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updates for isaac15 + granite lab testing with exposure and map change
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@marinagmoreira
marinagmoreira committed May 9, 2024
1 parent eda8e8c commit 4035db2
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16 changes: 8 additions & 8 deletions astrobee/survey/survey_manager/data/granite_survey_dynamic.yaml
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Expand Up @@ -24,11 +24,11 @@

goals:

- {type: panorama, robot: bsharp, order: 0, location: gra_bay2}
- {type: stereo, robot: bsharp, order: 1, trajectory: gra_bay1_to_bay3}
- {type: panorama, robot: bsharp, order: 0, location: gra_bay6}
- {type: stereo, robot: bsharp, order: 1, trajectory: gro_bay1_to_bay3}
# This is one of the goals we previously had to comment out for POPF to return a halfway decent
# plan. Adding a let_other_robot_reach goal mostly fixed the problem.
- {type: robot_at, robot: bsharp, location: berth1}
- {type: robot_at, robot: bsharp, location: berth1_g}

# This let_other_robot_reach goal is effectively a very specific kind of between-robot ordering
# constraint. It tells honey to let bumble get to bay 5 before taking its first panorama. Without
Expand All @@ -37,13 +37,13 @@ goals:
# planner doesn't need the hint.)
# - {type: let_other_robot_reach, robot: honey, order: 0, location: jem_bay5}

- {type: panorama, robot: wannabee, order: 1, location: gra_bay6}
- {type: panorama, robot: wannabee, order: 1, location: gra_bay2}
# This is the other objective we previously had to comment out for POPF to return a decent plan.
- {type: stereo, robot: wannabee, order: 4, trajectory: gra_bay5_to_bay7}
- {type: robot_at, robot: wannabee, location: berth2}
- {type: stereo, robot: wannabee, order: 4, trajectory: gra_bay1_to_bay3}
- {type: robot_at, robot: wannabee, location: berth2_g}

init:
bsharp:
location: berth1
location: berth1_g
wannabee:
location: berth2
location: berth2_g
57 changes: 43 additions & 14 deletions astrobee/survey/survey_manager/data/granite_survey_static.yaml
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Expand Up @@ -27,6 +27,18 @@
# Useful reference for positions and stereo survey trajectories:
# https://babelfish.arc.nasa.gov/confluence/display/FFOPS/ISAAC+Phase+1X+Activity+9+Ground+Procedure

# granite map:
#
# gra_1
# gra_2
# berth2| gra_3
#
# berth1| gra_4
# gra_5
# gra_6
# gra_7 gro_0 gro_1 gro_2 gro_3
#

bays:
# 3D coordinates for symbolic bays in ISS Analysis Coordinate System used by Astrobee
gra_bay1: [0.1, 0.7, -0.68]
Expand All @@ -35,38 +47,55 @@ bays:
gra_bay4: [0.1, 0.3, -0.68]
gra_bay5: [0.1, 0.1, -0.68]
gra_bay6: [0.1, -0.3, -0.68]
gra_bay7: [0.1, -0.5, -0.68]
gra_bay7: [0.15, -0.5, -0.68]
gra_bay8: [0.15, -0.5, -0.68]
gro_bay0: [0.20, -0.5, -0.68]
gro_bay1: [0.25, -0.5, -0.68]
gro_bay2: [0.30, -0.5, -0.68]
gro_bay3: [0.35, -0.5, -0.68]

bays_move:
gra_bay1: ["-pos", "0.1 0.7 -0.68"]
gra_bay2: ["-pos", "0.1 0.6 -0.68"]
gra_bay3: ["-pos", "0.1 0.5 -0.68"]
gra_bay1: ["-pos", "0.1 -0.5 -0.68", "-att", "3.14 1 0 0"]
gra_bay2: ["-pos", "0.1 -0.4 -0.68", "-att", "3.14 1 0 0"]
gra_bay3: ["-pos", "0.1 -0.3 -0.68", "-att", "3.14 1 0 0"]
gra_bay4: ["-pos", "0.1 0.3 -0.68"]
gra_bay5: ["-pos", "0.1 0.1 -0.68", "-att", "3.14 1 0 0"]
gra_bay6: ["-pos", "0.1 -0.3 -0.68", "-att", "3.14 1 0 0"]
gra_bay7: ["-pos", "0.1 -0.5 -0.68", "-att", "3.14 1 0 0"]
gra_bay5: ["-pos", "0.1 0.4 -0.68"]
gra_bay6: ["-pos", "0.1 0.5 -0.68"]
gra_bay7: ["-pos", "0.15 0.7 -0.68"]
gra_bay8: ["-pos", "0.20 0.7 -0.68"]
gro_bay0: ["-pos", "0.25 0.7 -0.68"]
gro_bay1: ["-pos", "0.30 0.7 -0.68"]
gro_bay2: ["-pos", "0.35 0.7 -0.68"]
gro_bay3: ["-pos", "0.40 0.7 -0.68"]
berth1_g: ["-pos", "0.1 0.3 -0.68"]
berth2_g: ["-pos", "0.1 -0.3 -0.68", "-att", "3.14 1 0 0"]

