From 3970d287da35e7c4c30cde9458a40ea0010fe3a4 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 11:11:54 +0000 Subject: [PATCH 01/23] Add bread in world with stochastic location Signed-off-by: Charlie Street --- examples/overarching_tutorial/simulation/.docker/Dockerfile | 2 +- .../simulation/tutorial_sim/worlds/world.yaml | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/examples/overarching_tutorial/simulation/.docker/Dockerfile b/examples/overarching_tutorial/simulation/.docker/Dockerfile index 97f6522d..95f5c5b9 100644 --- a/examples/overarching_tutorial/simulation/.docker/Dockerfile +++ b/examples/overarching_tutorial/simulation/.docker/Dockerfile @@ -25,7 +25,7 @@ RUN pip3 install --break-system-packages -r requirements.txt # RUN source /opt/ros/jazzy/setup.bash && \ # rosdep install --from-paths src -y --ignore-src # (pyrobosim) -RUN git clone -b 4.3.3 https://github.com/sea-bass/pyrobosim.git src/pyrobosim +RUN git clone -b obj-parent-probability https://github.com/sea-bass/pyrobosim.git src/pyrobosim # # (smc_storm) # RUN curl -O -L https://github.com/convince-project/smc_storm/releases/download/0.0.6/smc_storm_executable.tar.gz && \ diff --git a/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml b/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml index 83ae43ac..2a46fffb 100644 --- a/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml +++ b/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml @@ -149,3 +149,7 @@ objects: category: snacks - parent: fridge category: butter + - category: bread + parent: + choices: [dining_table, fridge, kitchen_table, side_table] + probabilities: [0.5, 0.0, 0.4, 0.1] From df485d1daae4895da381ace05ad85ee8c8c888da Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 11:55:13 +0000 Subject: [PATCH 02/23] Update Dockerfile to get new commit for pyrobosim Signed-off-by: Charlie Street --- examples/overarching_tutorial/simulation/.docker/Dockerfile | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/examples/overarching_tutorial/simulation/.docker/Dockerfile b/examples/overarching_tutorial/simulation/.docker/Dockerfile index 95f5c5b9..9ecf96c8 100644 --- a/examples/overarching_tutorial/simulation/.docker/Dockerfile +++ b/examples/overarching_tutorial/simulation/.docker/Dockerfile @@ -25,7 +25,10 @@ RUN pip3 install --break-system-packages -r requirements.txt # RUN source /opt/ros/jazzy/setup.bash && \ # rosdep install --from-paths src -y --ignore-src # (pyrobosim) -RUN git clone -b obj-parent-probability https://github.com/sea-bass/pyrobosim.git src/pyrobosim +RUN git clone https://github.com/sea-bass/pyrobosim.git src/pyrobosim +RUN cd src/pyrobosim +RUN git checkout 96cff5da8e91082e955251ff0735f6b1338f5702 +RUN cd ../.. # # (smc_storm) # RUN curl -O -L https://github.com/convince-project/smc_storm/releases/download/0.0.6/smc_storm_executable.tar.gz && \ From f50ef6b54cde4018e02411fc3933a27ca11b28b7 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 13:32:49 +0000 Subject: [PATCH 03/23] Add refine-plan demo Signed-off-by: Charlie Street --- .../overarching_tutorial/simulation/README.md | 1 + .../simulation/refine_plan_demo/LICENSE | 202 ++++++++++++++++++ .../simulation/refine_plan_demo/README.md | 3 + .../simulation/refine_plan_demo/package.xml | 18 ++ .../refine_plan_demo/__init__.py | 0 .../resource/refine_plan_demo | 0 .../simulation/refine_plan_demo/setup.cfg | 4 + .../simulation/refine_plan_demo/setup.py | 25 +++ .../refine_plan_demo/test/test_copyright.py | 25 +++ .../refine_plan_demo/test/test_flake8.py | 25 +++ .../refine_plan_demo/test/test_pep257.py | 23 ++ 11 files changed, 326 insertions(+) create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/LICENSE create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/README.md create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/package.xml create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/__init__.py create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/resource/refine_plan_demo create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/setup.cfg create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/setup.py create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/test/test_copyright.py create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/test/test_flake8.py create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/test/test_pep257.py diff --git a/examples/overarching_tutorial/simulation/README.md b/examples/overarching_tutorial/simulation/README.md index e02ddbf8..204a0998 100644 --- a/examples/overarching_tutorial/simulation/README.md +++ b/examples/overarching_tutorial/simulation/README.md @@ -17,6 +17,7 @@ docker run -it --rm\ -v /tmp/.X11-unix:/tmp/.X11-unix:rw\ -v ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority\ -v ./tutorial_sim:/convince_ws/src/tutorial_sim\ + -v ./refine_plan_demo:/convince_ws/src/refine_plan_demo\ -v ./.docker/build:/convince_ws/build\ -e DISPLAY\ -e QT_X11_NO_MITSHM=1\ diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/LICENSE b/examples/overarching_tutorial/simulation/refine_plan_demo/LICENSE new file mode 100644 index 00000000..d6456956 --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md new file mode 100644 index 00000000..9ee6e883 --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md @@ -0,0 +1,3 @@ +# REFINE-PLAN Demo + +TODO: Write once demo complete diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml b/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml new file mode 100644 index 00000000..583ec93e --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml @@ -0,0 +1,18 @@ + + + + refine_plan_demo + 0.0.0 + A REFINE-PLAN demo in Pyrobosim for the CONVINCE project. + charlie + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/__init__.py b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/resource/refine_plan_demo b/examples/overarching_tutorial/simulation/refine_plan_demo/resource/refine_plan_demo new file mode 100644 index 00000000..e69de29b diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/setup.cfg b/examples/overarching_tutorial/simulation/refine_plan_demo/setup.cfg new file mode 100644 index 00000000..245024a5 --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/refine_plan_demo +[install] +install_scripts=$base/lib/refine_plan_demo diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py b/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py new file mode 100644 index 00000000..b0aded1b --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py @@ -0,0 +1,25 @@ +from setuptools import find_packages, setup + +package_name = 'refine_plan_demo' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='charlie', + maintainer_email='me@charliestreet.net', + description='A REFINE-PLAN demo in Pyrobosim for the CONVINCE project.', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/test/test_copyright.py b/examples/overarching_tutorial/simulation/refine_plan_demo/test/test_copyright.py new file mode 100644 index 00000000..97a39196 --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/test/test_flake8.py b/examples/overarching_tutorial/simulation/refine_plan_demo/test/test_flake8.py new file mode 100644 index 00000000..27ee1078 --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/test/test_pep257.py b/examples/overarching_tutorial/simulation/refine_plan_demo/test/test_pep257.py new file mode 100644 index 00000000..b234a384 --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' From 4b007dbb3ee09ef26e8a96f271fd6270d3d2067a Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 13:36:22 +0000 Subject: [PATCH 04/23] Move all refine-plan specific instructions to a separate README Signed-off-by: Charlie Street --- .../overarching_tutorial/simulation/README.md | 1 - .../simulation/refine_plan_demo/README.md | 35 ++++++++++++++++++- 2 files changed, 34 insertions(+), 2 deletions(-) diff --git a/examples/overarching_tutorial/simulation/README.md b/examples/overarching_tutorial/simulation/README.md index 204a0998..e02ddbf8 100644 --- a/examples/overarching_tutorial/simulation/README.md +++ b/examples/overarching_tutorial/simulation/README.md @@ -17,7 +17,6 @@ docker run -it --rm\ -v /tmp/.X11-unix:/tmp/.X11-unix:rw\ -v ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority\ -v ./tutorial_sim:/convince_ws/src/tutorial_sim\ - -v ./refine_plan_demo:/convince_ws/src/refine_plan_demo\ -v ./.docker/build:/convince_ws/build\ -e DISPLAY\ -e QT_X11_NO_MITSHM=1\ diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md index 9ee6e883..f1915be1 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md @@ -1,3 +1,36 @@ # REFINE-PLAN Demo -TODO: Write once demo complete +## How to run the demo + +> [!WARNING] +> You must be in the `data-model/examples/overarching_tutorial/simulation` folder for this to work. + +## Build + +```bash +docker build -t convince_tutorial -f .docker/Dockerfile . +``` + +## Run + +```bash +docker run -it --rm\ + --name convince_tutorial\ + -v /tmp/.X11-unix:/tmp/.X11-unix:rw\ + -v ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority\ + -v ./tutorial_sim:/convince_ws/src/tutorial_sim\ + -v ./refine_plan_demo:/convince_ws/src/refine_plan_demo\ + -v ./.docker/build:/convince_ws/build\ + -e DISPLAY\ + -e QT_X11_NO_MITSHM=1\ + convince_tutorial\ + bash +``` + +Inside the docker container, run + +```bash +ros2 run tutorial_sim run +``` + +TODO: Second terminal running refine-plan demo once run From 934706fcee7d90112d572820c5875296d1dca4b0 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 13:45:31 +0000 Subject: [PATCH 05/23] More basic setup Signed-off-by: Charlie Street --- .../simulation/.docker/Dockerfile | 4 +-- .../simulation/refine_plan_demo/package.xml | 2 ++ .../simulation/refine_plan_demo/setup.py | 32 +++++++++++-------- 3 files changed, 21 insertions(+), 17 deletions(-) diff --git a/examples/overarching_tutorial/simulation/.docker/Dockerfile b/examples/overarching_tutorial/simulation/.docker/Dockerfile index 9ecf96c8..a4ae8bbe 100644 --- a/examples/overarching_tutorial/simulation/.docker/Dockerfile +++ b/examples/overarching_tutorial/simulation/.docker/Dockerfile @@ -26,9 +26,7 @@ RUN pip3 install --break-system-packages -r requirements.txt # rosdep install --from-paths src -y --ignore-src # (pyrobosim) RUN git clone https://github.com/sea-bass/pyrobosim.git src/pyrobosim -RUN cd src/pyrobosim -RUN git checkout 96cff5da8e91082e955251ff0735f6b1338f5702 -RUN cd ../.. +RUN cd src/pyrobosim; git checkout 96cff5da8e91082e955251ff0735f6b1338f5702; cd ../.. # # (smc_storm) # RUN curl -O -L https://github.com/convince-project/smc_storm/releases/download/0.0.6/smc_storm_executable.tar.gz && \ diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml b/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml index 583ec93e..58888008 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml @@ -11,6 +11,8 @@ ament_flake8 ament_pep257 python3-pytest + refine-plan + pymongo ament_python diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py b/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py index b0aded1b..510210f8 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py @@ -1,25 +1,29 @@ from setuptools import find_packages, setup +from glob import glob +import os -package_name = 'refine_plan_demo' +package_name = "refine_plan_demo" setup( name=package_name, - version='0.0.0', - packages=find_packages(exclude=['test']), + version="0.0.0", + packages=find_packages(exclude=["test"]), data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + ( + os.path.join("share", package_name, "launch"), + glob(os.path.join("launch", "*launch.