def overplan():
import blast_world_test
world_i = blast_world_test.make_table_top_world(".", False)
stair5 = blast_world.BlastRobot("stair5",
blast_world.BlastPt(10.000, 40.957, 0.148, "clarkcenterfirstfloor"),
world_i.types.get_robot("pr2-cupholder"))
world_i.append_robot(stair5)
world_i.take_action("stair5", "tuck-both-arms", {}) #To debug with arms tucked.
world = blast_planner.BlastPlannableWorld(world_i)
world.no_exec_debug = True
#Plan to location.
world.append_plan([blast_world.BlastCodeStep(None, "PLAN", {'world_limits':
{"robot-location":
{"stair5": blast_world.BlastPt(15.000, 20.957, 0.148, "clarkcenterfirstfloor")},
},
'extra_goals':
{'Pt': [blast_world.BlastPt(15.000, 20.957, 0.148, "clarkcenterfirstfloor")]}}, 'plan_return'),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'),
'label_true': "success", 'label_false': 'failure'}),
blast_world.BlastCodeStep("success", "RETURN"),
blast_world.BlastCodeStep("failure", "FAIL"),
], ["stair5",])
#Make stair5 tuck arms but order stair4 to move into position before it can happen
world.append_plan([blast_world.BlastCodeStep(None, "PLAN", {'world_limits':
{"robot-location":
{"stair4": blast_world.BlastPt(20.000, 20.957, 0.148, "clarkcenterfirstfloor")},
},
'extra_steps': [("stair5", "tuck-both-arms", {})],
'extra_goals':
{'Pt': [blast_world.BlastPt(20.000, 20.957, 0.148, "clarkcenterfirstfloor")]}}, 'plan_return'),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'),
'label_true': "success", 'label_false': 'failure'}),
blast_world.BlastCodeStep("success", "RETURN"),
blast_world.BlastCodeStep("failure", "FAIL"),
], ["stair4", "stair5",])
world.try_exec()
#r = world.plan_to_location("stair5", blast_world.BlastPt(15.000, 20.957, 0.148, "clarkcenterfirstfloor"))
#if not r: return False
#r = world.plan_action("stair5", "tuck-both-arms", {}, {"robot-location": {"stair4": blast_world.BlastPt(20.000, 20.957, 0.148, "clarkcenterfirstfloor")}})
#if not r: return False
r = False
return r
def run_test():
import blast_world_test
world = blast_planner.BlastPlannableWorld(blast_world_test.make_test_world("."))
initial_pickup_point = blast_world.BlastPt(17.460, 38.323, -2.330, "clarkcenterfirstfloor")
#Grab the bag
world.append_plan([blast_world.BlastCodeStep(None, "PLAN", {"world_limits": {"robot-location": {"stair4": initial_pickup_point}},
"extra_steps": [("stair4", "grab-object", {"tts-text": "Money Bag"}),],}, "plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": ('?', blast_world.BlastParameterPtr('plan_return')), "label_false": 'failure'}),
blast_world.BlastCodeStep(None, "SETROBOTHOLDER", {"holder": "stair4.left-arm", "require-preexisting": True,
"object-type": "coffee_money_bag"}),
#Buy the coffee
blast_world.BlastCodeStep(None, "PLAN", {"extra_steps": [("stair4", "buy-coffee", {"shop": "clark_peets_coffee_shop"}),],}, "plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'), "label_false": 'failure'}),
#Return the bag
blast_world.BlastCodeStep(None, "PLAN", {"world_limits": {"robot-location": {"stair4": initial_pickup_point}},
"extra_steps": [("stair4", "give-object", {"tts-text": "Coffee Cup"}),],}, "plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'), "label_false": 'failure'}),
blast_world.BlastCodeStep(None, "RETURN"),
blast_world.BlastCodeStep("failure", "FAIL")
], ["stair4",])
world.try_exec()
def multi_robot_test():
import blast_world_test
world_i = blast_world_test.make_table_top_world(".", True)
stair5 = blast_world.BlastRobot("stair5",
blast_world.BlastPt(10.000, 40.957, 0.148, "clarkcenterfirstfloor"),
world_i.types.get_robot("pr2-cupholder"))
world_i.append_robot(stair5)
world_i.take_action("stair5", "tuck-both-arms", {}) #To debug with arms tucked.
