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Cookwala / SDK und Szenarien / 031
Compare two devices on the same recipe: same plan length, different rungs
Two kitchen robots with the same operations and different sensors both plan lentil soup. The plans have the same eleven steps; the verification column is where they differ.
Zuerst lesen: /docs/CORE/ /docs/QUICKSTART/
Schritte
Without thermometers: heating, boiling and hot holding are logged estimates.
dryRunWith thermometers: pan surface, liquid and core temperature verify the same three steps.
dryRunThe difference is four sensors in the capability documents.
getDevicesBoth robots cut the vegetables under their camera; the knife step is identical.
Ergebnis
You can diff two devices by the rung each step gets, which is a fair way to compare products: not what they accept, but what they verify. Next: scenario 010 does the same with estimates forbidden.
Kommandozeile
cookwala dryrun examples/lentil-soup.cookwala.json --device examples/capabilities/demo-hob-robot-basic.json --human-present
cookwala dryrun examples/lentil-soup.cookwala.json --device examples/capabilities/demo-hob-robot.json --human-present
curl -s http://localhost:7878/v1/tools/devicesAufgezeichnete Ausgabe
Status: ok
[1] dryRun: {"state": "accepted", "plan": [{"node": "n1", "op": "cw.op.cut", "by": "device", "verifiedBy": "sensor", "rung": "cw.sense.vision"}, {"node": "n2", "op": "cw.op.cut", "by": "device", "verifiedBy": "sensor", "rung": "cw.sense.vision"}, {"node": "n3", "op": "cw.op.crush", "by": "device", "verifiedBy": "time", "rung": "time"}, {"node": "n4", "op": "cw.op.heat", "by": "device", "verifiedBy": "model", "rung": "model"}, {"node": "n5", "op": "cw.op.saute", "by": "device", "verifiedBy": "model", "rung": "model"}, {"node": "n6", "op": "cw.op.boil", "by": "device", "verifiedBy": "model", "rung": "model"…
[2] dryRun: {"state": "accepted", "plan": [{"node": "n1", "op": "cw.op.cut", "by": "device", "verifiedBy": "sensor", "rung": "cw.sense.vision"}, {"node": "n2", "op": "cw.op.cut", "by": "device", "verifiedBy": "sensor", "rung": "cw.sense.vision"}, {"node": "n3", "op": "cw.op.crush", "by": "device", "verifiedBy": "time", "rung": "time"}, {"node": "n4", "op": "cw.op.heat", "by": "device", "verifiedBy": "sensor", "rung": "cw.sense.pan_surface_temp"}, {"node": "n5", "op": "cw.op.saute", "by": "device", "verifiedBy": "sensor", "rung": "cw.sense.pan_surface_temp"}, {"node": "n6", "op": "cw.op.boil", "by": "devic…
[3] getDevices: {"devices": {"demo-arm": {"cookwala": "0.1.0", "actor": {"kind": "robot", "id": "demo:arm", "vendor": "Cookwala demo presets", "model": "Counter robot arm (cuts, cracks, mixes, moves)"}, "roles": ["executor"], "location": {"zone": "kitchen", "mobile": false}, "capabilities": {"ops": [{"op": "cw.op.cut"}, {"op": "cw.op.crack"}, {"op": "cw.op.transfer"}, {"op": "cw.op.mix"}, {"op": "cw.op.whisk"}, {"op": "cw.op.wash"}, {"op": "cw.op.drain"}, {"op": "cw.op.crush"}, {"op": "cw.op.grate"}, {"op": "cw.op.layer"}, {"op": "cw.op.garnish"}, {"op": "cw.op.form"}], "sensors": [{"sensor": "cw.sense.vision…Code
Ausführen: python scenarios/out/031-compare-two-devices-on-one-recipe/python.py
# Scenario 031: Compare two devices on the same recipe: same plan length, different rungs
# Two kitchen robots with the same operations and different sensors both plan lentil soup. The plans have the same eleven steps; the verification column is where they differ.
# Run a hub first: python hub/cookwala_hub.py --recipes examples
import json, os
from cookwala.client import CookwalaClient, CookwalaProblem
def load(path):
with open(path, encoding="utf-8") as f:
return json.load(f)
def pick(obj, path):
for part in path.replace("]", "").replace("[", ".").split("."):
obj = obj[int(part)] if part.isdigit() else (len(obj) if part == "length" else obj.get(part))
return obj
c = CookwalaClient(os.environ.get("COOKWALA_HUB", "http://localhost:7878"))
# Step 1: Without thermometers: heating, boiling and hot holding are logged estimates.
basic = c.dry_run(recipe_id="lentil-soup", device_id="demo-hob-robot-basic", human_present=True)
assert pick(basic, "state") == "accepted", pick(basic, "state")
print("ok", "state", "=", "accepted")
assert pick(basic, "plan.length") == 11, pick(basic, "plan.length")
print("ok", "plan.length", "=", 11)
assert pick(basic, "plan[3].rung") == "model", pick(basic, "plan[3].rung")
print("ok", "plan[3].rung", "=", "model")
assert pick(basic, "plan[5].rung") == "model", pick(basic, "plan[5].rung")
print("ok", "plan[5].rung", "=", "model")
assert pick(basic, "plan[9].rung") == "model", pick(basic, "plan[9].rung")
print("ok", "plan[9].rung", "=", "model")
# Step 2: With thermometers: pan surface, liquid and core temperature verify the same three steps.
thermometers = c.dry_run(recipe_id="lentil-soup", device_id="demo-hob-robot", human_present=True)
assert pick(thermometers, "state") == "accepted", pick(thermometers, "state")
print("ok", "state", "=", "accepted")
assert pick(thermometers, "plan.length") == 11, pick(thermometers, "plan.length")
print("ok", "plan.length", "=", 11)
assert pick(thermometers, "plan[3].rung") == "cw.sense.pan_surface_temp", pick(thermometers, "plan[3].rung")
print("ok", "plan[3].rung", "=", "cw.sense.pan_surface_temp")
assert pick(thermometers, "plan[5].rung") == "cw.sense.liquid_temp", pick(thermometers, "plan[5].rung")
print("ok", "plan[5].rung", "=", "cw.sense.liquid_temp")
assert pick(thermometers, "plan[9].rung") == "cw.sense.core_temp", pick(thermometers, "plan[9].rung")
print("ok", "plan[9].rung", "=", "cw.sense.core_temp")
# Step 3: The difference is four sensors in the capability documents.
devices = c.get_devices()
assert pick(devices, "devices.demo-hob-robot.capabilities.sensors.length") == 5, pick(devices, "devices.demo-hob-robot.capabilities.sensors.length")
print("ok", "devices.demo-hob-robot.capabilities.sensors.length", "=", 5)
assert pick(devices, "devices.demo-hob-robot-basic.capabilities.sensors.length") == 1, pick(devices, "devices.demo-hob-robot-basic.capabilities.sensors.length")
print("ok", "devices.demo-hob-robot-basic.capabilities.sensors.length", "=", 1)
# Step 4: Both robots cut the vegetables under their camera; the knife step is identical.
assert pick(basic, "plan[0].rung") == "cw.sense.vision", pick(basic, "plan[0].rung")
print("ok", "plan[0].rung", "=", "cw.sense.vision")
assert pick(thermometers, "plan[0].rung") == "cw.sense.vision", pick(thermometers, "plan[0].rung")
print("ok", "plan[0].rung", "=", "cw.sense.vision")
print("scenario complete")