def request(self,pattern,partial=None,require_new=False):
if partial is None and len(self.partials)>0: partial=self.partials[0]
self.busy=True
if self.error: self.error=False
self._request_count+=1
b=getattr(self.sch,'bound',None)
pattern=Pattern(pattern,b,partial=partial)
all=self.dm
if require_new: all=[x for x in all if not self.finst.contains(x)]
matches=[x for x in all if pattern.match(x) is not None]
#for x in matches: print `x`,self.get_activation(x)
for a in self.adaptors: a.matched(matches)
if len(matches)==0:
self.fail(self._request_count)
else:
maximum=None
for chunk in matches:
chunk.activation=self.get_activation(chunk)
if partial is not None:
chunk.activation+=chunk._partial
if maximum is None or chunk.activation>maximum:
maximum=chunk.activation
if maximum<self.threshold:
self.fail(self._request_count)
else:
best=[x for x in matches if x.activation==maximum]
choice=self.random.choice(best)
self.recall(choice,matches=matches,request_number=self._request_count)
def find_matching_chunks(self,pattern,threshold=None):
bound=getattr(self.sch,'bound',None)
pattern=Pattern(pattern,bound)
matches=[x for x in self.dm if pattern.match(x) is not None]
if threshold is not None:
matches=[x for x in matches if self.get_activation(x)>=threshold]
return matches
def find_matching_chunks(self,pattern,threshold=None):
bound=getattr(self.sch,'bound',None)
pattern=Pattern(pattern,bound)
matches=[x for x in self.dm if pattern.match(x) is not None]
if threshold is not None:
matches=[x for x in matches if self.get_activation(x)>=threshold]
return matches
def request(self,pattern,partial=None,require_new=False):
if partial is None and len(self.partials)>0: partial=self.partials[0]
self.busy=True
if self.error: self.error=False
self._request_count+=1
b=getattr(self.sch,'bound',None)
pattern=Pattern(pattern,b,partial=partial)
all=self.dm
if require_new: all=[x for x in all if not self.finst.contains(x)]
matches=[x for x in all if pattern.match(x) is not None]
#if self.log:
# for x in matches:
# self.log[`x`]=self.get_activation(x)
for a in self.adaptors: a.matched(matches)
if len(matches)==0:
self.fail(self._request_count)
else:
maximum=None
for chunk in matches:
chunk.activation=self.get_activation(chunk)
if partial is not None:
chunk.activation+=chunk._partial
if maximum is None or chunk.activation>maximum:
maximum=chunk.activation
if maximum<self.threshold:
self.fail(self._request_count)
else:
best=[x for x in matches if x.activation==maximum]
choice=self.random.choice(best)
self.recall(choice,matches=matches,request_number=self._request_count)
def test_group(self):
obj={'a':dict(a=1,b=None),'c':dict(d=2,e=1)}
self.assertEqual(Pattern(dict(c='d:2 e:1')).match(obj),{})
self.assertEqual(Pattern(dict(a='a:?x',c='d:2 e:?x')).match(obj),{'x':'1'})
self.assertEqual(Pattern(dict(a='b:!?x',c='d:!?x e:?x')).match(obj),{'x':'1'})
self.assertEqual(Pattern(dict(a='a:!?x b:!?x',c='d:!?x e:?x')).match(obj),None)
def compress_shoulder(self, function_name, **kwargs):
'''
This function compresses the shoulder (should be in ribs rotation direction)
to help reduce agent width.
:param function_name:
:param kwargs: bone='shoulder.L' OR bone='shoulder.R'
:return:applies the shoulder compression with set_rotation on Morse side
'''
#Check the max rotation
print("Compress Shoulder")
if self.busy:
return
self.busy = True
maxReached = False
minReached = False
kwargs.update(self.function_map[function_name][1])
#if kwargs['bone'] == 'shoulder.R':
# kwargs['radians'] = kwargs['radians'] * 1
if kwargs['bone'] == 'shoulder.L':
kwargs['radians'] = kwargs['radians'] * -1
minR, maxR = self._boneProperties[kwargs['bone']][kwargs['axis']]
#print("MINR", minR)
if Decimal(kwargs['radians']).quantize(
Decimal('0.000'),
rounding=ROUND_HALF_UP) >= Decimal(maxR).quantize(
Decimal('0.000'), rounding=ROUND_HALF_UP):
print("SET TO MAX")
maxReached = True
kwargs['radians'] = maxR
if Decimal(kwargs['radians']).quantize(
Decimal('0.000'),
rounding=ROUND_HALF_UP) <= Decimal(minR).quantize(
Decimal('0.000'), rounding=ROUND_HALF_UP):
print("SET TO MIN")
minReached = True
kwargs['radians'] = minR
print("RADIANS", kwargs['radians'])
middleware.send(self.function_map[function_name][0], **kwargs)
#middleware.send('rotate_torso',axis=axis, radians=radians)
pattern = 'type:proprioception ' + 'bone:' + kwargs['bone']
matcher = Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj) != None:
obj.rotation0 = kwargs['radians']
if kwargs['radians'] < 0:
obj.rotation_direction = 'right'
elif kwargs['radians'] > 0:
obj.rotation_direction = 'left'
if maxReached:
obj.rotation0_quality = 'max'
if minReached:
obj.rotation0_quality = 'min'
self.busy = False
self.update_posture()
def request(self, pattern=''):
print("REQUEST")
if self.busy: return
#for obj in self._internalChunks:
# print("OBJ............")
# for attr, value in obj.__dict__.items():
# print(attr,value)
matcher = Pattern(pattern)
print("Matcher", matcher)
self.error = False
r = []
for obj in self._internalChunks:
#print("one",obj)
if matcher.match(obj) != None:
r.append(obj)
self.busy = True
d = self.delay
if self.delay_sd is not None:
d = max(0, self.random.gauss(d, self.delay_sd))
yield d
print("YEILDED", d)
self.busy = False
if len(r) == 0:
self._b1.clear()
self.error = True
else:
obj = self.random.choice(r)
self._b1.set(obj)
def request(self,pattern=''):
print("REQUEST")
if self.busy: return
#for obj in self._internalChunks:
