Add custom planner (#122)

astrobee/survey_manager/survey_planner/data/jem_survey_dynamic.yaml

@@ -36,8 +36,10 @@ goals:
 # 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
 # this constraint, POPF produces a very inefficient plan where bumble never leaves the dock until
-# after honey finishes all its tasks and returns to dock.
-- {type: let_other_robot_reach, robot: honey, order: 0, location: jem_bay5}
+# after honey finishes all its tasks and returns to dock. (It's safe to comment this out if the
+# planner doesn't need the hint.)
+# - {type: let_other_robot_reach, robot: honey, order: 0, location: jem_bay5}
+
 - {type: panorama, robot: honey, order: 1, location: jem_bay7}
 - {type: panorama, robot: honey, order: 2, location: jem_bay6}
 - {type: panorama, robot: honey, order: 3, location: jem_bay5}

astrobee/survey_manager/survey_planner/data/sample_output_plan.txt

@@ -1,154 +1,31 @@
-$ (ulimit -t 10 && time ./optic_planner pddl/domain_survey.pddl pddl/problem_jem_survey.pddl)
-Number of literals: 215
-Constructing lookup tables: [10%] [20%] [30%] [40%] [50%] [60%] [70%] [80%] [90%] [100%]
-Post filtering unreachable actions:  [10%] [20%] [30%] [40%] [50%] [60%] [70%] [80%] [90%] [100%]
-(robot-order bumble) has finite bounds: [-1.000,4.000]
-(robot-order honey) has finite bounds: [-1.000,4.000]
-Have identified that smaller values of (robot-order bumble) are preferable
-Have identified that smaller values of (robot-order honey) are preferable
-Seeing if metric is defined in terms of task vars or a minimal value of makespan
-- Yes it is
-Recognised a monotonic-change-induced limit on -1.000*<special>
-- Must be >=  the metric
-Looking for achievers for goal index 0, fact (completed-panorama bumble o0 jem_bay4) with fID 83
- (panorama bumble o0 jem_bay4)
-For limits: literal goal index 0, fact (completed-panorama bumble o0 jem_bay4), could be achieved by operator (panorama bumble o0 jem_bay4), which has other interesting effects (including one on (robot-available bumble) )
-Looking for achievers for goal index 1, fact (completed-panorama bumble o1 jem_bay3) with fID 75
- (panorama bumble o1 jem_bay3)
-For limits: literal goal index 1, fact (completed-panorama bumble o1 jem_bay3), could be achieved by operator (panorama bumble o1 jem_bay3), which has other interesting effects (including one on (robot-available bumble) )
-Looking for achievers for goal index 2, fact (completed-panorama bumble o2 jem_bay2) with fID 67
- (panorama bumble o2 jem_bay2)
-For limits: literal goal index 2, fact (completed-panorama bumble o2 jem_bay2), could be achieved by operator (panorama bumble o2 jem_bay2), which has other interesting effects (including one on (robot-available bumble) )
-Looking for achievers for goal index 3, fact (completed-panorama bumble o3 jem_bay1) with fID 59
- (panorama bumble o3 jem_bay1)
-For limits: literal goal index 3, fact (completed-panorama bumble o3 jem_bay1), could be achieved by operator (panorama bumble o3 jem_bay1), which has other interesting effects (including one on (robot-available bumble) )
-Looking for achievers for goal index 4, fact (completed-stereo bumble o4 jem_bay1 jem_bay4) with fID 123
- (stereo bumble o4 jem_bay1 jem_bay4 jem_bay5 jem_bay3) (stereo bumble o4 jem_bay1 jem_bay4 jem_bay3 jem_bay5)
-For limits: literal goal index 4, fact (completed-stereo bumble o4 jem_bay1 jem_bay4), could be achieved by operator (stereo bumble o4 jem_bay1 jem_bay4 jem_bay5 jem_bay3), which has other interesting effects (including one on (location-available jem_bay4) )
