def __actionArmEmpty(self):
"""
Action taken when arm is empty
References
----------
armEmpty() -> putDown(?Z) | stack(?X, ?Y)
"""
Log.d(f"Arm is empty :: {self.__planningStack}")
exit(1)
def getPlan(self, startState: str, goalState: str):
"""
Run the Goal Stack Planner and creates the final plan to achieve the Goal State
Parameters
----------
startState : str
starting state
goalState : str
goal state to achieve
Returns
-------
list
list of actions to be taken to achieve the goal state
"""
self.__startState = startState.split(self.__sep)
self.__goalState = goalState.split(self.__sep)
self.__currentStack = self.__startState.copy()
# creating the plan stack
for predicate in self.__goalState:
self.__planningStack.append(predicate)
# running for the stack empty
while len(self.__planningStack) > 0:
if self.__verbose:
Log.d(f"Planning Stack :: {self.__planningStack}")
Log.d(f"Current Stack :: {self.__currentStack}")
top = self.__planningStack.pop()
temp = top.split()
# if it is a predicate in current stack pop it
if temp[0] in self.__predicates:
if top in self.__currentStack:
continue
else:
# if it is a predicate
if temp[0] == Predicate.ON:
self.__actionOn(temp[1], temp[2])
elif temp[0] == Predicate.ON_TABLE:
self.__actionOnTable(temp[1])
elif temp[0] == Predicate.CLEAR:
self.__actionClear(temp[1])
elif temp[0] == Predicate.HOLDING:
self.__actionHolding(temp[1])
elif temp[0] == Predicate.ARM_EMPTY:
self.__actionArmEmpty()
if temp[0] in self.__actions:
# if it is an action
if temp[0] == Action.STACK:
self.__effectStack(temp[1], temp[2])
elif temp[0] == Action.UNSTACK:
self.__effectUnStack(temp[1], temp[2])
elif temp[0] == Action.PICKUP:
self.__effectPickUp(temp[1])
elif temp[0] == Action.PUTDOWN:
self.__effectPutDown(temp[1])
# add processed action
self.__plan.append(top)
if self.__verbose:
Log.d(f"Final stack :: {self.__currentStack}")
return self.__plan
from lib.logger import Log
Log.setPrint(True)
Log.d("Ok this function is working")
Log.i("The video format suggested is .mp4")
Log.e("Error parsing the video format")
Log.w(f"Using mpeg4sc to parse the video : {10 ** 10}xdRG")