# print("OBJ............")
# for attr, value in obj.__dict__.items():
# print(attr,value)
matcher = Pattern(pattern)
print("Matcher",matcher)
self.error=False
r=[]
for obj in self._internalChunks:
#print("one",obj)
if matcher.match(obj)!= None:
r.append(obj)
self.busy = True
d = self.delay
if self.delay_sd is not None:
d=max(0,self.random.gauss(d,self.delay_sd))
yield d
print("YEILDED", d)
self.busy=False
if len(r) == 0:
self._b1.clear()
self.error = True
else:
obj=self.random.choice(r)
self._b1.set(obj)
def test_exact(self):
obj={'self':Obj(a=1,b=2,c=3)}
p=Pattern(dict(self='a:1 b:2 c:3'))
self.assertEqual(p.match(obj),{})
obj['self'].c=2
self.assertEqual(p.match(obj),None)
self.assertEqual(Pattern(dict(self='a:1 a:2')).match(obj),None)
self.assertEqual(p.match({'self':None}),None)
self.assertEqual(Pattern(dict(self=None)).match({'self':None}),{})
def compress_shoulder(self,function_name,**kwargs):
'''
This function compresses the shoulder (should be in ribs rotation direction)
to help reduce agent width.
:param function_name:
:param kwargs: bone='shoulder.L' OR bone='shoulder.R'
:return:applies the shoulder compression with set_rotation on Morse side
'''
#Check the max rotation
print("Compress Shoulder")
if self.busy:
return
self.busy = True
maxReached = False
minReached = False
kwargs.update(self.function_map[function_name][1])
#if kwargs['bone'] == 'shoulder.R':
# kwargs['radians'] = kwargs['radians'] * 1
if kwargs['bone'] == 'shoulder.L':
kwargs['radians'] = kwargs['radians'] * -1
minR,maxR = self._boneProperties[kwargs['bone']][kwargs['axis']]
#print("MINR", minR)
if Decimal(kwargs['radians']).quantize(Decimal('0.000'),rounding=ROUND_HALF_UP) >= Decimal(maxR).quantize(Decimal('0.000'),rounding=ROUND_HALF_UP):
print("SET TO MAX")
maxReached=True
kwargs['radians'] = maxR
if Decimal(kwargs['radians']).quantize(Decimal('0.000'),rounding=ROUND_HALF_UP) <= Decimal(minR).quantize(Decimal('0.000'),rounding=ROUND_HALF_UP):
print("SET TO MIN")
minReached = True
kwargs['radians'] = minR
print("RADIANS",kwargs['radians'])
middleware.send(self.function_map[function_name][0],**kwargs)
#middleware.send('rotate_torso',axis=axis, radians=radians)
pattern='type:proprioception ' + 'bone:' + kwargs['bone']
matcher=Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj)!=None:
obj.rotation0=kwargs['radians']
if kwargs['radians'] < 0:
obj.rotation_direction = 'right'
elif kwargs['radians'] > 0:
obj.rotation_direction = 'left'
if maxReached:
obj.rotation0_quality='max'
if minReached:
obj.rotation0_quality='min'
self.busy=False
self.update_posture()
def __init__(self, visual, location):
ccm.Model.__init__(self)
self._visual = visual
self._location = location
self.busy = False
self.lastLocationPattern = Pattern('')
self.tracking = None
self.timeAppeared = {}
self.visualOnsetSpan = 0.5
self.finst = Finst(self)
def context(self,pattern):
pat=Pattern(pattern)
chunks=[x for x in self.memory.dm if pat.match(x) is not None]
for k,hist in self.histogram.items():
hist.clear()
if len(chunks)==0: raise Exception('No chunks match salience pattern: "%s"'%pattern)
dw=1.0/len(chunks)
for c in chunks:
for k,hist in self.histogram.items():
val=c.get(k,None)
if val not in hist: hist[val]=dw
else: hist[val]+=dw
def request(self,pattern=''):
print("REQUEST")
if self.busy: return
matcher = Pattern(pattern)
self.error=False
r=[]
for obj in self._internalChunks:
print("one")
if matcher.match(obj)!=None:
print("Not None", obj)
def request(self, pattern=''):
print("REQUEST")
if self.busy: return
matcher = Pattern(pattern)
self.error = False
r = []
for obj in self._internalChunks:
print("one")
if matcher.match(obj) != None:
print("Not None", obj)
def context(self,pattern):
pat=Pattern(pattern)
chunks=[x for x in self.memory.dm if pat.match(x) is not None]
for k,hist in list(self.histogram.items()):
hist.clear()
if len(chunks)==0: raise Exception('No chunks match salience pattern: "%s"'%pattern)
dw=1.0/len(chunks)
for c in chunks:
for k,hist in list(self.histogram.items()):
val=c.get(k,None)
if val not in hist: hist[val]=dw
else: hist[val]+=dw
def examine(self, pat):
if isinstance(pat, str) and ':' not in pat and pat.count(' ') == 1:
pat = 'x:%s y:%s' % tuple(pat.split(' '))
self.lastExamine = Pattern(pat, self.sch.bound)
pat = self.lastExamine
for obj in self.parent.parent.get_children():
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
if pat.match(obj) is not None:
#if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
self.busy = True
yield 0.085
self.busy = False
if obj in self.parent.parent.get_children():
self.tracking = obj
self.log._ = 'Vision sees %s' % Chunk(obj)
self._visual.set(obj)
self.finst.add(obj)
else:
self.tracking = None
self.log._ = 'Vision sees nothing'
self._visual.clear()
break
def __init__(self, pre, post, keep, retrieve, pre_bound, post_bound):
self.name = '%s-%s-%d' % (pre.name, post.name, id(self))
self.system = pre.system
self.base_utility = 0
self.bound = None
code1 = []
for k, v in list(pre_bound.items()):
code1.append(' %s=%s' % (k, repr(v)))
code1.append(' if True: # compiled from %s' % pre.name)
added_line = False
for line in pre.code.splitlines():
for k in keep:
if line.strip().startswith(k):
code1.append(' ' + line)
added_line = True
break
if not added_line:
code1.append(' pass')
code1 = '\n'.join(code1)
for k, v in list(pre_bound.items()):
code1 = code1.replace('?' + k, v)
code2 = []
for k, v in list(post_bound.items()):
code2.append(' %s=%s' % (k, repr(v)))
code2.append(' if True: # compiled from %s' % post.name)
for line in post.code.splitlines():
if len(line.strip()) > 0:
code2.append(' ' + line)
code2 = '\n'.join(code2)
