eliminated duplicate code in knowledge

robocup_knowledge/src/robocup_knowledge/environments/demo/challenge_gpsr.py

@@ -1,7 +1,5 @@
 from __future__ import print_function
-
-from robocup_knowledge import knowledge_loader
-common = knowledge_loader.load_knowledge("common")
+from robocup_knowledge import knowledge_functions
 
 not_understood_sentences = [
         "I'm so sorry! Can you please speak louder and slower? And wait for the ping!",
@@ -38,19 +36,21 @@
 MANIPULATION_AREA_DESCRIPTION -> on top of | at | in | on | from
 """
 
-for loc in common.get_locations():
-    grammar += '\nLOCATION[%s] -> %s' % (loc, loc)
+# object_names = knowledge_functions.get_object_names()
+
+# for loc in knowledge_functions.get_locations():
+#     grammar += '\nLOCATION[%s] -> %s' % (loc, loc)
 
-for obj in common.object_names:
-    grammar += '\nNAMED_OBJECT[%s] -> %s' % (obj, obj)
+# for obj in object_names:
+#     grammar += '\nNAMED_OBJECT[%s] -> %s' % (obj, obj)
 
-for loc in common.get_locations(pick_location=True, place_location=True):
-    grammar += '\nMANIPULATION_AREA_LOCATION[%s] -> MANIPULATION_AREA_DESCRIPTION the %s' % (loc, loc)
+# for loc in knowledge_functions.get_locations(pick_location=True, place_location=True):
+#     grammar += '\nMANIPULATION_AREA_LOCATION[%s] -> MANIPULATION_AREA_DESCRIPTION the %s' % (loc, loc)
 
-for cat in common.object_categories:
+for cat in knowledge_functions.object_categories:
     grammar += '\nOBJECT_CATEGORY[%s] -> %s' % (cat, cat)
 
-for name in common.names:
+for name in knowledge_functions.names:
     grammar += '\nNAMED_PERSON[%s] -> %s' % (name, name)
 
 ###############################################################################
@@ -151,7 +151,7 @@
 VP["action": "bring", "source-location": {"id": X}, "target-location": {"type": "person", "id": Y}, "object": {"type": Z}] -> V_BRING BRING_NAME[Y] OBJECT_TO_BE_BROUGHT[Z] from the LOCATION[X]
 """
 
-for name in common.names:
+for name in knowledge_functions.names:
     grammar += '\nBRING_PERSON[%s] -> %s' % (name, name)
 
 ##############################################################################
@@ -193,11 +193,15 @@
     from grammar_parser.cfgparser import CFGParser
 
     import sys
-    if sys.argv[1] == "object":
-        grammar_parser = CFGParser.fromstring(obj_grammar)
-    elif sys.argv[1] == "location":
-        grammar_parser = CFGParser.fromstring(loc_grammar)
-    elif sys.argv[1] == "full":
+    if len(sys.argv) > 1:
+        if sys.argv[1] == "object":
+            grammar_parser = CFGParser.fromstring(obj_grammar)
+        elif sys.argv[1] == "location":
+            grammar_parser = CFGParser.fromstring(loc_grammar)
+        elif sys.argv[1] == "full":
+            grammar_parser = CFGParser.fromstring(grammar)
+
+    else:
         grammar_parser = CFGParser.fromstring(grammar)
 
     if len(sys.argv) > 2:

robocup_knowledge/src/robocup_knowledge/environments/demo/common.py

@@ -72,107 +72,3 @@ def printWarning(sentence):
         print(prefix + bcolors.WARNING + sentence + bcolors.ENDC)
 
     return printOk, printError, printWarning
-
-
-# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-
-
-def is_location(location):
-    for loc in locations:
-        if loc["name"] == location:
-            return True
-    return False
-
-
-def get_room(location):
-    if location in location_rooms:
-        return location
-    for loc in locations:
-        if loc["name"] == location:
-            return loc["room"]
-    return None
-
-
-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
-
-
-def get_object_category_location(obj_cat):
-    # Returns (location, area_name)
-    location, area_name = next(iter(category_locations[obj_cat].items()))
-    return location, area_name
-
-
-# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-
-
-if __name__ == "__main__":
-    print("\n-----------------------------------------------------------------------------")
-    for obj in get_objects():
-        cat = get_object_category(obj)
-        (location, area_name) = get_object_category_location(cat)
-        print("object '{}'".format(obj))
-        print("    category: '{}'".format(cat))
-        print("    found '{} {}'".format(area_name, location))
-
-    print("\n-----------------------------------------------------------------------------")
-    for loc in get_locations():
-        print("location '{}', room: '{}'".format(loc, get_room(loc)))
-
-    print("\n-----------------------------------------------------------------------------")
-    print("Pick locations:")
-    for loc in get_locations(pick_location=True):
-        print("    {}".format(loc))
-
-    print("\n-----------------------------------------------------------------------------")
-    print("Place locations:")
-    for loc in get_locations(place_location=True):
-        print("    {}".format(loc))
-
-    print("\n-----------------------------------------------------------------------------")
-    print("None-manipulation locations:")
-    for loc in get_locations(pick_location=False, place_location=False):
-        print("    {}".format(loc))

