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Commit 943ed3d3 authored by Johannes Mey's avatar Johannes Mey
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Merge branch 'feature/waiting' into 'main' 

festival updatesfestival updatesfestival updatesfestival updatesfestival

See merge request !1
parents b1da57bc 2852709c
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1 merge request!1festival updatesfestival updatesfestival updatesfestival updatesfestival
Pipeline #15195 passed
Stage: build
Stage: test
Stage: ragdoc
Stage: publish
Stage: deploy
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.editorconfig 0 → 100644
+ 16
− 0
View file @ 943ed3d3
root = true
[*]
charset = utf-8
end_of_line = lf
indent_size = 4
indent_style = space
insert_final_newline = true
max_line_length = 120
tab_width = 4
trim_trailing_whitespace = true
[{*.jadd,*.java,*.jrag}]
indent_size = 2
tab_width = 2
ij_continuation_indent_size = 4
build.gradle
+ 16
− 12
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......@@ -9,7 +9,7 @@ plugins {
group 'de.tudresden.inf.st'
ext {
mainClassName = 'de.tudresden.inf.st.mg.Main'
mainClassName = 'de.tudresden.inf.st.mg.ImmersiveSortingController'
}
// set the main class name for `gradle run`
......@@ -44,7 +44,7 @@ idea.module.generatedSourceDirs += genSrc
sourceSets.main.java.srcDir genSrc
dependencies {
implementation group: 'de.tudresden.inf.st', name: 'dumpAst', version: "${relast2uml_version}"
implementation group: 'de.tudresden.inf.st', name: 'dumpAst', version: "${dumpAst_version}"
grammar2uml group: 'de.tudresden.inf.st', name: 'grammar2uml', version: "${grammar2uml_version}"
relast group: 'org.jastadd', name: 'relast', version: "${relast_version}"
testImplementation group: 'org.assertj', name: 'assertj-core', version: "${assertj_version}"
......@@ -52,10 +52,11 @@ dependencies {
testRuntimeOnly group: 'org.junit.jupiter', name: 'junit-jupiter-engine', version: "${jupyter_version}"
implementation group: 'io.javalin', name: 'javalin', version: "${javalin_version}"
implementation group: 'org.json', name: 'json', version: '20220320'
implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.13.3'
implementation group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.13.3'
implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.13.4'
implementation group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.13.4'
implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: '2.13.4'
implementation group: 'org.slf4j', name: 'slf4j-simple', version: '1.7.31'
ragconnect group: 'de.tudresden.inf.st', name: 'ragconnect', version: '1.0.0-alpha-203'
ragconnect group: 'de.tudresden.inf.st', name: 'ragconnect', version: '1.0.0'
jastadd2 "org.jastadd:jastadd2:2.3.5-dresden-6"
implementation group: 'com.google.protobuf', name: 'protobuf-java', version: "${protobuf_version}"
implementation group: 'com.google.protobuf', name: 'protobuf-java-util', version: "${protobuf_version}"
......@@ -103,7 +104,7 @@ jar {
duplicatesStrategy = DuplicatesStrategy.WARN
}
def relastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/load/LoadWorld.relast', './src/main/jastadd/cleanup/RobotWorld.relast', './src/main/jastadd/load/LoadUnload.relast', './src/main/jastadd/cleanup/Cleanup.relast']
def relastFiles = ['./src/gen/jastadd/MotionGrammar.relast', './src/main/jastadd/load/LoadWorld.relast', './src/gen/jastadd/RobotWorld.relast', './src/main/jastadd/load/LoadUnload.relast', './src/main/jastadd/cleanup/Cleanup.relast']
def loadingRelastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/load/LoadWorld.relast', './src/main/jastadd/load/LoadUnload.relast']
def cleaningRelastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/cleanup/RobotWorld.relast', './src/main/jastadd/cleanup/Cleanup.relast']
def grammarPrefix = './src/gen/jastadd/MotionGrammar'
......@@ -123,11 +124,11 @@ task ragConnect(type: JavaExec) {
'./src/main/jastadd/common/MotionGrammar.relast',
'./src/main/jastadd/cleanup/RobotWorld.relast',
'./src/main/jastadd/cleanup/RobotWorld.connect',
'--logReads',
'--logWrites',
// '--logReads',
// '--logWrites',
// '--logIncremental',
'--verbose',
'--rootNode=RobotScene',
// '--verbose',
'--rootNode=RobotWorld',
'--protocols=mqtt',
"--List=${jastAddListName}",
'--experimental-jastadd-329',
......@@ -141,6 +142,7 @@ task ragConnect(type: JavaExec) {
task generateLoadingGrammarDiagrams(type: JavaExec) {
group = 'Documentation'
classpath = configurations.grammar2uml
mainClass = 'de.tudresden.inf.st.jastadd.grammar2uml.compiler.Compiler'
args "--output=${loadingGrammarDiagramFile}", '--defaultFolders'
args loadingRelastFiles
......@@ -152,6 +154,7 @@ task generateLoadingGrammarDiagrams(type: JavaExec) {
task generateCleaningGrammarDiagrams(type: JavaExec) {
group = 'Documentation'
classpath = configurations.grammar2uml
mainClass = 'de.tudresden.inf.st.jastadd.grammar2uml.compiler.Compiler'
args "--output=${cleaningGrammarDiagramFile}", '--defaultFolders'
args cleaningRelastFiles
......@@ -169,8 +172,9 @@ task relastToJastAdd(type: JavaExec) {
'--useJastAddNames',
'--listClass=java.util.ArrayList',
"--jastAddList=${jastAddListName}",
"--resolverHelper",
'--file'
'--resolverHelper',
'--file',
'--serializer=jackson'
args relastFiles
inputs.files relastFiles
......
