def __input_recurse(self, input_dict, root_name, root_id: sml.Identifier):
"""
Recursively update WMEs that have a sub-tree structure in the input link.
We scan through the `input_dict`, which represents the input value getters (or further
sub-trees) of the sub-tree root, either adding terminal WMEs as usual or further recursing.
:param input_dict: A dict mapping attributes to getter functions
:param root_name: The attribute which is the root of this sub-tree
:param root_id: The sml identifier of the root of the sub-tree
:return: None
"""
assert isinstance(input_dict, dict), "Should only recurse on dicts!"
for input_name in input_dict.keys():
new_val = input_dict[input_name]
wme = self.WMEs.get(root_name + "." + input_name)
if not callable(new_val):
if wme is None:
wme = root_id.CreateIdWME(input_name)
self.WMEs[root_name + "." + input_name] = wme
self.__input_recurse(new_val, root_name + "." + input_name,
wme)
continue
new_val = new_val()
if wme is None:
new_wme = psl.SoarWME(att=input_name, val=new_val)
self.WMEs[root_name + "." + input_name] = new_wme
new_wme.add_to_wm(root_id)
else:
wme.set_value(new_val)
wme.update_wm()
def __handle_move_lift(self, command: sml.Identifier):
"""
Handle a Soar move-lift action.
The Soar output should look like:
(I3 ^move-lift Vx)
(Vx ^height [hgt])
where [hgt] is a real number in the range [0, 1]. This command moves the lift to the
the given height, where 0 is the lowest possible position and 1 is the highest.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
height = float(command.GetParameterValue("height"))
except ValueError as e:
print("Invalid height format {}".format(
command.GetParameterValue("height")))
return False
print("Moving lift {}".format(height))
set_lift_height_action = self.robot.set_lift_height(height,
in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return set_lift_height_action, status_wme
def __handle_move_head(self, command: sml.Identifier):
"""
Handle a Soar move-head action.
The Soar output should look like:
(I3 ^move-head Vx)
(Vx ^angle [ang])
where [ang] is a real number in the range [-0.44, 0.78]. This command moves the head to the
the given angle, where 0 is looking straight ahead and the angle is degrees from that
position.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
angle = float(command.GetParameterValue("angle"))
except ValueError as e:
print("Invalid angle format {}".format(
command.GetParameterValue("angle")))
return False
print("Moving head {}".format(angle))
set_head_angle_action = self.robot.set_head_angle(degrees(angle),
in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return set_head_angle_action, status_wme
def __handle_pick_up_object(self, command: sml.Identifier):
"""
Handle a Soar pick-up-object action.
The Sour output should look like:
(I3 ^pick-up-object Vx)
(Vx ^object-id [id])
where [id] is the object id of the object to pick up. Cozmo will approach the object
autonomously and try to grasp it with its lift, then lift the lift up. This action is
partiularly prone to failing.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
target_id = int(command.GetParameterValue("object-id"))
except ValueError as e:
print("Invalid object-id format {}".format(
command.GetParameterValue("object-id")))
return False
obj_designation = "obj{}".format(target_id)
if not self.objects.get(obj_designation):
print("Couldn't find target object")
return False
print("Picking up object {}".format(obj_designation))
target_obj = self.objects[obj_designation]
pick_up_object_action = self.robot.pickup_object(target_obj,
in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return pick_up_object_action, status_wme
def __handle_turn_to_face(self, command: sml.Identifier):
"""
Handle a Soar turn-to-face action.
The Soar output should look like:
(I3 ^turn-to-face Vx)
(Vx ^face-id [fid])
where [fid] is the integer ID associated with the face to turn towards.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
fid = int(command.GetParameterValue("face-id"))
except ValueError as e:
print("Invalid face id format {}".format(
command.GetParameterValue("face-id")))
return False
if fid not in self.faces.keys():
print("Face {} not recognized".format(fid))
return False
print("Turning to face {}".format(fid))
target_face = self.faces[fid]
turn_towards_face_action = self.r.turn_towards_face(target_face,
in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return turn_towards_face_action, status_wme
def __handle_dock_with_cube(self, command: sml.Identifier):
"""
Handle a Soar dock-with-cube action.
