def UserGoalsMidca(domainFile, stateFile, goalsFile = None, extinguish = False):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
myMidca = base.PhaseManager(world, verbose=1, display = asqiiDisplay, metaEnabled=True)
# add cognitive layer phases
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
# add cognitive layer modules
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planningbroken.PyHopPlannerBroken(extinguish))
myMidca.append_module("Act", act.SimpleAct())
# add meta layer phases
#for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
myMidca.append_meta_phase(phase)
# add meta layer modules
myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
myMidca.append_meta_module("Interpret", interpret.MRSimpleDetect())
myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner())
myMidca.append_meta_module("Control", control.MRSimpleControl())
return myMidca
def UserGoalsMidca(domainFile,
stateFile,
display=print,
goalsFile=None,
argsPyHopPlanner=[]):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
#creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world, display=display, verbose=4)
#add phases by name
for phase in [
"Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan",
"Act"
]:
myMidca.append_phase(phase)
#add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
#myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.PyHopPlanner(*argsPyHopPlanner))
myMidca.append_module("Act", act.SimpleAct())
return myMidca
def ros_style_midca():
#myMidca = base.MIDCA(None, verbose = 2)
myMidca = base.PhaseManager(None, verbose=4, metaEnabled=True)
for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Perceive", perceive.ROSObserver())
myMidca.append_module("Interpret", guide.InstructionReceiver())
myMidca.append_module("Eval", evaluate.EvalPointingFromFeedback())
myMidca.append_module("Intend", intend.SimpleIntend())
#myMidca.append_module("Plan", planning.AsynchPyhopPlanner(DECLARE_METHODS_FUNC,
# DECLARE_OPERATORS_FUNC))
myMidca.append_module("Plan", planningbroken.PyHopPlannerBroken(util.pyhop_state_from_world,
util.pyhop_tasks_from_goals,
DECLARE_METHODS_FUNC,
DECLARE_OPERATORS_FUNC,
extinguishers=False))
myMidca.append_module("Act", act.AsynchronousAct())
# add meta layer phases
#for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
myMidca.append_meta_phase(phase)
# add meta layer modules
myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
myMidca.append_meta_module("Interpret", interpret.MRSimpleDetectOld())
myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner(using_baxter=True))
myMidca.append_meta_module("Control", control.MRSimpleControl())
return myMidca
def createMIDCAObj(self):
extinguish = False
mortar = True
thisDir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
MIDCA_ROOT = thisDir + "/../"
domainFile = MIDCA_ROOT + "worldsim/domains/arsonist_mortar.sim"
stateFile = MIDCA_ROOT + "worldsim/states/defstate_mortar.sim"
# load domain file like normal
self.world = domainread.load_domain(domainFile)
# for state file, need to add number of mortar blocks to begin with
state_str = open(stateFile).read() # first read file
# now add new mortar blocks
for i in range(self.currMortarCount):
state_str+="MORTARBLOCK(M"+str(i)+")\n"
state_str+="available(M"+str(i)+")\n"
# now load the state
stateread.apply_state_str(self.world, state_str)
# creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(self.world, display=asqiiDisplay,verbose=0)
#asqiiDisplay(world)
# add phases by name
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
# add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
# need to make sure to disable all user input modules #myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.PyHopPlanner(extinguish, mortar))
myMidca.append_module("Act", act.SimpleAct())
#myMidca.insert_module('Simulate', simulator.ArsonSimulator(arsonChance=self.arsonChanceArg, arsonStart=10), 1)
