def UserGoalsMidca(domainFile, stateFile, goalsFile = None, extinguish = False):
    world = domainread.load_domain(domainFile)
    stateread.apply_state_file(world, stateFile)
    myMidca = base.PhaseManager(world, verbose=1, display = asqiiDisplay, metaEnabled=True)

    # add cognitive layer phases
    for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
        myMidca.append_phase(phase)

    # add cognitive layer modules
    myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
    myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
    myMidca.append_module("Perceive", perceive.PerfectObserver())
    myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
    myMidca.append_module("Interpret", guide.UserGoalInput())
    myMidca.append_module("Eval", evaluate.SimpleEval())
    myMidca.append_module("Intend", intend.SimpleIntend())
    myMidca.append_module("Plan", planningbroken.PyHopPlannerBroken(extinguish))
    myMidca.append_module("Act", act.SimpleAct())

    # add meta layer phases
    #for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
    for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
        myMidca.append_meta_phase(phase)

    # add meta layer modules
    myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
    myMidca.append_meta_module("Interpret", interpret.MRSimpleDetect())
    myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
    myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
    myMidca.append_meta_module("Plan", plan.MRSimplePlanner())
    myMidca.append_meta_module("Control", control.MRSimpleControl())

    return myMidca
Exemplo n.º 2
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def UserGoalsMidca(domainFile,
                   stateFile,
                   display=print,
                   goalsFile=None,
                   argsPyHopPlanner=[]):
    world = domainread.load_domain(domainFile)
    stateread.apply_state_file(world, stateFile)
    #creates a PhaseManager object, which wraps a MIDCA object
    myMidca = base.PhaseManager(world, display=display, verbose=4)
    #add phases by name
    for phase in [
            "Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan",
            "Act"
    ]:
        myMidca.append_phase(phase)

        #add the modules which instantiate basic blocksworld operation
    myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
    myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
    myMidca.append_module("Perceive", perceive.PerfectObserver())
    myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
    #myMidca.append_module("Interpret", guide.UserGoalInput())
    myMidca.append_module("Eval", evaluate.SimpleEval())
    myMidca.append_module("Intend", intend.SimpleIntend())
    myMidca.append_module("Plan", planning.PyHopPlanner(*argsPyHopPlanner))
    myMidca.append_module("Act", act.SimpleAct())
    return myMidca
def UserGoalsMidca(domainFile, stateFile, goalsFile=None, extinguish=False):
    world = domainread.load_domain(domainFile)
    stateread.apply_state_file(world, stateFile)
    myMidca = base.PhaseManager(world, verbose=1, display=asqiiDisplay, metaEnabled=True)

    # add cognitive layer phases
    for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
        myMidca.append_phase(phase)

    # add cognitive layer modules
    myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
    myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
    myMidca.append_module("Perceive", perceive.PerfectObserver())
    myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
    myMidca.append_module("Interpret", guide.UserGoalInput())
    myMidca.append_module("Eval", evaluate.SimpleEval())
    myMidca.append_module("Intend", intend.SimpleIntend())
    myMidca.append_module("Plan", planningbroken.PyHopPlannerBroken(extinguish))
    myMidca.append_module("Act", act.SimpleAct())

    # add meta layer phases
    # for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
    for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
        myMidca.append_meta_phase(phase)

    # add meta layer modules
    myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
    myMidca.append_meta_module("Interpret", interpret.MRSimpleDetect())
    myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
    myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
    myMidca.append_meta_module("Plan", plan.MRSimplePlanner())
    myMidca.append_meta_module("Control", control.MRSimpleControl())

    return myMidca
Exemplo n.º 4
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def guiMidca(domainFile, stateFile, goalsFile = None):
	world = domainread.load_domain(domainFile)
	stateread.apply_state_file(world, stateFile)
	myMidca = base.PhaseManager(world, display = asqiiDisplay)
	for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
		myMidca.append_phase(phase)

	myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
	myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
	myMidca.append_module("Perceive", perceive.PerfectObserver())
	myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
	myMidca.append_module("Eval", evaluate.SimpleEval())
	myMidca.append_module("Intend", intend.SimpleIntend())
	myMidca.append_module("Plan", planning.PyHopPlanner())
	myMidca.append_module("Act", act.SimpleAct())
	return myMidca
def guiMidca(domainFile, stateFile, goalsFile = None):
    world = domainread.load_domain(domainFile)
    stateread.apply_state_file(world, stateFile)
    myMidca = base.PhaseManager(world, display = asqiiDisplay)
    for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
        myMidca.append_phase(phase)

    myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
    myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
    myMidca.append_module("Perceive", perceive.PerfectObserver())
    myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
    myMidca.append_module("Eval", evaluate.SimpleEval())
    myMidca.append_module("Intend", intend.SimpleIntend())
    myMidca.append_module("Plan", planning.PyHopPlanner())
    myMidca.append_module("Act", act.SimpleAct())
    return myMidca
Exemplo n.º 6
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def UserGoalsMidca(domainFile, stateFile, goalsFile = None, extinguish = False):
    world = domainread.load_domain(domainFile)
    stateread.apply_state_file(world, stateFile)
        #creates a PhaseManager object, which wraps a MIDCA object
    myMidca = base.PhaseManager(world, display = asqiiDisplay)
        #add phases by name
    for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
        myMidca.append_phase(phase)

