def solve_push_move(self, ntuple):
color = None
size = None
world = self.world
home_pos = world.robot1_instance.pos
print('solver: begin move_to_destination')
for parameters in ntuple.parameters:
protagonist = parameters.causer
heading = parameters.affectedProcess.heading
goal = parameters.affectedProcess.goal
distance = parameters.causalProcess.distance.value
inst = protagonist #getattr(self.world, protagonist)
obj = self.get_described_obj(
parameters.causalProcess.acted_upon['objectDescriptor'])
if goal:
print("not yet supported. try pushing a box in a direction")
if heading:
n = float(distance)
print(obj.pos)
addpos = vector_mul(-6, self.headings[heading])
self.move_precise(inst, obj.pos.x + addpos[0],
obj.pos.y + addpos[1])
addpos = vector_mul(-3, self.headings[heading])
self.move_push(inst, obj.pos.x + addpos[0],
obj.pos.y + addpos[1], 2)
addpos = vector_mul(4, self.headings[heading])
self.move_push(inst, obj.pos.x + addpos[0],
obj.pos.y + addpos[1], 2)
def push_direction(self, heading, inst, obj, n):
""" Pushes in a certain direction. Used to simplify "solve push move" function. """
addpos = vector_mul(-6, self.headings[heading])
self.move_precise(inst, obj.pos.x + addpos[0], obj.pos.y + addpos[1])
addpos = vector_mul(-3, self.headings[heading])
self.move_push(inst, obj.pos.x + addpos[0], obj.pos.y + addpos[1], 2)
#this is the part where it actually pushes forward. I think to make it right, you would need to repalce the following line:
#addpos = vector_mul(4, self.headings[heading])
#with this line
addpos = vector_mul(n, self.headings[heading])
self.move_push(inst, obj.pos.x + addpos[0], obj.pos.y + addpos[1],2 )
def push_direction(self, heading, inst, obj, n):
""" Pushes in a certain direction. Used to simplify "solve push move" function. """
addpos = vector_mul(-6, self.headings[heading])
self.move_precise(inst, obj.pos.x + addpos[0], obj.pos.y + addpos[1])
addpos = vector_mul(-3, self.headings[heading])
self.move_push(inst, obj.pos.x + addpos[0], obj.pos.y + addpos[1], 2)
#this is the part where it actually pushes forward. I think to make it right, you would need to repalce the following line:
#addpos = vector_mul(4, self.headings[heading])
#with this line
addpos = vector_mul(n, self.headings[heading])
self.move_push(inst, obj.pos.x + addpos[0], obj.pos.y + addpos[1], 2)
def solve_move(self, ntuple):
print('mock solver: begin move')
world = self.world
home_pos = world.robot1_instance.pos
for parameters in ntuple.parameters:
acted_upon = parameters.acted_upon
heading = parameters.heading
direction = parameters.direction
goal = parameters.goal
inst = getattr(world, acted_upon)
if goal:
# TODO: super/subtype relations missing!
if goal.ontological_category.type() == 'location':
print('| move(x={x}, y={y}, z=0.0)'.format(x=goal.xCoord, y=goal.yCoord))
self.setpos(inst, (float(goal.xCoord), float(goal.yCoord), 0.0))
else:
# We assume it's an object, like a box or a block
obj = getattr(world, goal.referent.type())
print('| move(x={x}, y={y}, z={z})'.format(x=obj.pos.x, y=obj.pos.y, z=obj.pos.z))
self.setpos(inst, (obj.pos.x, obj.pos.y, obj.pos.z))
elif direction == 'home':
print('| move(x={x}, y={y}, z=0.0)'.format(x=home_pos.x, y=home_pos.y))
self.setpos(inst, (home_pos.x, home_pos.y, home_pos.z))
elif heading:
n = float(parameters.distance.value)
pos = self.getpos(inst)
newpos = vector_add(pos, vector_mul(n, self.headings[heading]))
print('| move(x={0[0]}, y={0[1]}, z={0[2]})'.format(newpos))
self.setpos(inst, newpos)
print('mock solver: end move')
def solve_move(self, ntuple):
print('mock solver: begin move')
world = self.world
home_pos = world.robot1_instance.pos
for parameters in ntuple.parameters:
acted_upon = parameters.acted_upon
heading = parameters.heading
direction = parameters.direction
goal = parameters.goal
inst = getattr(world, acted_upon)
if goal:
