OY_node = [(0.8, 0.72, 3.0), (0.89, -0.24, 2.6)] OY_label = { OY_node[0]: set(['oyr2']), OY_node[1]: set([ 'oyr1', ]), #oyball } OY_init_pose = OY_node[0] OY_symbols = set(['oyr0', 'oyr1']) OY_motion = MotionFts(OY_label, OY_symbols, 'OY-workspace') OY_motion.set_initial(OY_init_pose) #B_edge=[(B_node[0],B_node[1]),(B_node[1],B_node[2]),(B_node[1],B_node[3]),(B_node[2],B_node[3]),(B_node[4],B_node[3]),(B_node[2],B_node[4])] OY_edge = [ (OY_node[0], OY_node[1]), ] OY_motion.add_un_edges(OY_edge, unit_cost=10.0) ########### OY action ########## OY_action_label = { 'oyobsgrasp': (100, 'oyball', set(['oyobsgrasp'])), } OY_action = ActionModel(OY_action_label) ########### OY task ############ #OY_task = '(<> grasp) && ([]<> r1) && ([]<> r2)' OY_task = '(<> (oyr1 && <> oyobsgrasp)) && ([]<> oyr1) && ([]<> oyr2)' ########### OY initialize ############ init['OY'] = (OY_motion, OY_action, OY_task) #======================================================= # Model and task for Pointing Youbot (PY) # pyr2 | # pyr3|
B_motion = MotionFts(B_node_dict, B_symbols, 'office') B_motion.set_initial(B_init_pose) B_edge_list = [ # 1st column ((WIDTH*RATE,HEIGHT*RATE), (WIDTH*RATE,HEIGHT*3*RATE)), ((WIDTH*RATE,HEIGHT*3*RATE), (WIDTH*RATE,HEIGHT*5*RATE)), # 2nd row ((WIDTH*RATE,HEIGHT*3*RATE), (WIDTH*3*RATE,HEIGHT*3*RATE)), ((WIDTH*3*RATE,HEIGHT*3*RATE), (WIDTH*5*RATE,HEIGHT*3*RATE)), # 2nd column ((WIDTH*3*RATE,HEIGHT*RATE), (WIDTH*3*RATE,HEIGHT*3*RATE)), ((WIDTH*3*RATE,HEIGHT*3*RATE), (WIDTH*3*RATE,HEIGHT*5*RATE)), # 3rd column ((WIDTH*5*RATE,HEIGHT*RATE), (WIDTH*5*RATE,HEIGHT*3*RATE)), ((WIDTH*5*RATE,HEIGHT*3*RATE), (WIDTH*5*RATE,HEIGHT*5*RATE)), ] B_motion.add_un_edges(B_edge_list,unit_cost=0.1) ############################### ########### B action ########## B_action_dict={ 'grasp': (100, 'ball', set(['grasp'])), 'throw': (60, 'basket', set(['throw'])) } B_action = ActionModel(B_action_dict) ############################### ########### B task ############ B_task = '(<> (grasp && <> throw)) && (<>[] r1)' #B_task = '<> grasp && (<>[] r2)' ####################### init['B']=(B_motion, B_action, B_task) #####################################################
def __init__(self, _file): self.file = _file stream = file(self.file, 'r') data_file = yaml.load(stream) FTS = data_file['FTS'] _map = data_file['Map'] stream.close() regions = {} ap = set() ############################## # motion FTS for i in range(0, len(FTS)): #ap.update({FTS.keys()[i]}) for j in range(0, len(FTS[FTS.keys()[i]]['propos'])): if FTS[FTS.keys()[i]]['propos'][j] not in ap: ap.update({FTS[FTS.keys()[i]]['propos'][j]}) regions.update({ (tuple(FTS[FTS.keys()[i]]['pose']['position']), tuple(FTS[FTS.keys()[i]]['pose']['orientation'])): set(FTS[FTS.keys()[i]]['propos']) }) init_pose = ((7.77, 7.00, 0.0), (0.0, 0.0, 0.0, 1.0)) robot_motion = MotionFts(regions, ap, _map) robot_motion.set_initial(init_pose) for i in range(0, len(FTS)): for j in range(0, len(FTS[FTS.keys()[i]]['edges'])): robot_motion.add_un_edges( [[(tuple(FTS[FTS.keys()[i]]['pose']['position']), tuple(FTS[FTS.keys()[i]]['pose']['orientation'])), (tuple(FTS[FTS[FTS.keys()[i]]['edges'][j]['target']] ['pose']['position']), tuple(FTS[FTS[FTS.keys()[i]]['edges'][j]['target']] ['pose']['orientation']))]], unit_cost=FTS[FTS.keys()[i]]['edges'][j]['cost']) ############################## # action FTS ############# no action model # action = dict() ############# with action # for supported actions in play_motion # see http://wiki.ros.org/Robots/TIAGo/Tutorials/motions/play_motion############################## action = {} robot_action = ActionModel(action) ############################## # specify tasks robot_hard_task = '' robot_soft_task = '' robot_task = [robot_hard_task, robot_soft_task] self.robot_model = [robot_motion, init_pose, robot_action, robot_task]
