from robocup_knowledge import knowledge_loader
common = knowledge_loader.load_knowledge("common")
initial_pose = "initial_pose"
starting_pose = "gpsr_meeting_point"
cupboard = "cabinet"
cupboard_surface = "on_top_of"
table = "dinner_table"
table_surface = "on_top_of"
options = {
"fries": {
"food": "fries",
"drink1": "coke",
"drink2": "aquarius",
"difficult1": "fork",
"difficult2": "spoon",
"difficult3": "plate"
},
"curry": {
"food": "green_tea",
"drink1": "cold_brew",
"drink2": "green_tea",
"difficult1": "chop_sticks",
"difficult2": "spoon",
"difficult3": "bowl"
}
}
#!/usr/bin/python
# System
import random
# ROS
import rospy
import smach
# TU/e Robotics
from hmi import TimeoutException
from robocup_knowledge import knowledge_loader
# Knowledge
knowledge = knowledge_loader.load_knowledge("challenge_restaurant")
class TakeOrder(smach.State):
""" Take an order """
def __init__(self, robot, location, orders):
""" Constructor
:param robot: robot object
:param location: string indicating the location
:param orders: Python dict in which the orders will be stored
:return:
succeeded: understood correctly
failed: didn't hear anything or exceeded maximum number of tries
misunderstood: misunderstood, might try again
"""
smach.State.__init__(self, outcomes=['succeeded', 'failed'])
from robocup_knowledge import knowledge_loader
common = knowledge_loader.load_knowledge("common")
not_understood_sentences = [
"I'm so sorry! Can you please speak louder and slower? And wait for the ping!",
"I am deeply sorry. Please try again, but wait for the ping!",
"You and I have communication issues. Speak up!",
"All this noise is messing with my audio. Try again"
]
initial_pose = "hero_home"
grammar_target = "T"
##############################################################################
#
# Actions
#
##############################################################################
grammar = """
T[A] -> C[A] | COURTESY C[A] | C[A] COURTESY | COURTESY C[A] COURTESY
COURTESY -> please | robot please | could you | would you | hero | hero please
C[{"actions": <A1>}] -> VP[A1]
C[{"actions": <A1, A2>}] -> VP[A1] and VP[A2]
C[{"actions": <A1, A2, A3>}] -> VP[A1] VP[A2] and VP[A3]
"""
##############################################################################
#
import smach
import rospy
# TU/e Robotics
import robot_smach_states as states
import robot_smach_states.util.designators as ds
from robot_skills.classification_result import ClassificationResult
from robocup_knowledge import knowledge_loader
# Challenge serving drinks
from .serve_one_drink import ServeOneDrink
from .sd_states import AskAvailability
# Knowledge
challenge_knowledge = knowledge_loader.load_knowledge("challenge_serving_drinks")
common_knowledge = knowledge_loader.load_knowledge("common")
class CheckInspect(smach.State):
def __init__(self, designator, *resolve_types):
super(CheckInspect, self).__init__(outcomes=["true", "false"])
ds.check_type(designator, *resolve_types)
self.designator = designator
def execute(self, userdata=None):
val = self.designator.resolve() if hasattr(self.designator, "resolve") else self.designator
if val:
return "true"
else:
return "false"
# RWC2015
from robocup_knowledge import knowledge_loader
challenge_speech_recognition_data = knowledge_loader.load_knowledge("challenge_speech_recognition")
spec_questions = challenge_speech_recognition_data.spec
choices_questions = challenge_speech_recognition_data.choices
#locations: # TO BE DEFINED IN model.yaml!
starting_point = "initial_pose_door_A"
meeting_point = "gpsr_meeting_point"
gpsr_exit = "exit_door_B1"
# locations inside room used for finding object in room.
rooms_detailed = { 'kitchen':['kitchentable','kitchencounter', 'cupboard'], # fridge and trashbin are no manipulation locations
'livingroom':['bar','couchtable','dinnertable','sofa'], # dinnertable and sofa have both two spots
'bedroom':['left_bedside_table','right_bedside_table','desk','bed'],# bed has two spots
'hallway':['hallwaytable', 'bookcase/shelf1','bookcase/shelf2','bookcase/shelf3','bookcase/shelf4','bookcase/shelf5','bookcase/shelf6','bookcase/shelf7','bookcase/shelf8']} #,'bookcase']} # both locations have multiple spots.
