shrdlu-block-world 0.1.0__tar.gz

shrdlu_block_world-0.1.0/LICENSE.md

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+# MIT License
+
+**Copyright (c) 2021 Aaron Hosford**
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+**THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.**

shrdlu_block_world-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: shrdlu-block-world
+Version: 0.1.0
+Summary: A small standalone SHRDLU blocks-world simulator.
+Author-email: Aaron Hosford <hosford42@gmail.com>
+License: # MIT License
+        
+        **Copyright (c) 2021 Aaron Hosford**
+        
+        Permission is hereby granted, free of charge, to any person obtaining a copy
+        of this software and associated documentation files (the "Software"), to deal
+        in the Software without restriction, including without limitation the rights
+        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+        copies of the Software, and to permit persons to whom the Software is
+        furnished to do so, subject to the following conditions:
+        
+        The above copyright notice and this permission notice shall be included in all
+        copies or substantial portions of the Software.
+        
+        **THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+        SOFTWARE.**
+        
+Keywords: SHRDLU,blocks world,simulator
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Topic :: Games/Entertainment :: Simulation
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE.md
+Dynamic: license-file
+
+# SHRDLU Block World
+
+Small standalone tabletop blocks-world simulator. It can run as a Python object,
+a headless HTTP service, or a browser viewer for manual control.
+
+The distribution name is `shrdlu-block-world`; the import package is
+`shrdlu_blocks`. It has no third-party runtime dependencies.
+
+## Install
+
+```bash
+cd ~/shrdlu-block-world
+python3 -m pip install -e .
+```
+
+## Run
+
+```bash
+# Browser viewer at http://127.0.0.1:8000/
+shrdlu-block-world
+
+# API only
+shrdlu-block-world --headless
+```
+
+Useful options:
+
+- `--host HOST`
+- `--port PORT`
+- `--open-browser`
+
+You can also run the module directly:
+
+```bash
+python3 -m shrdlu_blocks.simulator
+```
+
+## Python API
+
+```python
+from shrdlu_blocks import ShrdluBlocksEnv
+
+env = ShrdluBlocksEnv()
+env.execute_action({"name": "move_grasper", "args": {"x": -0.1, "y": 0.4}})
+env.execute_action({"name": "lower_grasper", "args": {}})
+print(env.snapshot_text())
+```
+
+## HTTP API
+
+- `GET /api/state`
+- `POST /api/action`
+- `POST /api/reset`
+
+`POST /api/action` expects an action object:
+
+```json
+{
+  "action": {
+    "name": "move_grasper",
+    "args": {"x": -0.1, "y": 0.4}
+  }
+}
+```
+
+Supported action names:
+
+- `move_grasper` with `x` and `y`
+- `lower_grasper`
+- `raise_grasper`
+- `close_grasper`
+- `open_grasper`
+- `highlight_object`
+- `unhighlight_object`
+
+## Configuration
+
+```bash
+export SHRDLU_SIMULATOR_HOST=0.0.0.0
+export SHRDLU_SIMULATOR_PORT=8000
+export SHRDLU_WEB_OPEN_BROWSER=1
+```
+
+For remote use, forward the viewer port and open `http://localhost:8000`:
+
+```bash
+ssh -L 8000:localhost:8000 user@remote-host
+```
+
+## Layout
+
+- `shrdlu_blocks/simulator/`: environment, controller, scene model, and HTTP server
+- `shrdlu_blocks/viewer/`: browser viewer and static assets
+- `shrdlu_blocks/client.py`: small HTTP client for a running service