#OY_node=[(-0.5,0.5,0.0),(-0.5,1.0,-1.57),(0.5,1.0,-1.57),(-0.0,0.5,-2.6)] #OY_node=[(-0.0,1.0,0.0),(-0.0,1.0,-0.0),(0.5,1.3,-1.57),(-0.00,0.5,-2.6)] OY_label={ OY_node[0] : set(['oyr0']), OY_node[1]: set(['oyr1',]), OY_node[2]: set(['oyr2',]), OY_node[3]: set(['oyr3',]), } OY_init_pose=OY_node[0] OY_symbols=set(['oyr0','oyr1','oyr2','oyr3']) OY_motion=MotionFts(OY_label,OY_symbols,'OY-workspace') OY_motion.set_initial(OY_init_pose) #B_edge=[(B_node[0],B_node[1]),(B_node[1],B_node[2]),(B_node[1],B_node[3]),(B_node[2],B_node[3]),(B_node[4],B_node[3]),(B_node[2],B_node[4])] OY_edge=[(OY_node[0],OY_node[1]),(OY_node[1],OY_node[2]),(OY_node[2],OY_node[3]), (OY_node[1],OY_node[3]),] OY_motion.add_un_edges(OY_edge,unit_cost=10.0) ########### OY action ########## OY_action_label={ 'oyobsgrasp': (100, 'oyball', set(['oyobsgrasp'])), } OY_action = ActionModel(OY_action_label) ########### OY task ############ #OY_task = '(<> grasp) && ([]<> r1) && ([]<> r2)' OY_task = '<>(oyr1 && <> (oyr2 && <> oyobsgrasp)) && ([]<> oyr1) && ([]<> oyr2)' ########### OY initialize ############ init['OY']=(OY_motion, OY_action, OY_task) #======================================================= # Model and task for Pointing Youbot (PY) # pyr2 | # pyr3|
((WIDTH * RATE, HEIGHT * RATE), (WIDTH * RATE, HEIGHT * 3 * RATE)), ((WIDTH * RATE, HEIGHT * 3 * RATE), (WIDTH * RATE, HEIGHT * 5 * RATE)), # 2nd row ((WIDTH * RATE, HEIGHT * 3 * RATE), (WIDTH * 3 * RATE, HEIGHT * 3 * RATE)), ((WIDTH * 3 * RATE, HEIGHT * 3 * RATE), (WIDTH * 5 * RATE, HEIGHT * 3 * RATE)), # 2nd column ((WIDTH * 3 * RATE, HEIGHT * RATE), (WIDTH * 3 * RATE, HEIGHT * 3 * RATE)), ((WIDTH * 3 * RATE, HEIGHT * 3 * RATE), (WIDTH * 3 * RATE, HEIGHT * 5 * RATE)), # 3rd column ((WIDTH * 5 * RATE, HEIGHT * RATE), (WIDTH * 5 * RATE, HEIGHT * 3 * RATE)), ((WIDTH * 5 * RATE, HEIGHT * 3 * RATE), (WIDTH * 5 * RATE, HEIGHT * 5 * RATE)), ] B_motion.add_un_edges(B_edge_list, unit_cost=0.1) ############################### ########### B action ########## B_action_dict = { 'grasp': (100, 'ball', set(['grasp'])), 'throw': (60, 'basket', set(['throw'])) } B_action = ActionModel(B_action_dict) ############################### ########### B task ############ B_task = '(<> (grasp && <> throw)) && (<>[] r1)' #B_task = '<> grasp && (<>[] r2)' ####################### init['B'] = (B_motion, B_action, B_task) #####################################################
(17.0, 4.0, 1.0), (8.0, 7.0, 1.0), ] regions = dict() for k in range(len(ap)): regions[loc[k]] = set([ ap[k], ]) init_pose = loc[0] robot_motion = MotionFts(regions, set(ap), 'hotel') robot_motion.set_initial(list(init_pose)) edges = [(0, 1), (0, 2), (0, 4), (0, 9), (1, 4), (1, 2), (2, 4), (3, 11), (5, 8), (5, 11), (5, 12), (6, 11), (7, 9), (7, 12), (8, 12), (8, 11), (9, 12), (11, 12)] edge_list = [(loc[e[0]], loc[e[1]]) for e in edges] robot_motion.add_un_edges(edge_list, unit_cost=2) ############################## # action FTS ############# no action model action = dict() robot_action = ActionModel(action) robot_model = [robot_motion, init_pose, robot_action] ############################## # complete robot model robot_full_model = MotActModel(robot_motion, robot_action) ############################## #specify soft and hard tasks
print(test_ap) init_pose = ((7.77, 7.00, 0.0), (0.0, 0.0, 0.0, 1.0)) #robot_motion = MotionFts(regions, ap, 'pal_office' ) robot_motion = MotionFts(test, test_ap, 'pal_office') robot_motion.set_initial(init_pose) #robot_motion.add_full_edges(unit_cost = 0.1) for i in range(0, len(data)): for j in range(0, len(data[data.keys()[i]]['edges'])): print(data[data.keys()[i]]['edges'][j]['cost']) #robot_motion.add_un_edges([[tuple(data[data.keys()[i]]['position']), tuple(data[data[data.keys()[i]]['edges'][j]['target']]['position'])]], unit_cost = data[data.keys()[i]]['edges'][j]['cost']) robot_motion.add_un_edges( [[(tuple(data[data.keys()[i]]['pose']['position']), tuple(data[data.keys()[i]]['pose']['orientation'])), (tuple(data[data[data.keys()[i]]['edges'][j]['target']]['pose'] ['position']), tuple(data[data[data.keys()[i]]['edges'][j]['target']]['pose'] ['orientation']))]], unit_cost=data[data.keys()[i]]['edges'][j]['cost']) ############################## # action FTS ############# no action model # action = dict() ############# with action # for supported actions in play_motion # see http://wiki.ros.org/Robots/TIAGo/Tutorials/motions/play_motion action = { 'col_grasp': (10, 'hm', set([