Changes have been pushed for the repository "fawkes.git". (Fawkes Robotics Software Framework)
Clone: g...@git.fawkesrobotics.org:fawkes.git Gitweb: http://git.fawkesrobotics.org/fawkes.git Trac: http://trac.fawkesrobotics.org The branch, thofmann/clips-executive-pddl has been updated to f45c12972fdc98e653a34ebff1aafb25ec3d68b1 (commit) via 273ae9b1df3d6c474e57b72327d8931439c3e7ad (commit) from 026f3d380f7e18ba44def880257ada8fe21dc422 (commit) http://git.fawkesrobotics.org/fawkes.git/thofmann/clips-executive-pddl Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit 273ae9b1df3d6c474e57b72327d8931439c3e7ad Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu Jan 11 21:47:17 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Feb 9 11:46:38 2018 +0100 clips executive: convert all action parameters to upper case Instead of using all lower case, convert all action parameters to all upper case, as this matches the commonly used names better. http://git.fawkesrobotics.org/fawkes.git/commit/273ae9b http://trac.fawkesrobotics.org/changeset/273ae9b - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit f45c12972fdc98e653a34ebff1aafb25ec3d68b1 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Fri Feb 9 11:39:04 2018 +0100 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Fri Feb 9 11:46:46 2018 +0100 clips-executive: ignore REACH-GOAL action returned by the PDDL planner FF sometimes adds a REACH-GOAL action as last action to the plan. This is a pseudo-action that we never need, directly filter it out. http://git.fawkesrobotics.org/fawkes.git/commit/f45c129 http://trac.fawkesrobotics.org/changeset/f45c129 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/plugins/clips-executive/clips/pddl.clp | 38 +++++++++++++++------------ 1 files changed, 21 insertions(+), 17 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 273ae9b1df3d6c474e57b72327d8931439c3e7ad - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu Jan 11 21:47:17 2018 +0100 Subject: clips executive: convert all action parameters to upper case src/plugins/clips-executive/clips/pddl.clp | 2 +- 1 files changed, 1 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/pddl.clp b/src/plugins/clips-executive/clips/pddl.clp index c0158c1..21fc1cb 100644 --- a/src/plugins/clips-executive/clips/pddl.clp +++ b/src/plugins/clips-executive/clips/pddl.clp @@ -110,7 +110,7 @@ (replace$ ?param-values ?param-index ?param-index - (sym-cat (lowcase ?param)) + (sym-cat (upcase ?param)) ) ) ) - *commit* f45c12972fdc98e653a34ebff1aafb25ec3d68b1 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Fri Feb 9 11:39:04 2018 +0100 Subject: clips-executive: ignore REACH-GOAL action returned by the PDDL planner src/plugins/clips-executive/clips/pddl.clp | 38 +++++++++++++++------------ 1 files changed, 21 insertions(+), 17 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/pddl.clp b/src/plugins/clips-executive/clips/pddl.clp index 21fc1cb..a543fe4 100644 --- a/src/plugins/clips-executive/clips/pddl.clp +++ b/src/plugins/clips-executive/clips/pddl.clp @@ -103,24 +103,28 @@ (printout t "Fetched a new plan!" crlf) (bind ?id-offset (pddl-get-max-action-id)) (progn$ (?action (bson-get-array (bson-get ?obj "o") "actions")) - (bind ?param-values (bson-get-array ?action "args")) - ; Convert all paramters to lower-case symbols - (progn$ (?param ?param-values) - (bind ?param-values - (replace$ - ?param-values - ?param-index ?param-index - (sym-cat (upcase ?param)) - ) + (bind ?action-name (sym-cat (bson-get ?action "name"))) + ; FF sometimes returns the pseudo-action REACH-GOAL. Filter it out. + (if (neq ?action-name REACH-GOAL) then + (bind ?param-values (bson-get-array ?action "args")) + ; Convert all parameters to upper-case symbols + (progn$ (?param ?param-values) + (bind ?param-values + (replace$ + ?param-values + ?param-index ?param-index + (sym-cat (upcase ?param)) + ) + ) ) - ) - (assert - (plan (id ?plan-id) (goal-id ?goal-id)) - (plan-action - (id (+ ?action-index ?id-offset)) - (plan-id ?plan-id) - (action-name (sym-cat (bson-get ?action "name"))) - (param-values ?param-values) + (assert + (plan (id ?plan-id) (goal-id ?goal-id)) + (plan-action + (id (+ ?action-index ?id-offset)) + (plan-id ?plan-id) + (action-name ?action-name) + (param-values ?param-values) + ) ) ) ) -- Fawkes Robotics Framework http://www.fawkesrobotics.org _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