shrdlu_block_world-0.1.0/README.md

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+# SHRDLU Block World
+
+Small standalone tabletop blocks-world simulator. It can run as a Python object,
+a headless HTTP service, or a browser viewer for manual control.
+
+The distribution name is `shrdlu-block-world`; the import package is
+`shrdlu_blocks`. It has no third-party runtime dependencies.
+
+## Install
+
+```bash
+cd ~/shrdlu-block-world
+python3 -m pip install -e .
+```
+
+## Run
+
+```bash
+# Browser viewer at http://127.0.0.1:8000/
+shrdlu-block-world
+
+# API only
+shrdlu-block-world --headless
+```
+
+Useful options:
+
+- `--host HOST`
+- `--port PORT`
+- `--open-browser`
+
+You can also run the module directly:
+
+```bash
+python3 -m shrdlu_blocks.simulator
+```
+
+## Python API
+
+```python
+from shrdlu_blocks import ShrdluBlocksEnv
+
+env = ShrdluBlocksEnv()
+env.execute_action({"name": "move_grasper", "args": {"x": -0.1, "y": 0.4}})
+env.execute_action({"name": "lower_grasper", "args": {}})
+print(env.snapshot_text())
+```
+
+## HTTP API
+
+- `GET /api/state`
+- `POST /api/action`
+- `POST /api/reset`
+
+`POST /api/action` expects an action object:
+
+```json
+{
+  "action": {
+    "name": "move_grasper",
+    "args": {"x": -0.1, "y": 0.4}
+  }
+}
+```
+
+Supported action names:
+
+- `move_grasper` with `x` and `y`
+- `lower_grasper`
+- `raise_grasper`
+- `close_grasper`
+- `open_grasper`
+- `highlight_object`
+- `unhighlight_object`
+
+## Configuration
+
+```bash
+export SHRDLU_SIMULATOR_HOST=0.0.0.0
+export SHRDLU_SIMULATOR_PORT=8000
+export SHRDLU_WEB_OPEN_BROWSER=1
+```
+
+For remote use, forward the viewer port and open `http://localhost:8000`:
+
+```bash
+ssh -L 8000:localhost:8000 user@remote-host
+```
+
+## Layout
+
+- `shrdlu_blocks/simulator/`: environment, controller, scene model, and HTTP server
+- `shrdlu_blocks/viewer/`: browser viewer and static assets
+- `shrdlu_blocks/client.py`: small HTTP client for a running service

shrdlu_block_world-0.1.0/pyproject.toml

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+[build-system]
+requires = ["setuptools>=61"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "shrdlu-block-world"
+version = "0.1.0"
+description = "A small standalone SHRDLU blocks-world simulator."
+readme = "README.md"
+requires-python = ">=3.8"
+license = {file = "LICENSE.md"}
+authors = [
+    {name = "Aaron Hosford", email = "hosford42@gmail.com"},
+]
+keywords = ["SHRDLU", "blocks world", "simulator"]
+classifiers = [
+    "License :: OSI Approved :: MIT License",
+    "Operating System :: OS Independent",
+    "Programming Language :: Python :: 3 :: Only",
+    "Programming Language :: Python :: 3.8",
+    "Topic :: Games/Entertainment :: Simulation",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+]
+
+[project.scripts]
+shrdlu-block-world = "shrdlu_blocks.simulator.demo:demo"
+
+[tool.setuptools.packages.find]
+include = ["shrdlu_blocks*"]
+
+[tool.setuptools.package-data]
+"shrdlu_blocks.viewer" = [
+    "web_static/*.css",
+    "web_static/*.html",
+    "web_static/*.js",
+]

