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🔨fix merge, add new BT, change domain

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Ilya Uraev 2022-01-23 19:24:03 +04:00
parent 5df3632c80
commit a27edeada9
3 changed files with 49 additions and 20 deletions
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3
robossembler/CMakeLists.txt
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@ -59,14 +59,11 @@ endforeach()
add_executable(move_controller_node src/move_controller_node.cpp) add_executable(move_controller_node src/move_controller_node.cpp)
ament_target_dependencies(move_controller_node ${dependencies}) ament_target_dependencies(move_controller_node ${dependencies})
add_executable(move_action_node src/move_action_node.cpp)
ament_target_dependencies(move_action_node ${dependencies})
install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME}) install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME})
install(TARGETS install(TARGETS
move_controller_node move_controller_node
move_action_node
${plugin_libs} ${plugin_libs}
ARCHIVE DESTINATION lib ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib LIBRARY DESTINATION lib

42
robossembler/behavior_trees_xml/atomic_skills_xml/grasp_skill.xml Normal file
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@ -0,0 +1,42 @@
<?xml version="1.0"?>
<root main_tree_to_execute="GraspPart">
<!-- ////////// -->
<BehaviorTree ID="GraspPart">
<Fallback name="root_Fallback">
<Sequence name="GraspSkill">
<ReactiveFallback name="PartEstimate">
<Condition ID="PartInScene"/>
<Action ID="FindPart" PartName="{arg1}" PartPose="{arg0}"/>
</ReactiveFallback>
<Fallback name="Move">
<Condition ID="PathFree"/>
<Action ID="MoveToPoint" arm_group="${arg2}" goal="${arg0}"/>
</Fallback>
<Action ID="GraspPart" arm_group="${arg3}"/>
<Action ID="MoveToPoint" arm_group="{arg2}" goal="{arg4}"/>
</Sequence>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="FindPart">
<inout_port name="PartName"/>
<output_port name="PartPose"/>
</Action>
<Action ID="GraspPart">
<input_port name="arm_group"/>
</Action>
<Action ID="MoveToPoint">
<input_port name="arm_group"/>
<input_port name="goal"/>
</Action>
<Condition ID="PartInScene"/>
<Condition ID="PathFree"/>
<Action ID="SpawnPart">
<inout_port name="PartName"/>
<input_port name="PartPose"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>

24
robossembler/pddl/domain.pddl
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@ -5,13 +5,13 @@
(:types (:types
robot robot
zone zone
part
);; end Types ;;;;;;;;;;;;;;;;;;;;;;;;; );; end Types ;;;;;;;;;;;;;;;;;;;;;;;;;
;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;; ;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;;
(:predicates (:predicates
(robot_move ?r - robot ?z - zone)
(pose-estimated ?p - part) (robot_move ?r - robot ?z - zone)
);; end Predicates ;;;;;;;;;;;;;;;;;;;; );; end Predicates ;;;;;;;;;;;;;;;;;;;;
;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;; ;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;;
@ -19,21 +19,11 @@
);; end Functions ;;;;;;;;;;;;;;;;;;;; );; end Functions ;;;;;;;;;;;;;;;;;;;;
(:durative-action get_part_state
:parameters (?p - part)
:duration ( = ?duration 1)
:condition (at start (not (pose-estimated ?p)))
:effect (at end (pose-estimated ?p))
)
;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
(:durative-action move (:durative-action move
:parameters (?r - robot ?z - zone ?p - part) :parameters (?r - robot ?z - zone)
:duration ( = ?duration 1) :duration ( = ?duration 1)
:condition (at start (pose-estimated ?p)) :effect (and (at end(robot_move ?r ?z)))
:effect (at end (robot_move ?r ?z)) )
);(at start (pose-estimated ?p))
);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
;; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;