objects_known_recognize = ['pure_milk', 'orange_juice', 'sponge', 'papaya_milk', 'apple', 'tomato_chips', 'lemon', 'toothpaste',
'chocolates', 'bowl', 'beer', 'toilet_paper', 'soap', 'plate', 'pear', 'lotion', 'water', 'cloth',
'green_tea', 'gram_soup', 'bubble_gum', 'bean_sauce', 'barbecue_chips', 'tray', 'coconut_cereals',
'egg_stars', 'honey_chips', 'coco_balls', 'biscuits']
###############################################
#### GPSR KNOWLEDGE FOR ASKING FOR ACTION: ####
###############################################
#data for speech recognition
objects_known = ['pure milk', 'orange juice', 'sponge', 'papaya milk', 'apple', 'tomato chips', 'lemon', 'toothpaste',
'chocolates', 'bowl', 'beer', 'toilet paper', 'soap', 'plate', 'pear', 'lotion', 'water', 'cloth',
import robot_smach_states as states
import rospy
import smach
from challenge_storing_groceries.manipulate_machine import PlaceSingleItem
from robocup_knowledge import knowledge_loader
from robot_smach_states.util.designators.ed_designators import EdEntityDesignator
from pickup_item import PickupItem
from pointing_designator import PointingDesignator
from pointing_detector import PointingDetector
# Load the knowledge
knowledge = knowledge_loader.load_knowledge("challenge_final")
class ChallengeFinal(smach.StateMachine):
""" State machine for the final challenge """
def __init__(self, robot):
""" Constructor
:param robot: robot object
"""
smach.StateMachine.__init__(self, outcomes=["Done", "Aborted"])
# Designators
furniture_move_designator = PointingDesignator(robot=robot)
furniture_pick_designator = PointingDesignator(robot=robot)
furniture_place_designator = PointingDesignator(robot=robot)
with self:
# Start challenge
#!/usr/bin/env python
# ROS
import rospy
# TU/e Robotics
from robocup_knowledge.knowledge_loader import load_knowledge
# Main function
if __name__ == "__main__":
# Launch the ROS node
rospy.init_node("load_object_types")
# Load the knowledge
knowledge = load_knowledge("common")
# Get all objects from the knowledge
objects = knowledge.get_objects()
# Dump all objects on the parameter server
rospy.set_param("/object_types", objects)
import robot_smach_states as states
import rospy
import smach
from challenge_storing_groceries.manipulate_machine import PlaceSingleItem
from robocup_knowledge import knowledge_loader
from robot_smach_states.util.designators.ed_designators import EdEntityDesignator
from pickup_item import PickupItem
from pointing_designator import PointingDesignator
from pointing_detector import PointingDetector
# Load the knowledge
knowledge = knowledge_loader.load_knowledge("challenge_final")
class ChallengeFinal(smach.StateMachine):
""" State machine for the final challenge """
def __init__(self, robot):
""" Constructor
:param robot: robot object
"""
smach.StateMachine.__init__(self, outcomes=["Done", "Aborted"])
# Designators
furniture_move_designator = PointingDesignator(robot=robot)
furniture_pick_designator = PointingDesignator(robot=robot)
furniture_place_designator = PointingDesignator(robot=robot)
with self:
# Start challenge
smach.StateMachine.add("START_CHALLENGE",
#!/usr/bin/python
# System
import random
# ROS
import rospy
import smach
# TU/e Robotics
from hmi import TimeoutException
from robocup_knowledge import knowledge_loader
# Knowledge
knowledge = knowledge_loader.load_knowledge("challenge_restaurant")
class TakeOrder(smach.State):
""" Take an order """
def __init__(self, robot, location, orders):
""" Constructor
:param robot: robot object
:param location: string indicating the location
:param orders: Python dict in which the orders will be stored
:return:
succeeded: understood correctly
failed: didn't hear anything or exceeded maximum number of tries
misunderstood: misunderstood, might try again
"""
smach.State.__init__(self, outcomes=['succeeded', 'failed'])
from robocup_knowledge import knowledge_loader
common = knowledge_loader.load_knowledge("common")
spr = knowledge_loader.load_knowledge("challenge_spr")
not_understood_sentences = [
"I'm so sorry! Can you please speak clearly and fluently? And wait for the ping!",
"I am deeply sorry. Please try again, but wait for the ping!",
"You and I have communication issues. Speak clearly!",
"All this noise is messing with my audio. Try again."
]
initial_pose = "gpsr_meeting_point"
starting_pose = "gpsr_meeting_point"
exit_waypoint = "exit_1_rips"
grammar_target = "T"
##############################################################################
#
# Actions
#
##############################################################################
grammar = """
T[A] -> COURTESY_PREFIX C[A] | C[A]
C[{"actions": <A1>}] -> VP[A1]
C[{"actions": <A1, A2>}] -> VP[A1] and VPT[A2]
C[{"actions": <A1, A2, A3>}] -> VP[A1] VP[A2] and VPT[A3]
VPT -> VP | VPS