shrdlu_block_world-0.1.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

shrdlu_block_world-0.1.0/shrdlu_block_world.egg-info/PKG-INFO

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+Metadata-Version: 2.4
+Name: shrdlu-block-world
+Version: 0.1.0
+Summary: A small standalone SHRDLU blocks-world simulator.
+Author-email: Aaron Hosford <hosford42@gmail.com>
+License: # MIT License
+        
+        **Copyright (c) 2021 Aaron Hosford**
+        
+        Permission is hereby granted, free of charge, to any person obtaining a copy
+        of this software and associated documentation files (the "Software"), to deal
+        in the Software without restriction, including without limitation the rights
+        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+        copies of the Software, and to permit persons to whom the Software is
+        furnished to do so, subject to the following conditions:
+        
+        The above copyright notice and this permission notice shall be included in all
+        copies or substantial portions of the Software.
+        
+        **THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+        SOFTWARE.**
+        
+Keywords: SHRDLU,blocks world,simulator
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Topic :: Games/Entertainment :: Simulation
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE.md
+Dynamic: license-file
+
+# SHRDLU Block World
+
+Small standalone tabletop blocks-world simulator. It can run as a Python object,
+a headless HTTP service, or a browser viewer for manual control.
+
+The distribution name is `shrdlu-block-world`; the import package is
+`shrdlu_blocks`. It has no third-party runtime dependencies.
+
+## Install
+
+```bash
+cd ~/shrdlu-block-world
+python3 -m pip install -e .
+```
+
+## Run
+
+```bash
+# Browser viewer at http://127.0.0.1:8000/
+shrdlu-block-world
+
+# API only
+shrdlu-block-world --headless
+```
+
+Useful options:
+
+- `--host HOST`
+- `--port PORT`
+- `--open-browser`
+
+You can also run the module directly:
+
+```bash
+python3 -m shrdlu_blocks.simulator
+```
+
+## Python API
+
+```python
+from shrdlu_blocks import ShrdluBlocksEnv
+
+env = ShrdluBlocksEnv()
+env.execute_action({"name": "move_grasper", "args": {"x": -0.1, "y": 0.4}})
+env.execute_action({"name": "lower_grasper", "args": {}})
+print(env.snapshot_text())
+```
+
+## HTTP API
+
+- `GET /api/state`
+- `POST /api/action`
+- `POST /api/reset`
+
+`POST /api/action` expects an action object:
+
+```json
+{
+  "action": {
+    "name": "move_grasper",
+    "args": {"x": -0.1, "y": 0.4}
+  }
+}
+```
+
+Supported action names:
+
+- `move_grasper` with `x` and `y`
+- `lower_grasper`
+- `raise_grasper`
+- `close_grasper`
+- `open_grasper`
+- `highlight_object`
+- `unhighlight_object`
+
+## Configuration
+
+```bash
+export SHRDLU_SIMULATOR_HOST=0.0.0.0
+export SHRDLU_SIMULATOR_PORT=8000
+export SHRDLU_WEB_OPEN_BROWSER=1
+```
+
+For remote use, forward the viewer port and open `http://localhost:8000`:
+
+```bash
+ssh -L 8000:localhost:8000 user@remote-host
+```
+
+## Layout
+
+- `shrdlu_blocks/simulator/`: environment, controller, scene model, and HTTP server
+- `shrdlu_blocks/viewer/`: browser viewer and static assets
+- `shrdlu_blocks/client.py`: small HTTP client for a running service

shrdlu_block_world-0.1.0/shrdlu_block_world.egg-info/SOURCES.txt

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+LICENSE.md
+README.md
+pyproject.toml
+shrdlu_block_world.egg-info/PKG-INFO
+shrdlu_block_world.egg-info/SOURCES.txt
+shrdlu_block_world.egg-info/dependency_links.txt
+shrdlu_block_world.egg-info/entry_points.txt
+shrdlu_block_world.egg-info/top_level.txt
+shrdlu_blocks/__init__.py
+shrdlu_blocks/client.py
+shrdlu_blocks/simulator/__init__.py
+shrdlu_blocks/simulator/__main__.py
+shrdlu_blocks/simulator/control.py
+shrdlu_blocks/simulator/demo.py
+shrdlu_blocks/simulator/env.py
+shrdlu_blocks/simulator/geometry.py
+shrdlu_blocks/simulator/scenes.py
+shrdlu_blocks/simulator/server.py
+shrdlu_blocks/simulator/state_pred.py
+shrdlu_blocks/simulator/typedefs.py
+shrdlu_blocks/viewer/__init__.py
+shrdlu_blocks/viewer/web.py
+shrdlu_blocks/viewer/web_static/index.html
+shrdlu_blocks/viewer/web_static/web_viewer.css
+shrdlu_blocks/viewer/web_static/web_viewer.js

