rpo2023/common.py

Go to the documentation of this file.

# COMMON KNOWLEDGE FILE IMPULS
from __future__ import print_function
 
 
female_names = ["amelia", "angel", "ava", "charlie", "charlotte", "hunter", "max", "mia", "olivia", "parker", "sam"]
male_names = ["angel", "charlie", "hunter", "jack", "max", "noah", "oliver", "parker", "sam", "thomas", "william"]
 
names = list(set(female_names + male_names))
 
# This dict holds all locations
locations = [
    {'name': 'desk',          'room': 'office',  'category': 'table',   'manipulation': 'yes'},
    {'name': 'side_table',    'room': 'office',  'category': 'table',   'manipulation': 'yes'},
 
    {'name': 'cabinet',       'room': 'kitchen', 'category': 'shelf',   'manipulation': 'yes'},
    {'name': 'dishwasher',    'room': 'kitchen', 'category': 'utility', 'manipulation': 'no'},
    {'name': 'fridge',        'room': 'kitchen', 'category': 'utility', 'manipulation': 'no'},
    {'name': 'kitchen_table', 'room': 'kitchen', 'category': 'table',   'manipulation': 'yes'},
    {'name': 'side_board',    'room': 'kitchen', 'category': 'table',   'manipulation': 'yes'},
    {'name': 'sink',          'room': 'kitchen', 'category': 'utility', 'manipulation': 'no'},
    {'name': 'workstation',   'room': 'kitchen', 'category': 'table',   'manipulation': 'yes'},
 
    {'name': 'arm_chair',     'room': 'living_room', 'category': 'utility', 'manipulation': 'no'},
    {'name': 'easy_chair',    'room': 'living_room', 'category': 'utility', 'manipulation': 'no'},
    {'name': 'sofa',          'room': 'living_room', 'category': 'utility', 'manipulation': 'no'},
    {'name': 'tv_stand',      'room': 'living_room', 'category': 'shelf',   'manipulation': 'no'},
    {'name': 'tv_table',      'room': 'living_room', 'category': 'table',   'manipulation': 'yes'},
 
    {'name': 'bed',         'room': 'bed_room', 'category': 'utility', 'manipulation': 'yes'},
    {'name': 'closet',      'room': 'bed_room', 'category': 'shelf',   'manipulation': 'no'},
    {'name': 'night_stand', 'room': 'bed_room', 'category': 'table',   'manipulation': 'yes'},
]
 
location_rooms = list(set([ o["room"] for o in locations ]))
location_categories = list(set([ o["category"] for o in locations ]))
location_names = list(set([ o["name"] for o in locations ]))
manipulation_locations = list(set([ o["name"] for o in locations if o["manipulation"] == "yes" ]))
 
objects = [
    {'category': 'fruit',                'name': 'apple',            'color': 'red',             'volume': 301,      'weight': 100},
    {'category': 'fruit',                'name': 'banana',           'color': 'yellow',          'volume': 450,      'weight': 100},
    {'category': 'fruit',                'name': 'lemon',            'color': 'yellow',          'volume': 254,      'weight': 100},
    {'category': 'fruit',                'name': 'orange',           'color': 'orange',          'volume': 352,      'weight': 100},
    {'category': 'fruit',                'name': 'peach',            'color': 'green',           'volume': 400,      'weight': 100},
    {'category': 'fruit',                'name': 'pear',             'color': 'yellow',          'volume': 240,      'weight': 100},
    {'category': 'fruit',                'name': 'plum',             'color': 'yellowish',       'volume': 300,      'weight': 100},
    {'category': 'fruit',                'name': 'strawberry',       'color': 'red',             'volume': 80,       'weight': 100},
    {'category': 'pantry_item',          'name': 'coffee',           'color': 'blue',            'volume': 800,      'weight': 100},
    {'category': 'pantry_item',          'name': 'spam',             'color': 'blue',            'volume': 360,      'weight': 100},
    {'category': 'pantry_item',          'name': 'sugar',            'color': 'yellow',          'volume': 380,      'weight': 100},
    {'category': 'pantry_item',          'name': 'tomato_soup',      'color': 'rood',            'volume': 500,      'weight': 100},
    {'category': 'pantry_item',          'name': 'tuna',             'color': 'blue',            'volume': 120,      'weight': 100},
 