for k, v in list(post_bound.items()):
code2 = code2.replace('?' + k, v)
self.code = 'if True:\n%s\n%s' % (code1, code2)
self.func = compile(self.code, '<production-%s>' % self.name, 'exec')
keys = list(pre.keys)
patterns = {}
for buf, pat in list(pre.pattern_specs.items()):
for k, v in list(pre_bound.items()):
pat = pat.replace('?' + k, v)
patterns[buf] = pat
for m in post.keys:
if m == retrieve: pass
elif m not in keys:
keys.append(m)
pat = post.pattern_specs[m]
for k, v in list(post_bound.items()):
pat = pat.replace('?' + k, v)
patterns[buf] = pat
self.keys = keys
self.pattern_specs = patterns
self.pattern = Pattern(patterns)
def attendTo(self, pattern, unattended=False, new=False):
if isinstance(pattern,
str) and ':' not in pattern and pattern.count(' ') == 1:
pattern = 'x:%s y:%s' % tuple(pattern.split(' '))
self.lastLocationPattern = Pattern(pattern, self.sch.bound)
r = []
for obj in self.parent.parent.get_children():
if new == True and not self.isNew(obj): continue
if unattended == True and self.finst.isIn(obj): continue
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
if self.lastLocationPattern.match(obj) != None:
r.append(obj)
if len(r) > 0:
obj = self.random.choice(r)
self.log._ = 'Vision found obj at (%g,%g)' % (obj.x, obj.y)
self._location.set('%g %g' % (obj.x, obj.y))
def request(self, pattern=''):
if self.busy: return
matcher = Pattern(pattern)
self.error = False
r = []
for obj in self.parent.parent.get_children():
if matcher.match(obj) != None:
if not hasattr(obj, 'salience') and not hasattr(
obj, 'visible'):
continue
if hasattr(obj, 'salience'):
if self.random.random() > obj.salience:
continue
if hasattr(obj, 'visible'):
if obj.visible == False:
continue
if hasattr(obj, 'value'):
if obj.value == None:
continue
r.append(obj)
self.busy = True
d = self.delay
if self.delay_sd is not None:
d = max(0, self.random.gauss(d, self.delay_sd))
yield d
self.busy = False
if len(r) == 0:
self._buffer.clear()
self.error = True
else:
obj = self.random.choice(r)
if obj not in self.parent.parent.get_children():
self._buffer.clear()
self.error = True
elif hasattr(obj, 'visible') and obj.visible == False:
self._buffer.clear()
self.error = True
else:
self._buffer.set(obj)
def request(self,pattern=''):
if self.busy: return
matcher=Pattern(pattern)
self.error=False
r=[]
for obj in self.parent.parent.get_children():
if matcher.match(obj)!=None:
print("Not None")
if not hasattr(obj,'salience') and not hasattr(obj,'visible'):
continue
if hasattr(obj,'salience'):
if self.random.random()>obj.salience:
continue
if hasattr(obj,'visible'):
if obj.visible==False:
continue
if hasattr(obj,'value'):
if obj.value==None:
continue
r.append(obj)
self.busy=True
d=self.delay
if self.delay_sd is not None:
d=max(0,self.random.gauss(d,self.delay_sd))
yield d
self.busy=False
if len(r)==0:
self._buffer.clear()
self.error=True
else:
obj=self.random.choice(r)
if obj not in self.parent.parent.get_children():
self._buffer.clear()
self.error=True
elif hasattr(obj,'visible') and obj.visible==False:
self._buffer.clear()
self.error=True
else:
self._buffer.set(obj)
def rotate_torso(self,function_name,**kwargs):
'''Rotate ribs on axis by radians'''
#Check the max rotation
print("ROTATE TORSO")
if self.busy:
return
self.busy = True
print("ROTATE TORSO2")
maxReached = False
minReached = False
kwargs.update(self.function_map[function_name][1])
print("KW", kwargs)
minR,maxR = self._boneProperties['part.torso'][kwargs['axis']]
#print("MINR", minR)
if kwargs['radians'] >= maxR:
#print("SET TO MAX")
maxReached=True
kwargs['radians'] = maxR
if kwargs['radians'] <= minR:
#print("SET TO MIN")
minReached = True
kwargs['radians'] = minR
#print("RADIANS",radians)
middleware.send(self.function_map[function_name][0],**kwargs)
#middleware.send('rotate_torso',axis=axis, radians=radians)
pattern='type:proprioception bone:torso'
matcher=Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj)!=None:
obj.rotation0=kwargs['radians']
if kwargs['radians'] < 0:
obj.rotation_direction = 'right'
elif kwargs['radians'] > 0:
obj.rotation_direction = 'left'
if maxReached:
obj.rotation0_quality='max'
if minReached:
obj.rotation0_quality='min'
self.busy=False
self.update_posture()
def rotate_torso(self, function_name, **kwargs):
'''Rotate ribs on axis by radians'''
#Check the max rotation
print("ROTATE TORSO")
if self.busy:
return
self.busy = True
print("ROTATE TORSO2")
maxReached = False
minReached = False
kwargs.update(self.function_map[function_name][1])
print("KW", kwargs)
minR, maxR = self._boneProperties['part.torso'][kwargs['axis']]
#print("MINR", minR)
if kwargs['radians'] >= maxR:
#print("SET TO MAX")
maxReached = True
kwargs['radians'] = maxR
if kwargs['radians'] <= minR:
#print("SET TO MIN")
minReached = True
kwargs['radians'] = minR
#print("RADIANS",radians)
middleware.send(self.function_map[function_name][0], **kwargs)
#middleware.send('rotate_torso',axis=axis, radians=radians)
pattern = 'type:proprioception bone:torso'
matcher = Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj) != None:
obj.rotation0 = kwargs['radians']
if kwargs['radians'] < 0:
obj.rotation_direction = 'right'
elif kwargs['radians'] > 0:
obj.rotation_direction = 'left'
if maxReached:
obj.rotation0_quality = 'max'
if minReached:
obj.rotation0_quality = 'min'
self.busy = False
self.update_posture()
def __init__(self,visual,location):
ccm.Model.__init__(self)
self._visual=visual
self._location=location
self.busy=False
self.lastLocationPattern=Pattern('')
self.tracking=None
self.timeAppeared={}
self.visualOnsetSpan=0.5
self.finst=Finst(self)
def examine(self, pat):
"""
Check the visible object at a visual location.