maps:
gra: "/data/maps/granite.map"
gro: "/data/maps/iss.map"

exposure:
gra: 175
gro: 300

bays_pano:
gra_bay2: "panorama_granite_bsharp.txt"
gra_bay6: "panorama_granite_wannabee.txt"
gra_bay6: "panorama_granite_bsharp.txt"
gra_bay2: "panorama_granite_wannabee.txt"

berth:
berth1_g: "1"
berth2_g: "2"

bogus_bays: [gra_bay0, gra_bay8]
berths: [berth1, berth2]
bogus_bays: [gra_bay0, gra_bay8, gro_bay0, gro_bay4]
berths: [berth1_g, berth2_g]
robots: [bsharp, wannabee]

stereo:
gra_bay1_to_bay3:
fplan: "startup"
base_location: gra_bay1
bound_location: gra_bay3
gra_bay5_to_bay7:
gro_bay1_to_bay3:
fplan: "startup"
base_location: gra_bay5
bound_location: gra_bay7
base_location: gro_bay1
bound_location: gro_bay3
7 changes: 4 additions & 3 deletions astrobee/survey/survey_manager/data/iss_survey_static.yaml
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Expand Up @@ -94,14 +94,15 @@ bays_pano:
usl_bay6: "isaac11/usl_bay6_std_panorama.txt"

maps:
jem: "iss.map"
nod2: "isaac.map"
usl: "usl_only.map"
jem: "/data/maps/20240320_lam.map"
nod2: "/data/maps/20240205_usl_abad.map"
usl: "/data/maps/20240205_usl_abad.map"

