dgerod / behavior_tree_learning

Learning Behavior Trees using Genetic Programming

Hi there 👋

I am a computer engineer specialized in Robotics, a generalist roboticist. My main expertise areas are: (1) Development of Software Systems, and (2) Robotics and Intelligent Systems.

In my scratchpad I write quick notes about things that I see in my daily work and could be interesting for other people. However, there you could also find brief explanations of some projects I worked. The lastest notes are:

• My Python Tricks
• A visualizer for our robots done using ROS and EtherCAT
• Talking about ‘Robotics Flexible Machines’ in ISOLA 2014
• Application to simulate a RU link
• Control a Kuka LWR in Morse using ROS with MoveIt

behavior_tree_learning's Issues

Add authors to the license file

Hi @matiov, @jstyrud

This issue is only to inform you that your names are in the license of this work as it is derived from your repositories. Please, answer this issue saying that you read it, so after that I will close the issue. Of course, feel free to provide any other comment you want :-).

Thanks.

Add specific argument to BehaviorTreeLearner for plot/trace information

From:

bt_learner = BehaviorTreeLearner(environment)
success = bt_learner.run(parameters, seed, verbose=False)

To:

bt_learner = BehaviorTreeLearner(environment)
success = bt_learner.run(parameters, seed, plot_parameters, verbose=False)

Add Environment and FitnessFunction interfaces for GP-SBT

Add SGB document

TOC

• API
• Internal design
• How to extend

I can't run this.There are 3 errors.Here is the traceback

When I type tihs code: **python3 -m unittest discover -s . -p 'test_*.py'**

Here is the traceback:

............./home/mokey2/Desktop/behavior_tree_learning/src/behavior_tree_learning/core/logger/logplot.py:88: ResourceWarning: unclosed file <_io.TextIOWrapper name='logs/test/fitness_log.txt' mode='x' encoding='UTF-8'>
open(fitness_log_path, "x")
ResourceWarning: Enable tracemalloc to get the object allocation traceback
/home/mokey2/Desktop/behavior_tree_learning/src/behavior_tree_learning/core/logger/logplot.py:89: ResourceWarning: unclosed file <_io.TextIOWrapper name='logs/test/population_log.txt' mode='x' encoding='UTF-8'>
open(population_log_path, "x")
ResourceWarning: Enable tracemalloc to get the object allocation traceback
.No handles with labels found to put in legend.
No handles with labels found to put in legend.
No handles with labels found to put in legend.
./home/mokey2/Desktop/behavior_tree_learning/src/behavior_tree_learning/core/logger/logplot.py:88: ResourceWarning: unclosed file <_io.TextIOWrapper name='logs/test1/fitness_log.txt' mode='x' encoding='UTF-8'>
open(fitness_log_path, "x")
ResourceWarning: Enable tracemalloc to get the object allocation traceback
/home/mokey2/Desktop/behavior_tree_learning/src/behavior_tree_learning/core/logger/logplot.py:89: ResourceWarning: unclosed file <_io.TextIOWrapper name='logs/test1/population_log.txt' mode='x' encoding='UTF-8'>
open(population_log_path, "x")
ResourceWarning: Enable tracemalloc to get the object allocation traceback
/home/mokey2/Desktop/behavior_tree_learning/src/behavior_tree_learning/core/logger/logplot.py:88: ResourceWarning: unclosed file <_io.TextIOWrapper name='logs/test2/fitness_log.txt' mode='x' encoding='UTF-8'>
open(fitness_log_path, "x")
ResourceWarning: Enable tracemalloc to get the object allocation traceback
/home/mokey2/Desktop/behavior_tree_learning/src/behavior_tree_learning/core/logger/logplot.py:89: ResourceWarning: unclosed file <_io.TextIOWrapper name='logs/test2/population_log.txt' mode='x' encoding='UTF-8'>
open(population_log_path, "x")
ResourceWarning: Enable tracemalloc to get the object allocation traceback
No handles with labels found to put in legend.
.............FF..................Fallback
--> c0
--> c0

Fallback
(-) Fallback
--> c0
--> c0

Fallback
(-) Fallback
--> c0
--> c0
(-) Sequence
--> c0
--> c0

Fallback
(-) Fallback
--> c0
--> c0
(-) Fallback
(-) Sequence
--> c0

Fallback
(-) Fallback
--> c0
--> c0

Fallback
(-) Fallback
--> c0

.F

FAIL: test_add_node (test_sbt_btsr.TestBehaviorTreeStringRepresentation)
Tests add_node function

Traceback (most recent call last):
File "/home/mokey2/Desktop/behavior_tree_learning/src/behavior_tree_learning/tests/test_sbt_btsr.py", line 249, in test_add_node
self.assertEqual(btsr.bt, ['s(', 'a0', 'a3', 'a0', ')'])
AssertionError: Lists differ: ['s(', 'a0', 'a5', 'a0', ')'] != ['s(', 'a0', 'a3', 'a0', ')']

First differing element 2:
'a5'
'a3'

• ['s(', 'a0', 'a5', 'a0', ')']
  ? ^

• ['s(', 'a0', 'a3', 'a0', ')']
  ? ^

======================================================================
FAIL: test_change_node (test_sbt_btsr.TestBehaviorTreeStringRepresentation)
Tests change_node function

Traceback (most recent call last):
File "/home/mokey2/Desktop/behavior_tree_learning/src/behavior_tree_learning/tests/test_sbt_btsr.py", line 225, in test_change_node
self.assertEqual(btsr.bt, ['s(', 'f(', 'a0', 'a0', ')', 'a0', ')'])
AssertionError: Lists differ: ['s(', 'f(', 'a2', 'a0', ')', 'a0', ')'] != ['s(', 'f(', 'a0', 'a0', ')', 'a0', ')']

First differing element 2:
'a2'
'a0'

• ['s(', 'f(', 'a2', 'a0', ')', 'a0', ')']

• ['s(', 'f(', 'a0', 'a0', ')', 'a0', ')']

======================================================================
FAIL: test_str_from_bt (test_sbt_pytree.TestStringBehaviorTree)

Traceback (most recent call last):
File "/home/mokey2/Desktop/behavior_tree_learning/src/behavior_tree_learning/tests/test_sbt_pytree.py", line 69, in test_str_from_bt
self.assertEqual(bt.to_string(), sbt)
AssertionError: Lists differ: ['f(', '(-) f(', 'c0', 'c0', '(-) f(', '(-) s(', 'c0', ')'] != ['f(', 'f(', 'c0', 'c0', ')', 'f(', 's(', 'c0', ')', ')', ')']

First differing element 1:
'(-) f('
'f('

Second list contains 3 additional elements.
First extra element 8:
')'

• ['f(', '(-) f(', 'c0', 'c0', '(-) f(', '(-) s(', 'c0', ')']
  ? ---- -- ^ ----

• ['f(', 'f(', 'c0', 'c0', ')', 'f(', 's(', 'c0', ')', ')', ')']
  ? ^^^^ ++++++++++

---

Ran 50 tests in 0.919s

FAILED (failures=3)

Can you help me on this?

Create a ROS node

Review and fix (or delete) planner package