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Merge pull request #301 from tue-robotics/fix/robotics-testlabs-commo…
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…n-names-lowercase

Fix/robotics testlabs common names lowercase
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@rokusottervanger
rokusottervanger committed May 30, 2017
2 parents c2fac93 + 1f8fc61 commit 9c3f637
Showing 1 changed file with 34 additions and 20 deletions.
54 changes: 34 additions & 20 deletions robocup_knowledge/src/robocup_knowledge/environments/robotics_testlabs/common.py
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Original file line number Diff line number Diff line change
@@ -1,28 +1,29 @@
# COMMON KNOWLEDGE FILE ROBOTICS TESTLABS

female_names = ["anna","beth","carmen","jennifer","jessica","kimberly","kristina","laura","mary","sarah"]
male_names = ["alfred","charles","daniel","james","john","luis","paul","richard","robert","steve"]
female_names = ["anna", "beth", "carmen", "jennifer", "jessica", "kimberly", "kristina", "laura", "mary", "sarah"]
male_names = ["alfred", "charles", "daniel", "james", "john", "luis", "paul", "richard", "robert", "steve"]

names = female_names + male_names

# This dict holds all locations
locations = [
{ 'name':'couch_table', 'room':'livingroom', 'category': 'table', 'manipulation':'yes' },
{ 'name':'dinner_table', 'room':'livingroom', 'category': 'table', 'manipulation':'yes' },
{ 'name':'bar', 'room':'livingroom', 'category': 'table', 'manipulation':'yes' },
{ 'name':'bookcase', 'room':'livingroom', 'category': 'shelf', 'manipulation':'yes' },
{'name': 'couch_table', 'room': 'livingroom', 'category': 'table', 'manipulation': 'yes'},
{'name': 'dinner_table', 'room': 'livingroom', 'category': 'table', 'manipulation': 'yes'},
{'name': 'bar', 'room': 'livingroom', 'category': 'table', 'manipulation': 'yes'},
{'name': 'bookcase', 'room': 'livingroom', 'category': 'shelf', 'manipulation': 'yes'},

{ 'name':'cabinet', 'room':'kitchen', 'category': 'shelf', 'manipulation':'yes' },
{ 'name':'trashbin', 'room':'kitchen', 'category': 'utility', 'manipulation':'no' },
{ 'name':'plant', 'room':'kitchen', 'category': 'plant', 'manipulation':'no' },
{'name': 'cabinet', 'room': 'kitchen', 'category': 'shelf', 'manipulation': 'yes'},
{'name': 'trashbin', 'room': 'kitchen', 'category': 'utility', 'manipulation': 'no'},
{'name': 'plant', 'room': 'kitchen', 'category': 'plant', 'manipulation': 'no'},

{ 'name':'bed', 'room':'bedroom', 'category': 'seat', 'manipulation':'yes' },
{ 'name':'nightstand', 'room':'bedroom', 'category': 'table', 'manipulation':'yes' },
{'name': 'bed', 'room': 'bedroom', 'category': 'seat', 'manipulation': 'yes'},
{'name': 'nightstand', 'room': 'bedroom', 'category': 'table', 'manipulation': 'yes'},

{ 'name':'flight_case', 'room':'workshop', 'category': 'table', 'manipulation':'no' },
{ 'name':'battery_table', 'room':'workshop', 'category': 'table', 'manipulation':'no' },
{ 'name':'workbench', 'room':'workshop', 'category': 'table', 'manipulation':'yes' },
{'name': 'flight_case', 'room': 'workshop', 'category': 'table', 'manipulation': 'no'},
{'name': 'battery_table', 'room': 'workshop', 'category': 'table', 'manipulation': 'no'},
{'name': 'workbench', 'room': 'workshop', 'category': 'table', 'manipulation': 'yes'},

{ 'name':'hallway_table', 'room':'hallway', 'category': 'table', 'manipulation':'yes' }
{'name': 'hallway_table', 'room': 'hallway', 'category': 'table', 'manipulation': 'yes'}
]

location_rooms = list(set([ o["room"] for o in locations ]))
Expand Down Expand Up @@ -87,7 +88,7 @@
}

inspect_areas = {
"bookcase" : ["shelf1", "shelf2", "shelf3", "shelf4", "shelf5"]
"bookcase": ["shelf1", "shelf2", "shelf3", "shelf4", "shelf5"]
}

inspect_positions = {
Expand Down Expand Up @@ -124,15 +125,18 @@ class bcolors:


'''
General function for printing shortcuts
name: name of the progam that instanciates make_prints
sentence: sentence to be displayed
General function for printing shortcuts
name: name of the program that instantiates make_prints
sentence: sentence to be displayed
Ex: "[<EXECUTIVE NAME>] <SENTENCE TO BE DISPLAYED>"
Ex: "[<EXECUTIVE NAME>] <SENTENCE TO BE DISPLAYED>"
'''


def make_prints(name):

prefix = bcolors.HEADER + name + bcolors.ENDC

def printOk(sentence):
print prefix + bcolors.OKBLUE + sentence + bcolors.ENDC

Expand All @@ -152,55 +156,65 @@ def is_location(location):
return True
return False


def get_room(location):
for loc in locations:
if loc["name"] == location:
return loc["room"]
return None


def is_room(entity_id):
return (entity_id in rooms)


def get_inspect_areas(location):
if location in inspect_areas:
return inspect_areas[location]
else:
return ["on_top_of"]


def get_inspect_position(location, area=""):
if location in inspect_positions and area in inspect_positions[location]:
return inspect_positions[location][area]
else:
return "in_front_of"


def is_pick_location(location):
for loc in locations:
if loc["name"] == location and loc["manipulation"] == "yes":
return True
return False


def is_place_location(location):
for loc in locations:
if loc["name"] == location and (loc["manipulation"] == "yes" or loc["manipulation"] == "only_putting"):
return True
return False


def get_locations(room=None, pick_location=None, place_location=None):
return [loc["name"] for loc in locations
if (room == None or loc["room"] == room) and \
(pick_location == None or pick_location == is_pick_location(loc["name"])) and \
(place_location == None or place_location == is_place_location(loc["name"]))]


def get_objects(category=None):
return [obj["name"] for obj in objects
if category == None or category == obj["category"]]


def get_object_category(obj):
for o in objects:
if o["name"] == obj:
return o["category"]
return None


# Returns (location, area_name)
def get_object_category_location(obj_cat):
location = category_locations[obj_cat].keys()[0]
Expand Down

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