exposure:
jem: 175
nod2: 300
usl: 300

berth:
berth1: "1"
berth2: "2"
Expand Down
145 changes: 140 additions & 5 deletions astrobee/survey/survey_manager/pddl/problem_granite_survey.ps2.pddl
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,11 @@ set instance gra_bay5 location
set instance gra_bay6 location
set instance gra_bay7 location
set instance gra_bay8 location
set instance gro_bay0 location
set instance gro_bay1 location
set instance gro_bay2 location
set instance gro_bay3 location
set instance gro_bay4 location
set instance berth1_g location
set instance berth2_g location
set instance bsharp robot
Expand All @@ -16,7 +21,7 @@ set instance o1 order
set instance o2 order
set instance o3 order
set instance o4 order
set goal (and (completed-panorama bsharp o0 gra_bay2) (completed-stereo bsharp o1 gra_bay1 gra_bay3) (robot-at bsharp berth1_g) (completed-panorama wannabee o1 gra_bay6) (completed-stereo wannabee o4 gra_bay5 gra_bay7) (robot-at wannabee berth2_g))
set goal (and (completed-panorama bsharp o0 gra_bay6) (completed-stereo bsharp o1 gro_bay1 gro_bay3) (robot-at bsharp berth1_g) (completed-panorama wannabee o1 gra_bay2) (completed-stereo wannabee o4 gra_bay1 gra_bay3) (robot-at wannabee berth2_g))
set predicate (move-connected gra_bay0 gra_bay1)
set predicate (move-connected gra_bay1 gra_bay0)
set predicate (move-connected gra_bay1 gra_bay2)
Expand All @@ -33,15 +38,30 @@ set predicate (move-connected gra_bay6 gra_bay7)
set predicate (move-connected gra_bay7 gra_bay6)
set predicate (move-connected gra_bay7 gra_bay8)
set predicate (move-connected gra_bay8 gra_bay7)
set predicate (move-connected gra_bay8 gro_bay0)
set predicate (move-connected gro_bay0 gra_bay8)
set predicate (move-connected gro_bay0 gro_bay1)
set predicate (move-connected gro_bay1 gro_bay0)
set predicate (move-connected gro_bay1 gro_bay2)
set predicate (move-connected gro_bay2 gro_bay1)
set predicate (move-connected gro_bay2 gro_bay3)
set predicate (move-connected gro_bay3 gro_bay2)
set predicate (move-connected gro_bay3 gro_bay4)
set predicate (move-connected gro_bay4 gro_bay3)
set predicate (location-real gra_bay1)
set predicate (location-real gra_bay2)
set predicate (location-real gra_bay3)
set predicate (location-real gra_bay4)
set predicate (location-real gra_bay5)
set predicate (location-real gra_bay6)
set predicate (location-real gra_bay7)
set predicate (dock-connected gra_bay3 berth1_g)
set predicate (dock-connected gra_bay5 berth2_g)
set predicate (location-real gra_bay8)
set predicate (location-real gro_bay0)
set predicate (location-real gro_bay1)
set predicate (location-real gro_bay2)
set predicate (location-real gro_bay3)
set predicate (dock-connected gra_bay4 berth1_g)
set predicate (dock-connected gra_bay3 berth2_g)
set predicate (robots-different bsharp wannabee)
set predicate (robots-different wannabee bsharp)
set predicate (locations-different gra_bay0 gra_bay1)
Expand All @@ -52,6 +72,11 @@ set predicate (locations-different gra_bay0 gra_bay5)
set predicate (locations-different gra_bay0 gra_bay6)
set predicate (locations-different gra_bay0 gra_bay7)
set predicate (locations-different gra_bay0 gra_bay8)
set predicate (locations-different gra_bay0 gro_bay0)
set predicate (locations-different gra_bay0 gro_bay1)
set predicate (locations-different gra_bay0 gro_bay2)
set predicate (locations-different gra_bay0 gro_bay3)
set predicate (locations-different gra_bay0 gro_bay4)
set predicate (locations-different gra_bay1 gra_bay0)
set predicate (locations-different gra_bay1 gra_bay2)
set predicate (locations-different gra_bay1 gra_bay3)
Expand All @@ -60,6 +85,11 @@ set predicate (locations-different gra_bay1 gra_bay5)
set predicate (locations-different gra_bay1 gra_bay6)
set predicate (locations-different gra_bay1 gra_bay7)
set predicate (locations-different gra_bay1 gra_bay8)
set predicate (locations-different gra_bay1 gro_bay0)
set predicate (locations-different gra_bay1 gro_bay1)
set predicate (locations-different gra_bay1 gro_bay2)
set predicate (locations-different gra_bay1 gro_bay3)
set predicate (locations-different gra_bay1 gro_bay4)
set predicate (locations-different gra_bay2 gra_bay0)
set predicate (locations-different gra_bay2 gra_bay1)
set predicate (locations-different gra_bay2 gra_bay3)
Expand All @@ -68,6 +98,11 @@ set predicate (locations-different gra_bay2 gra_bay5)
set predicate (locations-different gra_bay2 gra_bay6)
set predicate (locations-different gra_bay2 gra_bay7)