[pxy][yma]*")), + ), ], - install_requires=['setuptools'], + install_requires=["setuptools"], zip_safe=True, - maintainer='charlie', - maintainer_email='me@charliestreet.net', - description='A REFINE-PLAN demo in Pyrobosim for the CONVINCE project.', - license='Apache-2.0', - tests_require=['pytest'], + maintainer="charlie", + maintainer_email="me@charliestreet.net", + description="A REFINE-PLAN demo in Pyrobosim for the CONVINCE project.", + license="Apache-2.0", + tests_require=["pytest"], entry_points={ - 'console_scripts': [ - ], + "console_scripts": ["policy_executor = refine_plan_demo.policy_executor:main"], }, ) From 4f1339116f329dcdee4dfb1665f9218b52dbd48e Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 13:52:47 +0000 Subject: [PATCH 06/23] Launch file for policy executor and changes to Dockerfile/requirements Signed-off-by: Charlie Street --- .../simulation/.docker/Dockerfile | 3 +- .../launch/policy_executor.launch.py | 57 +++++++++++++++++++ .../simulation/requirements.txt | 1 + 3 files changed, 60 insertions(+), 1 deletion(-) create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/launch/policy_executor.launch.py diff --git a/examples/overarching_tutorial/simulation/.docker/Dockerfile b/examples/overarching_tutorial/simulation/.docker/Dockerfile index a4ae8bbe..eb08b171 100644 --- a/examples/overarching_tutorial/simulation/.docker/Dockerfile +++ b/examples/overarching_tutorial/simulation/.docker/Dockerfile @@ -11,7 +11,8 @@ RUN apt-get update && \ libxi-dev libxkbcommon-dev libxkbcommon-x11-dev libxrender-dev \ libnss3 libasound2t64 libxkbfile1 \ python3-pip python3-tk python3-wrapt python3-inflection \ - ros-jazzy-example-interfaces ros-jazzy-rqt-service-caller + ros-jazzy-example-interfaces ros-jazzy-rqt-service-caller \ + tmux # Create a ROS 2 workspace. RUN mkdir -p /convince_ws/src/ diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/launch/policy_executor.launch.py b/examples/overarching_tutorial/simulation/refine_plan_demo/launch/policy_executor.launch.py new file mode 100644 index 00000000..834389f6 --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/launch/policy_executor.launch.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python3 +"""Launch file for the policy executor. + +Author: Charlie Street +Owner: Charlie Street +""" + +from ament_index_python.packages import get_package_share_directory +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node, SetParameter +from launch.actions import DeclareLaunchArgument +from launch import LaunchDescription +import os + + +def generate_launch_description(): + + # Set sim time + set_sim_time = SetParameter(name="use_sim_time", value=True) + + # All launch args + db_connection_string = LaunchConfiguration("db_connection_string") + db_name = LaunchConfiguration("db_name") + db_collection = LaunchConfiguration("db_collection") + mode = LaunchConfiguration("mode") + + db_connection_arg = DeclareLaunchArgument( + "db_connection_string", default_value="localhost:27017" + ) + db_name_arg = DeclareLaunchArgument("db_name", default_value="refine-plan-demo") + db_collection_arg = DeclareLaunchArgument("db_collection") + mode_arg = DeclareLaunchArgument("mode") + + policy_exec_node = Node( + package="refine_plan_demo", + executable="policy_executor", + name="policy_executor", + parameters=[ + { + "db_connection_string": db_connection_string, + "db_name": db_name, + "db_collection": db_collection, + "mode": mode, + } + ], + output="screen", + ) + + ld = LaunchDescription() + ld.add_action(set_sim_time) + ld.add_action(db_connection_arg) + ld.add_action(db_name_arg) + ld.add_action(db_collection_arg) + ld.add_action(mode_arg) + ld.add_action(policy_exec_node) + + return ld diff --git a/examples/overarching_tutorial/simulation/requirements.txt b/examples/overarching_tutorial/simulation/requirements.txt index 8368e977..37da73b2 100644 --- a/examples/overarching_tutorial/simulation/requirements.txt +++ b/examples/overarching_tutorial/simulation/requirements.txt @@ -3,6 +3,7 @@ astar matplotlib numpy<2.1.0 pycollada +pymongo==4.8.0 PySide6>=6.7.1 pytest-dependency PyYAML From 850bdda04ac7a60b6f9ba7b09ee6fb07b97af476 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 14:02:53 +0000 Subject: [PATCH 07/23] Note on Dockerfile about pyrobosim Signed-off-by: Charlie Street --- examples/overarching_tutorial/simulation/.docker/Dockerfile | 1 + 1 file changed, 1 insertion(+) diff --git a/examples/overarching_tutorial/simulation/.docker/Dockerfile b/examples/overarching_tutorial/simulation/.docker/Dockerfile index eb08b171..80d48645 100644 --- a/examples/overarching_tutorial/simulation/.docker/Dockerfile +++ b/examples/overarching_tutorial/simulation/.docker/Dockerfile @@ -26,6 +26,7 @@ RUN pip3 install --break-system-packages -r requirements.txt # RUN source /opt/ros/jazzy/setup.bash && \ # rosdep install --from-paths src -y --ignore-src # (pyrobosim) +# Using this commit instead of -b 4.3.3 because this is the first commit on main to support stochastic object spawning RUN git clone https://github.com/sea-bass/pyrobosim.git src/pyrobosim RUN cd src/pyrobosim; git checkout 96cff5da8e91082e955251ff0735f6b1338f5702; cd ../.. From a5978b4cd468060bdc08c099bd45da38d8f3ce50 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 15:53:33 +0000 Subject: [PATCH 08/23] Bringup scripts Signed-off-by: Charlie Street --- .../bringup/run_data_collection.sh | 12 ++++++++ .../refine_plan_demo/bringup/run_demo.sh | 3 ++ .../refine_plan_demo/bringup/start_sim.sh | 17 +++++++++++ .../bringup/termination_checker.sh | 28 +++++++++++++++++++ 4 files changed, 60 insertions(+) create mode 100755 examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_data_collection.sh create mode 100755 examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh create mode 100755 examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh create mode 100755 examples/overarching_tutorial/simulation/refine_plan_demo/bringup/termination_checker.sh diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_data_collection.sh b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_data_collection.sh new file mode 100755 index 00000000..923769cc --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_data_collection.sh @@ -0,0 +1,12 @@ +#!/bin/bash +# Runs the simulation 100 times with proper clean up for data collection + +MONGO_CONNECTION_STRING=$1 + +for RUN in {0..99..1}; +do + echo "STARTING DATA COLLECTION RUN $(($RUN + 1))/100" + source ./start_sim.sh data $MONGO_CONNECTION_STRING + sleep 20s # Wait for everything to be properly setup before waiting + sh ./termination_checker.sh +done diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh new file mode 100755 index 00000000..5507473a --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh @@ -0,0 +1,3 @@ +#!/bin/bash +# Runs the refined policy in simulation +./start_sim.sh refined \ No newline at end of file diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh new file mode 100755 index 00000000..235e093a --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh @@ -0,0 +1,17 @@ +#!/bin/bash +# Starts up the refine plan demo + +SESSION=refine_plan_demo +POLICY_EXECUTOR_MODE=$1 +MONGO_CONNECTION_STRING=$2 + + +tmux -2 new-session -d -s $SESSION +tmux rename-window -t $SESSION 'pyrobosim' +tmux new-window -t $SESSION -n 'policy-executor' + +tmux select-window -t $SESSION:pyrobosim +tmux send-keys "ros2 run tutorial_sim run" C-m + +tmux select-window -t $SESSION:policy-executor +tmux send-keys "ros2 launch refine_plan_demo policy_executor.launch.py db_collection:=demo-$POLICY_MODE mode:=$POLICY_MODE db_connection_string:=$MONGO_CONNECTION_STRING" C-m \ No newline at end of file diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/termination_checker.sh b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/termination_checker.sh new file mode 100755 index 00000000..f303bacf --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/termination_checker.sh @@ -0,0 +1,28 @@ +#!/bin/bash +# Checks for termination and then ensures everything is killed properly + +NODE=$(ros2 node list | grep /policy_executor) +while [ ! -z "${NODE}" ] +do + echo "Policy Executor still running..." + sleep 5s + NODE=$(ros2 node list | grep /policy_executor) +done + +echo "Policy Executor Finished, Terminating." +# Kill absolutely everything and be extra sure +tmux kill-server +pkill -9 ros + +# Confirm that the node list is not empty +NODE_LIST=$(ros2 node list) +while [ ! -z "${NODE_LIST}" ] +do + echo "Node List not empty yet..." + sleep 5s + NODE_LIST=$(ros2 node list) +done +echo "Node List Empty, one last sleep to be safe." +sleep 10s + + From 06a53e289de5131832e0c742f9afb7158f915d8b Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 16:04:26 +0000 Subject: [PATCH 09/23] Update README Signed-off-by: Charlie Street --- .../simulation/refine_plan_demo/README.md | 22 ++++++++++++++----- 1 file changed, 17 insertions(+), 5 deletions(-) diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md index f1915be1..d92820e6 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md @@ -1,17 +1,22 @@ # REFINE-PLAN Demo +This demo shows the robot executing refined behaviours within the Pyrobosim simulation. +The robot's goal is to search for a loaf of bread within the house. +The bread appears stochastically at either the side table, dining table, kitchen table, or fridge. +Through REFINE-PLAN, the robot learns the distribution of where the bread may appear and navigates to it quickly. + ## How to run the demo > [!WARNING] > You must be in the `data-model/examples/overarching_tutorial/simulation` folder for this to work. -## Build +### Building the Docker container ```bash docker