +create_sub_task +{"goal":"On(Coffee,CoffeeTable)"} + +No need anymore. +Alright, if you need anything, just tell me. +stop_serve +{} + + + +Good morning! I'm looking for a place where I can enjoy the sunshine. +There's a sunny spot right on your right. +get_object_info +{"obj":"BrightTable"} + +Thank you! +You're welcome, I hope you have a pleasant time in the sunshine. + +Could you take me there? +Of course, please follow me! +create_sub_task +{"goal":"At(Robot,BrightTable1)"} + + +Hey, RoboWaiter, come here for a moment! +I'm on my way, please wait a moment! +create_sub_task +{"goal":"At(Robot,BrightTable6)"} + +What drinks do you have here? +Our coffee shop offers a variety of flavored coffees, water, iced black tea, yogurt drinks, and also desserts like pastries and cakes. What would you like to order? + +What kinds of coffee do you have? +We offer espresso, latte, and our specialty, the delicious cappuccino. Enjoy your coffee experience! + +I'll have a cappuccino, please. +Ok, please wait a moment! +create_sub_task +{"goal":"On(Coffee,BrightTable6)"} + + +I'm with my child, I'd like a spacious and well-lit spot. +Alright, I understand. We recommend the tables in the hall, where the space is more spacious and the environment is brighter, making it suitable for dining with children. + +The tables in the hall look good, please take me there! +Okay, great, please follow me. +create_sub_task +{"goal":"At(Robot,WaterTable)"} + +I'd like a glass of water, and please get a yogurt for my child. +Ok, no problem, please wait a moment! +create_sub_task +{"goal":"On(Water,WaterTable),On(Yogurt,WaterTable)"} + + +I think I left my VacuumCup in your café yesterday, have you seen it? +Yes, I remember seeing it. The thermos is on table number 2 in the hall. +get_object_info +{"obj":"VacuumCup"} + +Can you bring it to me? I'm waiting at the table near the front door. +Of course, please wait a moment! +create_sub_task +{"goal":"On(VacuumCup,Table1)"} + + + + + +打开空调并降低空调温度 +好的，没问题 +create_sub_task +{"goal":"Is(ACTemperature,Down)"} + + +把咖啡或者酸奶放到吧台 +好的，没问题 +create_sub_task +{"goal":"On_Coffee_Bar | On_Yogurt_Bar & At_Robot_Bar"} + +Don't stand at table 6. Please wipe down table 1 or mop the floor, and don't set the air conditioning temperature too low. +好的，没问题 +create_sub_task +{"goal":"At_Robot_Bar & (Is_Table1_Clean | Is_Floor_Clean) & Is_ACTemperature_Up"} + +Don't stand at table 6. Please wipe down table 1, and don't set the air conditioning temperature too low. +好的，没问题 +create_sub_task +{"goal":"Is_Table1_Clean & Is_ACTemperature_Up"} + + +Please wipe down table 1, and don't set the air conditioning temperature too low. +好的，没问题 +create_sub_task +{"goal":"Is_Table1_Clean & Is_ACTemperature_Up"} + +Please turn on the air conditioning and mop the floor. +好的，没问题 +create_sub_task +{"goal":"Is_Floor_Clean & Is_AC_On"} + +I'll have a cappuccino, please. +Ok, please wait a moment! +create_sub_task +{"goal":"On(Coffee,BrightTable6)"} \ No newline at end of file diff --git a/robowaiter/llm_client/multi_rounds.py b/robowaiter/llm_client/multi_rounds.py index 1c23f87..a3574dc 100644 --- a/robowaiter/llm_client/multi_rounds.py +++ b/robowaiter/llm_client/multi_rounds.py @@ -26,7 +26,7 @@ base_url = "https://45.125.46.134:25344" # 本地部署的地址,或者使用你 root_path = get_root_path() # load test questions -file_path = os.path.join(root_path,"robowaiter/llm_client/data/fix_questions.txt") 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