def demo_path_planner():
global pp
global initial_state
global start_state
global animation_delay_sec
start_time = time.time()
# Initialize to global variable
demo_initial_state = initial_state
# If global variable was not set, use a default value
if not is_valid_file(demo_initial_state):
demo_initial_state = "examples/initialState/Gorbett-start1.txt"
# Create initial state
start_state = pp.initializeStartState(demo_initial_state)
# NOTE: State is an object that contains a dictionary, state.blocks, in the form {blockid: blockObject}
# The blockObject should contain all the information necessary to visualize it
# Create a planner for individual moves
path_planner = PathPlanner()
# Display the initial state
# vis.show_state(start_state)
# Get moves to put block5 on the table in the given state
print("------------------------------")
print("planMove - block5 above table")
print("------------------------------")
new_state, moves, visited_states = path_planner.planMove(("block5", "above", "table"), start_state)
elapsed = str(timedelta(seconds=time.time() - start_time))
for move in moves:
print(move[0])
vis.show_state(move[1], move[0])
time.sleep(animation_delay_sec)
# Print final state w/o command. This is needed to 'remove' command formatting
vis.show_state(move[1])
print("Completed move planning in {0} moves after visiting {1} unique states in {2}".format(
str(len(moves)), str(visited_states), elapsed))
# Get moves to put slide block4 next to block6
print("--------------------------------------")
print("planMove - slide block4 next to block6")
print("--------------------------------------")
start_time = time.time()
new_state, moves, visited_states = path_planner.planMove(("block4", "next-to", "block6"), new_state)
elapsed = str(timedelta(seconds=time.time() - start_time))
for move in moves:
print(move[0])
vis.show_state(move[1], move[0])
time.sleep(animation_delay_sec)
# Print final state w/o command. This is needed to 'remove' command formatting
vis.show_state(move[1])
print("Completed move planning in {0} moves after visiting {1} unique states in {2}".format(
str(len(moves)), str(visited_states), elapsed))