        #add the modules which instantiate basic blocksworld operation
    myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
    myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
    myMidca.append_module("Perceive", perceive.PerfectObserver())
    myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
    myMidca.append_module("Interpret", guide.UserGoalInput())
    myMidca.append_module("Eval", evaluate.SimpleEval())
    myMidca.append_module("Intend", intend.SimpleIntend())
    myMidca.append_module("Plan", planning.PyHopPlanner(extinguish))
    myMidca.append_module("Act", act.SimpleAct())
    return myMidca
Exemplo n.º 7
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MORTAR_COUNT = 5
extinguish = False
mortar = True

world = domainread.load_domain(DOMAIN_FILE)
# for state file, need to add number of mortar blocks to begin with
state_str = open(STATE_FILE).read()  # first read file
# now add new mortar blocks
for i in range(MORTAR_COUNT):
    state_str += "MORTARBLOCK(M" + str(i) + ")\n"
    state_str += "available(M" + str(i) + ")\n"
# now load the state
stateread.apply_state_str(world, state_str)

stateread.apply_state_file(world, STATE_FILE)
#creates a PhaseManager object, which wraps a MIDCA object

myMidca = base.PhaseManager(world, display=DISPLAY_FUNC, verbose=4)

#add phases by name
for phase in [
        "Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"
]:
    myMidca.append_phase(phase)

#add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate",
                      simulator.ASCIIWorldViewer(display=DISPLAY_FUNC))
myMidca.append_module("Perceive", perceive.PerfectObserver())
Exemplo n.º 8
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    def createMIDCAObj(self):
        # in this demo, always keep extinguish to false
            extinguish = False

            thisDir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))

            MIDCA_ROOT = thisDir + "/../"

            domainFile = MIDCA_ROOT + "worldsim/domains/arsonist.sim"
            stateFile = MIDCA_ROOT + "worldsim/states/defstate.sim"

            self.world = domainread.load_domain(domainFile)
            stateread.apply_state_file(self.world, stateFile)
            # creates a PhaseManager object, which wraps a MIDCA object
            myMidca = base.PhaseManager(self.world, display=asqiiDisplay,verbose=4)
            #asqiiDisplay(world)
            # add phases by name
            for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
                myMidca.append_phase(phase)

            # add the modules which instantiate basic blocksworld operation
            myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
            myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
            myMidca.append_module("Perceive", perceive.PerfectObserver())
            myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
            # need to make sure to disable all user input modules #myMidca.append_module("Interpret", guide.UserGoalInput())
            myMidca.append_module("Eval", evaluate.SimpleEval())
            myMidca.append_module("Intend", intend.SimpleIntend())
            myMidca.append_module("Plan", planning.PyHopPlanner(extinguish))
            myMidca.append_module("Act", act.SimpleAct())

            myMidca.insert_module('Simulate', simulator.ArsonSimulator(arsonChance=self.arsonChanceArg, arsonStart=10), 1)
            myMidca.insert_module('Simulate', simulator.FireReset(), 0)
            myMidca.insert_module('Interpret', guide.TFStack(), 1)

            if self.usingTFTreeFire:
                myMidca.insert_module('Interpret', guide.TFFire(), 2)

            if self.usingSimulatedMA:
                myMidca.insert_module('Interpret', guide.ReactiveApprehend(), 3)

            myMidca.insert_module('Eval', evaluate.Scorer(), 1)  # this needs to be a 1 so that Scorer happens AFTER SimpleEval

            def preferApprehend(goal1, goal2):
                if 'predicate' not in goal1 or 'predicate' not in goal2:
                    return 0
                elif goal1['predicate'] == 'free' and goal2['predicate'] != 'free':
                    return -1
                elif goal1['predicate'] != 'free' and goal2['predicate'] == 'free':
                    return 1
                elif goal1['predicate'] == 'onfire' and goal2['predicate'] != 'onfire':
                    return -1
                elif goal1['predicate'] != 'onfire' and goal2['predicate'] == 'onfire':
                    return 1
                return 0

            # tells the PhaseManager to copy and store MIDCA states so they can be accessed later.
            myMidca.storeHistory = False
            myMidca.initGoalGraph(cmpFunc=preferApprehend)
            ## DO NOT DO THIS: experiment.py will do this automatically: myMidca.init()

            print "Created MIDCA "+str(id(myMidca))+" w/ arsonchance="+str(self.arsonChanceArg)+", usingTFTreeFire="+str(self.usingTFTreeFire)+",usingSimMA="+str(self.usingSimulatedMA)

            self.myMidca = myMidca
            self.initialized = True
Exemplo n.º 9
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thisDir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))

MIDCA_ROOT = thisDir + "/../"

domainFile = MIDCA_ROOT + "domains/blocksworld/domains/arsonist_extinguish.sim"
stateFile = MIDCA_ROOT + "domains/blocksworld/states/extinguisher_state.sim"
extinguish = True

argsPyHopPlanner = [util.pyhop_state_from_world,
					util.pyhop_tasks_from_goals,
					DECLARE_METHODS_FUNC,
					DECLARE_OPERATORS_FUNC,
					extinguish]

world = domainread.load_domain(domainFile)
stateread.apply_state_file(world, stateFile)
#creates a PhaseManager object, which wraps a MIDCA object
myMidca = base.PhaseManager(world, display = util.asqiiDisplay, verbose=4)
#add phases by name
for phase in ["Simulate", "Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
	myMidca.append_phase(phase)

#add the modules which instantiate basic blocksworld operation
myMidca.append_module("Simulate", simulator.MidcaActionSimulator())
myMidca.append_module("Simulate", simulator.ASCIIWorldViewer())
myMidca.append_module("Perceive", perceive.PerfectObserver())
myMidca.append_module("Interpret", note.ADistanceAnomalyNoter())
#myMidca.append_module("Interpret", guide.UserGoalInput())
myMidca.append_module("Eval", evaluate.SimpleEval())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module("Plan", planning.PyHopPlanner(*argsPyHopPlanner))