Moleworks
Moleworks example for testing the KEA planner in digging scenarios.
Running the scenario
ros2 launch kea_moleworks kea_moleworks_planner.launch.py \
action_params_file:=`ros2 pkg prefix kea_moleworks`/share/kea_moleworks/params/action_parameters_success.yaml
Key arguments:
agent_type: recovery behavior (baseline-0,baseline-1,baseline-llm,kea-agent).sim: simulate action execution (trueby default).action_params_file: action timing and failure probabilities.robot_list: JSON list of robot names (auto-detected from the problem by default).
Simulated failure modes based on action
| robot | action | failure mode |
|---|---|---|
| Excavator | dig | - |
| Excavator | pick rock | - |
| Excavator | drop rock | - |
| Excavator | load dirt | - |
| Excavator | move | cell pairs fail with explicit seed + explicit failure probability |
| Bulldozer | drag material | - |
| Bulldozer | move | cell pairs fail with explicit seed + explicit failure probability |
Failure modes general
random prob of robot breaking down in specific cell
Action parameter sets
The repository provides multiple parameter files under kea_examples/kea_moleworks/params/:
action_parameters_success.yaml: no failures.action_parameters_f0.yaml..action_parameters_f3.yaml: progressive failure settings.
Pass the desired file through the action_params_file launch argument.