-For limits: literal goal index 5, fact (robot-at bumble berth1), is static or a precondition
-Looking for achievers for goal index 6, fact (completed-let-other-robot-reach honey o0 jem_bay5) with fID 155
- (let-other-robot-reach honey o0 jem_bay5 bumble)
-  Looking at numeric effects of (let-other-robot-reach honey o0 jem_bay5 bumble): 1 and 0
-For limits: literal goal index 6, fact (completed-let-other-robot-reach honey o0 jem_bay5), could be achieved by operator (let-other-robot-reach honey o0 jem_bay5 bumble), which has a non-trivial numeric effect ((robot-order honey) = 0.000)
-Looking for achievers for goal index 7, fact (completed-panorama honey o1 jem_bay7) with fID 116
- (panorama honey o1 jem_bay7)
-For limits: literal goal index 7, fact (completed-panorama honey o1 jem_bay7), could be achieved by operator (panorama honey o1 jem_bay7), which has other interesting effects (including one on (robot-available honey) )
-Looking for achievers for goal index 8, fact (completed-panorama honey o2 jem_bay6) with fID 108
- (panorama honey o2 jem_bay6)
-For limits: literal goal index 8, fact (completed-panorama honey o2 jem_bay6), could be achieved by operator (panorama honey o2 jem_bay6), which has other interesting effects (including one on (robot-available honey) )
-Looking for achievers for goal index 9, fact (completed-panorama honey o3 jem_bay5) with fID 100
- (panorama honey o3 jem_bay5)
-For limits: literal goal index 9, fact (completed-panorama honey o3 jem_bay5), could be achieved by operator (panorama honey o3 jem_bay5), which has other interesting effects (including one on (robot-available honey) )
-Looking for achievers for goal index 10, fact (completed-stereo honey o4 jem_bay7 jem_bay4) with fID 124
- (stereo honey o4 jem_bay7 jem_bay4 jem_bay5 jem_bay3) (stereo honey o4 jem_bay7 jem_bay4 jem_bay3 jem_bay5)
-For limits: literal goal index 10, fact (completed-stereo honey o4 jem_bay7 jem_bay4), could be achieved by operator (stereo honey o4 jem_bay7 jem_bay4 jem_bay5 jem_bay3), which has other interesting effects (including one on (location-available jem_bay4) )
-For limits: literal goal index 11, fact (robot-at honey berth2), is static or a precondition
-Assignment numeric effect ((robot-order bumble) = 0.000) makes effects on 0 be order-dependent
-Assignment numeric effect ((robot-order honey) = 0.000) makes effects on 1 be order-dependent
-Assignment numeric effect ((robot-order bumble) = 1.000) makes effects on 0 be order-dependent
-Assignment numeric effect ((robot-order honey) = 1.000) makes effects on 1 be order-dependent
-Assignment numeric effect ((robot-order bumble) = 2.000) makes effects on 0 be order-dependent
-Assignment numeric effect ((robot-order honey) = 2.000) makes effects on 1 be order-dependent
-Assignment numeric effect ((robot-order bumble) = 3.000) makes effects on 0 be order-dependent
-Assignment numeric effect ((robot-order honey) = 3.000) makes effects on 1 be order-dependent
-Assignment numeric effect ((robot-order bumble) = 4.000) makes effects on 0 be order-dependent
-Assignment numeric effect ((robot-order honey) = 4.000) makes effects on 1 be order-dependent
-27% of the ground temporal actions in this problem are compression-safe
-Initial heuristic = 29.000, admissible cost estimate 930.008
-b (28.000 | 630.001)
-Resorting to best-first search
-Running WA* with W = 5.000, not restarting with goal states
