def create(self):
        # x:712 y:612, x:820 y:97
        _state_machine = OperatableStateMachine(
            outcomes=['finished', 'failed'])
        _state_machine.userdata.name = "person"
        _state_machine.userdata.distance = 1.05
        _state_machine.userdata.taxi = "taxi"
        _state_machine.userdata.umbrella = "umbrella"

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:30 y:365, x:130 y:365, x:230 y:365
        _sm_get_closer_0 = ConcurrencyContainer(
            outcomes=['finished'],
            input_keys=['ID'],
            conditions=[('finished', [('follow', 'failed')]),
                        ('finished', [('wait 3', 'done')])])

        with _sm_get_closer_0:
            # x:46 y:131
            OperatableStateMachine.add('follow',
                                       SaraFollow(distance=1.15,
                                                  ReplanPeriod=0.5),
                                       transitions={'failed': 'finished'},
                                       autonomy={'failed': Autonomy.Off},
                                       remapping={'ID': 'ID'})

            # x:223 y:134
            OperatableStateMachine.add('wait 3',
                                       WaitState(wait_time=4),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

        # x:571 y:592
        _sm_scan_1 = OperatableStateMachine(outcomes=['finished'])

        with _sm_scan_1:
            # x:42 y:66
            OperatableStateMachine.add(
                'Looking',
                SaraSay(
                    sentence=
                    "I am trying to find who wants to leave. Please raise your hand.",
                    input_keys=[],
                    emotion=0,
                    block=False),
                transitions={'done': 'center'},
                autonomy={'done': Autonomy.Off})

            # x:394 y:262
            OperatableStateMachine.add('right',
                                       SaraSetHeadAngle(pitch=0.1, yaw=-0.3),
                                       transitions={'done': 'w3'},
                                       autonomy={'done': Autonomy.Off})

            # x:206 y:372
            OperatableStateMachine.add('center2',
                                       SaraSetHeadAngle(pitch=0.1, yaw=0),
                                       transitions={'done': 'w4'},
                                       autonomy={'done': Autonomy.Off})

            # x:34 y:589
            OperatableStateMachine.add('w1',
                                       WaitState(wait_time=3),
                                       transitions={'done': 'center3'},
                                       autonomy={'done': Autonomy.Off})

            # x:413 y:159
            OperatableStateMachine.add('w2',
                                       WaitState(wait_time=3),
                                       transitions={'done': 'right'},
                                       autonomy={'done': Autonomy.Off})

            # x:415 y:370
            OperatableStateMachine.add('w3',
                                       WaitState(wait_time=3),
                                       transitions={'done': 'center2'},
                                       autonomy={'done': Autonomy.Off})

            # x:39 y:371
            OperatableStateMachine.add('w4',
                                       WaitState(wait_time=3),
                                       transitions={'done': 'left'},
                                       autonomy={'done': Autonomy.Off})

            # x:16 y:475
            OperatableStateMachine.add('left',
                                       SaraSetHeadAngle(pitch=0.1, yaw=0.3),
                                       transitions={'done': 'w1'},
                                       autonomy={'done': Autonomy.Off})

            # x:215 y:156
            OperatableStateMachine.add('center',
                                       SaraSetHeadAngle(pitch=0.1, yaw=0),
                                       transitions={'done': 'w2'},
                                       autonomy={'done': Autonomy.Off})

            # x:213 y:579
            OperatableStateMachine.add('center3',
                                       SaraSetHeadAngle(pitch=0.1, yaw=0),
                                       transitions={'done': 'wait'},
                                       autonomy={'done': Autonomy.Off})

            # x:393 y:576
            OperatableStateMachine.add('wait',
                                       WaitState(wait_time=4),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

        # x:32 y:494, x:627 y:411
        _sm_filtregender_2 = OperatableStateMachine(
            outcomes=['none_found', 'found person'],
            input_keys=['name'],
            output_keys=['pronoun', 'person'])

        with _sm_filtregender_2:
            # x:109 y:51
            OperatableStateMachine.add('List',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=10),
                                       transitions={
                                           'found': 'FiltreWave',
                                           'none_found': 'none_found'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'name',
                                           'entity_list': 'entity_list',
                                           'number': 'number'
                                       })

