def ros_style_midca():
#myMidca = base.MIDCA(None, verbose = 2)
myMidca = base.PhaseManager(None, verbose=4, metaEnabled=True)
for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Perceive", perceive.ROSObserver())
myMidca.append_module("Interpret", guide.InstructionReceiver())
myMidca.append_module("Eval", evaluate.EvalPointingFromFeedback())
myMidca.append_module("Intend", intend.SimpleIntend())
#myMidca.append_module("Plan", planning.AsynchPyhopPlanner(DECLARE_METHODS_FUNC,
# DECLARE_OPERATORS_FUNC))
myMidca.append_module("Plan", planningbroken.PyHopPlannerBroken(util.pyhop_state_from_world,
util.pyhop_tasks_from_goals,
DECLARE_METHODS_FUNC,
DECLARE_OPERATORS_FUNC,
extinguishers=False))
myMidca.append_module("Act", act.AsynchronousAct())
# add meta layer phases
#for phase in ["Monitor", "Interpret", "Eval", "Intend", "Plan", "Control"]:
for phase in ["Monitor", "Interpret", "Intend", "Plan", "Control"]:
myMidca.append_meta_phase(phase)
# add meta layer modules
myMidca.append_meta_module("Monitor", monitor.MRSimpleMonitor())
myMidca.append_meta_module("Interpret", interpret.MRSimpleDetectOld())
myMidca.append_meta_module("Interpret", interpret.MRSimpleGoalGen())
myMidca.append_meta_module("Intend", metaintend.MRSimpleIntend())
myMidca.append_meta_module("Plan", plan.MRSimplePlanner(using_baxter=True))
myMidca.append_meta_module("Control", control.MRSimpleControl())
return myMidca
def ros_style_midca():
myMidca = base.MIDCA(None, verbose=2)
for phase in ["Perceive", "Interpret", "Eval", "Intend", "Plan", "Act"]:
myMidca.append_phase(phase)
myMidca.append_module("Perceive", perceive.ROSObserver())
myMidca.append_module("Interpret", guide.InstructionReceiver())
myMidca.append_module("Eval", evaluate.EvalPointingFromFeedback())
myMidca.append_module("Intend", intend.SimpleIntend())
myMidca.append_module(
"Plan",
planning.AsynchPyhopPlanner(methods.declare_methods,
operators.declare_ops))
myMidca.append_module("Act", act.AsynchronousAct())
return myMidca