@staticmethod
def preprocess(img):
img = img.resize((50, 50), Image.ANTIALIAS)
return np.transpose(np.array(img), (2, 0, 1)) / 255
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
def plan_on_current_state(self):
planner = PlanParser(self.plannerState)
planner.planner_state_to_pddl(self.plannerState)
return planner.get_plan()