The Sour output should look like:
(I3 ^dock-with-cube Vx)
(Vx ^object-id [id])
where [id] is the object id of the cube to dock with. Cozmo will approach the cube until
its lift hooks are under the grip holes.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
target_id = int(command.GetParameterValue("object-id"))
target_id = "obj{}".format(target_id)
except ValueError as e:
print("Invalid target-object-id format {}".format(
command.GetParameterValue("object-id")))
return False
if target_id not in self.objects.keys():
print("Couldn't find target object")
return False
print("Docking with cube with object id {}".format(target_id))
target_obj = self.objects[target_id]
dock_with_cube_action = self.robot.dock_with_cube(target_obj,
in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return dock_with_cube_action, status_wme
def __handle_place_on_object(self, command: sml.Identifier):
"""
Handle a Soar place-on-object action.
The Sour output should look like:
(I3 ^place-on-object Vx)
(Vx ^object-id [id])
where [id] is the object id of the object that Cozmo should place to object its holding
on top of.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
target_id = int(command.GetParameterValue("object-id"))
except ValueError as e:
print("Invalid object-id format {}".format(
command.GetParameterValue("object-id")))
return False
target_dsg = "obj{}".format(target_id)
if target_dsg not in self.objects.keys():
print("Couldn't find target object")
print(self.objects)
return False
print("Placing held object on top of {}".format(target_dsg))
target_obj = self.objects[target_dsg]
place_on_object_action = self.robot.place_on_object(target_obj,
in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return place_on_object_action, status_wme
def __handle_change_block_color(self, command: sml.Identifier):
"""
Handle a Soar change-block-color command.
The Soar output should look like:
(I3 ^change-block-color Vx)
(Vx ^color [str]
^object-id [id])
where color is the color name to change to from the valid colors and id
is the object-id of the cube which should have its color changed.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
target_id = int(command.GetParameterValue("object-id"))
except ValueError as e:
#TODO: Update action WME to have failure codes
print("Invalid object-id format, must be int")
return False
if f"obj{target_id}" not in self.objects.keys():
#TODO: Update action WME to have failure codes
print(f"Invalid object-id {target_id}, can't find it")
return False
color = command.GetParameterValue("color").lower()
if color not in COLORS:
print(f"Invalid color choice: {color}")
status_wme = psl.SoarWME("status", "failed")
fail_code_wme = psl.SoarWME("failure-code", "invalid-color")
fail_reason_wme = psl.SoarWME("failure-reason",
"invalid-color: {}".format(color))
status_wme.add_to_wm(command)
fail_code_wme.add_to_wm(command)
fail_reason_wme.add_to_wm(command)
status_wme.update_wm()
return False
print(f"Changing object {target_id} to color {color}")
target_block = self.objects[f"obj{target_id}"]
print("Target object: {}".format(target_block.cube_id))
target_block.set_lights_off()
target_block.set_lights(LIGHTS_DICT[color])
status_wme = psl.SoarWME("status", "complete")
status_wme.add_to_wm(command)
status_wme.update_wm()
return (None, None)
def __build_obj_wme_subtree(self, obj, obj_designation, obj_wme):
"""
Build a working memory sub-tree for a given perceived object
:param obj: Cozmo objects.ObservableObject object to put into working memory
:param obj_designation: Unique string name of the object
:param obj_wme: sml identifier at the root of the object sub-tree
:return: None
"""
obj_input_dict = {
"object-id": obj.object_id,
"descriptive-name": obj.descriptive_name,
"liftable": int(obj.pickupable),
"pose": {
"rot": lambda: obj.pose.rotation.angle_z.degrees,
"x": lambda: obj.pose.position.x,
"y": lambda: obj.pose.position.y,
"z": lambda: obj.pose.position.z,
}
}
if isinstance(obj, cozmo.objects.LightCube):
obj_input_dict["type"] = "led-cube"
obj_input_dict["connected"] = obj.is_connected