            # x:180 y:301
            OperatableStateMachine.add(
                'FiltreExitingwomen',
                Filter(filter=lambda x: x.face.gender == "female"),
                transitions={'done': 'no female?'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_list': 'persons',
                    'output_list': 'female'
                })

            # x:174 y:386
            OperatableStateMachine.add(
                'no female?',
                CheckConditionState(predicate=lambda x: len(x) > 0),
                transitions={
                    'true': 'set pronoun female',
                    'false': 'set pronoun male'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'female'})

            # x:374 y:312
            OperatableStateMachine.add(
                'set pronoun female',
                SetKey(Value="miss"),
                transitions={'done': 'get first female'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'pronoun'})

            # x:181 y:476
            OperatableStateMachine.add('set pronoun male',
                                       SetKey(Value=""),
                                       transitions={'done': 'get first male'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'pronoun'})

            # x:599 y:290
            OperatableStateMachine.add(
                'get first female',
                CalculationState(calculation=lambda x: x[0]),
                transitions={'done': 'found person'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'female',
                    'output_value': 'person'
                })

            # x:381 y:408
            OperatableStateMachine.add(
                'get first male',
                CalculationState(calculation=lambda x: x[0]),
                transitions={'done': 'found person'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'persons',
                    'output_value': 'person'
                })

            # x:151 y:135
            OperatableStateMachine.add(
                'FiltreWave',
                Filter(filter=lambda x: x.pose.right_arm_up or x.pose.
                       left_arm_up),
                transitions={'done': 'if more than 0'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_list': 'entity_list',
                    'output_list': 'persons'
                })

            # x:157 y:217
            OperatableStateMachine.add(
                'if more than 0',
                CheckConditionState(predicate=lambda x: len(x) > 0),
                transitions={
                    'true': 'FiltreExitingwomen',
                    'false': 'none_found'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'persons'})

        # x:772 y:208, x:360 y:516
        _sm_confirm_3 = OperatableStateMachine(
            outcomes=['false', 'done'], input_keys=['Person', 'pronoun'])

        with _sm_confirm_3:
            # x:66 y:83
            OperatableStateMachine.add(
                'Confirm',
                SaraSay(sentence=lambda x: "would you like to leave, " + x[0] +
                        "?",
                        input_keys=["pronoun"],
                        emotion=0,
                        block=True),
                transitions={'done': 'GetSpeech'},
                autonomy={'done': Autonomy.Off},
                remapping={'pronoun': 'pronoun'})

            # x:82 y:504
            OperatableStateMachine.add('GetID',
                                       SetRosParam(ParamName="OpeID"),
                                       transitions={'done': 'done'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Value': 'ID'})

            # x:67 y:298
            OperatableStateMachine.add('if yes',
                                       RegexTester(regex=".*((yes)|(I do)).*"),
                                       transitions={
                                           'true': 'get id',
                                           'false': 'test no'
                                       },
                                       autonomy={
                                           'true': Autonomy.Off,
                                           'false': Autonomy.Off
                                       },
                                       remapping={
                                           'text': 'text',
                                           'result': 'result'
                                       })

            # x:84 y:409
            OperatableStateMachine.add('get id',
                                       GetAttribute(attributes=["ID"]),
                                       transitions={'done': 'GetID'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={
                                           'object': 'Person',
                                           'ID': 'ID'
                                       })

            # x:87 y:188
            OperatableStateMachine.add('GetSpeech',
                                       GetSpeech(watchdog=10),
                                       transitions={
                                           'done': 'if yes',
                                           'nothing': 'sayno',
                                           'fail': 'if yes'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'text'})

            # x:259 y:193
            OperatableStateMachine.add(
                'sayno',
                SaraSay(
                    sentence="Sorry, did you say that you wanted to leave?",
                    input_keys=[],
                    emotion=0,
                    block=True),
                transitions={'done': 'getno'},
                autonomy={'done': Autonomy.Off})

