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