This repository is used to interface with the docker images developed for our integration work with RPI. Docker images are leia/ontosem and leia/agents, and they expose a REST API once opened.
Once opened, the REST API is available on 0.0.0.0:5002
/learn->POSTraw JSON in the format for the learner; you can post one or more sequential inputs (utterances and actions); the response will be the HTN in JSON format (the current complete HTN, with the latest inputs included)/alpha/gettree->GET; returns the current HTN (without modifying it):- use
?format=jsonto get the same response format as/learn - use
?format=prettyto get a human readable version
- use
/alpha/reset->DELETE; this will clear the current tree (in lieu of killing and restarting the docker containers)/alpha/maketree-> deprecated, ignore this command for now
task-models, available here, is used to perform integration tests.
Pull the required images from the docker repo:
docker login --username=[username]
docker pull leia/ontosem:1.0.0
docker pull leia/agents:latest.yale
Run the compose file to turn on 3 containers and their respective services docker-compose -p rpi_integration -f ./docker-compose.yml up
After the docker containers are opened, you can query things via curl in a terminal window.
Examples of curl requests:
curl -i -X GET http://0.0.0.0:5002/alpha/gettree?format=prettyto get the status of the tree in ascii formatcurl -i -X GET http://0.0.0.0:5002/alpha/gettree?format=jsonto get the status of the tree in json formatcurl -s -H "Content-type: application/json" -X POST -d '[["u", "We will build a chair."], ["a", "get-screwdriver"]]' http://0.0.0.0:5002/learnto ask the system to learn a new htm from sequence of actions and utterancescurl -i -X DELETE http://0.0.0.0:5002/alpha/resetto clear the learning
Example of sequences of actions and utterances:
[["u","I will build a chair."], ["u", "I'm building a leg."], ["a", "get-bracket-foot"], ["a", "get-dowel"]][["u", "We will build a chair."], ["a", "get-screwdriver"]
docker-compose -p rpi_integration -f ./docker-compose.yml up: runs the container and exposes server portspython -m unittest discover tests: runs all the tests
In order to test the HTM controller run:
rostest rpi_integration test_htm_controller.test --text
If you are posting an action (“a”), then the valid list includes the following keys (you can, alternatively, post any of the below as a “u” using the value):
get-screwdriver: "Get a screwdriver.",get-bracket-foot: "Get a foot bracket.",get-bracket-front: "Get a front bracket.",get-bracket-back-right: "Get the back bracket on the right side.",get-bracket-back-left: "Get the back bracket on the left side.",get-top-bracket: "Get the top bracket.",get-dowel: "Get a dowel.",hold-dowel: "Hold the dowel.",release-dowel: "Release the dowel.",get-seat: "Get the seat.",hold-seat: "Hold the seat.",get-back: "Get the back.",hold-back: "Hold the back."