obj_input_dict["cube-id"] = obj.cube_id
obj_input_dict["moving"] = obj.is_moving
obj_input_dict["last-tapped"] = obj.last_tapped_time - self.start_time\
if obj.last_tapped_time is not None else -1.0
obj_input_dict["name"] = LIGHT_CUBE_NAMES[obj.cube_id]
elif isinstance(obj, cozmo.objects.Charger):
#TODO: Handle seeing the charger
pass
else:
cozmo_obj_type = obj.object_type
obj_type, obj_name = cozmo_obj_type.name.split("-")
obj_input_dict["type"] = obj_type
obj_input_dict["name"] = obj_name
for input_name in obj_input_dict.keys():
new_val = obj_input_dict[input_name]
wme = self.WMEs.get(obj_designation + "." + input_name)
if isinstance(new_val, dict):
if wme is None:
wme = obj_wme.CreateIdWME(input_name)
self.WMEs[obj_designation + "." + input_name] = wme
self.__input_recurse(new_val,
obj_designation + "." + input_name, wme)
continue
if wme is None:
wme = psl.SoarWME(input_name, obj_input_dict[input_name])
wme.add_to_wm(obj_wme)
self.WMEs[obj_designation + "." + input_name] = wme
else:
wme.set_value(obj_input_dict[input_name])
wme.update_wm()
def __handle_go_to_object(self, command: sml.Identifier):
"""
Handle a Soar go-to-object action.
The Sour output should look like:
(I3 ^go-to-object Vx)
(Vx ^object-id [id]
^distance [dist])
where [id] is the object id of the object to go to and [dist] indicates
how far to stop from the object in mm. Only works on LightCubes.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
target_id = int(command.GetParameterValue("object-id"))
target_id = f"obj{target_id}"
except ValueError as e:
print("Invalid target-object-id format {}".format(
command.GetParameterValue("object-id")))
return False
if target_id not in self.objects.keys():
print("Couldn't find target object")
return False
try:
distance = distance_mm(float(
command.GetParameterValue("distance")))
except ValueError as e:
print("Invalid distance format {}".format(
command.GetParameterValue("distance")))
return False
print("Going to object {}".format(target_id))
target_obj = self.objects[target_id]
go_to_object_action = self.robot.go_to_object(target_obj,
distance,
in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return go_to_object_action, status_wme
def __handle_place_object_down(self, command: sml.Identifier):
"""
Handle a Soar place-object-down action.
The Sour output should look like:
(I3 ^place-object-down)
Cozmo will lower the lift until the object is placed on the ground, then back up.
:param command: Soar command object
:return: True if successful, False otherwise
"""
print("Placing object down")
place_object_down_action = self.r.place_object_on_ground_here(
0, in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return place_object_down_action, status_wme
def __build_face_wme_subtree(self, face, face_designation, face_wme):
"""
Build a working memory sub-tree for a given perceived face
:param face: Cozmo faces.Face object to put into working memory
:param face_designation: Unique string name of the face
:param face_wme: sml identifier at the root of the face sub-tree
:return: None
"""
face_input_dict = {
"expression": face.expression,
"exp-score": face.expression_score,
"face-id": face.face_id,
"name": face.name if face.name != "" else "unknown",
"pose": {
"rot": lambda: face.pose.rotation.angle_z.degrees,
"x": lambda: face.pose.position.x,
"y": lambda: face.pose.position.y,
"z": lambda: face.pose.position.z,
}
}
for input_name in face_input_dict.keys():
new_val = face_input_dict[input_name]
wme = self.WMEs.get(face_designation + "." + input_name)
if isinstance(new_val, dict):
if wme is None:
wme = face_wme.CreateIdWME(input_name)
self.WMEs[face_designation + "." + input_name] = wme
self.__input_recurse(new_val,
face_designation + "." + input_name, wme)
continue
if wme is None:
wme = psl.SoarWME(input_name, face_input_dict[input_name])
wme.add_to_wm(face_wme)
self.WMEs[face_designation + "." + input_name] = wme
else:
wme.set_value(face_input_dict[input_name])
wme.update_wm()
def __handle_drive_forward(self, command: sml.Identifier):
"""
Handle a Soar drive-forward action.
