Missing parameters from super

grammar/lexicon.xml

@@ -123,7 +123,7 @@ $Revision: 1.6 $, $Date: 2010/09/13 04:45:19 $
     <member stem="along" />
   </family>
 
-  <family name="Prepositions" pos="Prep" indexRel="preposition">
+  <family name="Prepositions" pos="Prep" indexRel="preposition" closed="true">
     <entry name="s\np/np">
       <complexcat>
         <atomcat type="np">

lingua/trees.py

@@ -349,8 +349,8 @@ def learn(leaf):
 
       learnt=Method(
           name=method.get_name(),
-          preconditions=root.get_preconditions(),
-          postconditions=root.get_postconditions(),
+          preconditions=[],
+          postconditions=[],
           root=root.to_json(self.parent.arguments)
       )
 

lingua/types.py

@@ -658,7 +658,7 @@ def to_btree(self):
 
   def to_query(self):
     if self.is_grounded():
-      return super().to_query()
+      return super(Object, self).to_query()
 
     atoms = ['(class_label {} ?)'.format(self.name)]
 
@@ -750,7 +750,7 @@ def __init__(self, type_name='', name='', attributes=None, relation=None, limit=
 
   def to_query(self):
     if self.is_grounded():
-      return super().to_query()
+      return super(DummyObject, self).to_query()
 
     atoms = []
 

scripts/lingua

@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 import rospy
 import time
+import os
 
 from lingua.method import Method
 from lingua.trees import Lingua, OneShotSelector
@@ -28,10 +29,14 @@ if __name__ == '__main__':
     rospy.ServiceProxy('/kb/clear', Clear)('types')
     rospy.ServiceProxy('/kb/load', Load)('types', rospy.get_param('~types_file'))
 
-  if rospy.has_param('~method_path'):
-    Method.set_path(rospy.get_param('~method_path'))
+  path = rospy.get_param('~method_path')
+
+  Method.set_path(os.path.join(path, 'primitives'))
+  Method.load()
 
+  Method.set_path(os.path.join(path, 'methods'))
   Method.load()
+
   #Watchdog(), 
-  bt = BehaviourTree('Lingua', Selector(children=[Lingua()]))
-  bt.run(push_to_start=False, hz=1, setup_timeout=2)
+  bt = BehaviourTree('Lingua', Selector(children=[Watchdog(), Lingua()]))
+  bt.run(push_to_start=False, hz=1, setup_timeout=2)