            # x:439 y:179
            OperatableStateMachine.add('getno',
                                       GetSpeech(watchdog=10),
                                       transitions={
                                           'done': 'getNO',
                                           'nothing': 'false',
                                           'fail': 'false'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'text'})

            # x:603 y:337
            OperatableStateMachine.add('getNO',
                                       RegexTester(regex=".*((yes)|(I do)).*"),
                                       transitions={
                                           'true': 'get id',
                                           'false': 'false'
                                       },
                                       autonomy={
                                           'true': Autonomy.Off,
                                           'false': Autonomy.Off
                                       },
                                       remapping={
                                           'text': 'text',
                                           'result': 'result'
                                       })

            # x:246 y:298
            OperatableStateMachine.add('test no',
                                       RegexTester(regex=".*((no)|(not)).*"),
                                       transitions={
                                           'true': 'false',
                                           'false': 'sayno'
                                       },
                                       autonomy={
                                           'true': Autonomy.Off,
                                           'false': Autonomy.Off
                                       },
                                       remapping={
                                           'text': 'text',
                                           'result': 'result'
                                       })

        # x:228 y:419
        _sm_find_raising_arm_4 = OperatableStateMachine(
            outcomes=['finished'], output_keys=['umbrella'])

        with _sm_find_raising_arm_4:
            # x:33 y:48
            OperatableStateMachine.add('setperson',
                                       SetKey(Value="person"),
                                       transitions={'done': 'gettaxiperson'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'person'})

            # x:183 y:120
            OperatableStateMachine.add('gettaxiperson',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=10),
                                       transitions={
                                           'found': 'taxi',
                                           'none_found': 'gettaxiperson'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'person',
                                           'entity_list': 'entity_list',
                                           'number': 'number'
                                       })

            # x:408 y:270
            OperatableStateMachine.add(
                'if',
                CheckConditionState(predicate=lambda x: len(x) > 0),
                transitions={
                    'true': 'get first',
                    'false': 'gettaxiperson'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'output_list'})

            # x:344 y:184
            OperatableStateMachine.add(
                'taxi',
                Filter(filter=lambda x: x.pose.right_arm_up or x.pose.
                       left_arm_up),
                transitions={'done': 'if'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_list': 'entity_list',
                    'output_list': 'output_list'
                })

            # x:405 y:359
            OperatableStateMachine.add(
                'get first',
                CalculationState(calculation=lambda x: x[0]),
                transitions={'done': 'finished'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'output_list',
                    'output_value': 'umbrella'
                })

        # x:30 y:365
        _sm_rotation_5 = OperatableStateMachine(outcomes=['end'])

        with _sm_rotation_5:
            # x:51 y:38
            OperatableStateMachine.add('Set 180 degres',
                                       SetKey(Value=3.1416),
                                       transitions={'done': 'Look Center'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'rotation'})

            # x:613 y:470
            OperatableStateMachine.add(
                'action_turn',
                self.use_behavior(
                    sara_flexbe_behaviors__action_turnSM,
                    'GetTaxi/Find umbrella/gettaxihuman/Rotation/action_turn'),
                transitions={
                    'finished': 'Look Right',
                    'failed': 'Look Right'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'rotation': 'rotation'})

            # x:421 y:54
            OperatableStateMachine.add('Look Right',
                                       SaraSetHeadAngle(pitch=0, yaw=-1.5),
                                       transitions={'done': 'w2'},
                                       autonomy={'done': Autonomy.Off})

            # x:265 y:56
            OperatableStateMachine.add('w1',
                                       WaitState(wait_time=4),
                                       transitions={'done': 'Look Right'},
                                       autonomy={'done': Autonomy.Off})

            # x:630 y:56
            OperatableStateMachine.add('w2',
                                       WaitState(wait_time=4),
                                       transitions={'done': 'center'},
                                       autonomy={'done': Autonomy.Off})

            # x:250 y:177
            OperatableStateMachine.add('Look Center',
                                       SaraSetHeadAngle(pitch=0, yaw=0),
                                       transitions={'done': 'w1'},
                                       autonomy={'done': Autonomy.Off})