    {'category': 'drink',               'name': 'iced_tea',         'color': 'yellow',          'volume': 376,      'weight': 100},
    {'category': 'drink',               'name': 'seven_up',         'color': 'green',           'volume': 378,      'weight': 100},
    {'category': 'snack',               'name': 'chips',            'color': 'red',             'volume': 1125,     'weight': 100},
    {'category': 'snack',               'name': 'chocolate_jello',  'color': 'brown',           'volume': 550,      'weight': 100},
    {'category': 'snack',               'name': 'strawberry_jello', 'color': 'red',             'volume': 550,      'weight': 100},
 
 
    {'category': 'food', 'name': 'mango', 'color': 'red', 'volume': 254, 'weight': 100},  # fruit
    {'category': 'food', 'name': 'cereal', 'color': 'green', 'volume': 1485, 'weight': 100},
    {'category': 'food', 'name': 'corn', 'color': 'yellow', 'volume': 240, 'weight': 100},
    {'category': 'food', 'name': 'crackers', 'color': 'blueish', 'volume': 300, 'weight': 100},
    {'category': 'food', 'name': 'peas', 'color': 'green', 'volume': 239, 'weight': 100},
    {'category': 'food', 'name': 'pepper', 'color': 'black', 'volume': 110, 'weight': 100},
    {'category': 'food', 'name': 'salt', 'color': 'white', 'volume': 110, 'weight': 100},
    {'category': 'container', 'name': 'basket', 'color': 'green', 'volume': 3487, 'weight': 100},
    {'category': 'container', 'name': 'bowl', 'color': 'blue', 'volume': 617, 'weight': 100},
    {'category': 'container', 'name': 'cup', 'color': 'orangish', 'volume': 427, 'weight': 100},
    {'category': 'container', 'name': 'plate', 'color': 'grey', 'volume': 147, 'weight': 100},
    {'category': 'drink', 'name': 'beer', 'color': 'brown', 'volume': 388, 'weight': 100},
    {'category': 'drink', 'name': 'bifrutas', 'color': 'blue', 'volume': 378, 'weight': 100},
    {'category': 'drink', 'name': 'coke', 'color': 'red', 'volume': 376, 'weight': 335},
    {'category': 'drink', 'name': 'fanta', 'color': 'orange', 'volume': 376, 'weight': 335},
    {'category': 'drink', 'name': 'ice_tea', 'color': 'yellow', 'volume': 376, 'weight': 335},
    {'category': 'drink', 'name': 'tea', 'color': 'green', 'volume': 877, 'weight': 100},
    {'category': 'drink', 'name': 'water', 'color': 'transparent', 'volume': 400, 'weight': 100},
    {'category': 'snack', 'name': 'cookies', 'color': 'brownish', 'volume': 442, 'weight': 100},
    {'category': 'snack', 'name': 'mentos', 'color': 'blue', 'volume': 235, 'weight': 100},
    {'category': 'snack', 'name': 'pringles', 'color': 'orange', 'volume': 1125, 'weight': 100},
    {'category': 'cleaning_stuff', 'name': 'brush', 'color': 'brown', 'volume': 315, 'weight': 100},
    {'category': 'cleaning_stuff', 'name': 'cloth', 'color': 'yellow', 'volume': 161, 'weight': 100},
    {'category': 'cleaning_stuff', 'name': 'deodorant', 'color': 'pink', 'volume': 314, 'weight': 100},
    {'category': 'cleaning_stuff', 'name': 'hair_gel', 'color': 'transparent', 'volume': 238, 'weight': 100},
    {'category': 'cleaning_stuff', 'name': 'hairspray', 'color': 'blue', 'volume': 490, 'weight': 100},
    {'category': 'cleaning_stuff', 'name': 'sponge', 'color': 'yellow', 'volume': 234, 'weight': 100},
    {'category': 'cleaning_stuff', 'name': 'toothpaste', 'color': 'blue', 'volume': 106, 'weight': 100},
    {'category': 'cleaning_stuff', 'name': 'towel', 'color': 'pink', 'volume': 243, 'weight': 100},
    {'category': 'cutlery', 'name': 'fork', 'color': 'brownish', 'volume': 4, 'weight': 100},
    {'category': 'cutlery', 'name': 'spoon', 'color': 'brownish', 'volume': 4, 'weight': 100},
    {'category': 'cutlery', 'name': 'knife', 'color': 'brownish', 'volume': 5, 'weight': 100},
    {'category': 'cutlery', 'name': 'chopsticks', 'color': 'brownish', 'volume': 20, 'weight': 100}
]
 
