def test_add_instance(self, mock_initialize_kb_service, mock_services):
kb.initialize()
def _update_knowledge_base(kb_operation, kb_item):
return KnowledgeUpdateServiceResponse(True)
services = {"update_knowledge_base": _update_knowledge_base}
mock_services.__getitem__.side_effect = lambda key: services[key]
self.assertTrue(kb.add_instance('v1', 'videotape'))
self.assertTrue(kb.add_instance('v2', 'videotape'))
self.assertTrue(kb.add_instance('c', 'container'))
self.assertTrue(kb.add_instance('b1', 'box'))
self.assertTrue(kb.add_instance('b2', 'box'))
def _get_current_instances(type_name):
return GetInstanceServiceResponse(['v1', 'v2', 'c', 'b1', 'b2'])
services = {"get_current_instances": _get_current_instances}
mock_services.__getitem__.side_effect = lambda key: services[key]
instances = kb.list_instances()
success = True
for instance in instances:
if instance not in ['v1', 'v2', 'c', 'b1', 'b2']:
success = False
self.assertTrue(success, 'Returned not correct instances')
def __init__(self):
"""
This will derive knowledge when an alarm bell rings
"""
kb.initialize(prefix="/rosplan_knowledge_base")
rospy.init_node('hectic_knowledge_deriving', anonymous=True)
rospy.Subscriber('sound_recognised', RecognisedSounds,
self.sound_recognised)
self.notified = False
rospy.spin()
def __init__(self):
kb.initialize(prefix="/rosplan_knowledge_base")
rospy.init_node('loud_sounds_knowledge_deriving', anonymous=True)
rospy.Subscriber('sound_volume', String, self.sound_volume_detected)
self.count_high_volume = 0
self.high_volume_limit = 60
self.launch_helper_limit = 3
self.loud_noise = False
self.noise_place = ""
rospy.spin()
def main():
rospy.init_node("pytools_ask_for_instance")
kb.initialize()
kb.reset()
sdb.initialize()
sdb.reset()
prepare_instances()
retrieve_instances()
def __init__(self):
kb.initialize(prefix="/rosplan_knowledge_base")
rospy.init_node('hectic_knowledge_deriving', anonymous=True)
rospy.Subscriber('sound_recognised', RecognisedSounds,
self.sound_recognised)
# min number of times at least one sound was heard
self.min_sound_history_required = 8
# min number of different sounds
self.min_diff_sounds_required = 5
# the sliding window
self.sounds_history = [0 for i in range(14)]
self.location_bot = ""
self.published = False
rospy.spin()
def __init__(self, ip, port):
rospy.init_node('robot_interface', anonymous=True)
session = qi.Session()
try:
session.connect("tcp://" + ip + ":" + str(port))
except RuntimeError:
print("Can't connect to Naoqi at ip \"" + ip + "\" on port " +
str(port) + ".\n")
self.motion_service = session.service("ALMotion")
self.posture_service = session.service("ALRobotPosture")
self.motion_service.wakeUp()
self.posture_service.goToPosture("StandInit", 0.5)
time.sleep(2)
kb.initialize(prefix="/rosplan_knowledge_base")
self.go_to_init_location()
rospy.Subscriber('robot_command', String, self.handle_robot_command)
rospy.spin()
def main():
kb.initialize()
print("Predicates ---")
for predicate in kb.list_predicates():
print("[" + str(predicate) + "]")
print("\nInstances ---")
print(str(kb.list_instances()) + "\n")
for instance in kb.list_instances():
print("[" + str(instance) + ", " +
str(kb.get_instance_type(instance)) + "]")
print("\nGoals ---")
for goal in kb.list_goals():
