def initialize_pdf_library(self):
rospy.loginfo('creating pdf library...')
self.database = PDF_library(self.action_names, self.object_names)
self.pdf_database_initialized = True
rospy.loginfo('done')
class robotTestServer():
def __init__(self, standalone=False):
self.state = {
InfomaxAction.GRASP: 'grasped',
InfomaxAction.LIFT: 'lifted',
InfomaxAction.DROP: 'init',
InfomaxAction.SHAKE_ROLL: 'lifted',
InfomaxAction.PLACE: 'placed',
InfomaxAction.PUSH: 'init',
InfomaxAction.SHAKE_PITCH: 'lifted',
InfomaxAction.MOVE_LEFT: 'init',
InfomaxAction.MOVE_RIGHT: 'init',
}
self.allowed_actions = {
'init': [
InfomaxAction.GRASP, InfomaxAction.MOVE_LEFT,
InfomaxAction.MOVE_RIGHT
],
'grasped': [
InfomaxAction.GRASP, InfomaxAction.LIFT,
InfomaxAction.MOVE_LEFT, InfomaxAction.MOVE_RIGHT
],
'lifted': [
InfomaxAction.DROP, InfomaxAction.SHAKE_ROLL,
InfomaxAction.PLACE, InfomaxAction.SHAKE_PITCH
],
'placed': [
InfomaxAction.GRASP, InfomaxAction.PUSH,
InfomaxAction.MOVE_LEFT, InfomaxAction.MOVE_RIGHT
],
}
self.object_names = []
self.action_names = []
self.num_objects = []
self.current_location = 0
self.current_state = 'init'
self.pdf_database_initialized = False
if standalone:
rospy.init_node('robotTestServer')
rospy.Service('InfoMax', InfoMax, self.handle_infomax_request)
rospy.Service('reset_current_location', Empty,
self.reset_current_location)
rospy.loginfo('Ready to run the robot')
def initialize_pdf_library(self):
rospy.loginfo('creating pdf library...')
self.database = PDF_library(self.action_names, self.object_names)
self.pdf_database_initialized = True
rospy.loginfo('done')
def reset_current_location(self, req):
self.current_location = 0
self.current_state = 'init'
#rospy.loginfo('Reset requested, at location %d' % self.current_location)
return []
def _reset(self):
self.reset_current_location(None)
self.pdf_database_initialized = False
def handle_infomax_request(self, req):
"""
instruct the robot to move to or sense the selected object
"""
self.num_categories = req.numCats
self.object_names = req.objectNames
self.num_objects = req.num_objects
self.action_names = req.actionNames
self.num_actions = len(self.action_names)
if not self.pdf_database_initialized: self.initialize_pdf_library()
# uniform
beliefs = None
success = False
#rospy.loginfo('Performing %s at location %d (state %s)', self.action_names[req.actionID.val], self.current_location, self.current_state)
# perform action and get PDF (or None if we moved or reset the robot)
if req.actionID.val in self.allowed_actions[self.current_state]:
if req.actionID.val == InfomaxAction.MOVE_LEFT:
self.current_location = (self.current_location +
1) % self.num_objects
self.current_state = self.state[req.actionID.val]
success = True
elif req.actionID.val == InfomaxAction.MOVE_RIGHT:
self.current_location = (self.current_location -
1) % self.num_objects
self.current_state = self.state[req.actionID.val]
success = True
else:
#rospy.loginfo('\tallowed: %s', str(self.allowed_actions[self.current_state]))
beliefs = self.database.sample(req.actionID.val, req.catID)
self.current_state = self.state[req.actionID.val]
success = True
else:
#beliefs = [1.0/self.num_categories]*self.num_categories
success = True
#rospy.loginfo('\tAt location %d in state %s', self.current_location, self.current_state)
#rospy.loginfo('\tSensed %s\n', str(beliefs))
return InfoMaxResponse(success, beliefs, self.current_location,
self.current_state)