            # x:618 y:304
            OperatableStateMachine.add('Look Left 2',
                                       SaraSetHeadAngle(pitch=0, yaw=1.5),
                                       transitions={'done': 'w4'},
                                       autonomy={'done': Autonomy.Off})

            # x:612 y:138
            OperatableStateMachine.add('center',
                                       SaraSetHeadAngle(pitch=0, yaw=0),
                                       transitions={'done': 'w3'},
                                       autonomy={'done': Autonomy.Off})

            # x:635 y:214
            OperatableStateMachine.add('w3',
                                       WaitState(wait_time=4),
                                       transitions={'done': 'Look Left 2'},
                                       autonomy={'done': Autonomy.Off})

            # x:636 y:394
            OperatableStateMachine.add('w4',
                                       WaitState(wait_time=4),
                                       transitions={'done': 'action_turn'},
                                       autonomy={'done': Autonomy.Off})

        # x:30 y:365
        _sm_find_entity_6 = OperatableStateMachine(outcomes=['found'],
                                                   input_keys=['className'],
                                                   output_keys=['entity'])

        with _sm_find_entity_6:
            # x:181 y:178
            OperatableStateMachine.add('find_entity',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=4),
                                       transitions={
                                           'found': 'Get Entity',
                                           'none_found': 'find_entity'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'className',
                                           'entity_list': 'entity_list',
                                           'number': 'number'
                                       })

            # x:454 y:178
            OperatableStateMachine.add(
                'Get Entity',
                CalculationState(calculation=lambda x: x[0]),
                transitions={'done': 'found'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'entity_list',
                    'output_value': 'entity'
                })

            # x:194 y:40
            OperatableStateMachine.add('WaitState',
                                       WaitState(wait_time=1),
                                       transitions={'done': 'find_entity'},
                                       autonomy={'done': Autonomy.Off})

        # x:34 y:496, x:130 y:365, x:475 y:291, x:330 y:365, x:430 y:365
        _sm_gettaxihuman_7 = ConcurrencyContainer(
            outcomes=['found', 'not_found'],
            input_keys=['umbrella'],
            output_keys=['umbrella'],
            conditions=[('not_found', [('Rotation', 'end')]),
                        ('found', [('Find Entity', 'found')]),
                        ('found', [('FInd raising arm', 'finished')])])

        with _sm_gettaxihuman_7:
            # x:127 y:67
            OperatableStateMachine.add('Find Entity',
                                       _sm_find_entity_6,
                                       transitions={'found': 'found'},
                                       autonomy={'found': Autonomy.Inherit},
                                       remapping={
                                           'className': 'umbrella',
                                           'entity': 'umbrella'
                                       })

            # x:129 y:180
            OperatableStateMachine.add('Rotation',
                                       _sm_rotation_5,
                                       transitions={'end': 'not_found'},
                                       autonomy={'end': Autonomy.Inherit})

            # x:377 y:127
            OperatableStateMachine.add('FInd raising arm',
                                       _sm_find_raising_arm_4,
                                       transitions={'finished': 'found'},
                                       autonomy={'finished': Autonomy.Inherit},
                                       remapping={'umbrella': 'umbrella'})

        # x:73 y:441, x:586 y:51
        _sm_find_umbrella_8 = OperatableStateMachine(
            outcomes=['finished', 'failed'],
            input_keys=['umbrella'],
            output_keys=['umbrella'])

        with _sm_find_umbrella_8:
            # x:67 y:42
            OperatableStateMachine.add('Look Center',
                                       SaraSetHeadAngle(pitch=0.1, yaw=0),
                                       transitions={'done': 'gettaxihuman'},
                                       autonomy={'done': Autonomy.Off})

            # x:278 y:138
            OperatableStateMachine.add('Look Center Not Found',
                                       SaraSetHeadAngle(pitch=0.1, yaw=0),
                                       transitions={'done': 'failed'},
                                       autonomy={'done': Autonomy.Off})

            # x:58 y:326
            OperatableStateMachine.add('Log Entity',
                                       LogKeyState(
                                           text="Found entity: {}",
                                           severity=Logger.REPORT_HINT),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'data': 'umbrella'})