build -t convince_tutorial -f .docker/Dockerfile . ``` -## Run +### Running the Docker Container ```bash docker run -it --rm\ @@ -27,10 +32,17 @@ docker run -it --rm\ bash ``` -Inside the docker container, run +### Starting the Demo +Inside the docker container, run: ```bash -ros2 run tutorial_sim run +cd src/refine_plan_demo/bringup +./run_demo.sh ``` -TODO: Second terminal running refine-plan demo once run +From this, a tmux session will begin with two windows. +The first window is for the simulation, and the second is for execution. +The execution window provides insights into the robot's decision-making. +Upon running `./run_demo.sh` the robot will begin moving automatically. + + From 9f7e981dab2e996308a8e97d4c9c143c25199b5d Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Feb 2026 17:24:26 +0000 Subject: [PATCH 10/23] Almost have first version of policy executor ready - just need to add calls for navigate and detect Signed-off-by: Charlie Street --- .../simulation/refine_plan_demo/package.xml | 1 + .../refine_plan_demo/policy_executor.py | 331 ++++++++++++++++++ .../simulation/refine_plan_demo/setup.py | 26 +- 3 files changed, 357 insertions(+), 1 deletion(-) create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml b/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml index 58888008..c472d1e0 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/package.xml @@ -11,6 +11,7 @@ ament_flake8 ament_pep257 python3-pytest + pyrobosim_msgs refine-plan pymongo diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py new file mode 100644 index 00000000..b65de9b8 --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py @@ -0,0 +1,331 @@ +#!/usr/bin/env python3 +"""A node for policy execution in CONVINCE overarching demo environment. + +This policy executor can run data collection or refined policy execution. + +Author: Charlie Street +Owner: Charlie Street +""" + +from refine_plan.models.policy import Policy +from refine_plan.models.state_factor import StateFactor +from pyrobosim_msgs.action import ExecuteTaskAction +from pyrobosim_msgs.msg import TaskAction +from refine_plan.models.state import State +from action_msgs.msg import GoalStatus +from rclpy.action import ActionClient +from pymongo import MongoClient +from datetime import datetime +from rclpy.node import Node +import random +import rclpy + + +class PolicyExecutor(Node): + """A node for behaviour execution in the CONVINCE demo environment. + + Attributes: + _db_collection: The MongoDB collection for data logging (if mode == data) + _pyrobosim_client: The action client for Pyrobosim (navigation/detection) + _run_id: The ID for this run + _refined_policy: The refined policy, if used in this instance + _policy_fn: A function describing robot policy execution + _mode: The execution mode (data or refined) + _goal_fn: A function which takes a state history and returns True if goal reached + _bread_locs: A list of locations the bread could be at + _nav_locs: The list of locations the robot can move to + """ + + def __init__(self): + """Initialise the policy executor.""" + super().__init__("policy_executor") + self.declare_parameter("db_connection_string", rclpy.Parameter.Type.STRING) + self.declare_parameter("db_name", rclpy.Parameter.Type.STRING) + self.declare_parameter("db_collection", rclpy.Parameter.Type.STRING) + self.declare_parameter("mode", rclpy.Parameter.Type.STRING) + + self._run_id = random.getrandbits(32) + self._mode_setup() + self._db_setup() + self._setup_actions() + self._bread_locs = ["side_table", "dining_table", "kitchen_table", "fridge"] + self._nav_locs = ["hall"] + self._bread_locs + self.get_logger().info("Policy Executor Setup") + + def _at_bread(self, history): + """Returns True if the bread has been found and the robot is at that location. + + This is used for the refined policy. + + Args: + history: The state history + + Returns: + True if the bread has been found + """ + last_state = history[-1] + + for bread_loc in self._bread_locs: + if ( + last_state["bread_at_{}".format(bread_loc)] == "yes" + and last_state["location"] == bread_loc + ): + return True + + return False + + def _data_collect_goal(self, history): + """Returns True if 100 actions executed (101 states in history) or the bread is reached. + + This is used for data collection. + There's not much point collecting data once the bread is reached. + + Args: + history: The state history + + Returns: + True if 100 actions have been executed or the bread is reached + """ + + return len(history) > 100 or self._at_bread(history) + + def _mode_setup(self): + """Setup the policy and goal_fn for a given mode.""" + self._mode = self.get_parameter("mode").value + if self._mode == "data": + self._policy_fn = self._rand_action + self._goal_fn = self._data_collect_goal + elif self._mode == "refined": + self._refined_policy = Policy( + {}, policy_file="../params/demo_refined_policy.yaml" + ) + self._policy_fn = self._refined_policy.get_action + self._goal_fn = self._at_bread + + self.get_logger().info("Executing {} Policy".format(self._mode)) + + def _db_setup(self): + """Setup the Mongo connection.""" + if self._mode == "data": + connect_str = self.get_parameter("db_connection_string").value + db_name = self.get_parameter("db_name").value + db_collection = self.get_parameter("db_collection").value + self._db_collection = MongoClient(connect_str)[db_name][db_collection] + self.get_logger().info("Connected to MongoDB") + elif self._mode == "refined": + self._db_collection = None + self.get_logger().info("Running in refined mode - no Mongo logging") + + def _setup_actions(self): + """Setup the action client for all actions.""" + self._pyrobosim_client = ActionClient(self, ExecuteTaskAction, "execute_action") + self._pyrobosim_client.wait_for_server() + self.get_logger().info("Pyrobosim Action Execution Client Active") + + def _create_initial_state(self): + """Creates the initial state for policy execution. + + Returns: + The initial state + """ + loc_sf = StateFactor("location", self._nav_locs) + bread_sfs = [] + for bread_loc in self._bread_locs: + bread_sfs.append( + StateFactor("bread_at_{}".format(bread_loc), ["unknown", "no", "yes"]) + ) + + state_dict = {loc_sf: "hall"} + for sf in bread_sfs: + state_dict[sf] = "unknown" + + return State(state_dict) + + def _enabled_actions(self, state): + """Return the enabled actions in a state. + + Args: + state: The current state + + Returns: + A list of enabled actions + """ + enabled_actions = set([]) + + loc = state["location"] + if loc in self._bread_locs and state["bread_at_{}".format(loc)] == "unknown": + enabled_actions.add("detect") + + # We have a fully connected graph so add actions for each pair + for next_loc in self._nav_locs: + if next_loc != state["location"]: + enabled_actions.add(f"{loc}-{next_loc}") + + return list(enabled_actions) + + def _rand_action(self, state): + """Select a random enabled action for data collection. + + Args: + state: Unused + + Returns: + The action to be executed + """ + return random.choice(self._enabled_actions(state)) + + def _log_action(self, state, new_state, action, start, end): + """Log an action to the mongoDB database. + + Args: + state: The predecessor state + new_state: The successor state + action: The executed action + start: The start time + end: The end time + """ + doc = {} + doc["run_id"] = self._run_id + doc["mode"] = self._mode + doc["option"] = action + doc["date_started"] = float(start.nanoseconds) / 1e9 + doc["date_finished"] = float(end.nanoseconds) / 1e9 + doc["duration"] = float((end - start).nanoseconds) / 1e9 + doc["_meta"] = {"inserted_at": datetime.now()} + + for sf in state._state_dict: + doc["{}0".format(sf)] = state[sf] + + for sf in new_state._state_dict: + doc["{}t".format(sf)] = new_state[sf] + + if self._mode == "data": + self._db_collection.insert_one(doc) + else: + self.get_logger().info(f"Finished {doc["option"]} in {doc["duration"]} seconds") + + def _search_for_bread(self, state): + """Check if the wire is at a location. + + Args: + state: The current state + + Returns: + The updated state + """ + # TODO: Change + wire_req = WireCheck.Request() + wire_req.node = state["location"] + + future = self._check_wire_client.call_async(wire_req) + start = self.get_clock().now() + rclpy.spin_until_future_complete(self, future) + end = self.get_clock().now() + result = future.result() + + new_wire_status = "yes" if result.found else "no" + + new_state_dict = {} + unknown_vars = [] + for sf in state._state_dict: + new_state_dict[state._sf_dict[sf]] = ( + new_wire_status + if sf == "wire_at_{}".format(state["location"]) + else state._state_dict[sf] + ) + if new_state_dict[state._sf_dict[sf]] == "unknown": + unknown_vars.append(state._sf_dict[sf]) + + fill_val = None + if new_wire_status == "yes": # We can fill in everything once a yes is found + fill_val = "no" + elif len(unknown_vars) == 1: # The last unknown is yes if all else is no + fill_val = "yes" + + if fill_val is not None: # Replace the unknowns + for sf in unknown_vars: + new_state_dict[sf] = fill_val + + new_state = State(new_state_dict) + self._log_action(state, new_state, "check_for_wire", start, end) + return new_state + + def _navigation(self, state, action): + """Navigate to a new location. + + Args: + state: The current state + action: The current navigation action (_) + + Returns: + The updated state + """ + # TODO: Change + edge_goal = NavigateEdge.Goal() + edge_goal.edge_id = action + + future = self._edge_client.send_goal_async(edge_goal) + rclpy.spin_until_future_complete(self, future) + start = self.get_clock().now() + goal_handle = future.result() + if not goal_handle.accepted: + self.get_logger().error("Edge Navigation Action Not Accepted") + return None + + result = goal_handle.get_result_async() + rclpy.spin_until_future_complete(self, result) + end = self.get_clock().now() + + if result.result().status != GoalStatus.STATUS_SUCCEEDED: + self.get_logger().error("Edge Navigation Action Failed") + return None + else: + new_loc = result.result().result.dest + new_state_dict = {} + + for sf in state._state_dict: # Update location + new_state_dict[state._sf_dict[sf]] = ( + new_loc if sf == "location" else state._state_dict[sf] + ) + + new_state = State(new_state_dict) + self._log_action(state, new_state, action, start, end) + + return new_state + + def execute_policy(self): + """Execute the policy until a termination condition is satisfied.""" + + current_state = self._create_initial_state() + history = [current_state] + + while not self._goal_fn(history): + action = self._policy_fn(current_state) + assert action in