def new_world(loc_list):
p = person()
p.id = str(obj2idx('referee', 'PERSONS'))
p.locId = str(obj2idx('referee', 'LOCATIONS')) # 2'
p.near = NO
p.obj1Id = '-1'
p.recognized = NO
p.memorized = NO
p.askedName = NO
p.followed = NO
p.found = NO
# check! if person = referee, location = robot location
i = item()
i.id = '-1'
i.locId = str(obj2idx('sams_table', 'LOCATIONS')) # '-1'
i.found = NO
i.toBeGrasped = NO
i.grasped = NO
i.delivered = NO
i.pointed = NO
r = robot()
r.id = '1'
r.locId = str(obj2idx('referee', 'LOCATIONS'))
r.obj1Id = '-1'
r.introduced = NO
r.pointedAtLoc = '-1'
print r.locId
l = []
for loc in loc_list:
nl = location()
nl.id = loc
nl.pointed_at = NO
l.append(nl)
w = world()
w.item = i
w.person = p
w.robot = r
w.location = l
print w.robot.locId
return w
def new_world(loc_list): #generates a new world
p = person() #generates a person, names it referee and ask the translator about its localtion
p.id = str(obj2idx('referee', 'PERSONS'))
p.locId = str(obj2idx('referee', 'LOCATIONS')) # 2'
p.near = NO
p.obj1Id = '-1'
p.recognized = NO
p.memorized = NO
p.askedName = NO
p.followed = NO
p.found = NO
# check! if person = referee, location = robot location
i = item() #initializes items in the new world
i.id = '-1'
i.locId = '-1' #str(obj2idx('sams_table', 'LOCATIONS')) # '-1'
i.found = NO
i.toBeGrasped = NO
i.grasped = NO
i.delivered = NO
i.pointed = NO
r = robot() # puts the robot himself in its world map
r.id = '1'
r.locId = str(obj2idx('referee', 'LOCATIONS'))
r.obj1Id = '-1'
r.introduced = NO
r.pointedAtLoc = '-1'
print r.locId
l = []
for loc in loc_list: #adds the locations list to this world
nl = location()
nl.id = loc
nl.pointed_at = NO
l.append(nl)
w = world() #generates a world and fill it with the objects we already created before.
w.item = i
w.person = p
w.robot = r
w.location = l
return w #return this world
def new_world(loc_list): #generates a new world
p = person(
) #generates a person, names it referee and ask the translator about its localtion
p.id = str(obj2idx('referee', 'PERSONS'))
p.locId = str(obj2idx('referee', 'LOCATIONS')) # 2'
p.near = NO
p.obj1Id = '-1'
p.recognized = NO
p.memorized = NO
p.askedName = NO
p.followed = NO
p.found = NO
# check! if person = referee, location = robot location
i = item() #initializes items in the new world
i.id = '-1'
i.locId = '-1' #str(obj2idx('sams_table', 'LOCATIONS')) # '-1'
i.found = NO
i.toBeGrasped = NO
i.grasped = NO
i.delivered = NO
i.pointed = NO
r = robot() # puts the robot himself in its world map
r.id = '1'
r.locId = str(obj2idx('referee', 'LOCATIONS'))
r.obj1Id = '-1'
r.introduced = NO
r.pointedAtLoc = '-1'
print r.locId
l = []
for loc in loc_list: #adds the locations list to this world
nl = location()
nl.id = loc
nl.pointed_at = NO
l.append(nl)
w = world(
) #generates a world and fill it with the objects we already created before.
