def plot_individual(self, path, plot_name, individual):
""" Saves a graphical representation of the individual """
if self.static_tree is not None:
pytree = PyTree(self.add_to_static_tree(individual),
behaviors=behaviors)
else:
pytree = PyTree(individual[:], behaviors=behaviors)
pytree.save_fig(path, name=plot_name)
def plot_individual(path, plot_name, individual):
""" Saves a graphical representation of the individual """
pytree = PyTree(individual[:], behaviors=behaviors)
pytree.save_fig(path, name=plot_name)
def paper_figures():
# pylint: disable=import-outside-toplevel
""" Creates the bt figures used in the paper """
from behavior_tree_learning.py_trees_interface import PyTree
import behavior_tree_learning.behaviors_figures as behaviors
behavior_tree.load_settings_from_file('BT_SETTINGS_TOWER.yaml')
# Tower planned
tree = ['s(', 'f(', 'Green at A?', 's(', 'f(', 'picked Green?', 'pick Green!', ')', 'place at A!', ')', ')', \
'f(', 'Blue at pos B?', 's(', 'f(', 'Blue on Green?', 's(', 'f(', 'picked Blue?', 'pick Blue!', ')', 'place on Green!', ')', ')', 'apply force Blue!', ')', ')', \
'f(', 'Red at pos C?', 's(', 'f(', 'Red on Blue?', 's(', 'f(', 'picked Red?', 'pick Red!', ')', 'place on Blue!', ')', ')', 'apply force Red!', ')', ')', ')']
pytree = PyTree(tree[:], behaviors=behaviors)
pytree.save_fig('logs/paperfigures/', name='tower_planned', svg=True)
# Tower solved
tree = ['s(', 'f(', 'Green at pos A?', 's(', 'pick Green!', 'place at A!', ')', ')', \
'f(', 'Blue at pos B?', 's(', 'f(', 'Blue on Green?', 's(', 'pick Blue!', 'place on Green!', ')', ')', 'apply force Blue!', ')', ')', \
'f(', 'Red at pos C?', 's(', 'f(', 'Red on Blue?', 's(', 'pick Red!', 'place on Blue!', ')', ')', 'apply force Red!', ')', ')', ')']
pytree = PyTree(tree[:], behaviors=behaviors)
pytree.save_fig('logs/paperfigures/', name='tower_solved', svg=True)
behavior_tree.load_settings_from_file('BT_SETTINGS_CROISSANT.yaml')
# Croissant planned
tree = ['s(', 'f(', 'Green at pos B?', 's(', 'f(', 'picked Green?', 'pick Green!', ')', 'place at B!', ')', ')', \
'f(', 'Blue at pos D?', 's(', 'f(', 'Blue on Green?', 's(', 'f(', 'picked Blue?', 'pick Blue!', ')', 'place on Green!', ')', ')', 'apply force Blue!', ')', ')', \
'f(', 'Red at pos A?', 's(', 'f(', 'picked Red?', 'pick Red!', ')', 'place at A!', ')', ')', \
'f(', 'Yellow at pos C?', 's(', 'f(', 'picked Yellow?', 'pick Yellow!', ')', 'place at C!', ')', ')', ')']
pytree = PyTree(tree[:], behaviors=behaviors)
pytree.save_fig('logs/paperfigures/', name='croissant_planned', svg=True)
# Croissant solved
tree = ['s(', 'f(', 'Green at pos B?', 's(', 'pick Green!', 'place at B!', ')', ')', \
'f(', 'Red at pos A?', 's(', 'pick Red!', 'place at A!', ')', ')', \
'f(', 'Yellow at pos C?', 's(', 'pick Yellow!', 'place at C!', ')', ')', \
'f(', 'Blue at pos D?', 's(', 'f(', 'Blue on Green?', 's(', 'pick Blue!', 'place on Green!', ')', ')', 'apply force Blue!', ')', ')', ')']
pytree = PyTree(tree[:], behaviors=behaviors)
pytree.save_fig('logs/paperfigures/', name='croissant_solved', svg=True)
behavior_tree.load_settings_from_file('BT_SETTINGS_BALANCE.yaml')
# Balance planned
tree = [
's(', 'f(', 'Green at pos B?', 's(', 'f(', 'Blue at pos A?',
'put Blue at A!', ')', 'f(', 'Green on Blue?', 'put Green on Blue!',
')', 'apply force Green!', ')', ')', ')'
]
pytree = PyTree(tree[:], behaviors=behaviors)
pytree.save_fig('logs/paperfigures/', name='balance_planned', svg=True)
# Balance solved
tree = [
'f(', 'Green at pos B?', 's(', 'put Red at A!', 'put Green on Red!',
'apply force Green!', ')', ')'
]
pytree = PyTree(tree[:], behaviors=behaviors)
pytree.save_fig('logs/paperfigures/', name='balance_solved', svg=True)
behavior_tree.load_settings_from_file('BT_SETTINGS_BLOCKING.yaml')
# Blocking planned
tree = ['s(', 'f(', 'Green at A?', 'put Green at A!', ')', \
'f(', 'Blue at E?', 's(', 'f(', 'Blue on Green?', 'put Blue on Green!', ')', 'apply force Blue!', ')', ')', \
'f(', 'Red at C?', 'put Red at C!', ')', ')']
pytree = PyTree(tree[:], behaviors=behaviors)
pytree.save_fig('logs/paperfigures/', name='blocking_planned', svg=True)
# Blocking solved
tree = ['s(', 'put Blue on Green!', 'f(', 'Green at A?', 'put Red at D!', ')', \
'put Green at A!', \
'f(', 'Blue at E?', 'apply force Blue!', ')', \
'put Red at C!', ')']
pytree = PyTree(tree[:], behaviors=behaviors)
pytree.save_fig('logs/paperfigures/', name='blocking_solved', svg=True)