The Sour output should look like:
(I3 ^drive-forward Vx)
(Vx ^distance [dist]
^speed [spd])
where [dist] is a real number indicating how far Cozmo should travel (negatives go
backwards) and speed is how fast Cozmo should travel. Units are mm and mm/s, respectively.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
distance = distance_mm(float(
command.GetParameterValue("distance")))
except ValueError as e:
print("Invalid distance format {}".format(
command.GetParameterValue("distance")))
return False
try:
speed = speed_mmps(float(command.GetParameterValue("speed")))
except ValueError as e:
print("Invalid speed format {}".format(
command.GetParameterValue("speed")))
return False
print("Driving forward {}mm at {}mm/s".format(distance.distance_mm,
speed.speed_mmps))
drive_forward_action = self.r.drive_straight(distance,
speed,
in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return drive_forward_action, status_wme
def __handle_turn_in_place(self, command: sml.Identifier):
"""
Handle a Soar turn-in-place action.
The Sour output should look like:
(I3 ^turn-in-place Vx)
(Vx ^angle [ang]
^speed [spd])
where [ang] is the amount Cozmo should rotate in degrees and speed is the speed at which
Cozmo should rotate in deg/s.
:param command: Soar command object
:return: True if successful, False otherwise
"""
try:
angle = degrees(float(command.GetParameterValue("angle")))
except ValueError as e:
print("Invalid angle format {}".format(
command.GetParameterValue("angle")))
return False
try:
speed = degrees(float(command.GetParameterValue("speed")))
except ValueError as e:
print("Invalid speed format {}".format(
command.GetParameterValue("speed")))
return False
print("Rotating in place {} degrees at {}deg/s".format(
angle.degrees, speed.degrees))
turn_in_place_action = self.r.turn_in_place(angle=angle,
speed=speed,
in_parallel=True)
status_wme = psl.SoarWME("status", "running")
status_wme.add_to_wm(command)
status_wme.update_wm()
return turn_in_place_action, status_wme
def cozmo_soar_engine(robot: cozmo.robot):
agent_name = "cozmo"
agent = psl.SoarAgent(
agent_name=agent_name,
agent_source=str(agent_file.absolute()).replace("\\", "\\\\"),
watch_level=1,
write_to_stdout=True,
print_handler=lambda s: print(GREEN_STR + s + RESET_STR),
spawn_debugger=debugger)
cozmo_robot = CozmoSoar(agent, robot, object_file)
for command in COZMO_COMMANDS:
cozmo_robot.add_output_command(command)
agent.add_connector("cozmo", cozmo_robot)
agent.connect()
if not auto_run:
while True:
agent.execute_command(input(">> "))
else:
agent.start()
while True:
sleep(60)
agent.stop()
def on_input_phase(self, input_link: sml.Identifier):
"""
Prior to each input phase, update the changed values of Soar's input link
Scan through the designated Cozmo inputs and update the corresponding WMEs in Soar via
instances of the `SoarWME` class. For each input, we first get the value, then check
whether there exists a WME with that attribute name. If not, we add one to the Soar agent
and the WME dict of the `CozmoSoar` object. Otherwise, we retrieve the `SoarWME` object
associated with the input and update its value, then call its `update_wm` method. For
terminal WMEs, this is simple. However, for sub-trees we need to recursively update
the WMEs.
We have to handle temporary inputs e.g., faces or objects, differently, because they
need to be removed when they are no longer detected.
:param input_link: The Soar WME corresponding to the input link of the agent.
