36 lines
1.0 KiB
Python
36 lines
1.0 KiB
Python
|
|
from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str
|
|
import copy
|
|
|
|
|
|
action_list = collect_action_nodes()
|
|
|
|
start_robowaiter = get_start()
|
|
|
|
|
|
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)'}]
|
|
|
|
# todo: 行为树鲁棒性测试，随机生成规划问题
|
|
# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数
|
|
seed = 1
|
|
BTTest(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter)
|
|
print("\n")
|
|
# 对比
|
|
BTTest(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) |