dashboard/src/App.css
+ 34
− 34
View file @ 943ed3d3
......@@ -8,15 +8,9 @@
pointer-events: none;
}
@media (prefers-reduced-motion: no-preference) {
.App-logo {
animation: App-logo-spin infinite 20s linear;
}
}
.App-header {
background-color: #282c34;
min-height: 40px; /*100vmin*/
min-height: 40px;
display: flex;
flex-direction: column;
align-items: center;
......@@ -25,28 +19,34 @@
color: white;
}
.CurrentAst {
.ContextContainer {
width: 100vw;
overflow-x:scroll;
white-space: nowrap;
direction:rtl;
}
.AstInTimeline {
max-width: 100%;
.CurrentContext {
height: 50vh;
width: 100vw;
object-fit: contain;
/*object-fit: scale-down;*/
object-position: center;
}
.App-link {
color: #61dafb;
.AstContainer {
width: 100vw;
overflow-x:scroll;
white-space: nowrap;
direction:rtl;
}
.MG-Timeline {
max-width: 4000px !important;
.CurrentAst {
height: 50vh;
object-fit: cover;
object-position: bottom right;
}
@keyframes App-logo-spin {
from {
transform: rotate(0deg);
}
to {
transform: rotate(360deg);
}
.App-link {
color: #61dafb;
}
dashboard/src/App.js
+ 52
− 48
View file @ 943ed3d3
import './App.css';
import React, { useEffect, useRef } from 'react';
import './index.css';
import { VerticalTimeline, VerticalTimelineElement } from 'react-vertical-timeline-component';
import 'react-vertical-timeline-component/style.min.css';
import { GiFamilyTree } from "react-icons/gi";
import { useSelector, useDispatch } from 'react-redux'
import { addAst, setAstList } from './mgSlice'
import { setAst, setContext } from './mgSlice'
function App() {
const ws = useRef(null);
const dispatch = useDispatch();
const asts = useSelector(state => state.mg.asts);
const ast = useSelector(state => state.mg.ast);
const context = useSelector(state => state.mg.context);
useEffect(() => {
ws.current = new WebSocket("ws://localhost:7070/ast-events");
......@@ -20,8 +19,10 @@ function App() {
ws.current.onmessage = (event) => {
const json = JSON.parse(event.data);
try {
if ((json.event = "data")) {
dispatch(addAst(json));
if (json.type === "ast") {
dispatch(setAst(json));
} else if (json.type === "context") {
dispatch(setContext(json));
}
} catch (err) {
console.log(err);
......@@ -36,72 +37,75 @@ function App() {
}, [dispatch]);
useEffect(() => {
if (asts.length === 0) {
fetch('http://localhost:7070/asts/')
if (ast.diagram == null) {
console.log("setting ast from WS 1");
fetch('http://localhost:7070/ast/')
.then(res => res.json())
.then((asts) => {
dispatch(setAstList(asts))
.then((ast) => {
console.log("setting ast from WS");
console.log(ast);
dispatch(setAst(ast))
})
.catch(console.log)
}
}, [dispatch, asts.length])
if (context.diagram == null) {
console.log("setting ctx from WS");
fetch('http://localhost:7070/context/')
.then(res => res.json())
.then((context) => {
dispatch(setContext(context))
})
.catch(console.log)
} else {
console.log(context)
}
}, [dispatch, ast, context])
return (
<div className="App">
<header className="App-header">
<ControlPanel />
<ControlPanel
ws={ws}
/>
</header>
<main>
<CurrentState
diagram={asts[0] ? asts[0].diagram : ''}
label={asts[0] ? asts[0].parseRule : ''}
<CurrentContextState
diagram={context ? context.diagram : ''}
label=''
/>
<CurrentASTState
diagram={ast ? ast.diagram : ''}
label={ast ? ast.parseRule : ''}
/>
<VerticalTimeline
className='MG-Timeline'>
{asts.map(v => {
console.log(v.parseRule)
return (
<VerticalTimelineElement
className="ast-timeline-event"
contentStyle={{ background: 'rgb(33, 150, 243)', color: '#fff' }}
contentArrowStyle={{ borderRight: '7px solid rgb(33, 150, 243)' }}
date={new Date(v.timestamp).toLocaleTimeString('en-us', { hour12: false })}
