Template feature

.gitignore

@@ -22,6 +22,9 @@ agent/game-scripts/*.txt
 scripts/game-scripting/*
 scripts/*.script
 
+examples/*/agent
+examples/*/output
+examples/*/test-output.txt
 
 agent/language-comprehension/comprehension/test-sentences/*.soar
 agent/language-comprehension/comprehension/test-sentences/*.script

agent/_soar_parameters.soar

@@ -52,3 +52,5 @@ epmem --set phase output
 epmem --set graph-match on
 
 
+###### SVS ######
+svs --enable

agent/init-smem/actions.soar

@@ -761,6 +761,48 @@ smem --add {
    (@ensure1 ^handle ensure1 ^item-type action)
 }
 
+# Adding valid verbs for template inputs
+
+### +@start1 [138]
+smem --add {
+   (@start1 ^handle start1 ^item-type action)
+}
+
+### +@shut1 [139]
+smem --add {
+   (@shut1 ^handle shut1 ^item-type action)
+}
+
+### +@get1 [140]
+smem --add {
+   (@get1 ^handle get1 ^item-type action)
+}
+
+### +@grab1 [141]
+smem --add {
+   (@grab1 ^handle grab1 ^item-type action)
+}
+
+### +@clear1 [142]
+smem --add {
+   (@clear1 ^handle clear1 ^item-type action)
+}
+
+### +@empty1 [143]
+smem --add {
+   (@empty1 ^handle empty1 ^item-type action)
+}
+
+### +@carry1 [144]
+smem --add {
+   (@carry1 ^handle carry1 ^item-type action)
+}
+
+### +@bake1 [145]
+smem --add {
+   (@bake1 ^handle bake1 ^item-type action)
+}
+
 #!#############################################################################################
 #!#############################################################################################
 #! Driving Actions

agent/init-smem/category-ontology.txt

@@ -62,7 +62,8 @@ template category _HANDLE_ _WORD_ _SUPER_ _AFFORDANCE_* {
 					mustard1 mustard condiment1
 					salt1 salt condiment1
 					pepper1 pepper condiment1
-			box1 box object grabbable1
+				pizza1 pizza food1
+			box1 box object grabbable1 openable1 receptacle1
 			ball1 ball object grabbable1
 			book1 book object grabbable1
 			button1 button object pressable1

agent/interaction/interpret-message/interpret-command.soar

@@ -24,6 +24,37 @@ sp {interpret-message*propose*interpret-action-command
         ^command-message <msg>)
 }
 
+# When the command is "Wait for x seconds"
+sp {interpret-message*elaborate*interpret-action-command*wait
+   (state <s>  ^name interpret-message
+               ^operator <o> +
+               ^instructor-message <msg>)
+   (<msg> ^action.handle wait1
+          ^temporal-predicate.handle for1
+          ^temporal-clause <tlc>)
+   (<tlc> ^unit seconds
+          ^number <num>)
+-->
+   (<o>  ^command-type wait
+         ^custom-handling true
+         ^time <num>)
+}
+
+sp {interpret-message*apply*interpret-action-command*wait*mark*interpreted
+   (state <s> ^name interpret-message
+              ^operator <o>
+              ^instructor-message <msg>)
+   (<o> ^name interpret-action-command
+        ^command-type wait
+        ^custom-handling true
+        ^time <num>)
+-->
+   (wait  (* <num> 1000))
+   (<msg> ^interpreted true)
+   (<s> ^interpreted true)
+}
+
+
 sp {interpret-message*reject*interpret-action-command*stop-following
   (state <s> ^name interpret-message
              ^operator <o> +

agent/language-comprehension/smem-words/adjectives.soar

@@ -447,9 +447,9 @@ smem --add {
                    ^structure-type ADJ
                    ^referent @raw1)
 
-           (<open2> ^spelling |open|
-                   ^structure-type ADJ
-                   ^referent @open2)
+   #           (<open2> ^spelling |open|
+   #                   ^structure-type ADJ
+   #                   ^referent @open2)
 
