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 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
#creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world, display = DISPLAY_FUNC, 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(display=DISPLAY_FUNC))
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(util.pyhop_state_from_world,
util.pyhop_tasks_from_goals,
DECLARE_METHODS_FUNC,
DECLARE_OPERATORS_FUNC))
myMidca.append_module("Act", act.SimpleAct())
myMidca.insert_module('Simulate', simulator.ArsonSimulator(arsonChance = 0.9, arsonStart = 10), 1)
myMidca.insert_module('Simulate', simulator.FireReset(), 0)
myMidca.insert_module('Interpret', guide.TFStack(), 1)
myMidca.insert_module('Interpret', guide.TFFire(), 2)
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
#tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = True
myMidca.initGoalGraph(cmpFunc = GOAL_GRAPH_CMP_FUNC)
myMidca.init()
]:
myMidca.append_phase(phase)
#add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate",
simulator.ASCIIWorldViewer(display=DISPLAY_FUNC))
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(util.mortar_pyhop_state_from_world,
util.mortar_pyhop_tasks_from_goals,
DECLARE_METHODS_FUNC, DECLARE_OPERATORS_FUNC,
extinguish, mortar))
myMidca.append_module("Act", act.SimpleAct())
#myMidca.insert_module('Simulate', simulator.ArsonSimulator(arsonChance = 0.0, arsonStart = 10), 1)
#myMidca.insert_module('Simulate', simulator.FireReset(), 0)
myMidca.insert_module('Interpret', guide.SimpleMortarGoalGen(), 1)
#myMidca.insert_module('Interpret', guide.TFFire(), 2)
myMidca.insert_module('Interpret', guide.ReactiveApprehend(), 3)
myMidca.insert_module(
'Eval', evaluate.MortarScorer(),
1) # this needs to be a 1 so that Scorer happens AFTER SimpleEval
# 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)
world = domainread.load_domain(DOMAIN_FILE)
stateread.apply_state_file(world, STATE_FILE)
#creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world, display=DISPLAY_FUNC, verbose=2)
#add phases by name
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(display=DISPLAY_FUNC))
myMidca.append_module("Perceive", perceive.PerfectObserver()) ## add in SRL
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
#UserGoalInput getUserInstruction world, mem, verbose
myMidca.append_module("Interpret", guide.GoalInference(world))
# 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.GoalInferenceAct(world))
print(myMidca.get_phases())
#tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
myMidca.storeHistory = True
myMidca.init()
myMidca.run()
"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(util.pyhop_state_from_world,
util.pyhop_tasks_from_goals, DECLARE_METHODS_FUNC,
DECLARE_OPERATORS_FUNC))
myMidca.append_module("Act", act.SimpleAct())
myMidca.insert_module('Simulate',
simulator.ArsonSimulator(arsonChance=0.3, arsonStart=2),
1)
myMidca.insert_module('Interpret', guide.TFStack(), 1)
myMidca.insert_module('Interpret', guide.TFFire(), 2)
#tells the PhaseManager to copy and store MIDCA states so they can be accessed later. Note: this drastically increases MIDCA's running time.
myMidca.storeHistory = True
myMidca.initGoalGraph(cmpFunc=GOAL_GRAPH_CMP_FUNC)
myMidca.init()
myMidca.run()
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 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