iconStyle={{ background: 'rgb(33, 150, 243)', color: '#fff', rotate: '180deg' }}
icon={<GiFamilyTree />}
key={v.timestamp}
position={'right'}
>
<h3 className="vertical-timeline-element-title">{v.parseRule}()</h3>
<p>
<img className="AstInTimeline" src={`data:image/svg+xml;utf8,${encodeURIComponent(v.diagram)}`} alt={v.parseRule} />
</p>
</VerticalTimelineElement>
)
})}
</VerticalTimeline>
</main>
</div>
);
}
function CurrentState(props) {
function CurrentASTState(props) {
return (
<div className="curent-state">
<div className="AstContainer">
<img className="CurrentAst" src={`data:image/svg+xml;utf8,${encodeURIComponent(props.diagram)}`} alt={props.label} />
</div>
)
}
class ControlPanel extends React.Component {
render() {
function CurrentContextState(props) {
return (
<div className='ControlPanel'>
<button onClick={() => { alert('You clicked me!'); }}>connect</button>
<div className="ContextContainer">
<img className="CurrentContext" src={`data:image/svg+xml;utf8,${encodeURIComponent(props.diagram)}`} alt={props.label} />
</div>
);
)
}
function ControlPanel(props) {
return (
<div className='ControlPanel'>
<button onClick={() => { props.ws.current.send("cell1 parse") }}>start parsing in cell 1</button>
<button onClick={() => { props.ws.current.send("cell1 reset") }}>reset selections</button>
</div>
)
}
export default App;
dashboard/src/mgSlice.js
+ 15
− 15
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......@@ -3,21 +3,21 @@ import { createSlice } from '@reduxjs/toolkit'
export const mgSlice = createSlice({
name: 'mg',
initialState: {
asts: [],
contexts: {},
ast: {},
context: {},
},
reducers: {
addAst: (state, action) => {
state.asts = [action.payload, ...state.asts];
console.log("added ast, size is " + state.asts.length);
setAst: (state, action) => {
state.ast = action.payload;
console.log("set AST");
},
setAstList: (state, action) => {
state.asts = action.payload.reverse();
console.log("set AST list, size is " + state.asts.length);
setContext: (state, action) => {
state.context = action.payload;
console.log("set context");
}
}
})
export const { addAst, setAstList } = mgSlice.actions
export const {setAst, setContext} = mgSlice.actions
export default mgSlice.reducer
\ No newline at end of file
gradle.properties
+ 3
− 3
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relast_version = 0.3.0-137
relast2uml_version = 1.1.0
dumpAst_version = 2.0.2-dev-91
jupyter_version = 5.8.2
assertj_version = 3.22.0
grammar2uml_version = 0.2.1
grammar2uml_version = 0.2.5-21
jastaddgradle_version = 1.14.5
javalin_version = 4.6.3
javalin_version = 4.6.4
protobuf_version = 4.0.0-rc-2
protobuf_plugin_version = 0.8.18
material/mg-demo-slides.odp 0 → 100644
+ 0
− 0
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File added
material/mg-demo-slides.pdf 0 → 100644
+ 0
− 0
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File added
pages/docs/sorting.md → pages/docs/acsos.md
+ 0
− 0
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File moved
pages/docs/index.md
+ 2
− 2
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......@@ -17,9 +17,9 @@ is parsed.
## Use cases
- Very simple [Load-Unload grammar](load.md) taken from the original paper [^1] to show a minimal proof-of-concept.
- A [robotic use case](sorting.md) sorting dynamically appearing objects into boxes by colour.
- A [robotic use case](acsos.md) sorting dynamically appearing objects into boxes by colour ([ACSOS demo]()https://2022.acsos.org/details/acsos-2022-posters-and-demos/2/Specifying-Reactive-Robotic-Applications-With-Reference-Attribute-Motion-Grammars).
