make task time more reasonable + improve output

nasa · Mar 6, 2024 · 77c4079 · 77c4079
1 parent b140228
commit 77c4079
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/astrobee/survey/survey_manager/pddl/domain_survey.pddl b/astrobee/survey/survey_manager/pddl/domain_survey.pddl
@@ -107,7 +107,7 @@
 
     (:durative-action dock
         :parameters (?robot - robot ?from ?to - location)  ;; from bay7 to berth1 or berth2
-        :duration (= ?duration 30)
+        :duration (= ?duration 90)
         :condition
             (and
                 ;; Check robot mutex

diff --git a/astrobee/survey/survey_manager/src/survey_manager/command_astrobee.py b/astrobee/survey/survey_manager/src/survey_manager/command_astrobee.py
@@ -318,7 +318,10 @@ def thread_read_input(self, process):
             loginfo(f"reader exiting on exception: {e}")
 
     def send_command(self, command):
-        loginfo(f"send_command: {command}")
+        formatted_command = " ".join(
+            f'"{arg}"' if " " in arg else arg for arg in command
+        )
+        loginfo(f"send_command: {formatted_command}")
         return_code = 1
 
         try:
@@ -385,8 +388,6 @@ def send_command(self, command):
             return return_code
 
     def send_command_recursive(self, command):
-        loginfo(f"Sending recursive command: {command}")
-
         exit_code = self.send_command(command)
         loginfo("send_command exit code " + str(exit_code))