shrdlu_block_world-0.1.0/shrdlu_block_world.egg-info/dependency_links.txt

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+

shrdlu_block_world-0.1.0/shrdlu_block_world.egg-info/entry_points.txt

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+[console_scripts]
+shrdlu-block-world = shrdlu_blocks.simulator.demo:demo

shrdlu_block_world-0.1.0/shrdlu_block_world.egg-info/top_level.txt

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+shrdlu_blocks

shrdlu_block_world-0.1.0/shrdlu_blocks/__init__.py

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+"""
+SHRDLU: A simple environment for evaluating and testing natural language understanding systems
+"""
+
+from shrdlu_blocks.simulator import ShrdluBlocksEnv, SimulatorServer, run_simulator_server
+from shrdlu_blocks.client import DEFAULT_SIMULATOR_URL, ShrdluBlocksClient
+
+__version__ = '0.1.0'
+__author__ = 'Aaron Hosford'
+
+__all__ = [
+    'DEFAULT_SIMULATOR_URL',
+    'ShrdluBlocksClient',
+    'ShrdluBlocksEnv',
+    'SimulatorServer',
+    'run_simulator_server',
+]

shrdlu_block_world-0.1.0/shrdlu_blocks/client.py

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+"""HTTP client for a running SHRDLU blocks simulator."""
+
+from __future__ import annotations
+
+import json
+from typing import Dict, List, Optional
+from urllib import error, request
+
+from shrdlu_blocks.simulator.env import ShrdluBlocksEnv
+
+__all__ = ['DEFAULT_SIMULATOR_URL', 'ShrdluBlocksClient']
+
+
+DEFAULT_SIMULATOR_URL = 'http://127.0.0.1:8000'
+
+
+class ShrdluBlocksClient:
+    """Small client-side API for controlling a standalone simulator service."""
+
+    ACTION_SPECS = ShrdluBlocksEnv.ACTION_SPECS
+
+    def __init__(self, base_url: str = DEFAULT_SIMULATOR_URL, timeout: float = 30.0):
+        self._base_url = base_url.rstrip('/')
+        self._timeout = float(timeout)
+
+    @property
+    def base_url(self) -> str:
+        return self._base_url
+
+    def reset(self) -> Dict[str, object]:
+        payload = self._post('/api/reset', {})
+        return payload['snapshot']
+
+    def execute_action(self, action: Dict[str, object]) -> Optional[str]:
+        payload = self._post('/api/action', {'action': action})
+        if not payload.get('ok', False):
+            raise RuntimeError(str(payload.get('output', 'Simulator action failed.')))
+        return str(payload.get('output') or 'OK')
+
+    def snapshot(self) -> Dict[str, object]:
+        return self._state_payload()['snapshot']
+
+    def snapshot_text(self) -> str:
+        payload = self._state_payload()
+        text = payload.get('snapshot_text')
+        if isinstance(text, str):
+            return text
+        return self._snapshot_to_text(payload['snapshot'])
+
+    def action_help(self) -> str:
+        payload = self._state_payload()
+        text = payload.get('action_help')
+        if isinstance(text, str):
+            return text
+        return self._action_help_text()
+
+    def event_log(self, limit: int = 50) -> List[Dict[str, object]]:
+        payload = self._state_payload()
+        events = payload.get('event_log') or []
+        return list(events[-int(limit):])
+
+    def _state_payload(self) -> Dict[str, object]:
+        return self._get('/api/state')
+
+    def _get(self, path: str) -> Dict[str, object]:
+        try:
+            with request.urlopen(self._base_url + path, timeout=self._timeout) as response:
+                return self._decode_response(response.read())
+        except error.URLError as exc:
+            raise RuntimeError('Could not reach simulator at %s' % self._base_url) from exc
+
+    def _post(self, path: str, body: Dict[str, object]) -> Dict[str, object]:
+        data = json.dumps(body).encode('utf-8')