![type:video](https://www.youtube.com/embed/KBuFVsKjA1Q)
- A similar robotic use case, but with another input "teaching" where to put the objects and different time
## Bibliogaphy
[^1]: Dantam, N., Stilman, M., 2013. The Motion Grammar: Analysis of a Linguistic Method for Robot Control. IEEE Trans. Robot. 29, 704–718. https://doi.org/10.1109/TRO.2013.2239553
......
pages/docs/sorting/AST.md 0 → 100644
+ 212
− 0
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AST-000-2022.07.18.17.43.35.270-initial.svg
AST-001-2022.07.18.17.43.39.588-parseEmptyTable.svg
AST-002-2022.07.18.17.43.47.871-parseWait.svg
AST-003-2022.07.18.17.43.48.060-parseWaitForFullTable.svg
AST-004-2022.07.18.17.43.48.272-parseEmptyTable.svg
AST-005-2022.07.18.17.43.56.518-parseWait.svg
AST-006-2022.07.18.17.43.56.718-parseWaitForFullTable.svg
AST-007-2022.07.18.17.43.56.889-parseEmptyTable.svg
AST-008-2022.07.18.17.44.05.105-parseWait.svg
AST-009-2022.07.18.17.44.05.370-parseWaitForFullTable.svg
AST-010-2022.07.18.17.44.05.769-parseObjectAtWrongPlace.svg
AST-011-2022.07.18.17.44.06.152-parseRobotIsReadyToPickToken.svg
AST-012-2022.07.18.17.44.06.526-parseRobotIsReallyReadyToPick.svg
AST-013-2022.07.18.17.44.06.859-parseRobotIsReadyToPick.svg
AST-014-2022.07.18.17.44.07.284-parsePickUpObject.svg
AST-015-2022.07.18.17.44.07.807-parseRobotIsNotReadyToDropToken.svg
AST-016-2022.07.18.17.44.16.137-parseWait.svg
AST-017-2022.07.18.17.44.16.336-parseRobotIsNotReadyToDropToken.svg
AST-018-2022.07.18.17.44.24.593-parseWait.svg
AST-019-2022.07.18.17.44.24.996-parseRobotIsNotReadyToDropToken.svg
AST-020-2022.07.18.17.44.33.736-parseWait.svg
AST-021-2022.07.18.17.44.34.344-parseRobotIsReadyToDropToken.svg
AST-022-2022.07.18.17.44.34.795-parseRobotIsReallyReadyToDrop.svg
AST-023-2022.07.18.17.44.35.148-parseRobotIsReadyToDrop.svg
AST-024-2022.07.18.17.44.35.616-parseRobotIsNotReadyToDrop.svg
AST-025-2022.07.18.17.44.36.052-parseRobotIsReadyToDrop.svg
AST-026-2022.07.18.17.44.36.493-parseRobotIsNotReadyToDrop.svg
AST-027-2022.07.18.17.44.36.798-parseRobotIsReadyToDrop.svg
AST-028-2022.07.18.17.44.37.173-parseRobotIsNotReadyToDrop.svg
AST-029-2022.07.18.17.44.37.512-parseRobotIsReadyToDrop.svg
AST-030-2022.07.18.17.44.37.872-parseRightPlace.svg
AST-031-2022.07.18.17.44.38.308-parseDropObjectAtRightPlace.svg
AST-032-2022.07.18.17.44.38.799-parseMoveObjectToCorrectPlace.svg
AST-033-2022.07.18.17.44.39.211-parseObjectAtWrongPlace.svg
AST-034-2022.07.18.17.44.39.524-parseRobotIsNotReadyToPickToken.svg
AST-035-2022.07.18.17.44.47.970-parseWait.svg
AST-036-2022.07.18.17.44.48.142-parseRobotIsNotReadyToPickToken.svg
AST-037-2022.07.18.17.44.56.356-parseWait.svg
AST-038-2022.07.18.17.44.56.572-parseRobotIsReadyToPickToken.svg
AST-039-2022.07.18.17.44.56.825-parseRobotIsReallyReadyToPick.svg
AST-040-2022.07.18.17.44.57.094-parseRobotIsReadyToPick.svg
AST-041-2022.07.18.17.44.57.328-parseRobotIsNotReadyToPick.svg
AST-042-2022.07.18.17.44.57.607-parseRobotIsReadyToPick.svg
AST-043-2022.07.18.17.44.57.896-parseRobotIsNotReadyToPick.svg
AST-044-2022.07.18.17.44.58.169-parseRobotIsReadyToPick.svg
AST-045-2022.07.18.17.44.58.456-parsePickUpObject.svg
AST-046-2022.07.18.17.44.58.783-parseRobotIsNotReadyToDropToken.svg
AST-047-2022.07.18.17.45.07.121-parseWait.svg
AST-048-2022.07.18.17.45.07.305-parseRobotIsNotReadyToDropToken.svg
AST-049-2022.07.18.17.45.15.564-parseWait.svg
AST-050-2022.07.18.17.45.15.800-parseRobotIsNotReadyToDropToken.svg
AST-051-2022.07.18.17.45.24.125-parseWait.svg
AST-052-2022.07.18.17.45.24.328-parseRobotIsReadyToDropToken.svg
AST-053-2022.07.18.17.45.24.535-parseRobotIsReallyReadyToDrop.svg
AST-054-2022.07.18.17.45.24.828-parseRobotIsReadyToDrop.svg
AST-055-2022.07.18.17.45.25.133-parseRobotIsNotReadyToDrop.svg
AST-056-2022.07.18.17.45.25.385-parseRobotIsReadyToDrop.svg
AST-057-2022.07.18.17.45.25.689-parseRobotIsNotReadyToDrop.svg
AST-058-2022.07.18.17.45.25.998-parseRobotIsReadyToDrop.svg
AST-059-2022.07.18.17.45.26.299-parseRobotIsNotReadyToDrop.svg