print("[" + str(goal) + "]")
def main():
kb.initialize()
kb.reset()
def main():
kb.initialize()
kb.remove_all_predicates()
kb.remove_all_goals()
[robot, tolocation]))
rospy.loginfo("Reporting succes")
super(MoveRobot, self)._report_success()
class PickupTreat(act_int.SimpleAction):
name = "robottaketreataction"
def _start(self, robot, treatlocation, treat):
"""
Grasp the treat
"""
rospy.loginfo("Picking up treat")
# The messages are used for creating the emotional model
self.pub = rospy.Publisher('robot_command', String, queue_size=10)
self.pub.publish(String("grasp"))
rospy.sleep(2)
kb.add_predicate(
pytools_utils.predicate_maker("robot-holds",
["robot", "holdingobject"],
[robot, treat]))
super(PickupTreat, self)._report_success()
if __name__ == "__main__":
rospy.init_node("dog_reactor")
act_int.initialize_actions()
kb.initialize(prefix="/rosplan_knowledge_base")
act_int.start_actions("rosplan_plan_dispatcher/action_dispatch",
"rosplan_plan_dispatcher/action_feedback")
rospy.spin()
#!/usr/bin/env python
import rospy
import rosplan_pytools
import rosplan_pytools
import rosplan_pytools.controller.knowledge_base as kb
import rosplan_pytools.controller.scene_database as sdb
import rosplan_pytools.controller.planning_system as ps
rospy.init_node("teste")
#rosplan_pytools.init()
kb.initialize("/rosplan_knowledge_base")
print("OLAR")
kb.reset()
# Using the KB
kb.add_instance("rover1", "rover")
kb.list_instances()
# You can store stuff into the scene database with a third arg
# kb.add_instance("msg1", "msg_type")
# sdb.add_element("msg1", sdb.Element(std_msgs.msg.String("Be sure to drink your ovaltine"), "msg_type"))
# kb.add_goal("robot-at", loc="loc1")
# kb.add_goal("has-received-message", msg="msg1", loc="loc1")
# # Then, plan and execute! using PS
def __init__(self):
rospy.init_node('emotional_reasoner', anonymous=True)
kb.initialize(prefix="/rosplan_knowledge_base")
self.valence = 0
self.arousal = 0
self.publish_as_param()
self.pub = rospy.Publisher('emotional_reasoner',
Emotion,
queue_size=10)
self.service = rospy.Service('emotion_service', EmotionService,
self.service_respond_emotion)
rospy.Subscriber('voice_emotion_recognised', RecognisedSounds,
self.adapt_model_speech)
rospy.Subscriber('sound_recognised', RecognisedSounds,
self.adapt_model_sounds)
self.numbers_to_kb_emotion = [[-1, -1, "lowv-lowa"],
[1, -1, "highv-lowa"],
[1, 1, "highv-higha"],
[-1, 1, "lowv-higha"]]
self.map_emotion_to_quantity = {
"Neutral": {
"valence": 0,
"arousal": 0
},
"Happy": {
"valence": 0.5,
"arousal": 0.2
},
"Sad": {
"valence": -0.5,
"arousal": -0.2
},
"Angry": {
"valence": -0.5,
"arousal": 0.4
},
"Fear": {
"valence": -0.30,
"arousal": 0.3
},
}
self.map_sound_to_quantity = {
"an Alarm bell ringing": {
"valence": -0.295,
"arousal": 0.387
},
"Speech": {
"valence": 0.0,
"arousal": 0.0
},
"a Dog": {
"valence": -0.023,
"arousal": 0.182
},
"a Cat": {
"valence": 0.535,
"arousal": 0.067
},
"Dishes": {
"valence": -0.192,
"arousal": -0.285
},
"Frying": {
"valence": 0.0,
"arousal": 0.0
},
"an Electric_shaver or a toothbrush": {
"valence": -0.437,
"arousal": 0.178
},
"a Blender": {
"valence": -0.668,
"arousal": 0.27
},
"Running_water": {
"valence": -0.137,
"arousal": -0.045
},
"a Vacuum_cleaner": {
"valence": 0,
"arousal": 0
}
}
