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behavior_tree_learning package from planning-and-learning repo

behavior_tree_learning

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jstyrud/planning-and-learning.git
VCS Type git
VCS Version main
Last Updated 2021-03-16
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • jstyrud

Authors

No additional authors.

Combining planning and learning of behavior trees for robotic assembly

This repository contains an implementation of a Genetic Programming (GP) algorithm that evolves Behavior Trees (BTs) to solve different assembly tasks. The tasks consist in picking LEGO DUPLO bricks and placing them in different configurations. The BTs are executed in the AGX Dynamics environment, but they can also be simulated in a high-level state machine without involving physics. The GP is bootstrapped by a BT created by a planner and partially solving the task (depending on the initial configurations).

Set-up

Put BT_SETTINGS.yaml file(s) with whatever name(s) the scripts use in your ros2 workspace root folder in order for the scripts to find them properly with relative paths.

Build with “colcon build –packages-select behavior_tree_learning –symlink-install”

Code coverage

To run code coverage, in consol run “pytest –cov”

How to run the simulation

To run duplo simulation start an agx environment console and run python agx_.py And then in a py trees console run ros2 run behavior_tree_learning

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged behavior_tree_learning at Robotics Stack Exchange

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