+        req = request.Request(
+            self._base_url + path,
+            data=data,
+            headers={'Content-Type': 'application/json'},
+            method='POST',
+        )
+        try:
+            with request.urlopen(req, timeout=self._timeout) as response:
+                return self._decode_response(response.read())
+        except error.HTTPError as exc:
+            details = exc.read().decode('utf-8', errors='replace')
+            raise RuntimeError('Simulator HTTP error %s: %s' % (exc.code, details)) from exc
+        except error.URLError as exc:
+            raise RuntimeError('Could not reach simulator at %s' % self._base_url) from exc
+
+    @staticmethod
+    def _decode_response(data: bytes) -> Dict[str, object]:
+        payload = json.loads(data.decode('utf-8'))
+        if not isinstance(payload, dict):
+            raise RuntimeError('Simulator returned a non-object JSON payload.')
+        return payload
+
+    @classmethod
+    def _action_help_text(cls) -> str:
+        lines = [
+            'Allowed actions:',
+            'Return JSON as {"response": "...", "action": {"name": "...", "args": {...}}}',
+            'Use {"response": "...", "action": {"name": "finish", "args": {}}} when done.',
+        ]
+        for spec in cls.ACTION_SPECS:
+            lines.append(
+                '  {name} args={args} - {description}'.format(
+                    name=spec['name'],
+                    args=spec['args'],
+                    description=spec['description'],
+                )
+            )
+        return '\n'.join(lines)
+
+    @staticmethod
+    def _snapshot_to_text(state: Dict[str, object]) -> str:
+        lines = [
+            'World state:',
+            'default_grasper=%r' % (state.get('default_grasper'),),
+            'grasper_closed=%r' % (state.get('grasper_closed'),),
+            'grasper_lowered=%r' % (state.get('grasper_lowered'),),
+            'grasped_object=%r' % (state.get('grasped_object'),),
+            'objects:',
+        ]
+        for obj in state.get('objects', []):
+            position = obj.get('position', {})
+            lines.append(
+                '  id={obj_id} kind={kind} color={color} graspable={graspable} support={support} '
+                'resting_on={resting_on} grasped_by={grasped_by} pos=({x:.3f}, {y:.3f}, {z:.3f})'.format(
+                    obj_id=obj.get('obj_id'),
+                    kind=obj.get('kind'),
+                    color=obj.get('color'),
+                    graspable=obj.get('graspable'),
+                    support=obj.get('can_support'),
+                    resting_on=obj.get('resting_on'),
+                    grasped_by=obj.get('grasped_by'),
+                    x=float(position.get('x', 0.0)),
+                    y=float(position.get('y', 0.0)),
+                    z=float(position.get('z', 0.0)),
+                )
+            )
+        return '\n'.join(lines)

shrdlu_block_world-0.1.0/shrdlu_blocks/simulator/__init__.py

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+"""Headless SHRDLU blocks-world simulator package."""
+
+from shrdlu_blocks.simulator.env import ShrdluBlocksEnv
+from shrdlu_blocks.simulator.server import (
+    DEFAULT_SIMULATOR_HOST,
+    DEFAULT_SIMULATOR_PORT,
+    SimulatorServer,
+    run_simulator_server,
+)
+
+__all__ = [
+    'DEFAULT_SIMULATOR_HOST',
+    'DEFAULT_SIMULATOR_PORT',
+    'ShrdluBlocksEnv',
+    'SimulatorServer',
+    'run_simulator_server',
+]

shrdlu_block_world-0.1.0/shrdlu_blocks/simulator/__main__.py

@@ -0,0 +1,7 @@
+"""Run the standalone manually controlled simulator."""
+
+from shrdlu_blocks.simulator.demo import demo
+
+
+if __name__ == '__main__':
+    demo()