AST-060-2022.07.18.17.45.26.574-parseRobotIsReadyToDrop.svg
AST-061-2022.07.18.17.45.26.864-parseRightPlace.svg
AST-062-2022.07.18.17.45.27.156-parseDropObjectAtRightPlace.svg
AST-063-2022.07.18.17.45.27.617-parseMoveObjectToCorrectPlace.svg
AST-064-2022.07.18.17.45.27.991-parseObjectAtWrongPlace.svg
AST-065-2022.07.18.17.45.28.330-parseRobotIsNotReadyToPickToken.svg
AST-066-2022.07.18.17.45.36.597-parseWait.svg
AST-067-2022.07.18.17.45.37.022-parseRobotIsNotReadyToPickToken.svg
AST-068-2022.07.18.17.45.45.385-parseWait.svg
AST-069-2022.07.18.17.45.45.808-parseRobotIsNotReadyToPickToken.svg
AST-070-2022.07.18.17.45.54.253-parseWait.svg
AST-071-2022.07.18.17.45.54.524-parseRobotIsReadyToPickToken.svg
AST-072-2022.07.18.17.45.54.815-parseRobotIsReallyReadyToPick.svg
AST-073-2022.07.18.17.45.55.141-parseRobotIsReadyToPick.svg
AST-074-2022.07.18.17.45.55.508-parseRobotIsNotReadyToPick.svg
AST-075-2022.07.18.17.45.55.795-parseRobotIsReadyToPick.svg
AST-076-2022.07.18.17.45.56.159-parseRobotIsNotReadyToPick.svg
AST-077-2022.07.18.17.45.56.569-parseRobotIsReadyToPick.svg
AST-078-2022.07.18.17.45.56.870-parseRobotIsNotReadyToPick.svg
AST-079-2022.07.18.17.45.57.191-parseRobotIsReadyToPick.svg
AST-080-2022.07.18.17.45.57.480-parsePickUpObject.svg
AST-081-2022.07.18.17.45.57.813-parseRobotIsNotReadyToDropToken.svg
AST-082-2022.07.18.17.46.06.099-parseWait.svg
AST-083-2022.07.18.17.46.06.350-parseRobotIsNotReadyToDropToken.svg
AST-084-2022.07.18.17.46.14.753-parseWait.svg
AST-085-2022.07.18.17.46.15.104-parseRobotIsNotReadyToDropToken.svg
AST-086-2022.07.18.17.46.23.512-parseWait.svg
AST-087-2022.07.18.17.46.23.794-parseRobotIsReadyToDropToken.svg
AST-088-2022.07.18.17.46.24.101-parseRobotIsReallyReadyToDrop.svg
AST-089-2022.07.18.17.46.24.486-parseRobotIsReadyToDrop.svg
AST-090-2022.07.18.17.46.24.794-parseRobotIsNotReadyToDrop.svg
AST-091-2022.07.18.17.46.25.117-parseRobotIsReadyToDrop.svg
AST-092-2022.07.18.17.46.25.461-parseRobotIsNotReadyToDrop.svg
AST-093-2022.07.18.17.46.25.965-parseRobotIsReadyToDrop.svg
AST-094-2022.07.18.17.46.26.445-parseRobotIsNotReadyToDrop.svg
AST-095-2022.07.18.17.46.26.875-parseRobotIsReadyToDrop.svg
AST-096-2022.07.18.17.46.27.270-parseRightPlace.svg
AST-097-2022.07.18.17.46.27.571-parseDropObjectAtRightPlace.svg
AST-098-2022.07.18.17.46.28.040-parseMoveObjectToCorrectPlace.svg
AST-099-2022.07.18.17.46.28.378-parseObjectAtWrongPlace.svg
AST-100-2022.07.18.17.46.28.783-parseRobotIsNotReadyToPickToken.svg
AST-101-2022.07.18.17.46.37.214-parseWait.svg
AST-102-2022.07.18.17.46.37.839-parseRobotIsNotReadyToPickToken.svg
AST-103-2022.07.18.17.46.46.415-parseWait.svg
AST-104-2022.07.18.17.46.46.772-parseRobotIsReadyToPickToken.svg
AST-105-2022.07.18.17.46.47.259-parseRobotIsReallyReadyToPick.svg
AST-106-2022.07.18.17.46.47.773-parseRobotIsReadyToPick.svg
AST-107-2022.07.18.17.46.48.234-parseRobotIsNotReadyToPick.svg
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AST-109-2022.07.18.17.46.49.022-parseRobotIsNotReadyToPick.svg
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AST-210-2022.07.18.17.49.46.201-parseTidy.svg
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pages/docs/sorting/Context 0 → 100644
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Context-RobotScene-2022.07.18.17.43.35.056-RobotScene.setTable()-DONE.svg
Context-RobotScene-2022.07.18.17.43.59.407-RobotScene.setTable()-DONE.svg
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pages/docs/sorting/Context-RobotScene-2022.07.18.17.49.37.572-RobotScene.setTable()-DONE.svg → pages/docs/sorting/Context-RobotWorld-2022.07.18.17.43.35.056-RobotWorld.setTable()-DONE.svg