w.item = i
w.person = p
w.robot = r
w.location = l
return w #return this world
def get_goal(self, GOAL,robot):
verb = GOAL.action
self.name = verb.replace('_', '-')
if verb == 'go_to':
self.goal_go_to(GOAL)
elif verb == 'introduce':
self.goal_introduce(GOAL)
elif verb == 'follow':
self.goal_follow(GOAL)
elif verb == 'find' or verb == 'find_object' or verb == 'find_person':
self.goal_find(GOAL)
elif verb == 'grasp':
self.goal_grasp(GOAL)
elif verb == 'bring_to':
self.goal_bring_to(GOAL)
elif verb == 'bring_from':
self.goal_bring_from(GOAL)
elif verb == 'learn_person':
self.goal_learn_person(GOAL,robot)
elif verb == 'exit':
GOAL.location = obj2idx('exit', 'LOCATIONS')
self.goal_go_to(GOAL)
elif verb == 'recognize_person':
self.goal_recognize(GOAL)
elif verb == 'point_at':
self.goal_point_at(GOAL)
elif verb == 'guide':
self.goal_guide(GOAL)
# return self.gen_goal()
return self
def check_object_location(obj):
if obj != '':
result = ask_data(Type='LOCATIONS', objectName=obj)
return obj2idx(result, 'LOCATIONS')
else:
return '-1'
def get_goal(self, GOAL, robot):
verb = GOAL.action
self.name = verb.replace('_', '-')
if verb == 'go_to':
self.goal_go_to(GOAL)
elif verb == 'introduce':
self.goal_introduce(GOAL)
elif verb == 'follow':
self.goal_follow(GOAL)
elif verb == 'find' or verb == 'find_object' or verb == 'find_person':
self.goal_find(GOAL)
elif verb == 'grasp':
self.goal_grasp(GOAL)
elif verb == 'bring_to':
self.goal_bring_to(GOAL)
elif verb == 'bring_from':
self.goal_bring_from(GOAL)
elif verb == 'learn_person':
self.goal_learn_person(GOAL, robot)
elif verb == 'exit':
GOAL.location = obj2idx('exit', 'LOCATIONS')
self.goal_go_to(GOAL)
elif verb == 'recognize_person':
self.goal_recognize(GOAL)
elif verb == 'point_at':
self.goal_point_at(GOAL)
elif verb == 'guide':
self.goal_guide(GOAL)
# return self.gen_goal()
return self
def check_object_location(obj):
if obj != '':
result = ask_data(Type='LOCATIONS', objectName=obj)
return obj2idx(result, 'LOCATIONS')
else:
return '-1'
def print_goal(self):
commands = self._goal.orderList
iperson = 0
iitem = 0
iloc = 0
perss = []
locc = []
itt = []
for c in commands:
if c.person != '':
if c.person not in perss:
iperson += 1
perss.append(c.person)
if c.item != '':
if c.item not in itt:
iitem += 1
itt.append(c.item)
if c.location != '':
if c.location not in locc:
iloc += 1
locc.append(c.location)
command = commands[self._goalDonei]
locc = get_list('LOCATIONS')
#this is a dummy for tests!!!
