42 lines
1.2 KiB
Python
42 lines
1.2 KiB
Python
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from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str
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import copy
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import random
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seed = 1
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random.seed(seed)
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action_list = collect_action_nodes(random)
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for act in action_list:
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print(act.name,act.cost)
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start_robowaiter = get_start()
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goal_states = []
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with open('easy.txt', 'r') as file:
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for line in file:
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clean_line = line.strip()
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goal_states.append(clean_line)
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print(goal_states)
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# goal_set_ls=[]
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# for count, goal_str in enumerate(goal_states):
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# goal = copy.deepcopy(goal_transfer_str(goal_str))
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# goal_set_ls.append(goal)
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# print(goal_set_ls)
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# goal_states={"On_Dessert_Bar"}
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# goal_states={"On_MilkDrink_Bar2"}
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# goal_states={"Is_TubeLight_On"}
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# goal_states = goal_set_ls
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# goal_states = {'On(VacuumCup,WaterTable)'}
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# goal_states = {'At(Robot,WaterTable)'}
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# goal_states = {'Is(Table1,Clean)'}
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# todo: 行为树鲁棒性测试，随机生成规划问题
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# # 设置生成规划问题集的超参数：文字数、解深度、迭代次数
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BTTest(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter)
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print("\n")
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# 对比
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BTTest(bt_algo_opt=False, goal_states=goal_states,action_list=action_list,start_robowaiter=start_robowaiter) |