#myMidca.insert_module('Simulate', simulator.FireReset(), 0)
myMidca.insert_module('Interpret', guide.TFStack(), 1)
myMidca.insert_module('Eval', evaluate.MortarScorer(), 1) # this needs to be a 1 so that Scorer happens AFTER SimpleEval
# tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = False
myMidca.initGoalGraph()
## note: myMidca.init() is NOT called here, instead in singlerun()
self.myMidca = myMidca
self.initialized = True
def ros_style_midca():
myMidca = base.MIDCA(None, verbose=2)
for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Perceive", perceive.ROSObserver())
myMidca.append_module("Interpret", guide.InstructionReceiver())
myMidca.append_module("Eval", evaluate.EvalPointingFromFeedback())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module(
"Plan",
planning.AsynchPyhopPlanner(methods.declare_methods,
operators.declare_ops))
myMidca.append_module("Act", act.AsynchronousAct())
return myMidca
def guiMidca(domainFile, stateFile, goalsFile = None):
world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
myMidca = base.PhaseManager(world, display = asqiiDisplay)
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.PyHopPlanner())
myMidca.append_module("Act", act.SimpleAct())
return myMidca
wind_strength=WIND_STRENGTH,
dim=DIMENSION,
wind_schedule=wind_schedule))
myMidca.append_module(
"Simulate", simulator.NBeaconsSimulator(beacon_fail_rate=BEACON_FAIL_RATE))
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer(DISPLAY_FUNC))
myMidca.append_module("Perceive", perceive.PerfectObserver())
#myMidca.append_module("Interpret", note.StateDiscrepancyDetector())
#myMidca.append_module("Interpret", assess.SimpleNBeaconsExplain())
#myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module(
"Interpret", guide.NBeaconsGoalGenerator(numbeacons=2, goalList=goal_list))
myMidca.append_module("Eval", evaluate.NBeaconsDataRecorder())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.HeuristicSearchPlanner())
#myMidca.append_module("Plan", planning.PyHopPlanner(nbeacons_util.pyhop_state_from_world,
# nbeacons_util.pyhop_tasks_from_goals,
# DECLARE_METHODS_FUNC,
# DECLARE_OPERATORS_FUNC)) # set up planner for sample domain
myMidca.append_module("Act", act.NBeaconsSimpleAct())
# Set world viewer to output text
myMidca.set_display_function(nbeacons_util.drawNBeaconsScene)
# Tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
# Note: Turning this on drastically increases MIDCA's running time.
myMidca.storeHistory = False
myMidca.mem.logEachAccess = False
def createMIDCAObj(self):
# in this demo, always keep extinguish to false
extinguish = False
thisDir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
MIDCA_ROOT = thisDir + "/../"
domainFile = MIDCA_ROOT + "worldsim/domains/arsonist.sim"
stateFile = MIDCA_ROOT + "worldsim/states/defstate.sim"
self.world = domainread.load_domain(domainFile)
stateread.apply_state_file(self.world, stateFile)
# creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(self.world, display=asqiiDisplay,verbose=4)
#asqiiDisplay(world)
# add phases by name
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
# add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
# need to make sure to disable all user input modules #myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.PyHopPlanner(extinguish))
myMidca.append_module("Act", act.SimpleAct())
myMidca.insert_module('Simulate', simulator.ArsonSimulator(arsonChance=self.arsonChanceArg, arsonStart=10), 1)
myMidca.insert_module('Simulate', simulator.FireReset(), 0)
myMidca.insert_module('Interpret', guide.TFStack(), 1)
if self.usingTFTreeFire:
myMidca.insert_module('Interpret', guide.TFFire(), 2)
if self.usingSimulatedMA:
myMidca.insert_module('Interpret', guide.ReactiveApprehend(), 3)
myMidca.insert_module('Eval', evaluate.Scorer(), 1) # this needs to be a 1 so that Scorer happens AFTER SimpleEval