set predicate (locations-different gra_bay2 gra_bay8)
set predicate (locations-different gra_bay2 gro_bay0)
set predicate (locations-different gra_bay2 gro_bay1)
set predicate (locations-different gra_bay2 gro_bay2)
set predicate (locations-different gra_bay2 gro_bay3)
set predicate (locations-different gra_bay2 gro_bay4)
set predicate (locations-different gra_bay3 gra_bay0)
set predicate (locations-different gra_bay3 gra_bay1)
set predicate (locations-different gra_bay3 gra_bay2)
Expand All @@ -76,6 +111,11 @@ set predicate (locations-different gra_bay3 gra_bay5)
set predicate (locations-different gra_bay3 gra_bay6)
set predicate (locations-different gra_bay3 gra_bay7)
set predicate (locations-different gra_bay3 gra_bay8)
set predicate (locations-different gra_bay3 gro_bay0)
set predicate (locations-different gra_bay3 gro_bay1)
set predicate (locations-different gra_bay3 gro_bay2)
set predicate (locations-different gra_bay3 gro_bay3)
set predicate (locations-different gra_bay3 gro_bay4)
set predicate (locations-different gra_bay4 gra_bay0)
set predicate (locations-different gra_bay4 gra_bay1)
set predicate (locations-different gra_bay4 gra_bay2)
Expand All @@ -84,6 +124,11 @@ set predicate (locations-different gra_bay4 gra_bay5)
set predicate (locations-different gra_bay4 gra_bay6)
set predicate (locations-different gra_bay4 gra_bay7)
set predicate (locations-different gra_bay4 gra_bay8)
set predicate (locations-different gra_bay4 gro_bay0)
set predicate (locations-different gra_bay4 gro_bay1)
set predicate (locations-different gra_bay4 gro_bay2)
set predicate (locations-different gra_bay4 gro_bay3)
set predicate (locations-different gra_bay4 gro_bay4)
set predicate (locations-different gra_bay5 gra_bay0)
set predicate (locations-different gra_bay5 gra_bay1)
set predicate (locations-different gra_bay5 gra_bay2)
Expand All @@ -92,6 +137,11 @@ set predicate (locations-different gra_bay5 gra_bay4)
set predicate (locations-different gra_bay5 gra_bay6)
set predicate (locations-different gra_bay5 gra_bay7)
set predicate (locations-different gra_bay5 gra_bay8)
set predicate (locations-different gra_bay5 gro_bay0)
set predicate (locations-different gra_bay5 gro_bay1)
set predicate (locations-different gra_bay5 gro_bay2)
set predicate (locations-different gra_bay5 gro_bay3)
set predicate (locations-different gra_bay5 gro_bay4)
set predicate (locations-different gra_bay6 gra_bay0)
set predicate (locations-different gra_bay6 gra_bay1)
set predicate (locations-different gra_bay6 gra_bay2)
Expand All @@ -100,6 +150,11 @@ set predicate (locations-different gra_bay6 gra_bay4)
set predicate (locations-different gra_bay6 gra_bay5)
set predicate (locations-different gra_bay6 gra_bay7)
set predicate (locations-different gra_bay6 gra_bay8)
set predicate (locations-different gra_bay6 gro_bay0)
set predicate (locations-different gra_bay6 gro_bay1)
set predicate (locations-different gra_bay6 gro_bay2)
set predicate (locations-different gra_bay6 gro_bay3)
set predicate (locations-different gra_bay6 gro_bay4)
set predicate (locations-different gra_bay7 gra_bay0)
set predicate (locations-different gra_bay7 gra_bay1)
set predicate (locations-different gra_bay7 gra_bay2)
Expand All @@ -108,6 +163,11 @@ set predicate (locations-different gra_bay7 gra_bay4)
set predicate (locations-different gra_bay7 gra_bay5)
set predicate (locations-different gra_bay7 gra_bay6)
set predicate (locations-different gra_bay7 gra_bay8)
set predicate (locations-different gra_bay7 gro_bay0)
set predicate (locations-different gra_bay7 gro_bay1)
set predicate (locations-different gra_bay7 gro_bay2)
set predicate (locations-different gra_bay7 gro_bay3)
set predicate (locations-different gra_bay7 gro_bay4)
set predicate (locations-different gra_bay8 gra_bay0)
set predicate (locations-different gra_bay8 gra_bay1)
set predicate (locations-different gra_bay8 gra_bay2)
Expand All @@ -116,6 +176,76 @@ set predicate (locations-different gra_bay8 gra_bay4)
set predicate (locations-different gra_bay8 gra_bay5)
set predicate (locations-different gra_bay8 gra_bay6)
set predicate (locations-different gra_bay8 gra_bay7)
set predicate (locations-different gra_bay8 gro_bay0)
set predicate (locations-different gra_bay8 gro_bay1)
set predicate (locations-different gra_bay8 gro_bay2)
set predicate (locations-different gra_bay8 gro_bay3)
set predicate (locations-different gra_bay8 gro_bay4)
