(rwc2022)(restaurant) knowledge only (#1333)

feat: Add grammar for rwc2022

Co-authored-by: Peter van Dooren <[email protected]>

Author: MatthijsBurgh

robocup_knowledge/src/robocup_knowledge/environments/rwc2022/challenge_restaurant.py

@@ -0,0 +1,33 @@
+# TU/e Robotics
+from robocup_knowledge import knowledge_loader
+
+# Common knowledge
+common = knowledge_loader.load_knowledge("common")
+
+order_grammar = """
+O[P] -> ORDER[P]
+ORDER[OO] -> ITEM1[OO] | ITEM2[OO] | ITEM3[OO]
+ITEM1[{"item1": F1}] -> ITEM[F1]
+ITEM2[{"item1": F1, "item2": F2}] -> ITEM[F1] and ITEM[F2]
+ITEM3[{"item1": F1, "item2": F2, "item3": F3}] -> ITEM[F1] ITEM[F2] and ITEM[F3]
+"""
+
+# Create grammar
+for d in common.objects:
+    if d["category"] in ["drink", "fruit", "snack"] or d["name"] == "corn_flakes":
+        name = d["name"]
+        order_grammar += f"\nITEM['{name}'] -> {name}"
+
+if __name__ == "__main__":
+    import rospy
+    from robot_skills.api import Api
+
+    rospy.init_node('blaat')
+    a = Api("hero", None)
+    rospy.sleep(rospy.Duration(0.5))
+    while not rospy.is_shutdown():
+        try:
+            result = a.query("blaat", order_grammar, "O")
+        except:
+            pass
+        rospy.sleep(rospy.Duration(3.0))