:param pat: specify the visual location.
:return:
"""
# The argument "pat" (pattern) contains the information of a visual location.
# If pat provides only the values of x-coordinate and y-coordinate,
# we reorganize pat into 'x: x-coordinate y: y-coordinate'.
if isinstance(pat, str) and ':' not in pat and pat.count(' ') == 1:
pat = 'x:%s y:%s' % tuple(pat.split(' '))
# The x-coordinate, y-coordinate often are variables, e.g. "?x ?y". We use function Pattern() to map
# the variables to the values stored in sch.bound.
self.lastExamine = Pattern(pat, self.sch.bound)
# Now we update the variable pat which has assigned valules.
pat = self.lastExamine
# In the following self is the vision module, self.parent is the agent which includes the vision module,
# and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
# is checked to see if they are visiable objects.
for obj in self.parent.parent.get_children():
# First, let us check if an object is a visible object. We do so by checking if the object contains the attributes
# "x", "y", and if the attribute "visible=True".
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
# Further, if the visual location pat matches the location of the visible object,
if pat.match(obj) is not None:
#(obsolete) if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
# The vision module starts working; it is busy.
self.busy = True
# The default time required for a vision module request is set as 0.085s.
yield 0.085
# The vision module finishes working; it is not busy.
self.busy = False
# In the following, self is the vision module, self.parent is the agent which includes the vision module,
# and self.parent.parent is the environment in which the agent is.
# If obj is still an object in the environment,
if obj in self.parent.parent.get_children():
# The vision module is tracking this object.
self.tracking = obj
# We print the following information to the display.
self.log._ = 'Vision sees %s' % Chunk(obj)
# We put the object into the visual buffer.
self._visual.set(obj)
# We add the object into the list of finst (finger instantiation).
self.finst.add(obj)
# If obj is no longer an object in the environment,
else:
# There is nothing to track.
self.tracking = None
# We print the following information to the display.
self.log._ = 'Vision sees nothing'
# We clear the visual buffer.
self._visual.clear()
# Each time, only one object can be seen. When we find one, we break the for-loop.
break
def test_exact(self):
obj = {'self': Obj(a=1, b=2, c=3)}
p = Pattern(dict(self='a:1 b:2 c:3'))
self.assertEqual(p.match(obj), {})
obj['self'].c = 2
self.assertEqual(p.match(obj), None)
self.assertEqual(Pattern(dict(self='a:1 a:2')).match(obj), None)
self.assertEqual(p.match({'self': None}), None)
self.assertEqual(Pattern(dict(self=None)).match({'self': None}), {})
def lower_arms(self, function_name, **kwargs):
'''
This function lowers the arms completly.
:param function_name: 'lower_arms'
:param kwargs: {}
:return: Moves the arms by so they are pointing downward
:special note: The arms currently do not map properly to the desired arms for the model.
Because the armature start somewhere near 45 (or -45) deg., when you lower the
arms, you have to lower them to -45 (or 45) deg.,. On the ACT-R side, I'm calling
this 0 deg. '''
print("LOWER ARMS", kwargs)
if self.busy:
return
self.busy = True
# minR,maxR = self._boneProperties['part.torso'][kwargs['axis']]
# #print("MINR", minR)
# if kwargs['radians'] > maxR:
# #print("SET TO MAX")
# maxReached=True
# kwargs['radians'] = maxR
# if kwargs['radians'] < minR:
# #print("SET TO MIN")
# minReached = True
# kwargs['radians'] = minR
patterns = [
'type:proprioception bone:upper_arm.R',
'type:proprioception bone:upper_arm.L'
]
for pattern in patterns:
matcher = Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj) != None:
obj.rotation0 = '0'
obj.overall_quality = 'lowered'
self.busy = False
self.update_posture()
middleware.send(self.function_map[function_name][0], **kwargs)
def lower_arms(self,function_name,**kwargs):
'''
This function lowers the arms completly.
:param function_name: 'lower_arms'
:param kwargs: {}
:return: Moves the arms by so they are pointing downward
:special note: The arms currently do not map properly to the desired arms for the model.