object_names = list(set([ o["name"] for o in objects ]))
object_categories = list(set([ o["category"] for o in objects ]))
object_color = list(set([ o["color"] for o in objects ]))
object_size = list(set([ o["volume"] for o in objects ]))
object_weight = list(set([ o["weight"] for o in objects ]))
# object_groups = list(set([ o["group"] for o in objects ]))
# object_known_objects = list(set([ o["name"] for o in objects ]))
 
category_locations = {
    "food": {"closet": "on_top_of"},
    "snack": {"closet": "on_top_of"},
    "container": {"cabinet": "on_top_of"},
    "drink": {"dinner_table": "on_top_of"},
    "cleaning_stuff": {"cabinet": "on_top_of"},
    "cutlery": {"cabinet": "on_top_of"}
}
 
inspect_areas = {
    "cabinet": ["shelf1", "shelf2", "shelf3", "shelf4", "shelf5"],
    "bookcase": ["shelf1", "shelf2", "shelf3", "shelf4"]
}
 
inspect_positions = {
}
 
default_target_radius = 0.2
 
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
most_probable_location_in_room_map = {
    'dining_room': 'dinner_table',
    'office': 'work_bench2',
    'living_room': 'salon_table'
}
 
 
def get_location_from_room(room_id):
    if room_id in most_probable_location_in_room_map:
        return most_probable_location_in_room_map[room_id]
    return None
 
 
def object_names_of_category(category):
    return [obj['name'] for obj in objects if obj['category'] == category]
 
 
drink_names = object_names_of_category('drink')
drink_spec = "T['drink': O] -> OPTIONS[O]\n\n"
for dn in drink_names:
    drink_spec += "OPTIONS['{drink}'] -> {drink}\n".format(drink=dn)
 
''' colors from printing on screen '''
class bcolors:
    HEADER = '\033[95m'
    OKBLUE = '\033[94m'
    OKGREEN = '\033[92m'
    WARNING = '\033[93m'
    FAIL = '\033[91m'
    ENDC = '\033[0m'
    BOLD = '\033[1m'
    UNDERLINE = '\033[4m'
 
 
'''
General function for printing shortcuts
name: name of the program that instantiates make_prints
sentence: sentence to be displayed
 
Ex: "[<EXECUTIVE NAME>] <SENTENCE TO BE DISPLAYED>"
'''
 
 
def make_prints(name):
 
    prefix = bcolors.HEADER + name + bcolors.ENDC
 
    def printOk(sentence):
        print(prefix + bcolors.OKBLUE + sentence + bcolors.ENDC)
 
    def printError(sentence):
        print(prefix + bcolors.FAIL + sentence + bcolors.ENDC)
 
    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):
    for loc in locations:
        if loc["name"] == location:
            return loc["room"]
    return None
 
 
def is_room(entity_id):
    return entity_id in location_rooms
 
 
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 is_known_object(obj):
    for o in objects:
        if o["name"] == obj:
            return True
    return False
 
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_color(obj):
    for o in objects:
        if o["name"] == obj:
            return o["color"]
    return None
 
def get_object_size(obj):
    for o in objects:
        if o["name"] == obj:
            return o["volume"]
    return None
 
def get_object_weight(obj):
    for o in objects:
        if o["name"] == obj:
            return o["weight"]
    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))