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_carry_my_luggage.py

@@ -1,4 +1,3 @@
-from robocup_knowledge import knowledge_loader
-common = knowledge_loader.load_knowledge("common")
+from robocup_knowledge import knowledge_functions
 
 starting_point = "starting_pose"

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_demo.py

@@ -1,7 +1,7 @@
 from __future__ import print_function
+from robocup_knowledge.knowledge_functions import KnowledgeFunctions
 
-from robocup_knowledge import knowledge_loader
-common = knowledge_loader.load_knowledge("common")
+kf = KnowledgeFunctions()
 
 not_understood_sentences = [
         "I'm so sorry! Can you please speak louder and slower? And wait for the ping!",
@@ -35,19 +35,19 @@
 MANIPULATION_AREA_DESCRIPTION -> on top of | at | in | on | from
 """
 
-for loc in common.get_locations():
+for loc in kf.get_locations():
     grammar += '\nLOCATION[%s] -> %s' % (loc, loc)
 
-for obj in common.object_names:
+for obj in kf.object_names:
     grammar += '\nNAMED_OBJECT[%s] -> %s' % (obj, obj)
 
-for loc in common.get_locations(pick_location=True, place_location=True):
+for loc in kf.get_locations(pick_location=True, place_location=True):
     grammar += '\nMANIPULATION_AREA_LOCATION[%s] -> MANIPULATION_AREA_DESCRIPTION the %s' % (loc, loc)
 
-for cat in common.object_categories:
+for cat in kf.object_categories:
     grammar += '\nOBJECT_CATEGORY[%s] -> %s' % (cat, cat)
 
-for name in common.names:
+for name in kf.names:
     grammar += '\nNAMED_PERSON[%s] -> %s' % (name, name)
 
 ###############################################################################

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_find_my_mates.py

@@ -1,3 +1,5 @@
+from robocup_knowledge import knowledge_functions
+
 starting_point = "initial_pose"
 
 room = "dining_room"

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_gpsr.py

@@ -1,7 +1,5 @@
 from __future__ import print_function
-
-from robocup_knowledge import knowledge_loader
-common = knowledge_loader.load_knowledge("common")
+from robocup_knowledge import knowledge_functions
 
 not_understood_sentences = [
         "I'm so sorry! Can you please speak louder and slower? And wait for the ping!",
@@ -48,26 +46,26 @@
 MANIPULATION_PP -> on
 """
 
-for room in common.location_rooms:
+for room in knowledge_functions.location_rooms:
     grammar += "\nROOM[{'type': 'room', 'id': '%s'}] -> %s" % (room, room)
 
-for loc in common.get_locations():
+for loc in knowledge_functions.get_locations():
     grammar += '\nLOCATION[{"id": "%s"}] -> %s' % (loc, loc)
 
 grammar += '\n ROOM_OR_LOCATION[X] -> ROOM[X] | LOCATION[X]'
 
-for obj in common.object_names:
+for obj in knowledge_functions.object_names:
     grammar += "\nNAMED_OBJECT[{'type': '%s'}] -> %s" % (obj, obj)
 
-for loc in common.get_locations(pick_location=True, place_location=True):
+for loc in knowledge_functions.get_locations(pick_location=True, place_location=True):
     grammar += '\nMANIPULATION_AREA_LOCATION[{"id": "%s"}] -> MANIPULATION_PP the %s' % (loc, loc)
 
-for cat in common.object_categories:
+for cat in knowledge_functions.object_categories:
     grammar += "\nOBJECT_CATEGORY[{'category': '%s'}] -> %s" % (cat, cat)
 
-for name in common.names:
+for name in knowledge_functions.names:
     grammar += "\nNAMED_PERSON[{'type': 'person', 'id': '%s'}] -> %s" % (name, name)
-    for loc in common.get_locations():
+    for loc in knowledge_functions.get_locations():
         grammar += "\nPERSON_AT_LOCATION[{'type': 'person', 'id': '%s', 'location': {'id': %s}}] -> %s at the %s" % (name, loc, name, loc)
 
 grammar += '\nLOCATION[{"id": "gpsr_exit_door_1", "type": "waypoint"}] -> exit'