# TODO: super/subtype relations missing!
if goal.ontological_category.type() == 'location':
print('| move(x={x}, y={y}, z=0.0)'.format(x=goal.xCoord,
y=goal.yCoord))
self.setpos(inst,
(float(goal.xCoord), float(goal.yCoord), 0.0))
else:
# We assume it's an object, like a box or a block
obj = getattr(world, goal.referent.type())
print('| move(x={x}, y={y}, z={z})'.format(x=obj.pos.x,
y=obj.pos.y,
z=obj.pos.z))
self.setpos(inst, (obj.pos.x, obj.pos.y, obj.pos.z))
elif direction == 'home':
print('| move(x={x}, y={y}, z=0.0)'.format(x=home_pos.x,
y=home_pos.y))
self.setpos(inst, (home_pos.x, home_pos.y, home_pos.z))
elif heading:
n = float(parameters.distance.value)
pos = self.getpos(inst)
newpos = vector_add(pos, vector_mul(n, self.headings[heading]))
print('| move(x={0[0]}, y={0[1]}, z={0[2]})'.format(newpos))
self.setpos(inst, newpos)
print('mock solver: end move')
def solve_move(self, parameters):
color = None
size = None
world = self.world
print('solver: begin move_to_destination')
#for parameters in ntuple.parameters:
protagonist = self.get_described_obj(parameters.protagonist['objectDescriptor'])
speed = parameters.speed * 6
heading = parameters.heading
goal = parameters.goal
direction = parameters.direction
inst =protagonist
#getattr(self.world, protagonist)
if goal:
# TODO: super/subtype relations missing!
# print(goal)
if 'location' in goal:
#inst.move(x=float(goal['location'][0]), y=float(goal['location'][1]), z=0.0)
if goal['location'] == 'home':
self.move(inst, self.home_pos.x, self.home_pos.y, self.home_pos.z, tolerance= 2, speed=speed)
else:
self.move(inst,float(goal['location'][0]), float(goal['location'][1]), 0.0, speed=speed)
elif goal == 'home':
self.move(inst, home_pos.x, home_pos.y, home_pos.z, speed=speed)
elif 'referent' in goal:
obj = getattr(self.world, goal['referent'])
#inst.move(x=obj.pos.x, y=obj.pos.y, z=obj.pos.z)
self.move(inst, obj.pos.x, obj.pos.y, obj.pos.z, speed=speed)
elif ('partDescriptor' in goal):
if goal['partDescriptor']['relation']['type'] == 'side':
loc = self.get_described_part_pos(goal['partDescriptor'],inst)
if (loc):
self.move(inst, loc[0], loc[1], tolerance= 2, speed=speed)
else:
if ('objectDescriptor') in goal:
properties = goal['objectDescriptor']
obj = self.get_described_obj(properties, multiple=True)
if (obj):
self.move(inst, obj.pos.x, obj.pos.y, obj.pos.z, speed=speed)
elif ('locationDescriptor') in goal:
properties = goal['locationDescriptor']
loc = self.get_described_loc_pos(properties,getattr(self.world, inst))
if (loc):
self.move(inst, loc[0], loc[1], speed=speed)
elif heading:
n = float(parameters.distance.value)
print(inst)
name = getattr(inst, 'name')
#pos = getattr(inst, 'pos') #self.getpos(inst)
pos = self.getpos(name)
newpos = vector_add(pos, vector_mul(n, self.headings[heading]))
self.move(inst, newpos[0], newpos[1], newpos[2], speed=speed)
print('solver: end move_to_destination')
def solve_move(self, ntuple):
world = self.world
home_pos = world.robot1_instance.pos
print('solver: begin move_to_destination')
if debug: print(len(ntuple.parameters))
for parameters in ntuple.parameters:
if debug: print(parameters)
acted_upon = parameters.acted_upon
heading = parameters.heading
goal = parameters.goal
direction = parameters.direction
inst = getattr(self.world, acted_upon)
if goal:
