reo2016/common.py

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# COMMON KNOWLEDGE FILE REO2016
 
from __future__ import print_function
 
female_names = ["Emma", "Olivia", "Sophia", "Isabella", "Ava", "Mia", "Emily", "Abigail", "Madison", "Charlotte"]
male_names = ["Noah", "Liam", "Mason", "Jacob", "William", "Ethan", "Michael", "Alexander", "James", "Daniel"]
 
names = female_names + male_names
 
objects = [
    {"name": "apple", "category": "food"},
    {"name": "avocado", "category": "food"},
    {"name": "bowl", "category": "container"},
    {"name": "chocolate_sprinkles", "category": "food"},
    {"name": "cloth", "category": "cleaning_stuff"},
    {"name": "dishwashing_soap", "category": "cleaning_stuff"},
    {"name": "kinder_coke", "category": "drink"},
    {"name": "lemon", "category": "food"},
    {"name": "licorice", "category": "candy"},
    {"name": "little_bananas", "category": "candy"},
    {"name": "macaroni", "category": "food"},
    {"name": "milk", "category": "drink"},
    {"name": "paprika", "category": "food"},
    {"name": "pineapple_cookies", "category": "candy"},
    {"name": "plate", "category": "container"},
    {"name": "rice", "category": "food"},
    {"name": "smoothie", "category": "drink"},
    {"name": "soap", "category": "cleaning_stuff"},
    {"name": "sponge", "category": "cleaning_stuff"},
    {"name": "storage_box", "category": "container"},
    {"name": "strawberry_cookies", "category": "candy"},
    {"name": "tea", "category": "drink"},
    {"name": "toilet_paper", "category": "cleaning_stuff"},
    {"name": "tuc", "category": "candy"},
    {"name": "wafer", "category": "candy"},
    {"name": "water", "category": "drink"}
]
 
object_names = list(set([o["name"] for o in objects]))
object_categories = list(set([o["category"] for o in objects]))
 
def get_object_names(category=None):
    if category:
        return list(set([o["name"] for o in objects if o["category"] == category]))
    else:
        return []
 
locations = [
    {"name": "closet",           "room": "bedroom",    "location_category": "shelf",     "manipulation": "yes"},
    {"name": "nightstand",       "room": "bedroom",    "location_category": "table",     "manipulation": "yes"},
    {"name": "bed",              "room": "bedroom",    "location_category": "seat",      "manipulation": "yes"},
    {"name": "fridge",           "room": "kitchen",    "location_category": "appliance", "manipulation": "no"},
    {"name": "kitchen_trashbin", "room": "kitchen",    "location_category": "bin",       "manipulation": "only_putting"},
    {"name": "kitchencounter",   "room": "kitchen",    "location_category": "table",     "manipulation": "yes"},
    {"name": "sink",             "room": "kitchen",    "location_category": "appliance", "manipulation": "only_putting"},
    {"name": "hallway_trashbin", "room": "kitchen",    "location_category": "bin",       "manipulation": "only_putting"},
    {"name": "sideboard",        "room": "livingroom", "location_category": "shelf",     "manipulation": "yes"},
    {"name": "dinnerchairs",     "room": "livingroom", "location_category": "seat",      "manipulation": "no"},
    {"name": "dinnertable",      "room": "livingroom", "location_category": "table",     "manipulation": "yes"},
    {"name": "bookcase",         "room": "livingroom", "location_category": "shelf",     "manipulation": "yes"},
    {"name": "couch",            "room": "livingroom", "location_category": "seat",      "manipulation": "yes"},
    {"name": "tv_stand",         "room": "livingroom", "location_category": "shelf",     "manipulation": "yes"}
]
 
rooms = list(set([o["room"] for o in locations]))
grab_locations = list(set([o["name"] for o in locations if o["manipulation"] == "yes"]))
put_locations = list(set([o["name"] for o in locations if o["manipulation"] != "no"]))
 
category_locations = {
    "cleaning_stuff": {"closet": "on_top_of"},
    "food": {"kitchencounter": "left_of_sink"},
    "drink": {"kitchencounter": "right_of_sink"},
    "candy": {"sideboard": "on_top_of"},
    "container": {"dinnertable": "on_top_of"}
}
 
inspect_areas = {
    "closet" : ["on_top_of"],
    "bookcase" : ["shelf1", "shelf2", "shelf3", "shelf4"],
    "dinnertable" : ["on_top_of"],
    "kitchencounter" : ["right_of_sink", "left_of_sink"],
    "sideboard" : ["on_top_of_left", "on_top_of_right"],
    "tv_stand" : ["on_top_of_left", "on_top_of_right"]
}
 
inspect_positions = {
    "kitchencounter" :
    {
        "right_of_sink" : "in_front_of_right_sink",
        "left_of_sink"  : "in_front_of_left_sink"
    }
}
 
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
def is_location(location):
    for loc in locations:
        if loc["name"] == location:
            return True
    return False
 
def get_room(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 is_pick_location(loc["name"])) and \
                   (place_location == None or 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, 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))