robocup_knowledge
src
robocup_knowledge
environments
rgo2019
rgo2019/challenge_cleanup.py
Go to the documentation of this file.
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# CLEAN UP KNOWLEDGE FILE RGO2019
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from
robocup_knowledge
import
knowledge_loader
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common = knowledge_loader.load_knowledge(
"common"
)
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"""
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Local knowledge info needed:
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The room to search has to have enough (way)points to cover the complete area.
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This means waypoints on the floor, and known (furniture) object points.
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Exact coordinates of the locations are in ed_object_models.
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"""
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initial_pose =
"initial_pose"
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starting_point =
"cleanup_initial"
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# required keys: entity_id (str), room_id (str), navigation_area (str), segment_areas (list)
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# Trashbin and trashcan are not looking points, so must not be in the cleaning_locations list
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cleaning_locations = [
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{
'name'
:
'sideboard'
,
'room'
:
'living_room'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'tv_table'
,
'room'
:
'living_room'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'left_armchair'
,
'room'
:
'living_room'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'coffee_table'
,
'room'
:
'living_room'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'couch'
,
'room'
:
'living_room'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'right_armchair'
,
'room'
:
'living_room'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'high_table'
,
'room'
:
'living_room'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'bookcase'
,
'room'
:
'living_room'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
"shelf1"
,
"shelf2"
]},
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# {'name': 'trash_bin', 'room': 'living_room', 'navigate_area': 'near', 'segment_areas': ['on_top_of']},
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{
'name'
:
'desk'
,
'room'
:
'bedroom'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'bed'
,
'room'
:
'bedroom'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'side_table'
,
'room'
:
'bedroom'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'kitchen_cabinet'
,
'room'
:
'kitchen'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'dishwasher'
,
'room'
:
'kitchen'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'kitchen_table'
,
'room'
:
'kitchen'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'cabinet'
,
'room'
:
'kitchen'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'white_drawer'
,
'room'
:
'kitchen'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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# {'name': 'trash_can', 'room': 'kitchen', 'navigate_area': 'near', 'segment_areas': ['on_top_of']},
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{
'name'
:
'bar_table'
,
'room'
:
'bar'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'sofa'
,
'room'
:
'bar'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'on_top_of'
]},
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{
'name'
:
'cupboard'
,
'room'
:
'bar'
,
'navigate_area'
:
'near'
,
'segment_areas'
: [
'shelf1'
,
'shelf2'
]}
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]
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grammar_target =
"T"
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grammar =
"T -> kitchen"
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grammar +=
"\nT -> living_room"
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grammar +=
"\nT -> bedroom"
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grammar +=
"\nT -> bar"
Generated on Sat Apr 19 2025 04:34:53 for robocup_knowledge by
1.8.17
1.8.17