From d1368786071c5060c4ee3ba7bb5d16f1022d5508 Mon Sep 17 00:00:00 2001 From: hello-chintan Date: Tue, 21 Feb 2023 18:26:45 -0500 Subject: [PATCH] Autdock BT initial commit --- stretch_demos/nodes/autodocking.py | 81 ++++++++++++++ stretch_demos/nodes/autodocking_behaviors.py | 111 +++++++++++++++++++ 2 files changed, 192 insertions(+) create mode 100755 stretch_demos/nodes/autodocking.py create mode 100644 stretch_demos/nodes/autodocking_behaviors.py diff --git a/stretch_demos/nodes/autodocking.py b/stretch_demos/nodes/autodocking.py new file mode 100755 index 0000000..8967555 --- /dev/null +++ b/stretch_demos/nodes/autodocking.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python3 + +import argparse +import sys +import time +import typing +import py_trees +import py_trees.console as console +from autodocking_behaviors import * + + +def create_root() -> py_trees.behaviour.Behaviour: + + """ + Create the root behaviour and it's subtree. + Returns: + the root behaviour + """ + + root = py_trees.composites.Sequence(name="Root", memory=False) + retry = py_trees.decorators.Retry(child=root, num_failures=3, name="Retry") + + cam_scanner = py_trees.composites.Selector(name="Fallback_Scan", memory=False) + move_predock = py_trees.composites.Selector(name="Fallback_Predock", memory=False) + move_dock = py_trees.composites.Sequence(name="Sequence_Dock", memory=False) + charging = py_trees.composites.Selector(name="Fallback_Charging", memory=False) + + condition_aruco_detected_scan = ArucoDetect(name="arucoDetectedScan") + condition_aruco_detected_dock = ArucoDetect(name="arucoDetectedDock") + condtion_predock_pose = PredockPose(name="predockPose") + condition_charging = Charging(name="charging") + action_move_predock = MoveToPredock(name="moveToPredock") + action_move_predock_again = MoveToPredock(name="moveToPredockAgain") + success_is_failure = py_trees.decorators.SuccessIsFailure(name="SuccessIsFail", child=action_move_predock_again) + + action_move_dock = MoveToDock(name="moveToDock") + action_camera_scan = CameraScan(name="cameraScan") + + root.add_children([cam_scanner, move_predock, move_dock, charging]) + cam_scanner.add_children([condition_aruco_detected_scan, action_camera_scan]) + move_predock.add_children([condtion_predock_pose, action_move_predock]) + move_dock.add_children([condition_aruco_detected_dock, action_move_dock]) + charging.add_children([condition_charging, success_is_failure]) + + return retry + + +if __name__ == '__main__': + + """Entry point for the demo script.""" + + py_trees.logging.level = py_trees.logging.Level.DEBUG + + retry = create_root() + + #################### + # Rendering + #################### + + # if args.render: + # py_trees.display.render_dot_tree(root) + # sys.exit() + + #################### + # Execute + #################### + + retry.setup_with_descendants() + + for i in range(1, 6): + try: + print("\n--------- Tick {0} ---------\n".format(i)) + retry.tick_once() + print("\n") + print(py_trees.display.unicode_tree(root=retry, show_status=True)) + time.sleep(1.0) + except KeyboardInterrupt: + + break + + print("\n") diff --git a/stretch_demos/nodes/autodocking_behaviors.py b/stretch_demos/nodes/autodocking_behaviors.py new file mode 100644 index 0000000..06b1473 --- /dev/null +++ b/stretch_demos/nodes/autodocking_behaviors.py @@ -0,0 +1,111 @@ +import argparse +import sys +import time +import typing +import py_trees +import py_trees.console as console + +class MoveToPredock(py_trees.behaviour.Behaviour): + def __init__(self, name): + super(MoveToPredock, self).__init__(name) + + def setup(self): + self.logger.debug(" %s [MoveToPredock::setup()]" % self.name) + + def initialise(self): + self.logger.debug(" %s [MoveToPredock::initialise()]" % self.name) + + def update(self): + self.logger.debug(" %s [MoveToPredock::update()]" % self.name) + return py_trees.common.Status.SUCCESS + + def terminate(self, new_status): + self.logger.debug(" %s [MoveToPredock::terminate()]" % self.name) + + +class MoveToDock(py_trees.behaviour.Behaviour): + def __init__(self, name): + super(MoveToDock, self).__init__(name) + + def setup(self): + self.logger.debug(" %s [MoveToDock::setup()]" % self.name) + + def initialise(self): + self.logger.debug(" %s [MoveToDock::initialise()]" % self.name) + + def update(self): + self.logger.debug(" %s [MoveToDock::update()]" % self.name) + return py_trees.common.Status.SUCCESS + + def terminate(self, new_status): + self.logger.debug(" %s [MoveToDock::terminate()]" % self.name) + + +class CameraScan(py_trees.behaviour.Behaviour): + def __init__(self, name): + super(CameraScan, self).__init__(name) + + def setup(self): + self.logger.debug(" %s [CameraScan::setup()]" % self.name) + + def initialise(self): + self.logger.debug(" %s [CameraScan::initialise()]" % self.name) + + def update(self): + self.logger.debug(" %s [CameraScan::update()]" % self.name) + return py_trees.common.Status.SUCCESS + + def terminate(self, new_status): + self.logger.debug(" %s [CameraScan::terminate()]" % self.name) + +class ArucoDetect(py_trees.behaviour.Behaviour): + def __init__(self, name): + super(ArucoDetect, self).__init__(name) + + def setup(self): + self.logger.debug(" %s [ArucoDetect::setup()]" % self.name) + + def initialise(self): + self.logger.debug(" %s [ArucoDetect::initialise()]" % self.name) + + def update(self): + self.logger.debug(" %s [ArucoDetect::update()]" % self.name) + return py_trees.common.Status.SUCCESS + + def terminate(self, new_status): + self.logger.debug(" %s [ArucoDetect::terminate()]" % self.name) + +class PredockPose(py_trees.behaviour.Behaviour): + def __init__(self, name): + super(PredockPose, self).__init__(name) + + def setup(self): + self.logger.debug(" %s [PredockPose::setup()]" % self.name) + + def initialise(self): + self.logger.debug(" %s [PredockPose::initialise()]" % self.name) + + def update(self): + self.logger.debug(" %s [PredockPose::update()]" % self.name) + return py_trees.common.Status.SUCCESS + + def terminate(self, new_status): + self.logger.debug(" %s [PredockPose::terminate()]" % self.name) + +class Charging(py_trees.behaviour.Behaviour): + def __init__(self, name): + super(Charging, self).__init__(name) + + def setup(self): + self.logger.debug(" %s [Charging::setup()]" % self.name) + + def initialise(self): + self.logger.debug(" %s [Charging::initialise()]" % self.name) + + def update(self): + self.logger.debug(" %s [Charging::update()]" % self.name) + return py_trees.common.Status.FAILURE + + def terminate(self, new_status): + self.logger.debug(" %s [Charging::terminate()]" % self.name) +