          # AMADD: 
           (<open> ^spelling |opened|

agent/language-comprehension/smem-words/verbs.soar

@@ -621,6 +621,47 @@ smem --add {
            (<heat> ^spelling |heat|
                    ^referent @heat1
                    ^super-type @60999)
+
+# Verbs added by PR for action templates
+           (<carry> ^spelling |carry|
+                   ^referent @carry1
+                   ^super-type @60999)
+
+           (<clear> ^spelling |clear|
+                   ^referent @clear1
+                   ^super-type @60996)
+
+           (<empty> ^spelling |empty|
+                   ^referent @empty1
+                   ^super-type @60998)
+
+           (<get> ^spelling |get|
+                   ^referent @get1
+                   ^super-type @60999)
+
+           (<grab> ^spelling |grab|
+                   ^referent @grab1
+                   ^super-type @60998)
+
+           (<shut> ^spelling |shut|
+                   ^referent @shut1
+                   ^super-type @60998)
+
+           (<start> ^spelling |start|
+                   ^referent @start1
+                   ^super-type @60994)
+
+           (<place> ^spelling |place|
+                   ^referent @place1
+                   ^super-type @60998)
+
+           (<refrigerate> ^spelling |refrigerate|
+                   ^referent @refrigerate1
+                   ^super-type @60998)
+
+           (<bake> ^spelling |bake|
+                   ^referent @bake1
+                   ^super-type @60998)
 
 }
 

agent/manage-world-state/internal-worlds/barracks.soar

@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*barracks
    (state <s> ^superstate nil
+              ^agent-params.domain internal
               ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)

agent/manage-world-state/internal-worlds/blocksworld.soar

@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*blocksworld
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)

agent/manage-world-state/internal-worlds/debug_proc_learn.soar

@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*debug_proc_learn
    (state <s> ^superstate nil
+              ^agent-params.domain internal
               ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)

agent/manage-world-state/internal-worlds/dev.soar

@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*dev
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)

agent/manage-world-state/internal-worlds/kitchen_plus.soar

@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*kitchen_plus
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)

agent/manage-world-state/internal-worlds/lucia_testing.soar

@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*lucia_testing
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)

agent/manage-world-state/internal-worlds/office4.soar

@@ -3,130 +3,131 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*office4
    (state <s> ^superstate nil
+              ^agent-params.domain internal
               ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)
    (<w> ^starting-location wp01
         ^objects <objs>)
 
    (<objs> ^object <obj1>)
-   (<obj1> ^handle fridge1_1 ^waypoint wp01 ^predicates <obj1-preds>)
+   (<obj1> ^handle fridge1_1 ^perc-id |1| ^waypoint wp01 ^predicates <obj1-preds>)
    (<obj1-preds> ^category fridge1 ^is-open1 not-open1)
 
    (<objs> ^object <obj2>)
-   (<obj2> ^handle sink1_1 ^waypoint wp01 ^predicates <obj2-preds>)
+   (<obj2> ^handle sink1_2 ^perc-id |2| ^waypoint wp01 ^predicates <obj2-preds>)
    (<obj2-preds> ^category sink1)
 
    (<objs> ^object <obj3>)
-   (<obj3> ^handle cupboard1_1 ^waypoint wp01 ^predicates <obj3-preds>)
+   (<obj3> ^handle cupboard1_3 ^perc-id |3| ^waypoint wp01 ^predicates <obj3-preds>)
    (<obj3-preds> ^category cupboard1 ^is-open1 not-open1)
 
    (<objs> ^object <obj4>)
-   (<obj4> ^handle counter1_1 ^waypoint wp01 ^predicates <obj4-preds>)
+   (<obj4> ^handle counter1_4 ^perc-id |4| ^waypoint wp01 ^predicates <obj4-preds>)
    (<obj4-preds> ^category counter1)
 
    (<objs> ^object <obj5>)
-   (<obj5> ^handle microwave1_1 ^waypoint wp01 ^predicates <obj5-preds>)
+   (<obj5> ^handle microwave1_5 ^perc-id |5| ^waypoint wp01 ^predicates <obj5-preds>)
    (<obj5-preds> ^category microwave1 ^is-open1 not-open1)
 
    (<objs> ^object <obj6>)
-   (<obj6> ^handle drawer1_1 ^waypoint wp01 ^predicates <obj6-preds>)
+   (<obj6> ^handle drawer1_6 ^perc-id |6| ^waypoint wp01 ^predicates <obj6-preds>)
    (<obj6-preds> ^category drawer1 ^is-open1 not-open1)
 