            # x:63 y:126
            OperatableStateMachine.add('gettaxihuman',
                                       _sm_gettaxihuman_7,
                                       transitions={
                                           'found': 'WaitState',
                                           'not_found': 'Look Center Not Found'
                                       },
                                       autonomy={
                                           'found': Autonomy.Inherit,
                                           'not_found': Autonomy.Inherit
                                       },
                                       remapping={'umbrella': 'umbrella'})

            # x:67 y:222
            OperatableStateMachine.add('WaitState',
                                       WaitState(wait_time=1),
                                       transitions={'done': 'Log Entity'},
                                       autonomy={'done': Autonomy.Off})

        # x:83 y:284
        _sm_lift_head_9 = OperatableStateMachine(outcomes=['finished'])

        with _sm_lift_head_9:
            # x:53 y:42
            OperatableStateMachine.add('lift head',
                                       SaraSetHeadAngle(pitch=0, yaw=0),
                                       transitions={'done': 'wait 2'},
                                       autonomy={'done': Autonomy.Off})

            # x:57 y:152
            OperatableStateMachine.add('wait 2',
                                       WaitState(wait_time=3),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

        # x:30 y:365
        _sm_get_closer_10 = OperatableStateMachine(outcomes=['finished'],
                                                   input_keys=['person'])

        with _sm_get_closer_10:
            # x:151 y:63
            OperatableStateMachine.add('get ID',
                                       GetAttribute(attributes=["ID"]),
                                       transitions={'done': 'Get closer'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={
                                           'object': 'person',
                                           'ID': 'ID'
                                       })

            # x:135 y:194
            OperatableStateMachine.add('Get closer',
                                       _sm_get_closer_0,
                                       transitions={'finished': 'finished'},
                                       autonomy={'finished': Autonomy.Inherit},
                                       remapping={'ID': 'ID'})

        # x:607 y:98, x:558 y:330
        _sm_get_gender_11 = OperatableStateMachine(
            outcomes=['none_found', 'done'],
            input_keys=['name', 'distance'],
            output_keys=['person', 'pronoun'])

        with _sm_get_gender_11:
            # x:30 y:40
            OperatableStateMachine.add('set head',
                                       SaraSetHeadAngle(pitch=0, yaw=0),
                                       transitions={'done': 'Scan'},
                                       autonomy={'done': Autonomy.Off})

            # x:441 y:109
            OperatableStateMachine.add('FiltreGender',
                                       _sm_filtregender_2,
                                       transitions={
                                           'none_found': 'none_found',
                                           'found person': 'done'
                                       },
                                       autonomy={
                                           'none_found': Autonomy.Inherit,
                                           'found person': Autonomy.Inherit
                                       },
                                       remapping={
                                           'name': 'name',
                                           'pronoun': 'pronoun',
                                           'person': 'person'
                                       })

            # x:211 y:93
            OperatableStateMachine.add(
                'Scan',
                _sm_scan_1,
                transitions={'finished': 'FiltreGender'},
                autonomy={'finished': Autonomy.Inherit})

        # x:30 y:373, x:130 y:373
        _sm_nevermind_12 = OperatableStateMachine(outcomes=['done', 'failed'],
                                                  input_keys=['poseOrigin'])

        with _sm_nevermind_12:
            # x:30 y:40
            OperatableStateMachine.add('say ok',
                                       SaraSay(sentence="I will try again",
                                               input_keys=[],
                                               emotion=0,
                                               block=False),
                                       transitions={'done': 'Action_Move'},
                                       autonomy={'done': Autonomy.Off})

            # x:26 y:192
            OperatableStateMachine.add(
                'Action_Move',
                self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
                                  'nevermind/Action_Move'),
                transitions={
                    'finished': 'done',
                    'failed': 'failed'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'pose': 'poseOrigin'})

