New: Adds SkiROS2 planning solutions that produce the right skill seq…

…uence - Adds pre- and postconditions to the skills so they can be used for planning - Manual solution execution is verified - Planning gives the right skill sequence in all 4 problems - Sometimes the solution execution trip up on a blackboard parameter - Problem 4 needs to plan to access the charger first since we can not add a precondition without disturbing problem 2 and 3
ros-wg-delib · Oct 18, 2024 · c886220 · c886220
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diff --git a/dependencies/SkiROS2/skiros2 b/dependencies/SkiROS2/skiros2
diff --git a/technologies/SkiROS2/skiros2_pyrobosim_lib b/technologies/SkiROS2/skiros2_pyrobosim_lib
+1 −1		skiros2_skill/skiros2_skill/ros/discovery_interface.py
+22 −8		skiros2_task/skiros2_task/ros/task_manager.py
+13 −1		README.md
+2 −2		docs/0_Start.md
+2 −2		docs/1_Problem_1_Object_Fetch.md
+1 −1		docs/2_Problem_2_Waste_Disposal.md
+ −		docs/pyrobosim_world_1.png
+23 −3		owl/p1_scene.turtle
+23 −3		owl/p2_scene.turtle
+24 −4		owl/p3_scene.turtle
+23 −3		owl/p4_scene.turtle
+7 −0		owl/robi_robot_description.owl
+3 −9		planning/solutions/problem2.pddl
+3 −6		planning/solutions/problem3.pddl
+3 −8		planning/solutions/problem4.1.pddl
+40 −0		planning/solutions/problem4.2.pddl
+16 −4		scripts/yaml_world_to_turtle.py
+9 −0		skiros2_pyrobosim_lib/problem_1_fetch_item.py
+39 −9		skiros2_pyrobosim_lib/problem_2_waste_and_doors.py
+1 −0		skiros2_pyrobosim_lib/problem_3_table_setting.py
+1 −0		skiros2_pyrobosim_lib/problem_4_charge.py
+7 −0		skiros2_pyrobosim_lib/pyrobosim_compound_skills.py
+3 −1		skiros2_pyrobosim_lib/solutions.py
+13 −5		skiros2_pyrobosim_lib/task_planning.py