    (<objs> ^object <obj7>)
-   (<obj7> ^handle table1_1 ^waypoint wp01 ^predicates <obj7-preds>)
+   (<obj7> ^handle table1_7 ^perc-id |7| ^waypoint wp01 ^predicates <obj7-preds>)
    (<obj7-preds> ^category table1)
 
    (<objs> ^object <obj8>)
-   (<obj8> ^handle pantry1_1 ^waypoint wp01 ^predicates <obj8-preds>)
+   (<obj8> ^handle pantry1_8 ^perc-id |8| ^waypoint wp01 ^predicates <obj8-preds>)
    (<obj8-preds> ^category pantry1 ^is-open1 open2)
 
    (<objs> ^object <obj9>)
-   (<obj9> ^handle lightswitch1_1 ^waypoint wp01 ^predicates <obj9-preds>)
+   (<obj9> ^handle lightswitch1_9 ^perc-id |9| ^waypoint wp01 ^predicates <obj9-preds>)
    (<obj9-preds> ^category lightswitch1 ^is-activated1 activated1)
 
    (<objs> ^object <obj10>)
-   (<obj10> ^handle soda1_1 ^waypoint wp01 ^predicates <obj10-preds>)
+   (<obj10> ^handle soda1_10 ^perc-id |10| ^waypoint wp01 ^predicates <obj10-preds>)
    (<obj10-preds> ^color blue1 ^category soda1)
 
    (<objs> ^object <obj11>)
-   (<obj11> ^handle juice1_1 ^waypoint wp01 ^predicates <obj11-preds>)
+   (<obj11> ^handle juice1_11 ^perc-id |11| ^waypoint wp01 ^predicates <obj11-preds>)
    (<obj11-preds> ^color orange1 ^category juice1)
 
    (<objs> ^object <obj12>)
-   (<obj12> ^handle person_1 ^waypoint wp01 ^predicates <obj12-preds>)
+   (<obj12> ^handle person_12 ^perc-id |12| ^waypoint wp01 ^predicates <obj12-preds>)
    (<obj12-preds> ^name mary1 ^category person)
 
    (<objs> ^object <obj13>)
-   (<obj13> ^handle person_2 ^waypoint wp01 ^predicates <obj13-preds>)
+   (<obj13> ^handle person_13 ^perc-id |13| ^waypoint wp01 ^predicates <obj13-preds>)
    (<obj13-preds> ^name bob1 ^category person)
 
    (<objs> ^object <obj14>)
-   (<obj14> ^handle desk1_1 ^waypoint wp02 ^predicates <obj14-preds>)
+   (<obj14> ^handle desk1_14 ^perc-id |14| ^waypoint wp02 ^predicates <obj14-preds>)
    (<obj14-preds> ^category desk1)
 
    (<objs> ^object <obj15>)
-   (<obj15> ^handle chair1_1 ^waypoint wp02 ^predicates <obj15-preds>)
+   (<obj15> ^handle chair1_15 ^perc-id |15| ^waypoint wp02 ^predicates <obj15-preds>)
    (<obj15-preds> ^color blue1 ^category chair1)
 
    (<objs> ^object <obj16>)
-   (<obj16> ^handle water1_1 ^waypoint wp02 ^predicates <obj16-preds>)
+   (<obj16> ^handle water1_16 ^perc-id |16| ^waypoint wp02 ^predicates <obj16-preds>)
    (<obj16-preds> ^color white1 ^category water1)
 
    (<objs> ^object <obj17>)
-   (<obj17> ^handle person_3 ^waypoint wp02 ^predicates <obj17-preds>)
+   (<obj17> ^handle person_17 ^perc-id |17| ^waypoint wp02 ^predicates <obj17-preds>)
    (<obj17-preds> ^name alice1 ^category person)
 
    (<objs> ^object <obj18>)
-   (<obj18> ^handle table1_2 ^waypoint wp03 ^predicates <obj18-preds>)
+   (<obj18> ^handle table1_18 ^perc-id |18| ^waypoint wp03 ^predicates <obj18-preds>)
    (<obj18-preds> ^category table1)
 
