def parse(self, utterance):
'''
Parses and returns result.
Returns:
RobotCommand
'''
rc = self.parser.parse(utterance)
self.parse_buffer = Logger.get_buffer()
return rc
def _set_world_internal(self, world_objects, robot):
'''
Sets the parser's world, robot, parser maybe regenerates.
This is so we can capture the log for reporting (if desired).
Args:
world_objects ([WorldObject])
robot ([Robot])
'''
self.parser.set_world(world_objects, robot)
self.start_buffer = Logger.get_buffer()
def ground(self, grounding_query):
'''
Grounds the provided expression with probabilities over objs.
Args:
grounding_query (str)
Returns:
{str: float}: Map of obj : P(obj).
'''
gprobs = self.parser.ground(grounding_query)
self.parse_buffer = Logger.get_buffer()
return gprobs
def describe(self, grab_buffer=True):
'''
Describes all objects in the world.
Args:
grab_buffer (bool, optional): Whether to grab the log buffer
and save it as self.parse_buffer. Defaults to True.
Returns:
{str: str}: Map of object names to their description.
'''
desc = self.parser.describe()
if grab_buffer:
self.parse_buffer = Logger.get_buffer()
return desc
