SpecEditor

Overview

The specification editor (specEditor.py) is where the user specifies a mission for the robot, by dictating tasks in one of the supported languages. It consists of three windows, as shown below and explained in detail in the remainder of this page, as well as a menu bar:

placeholder * Main window: This is where the user actually types in the specification tasks (components of the robot's mission) * Right window: Regions - Sensors - Actuators - Custom Propositions * Bottom window: Compiler Log - LTL Output - Workspace Decomposition * Menu bar: File - Edit - Run - Debug

For detailed instructions on how to create a map, write a specification, and run (simulate) the mission, please see the tutorial.

Main window

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Insert a # at the beginning of a line to comment it out. The line's text will turn green.

Supported Language Pipelines

The user can choose to write [task specifications](Task Specifications) in any of the following languages:

• Structured English (default)
• A small subset of natural language via SLURP (Situation and Language Understanding Robot Platform)
• Raw LTL (the GR(1) fragment of Linear Temporal Logic)

The choice is made in the Compilation Options (?) menu, as shown below:

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Right window

Regions

Sensors

Actuators

Custom Propositions

Bottom window

Compiler Log

LTL Output

Workspace Decomposition