if __name__ == "__main__":
import time
env = McsEnv()
domain_file = "planner/domains/Playroom_domain.pddl"
facts_file = "planner/sample_problems/playroom_facts.pddl"
parser = PlanParser()
replay_buffer = []
metaController = MetaController(env)
episode = 0
while episode < 100:
print("Episode: {}".format(episode))
env.reset()
PlanParser.scene_config_to_pddl(env.scene_config, random_pick_up(env.scene_config), facts_file)
result_plan = parser.get_plan_from_file(domain_file, facts_file)
epsd_collector = Episode_collector()
for action in result_plan:
print(action)
metaController.step(action, epsd_collector)
if len(epsd_collector) < 10:
continue
else:
epsd_collector.truncate_last_ten()
assert len(epsd_collector) == 10
replay_buffer.append(epsd_collector.episode)
episode += 1
# for i in range(len(epsd_collector)):
# img = np.concatenate([epsd_collector.episode['obs'][i], epsd_collector.episode['next_obs'][i]], axis=2)
import time
from planner.ff_planner_handler import PlanParser
parser = PlanParser()
# Playroom Demo Plan
t_start = time.time()
result_plan = parser.get_plan_from_file(
"planner/domains/Playroom_domain.pddl", "planner/sample_problems/playroom_facts.pddl"
)
print("Playroom Plan")
print("Plan took %.2f seconds" % (time.time() - t_start))
for plan in result_plan:
print(plan)