# command = commands[1]
# print command.action
# print command.location
# print command.item
# print command.person
# printNewGoal(oaction=command.action, oitem=items[command.item], operson=persons[command.person], olocation=locations[command.location])
# printNewGoal(oaction='go_to', oitem=items[command.item], operson=persons[command.person], olocation=1)
# compileInit(locations=iloc, persons=iperson, items=iitem, oaction=command.action, oitem=items[command.item], operson=persons[command.person], olocation=locations[command.location])
# checks that the item is or not a category
# print 'blablabal'
if command.item in categories:
objct = ask_category(command.item)
self._world.item.id = obj2idx(objct, 'ITEMS')
command.item = objct
print idx2obj(self._world.item.id, 'ITEMS')
# print command.location
# print 'here'
if command.location in loc_categories:
# print 'ther should be a print here'
loca = ask_category_loc(command.location)
# print loca
# print loca
# print self._world.location
# print len(self._world.location)
# self._world.location.id = obj2idx(loca, 'LOCATIONS')
command.location = loca
# print loca
# checks if the location of objects or persons are known
if self._world.person.locId == '-1' : # and command.person == self._world.person.id:
ploc = check_object_location(idx2obj(int(self._world.person.id), 'PERSONS'))
# if ploc != '-1':
# ploc = obj2idx(ploc,'LOCATIONS')
self._world.person.locId = ploc
# print command.item
try:
i = obj2idx(command.item, 'ITEMS')
self._world.item.id = str(i)
except ValueError:
print str(self._world.item.id)
print command.item
i = ''
try:
p = obj2idx(command.person, 'PERSONS')
self._world.person.id = str(p)
except ValueError:
p = ''
try:
l = obj2idx(command.location, 'LOCATIONS')
# print l
# print l
except ValueError:
l = ''
print self._world.robot.locId
# print command.location
# print idx2obj(l, 'LOCATIONS')
# print 'blabla'
# print 'here here ' + str(p)
if self._world.item.locId == '-1' and self._world.item.id != '-1': # and command.item == self._world.item.id:
iloc = check_object_location(idx2obj(int(self._world.item.id), 'ITEMS'))
# if iloc != '-1':
# iloc = obj2idx(iloc,'LOCATIONS')
self._world.item.locId = iloc
if command.action == 'bring_from':
self._world.item.locId = str(obj2idx(command.location, 'LOCATIONS'))
if (command.action == 'memorize' or command.action == 'recognize'):
command.person = self._world.person.id
# print self._world.item.id
# print self._world.item.locId
self._last_goal = compileInit(locations=locc, persons=perss, items=itt, oaction=command.action, oitem=i, operson=p, olocation=l, current_world=self._world)
# compileInit(locations=locc, persons=perss, items=itt, oaction=command.action, oitem=items[command.item], operson=persons[command.person], olocation=locations[command.location])
# printNewGoal(action, it, pers, loc, self._goalDonei)
self._goalDonei += 1
def print_goal(self):
commands = self._goal.orderList
iperson = 0
iitem = 0
iloc = 0
perss = []
locc = []
itt = []
for c in commands: #extract elements from orderList and put them in the arrays previously initialized
if c.person != '':
if c.person not in perss:
iperson += 1
perss.append(c.person)
if c.item != '':
if c.item not in itt:
iitem += 1
itt.append(c.item)
if c.location != '':
if c.location not in locc:
iloc += 1
locc.append(c.location)
command = commands[
self._goalDonei] #Extract command indexed by goalDonei to command
locc = get_list('LOCATIONS') #Saves in locc all possible locations
#this is a dummy for tests!!!
# command = commands[1]
# print command.action
# print command.location
# print command.item
# print command.person
# printNewGoal(oaction=command.action, oitem=items[command.item], operson=persons[command.person], olocation=locations[command.location])
# printNewGoal(oaction='go_to', oitem=items[command.item], operson=persons[command.person], olocation=1)
# compileInit(locations=iloc, persons=iperson, items=iitem, oaction=command.action, oitem=items[command.item], operson=persons[command.person], olocation=locations[command.location])
# checks that the item is or not a category
# print 'blablabal'
if command.item in categories: #if the item is a category this ask for further information and updates it