# TODO: super/subtype relations missing!
if debug: print("goal is")
if debug: print(goal)
if goal.ontological_category.type() == 'location':
inst.move(x=float(goal.xCoord),
y=float(goal.yCoord),
z=0.0)
else:
# We assume it's an object, like a box or a block
if debug: print("self.world")
if debug: print(self.world)
if debug: print("goal.referent.type()")
if debug: print(goal.referent.type())
obj = getattr(self.world, goal.referent.type())
if debug: print("obj is")
if debug: print(obj)
if debug: print("color type is")
if debug: print(goal.extensions.boundedObject)
#if debug: print (goal.extensions.property.ontological_category.type())
#color = getattr(self.world, goal.extensions.property.ontological_category.type())
inst.move(x=obj.pos.x, y=obj.pos.y, z=obj.pos.z)
elif direction == 'home':
## print('| move(x={x}, y={y}, z=0.0)'.format(x=home_pos.x, y=home_pos.y))
inst.move(x=home_pos.x, y=home_pos.y, z=home_pos.z)
elif heading:
n = float(parameters.distance.value)
pos = self.getpos(inst)
newpos = vector_add(pos, vector_mul(n, self.headings[heading]))
inst.move(x=newpos[0], y=newpos[1], z=newpos[2])
print('solver: end move_to_destination')
def solve_move(self, ntuple):
world = self.world
home_pos = world.robot1_instance.pos
print('solver: begin move_to_destination')
if debug: print(len(ntuple.parameters))
for parameters in ntuple.parameters:
if debug: print(parameters)
acted_upon = parameters.acted_upon
heading = parameters.heading
goal = parameters.goal
direction = parameters.direction
inst = getattr(self.world, acted_upon)
if goal:
# TODO: super/subtype relations missing!
if debug: print("goal is")
if debug: print(goal)
if goal.ontological_category.type() == 'location':
inst.move(x=float(goal.xCoord), y=float(goal.yCoord), z=0.0)
else:
# We assume it's an object, like a box or a block
if debug: print("self.world")
if debug: print(self.world)
if debug: print("goal.referent.type()")
if debug: print(goal.referent.type())
obj = getattr(self.world, goal.referent.type())
if debug: print("obj is")
if debug: print(obj)
if debug: print("color type is")
if debug: print (goal.extensions.boundedObject)
#if debug: print (goal.extensions.property.ontological_category.type())
#color = getattr(self.world, goal.extensions.property.ontological_category.type())
inst.move(x=obj.pos.x, y=obj.pos.y, z=obj.pos.z)
elif direction == 'home':
## print('| move(x={x}, y={y}, z=0.0)'.format(x=home_pos.x, y=home_pos.y))
inst.move(x=home_pos.x, y=home_pos.y, z=home_pos.z)
elif heading:
n = float(parameters.distance.value)
pos = self.getpos(inst)
newpos = vector_add(pos, vector_mul(n, self.headings[heading]))
inst.move(x=newpos[0], y=newpos[1], z=newpos[2])
print('solver: end move_to_destination')
def solve_move(self, ntuple):
color = None
size = None
world = self.world
home_pos = world.robot1_instance.pos
print('solver: begin move_to_destination')
for parameters in ntuple.parameters:
protagonist = parameters.protagonist
speed = parameters.speed * 6
heading = parameters.heading
goal = parameters.goal
direction = parameters.direction
inst = protagonist
#getattr(self.world, protagonist)
if goal:
# TODO: super/subtype relations missing!
# print(goal)
if 'location' in goal:
#inst.move(x=float(goal['location'][0]), y=float(goal['location'][1]), z=0.0)
if goal['location'] == 'home':
self.move(inst,
home_pos.x,
home_pos.y,
home_pos.z,
tolerance=2,
speed=speed)
else:
self.move(inst,
float(goal['location'][0]),
float(goal['location'][1]),
0.0,
speed=speed)
elif goal == 'home':
self.move(inst,
home_pos.x,
home_pos.y,
home_pos.z,
speed=speed)
elif 'referent' in goal:
obj = getattr(self.world, goal['referent'])
#inst.move(x=obj.pos.x, y=obj.pos.y, z=obj.pos.z)
self.move(inst,
obj.pos.x,
obj.pos.y,
obj.pos.z,
speed=speed)
elif ('partDescriptor' in goal):
if goal['partDescriptor']['relation']['type'] == 'side':
loc = self.get_described_part_pos(
goal['partDescriptor'], inst)
if (loc):
self.move(inst,
loc[0],
loc[1],
tolerence=2,
speed=speed)
else:
if ('objectDescriptor') in goal:
properties = goal['objectDescriptor']
obj = self.get_described_obj(properties, multiple=True)
if (obj):
self.move(inst,
obj.pos.x,
obj.pos.y,
obj.pos.z,
speed=speed)
elif ('locationDescriptor') in goal:
properties = goal['locationDescriptor']
loc = self.get_described_loc_pos(
properties, getattr(self.world, inst))
if (loc):
self.move(inst, loc[0], loc[1], speed=speed)
elif heading:
n = float(parameters.distance.value)
pos = self.getpos(inst)
newpos = vector_add(pos, vector_mul(n, self.headings[heading]))
self.move(inst, newpos[0], newpos[1], newpos[2], speed=speed)
print('solver: end move_to_destination')