:return: None
"""
# TODO (Tony): camera localizer (static inputs include xyzr)
# update transformation
cozmo_position = [
self.r.pose.position.x, self.r.pose.position.y,
self.r.pose.position.z, 0, 0, self.r.pose.rotation.angle_z.degrees
]
self.localizer.recalculate_transform(cozmo_position)
# First, we handle inputs which will always be present
for input_name in self.static_inputs.keys():
new_val = self.static_inputs[input_name]
wme = self.WMEs.get(input_name)
if not callable(new_val):
if wme is None:
wme = input_link.CreateIdWME(input_name)
self.WMEs[input_name] = wme
self.__input_recurse(new_val, input_name, wme)
continue
new_val = new_val()
if wme is None:
new_wme = psl.SoarWME(att=input_name, val=new_val)
self.WMEs[input_name] = new_wme
new_wme.add_to_wm(input_link)
else:
wme.set_value(new_val)
wme.update_wm()
# Then, check through the visible faces and objects to see if they need to be added,
# updated, or removed
#######################
# FACE INPUT HANDLING #
#######################
vis_faces = set(list(self.w.visible_faces))
for face in vis_faces:
face_designation = "face{}".format(face.face_id)
if face_designation in self.faces:
face_wme = self.WMEs[face_designation]
else:
self.faces[face_designation] = face
face_wme = input_link.CreateIdWME("face")
self.WMEs[face_designation] = face_wme
self.__build_face_wme_subtree(face, face_designation, face_wme)
faces_missing = set()
for face_dsg in self.faces.keys():
if self.faces[face_dsg] not in vis_faces:
faces_missing.add(face_dsg)
for face_dsg in faces_missing:
del self.faces[face_dsg]
remove_list = [(n, self.WMEs[n]) for n in self.WMEs.keys()
if n.startswith(face_dsg)]
remove_list = sorted(remove_list, key=lambda s: 1 / len(s[0]))
for wme_name, wme in remove_list:
del self.WMEs[wme_name]
if isinstance(wme, psl.SoarWME):
wme.remove_from_wm()
elif isinstance(wme, sml.Identifier):
wme.DestroyWME()
else:
raise Exception("WME wasn't of proper type")
#########################
# OBJECT INPUT HANDLING #
#########################
vis_objs = set(list(self.w.visible_objects))
for obj in vis_objs:
obj_designation = "obj{}".format(obj.object_id)
if obj_designation in self.objects:
obj_wme = self.WMEs[obj_designation]
else:
self.objects[obj_designation] = obj
obj_wme = input_link.CreateIdWME("object")
self.WMEs[obj_designation] = obj_wme
self.__build_obj_wme_subtree(obj, obj_designation, obj_wme)
objs_missing = set()
for obj_dsg in self.objects.keys():
if self.objects[obj_dsg] not in vis_objs:
objs_missing.add(obj_dsg)
for obj_dsg in objs_missing:
del self.objects[obj_dsg]
remove_list = [(n, self.WMEs[n]) for n in self.WMEs.keys()
if n.startswith(obj_dsg)]
remove_list = sorted(remove_list, key=lambda s: 1 / len(s[0]))
for wme_name, wme in remove_list:
del self.WMEs[wme_name]
if isinstance(wme, psl.SoarWME):
wme.remove_from_wm()
elif isinstance(wme, sml.Identifier):
wme.DestroyWME()
else:
raise Exception("WME wasn't of proper type")
# Finally, we want to check all our on-going actions and handle them appropriately:
# Actions are by default on the output link and have a `status` attribute already,
# we just need to update that status if needed
for action, status_wme, root_id in self.actions:
if action is None and status_wme is None:
self.actions.remove((action, status_wme, root_id))
continue
if action.is_completed:
state = "complete" if action.has_succeeded else "failed"
failure_reason = action.failure_reason
status_wme.set_value(state)
if failure_reason != (None, None):
code_wme = psl.SoarWME("failure-code", failure_reason[0])
reason_wme = psl.SoarWME("failure-reason",
failure_reason[1])
code_wme.add_to_wm(root_id)
code_wme.update_wm()
reason_wme.add_to_wm(root_id)
reason_wme.update_wm()
status_wme.update_wm()
self.actions.remove((action, status_wme, root_id))
