Add symbolic context #10
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Add the ability to attach a symbolic context wrapper to the planning pipeline. This involved an extremely long detour through defining semantics for the composition and swapping of wrapper metadata, and a refactoring of compile_plan. It's a pretty cool system, although perhaps hard to debug, and probably pretty hard to understand the inner workings...
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@y-veys This should add the ability to set the semantic class of the object to be grabbed properly. |
GoldenZephyr
commented
Jun 28, 2025
| return self.dsg.find_node(ns) is not None | ||
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| def collect_plans(plans) -> dict: |
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TODO: delete this (we use the one in compile_plans.py
GoldenZephyr
commented
Jun 28, 2025
| @singledispatch | ||
| def compile_plan(plan, plan_id, robot_name, frame_id): | ||
| raise NotImplementedError(f"No `compile_plan` implementation for {type(plan)}") | ||
| # TODO: probably want sort of "identity" fallback for compile_plan, so that we |
GoldenZephyr
commented
Jun 28, 2025
omniplanner/src/omniplanner/tsp.py
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| @@ -103,10 +103,13 @@ def cost_change(n1, n2, n3, n4): | |||
| for j in range(i + 1, len(route)): | |||
| if j - i == 1: | |||
| continue | |||
| if cost_change(best[i - 1], best[i], best[j - 1], best[j]) < 0: | |||
| delta = cost_change(best[i - 1], best[i], best[j - 1], best[j]) | |||
| logger.warning(f"Delta: {delta}") | |||
GoldenZephyr
commented
Jun 28, 2025
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| @dispatchable_parametric | ||
| # class SymbolicContext[T](FunctorTrait): |
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Add the ability to attach a symbolic context wrapper to the planning pipeline. This involved an extremely long detour through defining semantics for the composition and swapping of wrapper metadata, and a refactoring of compile_plan.
It's a pretty cool system, although perhaps hard to debug, and probably pretty hard to understand the inner workings...