    (<objs> ^object <obj19>)
-   (<obj19> ^handle chair1_2 ^waypoint wp03 ^predicates <obj19-preds>)
+   (<obj19> ^handle chair1_19 ^perc-id |19| ^waypoint wp03 ^predicates <obj19-preds>)
    (<obj19-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj20>)
-   (<obj20> ^handle chair1_3 ^waypoint wp03 ^predicates <obj20-preds>)
+   (<obj20> ^handle chair1_20 ^perc-id |20| ^waypoint wp03 ^predicates <obj20-preds>)
    (<obj20-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj21>)
-   (<obj21> ^handle chair1_4 ^waypoint wp03 ^predicates <obj21-preds>)
+   (<obj21> ^handle chair1_21 ^perc-id |21| ^waypoint wp03 ^predicates <obj21-preds>)
    (<obj21-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj22>)
-   (<obj22> ^handle chair1_5 ^waypoint wp03 ^predicates <obj22-preds>)
+   (<obj22> ^handle chair1_22 ^perc-id |22| ^waypoint wp03 ^predicates <obj22-preds>)
    (<obj22-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj23>)
-   (<obj23> ^handle chair1_6 ^waypoint wp03 ^predicates <obj23-preds>)
+   (<obj23> ^handle chair1_23 ^perc-id |23| ^waypoint wp03 ^predicates <obj23-preds>)
    (<obj23-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj24>)
-   (<obj24> ^handle chair1_7 ^waypoint wp03 ^predicates <obj24-preds>)
+   (<obj24> ^handle chair1_24 ^perc-id |24| ^waypoint wp03 ^predicates <obj24-preds>)
    (<obj24-preds> ^color black1 ^category chair1)
 
    (<objs> ^object <obj25>)
-   (<obj25> ^handle table1_3 ^waypoint wp04 ^predicates <obj25-preds>)
+   (<obj25> ^handle table1_25 ^perc-id |25| ^waypoint wp04 ^predicates <obj25-preds>)
    (<obj25-preds> ^category table1)
 
    (<objs> ^object <obj26>)
-   (<obj26> ^handle book1_1 ^waypoint wp04 ^predicates <obj26-preds>)
+   (<obj26> ^handle book1_26 ^perc-id |26| ^waypoint wp04 ^predicates <obj26-preds>)
    (<obj26-preds> ^color blue1 ^category book1)
 
    (<objs> ^object <obj27>)
-   (<obj27> ^handle papers1_1 ^waypoint wp04 ^predicates <obj27-preds>)
+   (<obj27> ^handle papers1_27 ^perc-id |27| ^waypoint wp04 ^predicates <obj27-preds>)
    (<obj27-preds> ^color white1 ^category papers1)
 
    (<objs> ^object <obj28>)
-   (<obj28> ^handle stapler1_1 ^waypoint wp04 ^predicates <obj28-preds>)
+   (<obj28> ^handle stapler1_28 ^perc-id |28| ^waypoint wp04 ^predicates <obj28-preds>)
    (<obj28-preds> ^color black1 ^category stapler1)
 
    (<objs> ^object <obj29>)
-   (<obj29> ^handle desk1_2 ^waypoint wp04 ^predicates <obj29-preds>)
+   (<obj29> ^handle desk1_29 ^perc-id |29| ^waypoint wp04 ^predicates <obj29-preds>)
    (<obj29-preds> ^category desk1)
 
    (<objs> ^object <obj30>)
-   (<obj30> ^handle chair1_8 ^waypoint wp04 ^predicates <obj30-preds>)
+   (<obj30> ^handle chair1_30 ^perc-id |30| ^waypoint wp04 ^predicates <obj30-preds>)
    (<obj30-preds> ^color blue1 ^category chair1)
 
 }

agent/manage-world-state/internal-worlds/simple_kitchen.soar

@@ -3,6 +3,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*simple_kitchen
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)

agent/manage-world-state/internal-worlds/simple_kitchen_jule.soar

@@ -19,6 +19,7 @@
 
 sp {top-state*domain*internal*elaborate*internal-world*simple_kitchen
    (state <s> ^superstate nil
+              ^agent-params.domain internal
 			  ^agent-params.simulate-perception true)
 -->
    (<s> ^internal-world <w>)