Because the armature start somewhere near 45 (or -45) deg., when you lower the
arms, you have to lower them to -45 (or 45) deg.,. On the ACT-R side, I'm calling
this 0 deg. '''
print("LOWER ARMS", kwargs)
if self.busy:
return
self.busy = True
# minR,maxR = self._boneProperties['part.torso'][kwargs['axis']]
# #print("MINR", minR)
# if kwargs['radians'] > maxR:
# #print("SET TO MAX")
# maxReached=True
# kwargs['radians'] = maxR
# if kwargs['radians'] < minR:
# #print("SET TO MIN")
# minReached = True
# kwargs['radians'] = minR
patterns = ['type:proprioception bone:upper_arm.R',
'type:proprioception bone:upper_arm.L']
for pattern in patterns:
matcher=Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj)!=None:
obj.rotation0='0'
obj.overall_quality='lowered'
self.busy=False
self.update_posture()
middleware.send(self.function_map[function_name][0],**kwargs)
def get_bounding_box(self):
print("get_bounding_box")
if self.busy:
return
self.busy = True
self._boundingBox = [x * 1.00 for x in middleware.request('getBoundingBox', [])]
pattern='type:proprioception feature:bounding_box'
matcher=Pattern(pattern)
objs = 0
for obj in self._internalChunks:
if matcher.match(obj)!= None:
objs+=1
obj.width=repr(self._boundingBox[0])
obj.depth=repr(self._boundingBox[1])
obj.height=repr(self._boundingBox[2])
if objs > 1:
raise Exception("There shouldn't be more than one match...")
print("get_bounding_box done.")
self.busy = False
self.update_posture()
def attendTo(self, pattern, unattended=False, new=False):
self.lastLocationPattern = Pattern(pattern, self.sch.bound)
r = []
for obj in self.parent.parent.get_children():
#if new==True and not self.isNew(obj): continue
#if unattended==True and self.finst.isIn(obj): continue
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
if pattern.isMatch(obj) != None:
r.append(obj)
if len(r) > 0:
obj = self.random.choice(r)
self.log._ = 'Vision found obj at (%d,%d)' % (obj.x, obj.y)
self._location.set('%d %d' % (obj.x, obj.y))
def get_bounding_box(self):
print("get_bounding_box")
if self.busy:
return
self.busy = True
self._boundingBox = [
x * 1.00 for x in middleware.request('getBoundingBox', [])
]
pattern = 'type:proprioception feature:bounding_box'
matcher = Pattern(pattern)
objs = 0
for obj in self._internalChunks:
if matcher.match(obj) != None:
objs += 1
obj.width = repr(self._boundingBox[0])
obj.depth = repr(self._boundingBox[1])
obj.height = repr(self._boundingBox[2])
if objs > 1:
raise Exception("There shouldn't be more than one match...")
print("get_bounding_box done.")
self.busy = False
self.update_posture()
def attendTo(self, pattern, unattended=False, new=False):
# The argument "pattern" contains the information of a visual location.
# If pat provides only the values of x-coordinate and y-coordinate,
# we reorganize pat into 'x: x-coordinate y: y-coordinate'.
if isinstance(pattern,
str) and ':' not in pattern and pattern.count(' ') == 1:
pattern = 'x:%s y:%s' % tuple(pattern.split(' '))
# The x-coordinate, y-coordinate often are variables, e.g. "?x ?y". We use function Pattern() to map
# the variables to the values stored in sch.bound.
self.lastLocationPattern = Pattern(pattern, self.sch.bound)
r = []
# In the following self is the vision module, self.parent is the agent which includes the vision module,
# and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
# is checked to see if they are visiable objects.
for obj in self.parent.parent.get_children():
# If the visual location is new, but the object is not new, we directly go to check the next object.
if new == True and not self.isNew(obj): continue
# If the location is unattended, but the object is in finst (finger instantiation) list, we directly go to check
# the next object.
if unattended == True and self.finst.isIn(obj): continue
# Let us check if an object is a visible object. We do so by checking if the object contains the attributes
# "x", "y", and if the attribute "visible=True".
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
# Further, if the visual location matches the location of the visible object,
if self.lastLocationPattern.match(obj) != None:
# We add this object to the list r.
r.append(obj)
# If we found more than one visible objects in the list r,
if len(r) > 0:
# We randomly chose one object from the list.
obj = self.random.choice(r)
# We print the following information to the display.
self.log._ = 'Vision found obj at (%g,%g)' % (obj.x, obj.y)