self._enabled_actions(current_state) + + self.get_logger().info( + "Action: {}; Executing {} in {}".format( + len(history), action, current_state + ) + ) + + if action == "detect": + current_state = self._search_for_bread(current_state) + else: # Edge action + current_state = self._navigation(current_state, action) + + history.append(current_state) + + if current_state is None: # Error case + self.get_logger().error("Error During Policy Execution. Exiting.") + return + + +def main(args=None): + rclpy.init(args=args) + + policy_exec = PolicyExecutor() + + # Execute the policy and then shut down + policy_exec.execute_policy() + rclpy.shutdown() diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py b/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py index 510210f8..4da64fa6 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/setup.py @@ -4,11 +4,35 @@ package_name = "refine_plan_demo" + +def package_files(directory_list): + """Glob wasn't working how I intended, so I took this nice function from: + https://answers.ros.org/question/397319/how-to-copy-folders-with-subfolders-to-package-installation-path/ + """ + paths_dict = {} + data_files = [] + for directory in directory_list: + for path, _, filenames in os.walk(directory): + + for filename in filenames: + file_path = os.path.join(path, filename) + install_path = os.path.join("share", package_name, path) + if install_path in paths_dict.keys(): + paths_dict[install_path].append(file_path) + else: + paths_dict[install_path] = [file_path] + + for key in paths_dict.keys(): + data_files.append((key, paths_dict[key])) + return data_files + + setup( name=package_name, version="0.0.0", packages=find_packages(exclude=["test"]), - data_files=[ + data_files=package_files(["params/"]) # Params needed to send over the policy + + [ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), ("share/" + package_name, ["package.xml"]), ( From cc3e6bfa2fef8f366ac2b794487035b08da3993b Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Thu, 19 Feb 2026 09:46:12 +0000 Subject: [PATCH 11/23] Nav and detect functions implemented Signed-off-by: Charlie Street --- .../refine_plan_demo/policy_executor.py | 66 +++++++++++-------- 1 file changed, 40 insertions(+), 26 deletions(-) diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py index b65de9b8..c3480bda 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py @@ -157,6 +157,7 @@ def _enabled_actions(self, state): enabled_actions.add("detect") # We have a fully connected graph so add actions for each pair + # Note that the edges here are directed for next_loc in self._nav_locs: if next_loc != state["location"]: enabled_actions.add(f"{loc}-{next_loc}") @@ -205,7 +206,7 @@ def _log_action(self, state, new_state, action, start, end): self.get_logger().info(f"Finished {doc["option"]} in {doc["duration"]} seconds") def _search_for_bread(self, state): - """Check if the wire is at a location. + """Check if the bread is at a location. Args: state: The current state @@ -213,31 +214,40 @@ def _search_for_bread(self, state): Returns: The updated state """ - # TODO: Change - wire_req = WireCheck.Request() - wire_req.node = state["location"] + detect_goal = ExecuteTaskAction.Goal() + detect_goal.action.robot = "robot" + detect_goal.action.type = "detect" + detect_goal.action.object = "bread" + self.get_logger().info(f"Trying to detect bread") - future = self._check_wire_client.call_async(wire_req) - start = self.get_clock().now() + future = self._pyrobosim_client.send_goal_async(detect_goal) rclpy.spin_until_future_complete(self, future) + start = self.get_clock().now() + goal_handle = future.result() + if not goal_handle.accepted: + self.get_logger().error("Navigation Action Not Accepted") + return None + + result = goal_handle.get_result_async() + rclpy.spin_until_future_complete(self, result) end = self.get_clock().now() - result = future.result() - new_wire_status = "yes" if result.found else "no" + bread_found = result.result().result.execution_result.status == 0 + new_bread_status = "yes" if bread_found else "no" new_state_dict = {} unknown_vars = [] for sf in state._state_dict: new_state_dict[state._sf_dict[sf]] = ( - new_wire_status - if sf == "wire_at_{}".format(state["location"]) + new_bread_status + if sf == "bread_at_{}".format(state["location"]) else state._state_dict[sf] ) if new_state_dict[state._sf_dict[sf]] == "unknown": unknown_vars.append(state._sf_dict[sf]) fill_val = None - if new_wire_status == "yes": # We can fill in everything once a yes is found + if new_bread_status == "yes": # We can fill in everything once a yes is found fill_val = "no" elif len(unknown_vars) == 1: # The last unknown is yes if all else is no fill_val = "yes" @@ -247,7 +257,7 @@ def _search_for_bread(self, state): new_state_dict[sf] = fill_val new_state = State(new_state_dict) - self._log_action(state, new_state, "check_for_wire", start, end) + self._log_action(state, new_state, "detect", start, end) return new_state def _navigation(self, state, action): @@ -260,38 +270,42 @@ def _navigation(self, state, action): Returns: The updated state """ - # TODO: Change - edge_goal = NavigateEdge.Goal() - edge_goal.edge_id = action - - future = self._edge_client.send_goal_async(edge_goal) + goal_loc = action.split("-")[-1] + nav_goal = ExecuteTaskAction.Goal() + nav_goal.action.robot = "robot" + nav_goal.action.type = "navigate" + nav_goal.action.target_location = goal_loc + self.get_logger().info(f"Trying to navigate to {goal_loc}") + + future = self._pyrobosim_client.send_goal_async(nav_goal) rclpy.spin_until_future_complete(self, future) start = self.get_clock().now() goal_handle = future.result() if not goal_handle.accepted: - self.get_logger().error("Edge Navigation Action Not Accepted") + self.get_logger().error("Navigation Action Not Accepted") return None result = goal_handle.get_result_async() rclpy.spin_until_future_complete(self, result) end = self.get_clock().now() - if result.result().status != GoalStatus.STATUS_SUCCEEDED: + # Nav may fail - we want to check the Execution result message + # End status 0 means success, anything else means failure + end_status = result.result().result.execution_result.status + if end_status != 0: self.get_logger().error("Edge Navigation Action Failed") - return None + new_state = state else: - new_loc = result.result().result.dest + self.get_logger().error("Edge Navigation Action Successful") new_state_dict = {} - for sf in state._state_dict: # Update location new_state_dict[state._sf_dict[sf]] = ( - new_loc if sf == "location" else state._state_dict[sf] + goal_loc if sf == "location" else state._state_dict[sf] ) - new_state = State(new_state_dict) - self._log_action(state, new_state, action, start, end) - return new_state + self._log_action(state, new_state, action, start, end) + return new_state def execute_policy(self): """Execute the policy until a termination condition is satisfied.""" From c96c1f790f91585788228973fe72eb0159ff1b84 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Thu, 19 Feb 2026 09:47:19 +0000 Subject: [PATCH 12/23] Improve logging Signed-off-by: Charlie Street --- .../refine_plan_demo/refine_plan_demo/policy_executor.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py index c3480bda..d91cd089 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py @@ -225,7 +225,7 @@ def _search_for_bread(self, state): start = self.get_clock().now() goal_handle = future.result() if not goal_handle.accepted: - self.get_logger().error("Navigation Action Not Accepted") + self.get_logger().error("Detect Action Not Accepted") return None result = goal_handle.get_result_async() @@ -234,6 +234,7 @@ def _search_for_bread(self, state): bread_found = result.result().result.execution_result.status == 0 new_bread_status = "yes" if bread_found else "no" + self.get_logger().info(f"Bread found: {new_bread_status}") new_state_dict = {} unknown_vars = [] From 27c8ae2aab5b8e867f25735cb74bdbab2b5e086b Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Thu, 19 Feb 2026 14:17:16 +0000 Subject: [PATCH 13/23] Add parameter to change detect prob in overarching demo Signed-off-by: Charlie Street --- .../refine_plan_demo/bringup/start_sim.sh | 2 +- .../simulation/tutorial_sim/tutorial_sim/run.py | 17 ++++++++++++++++- 2 files changed, 17 insertions(+), 2 deletions(-) diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh index 235e093a..ebb1ca2f 100755 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh @@ -11,7 +11,7 @@ tmux rename-window -t $SESSION 'pyrobosim' tmux new-window -t $SESSION -n 'policy-executor' tmux select-window -t $SESSION:pyrobosim -tmux send-keys "ros2 run tutorial_sim run" C-m +tmux send-keys "ros2 run tutorial_sim run --ros-args -p detect_succ_prob:=1.0" C-m tmux select-window -t $SESSION:policy-executor tmux send-keys "ros2 launch refine_plan_demo policy_executor.launch.py db_collection:=demo-$POLICY_MODE mode:=$POLICY_MODE db_connection_string:=$MONGO_CONNECTION_STRING" C-m \ No newline at end of file diff --git a/examples/overarching_tutorial/simulation/tutorial_sim/tutorial_sim/run.py b/examples/overarching_tutorial/simulation/tutorial_sim/tutorial_sim/run.py index 5c2ab9c0..267ca875 100644 --- a/examples/overarching_tutorial/simulation/tutorial_sim/tutorial_sim/run.py +++ b/examples/overarching_tutorial/simulation/tutorial_sim/tutorial_sim/run.py @@ -18,13 +18,28 @@ def create_ros_node(): """Initializes ROS node""" rclpy.init() node = WorldROSWrapper(state_pub_rate=0.1, dynamics_rate=0.01) - + + # Allow for detect success probability to be overwritten + # This is for the REFINE-PLAN demo only + # I'd rather do this than change the world file + node.declare_parameter("detect_succ_prob", rclpy.Parameter.Type.DOUBLE) + detect_prob = node.get_parameter_or("detect_succ_prob", alternative_value=None) + world_file = os.path.join( get_package_share_directory("tutorial_sim"), "worlds", "world.yaml", ) world = WorldYamlLoader().from_file(world_file) + + if detect_prob is not None: + node.get_logger().info( + f"Overriding detect success probability to: {detect_prob.value}" + ) + robot_name = world.get_robot_names()[0] + robot = world.get_robot_by_name(robot_name) + robot.action_execution_options["detect"].success_probability = detect_prob.value + # world.reset(seed=0) world.reset() # This randomizes the world. node.set_world(world) From 8c44847857cfdc6a6bbc2516bf464c56465b273b Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Thu, 19 Feb 2026 16:14:04 +0000 Subject: [PATCH 14/23] Overarching demo working - just a few small things left to fix Signed-off-by: Charlie Street --- .../overarching_tutorial/simulation/.docker/Dockerfile | 7 +++++++ .../simulation/refine_plan_demo/bringup/start_sim.sh | 2 +- .../refine_plan_demo/launch/policy_executor.launch.py | 2 +- .../refine_plan_demo/refine_plan_demo/policy_executor.py | 2 +- 4 files changed, 10 insertions(+), 3 deletions(-) diff --git a/examples/overarching_tutorial/simulation/.docker/Dockerfile b/examples/overarching_tutorial/simulation/.docker/Dockerfile index 80d48645..dc844eae 100644 --- a/examples/overarching_tutorial/simulation/.docker/Dockerfile +++ b/examples/overarching_tutorial/simulation/.docker/Dockerfile @@ -30,6 +30,13 @@ RUN pip3 install --break-system-packages -r requirements.txt RUN git clone https://github.com/sea-bass/pyrobosim.git src/pyrobosim RUN cd src/pyrobosim; git checkout 96cff5da8e91082e955251ff0735f6b1338f5702; cd ../.. +# Install REFINE-PLAN +RUN git clone https://github.com/convince-project/refine-plan.git src/refine-plan +RUN cd src/refine-plan; git checkout dc28b5d150fea4b73f1049bdcbada28828d9ef3e +RUN cd src/refine-plan; pip3 install --break-system-packages -r requirements.txt +RUN cd src/refine-plan; pip3 install --break-system-packages . +RUN rm -r src/refine-plan + # # (smc_storm) # RUN curl -O -L https://github.com/convince-project/smc_storm/releases/download/0.0.6/smc_storm_executable.tar.gz && \ # tar -xzf smc_storm_executable.tar.gz && \ diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh index ebb1ca2f..17ad214e 100755 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/start_sim.sh @@ -14,4 +14,4 @@ tmux select-window -t $SESSION:pyrobosim tmux send-keys "ros2 run tutorial_sim run --ros-args -p detect_succ_prob:=1.0" C-m tmux select-window -t $SESSION:policy-executor -tmux send-keys "ros2 launch refine_plan_demo policy_executor.launch.py db_collection:=demo-$POLICY_MODE mode:=$POLICY_MODE db_connection_string:=$MONGO_CONNECTION_STRING" C-m \ No newline at end of file +tmux send-keys "ros2 launch refine_plan_demo policy_executor.launch.py db_collection:=demo-$POLICY_EXECUTOR_MODE mode:=$POLICY_EXECUTOR_MODE db_connection_string:=$MONGO_CONNECTION_STRING" C-m \ No newline at end of file diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/launch/policy_executor.launch.py b/examples/overarching_tutorial/simulation/refine_plan_demo/launch/policy_executor.launch.py index 834389f6..5268307a 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/launch/policy_executor.launch.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/launch/policy_executor.launch.py @@ -16,7 +16,7 @@ def generate_launch_description(): # Set sim time - set_sim_time = SetParameter(name="use_sim_time", value=True) + set_sim_time = SetParameter(name="use_sim_time", value=False) # All launch args db_connection_string = LaunchConfiguration("db_connection_string") diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py index d91cd089..1df83810 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py @@ -297,7 +297,7 @@ def _navigation(self, state, action): self.get_logger().error("Edge Navigation Action Failed") new_state = state else: - self.get_logger().error("Edge Navigation Action Successful") + self.get_logger().info("Edge Navigation Action Successful") new_state_dict = {} for sf in state._state_dict: # Update location new_state_dict[state._sf_dict[sf]] = ( From 0c2c1697859e65ebf5998263dae91f557b929d92 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 25 Feb 2026 17:24:11 +0000 Subject: [PATCH 15/23] Switched to A* planner as behaviour very strange with RRT* (robot doesn't take shortest path from hall to dining room?) Signed-off-by: Charlie Street --- .../simulation/tutorial_sim/worlds/world.yaml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml b/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml index 2a46fffb..f4c29f16 100644 --- a/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml +++ b/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml @@ -19,10 +19,9 @@ robots: path_executor: type: constant_velocity path_planner: - type: rrt - bidirectional: false - max_connection_dist: 0.5 - max_time: 10.0 + type: astar + grid_resolution: 0.05 + grid_inflation_radius: 0.2 action_execution_options: navigate: success_probability: 0.9 From 698ffefd6a44f1047d8c00b28a301477f96c2198 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 25 Feb 2026 17:35:14 +0000 Subject: [PATCH 16/23] Reduced edges in toplogical map. Astar not quite behaving as I want Signed-off-by: Charlie Street --- .../refine_plan_demo/policy_executor.py | 23 +++++++++++-------- .../simulation/tutorial_sim/worlds/world.yaml | 2 +- 2 files changed, 14 insertions(+), 11 deletions(-) diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py index 1df83810..26c548cb 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py @@ -20,6 +20,13 @@ import random import rclpy +# Node to nodes we can directly reach from that node +GRAPH = {"hall": ["dining_table", "fridge"], + "dining_table": ["hall", "side_table"], + "side_table": ["dining_table", "kitchen_table"], + "kitchen_table": ["side_table", "fridge"], + "fridge": ["kitchen_table", "hall"]} + class PolicyExecutor(Node): """A node for behaviour execution in the CONVINCE demo environment. @@ -156,11 +163,8 @@ def _enabled_actions(self, state): if loc in self._bread_locs and state["bread_at_{}".format(loc)] == "unknown": enabled_actions.add("detect") - # We have a fully connected graph so add actions for each pair - # Note that the edges here are directed - for next_loc in self._nav_locs: - if next_loc != state["location"]: - enabled_actions.add(f"{loc}-{next_loc}") + # Connect to locations in GRAPH + enabled_actions.update(GRAPH[state["location"]]) return list(enabled_actions) @@ -266,17 +270,16 @@ def _navigation(self, state, action): Args: state: The current state - action: The current navigation action (_) + action: The current navigation action (just the destination) Returns: The updated state """ - goal_loc = action.split("-")[-1] nav_goal = ExecuteTaskAction.Goal() nav_goal.action.robot = "robot" nav_goal.action.type = "navigate" - nav_goal.action.target_location = goal_loc - self.get_logger().info(f"Trying to navigate to {goal_loc}") + nav_goal.action.target_location = action + self.get_logger().info(f"Trying to navigate to {action}") future = self._pyrobosim_client.send_goal_async(nav_goal) rclpy.spin_until_future_complete(self, future) @@ -301,7 +304,7 @@ def _navigation(self, state, action): new_state_dict = {} for sf in state._state_dict: # Update location new_state_dict[state._sf_dict[sf]] = ( - goal_loc if sf == "location" else state._state_dict[sf] + action if sf == "location" else state._state_dict[sf] ) new_state = State(new_state_dict) diff --git a/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml b/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml index f4c29f16..f4957e8b 100644 --- a/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml +++ b/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml @@ -21,7 +21,7 @@ robots: path_planner: type: astar grid_resolution: 0.05 - grid_inflation_radius: 0.2 + grid_inflation_radius: 0.05 action_execution_options: navigate: success_probability: 0.9 From fb6a8a1e1016f6261e43f3208230a18cd19550f1 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Thu, 26 Feb 2026 10:33:43 +0000 Subject: [PATCH 17/23] Moved tables slightly and now nav behaves fine with A*. Set the spawn probs for the bread Signed-off-by: Charlie Street --- .../simulation/tutorial_sim/worlds/world.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml b/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml index f4957e8b..af880214 100644 --- a/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml +++ b/examples/overarching_tutorial/simulation/tutorial_sim/worlds/world.yaml @@ -117,14 +117,14 @@ locations: category: table pose: position: - x: -2.75 + x: -2.7 y: 4.5 - name: side_table parent: dining category: table pose: position: - x: -4.25 + x: -4.3 y: 4.5 - name: kitchen_table parent: kitchen @@ -151,4 +151,4 @@ objects: - category: bread parent: choices: [dining_table, fridge, kitchen_table, side_table] - probabilities: [0.5, 0.0, 0.4, 0.1] + probabilities: [0.5, 0.1, 0.1, 0.3] From c19b349e95bede515a196534b41f0f3e2765dbe8 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Thu, 26 Feb 2026 10:53:04 +0000 Subject: [PATCH 18/23] Switch back action names Signed-off-by: Charlie Street --- .../refine_plan_demo/policy_executor.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py index 26c548cb..43741093 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py @@ -164,7 +164,8 @@ def _enabled_actions(self, state): enabled_actions.add("detect") # Connect to locations in GRAPH - enabled_actions.update(GRAPH[state["location"]]) + actions = [f"{state['location']}-{next_loc}" for next_loc in GRAPH[state["location"]]] + enabled_actions.update(actions) return list(enabled_actions) @@ -275,11 +276,12 @@ def _navigation(self, state, action): Returns: The updated state """ + goal_loc = action.split("-")[-1] nav_goal = ExecuteTaskAction.Goal() nav_goal.action.robot = "robot" nav_goal.action.type = "navigate" - nav_goal.action.target_location = action - self.get_logger().info(f"Trying to navigate to {action}") + nav_goal.action.target_location = goal_loc + self.get_logger().info(f"Trying to navigate to {goal_loc}") future = self._pyrobosim_client.send_goal_async(nav_goal) rclpy.spin_until_future_complete(self, future) @@ -304,7 +306,7 @@ def _navigation(self, state, action): new_state_dict = {} for sf in state._state_dict: # Update location new_state_dict[state._sf_dict[sf]] = ( - action if sf == "location" else state._state_dict[sf] + goal_loc if sf == "location" else state._state_dict[sf] ) new_state = State(new_state_dict) From 7682a6ada604839b3f0c95bdf7d35a8c548f946f Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Sun, 1 Mar 2026 19:47:37 +0000 Subject: [PATCH 19/23] Overarching demo for refine-plan working - just need to write up a little bit now Signed-off-by: Charlie Street --- .../refine_plan_demo/bringup/run_demo.sh | 2 +- .../params/refined_policy.yaml | 2783 +++++++++++++++++ .../refine_plan_demo/policy_executor.py | 6 +- 3 files changed, 2787 insertions(+), 4 deletions(-) create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/params/refined_policy.yaml diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh index 5507473a..b7051250 100755 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh @@ -1,3 +1,3 @@ #!