robotics_testlabs/challenge_wakemeup.py

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# Tunable params
find_person = {                 # This needs to be updated according to the environment
    'within_range' : 2.0,
    'under_z' : 0.3,
    'min_chull_area' : 0.06,
    'min_exist_prob' : 0.6
}
 
alarm_wait_time = 5
alarm_duration = 60
 
get_newspaper_timeout = 3       # This needs to be updated for robocup maybe
give_newspaper_timeout = 30
wakeup_light_color = [1, 1, 1]
 
handover_joint_config = "sensed_handover"
 
sensor_range = 2.0
 
order_confirmation_limit = 3
 
initial_pose = "initial_pose"
 
# Knowledge
bed = 'bed'                     # This needs to be updated according to the environment
matress_height = 0.70           #TODO: Set matress height or even better: get from models
 
bed_nav_goal = {        
    'near' : bed,
    'in' : 'bedroom',
    'lookat' : 'bed',
    'at_bedside' : bed,
}
 
default_milk = "fresh milk"
default_cereal = "coconut_cereals"
default_fruit = "apple"
 
kitchen_nav_goal = {            # This needs to be updated according to the environment
    "in_front_of":"cabinet",
    "in" : "kitchen",
    "lookat" : "cabinet"
}
 
generic_items = [ "milk", "cereal", "fruit" ]
allowed_fruits = [ "apple" ]
 
milk_shelf = "cabinet"          # This needs to be updated according to the environment
cereal_shelf = "cabinet"        # This needs to be updated according to the environment
fruit_shelf = "cabinet"         # This needs to be updated according to the environment
 
table_nav_goal = {
    "in": "kitchen",
    "near": "kitchen_table",
    "in_front_of": "dinnertable",
    "lookat" : "dinnertable"
}
 
item_nav_goal = {               # This needs to be updated according to the environment
    "in" : "kitchen",
    "near_milk" : milk_shelf,
    "lookat_milk" : milk_shelf,
    "near_cereal" : cereal_shelf,
    "lookat_cereal" : cereal_shelf,
    "near_fruit" : fruit_shelf,
    "lookat_fruit" : fruit_shelf
}
 
# milk_nav_goal = {               # This needs to be updated according to the environment
#     "in" : "kitchen",
#     "near" : milk_shelf,
#     "lookat" : milk_shelf
# }
 
# cereal_nav_goal = {             # This needs to be updated according to the environment
#     "in" : "kitchen",
#     "near" : cereal_shelf,
#     "lookat" : cereal_shelf
# }
 
# fruit_nav_goal = {              # This needs to be updated according to the environment
#     "in" : "kitchen",
#     "near" : fruit_shelf,
#     "lookat" : fruit_shelf
# }
 
kitchen_door = "kitchen_door"   # Only needed if we can open a door
 
# Number of times it asks for the door to be opened and replans to the kitchen
check_door_attempts = 1
 
dinner_table = "dinner_table"