objct = ask_category(command.item)
self._world.item.id = obj2idx(objct, 'ITEMS')
command.item = objct
if command.location in loc_categories: #if the location is a category this ask for further information and updates it
loca = ask_category_loc(command.location)
command.location = loca
# checks if the location of persons are known
if self._world.person.locId == '-1': # and command.person == self._world.person.id:
ploc = check_object_location(
idx2obj(int(self._world.person.id), 'PERSONS'))
# if ploc != '-1':
# ploc = obj2idx(ploc,'LOCATIONS')
print "LA LOCATION DE LA PERSON ES!!!!!!!!!!!!!!!!: " + str(ploc)
self._world.person.locId = ploc
try: #adds to world the item id
i = obj2idx(command.item, 'ITEMS')
self._world.item.id = str(i)
except ValueError:
print str(self._world.item.id)
print command.item
i = ''
try: #adds to world the person id
p = obj2idx(command.person, 'PERSONS')
self._world.person.id = str(p)
except ValueError:
p = ''
try:
l = obj2idx(command.location, 'LOCATIONS')
except ValueError:
l = ''
print self._world.robot.locId
if command.action == 'bring_from':
self._world.item.locId = str(obj2idx(command.location,
'LOCATIONS'))
if self._world.item.locId == '-1' and self._world.item.id != '-1': # If we know the item but not the location we check it and save it in world
iloc = check_object_location(
idx2obj(int(self._world.item.id), 'ITEMS'))
self._world.item.locId = iloc
if (command.action == 'memorize' or command.action == 'recognize'):
command.person = self._world.person.id
if (idx2obj(int(self._world.person.id),
'PERSONS') == 'person'): #prova per coneguir
self._world.person.locId = self._world.robot.locId
self._last_goal = compileInit(locations=locc,
persons=perss,
items=itt,
oaction=command.action,
oitem=i,
operson=p,
olocation=l,
current_world=self._world)
'''
locc: array with all the locations
perss: array with all the persons involved in the commands
itt: array with all the items involved in the commands
comand.action: the action we want to perform
i: the index of the object involved in this action
p: index of the person involved in this action
l: index of the location involved in this action
self._world: the world we are working on
'''
self._goalDonei += 1
def new_world(self, allFile, locations):
l = []
lInits = []
# locations =
for loc in locations:
locc = obj2idx(loc, 'LOCATIONS')
l.append(convert(locc)) #puts locc between <l > and adds it to the array l
ll = ' (' + convert(locc) + ' ^id ' + str(locc) + ' ^pointed-at no)' #writes something like the following were 0 is locc
# (<l0> ^id 0 ^pointed-at no)
lInits.append(ll) #puts the previous phrase in to the array lInits
allFile = allFile.replace('LOCATIONS', ' '.join(l)) #replaces LOCATIONS in allFile (witch is like init-template.soar
allFile = allFile.replace(' LOCATION', '\n'.join(lInits)) #the same as previous
person_text = ' (<pers1> ' #builds the person and its atributes with the correct format to add it to the file
first_attr = True
ignore_field = True
for n in self.person.__dict__.keys():
if str(getattr(self.person, n)) != ignore:
if first_attr:
person_text += '^' + n + ' ' + str(getattr(self.person, n))
first_attr = False
ignore_field = False
else:
person_text += '\n ^' + n + ' ' + str(getattr(self.person, n))
if ignore_field:
person_text = ''
else:
person_text += ')\n'
robot_text = ' (<r> '
first_attr = True
ignore_field = True
for n in self.robot.__dict__.keys():
if str(getattr(self.robot, n)) != ignore:
if first_attr:
robot_text += '^' + n + ' ' + str(getattr(self.robot, n))
first_attr = False
ignore_field = False
else:
robot_text += '\n ^' + n + ' ' + str(getattr(self.robot, n))
if ignore_field:
robot_text = ''
else:
robot_text += ')\n'