        # x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458
        _sm_confirm_13 = ConcurrencyContainer(
            outcomes=['false', 'done'],
            input_keys=['person', 'pronoun'],
            conditions=[('false', [('Confirm', 'false')]),
                        ('done', [('Confirm', 'done')]),
                        ('false', [('LookAtClosest', 'failed')])])

        with _sm_confirm_13:
            # x:95 y:163
            OperatableStateMachine.add('Confirm',
                                       _sm_confirm_3,
                                       transitions={
                                           'false': 'false',
                                           'done': 'done'
                                       },
                                       autonomy={
                                           'false': Autonomy.Inherit,
                                           'done': Autonomy.Inherit
                                       },
                                       remapping={
                                           'Person': 'person',
                                           'pronoun': 'pronoun'
                                       })

            # x:309 y:162
            OperatableStateMachine.add(
                'LookAtClosest',
                self.use_behavior(sara_flexbe_behaviors__LookAtClosestSM,
                                  'confirm/LookAtClosest'),
                transitions={'failed': 'false'},
                autonomy={'failed': Autonomy.Inherit})

        # x:65 y:581, x:688 y:449
        _sm_gettaxi_14 = OperatableStateMachine(
            outcomes=['finished', 'failed'],
            input_keys=['distance', 'taxi', 'umbrella'])

        with _sm_gettaxi_14:
            # x:103 y:28
            OperatableStateMachine.add(
                'Action_Move_to taxi',
                self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
                                  'GetTaxi/Action_Move_to taxi'),
                transitions={
                    'finished': 'Lift head',
                    'failed': 'failed'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'pose': 'taxi'})

            # x:220 y:546
            OperatableStateMachine.add(
                'Action_Move',
                self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
                                  'GetTaxi/Action_Move'),
                transitions={
                    'finished': 'finished',
                    'failed': 'failed'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'pose': 'pose_out'})

            # x:80 y:475
            OperatableStateMachine.add('NotTooClose',
                                       Get_Reacheable_Waypoint(),
                                       transitions={'done': 'Action_Move'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={
                                           'pose_in': 'position',
                                           'distance': 'distance',
                                           'pose_out': 'pose_out'
                                       })

            # x:81 y:400
            OperatableStateMachine.add('GEtUmbrellaPosition',
                                       GetAttribute(attributes=["position"]),
                                       transitions={'done': 'NotTooClose'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={
                                           'object': 'umbrella',
                                           'position': 'position'
                                       })

            # x:108 y:131
            OperatableStateMachine.add(
                'Lift head',
                _sm_lift_head_9,
                transitions={'finished': 'Find umbrella'},
                autonomy={'finished': Autonomy.Inherit})

            # x:150 y:315
            OperatableStateMachine.add(
                'log',
                LogKeyState(text="found umbrella: {}",
                            severity=Logger.REPORT_HINT),
                transitions={'done': 'GEtUmbrellaPosition'},
                autonomy={'done': Autonomy.Off},
                remapping={'data': 'umbrella'})

            # x:267 y:312
            OperatableStateMachine.add(
                'say see taxy',
                SaraSay(
                    sentence=
                    "I see the taxi. Over there. The person with the umbrella.",
                    input_keys=[],
                    emotion=0,
                    block=True),
                transitions={'done': 'log'},
                autonomy={'done': Autonomy.Off})

            # x:111 y:204
            OperatableStateMachine.add('Find umbrella',
                                       _sm_find_umbrella_8,
                                       transitions={
                                           'finished': 'say see taxy',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={'umbrella': 'umbrella'})

        with _state_machine:
            # x:46 y:16
            OperatableStateMachine.add('GetOrigin',
                                       Get_Robot_Pose(),
                                       transitions={'done': 'Init_Sequence'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'pose': 'poseOrigin'})

            # x:63 y:574
            OperatableStateMachine.add('GetTaxi',
                                       _sm_gettaxi_14,
                                       transitions={
                                           'finished': 'say succeed',
                                           'failed': 'say fail'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={
                                           'distance': 'distance',
                                           'taxi': 'taxi',
                                           'umbrella': 'umbrella'
                                       })

            # x:103 y:369
            OperatableStateMachine.add('confirm',
                                       _sm_confirm_13,
                                       transitions={
                                           'false': 'nevermind',
                                           'done': 'say taxi'
                                       },
                                       autonomy={
                                           'false': Autonomy.Inherit,
                                           'done': Autonomy.Inherit
                                       },
                                       remapping={
                                           'person': 'person',
                                           'pronoun': 'pronoun'
                                       })

