gpsr_command_generator

''gpsr_command_generator'' is the official command generator used in the the RoboCup@Home competitions for the "General Purpose Service Robot (GPSR)" test.

Introduction—What is GPSR?

The series of GPSR tests evaluate all abilities of the robots that are requrired throughout the set of tests in stages I and II. The robot has to solve multiple tasks upon request. That is, the test is not incporporated into a predefined story and there is neither a predefined order of tasks nor a predefined set of actions. The actions that are to be carried out by the robot are chosen (pseudo-)randomly by the referees. In the competitions from 2010 to 2013 variants of this command generator has been used to generate the commands given to the robot. The actions are organized in three categories with different complexity. Scoring depends on the complexity class. For more details, it is referred to the official rulebook of the 2013 RoboCup@Home competition in Eindhoven.

NOTE: published here is a stripped down version of the generator. See Deviations.

Deviations

The published generator does not contain all command templates and action synonyms from the generator actually used in competitions. It does not use all locations (rooms and non-grasping locations are left out).

Installing and running

The latest version of the (publicly available) stripped down variant of the GPSR command generator can be directly obtained from github:

git clone https://github.com/RoboCupAtHome/gpsr_command_generator.git

The command generator is a simple python script and be run using:

python command_generator.py

It will then prompt for entering the desired command category and generate a random command once you hit enter:

$ python command_generator.py
Which category do you want to do?   1, 2, 3 or q(uit)

Examples

The following are example commands generated when running the script as above.

• Category I (action sequence):

  Move to the dinner table, grasp the Energy drink and put it in the trash bin.
  

• Category II (underspecied command, missing information):

  Bring me some Drink from a shelf.   ( Drink = Fanta )   ( shelf = bookshelf )
  

• Category III (erroneous information):

  Bring me the Milk from the dresser. (But there is NO object!)