-b (28.000 | 630.001)b (28.000 | 70.003)b (27.000 | 870.005)b (26.000 | 870.005)b (25.000 | 880.005)b (24.000 | 880.005)b (23.000 | 1670.007)b (22.000 | 1670.007)b (21.000 | 1680.007)b (20.000 | 1680.007)b (19.000 | 2470.009)b (18.000 | 2470.009)b (17.000 | 2470.009)b (16.000 | 3270.011)b (15.000 | 3270.011)b (14.000 | 3870.012)b (13.000 | 3890.013)b (12.000 | 4470.013)b (12.000 | 3930.015)b (11.000 | 3950.016)b (10.000 | 3970.017)b (9.000 | 3990.018)b (7.000 | 4020.019)b (6.000 | 4650.021)b (4.000 | 4890.024)b (3.000 | 4910.025)b (2.000 | 5510.026)b (1.000 | 5510.026)(G)
-; LP calculated the cost
+$ ./tools/survey_planner.py
+0.000: (undock bumble berth1 jem_bay7 jem_bay6 jem_bay8) [30.000]
+30.001: (move bumble jem_bay7 jem_bay6 jem_bay5) [20.000]
+50.002: (move bumble jem_bay6 jem_bay5 jem_bay4) [20.000]
+70.003: (move bumble jem_bay5 jem_bay4 jem_bay3) [20.000]
+70.004: (undock honey berth2 jem_bay7 jem_bay6 jem_bay8) [30.000]
+90.004: (panorama bumble o0 jem_bay4) [780.000]
+100.005: (panorama honey o1 jem_bay7) [780.000]
+870.005: (move bumble jem_bay4 jem_bay3 jem_bay2) [20.000]
+880.006: (move honey jem_bay7 jem_bay6 jem_bay5) [20.000]
+890.006: (panorama bumble o1 jem_bay3) [780.000]
+900.007: (panorama honey o2 jem_bay6) [780.000]
+1670.007: (move bumble jem_bay3 jem_bay2 jem_bay1) [20.000]
+1680.008: (move honey jem_bay6 jem_bay5 jem_bay4) [20.000]
+1690.008: (panorama bumble o2 jem_bay2) [780.000]
+1700.009: (panorama honey o3 jem_bay5) [780.000]
+2470.009: (move bumble jem_bay2 jem_bay1 jem_bay0) [20.000]
+2480.010: (move honey jem_bay5 jem_bay6 jem_bay7) [20.000]
+2490.010: (panorama bumble o3 jem_bay1) [780.000]
+2500.011: (move honey jem_bay6 jem_bay7 jem_bay8) [20.000]
+2520.012: (stereo honey o4 jem_bay7 jem_bay4 jem_bay3 jem_bay5) [600.000]
+3120.013: (dock honey jem_bay7 berth2) [30.000]
+3270.011: (stereo bumble o4 jem_bay1 jem_bay4 jem_bay3 jem_bay5) [600.000]
+3870.012: (move bumble jem_bay1 jem_bay2 jem_bay3) [20.000]
+3890.013: (move bumble jem_bay2 jem_bay3 jem_bay4) [20.000]
+3910.014: (move bumble jem_bay3 jem_bay4 jem_bay5) [20.000]
+3930.015: (move bumble jem_bay4 jem_bay5 jem_bay6) [20.000]
+3950.016: (move bumble jem_bay5 jem_bay6 jem_bay7) [20.000]
+3970.017: (move bumble jem_bay6 jem_bay7 jem_bay8) [20.000]
+3990.018: (dock bumble jem_bay7 berth1) [30.000]
 
-; Plan found with metric 5540.027
-; Theoretical reachable cost 5540.028
-; States evaluated so far: 504
-; States pruned based on pre-heuristic cost lower bound: 0
-; Time 1.64
-0.000: (undock bumble berth1 jem_bay7 jem_bay8 jem_bay6)  [30.000]
-30.001: (move bumble jem_bay7 jem_bay6 jem_bay5)  [20.000]
-50.002: (move bumble jem_bay6 jem_bay5 jem_bay4)  [20.000]
-70.003: (let-other-robot-reach honey o0 jem_bay5 bumble)  [0.000]
-70.004: (move bumble jem_bay5 jem_bay4 jem_bay3)  [20.000]
-70.004: (undock honey berth2 jem_bay7 jem_bay8 jem_bay6)  [30.000]
-90.005: (panorama bumble o0 jem_bay4)  [780.000]
-100.005: (panorama honey o1 jem_bay7)  [780.000]
-870.006: (move bumble jem_bay4 jem_bay3 jem_bay2)  [20.000]
-880.006: (move honey jem_bay7 jem_bay6 jem_bay5)  [20.000]
-890.007: (panorama bumble o1 jem_bay3)  [780.000]
-900.007: (panorama honey o2 jem_bay6)  [780.000]
-1670.008: (move bumble jem_bay3 jem_bay2 jem_bay1)  [20.000]
-1680.008: (move honey jem_bay6 jem_bay7 jem_bay8)  [20.000]
-1690.009: (panorama bumble o2 jem_bay2)  [780.000]
-1700.009: (dock honey jem_bay7 berth2)  [30.000]
-2470.010: (move bumble jem_bay2 jem_bay1 jem_bay0)  [20.000]
-2490.011: (panorama bumble o3 jem_bay1)  [780.000]
