Merge branch 'master' of github.com:xiaozhuchacha/OpenBottle

action_earley_srv/CMakeLists.txt

@@ -0,0 +1,187 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(action_earley_srv)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  action_earley.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES sentence_srv
+#  CATKIN_DEPENDS rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(sentence_srv
+#   src/${PROJECT_NAME}/sentence_srv.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(sentence_srv ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(sentence_srv_node src/sentence_srv_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(sentence_srv_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(sentence_srv_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS sentence_srv sentence_srv_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_sentence_srv.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

action_earley_srv/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>action_earley_srv</name>
+  <version>0.0.0</version>
+  <description>The action_earley package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="yixin@todo.todo">yixin</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/sentence_srv</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

action_earley_srv/parser_input.txt

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+root_48 -> node_19 [1.0]
+node_12 -> node_24 node_25 [1.0]
+node_13 -> node_26 node_27 [1.0]
+node_14 -> node_28 node_29 [1.0]
+node_15 -> node_30 node_31 [1.0]
+node_16 -> node_32 node_33 [1.0]
+node_17 -> node_34 node_35 [1.0]
+node_18 -> node_36 node_37 [1.0]
+node_19 -> node_38 node_39 [1.0]
+node_20 -> node_40 node_41 [1.0]
+node_21 -> node_42 node_43 [1.0]
+node_22 -> node_44 node_45 [1.0]
+node_23 -> node_46 node_47 [1.0]
+node_24 -> 'grasp_right' [1.0]
+node_25 -> 'twist' [1.0]
+node_26 -> 'push' [1.0]
+node_27 -> 'twist' [1.0]
+node_28 -> node_13 [1.0]
+node_29 -> 'neutral' [1.0]
+node_30 -> 'grasp_right' [0.553846153846]
+node_30 -> node_12 [0.446153846154]
+node_31 -> 'pull' [1.0]
+node_32 -> 'move' [1.0]
+node_33 -> node_15 [0.829787234043]
+node_33 -> node_18 [0.170212765957]
+node_34 -> node_12 [1.0]
+node_35 -> 'ungrasp_right' [1.0]
+node_36 -> node_17 [0.744680851064]
+node_36 -> node_23 [0.255319148936]
+node_37 -> node_16 [1.0]
+node_38 -> 'approach' [1.0]
+node_39 -> node_18 [0.6]
+node_39 -> node_15 [0.0307692307692]
+node_39 -> node_21 [0.369230769231]
+node_40 -> node_14 [1.0]
+node_41 -> node_15 [0.5]
+node_41 -> 'move' [0.5]
+node_42 -> node_20 [1.0]
+node_43 -> node_20 [1.0]
+node_44 -> 'pinch' [1.0]
+node_45 -> 'twist' [1.0]
+node_46 -> node_22 [1.0]
+node_47 -> 'unpinch' [1.0]

action_earley_srv/scripts/action_earley_srv_node.py

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+#!/usr/bin/env python
+import rospy
+import rospkg
+import nltk
+from action_earley_srv.srv import *
+
+
+def read_induced_grammar(path):
+    with open(path) as f:
+        rules = [rule.strip() for rule in f.readlines()]
+        grammar = nltk.PCFG.fromstring(rules)
+        return grammar
+
+
+def predict_next_symbols(grammar, tokens):
+    def get_production_prob(selected_edge):
+        # Find the corresponding production rule of the edge, and return its probability
+        for production in grammar.productions(lhs=selected_edge.lhs()):
+            if production.rhs() == selected_edge.rhs():
+                # print selected_edge, production.prob()
+                return production.prob()
+
+    def find_parent(selected_edge):
+        # Find the parent edges that lead to the selected edge
+        p_edges = list()
+        for p_edge in e_chart.edges():
+            if p_edge.end() == selected_edge.start() and p_edge.nextsym() == selected_edge.lhs():
+                p_edges.append(p_edge)
+        return p_edges
+
+    def get_edge_prob(selected_edge):
+        # Compute the probability of the edge by recursion
+        prob = get_production_prob(selected_edge)
+        if selected_edge.start() != 0:
+            parent_prob = 0
+            for parent_edge in find_parent(selected_edge):
+                parent_prob += get_edge_prob(parent_edge)
+            prob *= parent_prob
+        return prob
+
+    symbols = list()
+    earley_parser = nltk.EarleyChartParser(grammar, trace=0)
+    e_chart = earley_parser.chart_parse(tokens)
+    end_edges = list()
+
+    for edge in e_chart.edges():
+        # print edge
+        if edge.end() == len(tokens):
+            # Only add terminal nodes
+            if isinstance(edge.nextsym(), unicode):
+                symbols.append(edge.nextsym())
+                end_edges.append(edge)
+
+    probs = list()
+    for end_edge in end_edges:
+        probs.append(get_edge_prob(end_edge))
+
+    # Eliminate duplicate
+    symbols_no_duplicate = list()
+    probs_no_duplicate = list()
+    for s, p in zip(symbols, probs):
+        if s not in symbols_no_duplicate:
+            symbols_no_duplicate.append(s)
+            probs_no_duplicate.append(p)
+        else:
+            probs_no_duplicate[symbols_no_duplicate.index(s)] += p
+
+    return zip(symbols_no_duplicate, probs_no_duplicate)
+
+
+def probability(req):
+    print 'calculate probability'
+
+    grammar = read_induced_grammar(rospkg.RosPack().get_path('action_earley_srv') + '/parser_input.txt')
+    sentence = req.action
+    print 'input sentence is', sentence
+
+    tokens = sentence.split()
+    prediction = predict_next_symbols(grammar, tokens)
+
+    action_label = []
+    action_prob = []
+    action_prob_raw = []
+    for i in range(len(prediction)):
+    	action_label.append(str(prediction[i][0]))
+    	action_prob_raw.append(float(prediction[i][1]))
+    prob_sum = sum(action_prob_raw)
+    for i in range(len(prediction)):
+    	action_prob.append(action_prob_raw[i] / prob_sum)
+
+    resp = action_earleyResponse()
+    resp.action_seq = action_label
+    resp.action_prob = action_prob
+    resp.success = True
+    return resp
+
+
+def actioin_earley_server():
+    rospy.init_node('action_earley_server')
+
+    s = rospy.Service('get_earley_action', action_earley, probability)
+    print 'earley service is ready'
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    actioin_earley_server()