add smach structure test for 2011_saito_knock_door.test, 2011_saito_s…

…imple.test, search_object.test, simple_failure_torelant.test
jsk-ros-pkg · Mar 8, 2021 · 43d2d39 · 43d2d39
1 parent 7ce2e3c
commit 43d2d39
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Showing 4 changed files with 52 additions and 4 deletions.
diff --git a/pddl/pddl_planner/test/2011_saito_knock_door.test b/pddl/pddl_planner/test/2011_saito_knock_door.test
@@ -4,7 +4,7 @@
   </include>
 
   <test name="pddl_result_test"
-        test-name="2011_saito_knock_door"
+        test-name="2011_saito_knock_door_pddl"
         pkg="pddl_planner" type="pddlresulttest">
     <rosparam>
       topics:
@@ -22,4 +22,16 @@
           sequence_action: ['(MOVE RM73A3-CENTER RM73B2-DOORFRONT)', '(OPEN RM73B2-DOOR)', '(CHECK_OPEN RM73B2-DOOR)', '(MOVE RM73B2-DOORFRONT RM73A3-CENTER)', '(MOVE RM73A3-CENTER RM73B2-TABLEFRONT)', '(PICK PLASTIC-BOTTLE)', '(MOVE RM73B2-TABLEFRONT RM73A3-CENTER)', '(MOVE RM73A3-CENTER TRASHBOXFRONT)', '(PUT PLASTIC-BOTTLE TRASHBOX)', '(MOVE TRASHBOXFRONT RM73A3-CENTER)']
     </rosparam>
   </test>
+
+  <test name="structure_test"
+        test-name="2011_saito_knock_door_smach"
+        pkg="pddl_planner" type="structuretest">
+    <rosparam>
+      topics:
+        - name: /server_name/smach/container_structure
+          timeout: 10
+          children: ['(move rm73a3-center rm73b2-doorfront)', '(open rm73b2-door)', '(check_open rm73b2-door)', '(move rm73b2-doorfront rm73a3-center)', '(move rm73a3-center rm73b2-tablefront)', '(pick plastic-bottle)', '(wipe rm73b2-table)', '(move rm73b2-tablefront rm73a3-center)', '(move rm73a3-center trashboxfront)', '(put plastic-bottle trashbox)', '(move trashboxfront rm73a3-center)', '(move rm73a3-center shopfront)', '(buy sandwitch)', '(move shopfront rm73a3-center)', '(put sandwitch saito-table)']
+          container_outcomes: ['goal2', 'goal1', 'goal0']
+    </rosparam>
+  </test>
 </launch>
diff --git a/pddl/pddl_planner/test/2011_saito_simple.test b/pddl/pddl_planner/test/2011_saito_simple.test
@@ -4,7 +4,7 @@
   </include>
 
   <test name="pddl_result_test"
-        test-name="2011_saito_simple"
+        test-name="2011_saito_simple_pddl"
         pkg="pddl_planner" type="pddlresulttest">
     <rosparam>
       topics:
@@ -13,4 +13,16 @@
           sequence_action: ['(KNOCK DOOR)', '(MOVE ROOM-FRONT ROOM-INSIDE)', '(WIPE DESK)']
     </rosparam>
   </test>
+
+  <test name="structure_test"
+        test-name="2011_saito_simple_smach"
+        pkg="pddl_planner" type="structuretest">
+    <rosparam>
+      topics:
+        - name: /server_name/smach/container_structure
+          timeout: 10
+          children: ['(knock door)', '(move room-front room-inside)', '(wipe desk)']
+          container_outcomes: ['goal0']
+    </rosparam>
+  </test>
 </launch>
diff --git a/pddl/pddl_planner/test/search_object.test b/pddl/pddl_planner/test/search_object.test
@@ -1,11 +1,11 @@
 <launch>
   <include file="$(find pddl_planner)/demos/search_object/demo_search_object.launch">
-    <arg name="display_graph" default="false" />
+    <arg name="display_graph" default="true" />
     <arg name="launch_prefix" default="$(find pddl_planner)/test/repeat.sh 5 " />
   </include>
 
   <test name="pddl_result_test"
-        test-name="search_object"
+        test-name="search_object_pddl"
         pkg="pddl_planner" type="pddlresulttest">
     <rosparam>
       topics:
@@ -23,4 +23,16 @@
           sequence_action: ['(move-to boxa)', '(open-box boxa)', '(detect_f boxa)', '(close-box boxa)', '(move-to boxb)', '(open-box boxb)', '(detect_f boxb)', '(close-box boxb)', '(move-to boxc)', '(open-box boxc)', '(detect_f boxc)', '(close-box boxc)', '(move-to end)']
     </rosparam>
   </test>
+
+  <test name="structure_test"
+        test-name="search_object_smach"
+        pkg="pddl_planner" type="structuretest">
+    <rosparam>
+      topics:
+        - name: /server_name/smach/container_structure
+          timeout: 10
+          children: ['(move-to boxa)', '(open-box boxa)', '(detect boxa)', '(grasp boxa)', '(close-box boxa)', '(move-to end)', '(close-box boxa)', '(move-to boxb)', '(open-box boxb)', '(detect boxb)', '(grasp boxb)', '(close-box boxb)', '(move-to end)', '(close-box boxb)', '(move-to boxc)', '(open-box boxc)', '(detect boxc)', '(grasp boxc)', '(close-box boxc)', '(move-to end)', '(close-box boxc)', '(move-to end)']
+          container_outcomes: ['goal3', 'goal2', 'goal1', 'goal0']
+    </rosparam>
+  </test>
 </launch>
diff --git a/pddl/pddl_planner/test/simple_failure_torelant.test b/pddl/pddl_planner/test/simple_failure_torelant.test
@@ -17,4 +17,16 @@
           sequence_action: ['(move-to elevator)', '(look elevator-button)', '(push-button elevator-button)']
     </rosparam>
   </test>
+
+  <test name="structure_test"
+        test-name="simple_failure_smach"
+        pkg="pddl_planner" type="structuretest">
+    <rosparam>
+      topics:
+        - name: /server_name/smach/container_structure
+          timeout: 10
+          children: ['(move-to elevator)', '(look elevator-button)', '(push-button elevator-button)', '(move-to elevator)']
+          container_outcomes: ['goal0']
+    </rosparam>
+  </test>
 </launch>