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style="stroke:#181818;stroke-width:0.5;" x1="366" x2="416" y1="140.2969" y2="140.2969"/></g><g id="elem_node2"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="124" x="7" y="233"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="22" x="58" y="247.9951">Bin</text><line style="stroke:#181818;stroke-width:0.5;" x1="8" x2="130" y1="253.2969" y2="253.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="112" x="13" y="270.292">Name = binBlue</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="13" y="286.5889">Color =</text></g><g id="elem_node3"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="91" x="23.5" y="371"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="51.5" y="385.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="24.5" x2="113.5" y1="391.2969" y2="391.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="65" x="29.5" y="408.292">X = -0.23</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="60" x="29.5" y="424.5889">Y = 0.67</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="29.5" y="440.8857">Z = 0.9425</text></g><g id="elem_node9"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="121" x="166.5" y="233"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="22" x="216" y="247.9951">Bin</text><line style="stroke:#181818;stroke-width:0.5;" x1="167.5" x2="286.5" y1="253.2969" y2="253.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="109" x="172.5" y="270.292">Name = binRed</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="172.5" y="286.5889">Color =</text></g><g id="elem_node10"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="91" x="181.5" y="371"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="209.5" y="385.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="182.5" x2="271.5" y1="391.2969" y2="391.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="65" x="187.5" y="408.292">X = -0.23</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="60" x="187.5" y="424.5889">Y = 0.49</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="187.5" y="440.8857">Z = 0.9425</text></g><g id="elem_node14"><rect fill="#CCCCCC" height="60.8906" 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lengthAdjust="spacing" textLength="42" x="693" y="255.9951">Robot</text><line style="stroke:#181818;stroke-width:0.5;" x1="667.5" x2="760.5" y1="261.2969" y2="261.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="83" x="672.5" y="278.292">IsIdle = true</text></g><g id="elem_node26"><rect height="36.2969" style="stroke:#00000000;stroke-width:0.5;fill:none;" width="38" x="695" y="391.5"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="24" x="702" y="406.4951">null</text><line style="stroke:#00000000;stroke-width:0.5;" x1="696" x2="732" y1="411.7969" y2="411.7969"/></g><!--MD5=[954278d14160039b763228014e0fdcc3]
reverse link node0 to node1--><g id="link_node0_node1"><path codeLine="59" d="M391,56.36 C391,76.75 391,102.88 391,119.78 " fill="none" id="node0-backto-node1" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="391,43.34,387,49.34,391,55.34,395,49.34,391,43.34" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="34" x="392" y="86.0669">Table</text></g><!--MD5=[f60b1340598d55a2a52e32a1b47098f9]
reverse link node1 to node2--><g id="link_node1_node2"><path codeLine="60" d="M351.71,138.55 C299.4,139.6 205.52,147.35 137,186 C117.19,197.17 100.19,216.3 88.14,232.63 " fill="none" id="node1-backto-node2" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="365,138.41,358.9564,134.4762,353.0007,138.5419,359.0443,142.4757,365,138.41" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="110" x="138" y="199.0669">PhysicalObject[0]</text></g><!--MD5=[4f25b0d1011bf715ba5463cfa5613c17]
reverse link node1 to node9--><g id="link_node1_node9"><path codeLine="61" d="M352.08,147.14 C326.71,154.03 294.14,166.07 271,186 C256.49,198.5 245.66,217.03 238.37,232.72 " fill="none" id="node1-backto-node9" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="364.96,143.9,358.1684,141.4765,353.3191,146.8135,360.1107,149.2371,364.96,143.9" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="110" x="272" y="199.0669">PhysicalObject[1]</text></g><!--MD5=[292e7be48277a18eb2430569675583c4]
......@@ -24,7 +24,7 @@ hide <<NTA>> stereotype
scale 1.0
object "RobotScene" as node0 #cccccc {
object "RobotWorld" as node0 #cccccc {
}
object "Table" as node1 #cccccc {
}
......
