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)