Cookwala / SDK and scenarios / 035
Ask the device what it can do, then dry-run against its own answer
An agent should not assume a device from a catalog. Read the capability document from the Core API and pass it to the dry run as the device, so the plan is made against what the device itself declared.
Read first: /docs/CORE/ /docs/QUICKSTART/
Steps
The hub's device: the example arm with cut, crack and transfer.
capabilitiesShakshuka against the device's own document, a person present: the arm cuts, the person cooks.
dryRunNobody present: refused before motion.
dryRunKoshari against the same document: the arm cuts the onions; the person does the other nineteen steps, including the frying.
dryRun
Outcome
Your agent plans against the live device, never a cached idea of it, and can say which steps it will ask the household to do. Scenario 018 shows what happens when the agent then sends a request.
Command line
curl -s http://localhost:7878/v1/capabilities > device.json
cookwala dryrun examples/shakshuka.cookwala.json --device device.json --human-present
cookwala dryrun examples/koshari.cookwala.json --device device.json --human-presentRecorded output
Status: ok
[1] capabilities: {"cookwala": "0.1.0", "actor": {"kind": "robot", "id": "robot:arm-1", "vendor": "Example Robotics", "model": "CounterArm 2"}, "roles": ["executor"], "location": {"zone": "counter-left", "mobile": false}, "capabilities": {"ops": [{"op": "cw.op.cut", "params": {"shape": ["dice", "slice", "mince", "julienne"]}, "ingredientClasses": ["cw.ing.class.vegetable_firm", "cw.ing.class.herb"], "reliability": 0.97}, {"op": "cw.op.crack", "reliability": 0.95}, {"op": "cw.op.transfer", "maxMassG": 3000}], "sensors": [{"sensor": "cw.sense.vision", "visionCues": ["cw.sense.translucent", "cw.sense.egg_whites_se…
[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.cut", "by": "device", "verifiedBy": "sensor", "rung": "cw.sense.vision"}, {"node": "n4", "op": "cw.op.heat", "by": "human", "verifiedBy": "human"}, {"node": "n5", "op": "cw.op.saute", "by": "human", "verifiedBy": "human"}, {"node": "n6", "op": "cw.op.saute", "by": "human", "verifiedBy": "human"}, {"node": "n7", "op": "cw.op.simmer", "b…
[3] dryRun: {"state": "refused", "refusal": {"reason": "needs_human_present", "node": "n1", "detail": "cw.op.cut may not run unattended"}, "plan": []}
[4] dryRun: {"state": "accepted", "plan": [{"node": "n1", "op": "cw.op.boil", "by": "human", "verifiedBy": "human"}, {"node": "n2", "op": "cw.op.simmer", "by": "human", "verifiedBy": "human"}, {"node": "n3", "op": "cw.op.drain", "by": "human", "verifiedBy": "human"}, {"node": "n4", "op": "cw.op.boil", "by": "human", "verifiedBy": "human"}, {"node": "n5", "op": "cw.op.boil", "by": "human", "verifiedBy": "human"}, {"node": "n6", "op": "cw.op.drain", "by": "human", "verifiedBy": "human"}, {"node": "n7", "op": "cw.op.heat", "by": "human", "verifiedBy": "human"}, {"node": "n8", "op": "cw.op.toast", "by": "huma…Code
Run: python scenarios/out/035-plan-with-the-devices-own-capabilities/python.py
# Scenario 035: Ask the device what it can do, then dry-run against its own answer
# An agent should not assume a device from a catalog. Read the capability document from the Core API and pass it to the dry run as the device, so the plan is made against what the device itself declared.
# 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: The hub's device: the example arm with cut, crack and transfer.
caps = c.capabilities()
assert pick(caps, "actor.id") == "robot:arm-1", pick(caps, "actor.id")
print("ok", "actor.id", "=", "robot:arm-1")
assert pick(caps, "capabilities.ops.length") == 3, pick(caps, "capabilities.ops.length")
print("ok", "capabilities.ops.length", "=", 3)
# Step 2: Shakshuka against the device's own document, a person present: the arm cuts, the person cooks.
withPerson = c.dry_run(recipe_id="shakshuka", device=caps, human_present=True)
assert pick(withPerson, "state") == "accepted", pick(withPerson, "state")
print("ok", "state", "=", "accepted")
assert pick(withPerson, "plan.length") == 13, pick(withPerson, "plan.length")
print("ok", "plan.length", "=", 13)
assert pick(withPerson, "plan[0].by") == "device", pick(withPerson, "plan[0].by")
print("ok", "plan[0].by", "=", "device")
assert pick(withPerson, "plan[3].by") == "human", pick(withPerson, "plan[3].by")
print("ok", "plan[3].by", "=", "human")
# Step 3: Nobody present: refused before motion.
alone = c.dry_run(recipe_id="shakshuka", device=caps, human_present=False)
assert pick(alone, "state") == "refused", pick(alone, "state")
print("ok", "state", "=", "refused")
assert pick(alone, "refusal.reason") == "needs_human_present", pick(alone, "refusal.reason")
print("ok", "refusal.reason", "=", "needs_human_present")
# Step 4: Koshari against the same document: the arm cuts the onions; the person does the other nineteen steps, including the frying.
koshari = c.dry_run(recipe_id="koshari", device=caps, human_present=True)
assert pick(koshari, "state") == "accepted", pick(koshari, "state")
print("ok", "state", "=", "accepted")
assert pick(koshari, "plan.length") == 20, pick(koshari, "plan.length")
print("ok", "plan.length", "=", 20)
assert pick(koshari, "plan[10].by") == "device", pick(koshari, "plan[10].by")
print("ok", "plan[10].by", "=", "device")
assert pick(koshari, "plan[13].by") == "human", pick(koshari, "plan[13].by")
print("ok", "plan[13].by", "=", "human")
print("scenario complete")