def creat_goal(self, config):
if 'goal' in config:
self.goal_category = config['goal']['category']
self.goal_predicate_list = []
if self.goal_category == "traversal":
self.goal_object_id = PlanParser.create_legal_object_name(
config['goal']['metadata']['target']['id'])
agent_final_loc = PlanParser.replace_digital_number(
"loc|{:.2f}|{:.2f}|{:.2f}".format(
self.object_loc_info[self.goal_object_id][0],
self.object_loc_info[self.goal_object_id][1],
self.object_loc_info[self.goal_object_id][2]))
self.goal_predicate_list.append(
"(agentAtLocation {} {})".format(self.AGENT_NAME,
agent_final_loc))
elif self.goal_category == "retrieval":
self.goal_object_id = PlanParser.create_legal_object_name(
config['goal']['metadata']['target']['id'])
self.goal_predicate_list.append("(held {} {})".format(
self.AGENT_NAME, self.goal_object_id))
elif self.goal_category == "transferral":
self.transfer_object_id = PlanParser.create_legal_object_name(
config['goal']['metadata']['target_1']['id'])
self.target_object_id = PlanParser.create_legal_object_name(
config['goal']['metadata']['target_2']['id'])
if config['goal']['metadata']['relationship'][1] == "next to":
self.goal_predicate_list.append(
"(objectNextTo {} {})".format(self.transfer_object_id,
self.target_object_id))
elif config['goal']['metadata']['relationship'][
1] == "on top of":
self.goal_predicate_list.append(
"(objectOnTopOf {} {})".format(self.transfer_object_id,
self.target_object_id))
elif self.goal_category == "playroom":
self.transfer_object_id = PlanParser.create_legal_object_name(
"box_b")
self.target_object_id = PlanParser.create_legal_object_name(
"chair_b")
for obj in config['objects']:
if "openable" in obj and obj["openable"] == True:
receptacle_object_id = PlanParser.create_legal_object_name(
obj['id'])
if "opened" in obj:
self.object_open_close_info[
receptacle_object_id] = True
else:
self.object_open_close_info[
receptacle_object_id] = False
self.apple_a = PlanParser.create_legal_object_name("apple_a")
self.ball_a = PlanParser.create_legal_object_name("ball_a")
self.ball_b = PlanParser.create_legal_object_name("ball_b")
self.bowl_a = PlanParser.create_legal_object_name("bowl_a")
self.goal_predicate_list.extend([
"(objectOnTopOf {} {})".format(self.apple_a,
self.target_object_id),
"(objectOnTopOf {} {})".format(self.ball_a,
self.target_object_id),
"(objectOnTopOf {} {})".format(self.ball_b,
self.target_object_id),
# "(objectOnTopOf {} {})".format(self.bowl_a, self.target_object_id),
# "(objectOnTopOf {} {})".format(self.transfer_object_id, self.target_object_id),
# "(inreceptacle {} {})".format(self.apple_a, self.bowl_a),
# "(inreceptacle {} {})".format(self.ball_a, self.transfer_object_id),
# "(inreceptacle {} {})".format(self.ball_b, self.transfer_object_id),
# "(inreceptacle {} {})".format(self.bowl_a, self.transfer_object_id),
])
def creat_goal(self, config):
if 'goal' in config:
self.goal_category = config['goal']['category']
self.goal_predicate_list = []
if self.goal_category == "traversal":
self.goal_object_id = PlanParser.create_legal_object_name(
config['goal']['metadata']['target']['id'])
if self.goal_object_id not in self.object_loc_info:
return
agent_final_loc = PlanParser.replace_digital_number(
"loc|{:.2f}|{:.2f}|{:.2f}".format(
self.object_loc_info[self.goal_object_id][0],
self.object_loc_info[self.goal_object_id][1],
self.object_loc_info[self.goal_object_id][2]))
self.goal_predicate_list.append(
"(agentAtLocation {} {})".format(self.AGENT_NAME,
agent_final_loc))
elif self.goal_category == "retrieval":
self.goal_object_id = PlanParser.create_legal_object_name(
config['goal']['metadata']['target']['id'])
for obj in config['objects']:
if obj['id'] == self.goal_object_id:
continue
if "openable" in obj and obj["openable"] == True:
receptacle_object_id = PlanParser.create_legal_object_name(
obj['id'])
if "opened" in obj:
self.object_open_close_info[
receptacle_object_id] = True
else:
self.object_open_close_info[
receptacle_object_id] = False
self.goal_predicate_list.append("(held {} {})".format(
self.AGENT_NAME, self.goal_object_id))
elif self.goal_category == "transferral":
self.transfer_object_id = PlanParser.create_legal_object_name(
config['goal']['metadata']['target_1']['id'])
if config['goal_in_hand'] == True:
self.object_in_hand = PlanParser.create_legal_object_name(
config['id_goal_in_hand'])
self.target_object_id = PlanParser.create_legal_object_name(
config['goal']['metadata']['target_2']['id'])
for obj in config['objects']:
if obj['id'] == self.transfer_object_id:
continue
if "openable" in obj and obj["openable"] == True:
receptacle_object_id = PlanParser.create_legal_object_name(
obj['id'])
if "opened" in obj:
self.object_open_close_info[
receptacle_object_id] = True
else:
self.object_open_close_info[
receptacle_object_id] = False
if config['goal']['metadata']['relationship'][1] == "next to":
self.goal_predicate_list.append(
"(objectNextTo {} {})".format(self.transfer_object_id,
self.target_object_id))
elif config['goal']['metadata']['relationship'][
1] == "on top of":
self.goal_predicate_list.append(
"(objectOnTopOf {} {})".format(self.transfer_object_id,
self.target_object_id))