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--- public:t-622-arti-07-1:program_3 [2007/02/28 17:52] – hannes
+++ public:t-622-arti-07-1:program_3 [2024/04/29 13:33] (current) – external edit 127.0.0.1
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 ====== Programming Project nr. 3: Planning ======
@@ Line 9: / Line 11: @@
   * **Goal:** Use classic planning to make your hexapod brew a powerful elixir by bringing the right ingredients to a pot and adding them in the right order.
   * **Approach:** You set up a planning problem, using a simple XML data file to describe the initial state, possible actions (with pre- and postconditions) and a goal state.  You solve the problem using a search-based problem solver in Java that reads your XML data.  Once a solution has been found, you test it by sending the action sequence to your hexapod and see it succeed with the brewing.
-  * **Materials:** You start with a simple problem solver in Java and a skeleton of the XML data files.
+  * **Materials:** You start with a simple problem solver in Java and a skeleton of the XML data files. You can get the files needed {{public:t-622-arti-07-1:hexapod_planning_release.zip|here}}.
   * **Hand in:** A short report detailing how you solved the harder problems and some run data( nodes looked at, plan make time, computer used). Zip up your data files and java source files and submit via MySchool.
   * **Deadline:** Hand in before 23:59 on Sunday the 11th of March!
@@ Line 80: / Line 82: @@
+==== Execution ====
+In order to execute the plans using the hexapod, we have created some new message types that you can use:
+    "RU.AI06.Instruct.Move.To.Location"
+    "RU.AI06.Instruct.PickUp.Object"
+    "RU.AI06.Instruct.PutInPot.Object"
+    "RU.AI06.Instruct.Drop.Object"
+    "RU.AI06.Instruct.EmptyPot"
+When the hexapod gets these messages it responds by sending back:
+    "RU.AI06.Instruct.Move.To.Location.Done"
+    "RU.AI06.Instruct.PickUp.Object.Success"
+    "RU.AI06.Instruct.PickUp.Object.Fail"
+    "RU.AI06.Instruct.PutInPot.Object.Success"
+    "RU.AI06.Instruct.PutInPot.Object.Fail"
+    "RU.AI06.Instruct.Drop.Object.Success"
+    "RU.AI06.Instruct.EmptyPot.Success"
+You can see an example of this in usage in the SimpleMoveController class.
+**Note:** The executable that starts panda has changed and now it takes as an argument the location of the goal xml file that describes the goal states. So if your xml file is at C:\verkefni\goal.xml you should start the program as "Test.exe C:\verkefni\goal.xml"
 ==== The problems to be solved ====
@@ Line 146: / Line 172: @@
 ===== Using the Newest Hexapod =====
 ==== NEW HEDAPOD VERSION HERE ====
-Get the new version here, available by 1. March.
+Get the new version {{public:t-622-arti-07-1:hexapod_planning_release.zip|here}}.
+**Note:** If you got an error involving world.py, this is resolved in the latest version.
 ==== Keyboard shortcuts in Hexapod viewer ====