item_text = ' (<obj1> '
first_attr = True
ignore_field = True
for n in self.item.__dict__.keys():
if str(getattr(self.item, n)) != ignore:
if first_attr:
item_text += '^' + n + ' ' + str(getattr(self.item, n))
first_attr = False
ignore_field = False
else:
item_text += '\n ^' + n + ' ' + str(getattr(self.item, n))
if ignore_field:
item_text = ''
else:
item_text += ')\n'
allFile = allFile.replace(ROBOT, robot_text)
allFile = allFile.replace(ITEM, item_text)
allFile = allFile.replace(PERSON, person_text)
return allFile
def set_current_position(self,location):
loc = obj2idx(location, 'LOCATIONS')
self.robot.locId = loc
def new_world(self, allFile, locations):
l = []
lInits = []
# locations =
for loc in locations:
locc = obj2idx(loc, 'LOCATIONS')
l.append(convert(locc))
ll = ' (' + convert(locc) + ' ^id ' + str(locc) + ' ^pointed-at no)'
lInits.append(ll)
allFile = allFile.replace('LOCATIONS', ' '.join(l))
allFile = allFile.replace(' LOCATION', '\n'.join(lInits))
person_text = ' (<pers1> '
first_attr = True
ignore_field = True
for n in self.person.__dict__.keys():
if str(getattr(self.person, n)) != ignore:
if first_attr:
person_text += '^' + n + ' ' + str(getattr(self.person, n))
first_attr = False
ignore_field = False
else:
person_text += '\n ^' + n + ' ' + str(getattr(self.person, n))
if ignore_field:
person_text = ''
else:
person_text += ')\n'
robot_text = ' (<r> '
first_attr = True
ignore_field = True
for n in self.robot.__dict__.keys():
if str(getattr(self.robot, n)) != ignore:
if first_attr:
robot_text += '^' + n + ' ' + str(getattr(self.robot, n))
first_attr = False
ignore_field = False
else:
robot_text += '\n ^' + n + ' ' + str(getattr(self.robot, n))
if ignore_field:
robot_text = ''
else:
robot_text += ')\n'
item_text = ' (<obj1> '
first_attr = True
ignore_field = True
for n in self.item.__dict__.keys():
if str(getattr(self.item, n)) != ignore:
if first_attr:
item_text += '^' + n + ' ' + str(getattr(self.item, n))
first_attr = False
ignore_field = False
else:
item_text += '\n ^' + n + ' ' + str(getattr(self.item, n))
if ignore_field:
item_text = ''
else:
item_text += ')\n'
allFile = allFile.replace(ROBOT, robot_text)
allFile = allFile.replace(ITEM, item_text)
allFile = allFile.replace(PERSON, person_text)
return allFile
def print_goal(self):
commands = self._goal.orderList
iperson = 0
iitem = 0
iloc = 0
perss = []
locc = []
itt = []
for c in commands: #extract elements from orderList and put them in the arrays previously initialized
if c.person != '':
if c.person not in perss:
iperson += 1
perss.append(c.person)
if c.item != '':
if c.item not in itt:
iitem += 1
itt.append(c.item)
if c.location != '':
if c.location not in locc:
iloc += 1
locc.append(c.location)
command = commands[self._goalDonei] #Extract command indexed by goalDonei to command
locc = get_list('LOCATIONS') #Saves in locc all possible locations
#this is a dummy for tests!!!
# command = commands[1]
# print command.action
# print command.location
# print command.item
# print command.person
# printNewGoal(oaction=command.action, oitem=items[command.item], operson=persons[command.person], olocation=locations[command.location])
# printNewGoal(oaction='go_to', oitem=items[command.item], operson=persons[command.person], olocation=1)
# compileInit(locations=iloc, persons=iperson, items=iitem, oaction=command.action, oitem=items[command.item], operson=persons[command.person], olocation=locations[command.location])
# checks that the item is or not a category
# print 'blablabal'
if command.item in categories: #if the item is a category this ask for further information and updates it
objct = ask_category(command.item)
self._world.item.id = obj2idx(objct, 'ITEMS')
command.item = objct
if command.location in loc_categories: #if the location is a category this ask for further information and updates it
loca = ask_category_loc(command.location)
command.location = loca
# checks if the location of persons are known
if self._world.person.locId == '-1' : # and command.person == self._world.person.id:
ploc = check_object_location(idx2obj(int(self._world.person.id), 'PERSONS'))
# if ploc != '-1':
# ploc = obj2idx(ploc,'LOCATIONS')
print "LA LOCATION DE LA PERSON ES!!!!!!!!!!!!!!!!: "+str(ploc)
self._world.person.locId = ploc
try: #adds to world the item id
i = obj2idx(command.item, 'ITEMS')
self._world.item.id = str(i)
except ValueError:
print str(self._world.item.id)
print command.item
i = ''
try: #adds to world the person id
p = obj2idx(command.person, 'PERSONS')
self._world.person.id = str(p)
except ValueError:
p = ''
try:
l = obj2idx(command.location, 'LOCATIONS')
except ValueError:
l = ''
print self._world.robot.locId
if command.action == 'bring_from':
self._world.item.locId = str(obj2idx(command.location, 'LOCATIONS'))
if self._world.item.locId == '-1' and self._world.item.id != '-1': # If we know the item but not the location we check it and save it in world
iloc = check_object_location(idx2obj(int(self._world.item.id), 'ITEMS'))
self._world.item.locId = iloc
if (command.action == 'memorize' or command.action == 'recognize'):
command.person = self._world.person.id
if (idx2obj(int(self._world.person.id), 'PERSONS') == 'person'): #prova per coneguir
self._world.person.locId = self._world.robot.locId
self._last_goal = compileInit(locations=locc, persons=perss, items=itt, oaction=command.action,
oitem=i, operson=p, olocation=l, current_world=self._world)
'''
locc: array with all the locations
perss: array with all the persons involved in the commands
itt: array with all the items involved in the commands
comand.action: the action we want to perform
i: the index of the object involved in this action
p: index of the person involved in this action
l: index of the location involved in this action
self._world: the world we are working on
'''
self._goalDonei += 1
def new_world(self, allFile, locations):
l = []
lInits = []
# locations =
for loc in locations:
locc = obj2idx(loc, 'LOCATIONS')
l.append(convert(
locc)) #puts locc between <l > and adds it to the array l
ll = ' (' + convert(locc) + ' ^id ' + str(
locc
) + ' ^pointed-at no)' #writes something like the following were 0 is locc
# (<l0> ^id 0 ^pointed-at no)
lInits.append(ll) #puts the previous phrase in to the array lInits
allFile = allFile.replace(
'LOCATIONS', ' '.join(l)
) #replaces LOCATIONS in allFile (witch is like init-template.soar
allFile = allFile.replace(' LOCATION',
'\n'.join(lInits)) #the same as previous
person_text = ' (<pers1> ' #builds the person and its atributes with the correct format to add it to the file
first_attr = True
ignore_field = True
for n in self.person.__dict__.keys():
if str(getattr(self.person, n)) != ignore:
if first_attr:
person_text += '^' + n + ' ' + str(getattr(self.person, n))
first_attr = False
ignore_field = False
else:
person_text += '\n ^' + n + ' ' + str(
getattr(self.person, n))
if ignore_field:
person_text = ''
else:
person_text += ')\n'
robot_text = ' (<r> '
first_attr = True
ignore_field = True
for n in self.robot.__dict__.keys():
if str(getattr(self.robot, n)) != ignore:
if first_attr:
robot_text += '^' + n + ' ' + str(getattr(self.robot, n))
first_attr = False
ignore_field = False
else:
robot_text += '\n ^' + n + ' ' + str(
getattr(self.robot, n))
if ignore_field:
robot_text = ''
else:
robot_text += ')\n'
item_text = ' (<obj1> '
first_attr = True
ignore_field = True
for n in self.item.__dict__.keys():
if str(getattr(self.item, n)) != ignore:
if first_attr:
item_text += '^' + n + ' ' + str(getattr(self.item, n))
first_attr = False
ignore_field = False
else:
item_text += '\n ^' + n + ' ' + str(
getattr(self.item, n))
if ignore_field:
item_text = ''
else:
item_text += ')\n'
allFile = allFile.replace(ROBOT, robot_text)
allFile = allFile.replace(ITEM, item_text)
allFile = allFile.replace(PERSON, person_text)
return allFile
def set_current_position(self, location):
loc = obj2idx(location, 'LOCATIONS')
self.robot.locId = loc