-3270.012: (stereo bumble o4 jem_bay1 jem_bay4 jem_bay5 jem_bay3)  [600.000]
-3870.013: (move bumble jem_bay1 jem_bay2 jem_bay3)  [20.000]
-3890.014: (move bumble jem_bay2 jem_bay3 jem_bay4)  [20.000]
-3910.015: (move bumble jem_bay3 jem_bay4 jem_bay5)  [20.000]
-3930.016: (move bumble jem_bay4 jem_bay5 jem_bay6)  [20.000]
-3950.017: (move bumble jem_bay5 jem_bay6 jem_bay7)  [20.000]
-3970.018: (move bumble jem_bay6 jem_bay7 jem_bay8)  [20.000]
-3990.019: (dock bumble jem_bay7 berth1)  [30.000]
-4020.020: (undock honey berth2 jem_bay7 jem_bay8 jem_bay6)  [30.000]
-4050.021: (move honey jem_bay7 jem_bay6 jem_bay5)  [20.000]
-4070.022: (move honey jem_bay6 jem_bay5 jem_bay4)  [20.000]
-4090.023: (panorama honey o3 jem_bay5)  [780.000]
-4870.024: (move honey jem_bay5 jem_bay6 jem_bay7)  [20.000]
-4890.025: (move honey jem_bay6 jem_bay7 jem_bay8)  [20.000]
-4910.026: (stereo honey o4 jem_bay7 jem_bay4 jem_bay5 jem_bay3)  [600.000]
-5510.027: (dock honey jem_bay7 berth2)  [30.000]
-
- * All goal deadlines now no later than 5540.027
-b (1.000 | 5470.024)(G)
-; LP calculated the cost
-
-; Plan found with metric 5500.025
-; Theoretical reachable cost 5500.026
-; States evaluated so far: 866
-; States pruned based on pre-heuristic cost lower bound: 1
-; Time 2.85
-0.000: (undock bumble berth1 jem_bay7 jem_bay8 jem_bay6)  [30.000]
-30.001: (move bumble jem_bay7 jem_bay6 jem_bay5)  [20.000]
-50.002: (move bumble jem_bay6 jem_bay5 jem_bay4)  [20.000]
-70.003: (let-other-robot-reach honey o0 jem_bay5 bumble)  [0.000]
-70.004: (move bumble jem_bay5 jem_bay4 jem_bay3)  [20.000]
-70.004: (undock honey berth2 jem_bay7 jem_bay8 jem_bay6)  [30.000]
-90.005: (panorama bumble o0 jem_bay4)  [780.000]
-100.005: (panorama honey o1 jem_bay7)  [780.000]
-870.006: (move bumble jem_bay4 jem_bay3 jem_bay2)  [20.000]
-880.006: (move honey jem_bay7 jem_bay6 jem_bay5)  [20.000]
-890.007: (panorama bumble o1 jem_bay3)  [780.000]
-900.007: (panorama honey o2 jem_bay6)  [780.000]
-1670.008: (move bumble jem_bay3 jem_bay2 jem_bay1)  [20.000]
-1690.009: (panorama bumble o2 jem_bay2)  [780.000]
-2470.010: (move bumble jem_bay2 jem_bay1 jem_bay0)  [20.000]
-2490.011: (panorama bumble o3 jem_bay1)  [780.000]
-3270.012: (stereo bumble o4 jem_bay1 jem_bay4 jem_bay5 jem_bay3)  [600.000]
-3870.013: (move bumble jem_bay1 jem_bay2 jem_bay3)  [20.000]
-3870.013: (move honey jem_bay6 jem_bay5 jem_bay4)  [20.000]
-3890.014: (move bumble jem_bay2 jem_bay3 jem_bay4)  [20.000]
-3890.014: (panorama honey o3 jem_bay5)  [780.000]
-4670.015: (move honey jem_bay5 jem_bay6 jem_bay7)  [20.000]
-4690.016: (move bumble jem_bay3 jem_bay4 jem_bay5)  [20.000]
-4690.016: (move honey jem_bay6 jem_bay7 jem_bay8)  [20.000]
-4710.017: (dock honey jem_bay7 berth2)  [30.000]
-4710.017: (move bumble jem_bay4 jem_bay3 jem_bay2)  [20.000]
-4730.018: (move bumble jem_bay3 jem_bay2 jem_bay1)  [20.000]
-4740.018: (undock honey berth2 jem_bay7 jem_bay8 jem_bay6)  [30.000]
-4770.019: (stereo honey o4 jem_bay7 jem_bay4 jem_bay5 jem_bay3)  [600.000]
-5370.020: (dock honey jem_bay7 berth2)  [30.000]
-5370.020: (move bumble jem_bay2 jem_bay3 jem_bay4)  [20.000]
-5390.021: (move bumble jem_bay3 jem_bay4 jem_bay5)  [20.000]
-5410.022: (move bumble jem_bay4 jem_bay5 jem_bay6)  [20.000]
-5430.023: (move bumble jem_bay5 jem_bay6 jem_bay7)  [20.000]
-5450.024: (move bumble jem_bay6 jem_bay7 jem_bay8)  [20.000]
-5470.025: (dock bumble jem_bay7 berth1)  [30.000]
-
- * All goal deadlines now no later than 5500.025
-
-real	0m10.009s
-user	0m9.767s
-sys	0m0.240s