pages/docs/sorting/Context-RobotScene-2022.07.18.17.44.07.337-RobotScene.setTable()-DONE.svg → pages/docs/sorting/Context-RobotWorld-2022.07.18.17.44.07.337-RobotWorld.setTable()-DONE.svg
+ 30
− 30
View file @ 943ed3d3
<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentStyleType="text/css" height="455px" preserveAspectRatio="none" style="width:1037px;height:455px;background:#FFFFFF;" version="1.1" viewBox="0 0 1037 455" width="1037px" zoomAndPan="magnify"><defs/><g><g id="elem_node0"><rect fill="#CCCCCC" height="36.2969" style="stroke:#181818;stroke-width:0.5;" width="100" x="422" y="7"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="86" x="429" y="21.9951">RobotScene</text><line style="stroke:#181818;stroke-width:0.5;" x1="423" x2="521" y1="27.2969" y2="27.2969"/></g><g id="elem_node1"><rect fill="#CCCCCC" height="36.2969" style="stroke:#181818;stroke-width:0.5;" width="52" x="446" y="120"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="38" x="453" y="134.9951">Table</text><line 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lengthAdjust="spacing" textLength="102" x="682" y="247.9951">MovableObject</text><line style="stroke:#181818;stroke-width:0.5;" x1="667.5" x2="798.5" y1="253.2969" y2="253.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="121" x="672.5" y="270.292">Name = bigBlue7</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="672.5" y="286.5889">Color =</text></g><g id="elem_node25"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="91" x="687.5" y="371"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="715.5" y="385.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="688.5" x2="777.5" y1="391.2969" y2="391.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="51" x="693.5" y="408.292">X = 0.2</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="56" x="693.5" y="424.5889">Y = -0.2</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="693.5" y="440.8857">Z = 0.9403</text></g><g id="elem_node30"><rect fill="#CCCCCC" height="44.5938" style="stroke:#181818;stroke-width:0.5;" width="99" x="931.5" y="241"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="42" x="960" y="255.9951">Robot</text><line style="stroke:#181818;stroke-width:0.5;" x1="932.5" x2="1029.5" y1="261.2969" y2="261.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="87" x="937.5" y="278.292">IsIdle = false</text></g><!--MD5=[954278d14160039b763228014e0fdcc3]
<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentStyleType="text/css" height="455px" preserveAspectRatio="none" style="width:1037px;height:455px;background:#FFFFFF;" version="1.1" viewBox="0 0 1037 455" width="1037px" zoomAndPan="magnify"><defs/><g><g id="elem_node0"><rect fill="#CCCCCC" height="36.2969" style="stroke:#181818;stroke-width:0.5;" width="100" x="422" y="7"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="86" x="429" y="21.9951">RobotWorld</text><line style="stroke:#181818;stroke-width:0.5;" x1="423" x2="521" y1="27.2969" y2="27.2969"/></g><g id="elem_node1"><rect fill="#CCCCCC" height="36.2969" style="stroke:#181818;stroke-width:0.5;" width="52" x="446" y="120"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="38" x="453" y="134.9951">Table</text><line style="stroke:#181818;stroke-width:0.5;" x1="447" x2="497" y1="140.2969" y2="140.2969"/></g><g id="elem_node2"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="124" x="7" y="233"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="22" x="58" y="247.9951">Bin</text><line style="stroke:#181818;stroke-width:0.5;" x1="8" x2="130" y1="253.2969" y2="253.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="112" x="13" y="270.292">Name = binBlue</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="13" y="286.5889">Color =</text></g><g id="elem_node3"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="91" x="23.5" y="371"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="51.5" y="385.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="24.5" x2="113.5" y1="391.2969" y2="391.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="65" x="29.5" y="408.292">X = -0.23</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="60" x="29.5" y="424.5889">Y = 0.67</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="29.5" y="440.8857">Z = 0.9425</text></g><g id="elem_node9"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="121" x="166.5" y="233"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="22" x="216" y="247.9951">Bin</text><line style="stroke:#181818;stroke-width:0.5;" x1="167.5" x2="286.5" y1="253.2969" y2="253.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="109" x="172.5" y="270.292">Name = binRed</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="172.5" y="286.5889">Color =</text></g><g id="elem_node10"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="91" x="181.5" y="371"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="209.5" y="385.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="182.5" x2="271.5" y1="391.2969" y2="391.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="65" x="187.5" y="408.292">X = -0.23</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="60" x="187.5" y="424.5889">Y = 0.49</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="187.5" y="440.8857">Z = 0.9425</text></g><g id="elem_node14"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="136" x="323" y="233"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="22" x="380" y="247.9951">Bin</text><line style="stroke:#181818;stroke-width:0.5;" x1="324" x2="458" y1="253.2969" y2="253.