world = blast_planner.BlastPlannableWorld(world_i)
#print "-"*180
#print world.world.to_text()
#print "-"*180
world.append_plan([blast_world.BlastCodeStep(None, "CALLSUB", {'sub': 'hunt_objects', 'object_types': "coffee_cup",
'holder': 'stair4.cupholder'}, 'plan_return'),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'),
'label_true': "success", 'label_false': 'failure'}),
blast_world.BlastCodeStep("success", "RETURN"),
blast_world.BlastCodeStep("failure", "FAIL"),],
["stair4", "stair5",])
#r = world.plan_hunt("stair4", "cupholder", "coffee_cup")
world.try_exec()
#print "-"*180
#print world.world.to_text()
#print "-"*180
return False
def coffee_hunt_test():
import blast_world_test
world = blast_planner.BlastPlannableWorld(blast_world_test.make_table_top_world(".", False))
initial_pickup_point = blast_world.BlastPt(17.460, 38.323, -2.330, "clarkcenterfirstfloor")
objects_to_add = {"table_1": 1, "table_2": 1, "first_scan": None}
def ac(r, a, p): #Test add the cups
tn = p.get("table", None)
if type(tn) == blast_world.BlastSurface: tn = tn.name
if r == "stair4" and a == "table-coffee-scan":
if not objects_to_add["first_scan"]:
objects_to_add["first_scan"] = tn
if objects_to_add[tn] > 0:
world.world.add_surface_object(tn, "coffee_cup",
blast_world.BlastPos(0.6602, 0.0, 0.762, 0.0, 0.0, 0.0))
objects_to_add[tn] -= 1
if r == "stair4" and a == "table-pick-left" and tn == objects_to_add["first_scan"]:
print "THERE IS NO OBJECT - THE PHANTOM CUP"
return "no_object"
if a == "table-place-left":
time.sleep(30)
return True
world.action_default = True
world.action_callback = ac
world.append_plan([blast_world.BlastCodeStep(None, "CALLSUB", {'sub': 'hunt_objects', 'object_types': "coffee_cup",
'holder': 'stair4.cupholder'}, 'plan_return'),
blast_world.BlastCodeStep(None, "IF", {"condition": ('?', blast_world.BlastParameterPtr('plan_return')),
'label_true': "success", 'label_false': 'failure'}),
blast_world.BlastCodeStep("success", "GETOBJECT", {'holder': 'stair4.cupholder'}, 'object_n'),
#blast_world.BlastCodeStep(None, "PLAN", {'extra_steps': [("stair4", "table-place-left", {"table": "table_1", "position": "table_1, Pos(0.6602, 0.10398, 0.762, 0.0, 0.0, 0.0)"}),],
# }, 'plan_return'),
blast_world.BlastCodeStep(None, "PLAN", {'world_limits': {'place-objects':
[{'object': blast_world.BlastParameterPtr('object_n'),
'surface': 'table_1',
'position': 'Pos(0.6602, 0.10398, 0.762, 0.0, 0.0, 0.0)',
}
],
}}, 'plan_return'),
blast_world.BlastCodeStep(None, "IF", {"condition": ("?", blast_world.BlastParameterPtr('plan_return')),
'label_true': "success2", 'label_false': 'failure'}),
blast_world.BlastCodeStep("success2", "RETURN"),
blast_world.BlastCodeStep("failure", "FAIL"),],
["stair4",])
world.run(True)
world.print_old()
return True
def five_coffee_run_exec():
import blast_world_test
world = blast_planner.BlastPlannableWorld(blast_world_test.make_test_world("."))
initial_pickup_point = blast_world.BlastPt(17.460, 38.323, -2.330, "clarkcenterfirstfloor")
rand_point = blast_world.BlastPt(17.460, 38.323, -2.330, "clarkcenterfirstfloordoor")
world.append_plan([blast_world.BlastCodeStep(None, "PLAN", {"world_limits": {"robot-location": {"stair4": rand_point}}}, "plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'), "label_false": 'failure'}),
blast_world.BlastCodeStep(None, "PLAN",
{"extra_steps": [("stair4", "five-coffee-run",
{"shop": "clark_peets_coffee_shop",
"person_location": initial_pickup_point}),],},
"plan_return"),
blast_world.BlastCodeStep(None, "IF", {"condition": blast_world.BlastParameterPtr('plan_return'), "label_false": 'failure'}),
blast_world.BlastCodeStep(None, "RETURN"),
blast_world.BlastCodeStep("failure", "FAIL")
], ["stair4",])
world.run(True)
world.print_old()
print "Planned:", world.times_planned
def api_plan(target=None, world=None):
if request.method == "PUT" or request.method == "DELETE":
if not get_user_permission(session, "plan"):
return permission_error(request, "plan")
else:
if not get_user_permission(session, "view"):
return permission_error(request, "view")
if request.method == "DELETE":
print "Cancelling program"
try:
target = int(target)
except:
return return_json(None)
cr = manager.world.cancel_program(target)
return return_json(cr)
if request.method == "PUT":
try:
action_data = json.loads(request.data)
except:
return return_json(None)
#try:
action_data = rm_unicode(action_data)
#except:
# print "Could not remove unicode"
# return return_json(None)
#if target == None:
# return return_json(None)
#print "Acquire target world", target
#wend = acquire_world(target)
#if not wend: return error_world(target)
if action_data == None:
return return_json(None)
print "Planning action!"
ptc = {}
for n, v in action_data["parameters"].iteritems():
if type(v) == dict:
if "x" in v and "y" in v and "a" in v and "map" in v:
ptc[n] = blast_world.BlastPt(v['x'], v['y'], v['a'],
v['map'])
else:
ptc[n] = v
else:
ptc[n] = v
r = manager.world.plan_action(action_data["robot"],
action_data["action"].split(".")[-1],
ptc, {})
print "Finished action", r
return return_json(r)
if target != None:
return return_json(None)
#Get all current programs
programs = manager.world.get_programs()
previous_plan_length, plan, current_plan = manager.world.get_plan()
return return_json({
'programs': programs,
'is_planning': manager.world.get_is_planning(),
'previous_plan_length': previous_plan_length,
'plan': plan,
'current_plan': current_plan
})