set predicate (locations-different gro_bay0 gra_bay0)
set predicate (locations-different gro_bay0 gra_bay1)
set predicate (locations-different gro_bay0 gra_bay2)
set predicate (locations-different gro_bay0 gra_bay3)
set predicate (locations-different gro_bay0 gra_bay4)
set predicate (locations-different gro_bay0 gra_bay5)
set predicate (locations-different gro_bay0 gra_bay6)
set predicate (locations-different gro_bay0 gra_bay7)
set predicate (locations-different gro_bay0 gra_bay8)
set predicate (locations-different gro_bay0 gro_bay1)
set predicate (locations-different gro_bay0 gro_bay2)
set predicate (locations-different gro_bay0 gro_bay3)
set predicate (locations-different gro_bay0 gro_bay4)
set predicate (locations-different gro_bay1 gra_bay0)
set predicate (locations-different gro_bay1 gra_bay1)
set predicate (locations-different gro_bay1 gra_bay2)
set predicate (locations-different gro_bay1 gra_bay3)
set predicate (locations-different gro_bay1 gra_bay4)
set predicate (locations-different gro_bay1 gra_bay5)
set predicate (locations-different gro_bay1 gra_bay6)
set predicate (locations-different gro_bay1 gra_bay7)
set predicate (locations-different gro_bay1 gra_bay8)
set predicate (locations-different gro_bay1 gro_bay0)
set predicate (locations-different gro_bay1 gro_bay2)
set predicate (locations-different gro_bay1 gro_bay3)
set predicate (locations-different gro_bay1 gro_bay4)
set predicate (locations-different gro_bay2 gra_bay0)
set predicate (locations-different gro_bay2 gra_bay1)
set predicate (locations-different gro_bay2 gra_bay2)
set predicate (locations-different gro_bay2 gra_bay3)
set predicate (locations-different gro_bay2 gra_bay4)
set predicate (locations-different gro_bay2 gra_bay5)
set predicate (locations-different gro_bay2 gra_bay6)
set predicate (locations-different gro_bay2 gra_bay7)
set predicate (locations-different gro_bay2 gra_bay8)
set predicate (locations-different gro_bay2 gro_bay0)
set predicate (locations-different gro_bay2 gro_bay1)
set predicate (locations-different gro_bay2 gro_bay3)
set predicate (locations-different gro_bay2 gro_bay4)
set predicate (locations-different gro_bay3 gra_bay0)
set predicate (locations-different gro_bay3 gra_bay1)
set predicate (locations-different gro_bay3 gra_bay2)
set predicate (locations-different gro_bay3 gra_bay3)
set predicate (locations-different gro_bay3 gra_bay4)
set predicate (locations-different gro_bay3 gra_bay5)
set predicate (locations-different gro_bay3 gra_bay6)
set predicate (locations-different gro_bay3 gra_bay7)
set predicate (locations-different gro_bay3 gra_bay8)
set predicate (locations-different gro_bay3 gro_bay0)
set predicate (locations-different gro_bay3 gro_bay1)
set predicate (locations-different gro_bay3 gro_bay2)
set predicate (locations-different gro_bay3 gro_bay4)
set predicate (locations-different gro_bay4 gra_bay0)
set predicate (locations-different gro_bay4 gra_bay1)
set predicate (locations-different gro_bay4 gra_bay2)
set predicate (locations-different gro_bay4 gra_bay3)
set predicate (locations-different gro_bay4 gra_bay4)
set predicate (locations-different gro_bay4 gra_bay5)
set predicate (locations-different gro_bay4 gra_bay6)
set predicate (locations-different gro_bay4 gra_bay7)
set predicate (locations-different gro_bay4 gra_bay8)
set predicate (locations-different gro_bay4 gro_bay0)
set predicate (locations-different gro_bay4 gro_bay1)
set predicate (locations-different gro_bay4 gro_bay2)
set predicate (locations-different gro_bay4 gro_bay3)
set predicate (robot-available bsharp)
set predicate (robot-available wannabee)
set predicate (robot-at bsharp berth1_g)
Expand All @@ -129,8 +259,13 @@ set predicate (location-available gra_bay5)
set predicate (location-available gra_bay6)
set predicate (location-available gra_bay7)
set predicate (location-available gra_bay8)
set predicate (need-stereo bsharp o1 gra_bay1 gra_bay3)
set predicate (need-stereo wannabee o4 gra_bay5 gra_bay7)
set predicate (location-available gro_bay0)
set predicate (location-available gro_bay1)
set predicate (location-available gro_bay2)
set predicate (location-available gro_bay3)
set predicate (location-available gro_bay4)
set predicate (need-stereo bsharp o1 gro_bay1 gro_bay3)
set predicate (need-stereo wannabee o4 gra_bay1 gra_bay3)
set function (= (order-identity o0) 0)
set function (= (order-identity o1) 1)
set function (= (order-identity o2) 2)
Expand Down
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