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="124" x="329" y="270.292">Name = binGreen</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="329" y="286.5889">Color =</text></g><g id="elem_node15"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="91" x="345.5" y="371"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="373.5" y="385.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="346.5" x2="435.5" y1="391.2969" y2="391.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="65" x="351.5" y="408.292">X = -0.23</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="65" x="351.5" y="424.5889">Y = -0.49</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="351.5" y="440.8857">Z = 0.9425</text></g><g id="elem_node19"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="137" x="494.5" y="233"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="22" x="552" y="247.9951">Bin</text><line style="stroke:#181818;stroke-width:0.5;" x1="495.5" x2="630.5" y1="253.2969" y2="253.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="125" x="500.5" y="270.292">Name = binYellow</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="500.5" y="286.5889">Color =</text></g><g id="elem_node20"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="91" x="517.5" y="371"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="545.5" y="385.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="518.5" x2="607.5" y1="391.2969" y2="391.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="65" x="523.5" y="408.292">X = -0.23</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="65" x="523.5" y="424.5889">Y = -0.67</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="523.5" y="440.8857">Z = 0.9425</text></g><g id="elem_node24"><rect fill="#CCCCCC" height="60.8906" style="stroke:#181818;stroke-width:0.5;" width="133" x="666.5" y="233"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="102" x="682" y="247.9951">MovableObject</text><line style="stroke:#181818;stroke-width:0.5;" x1="667.5" x2="798.5" y1="253.2969" y2="253.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="121" x="672.5" y="270.292">Name = bigBlue7</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="52" x="672.5" y="286.5889">Color =</text></g><g id="elem_node25"><rect fill="#CCCCCC" height="77.1875" style="stroke:#181818;stroke-width:0.5;" width="91" x="687.5" y="371"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="35" x="715.5" y="385.9951">Pose</text><line style="stroke:#181818;stroke-width:0.5;" x1="688.5" x2="777.5" y1="391.2969" y2="391.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="51" x="693.5" y="408.292">X = 0.2</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="56" x="693.5" y="424.5889">Y = -0.2</text><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="79" x="693.5" y="440.8857">Z = 0.9403</text></g><g id="elem_node30"><rect fill="#CCCCCC" height="44.5938" style="stroke:#181818;stroke-width:0.5;" width="99" x="931.5" y="241"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="42" x="960" y="255.9951">Robot</text><line style="stroke:#181818;stroke-width:0.5;" x1="932.5" x2="1029.5" y1="261.2969" y2="261.2969"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacing" textLength="87" x="937.5" y="278.292">IsIdle = false</text></g><!--MD5=[954278d14160039b763228014e0fdcc3]
reverse link node0 to node1--><g id="link_node0_node1"><path codeLine="67" d="M472,56.36 C472,76.75 472,102.88 472,119.78 " fill="none" id="node0-backto-node1" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="472,43.34,468,49.34,472,55.34,476,49.34,472,43.34" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="34" x="473" y="86.0669">Table</text></g><!--MD5=[f60b1340598d55a2a52e32a1b47098f9]
reverse link node1 to node2--><g id="link_node1_node2"><path codeLine="68" d="M432.72,141.22 C355.99,146.1 189.33,159.48 139,186 C118.46,196.83 100.84,216.17 88.42,232.69 " fill="none" id="node1-backto-node2" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="445.95,140.41,439.7152,136.7869,433.9728,141.1487,440.2076,144.7718,445.95,140.41" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="110" x="140" y="199.0669">PhysicalObject[0]</text></g><!--MD5=[4f25b0d1011bf715ba5463cfa5613c17]
reverse link node1 to node9--><g id="link_node1_node9"><path codeLine="69" d="M432.62,139.94 C390.31,142.77 322.86,152.67 276,186 C259.68,197.61 247.49,216.53 239.35,232.65 " fill="none" id="node1-backto-node9" style="stroke:#181818;stroke-width:1.0;"/><polygon fill="#181818" points="445.68,139.24,439.4732,135.5691,433.6974,139.8866,439.9043,143.5575,445.68,139.24" style="stroke:#181818;stroke-width:1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacing" textLength="110" x="277" y="199.0669">PhysicalObject[1]</text></g><!--MD5=[292e7be48277a18eb2430569675583c4]
......@@ -27,7 +27,7 @@ hide <<NTA>> stereotype
scale 1.0
object "RobotScene" as node0 #cccccc {
object "RobotWorld" as node0 #cccccc {
}
object "Table" as node1 #cccccc {
}
......
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