def test_parse_objects(self):
"""
todo
"""
pddl_objects = [
':objects', 'dynamixel', '-', 'gripper', 's1', 's2', 's3', 's4', 'start', 'exit', 'cb_ramp', 'cb_trash', 'drill_loc',
'force_fitting', 'assembly_station', '-', 'location', 'o1', 'o2', 'o3', 'o4', 'o5', 'o6', 'faulty_plate',
'fixable_plate', 'filecard', 'tray', 'blue_box', 'drill', 'trash', '-', 'object', 'youbot-brsu-3', '-', 'robot',
'platform_middle', 'platform_left', 'platform_right', '-', 'robot_platform']
grippers = ['dynamixel']
locations = ['s1', 's2', 's3', 's4', 'start', 'exit', 'cb_ramp', 'cb_trash', 'drill_loc',
'force_fitting', 'assembly_station']
objects = ['o1', 'o2', 'o3', 'o4', 'o5', 'o6', 'faulty_plate',
'fixable_plate', 'filecard', 'tray', 'blue_box', 'drill', 'trash']
robots = ['youbot-brsu-3']
robot_platforms = ['platform_middle', 'platform_left', 'platform_right']
grippers_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='gripper', instance_name=gripper))
for gripper in grippers
]
locations_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='location', instance_name=location))
for location in locations
]
objects_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='object', instance_name=obj))
for obj in objects
]
robots_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='robot', instance_name=robot))
for robot in robots
]
robot_platforms_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='robot_platform', instance_name=robot_platform))
for robot_platform in robot_platforms
]
expected = [grippers_knowledge, locations_knowledge, objects_knowledge, robots_knowledge, robot_platforms_knowledge]
result = upload_knowledge.pddl_object_list_to_dict(pddl_objects)
self.assertEqual(result, expected, msg='result:\n{0}\n\nexpected:\n{1}'.format(result, expected))
def test_parse_objects(self):
"""
todo
"""
pddl_objects = [
':objects', 'dynamixel', '-', 'gripper', 's1', 's2', 's3', 's4', 'start', 'exit', 'cb_ramp', 'cb_trash', 'drill_loc',
'force_fitting', 'assembly_station', '-', 'location', 'o1', 'o2', 'o3', 'o4', 'o5', 'o6', 'faulty_plate',
'fixable_plate', 'filecard', 'tray', 'blue_box', 'drill', 'trash', '-', 'object', 'youbot-brsu-3', '-', 'robot',
'platform_middle', 'platform_left', 'platform_right', '-', 'robot_platform']
grippers = ['dynamixel']
locations = ['s1', 's2', 's3', 's4', 'start', 'exit', 'cb_ramp', 'cb_trash', 'drill_loc',
'force_fitting', 'assembly_station']
objects = ['o1', 'o2', 'o3', 'o4', 'o5', 'o6', 'faulty_plate',
'fixable_plate', 'filecard', 'tray', 'blue_box', 'drill', 'trash']
robots = ['youbot-brsu-3']
robot_platforms = ['platform_middle', 'platform_left', 'platform_right']
grippers_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='gripper', instance_name=gripper))
for gripper in grippers
]
locations_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='location', instance_name=location))
for location in locations
]
objects_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='object', instance_name=obj))
for obj in objects
]
robots_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='robot', instance_name=robot))
for robot in robots
]
robot_platforms_knowledge = [
utils.create_knowledge_unit_dict(0, utils.create_knowledge_dict(instance_type='robot_platform', instance_name=robot_platform))
for robot_platform in robot_platforms
]
expected = [grippers_knowledge, locations_knowledge, objects_knowledge, robots_knowledge, robot_platforms_knowledge]
result = upload_knowledge.pddl_object_list_to_dict(pddl_objects)
self.assertEqual(result, expected, msg='result:\n{0}\n\nexpected:\n{1}'.format(result, expected))
def pddl_object_list_to_dict(pddl_objects):
"""
transforms the output of the pddl parser into a dictionary, that later on will be used
to upload the knowledge via service calls
"""
categories, objects = utils.parse_objects(pddl_objects)
pddl_problem_dict = []
for ii, category in enumerate(categories):
pddl_problem_dict.append([
utils.create_knowledge_unit_dict(
0,
utils.create_knowledge_dict(instance_type=category,
instance_name=obj))
for obj in objects[ii]
])
return pddl_problem_dict
def test_parse_objects(self):
"""
todo
"""
pddl_objects = [
":objects",
"dynamixel",
"-",
"gripper",
"s1",
"s2",
"s3",
"s4",
"start",
"exit",
"cb_ramp",
"cb_trash",
"drill_loc",
"force_fitting",
"assembly_station",
"-",
"location",
"o1",
"o2",
"o3",
"o4",
"o5",
"o6",
"faulty_plate",
"fixable_plate",
"filecard",
"tray",
"blue_box",
"drill",
"trash",
"-",
"object",
"youbot-brsu-3",
"-",
"robot",
"platform_middle",
"platform_left",
"platform_right",
"-",
"robot_platform",
]
grippers = ["dynamixel"]
locations = [
"s1",
"s2",
"s3",
"s4",
"start",
"exit",
"cb_ramp",
"cb_trash",
"drill_loc",
"force_fitting",
"assembly_station",
]
objects = [
"o1",
"o2",
"o3",
"o4",
"o5",
"o6",
"faulty_plate",
"fixable_plate",
"filecard",
"tray",
"blue_box",
"drill",
"trash",
]
robots = ["youbot-brsu-3"]
robot_platforms = [
"platform_middle", "platform_left", "platform_right"
]
grippers_knowledge = [
utils.create_knowledge_unit_dict(
0,
utils.create_knowledge_dict(instance_type="gripper",
instance_name=gripper),
) for gripper in grippers
]
locations_knowledge = [
utils.create_knowledge_unit_dict(
0,
utils.create_knowledge_dict(instance_type="location",
instance_name=location),
) for location in locations
]
objects_knowledge = [
utils.create_knowledge_unit_dict(
0,
utils.create_knowledge_dict(instance_type="object",
instance_name=obj),
) for obj in objects
]
robots_knowledge = [
utils.create_knowledge_unit_dict(
0,
utils.create_knowledge_dict(instance_type="robot",
instance_name=robot),
) for robot in robots
]
robot_platforms_knowledge = [
utils.create_knowledge_unit_dict(
0,
utils.create_knowledge_dict(instance_type="robot_platform",
instance_name=robot_platform),
) for robot_platform in robot_platforms
]
expected = [
grippers_knowledge,
locations_knowledge,
objects_knowledge,
robots_knowledge,
robot_platforms_knowledge,
]
result = upload_knowledge.pddl_object_list_to_dict(pddl_objects)
self.assertEqual(
result,
expected,
msg="result:\n{0}\n\nexpected:\n{1}".format(result, expected),
)