/bin/bash # Runs the refined policy in simulation -./start_sim.sh refined \ No newline at end of file +./start_sim.sh refined no_mongo \ No newline at end of file diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/params/refined_policy.yaml b/examples/overarching_tutorial/simulation/refine_plan_demo/params/refined_policy.yaml new file mode 100644 index 00000000..6c22c94b --- /dev/null +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/params/refined_policy.yaml @@ -0,0 +1,2783 @@ +state_action_map: +- action: hallTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: hall +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: dining_table +- action: fridgeTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: fridge +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: dining_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: side_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: kitchen_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: fridge +- action: detect + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: side_table +- action: hallTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: hall +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: side_table +- action: side_tableTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: side_table +- action: kitchen_tableTOside_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: kitchen_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: kitchen_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: kitchen_table +- action: hallTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: hall +- action: hallTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: hall +- action: detect + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: kitchen_table +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: side_table +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: fridge +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: kitchen_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: dining_table +- action: fridgeTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: fridge +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: side_table +- action: kitchen_tableTOside_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: kitchen_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: side_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: dining_table +- action: kitchen_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: kitchen_table +- action: kitchen_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: kitchen_table +- action: kitchen_tableTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: kitchen_table +- action: kitchen_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: kitchen_table +- action: kitchen_tableTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: kitchen_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: kitchen_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: kitchen_table +- action: kitchen_tableTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: kitchen_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: dining_table +- action: detect + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: kitchen_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: dining_table +- action: kitchen_tableTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: kitchen_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: kitchen_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: dining_table +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: fridge +- action: kitchen_tableTOside_table + bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: kitchen_table +- action: kitchen_tableTOside_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: kitchen_table +- action: kitchen_tableTOside_table + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: kitchen_table +- action: kitchen_tableTOfridge + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: kitchen_table +- action: kitchen_tableTOside_table + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: kitchen_table +- action: kitchen_tableTOfridge + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: kitchen_table +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: kitchen_table +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: kitchen_table +- action: fridgeTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: fridge +- action: hallTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: hall +- action: fridgeTOkitchen_table + bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: fridge +- action: hallTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: hall +- action: side_tableTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: side_table +- action: dining_tableTOside_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: dining_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: side_table +- action: side_tableTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: side_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: dining_table +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: side_table +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: fridge +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: side_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: fridge +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: side_table +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: fridge +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: side_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: fridge +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: side_table +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: hall +- action: detect + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: fridge +- action: hallTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: hall +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: fridge +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: hall +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: hall +- action: detect + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: kitchen_table +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: hall +- action: fridgeTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: fridge +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: fridge +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: fridge +- action: hallTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: hall +- action: hallTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: hall +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: dining_table +- action: side_tableTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: side_table +- action: dining_tableTOside_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: dining_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: kitchen_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: dining_table +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: hall +- action: detect + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: side_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: side_table +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: hall +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: side_table +- action: hallTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: hall +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: hall +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: hall +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: fridge +- action: hallTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: hall +- action: hallTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: hall +- action: hallTOdining_table + bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: hall +- action: hallTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: hall +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: side_table +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: hall +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'yes' + location: hall +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: hall +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: side_table +- action: hallTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: hall +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: side_table +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: hall +- action: kitchen_tableTOside_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: kitchen_table +- action: detect + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: kitchen_table +- action: dining_tableTOside_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: dining_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: unknown + location: dining_table +- action: kitchen_tableTOfridge + bread_at_dining_table: unknown + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: kitchen_table +- action: kitchen_tableTOfridge + bread_at_dining_table: unknown + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: kitchen_table +- action: None + bread_at_dining_table: unknown + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: kitchen_table +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: fridge +- action: kitchen_tableTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: kitchen_table +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: hall +- action: detect + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: kitchen_table +- action: hallTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: hall +- action: kitchen_tableTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: kitchen_table +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: side_table +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: side_table +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: fridge +- action: hallTOdining_table + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: hall +- action: hallTOfridge + bread_at_dining_table: unknown + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: hall +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: side_table +- action: hallTOdining_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: hall +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: unknown + location: side_table +- action: hallTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: unknown + location: hall +- action: None + bread_at_dining_table: unknown + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: fridge +- action: side_tableTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: side_table +- action: None + bread_at_dining_table: unknown + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: fridge +- action: side_tableTOkitchen_table + bread_at_dining_table: unknown + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: side_table +- action: kitchen_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'yes' + location: kitchen_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'yes' + location: kitchen_table +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: side_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: dining_table +- action: side_tableTOkitchen_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: side_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: dining_table +- action: kitchen_tableTOfridge + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: kitchen_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: kitchen_table +- action: dining_tableTOside_table + bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: dining_table +- action: None + bread_at_dining_table: 'yes' + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: fridge +- action: fridgeTOkitchen_table + bread_at_dining_table: 'yes' + 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'no' + location: fridge + value: .inf +- bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: hall + value: .inf +- bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: hall + value: 9.124726719351536 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: kitchen_table + value: 10.812441396403724 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: hall + value: 10.592549552944467 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: kitchen_table + value: 10.812441396403724 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: hall + value: 10.59254955293899 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: kitchen_table + value: 10.37282274570367 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: hall + value: 10.59254955293899 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: kitchen_table + value: 10.37282274570367 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: hall + value: 10.592549552944467 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: unknown + location: kitchen_table + value: 0.0 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: unknown + location: hall + value: 9.020085492905139 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: unknown + location: kitchen_table + value: 0.0 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: unknown + location: hall + value: 9.124726658108154 +- bread_at_dining_table: unknown + bread_at_fridge: 'yes' + bread_at_kitchen_table: 'no' + bread_at_side_table: 'no' + location: hall + value: 23.26075217119612 +- bread_at_dining_table: unknown + bread_at_fridge: 'yes' + bread_at_kitchen_table: unknown + bread_at_side_table: 'no' + location: hall + value: 23.260751863672464 +- bread_at_dining_table: 'no' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: 'no' + location: fridge + value: 1.999999999996933 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: side_table + value: 1.8124414004859484 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: dining_table + value: 0.0 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: side_table + value: 1.8124414004859484 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'no' + bread_at_side_table: unknown + location: dining_table + value: 0.0 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: side_table + value: 1.372822749109284 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: dining_table + value: 0.0 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: side_table + value: 1.372822749109284 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: unknown + bread_at_side_table: unknown + location: dining_table + value: 0.0 +- bread_at_dining_table: 'yes' + bread_at_fridge: 'no' + bread_at_kitchen_table: 'yes' + bread_at_side_table: unknown + location: dining_table + value: 0.0 +- bread_at_dining_table: 'yes' + bread_at_fridge: unknown + bread_at_kitchen_table: 'yes' + bread_at_side_table: unknown + location: dining_table + value: 0.0 diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py index 43741093..8c1b40b8 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py @@ -104,7 +104,7 @@ def _mode_setup(self): self._goal_fn = self._data_collect_goal elif self._mode == "refined": self._refined_policy = Policy( - {}, policy_file="../params/demo_refined_policy.yaml" + {}, policy_file="../params/refined_policy.yaml" ) self._policy_fn = self._refined_policy.get_action self._goal_fn = self._at_bread @@ -164,7 +164,7 @@ def _enabled_actions(self, state): enabled_actions.add("detect") # Connect to locations in GRAPH - actions = [f"{state['location']}-{next_loc}" for next_loc in GRAPH[state["location"]]] + actions = [f"{state['location']}TO{next_loc}" for next_loc in GRAPH[state["location"]]] enabled_actions.update(actions) return list(enabled_actions) @@ -276,7 +276,7 @@ def _navigation(self, state, action): Returns: The updated state """ - goal_loc = action.split("-")[-1] + goal_loc = action.split("TO")[-1] nav_goal = ExecuteTaskAction.Goal() nav_goal.action.robot = "robot" nav_goal.action.type = "navigate" From f01443aae5767a1a25dc1a22ac2d633a0ce9b412 Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Sun, 1 Mar 2026 19:56:01 +0000 Subject: [PATCH 20/23] Update README and Dockerfile now planning script merged in REFINE-PLAN Signed-off-by: Charlie Street --- examples/overarching_tutorial/simulation/.docker/Dockerfile | 3 +-- .../simulation/refine_plan_demo/README.md | 5 +++++ 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/examples/overarching_tutorial/simulation/.docker/Dockerfile b/examples/overarching_tutorial/simulation/.docker/Dockerfile index dc844eae..3e7b0b1f 100644 --- a/examples/overarching_tutorial/simulation/.docker/Dockerfile +++ b/examples/overarching_tutorial/simulation/.docker/Dockerfile @@ -31,8 +31,7 @@ RUN git clone https://github.com/sea-bass/pyrobosim.git src/pyrobosim RUN cd src/pyrobosim; git checkout 96cff5da8e91082e955251ff0735f6b1338f5702; cd ../.. # Install REFINE-PLAN -RUN git clone https://github.com/convince-project/refine-plan.git src/refine-plan -RUN cd src/refine-plan; git checkout dc28b5d150fea4b73f1049bdcbada28828d9ef3e +RUN git clone -b overarching_demo https://github.com/convince-project/refine-plan.git src/refine-plan RUN cd src/refine-plan; pip3 install --break-system-packages -r requirements.txt RUN cd src/refine-plan; pip3 install --break-system-packages . RUN rm -r src/refine-plan diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md index d92820e6..172530d7 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md @@ -4,6 +4,7 @@ This demo shows the robot executing refined behaviours within the Pyrobosim simu The robot's goal is to search for a loaf of bread within the house. The bread appears stochastically at either the side table, dining table, kitchen table, or fridge. Through REFINE-PLAN, the robot learns the distribution of where the bread may appear and navigates to it quickly. +In this instance, the robot navigates anti-clockwise through the environment, starting from the hall. ## How to run the demo @@ -45,4 +46,8 @@ The first window is for the simulation, and the second is for execution. The execution window provides insights into the robot's decision-making. Upon running `./run_demo.sh` the robot will begin moving automatically. +## How was this behaviour generated? + +The script used to run REFINE-PLAN from simulated data for this problem can be found [here](https://github.com/convince-project/refine-plan/blob/main/bin/overarching_demo_planning.py). + From dd213c3cb2d9d21c04dcb12004fb570ccbb89c7e Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 18 Mar 2026 13:48:08 +0000 Subject: [PATCH 21/23] Add initial BT behaviour Signed-off-by: Charlie Street --- .../simulation/refine_plan_demo/README.md | 17 +++++---- .../refine_plan_demo/bringup/run_demo.sh | 6 ++-- .../refine_plan_demo/policy_executor.py | 35 +++++++++++++++++-- 3 files changed, 48 insertions(+), 10 deletions(-) diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md index 172530d7..8ff957df 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md @@ -3,8 +3,10 @@ This demo shows the robot executing refined behaviours within the Pyrobosim simulation. The robot's goal is to search for a loaf of bread within the house. The bread appears stochastically at either the side table, dining table, kitchen table, or fridge. -Through REFINE-PLAN, the robot learns the distribution of where the bread may appear and navigates to it quickly. -In this instance, the robot navigates anti-clockwise through the environment, starting from the hall. +The initial robot behaviour takes a clockwise route through the house, starting from the hall. +This is inefficient, as the locations with the highest probabilities appear at the top of the house. +Through REFINE-PLAN, the robot learns the distribution of where the bread may appear. +As a result, the robot navigates anti-clockwise through the environment starting from the hall, finding the bread faster. ## How to run the demo @@ -34,20 +36,23 @@ docker run -it --rm\ ``` ### Starting the Demo -Inside the docker container, run: +Inside the docker container, run the following, where `` can be set to `initial` or `refined`: ```bash cd src/refine_plan_demo/bringup -./run_demo.sh +./run_demo.sh ``` From this, a tmux session will begin with two windows. The first window is for the simulation, and the second is for execution. The execution window provides insights into the robot's decision-making. -Upon running `./run_demo.sh` the robot will begin moving automatically. +Upon running the demo the robot will begin moving automatically. +If `` is set to `initial`, the robot will execute the initial behaviour, i.e. moving clockwise through the house. +If `` is set to `refined`, the robot will execute the refined behaviour, i.e. moving anticlockwise through the house. +The robot will find the bread quicker on average when `` is set to `refined`. ## How was this behaviour generated? -The script used to run REFINE-PLAN from simulated data for this problem can be found [here](https://github.com/convince-project/refine-plan/blob/main/bin/overarching_demo_planning.py). +The script used to run REFINE-PLAN to synthesise the refined behaviour from simulated data for this problem can be found [here](https://github.com/convince-project/refine-plan/blob/main/bin/overarching_demo_planning.py). diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh index b7051250..8df49582 100755 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/bringup/run_demo.sh @@ -1,3 +1,5 @@ #!