# We store the object's location into the visual location buffer.
self._location.set('%g %g' % (obj.x, obj.y))
def attendTo(self,pattern,unattended=False,new=False):
if isinstance(pattern, str) and ':' not in pattern and pattern.count(' ')==1:
pattern='x:%s y:%s'%tuple(pattern.split(' '))
self.lastLocationPattern=Pattern(pattern,self.sch.bound)
r=[]
for obj in self.parent.parent.get_children():
if new==True and not self.isNew(obj): continue
if unattended==True and self.finst.isIn(obj): continue
if hasattr(obj,'x') and hasattr(obj,'y') and getattr(obj,'visible',True):
if self.lastLocationPattern.match(obj)!=None:
r.append(obj)
if len(r)>0:
obj=self.random.choice(r)
self.log._='Vision found obj at (%g,%g)'%(obj.x,obj.y)
self._location.set('%g %g'%(obj.x,obj.y))
def examine(self, pat):
self.lastExamine = Pattern(pat, self.sch.bound)
pat = self.lastExamine
for obj in self.parent.parent.get_children():
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
if True or pat.match(obj) is not None:
#if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
yield 0.085
if obj in self.parent.parent.get_children():
self.tracking = obj
self.log._ = 'Vision sees %s' % Chunk(obj)
self._visual.set(obj)
self.finst.add(obj)
else:
self.tracking = None
self.log._ = 'Vision sees nothing'
self._visual.clear()
break
def makePattern(text):
return Pattern(dict(self=text))
class Vision(ccm.Model):
def __init__(self, visual, location):
ccm.Model.__init__(self)
self._visual = visual
self._location = location
self.busy = False
self.lastLocationPattern = Pattern('')
self.tracking = None
self.timeAppeared = {}
self.visualOnsetSpan = 0.5
self.finst = Finst(self)
def start(self):
self.environmentUpdate()
def isNew(self, object):
if not getattr(object, 'visible', True): return
time = self.timeAppeared.get(object, None)
if time == None:
self.timeAppeared[object] = self.now()
return True
return self.now() < time + self.visualOnsetSpan
def environmentUpdate(self):
while True:
if self._location.isEmpty():
r = []
for o in self.parent.parent.get_children():
if not getattr(o, 'visible', True):
if o in self.timeAppeared.keys():
del self.timeAppeared[o]
continue
if o not in self.timeAppeared:
if hasattr(o, 'x') and hasattr(o, 'y'):
#if self.lastLocationPattern.match(o)!=None:
r.append(o)
if len(r) > 0:
obj = self.random.choice(r)
self.log._ = 'Vision stuffed obj at (%g,%g)' % (obj.x,
obj.y)
self._location.set('%g %g' % (obj.x, obj.y))
#print 'checking tracking',self.tracking
#if self.tracking!=None and (self.tracking not in self.parent.parent.get_children() or not getattr(self.tracking,'visible',True)):
# print '...lost'
# self.sch.add(self.lostTrack,delay=0.085)
for o in self.parent.parent.get_children():
self.isNew(o)
yield self.parent.parent.changes, self.lostTrack
def lostTrack(self):
if self.tracking is not None:
self.tracking = None
self.log._ = 'Object disappeared'
self._visual.clear()
#self._location.clear()
def attendToUnattended(self, pattern=''):
self.attendTo(pattern=pattern, unattended=True)
def attendToNew(self, pattern=''):
self.attendTo(pattern=pattern, new=True)
def attendTo(self, pattern, unattended=False, new=False):
if isinstance(pattern,
str) and ':' not in pattern and pattern.count(' ') == 1:
pattern = 'x:%s y:%s' % tuple(pattern.split(' '))
self.lastLocationPattern = Pattern(pattern, self.sch.bound)
r = []
for obj in self.parent.parent.get_children():
if new == True and not self.isNew(obj): continue
if unattended == True and self.finst.isIn(obj): continue
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
if self.lastLocationPattern.match(obj) != None:
r.append(obj)
if len(r) > 0:
obj = self.random.choice(r)
self.log._ = 'Vision found obj at (%g,%g)' % (obj.x, obj.y)
self._location.set('%g %g' % (obj.x, obj.y))
def isClose(self, a, b):
return abs(a - b) < 0.01
def examine(self, pat):
if isinstance(pat, str) and ':' not in pat and pat.count(' ') == 1:
pat = 'x:%s y:%s' % tuple(pat.split(' '))
self.lastExamine = Pattern(pat, self.sch.bound)
pat = self.lastExamine
for obj in self.parent.parent.get_children():
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
if pat.match(obj) is not None:
#if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
self.busy = True
yield 0.085
self.busy = False
if obj in self.parent.parent.get_children():
self.tracking = obj
self.log._ = 'Vision sees %s' % Chunk(obj)
self._visual.set(obj)
self.finst.add(obj)
else:
self.tracking = None
self.log._ = 'Vision sees nothing'
self._visual.clear()
break
def update_posture(self):
pattern1='type:proprioception bone:upper_arm.R'# overall_quality:lowered'
pattern2='type:proprioception bone:upper_arm.L'# overall_quality:lowered'
pattern3='type:proprioception bone:shoulder.R'# rotation0_quality:max'
pattern4='type:proprioception bone:shoulder.L'# rotation0_quality:min' #probably should find those, instead of supplying them
pattern5='type:proprioception bone:torso'# rotation_direction:right'
matcher1=Pattern(pattern1)
matcher2=Pattern(pattern2)
matcher3=Pattern(pattern3)
matcher4=Pattern(pattern4)
matcher5=Pattern(pattern5)
pattern = 'type:posture'
matcher = Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj)!=None:
obj.minimal_width = 'false'
matches = [matcher1,matcher2,matcher3,matcher4,matcher5]
objs = []
for m in matches:
for obj in self._internalChunks:
if m.match(obj) != None:
objs.append(obj)
try:#For posture, minimal width, yes
if objs[0].overall_quality=='lowered' and \
objs[1].overall_quality=='lowered' and\
objs[2].rotation0_quality=='max' and\
objs[3].rotation0_quality=='min' and\
objs[4].rotation_direction == 'right':
pattern = 'type:posture'
matcher = Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj)!=None:
obj.minimal_width = 'true'
return
except Exception:
pass
try:#For posture, minimal width, yes
if objs[0].overall_quality=='lowered' and \
objs[1].overall_quality=='lowered' and\
objs[2].rotation0_quality=='min' and\
objs[3].rotation0_quality=='max' and\
objs[4].rotation_direction == 'left':
pattern = 'type:posture'
matcher = Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj)!=None:
obj.minimal_width = 'true'
return
except Exception:
pass
class Vision(ccm.Model):
def __init__(self, visual, location):
ccm.Model.__init__(self)
self._visual = visual
self._location = location
self.busy = False
self.lastLocationPattern = Pattern('')
self.tracking = None
self.timeAppeared = {}
self.visualOnsetSpan = 0.5
self.finst = Finst(self)
def start(self):
self.environmentUpdate()
def isNew(self, object):
if not getattr(object, 'visible', True): return
time = self.timeAppeared.get(object, None)
if time == None:
self.timeAppeared[object] = self.now()
return True
return self.now() < time + self.visualOnsetSpan
def environmentUpdate(self):
# First, create a while-loop for checking updates to the environment.
while True:
# If the visual location buffer is empty,
if self._location.isEmpty():
# Create a list for storing new visible objects in the environment.
r = []
# In the following self is the vision module, self.parent is the agent which includes the vision module,
# and self.parent.parent is the environment in which the agent is.
for o in self.parent.parent.get_children():
# If the object is not visible anymore,
if not getattr(o, 'visible', True):