def preferApprehend(goal1, goal2):
if 'predicate' not in goal1 or 'predicate' not in goal2:
return 0
elif goal1['predicate'] == 'free' and goal2['predicate'] != 'free':
return -1
elif goal1['predicate'] != 'free' and goal2['predicate'] == 'free':
return 1
elif goal1['predicate'] == 'onfire' and goal2['predicate'] != 'onfire':
return -1
elif goal1['predicate'] != 'onfire' and goal2['predicate'] == 'onfire':
return 1
return 0
# tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = False
myMidca.initGoalGraph(cmpFunc=preferApprehend)
## DO NOT DO THIS: experiment.py will do this automatically: myMidca.init()
print "Created MIDCA "+str(id(myMidca))+" w/ arsonchance="+str(self.arsonChanceArg)+", usingTFTreeFire="+str(self.usingTFTreeFire)+",usingSimMA="+str(self.usingSimulatedMA)
self.myMidca = myMidca
self.initialized = True
def create_meta_MIDCA(self):
#STATE_FILE = DOMAIN_ROOT + "states/.sim" # state file is generated dynamically
DISPLAY_FUNC = nbeacons_util.drawNBeaconsScene
DECLARE_METHODS_FUNC = methods_nbeacons.declare_methods
DECLARE_OPERATORS_FUNC = operators_nbeacons.declare_operators
GOAL_GRAPH_CMP_FUNC = nbeacons_util.preferFree
WIND_ENABLED = True
# Load domain
world = domainread.load_domain(DOMAIN_FILE)
# Load state
stateread.apply_state_str(world, self.start_state)
# Creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world,
display=DISPLAY_FUNC,
verbose=2,
metaEnabled=True)
# Add phases by name
for phase in [
"Simulate", "Perceive", "Interpret1", "Interpret2",
"Interpret3", "Eval", "Cleanup", "Intend", "Plan", "Act"
]:
myMidca.append_phase(phase)
# Add the modules which instantiate basic operation
#myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module(
"Simulate",
simulator.NBeaconsActionSimulator(wind=WIND_ENABLED,
wind_dir=self.wind_dir,
wind_strength=self.wind_strength,
dim=DIMENSION,
wind_schedule=WIND_SCHEDULE_1,
logfilenm=DATADIR + "meta" +
NOW_STR + ".log"))
myMidca.append_module("Simulate",
simulator.ASCIIWorldViewer(DISPLAY_FUNC))
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret1", note.StateDiscrepancyDetector())
myMidca.append_module("Interpret2", assess.SimpleNBeaconsExplain())
myMidca.append_module("Interpret3", guide.SimpleNBeaconsGoalManager())
#myMidca.append_module("Interpret", assess.SimpleNBeaconsExplain())
#myMidca.append_module("Interpret", assess.SimpleNBeaconsExplain())
#myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module(
"Interpret3",
guide.NBeaconsGoalGenerator(numbeacons=2, goalList=self.goal_list))
myMidca.append_module("Eval", evaluate.NBeaconsDataRecorder())
myMidca.append_module(
"Cleanup",
simulator.NBeaconsSimulator(beacon_fail_rate=BEACON_FAIL_RATE))
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.HeuristicSearchPlanner())
#myMidca.append_module("Plan", planning.PyHopPlanner(nbeacons_util.pyhop_state_from_world,
# nbeacons_util.pyhop_tasks_from_goals,
# DECLARE_METHODS_FUNC,
# DECLARE_OPERATORS_FUNC)) # set up planner for sample domain
myMidca.append_module("Act", act.NBeaconsSimpleAct())
for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
myMidca.append_meta_phase(phase)
# add meta layer modules
myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
myMidca.append_meta_module("Interpret", interpret.MRSimpleDetect())
#myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGenForGoalTrans())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner())
myMidca.append_meta_module("Control", control.MRSimpleControl())
# Set world viewer to output text
myMidca.set_display_function(nbeacons_util.drawNBeaconsScene)
# Tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
# Note: Turning this on drastically increases MIDCA's running time.
myMidca.storeHistory = False
myMidca.mem.logEachAccess = False
# Initialize and start running!
myMidca.initGoalGraph(cmpFunc=GOAL_GRAPH_CMP_FUNC)
return myMidca