/bin/bash -# Runs the refined policy in simulation -./start_sim.sh refined no_mongo \ No newline at end of file +MODE=$1 + +# Runs the refined or initial policy in simulation +./start_sim.sh $MODE no_mongo \ No newline at end of file diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py index 8c1b40b8..1a2acca2 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/refine_plan_demo/policy_executor.py @@ -108,6 +108,9 @@ def _mode_setup(self): ) self._policy_fn = self._refined_policy.get_action self._goal_fn = self._at_bread + elif self._mode == "initial": + self._policy_fn = self._initial_bt + self._goal_fn = self._at_bread self.get_logger().info("Executing {} Policy".format(self._mode)) @@ -119,9 +122,9 @@ def _db_setup(self): db_collection = self.get_parameter("db_collection").value self._db_collection = MongoClient(connect_str)[db_name][db_collection] self.get_logger().info("Connected to MongoDB") - elif self._mode == "refined": + elif self._mode == "refined" or self._mode == "initial": self._db_collection = None - self.get_logger().info("Running in refined mode - no Mongo logging") + self.get_logger().info(f"Running in {self._mode} mode - no Mongo logging") def _setup_actions(self): """Setup the action client for all actions.""" @@ -179,6 +182,34 @@ def _rand_action(self, state): The action to be executed """ return random.choice(self._enabled_actions(state)) + + def _initial_bt(self, state): + """Run the initial policy, which moves clockwise through the environment. + + Args: + state: The current state of the system + + Returns: + The next action to execute + """ + if state["location"] == "hall": + return "hallTOfridge" + elif state["location"] == "dining_table": + if state["bread_at_dining_table"] == "unknown": + return "detect" + elif state["location"] == "side_table": + if state["bread_at_side_table"] == "unknown": + return "detect" + return "side_tableTOdining_table" + elif state["location"] == "kitchen_table": + if state["bread_at_kitchen_table"] == "unknown": + return "detect" + return "kitchen_tableTOside_table" + elif state["location"] == "fridge": + if state["bread_at_fridge"] == "unknown": + return "detect" + return "fridgeTOkitchen_table" + def _log_action(self, state, new_state, action, start, end): """Log an action to the mongoDB database. From 8dd16b5f1b0ef77025a52c29fb3ce3dfb86c307b Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Wed, 25 Mar 2026 17:04:05 +0000 Subject: [PATCH 22/23] Update Pyrobosim version rather than use specific commit Signed-off-by: Charlie Street --- examples/overarching_tutorial/simulation/.docker/Dockerfile | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/examples/overarching_tutorial/simulation/.docker/Dockerfile b/examples/overarching_tutorial/simulation/.docker/Dockerfile index 3e7b0b1f..bab71c1f 100644 --- a/examples/overarching_tutorial/simulation/.docker/Dockerfile +++ b/examples/overarching_tutorial/simulation/.docker/Dockerfile @@ -26,9 +26,8 @@ RUN pip3 install --break-system-packages -r requirements.txt # RUN source /opt/ros/jazzy/setup.bash && \ # rosdep install --from-paths src -y --ignore-src # (pyrobosim) -# Using this commit instead of -b 4.3.3 because this is the first commit on main to support stochastic object spawning -RUN git clone https://github.com/sea-bass/pyrobosim.git src/pyrobosim -RUN cd src/pyrobosim; git checkout 96cff5da8e91082e955251ff0735f6b1338f5702; cd ../.. + +RUN git clone -b 4.3.4 https://github.com/sea-bass/pyrobosim.git src/pyrobosim # Install REFINE-PLAN RUN git clone -b overarching_demo https://github.com/convince-project/refine-plan.git src/refine-plan From e42aa144486383ac02608fc6de81573aae36698e Mon Sep 17 00:00:00 2001 From: Charlie Street Date: Sun, 29 Mar 2026 16:45:05 +0100 Subject: [PATCH 23/23] Update tutorial document - now much more comprehensive Signed-off-by: Charlie Street --- .../simulation/refine_plan_demo/README.md | 98 +++++++++++++++--- .../refine_plan_demo/images/framework.png | Bin 0 -> 453465 bytes .../refine_plan_demo/images/pyrobosim.png | Bin 0 -> 84899 bytes .../refine_plan_tutorial_initial_bt.png | Bin 0 -> 47472 bytes 4 files changed, 82 insertions(+), 16 deletions(-) create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/images/framework.png create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/images/pyrobosim.png create mode 100644 examples/overarching_tutorial/simulation/refine_plan_demo/images/refine_plan_tutorial_initial_bt.png diff --git a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md index 8ff957df..650d7086 100644 --- a/examples/overarching_tutorial/simulation/refine_plan_demo/README.md +++ b/examples/overarching_tutorial/simulation/refine_plan_demo/README.md @@ -1,14 +1,8 @@ # REFINE-PLAN Demo This demo shows the robot executing refined behaviours within the Pyrobosim simulation. -The robot's goal is to search for a loaf of bread within the house. -The bread appears stochastically at either the side table, dining table, kitchen table, or fridge. -The initial robot behaviour takes a clockwise route through the house, starting from the hall. -This is inefficient, as the locations with the highest probabilities appear at the top of the house. -Through REFINE-PLAN, the robot learns the distribution of where the bread may appear. -As a result, the robot navigates anti-clockwise through the environment starting from the hall, finding the bread faster. -## How to run the demo +## Building and Running the Docker Container for this Tutorial > [!WARNING] > You must be in the `data-model/examples/overarching_tutorial/simulation` folder for this to work. @@ -35,24 +29,96 @@ docker run -it --rm\ bash ``` -### Starting the Demo -Inside the docker container, run the following, where `` can be set to `initial` or `refined`: +## The Problem + +The robot must search for a loaf of bread as quickly as possible within the following house environment: + +![pyrobosim](images/pyrobosim.png) + +The bread appears stochastically at: +* The **dining table** with probability **0.5** +* The **fridge** with probability **0.1** +* The **kitchen table** with probability **0.1** +* The **side table** with probability **0.3** + +From this, it is clear that the bread is much more likely to appear in the dining room than the kitchen. + +## The Initial BT +We begin with an initial BT for this problem which does not consider uncertainty. +In this instance, the BT does not know the bread's location distribution and so searches for it by moving +**clockwise** around the environment until it finds it. +This is inefficient, as the robot searches the lower probability locations first. +A portion of the initial BT for the fridge can be seen below. The sequence node is repeated for the kitchen table, side table, and dining table. + +![initial_bt](images/refine_plan_tutorial_initial_bt.png) + +### Running the Initial BT +After starting the Docker container, run: + ```bash cd src/refine_plan_demo/bringup -./run_demo.sh +./run_demo.sh initial ``` From this, a tmux session will begin with two windows. The first window is for the simulation, and the second is for execution. The execution window provides insights into the robot's decision-making. -Upon running the demo the robot will begin moving automatically. -If `` is set to `initial`, the robot will execute the initial behaviour, i.e. moving clockwise through the house. -If `` is set to `refined`, the robot will execute the refined behaviour, i.e. moving anticlockwise through the house. -The robot will find the bread quicker on average when `` is set to `refined`. +Upon running the demo the robot will begin searching for the bread by moving clockwise through the house. + +## REFINE-PLAN +REFINE-PLAN is an automated tool for refining hand-designed BTs to improve robot performance under uncertainty. +We give an overview of the REFINE-PLAN framework in the image below: + +![framework](images/framework.png) + +REFINE-PLAN begins with an initial hand-designed BT and a simulator as input. +From the initial BT we extract a state space for planning using the condition nodes and blackboard. +Next, we learn two Bayesian networks per action node in simulation which capture the stochastic transition and cost dynamics of robot execution. +We then construct a Markov decision process using the learned Bayesian networks and extracted state space, and solve it using standard techniques to synthesise a policy. +This policy can then be converted back to a BT. + +### State Space Extraction +For this problem, we extract the following state factors: +* The robot's location in the house (hall, fridge, kitchen table, side table, dining table) +* A state factor for each location declaring whether the bread is present, or whether this information is unknown. + +### Data Collection for Model Learning +To learn the stochastic transition and cost dynamics of the environment we require a **data collection** phase in simulation. +Here the robot executes actions randomly in the simulator. The recorded transitions are then used to learn the Bayesian networks. -## How was this behaviour generated? +To run data collection, you can run the following after starting the Docker container, where `` is a connection string to a Mongo database, e.g. `localhost:27017`: -The script used to run REFINE-PLAN to synthesise the refined behaviour from simulated data for this problem can be found [here](https://github.com/convince-project/refine-plan/blob/main/bin/overarching_demo_planning.py). +```bash +cd src/refine_plan_demo/bringup +./run_data_collection.sh +``` + +### Synthesising the Refined Behaviour +Given the recorded transitions from the data collection phase, we can then: +* Learn the Bayesian networks for each BT action node +* Construct the MDP +* Solve it using standard techniques +These three steps can be executed for this problem by running the following [script](https://github.com/convince-project/refine-plan/blob/main/bin/overarching_demo_planning.py). +After running REFINE-PLAN, the robot learns the location distribution for the bread and prioritises searching higher probability locations first. +Visually, the robot now moves **anticlockwise** through the house, finding the bread quicker on average. + +### Running the Refined Behaviour +After starting the Docker container, run: + +```bash +cd src/refine_plan_demo/bringup +./run_demo.sh refined +``` + +From this, a tmux session will begin with two windows. +The first window is for the simulation, and the second is for execution. +The execution window provides insights into the robot's decision-making. +Upon running the demo the robot will begin searching for the bread by moving **anticlockwise** through the house. +## Further Information +For more information on REFINE-PLAN, you can: +* Visit our official [documentation](https://convince-project.github.io/refine-plan/) +* Look at the [source code](https://github.com/convince-project/refine-plan) +* Read the 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