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