class robotTestServer():
def __init__(self, standalone=False):
self.state = {InfomaxAction.GRASP: 'grasped',
InfomaxAction.LIFT: 'lifted',
InfomaxAction.DROP: 'init',
InfomaxAction.SHAKE_ROLL: 'lifted',
InfomaxAction.PLACE: 'placed',
InfomaxAction.PUSH: 'init',
InfomaxAction.SHAKE_PITCH: 'lifted',
InfomaxAction.MOVE_LEFT: 'init',
InfomaxAction.MOVE_RIGHT: 'init',
}
self.allowed_actions = {'init': [InfomaxAction.GRASP, InfomaxAction.MOVE_LEFT, InfomaxAction.MOVE_RIGHT],
'grasped': [InfomaxAction.GRASP, InfomaxAction.LIFT, InfomaxAction.MOVE_LEFT, InfomaxAction.MOVE_RIGHT],
'lifted': [InfomaxAction.DROP, InfomaxAction.SHAKE_ROLL, InfomaxAction.PLACE, InfomaxAction.SHAKE_PITCH],
'placed': [InfomaxAction.GRASP, InfomaxAction.PUSH, InfomaxAction.MOVE_LEFT, InfomaxAction.MOVE_RIGHT],
}
self.object_names = []
self.action_names = []
self.num_objects = []
self.current_location = 0
self.current_state = 'init'
self.pdf_database_initialized = False
if standalone:
rospy.init_node('robotTestServer')
rospy.Service('InfoMax', InfoMax, self.handle_infomax_request)
rospy.Service('reset_current_location', Empty, self.reset_current_location)
rospy.loginfo('Ready to run the robot')
def initialize_pdf_library(self):
rospy.loginfo('creating pdf library...')
self.database = PDF_library(self.action_names, self.object_names)
self.pdf_database_initialized = True
rospy.loginfo('done')
def reset_current_location(self, req):
self.current_location = 0
self.current_state = 'init'
#rospy.loginfo('Reset requested, at location %d' % self.current_location)
return []
def _reset(self):
self.reset_current_location(None)
self.pdf_database_initialized = False
def handle_infomax_request(self, req):
"""
instruct the robot to move to or sense the selected object
"""
self.num_categories = req.numCats
self.object_names = req.objectNames
self.num_objects = req.num_objects
self.action_names = req.actionNames
self.num_actions = len(self.action_names)
if not self.pdf_database_initialized: self.initialize_pdf_library()
# uniform
beliefs = None
success = False
#rospy.loginfo('Performing %s at location %d (state %s)', self.action_names[req.actionID.val], self.current_location, self.current_state)
# perform action and get PDF (or None if we moved or reset the robot)
if req.actionID.val in self.allowed_actions[self.current_state]:
if req.actionID.val == InfomaxAction.MOVE_LEFT:
self.current_location = (self.current_location + 1) % self.num_objects
self.current_state = self.state[req.actionID.val]
success = True
elif req.actionID.val == InfomaxAction.MOVE_RIGHT:
self.current_location = (self.current_location - 1) % self.num_objects
self.current_state = self.state[req.actionID.val]
success = True
else:
#rospy.loginfo('\tallowed: %s', str(self.allowed_actions[self.current_state]))
beliefs = self.database.sample(req.actionID.val, req.catID)
self.current_state = self.state[req.actionID.val]
success = True
else:
#beliefs = [1.0/self.num_categories]*self.num_categories
success = True
#rospy.loginfo('\tAt location %d in state %s', self.current_location, self.current_state)
#rospy.loginfo('\tSensed %s\n', str(beliefs))
return InfoMaxResponse(success, beliefs, self.current_location, self.current_state)
def initialize_pdf_library(self):
rospy.loginfo('creating pdf library...')
self.database = PDF_library(self.action_names, self.object_names)
self.pdf_database_initialized = True
rospy.loginfo('done')