# further if the object is in timeAppeared, then we delete the object from timeAppeared.
# Note timeAppeared records the time when an object becomes visible in the environment.
if o in self.timeAppeared.keys():
del self.timeAppeared[o]
# Let us go to check the next object in the environment directly.
continue
# If the object is not in timeAppeared,
if o not in self.timeAppeared:
# further if the object has the location information,
if hasattr(o, 'x') and hasattr(o, 'y'):
#(obsolete) if self.lastLocationPattern.match(o)!=None:
# Let add this object into the list r.
r.append(o)
# If there is new visible objects, i.e., the list is not empty,
if len(r) > 0:
# We randomly select one object.
obj = self.random.choice(r)
# We print the following information to the display.
self.log._ = 'Vision stuffed obj at (%g,%g)' % (obj.x,
obj.y)
# We add the location of the new visible object to the visual location buffer.
self._location.set('%g %g' % (obj.x, obj.y))
#(obsolete) print 'checking tracking',self.tracking
#(obsolete) if self.tracking!=None and (self.tracking not in self.parent.parent.get_children() or not getattr(self.tracking,'visible',True)):
#(obsolete) print '...lost'
#(obsolete) self.sch.add(self.lostTrack,delay=0.085)
# In the following self is the vision module, self.parent is the agent which includes the vision module,
# and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
# is checked to see if they are new visiable objects.
for o in self.parent.parent.get_children():
self.isNew(o)
# In the following self is the vision module, self.parent is the agent which includes the vision module,
# and self.parent.parent is the environment in which the agent is.
yield self.parent.parent.changes, self.lostTrack
def lostTrack(self):
"""Indicate that the vision tracking is lost."""
# If the vision module is tracking an object,
if self.tracking is not None:
# The object slips away from our tracking.
self.tracking = None
# We print the information to the display.
self.log._ = 'Object disappeared'
# And we clear the visual buffer.
self._visual.clear()
#(obsolete) self._location.clear()
def attendToUnattended(self, pattern=''):
self.attendTo(pattern=pattern, unattended=True)
def attendToNew(self, pattern=''):
self.attendTo(pattern=pattern, new=True)
def attendTo(self, pattern, unattended=False, new=False):
# The argument "pattern" contains the information of a visual location.
# If pat provides only the values of x-coordinate and y-coordinate,
# we reorganize pat into 'x: x-coordinate y: y-coordinate'.
if isinstance(pattern,
str) and ':' not in pattern and pattern.count(' ') == 1:
pattern = 'x:%s y:%s' % tuple(pattern.split(' '))
# The x-coordinate, y-coordinate often are variables, e.g. "?x ?y". We use function Pattern() to map
# the variables to the values stored in sch.bound.
self.lastLocationPattern = Pattern(pattern, self.sch.bound)
r = []
# In the following self is the vision module, self.parent is the agent which includes the vision module,
# and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
# is checked to see if they are visiable objects.
for obj in self.parent.parent.get_children():
# If the visual location is new, but the object is not new, we directly go to check the next object.
if new == True and not self.isNew(obj): continue
# If the location is unattended, but the object is in finst (finger instantiation) list, we directly go to check
# the next object.
if unattended == True and self.finst.isIn(obj): continue
# Let us check if an object is a visible object. We do so by checking if the object contains the attributes
# "x", "y", and if the attribute "visible=True".
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
# Further, if the visual location matches the location of the visible object,
if self.lastLocationPattern.match(obj) != None:
# We add this object to the list r.
r.append(obj)
# If we found more than one visible objects in the list r,
if len(r) > 0:
# We randomly chose one object from the list.
obj = self.random.choice(r)
# We print the following information to the display.
self.log._ = 'Vision found obj at (%g,%g)' % (obj.x, obj.y)
# We store the object's location into the visual location buffer.
self._location.set('%g %g' % (obj.x, obj.y))
def isClose(self, a, b):
return abs(a - b) < 0.01
def examine(self, pat):
"""
Check the visible object at a visual location.
:param pat: specify the visual location.
:return:
"""
# The argument "pat" (pattern) contains the information of a visual location.
# If pat provides only the values of x-coordinate and y-coordinate,
# we reorganize pat into 'x: x-coordinate y: y-coordinate'.
if isinstance(pat, str) and ':' not in pat and pat.count(' ') == 1:
pat = 'x:%s y:%s' % tuple(pat.split(' '))
# The x-coordinate, y-coordinate often are variables, e.g. "?x ?y". We use function Pattern() to map
# the variables to the values stored in sch.bound.
self.lastExamine = Pattern(pat, self.sch.bound)
# Now we update the variable pat which has assigned valules.
pat = self.lastExamine
# In the following self is the vision module, self.parent is the agent which includes the vision module,
# and self.parent.parent is the environment in which the agent is. In the for-loop, each object in the environment
# is checked to see if they are visiable objects.
for obj in self.parent.parent.get_children():
# First, let us check if an object is a visible object. We do so by checking if the object contains the attributes
# "x", "y", and if the attribute "visible=True".
if hasattr(obj, 'x') and hasattr(obj, 'y') and getattr(
obj, 'visible', True):
# Further, if the visual location pat matches the location of the visible object,
if pat.match(obj) is not None:
#(obsolete) if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
# The vision module starts working; it is busy.
self.busy = True
# The default time required for a vision module request is set as 0.085s.
yield 0.085
# The vision module finishes working; it is not busy.
self.busy = False
# In the following, self is the vision module, self.parent is the agent which includes the vision module,
# and self.parent.parent is the environment in which the agent is.
# If obj is still an object in the environment,
if obj in self.parent.parent.get_children():
# The vision module is tracking this object.
self.tracking = obj
# We print the following information to the display.
self.log._ = 'Vision sees %s' % Chunk(obj)
# We put the object into the visual buffer.
self._visual.set(obj)
# We add the object into the list of finst (finger instantiation).
self.finst.add(obj)
# If obj is no longer an object in the environment,
else:
# There is nothing to track.
self.tracking = None
# We print the following information to the display.
self.log._ = 'Vision sees nothing'
# We clear the visual buffer.
self._visual.clear()
# Each time, only one object can be seen. When we find one, we break the for-loop.
break
class Vision(ccm.Model):
def __init__(self,visual,location):
ccm.Model.__init__(self)
self._visual=visual
self._location=location
self.busy=False
self.lastLocationPattern=Pattern('')
self.tracking=None
self.timeAppeared={}
self.visualOnsetSpan=0.5
self.finst=Finst(self)
def start(self):
self.environmentUpdate()
def isNew(self,object):
if not getattr(object,'visible',True): return
time=self.timeAppeared.get(object,None)
if time==None:
self.timeAppeared[object]=self.now()
return True
return self.now()<time+self.visualOnsetSpan
def environmentUpdate(self):
while True:
if self._location.isEmpty():
r=[]
for o in self.parent.parent.get_children():
if not getattr(o,'visible',True):
if o in self.timeAppeared.keys(): del self.timeAppeared[o]
continue
if o not in self.timeAppeared:
if hasattr(o,'x') and hasattr(o,'y'):
#if self.lastLocationPattern.match(o)!=None:
r.append(o)
if len(r)>0:
obj=self.random.choice(r)
self.log._='Vision stuffed obj at (%g,%g)'%(obj.x,obj.y)
self._location.set('%g %g'%(obj.x,obj.y))
#print 'checking tracking',self.tracking
#if self.tracking!=None and (self.tracking not in self.parent.parent.get_children() or not getattr(self.tracking,'visible',True)):
# print '...lost'
# self.sch.add(self.lostTrack,delay=0.085)
for o in self.parent.parent.get_children():
self.isNew(o)
yield self.parent.parent.changes,self.lostTrack
def lostTrack(self):
if self.tracking is not None:
self.tracking=None
self.log._='Object disappeared'
self._visual.clear()
#self._location.clear()
def attendToUnattended(self,pattern=''):
self.attendTo(pattern=pattern,unattended=True)
def attendToNew(self,pattern=''):
self.attendTo(pattern=pattern,new=True)
def attendTo(self,pattern,unattended=False,new=False):
if isinstance(pattern, str) and ':' not in pattern and pattern.count(' ')==1:
pattern='x:%s y:%s'%tuple(pattern.split(' '))
self.lastLocationPattern=Pattern(pattern,self.sch.bound)
r=[]
for obj in self.parent.parent.get_children():
if new==True and not self.isNew(obj): continue
if unattended==True and self.finst.isIn(obj): continue
if hasattr(obj,'x') and hasattr(obj,'y') and getattr(obj,'visible',True):
if self.lastLocationPattern.match(obj)!=None:
r.append(obj)
if len(r)>0:
obj=self.random.choice(r)
self.log._='Vision found obj at (%g,%g)'%(obj.x,obj.y)
self._location.set('%g %g'%(obj.x,obj.y))
def isClose(self,a,b):
return abs(a-b)<0.01
def examine(self,pat):
if isinstance(pat, str) and ':' not in pat and pat.count(' ')==1:
pat='x:%s y:%s'%tuple(pat.split(' '))
self.lastExamine=Pattern(pat,self.sch.bound)
pat=self.lastExamine
for obj in self.parent.parent.get_children():
if hasattr(obj,'x') and hasattr(obj,'y') and getattr(obj,'visible',True):
if pat.match(obj) is not None:
#if self.isClose(obj.x,float(pat[0])) and self.isClose(obj.y,float(pat[1])):
self.busy=True
yield 0.085
self.busy=False
if obj in self.parent.parent.get_children():
self.tracking=obj
self.log._='Vision sees %s'%Chunk(obj)
self._visual.set(obj)
self.finst.add(obj)
else:
self.tracking=None
self.log._='Vision sees nothing'
self._visual.clear()
break
def update_posture(self):
pattern1 = 'type:proprioception bone:upper_arm.R' # overall_quality:lowered'
pattern2 = 'type:proprioception bone:upper_arm.L' # overall_quality:lowered'
pattern3 = 'type:proprioception bone:shoulder.R' # rotation0_quality:max'
pattern4 = 'type:proprioception bone:shoulder.L' # rotation0_quality:min' #probably should find those, instead of supplying them
pattern5 = 'type:proprioception bone:torso' # rotation_direction:right'
matcher1 = Pattern(pattern1)
matcher2 = Pattern(pattern2)
matcher3 = Pattern(pattern3)
matcher4 = Pattern(pattern4)
matcher5 = Pattern(pattern5)
pattern = 'type:posture'
matcher = Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj) != None:
obj.minimal_width = 'false'
matches = [matcher1, matcher2, matcher3, matcher4, matcher5]
objs = []
for m in matches:
for obj in self._internalChunks:
if m.match(obj) != None:
objs.append(obj)
try: #For posture, minimal width, yes
if objs[0].overall_quality=='lowered' and \
objs[1].overall_quality=='lowered' and\
objs[2].rotation0_quality=='max' and\
objs[3].rotation0_quality=='min' and\
objs[4].rotation_direction == 'right':
pattern = 'type:posture'
matcher = Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj) != None:
obj.minimal_width = 'true'
return
except Exception:
pass
try: #For posture, minimal width, yes
if objs[0].overall_quality=='lowered' and \
objs[1].overall_quality=='lowered' and\
objs[2].rotation0_quality=='min' and\
objs[3].rotation0_quality=='max' and\
objs[4].rotation_direction == 'left':
pattern = 'type:posture'
matcher = Pattern(pattern)
for obj in self._internalChunks:
#if axis='0.0'
if matcher.match(obj) != None:
obj.minimal_width = 'true'
return
except Exception:
pass