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_hand_me_that.py

@@ -1,3 +1,5 @@
+from robocup_knowledge import knowledge_functions
+
 starting_point = "initial_pose"
 home_location = "rips_point_1"
 room = "dining_room"

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_receptionist.py

@@ -1,5 +1,4 @@
-from robocup_knowledge import knowledge_loader
-common = knowledge_loader.load_knowledge("common")
+from robocup_knowledge import knowledge_functions
 
 operator_name = "john"
 

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_restaurant.py

@@ -1,8 +1,6 @@
 # TU/e Robotics
-from robocup_knowledge import knowledge_loader
+from robocup_knowledge import knowledge_functions
 
-# 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]
@@ -20,7 +18,7 @@
 # BEVERAGE[{"beverage": B}] -> DET BEV[B]
 
 # Add drinks
-for d in common.objects:
+for d in knowledge_functions.objects:
     if d["category"] == "drink":
         order_grammar += "\nBEV['{}'] -> {}[B]".format(d["name"], d["name"].replace('_', ' '))
     elif d["category"] == "food":

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_rips.py

@@ -1,3 +1,5 @@
+from robocup_knowledge import knowledge_functions
+
 starting_point = "initial_pose"
 
 intermediate_1 = "rips_point_1"

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_stickler_for_the_rules.py

@@ -1,8 +1,5 @@
 # TU/e Robotics
-from robocup_knowledge import knowledge_loader
-
-# Common knowledge
-common = knowledge_loader.load_knowledge("common")
+from robocup_knowledge import knowledge_functions
 
 # General
 starting_point = "initial_pose"

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_storing_groceries.py

@@ -1,8 +1,5 @@
 # TU/e Robotics
-from robocup_knowledge import knowledge_loader
-
-# Common knowledge
-common = knowledge_loader.load_knowledge("common")
+from robocup_knowledge import knowledge_functions
 
 # General
 starting_point = 'initial_pose'
@@ -12,8 +9,8 @@
 default_area = "shelf4"
 inspect_area = "in_front_of"
 object_shelves = ["shelf3", "shelf4", "shelf5"]  # TODO unused variable?
-object_types = [obj["name"] for obj in common.objects]  # TODO unused variable?
+object_types = [obj["name"] for obj in knowledge_functions.objects]  # TODO unused variable?
 
 # Grasping
 table = "dinner_table"
-room = common.get_room(table)
+room = knowledge_functions.get_room(table)

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_take_out_the_garbage.py

@@ -1,9 +1,6 @@
 # TAKE OUT THE GARBAGE KNOWLEDGE FILE IMPULS
 # TU/e Robotics
-from robocup_knowledge import knowledge_loader
-
-# Common knowledge
-common = knowledge_loader.load_knowledge("common")
+from robocup_knowledge import knowledge_functions
 
 starting_point = "initial_pose"
 trashbin_id = "trashbin"

robocup_knowledge/src/robocup_knowledge/environments/impuls/challenge_where_is_this.py

@@ -6,7 +6,7 @@
 from collections import namedtuple
 
 # TU/e Robotics
-from robocup_knowledge import knowledge_loader
+from robocup_knowledge import knowledge_functions
 
 BackupScenario = namedtuple("BackupScenario", ["entity_id", "sentence"])
 
@@ -19,16 +19,15 @@
 information_point_id = "where_is_this_information_point"
 initial_pose_id = "initial_pose"
 
-# Common knowledge
-common = knowledge_loader.load_knowledge("common")
+
 
 grammar_target = "T"
 
 starting_point_grammar = """
 T[A] -> LOCATION[A]
 """
 
-for loc in common.location_names:
+for loc in knowledge_functions.location_names:
     starting_point_grammar += '\nLOCATION[%s] -> %s' % (loc, loc)
 
 location_grammar = """
@@ -37,18 +36,18 @@
 COURTESY_PREFIX -> robot please | could you | could you please | please
 """
 
-for loc in common.location_rooms:
+for loc in knowledge_functions.location_rooms:
     location_grammar += '\nLOCATION[%s] -> %s' % (loc, loc)
 
-for loc in common.location_names:
+for loc in knowledge_functions.location_names:
     location_grammar += '\nLOCATION[%s] -> %s' % (loc, loc)
 
-for loc in common.object_names:
-    category = common.get_object_category(loc)
-    if category not in common.category_locations:
+for loc in knowledge_functions.object_names:
+    category = knowledge_functions.get_object_category(loc)
+    if category not in knowledge_functions.category_locations:
         continue
 
-    entity_id = common.get_object_category_location(category)[0]
+    entity_id = knowledge_functions.get_object_category_location(category)[0]
 
     location_grammar += '\nLOCATION[%s] -> %s' % (entity_id, loc)