Merge pull request #837 from tue-robotics/rgo2019_rest

Rgo2019 rest

robocup_knowledge/src/robocup_knowledge/environments/rgo2019/challenge_cleanup.py

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+# CLEAN UP KNOWLEDGE FILE RGO2019
+
+from robocup_knowledge import knowledge_loader
+common = knowledge_loader.load_knowledge("common")
+
+"""
+Local knowledge info needed:
+The room to search has to have enough (way)points to cover the complete area.
+This means waypoints on the floor, and known (furniture) object points.
+Exact coordinates of the locations are in ed_object_models.
+"""
+
+initial_pose = "initial_pose"
+starting_point = "cleanup_initial"
+
+# required keys: entity_id (str), room_id (str), navigation_area (str), segment_areas (list)
+# Trashbin and trashcan are not looking points, so must not be in the cleaning_locations list
+
+cleaning_locations = [
+    {'name': 'sideboard',       'room': 'living_room', 'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'tv_table',        'room': 'living_room', 'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'left_armchair',  'room': 'living_room', 'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'coffee_table',    'room': 'living_room', 'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'couch',           'room': 'living_room', 'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'right_armchair', 'room': 'living_room', 'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'high_table',      'room': 'living_room', 'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'bookcase',        'room': 'living_room', 'navigate_area': 'near',   'segment_areas': ["shelf1", "shelf2"]},
+#    {'name': 'trash_bin',       'room': 'living_room', 'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+
+    {'name': 'desk',            'room': 'bedroom',     'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'bed',             'room': 'bedroom',     'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'side_table',      'room': 'bedroom',     'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+
+    {'name': 'kitchen_cabinet', 'room': 'kitchen',     'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'dishwasher',      'room': 'kitchen',     'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'kitchen_table',   'room': 'kitchen',     'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'cabinet',         'room': 'kitchen',     'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'white_drawer',    'room': 'kitchen',     'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+#    {'name': 'trash_can',       'room': 'kitchen',     'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+
+    {'name': 'bar_table',       'room': 'bar',         'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'sofa',            'room': 'bar',         'navigate_area': 'near',   'segment_areas': ['on_top_of']},
+    {'name': 'cupboard',        'room': 'bar',         'navigate_area': 'near',   'segment_areas': ['shelf1', 'shelf2']}
+]
+grammar_target = "T"
+
+grammar = "T -> kitchen"
+grammar += "\nT -> living_room"
+grammar += "\nT -> bedroom"
+grammar += "\nT -> bar"

robocup_knowledge/src/robocup_knowledge/environments/rgo2019/challenge_restaurant.py

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+# RESTAURANT KNOWLEDGE FILE RGO2019
+
+# TU/e Robotics
+from robocup_knowledge import knowledge_loader
+
+# Common knowledge
+common = knowledge_loader.load_knowledge("common")
+
+order_grammar = """
+O[P] -> ORDER[P] | can i have a ORDER[P] | i would like ORDER[P] | can i get ORDER[P] | could i have ORDER[P] | may i get ORDER[P] | bring me ORDER[P]
+ORDER[OO] -> COMBO[OO] | BEVERAGE[OO]
+BEVERAGE[{"beverage": B}] -> BEV[B]
+BEVERAGE[{"beverage": B}] -> DET BEV[B]
+COMBO[{"food1": F1, "food2": F2}] -> FOOD[F1] and FOOD[F2] | FOOD[F1] with FOOD[F2]
+COMBO[{"food1": F1, "food2": F2}] -> DET FOOD[F1] and FOOD[F2] | DET FOOD[F1] with FOOD[F2]
+COMBO[{"food1": F1, "food2": F2}] -> FOOD[F1] and DET FOOD[F2] | FOOD[F1] with DET FOOD[F2]
+COMBO[{"food1": F1, "food2": F2}] -> DET FOOD[F1] and DET FOOD[F2] | DET FOOD[F1] with DET FOOD[F2]
+DET -> a | an
+"""
+
+# COMBO[{"food1": F1, "food2": F2}] -> DET FOOD[F1] and DET FOOD[F2] | DET FOOD[F1] with DET FOOD[F2]
+# BEVERAGE[{"beverage": B}] -> DET BEV[B]
+
+# Add drinks
+for d in common.objects:
+    if d["category"] == "drink":
+        order_grammar += "\nBEV['{}'] -> {}[B]".format(d["name"], d["name"].replace('_', ' '))
+    elif d["category"] == "food" or d["category"] == "snack":
+        order_grammar += "\nFOOD['{}'] -> {}".format(d["name"], d["name"].replace('_', ' '))
+
+if __name__ == "__main__":
+    import rospy
+    from robot_skills.api import Api
+    rospy.init_node('blaat')
+    a = Api("", None)
+    rospy.sleep(rospy.Duration(0.5))
+    while True:
+        result = a.query("blaat", order_grammar, "O")
+        import ipdb;ipdb.set_trace()

robocup_knowledge/src/robocup_knowledge/environments/rgo2019/challenge_serving_drinks.py

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+# SERVING DRINKS KNOWLEDGE FILE RGO2019
+
+# Bar where the drinks are located
+bar_id = "bar_table"
+
+# Room where the party takes place, i.e., where the robot should look for people
+room_id = "living_room"
+
+# Default guest
+operator_name = "default_guest"
+
+# Starting location
+starting_point = "serving_drinks_initial"
+
+# Number of drinks to be served
+NR_DRINKS = 3

robocup_knowledge/src/robocup_knowledge/environments/rgo2019/challenge_take_out_the_garbage.py

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+# TAKE OUT THE GARBAGE KNOWLEDGE FILE RGO2019
+
+from robocup_knowledge import knowledge_loader
+
+# Common knowledge
+common = knowledge_loader.load_knowledge("common")
+
+starting_point = "initial_pose"
+trashbin_id = "trash_bin"
+trashbin_id2 = "trash_can"
+drop_zone_id = "drop_area"

robocup_knowledge/src/robocup_knowledge/environments/rgo2019/challenge_where_is_this.py

@@ -0,0 +1,48 @@
+# RIPS KNOWLEDGE FILE RGO2019
+
+# TU/e Robotics
+from robocup_knowledge import knowledge_loader
+
+# Common knowledge
+common = knowledge_loader.load_knowledge("common")
+
+grammar_target = "T"
+
+location_grammar = """
+T[A] -> COURTESY_PREFIX VP[A] | VP[A]
+
+COURTESY_PREFIX -> robot please | could you | could you please | please
+"""
+
+for loc in common.location_rooms:
+    location_grammar += '\nLOCATION[{"id": "%s"}] -> %s' % (loc, loc)
+
+for loc in common.location_names:
+    location_grammar += '\nLOCATION[{"id": "%s"}] -> %s' % (loc, loc)
+
+for loc in common.object_names:
+    category = common.get_object_category(loc)
+    if category not in common.category_locations:
+        continue
+
+    entity_id = common.get_object_category_location(category)[0]
+
+    location_grammar += '\nLOCATION[{"id": "%s"}] -> %s' % (entity_id, loc)
+
+location_grammar += '\nDET_LOCATION[Y] -> LOCATION[Y] | the LOCATION[Y]'
+
+location_grammar += """
+V_GUIDE -> guide | bring | lead
+
+VP[{"target-location": Y}] -> DET_LOCATION[Y] | V_GUIDE me to DET_LOCATION[Y] | i want to go to DET_LOCATION[Y] | i would like to go to DET_LOCATION[Y] | i like to go to DET_LOCATION[Y] | tell me how to go to DET_LOCATION[Y] | tell me how to reach DET_LOCATION[Y]
+
+"""
+
+if __name__ == "__main__":
+    print("Where is this Grammar:\n\n{}\n\n".format(location_grammar))
+
+    from grammar_parser.cfgparser import CFGParser
+
+    grammar_parser = CFGParser.fromstring(location_grammar)
+    grammar_parser.verify()
+    grammar_parser.check_rules()