            # x:289 y:142
            OperatableStateMachine.add(
                'say nobody',
                SaraSay(sentence="I don't see any raised hand.",
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'Get Gender'},
                autonomy={'done': Autonomy.Off})

            # x:571 y:104
            OperatableStateMachine.add(
                'say fail',
                SaraSay(sentence="I failed this scenario. Sorry.",
                        input_keys=[],
                        emotion=3,
                        block=True),
                transitions={'done': 'failed'},
                autonomy={'done': Autonomy.Off})

            # x:245 y:595
            OperatableStateMachine.add('say succeed',
                                       SaraSay(
                                           sentence="here is the taxy driver.",
                                           input_keys=[],
                                           emotion=5,
                                           block=True),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

            # x:103 y:483
            OperatableStateMachine.add(
                'say taxi',
                SaraSay(sentence="Ok, follow me to the taxi then.",
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'GetTaxi'},
                autonomy={'done': Autonomy.Off})

            # x:49 y:101
            OperatableStateMachine.add(
                'Init_Sequence',
                self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM,
                                  'Init_Sequence'),
                transitions={
                    'finished': 'Get Gender',
                    'failed': 'say fail'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                })

            # x:17 y:288
            OperatableStateMachine.add('nevermind',
                                       _sm_nevermind_12,
                                       transitions={
                                           'done': 'Get Gender',
                                           'failed': 'say fail'
                                       },
                                       autonomy={
                                           'done': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={'poseOrigin': 'poseOrigin'})

            # x:30 y:192
            OperatableStateMachine.add('Get Gender',
                                       _sm_get_gender_11,
                                       transitions={
                                           'none_found': 'say nobody',
                                           'done': 'get closer'
                                       },
                                       autonomy={
                                           'none_found': Autonomy.Inherit,
                                           'done': Autonomy.Inherit
                                       },
                                       remapping={
                                           'name': 'name',
                                           'distance': 'distance',
                                           'person': 'person',
                                           'pronoun': 'pronoun'
                                       })

            # x:259 y:310
            OperatableStateMachine.add('get closer',
                                       _sm_get_closer_10,
                                       transitions={'finished': 'confirm'},
                                       autonomy={'finished': Autonomy.Inherit},
                                       remapping={'person': 'person'})

        return _state_machine
Beispiel #2
0
    def create(self):
        # x:1474 y:331, x:56 y:575
        _state_machine = OperatableStateMachine(
            outcomes=['finished', 'failed'])
        _state_machine.userdata.half_turn = 3.1416
        _state_machine.userdata.person = "person"
        _state_machine.userdata.operator_param = "behavior/Operaror/Id"
        _state_machine.userdata.join = ["Move", "spr/initialpose"]
        _state_machine.userdata.leave = ["Move", "door2/exit"]

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:1182 y:163
        _sm_rotate_0 = OperatableStateMachine(outcomes=['finished'])

        with _sm_rotate_0:
            # x:103 y:61
            OperatableStateMachine.add('Look Left',
                                       SaraSetHeadAngle(pitch=-0.35, yaw=0.5),
                                       transitions={'done': 'Rotate Left'},
                                       autonomy={'done': Autonomy.Off})

            # x:794 y:54
            OperatableStateMachine.add('Look Right',
                                       SaraSetHeadAngle(pitch=-0.35, yaw=-0.5),
                                       transitions={'done': 'Rotate Right'},
                                       autonomy={'done': Autonomy.Off})

            # x:325 y:61
            OperatableStateMachine.add('Rotate Left',
                                       WaitState(wait_time=8),
                                       transitions={'done': 'Look Center'},
                                       autonomy={'done': Autonomy.Off})

            # x:961 y:65
            OperatableStateMachine.add('Rotate Right',
                                       WaitState(wait_time=4),
                                       transitions={'done': 'Look Center 2'},
                                       autonomy={'done': Autonomy.Off})

            # x:1115 y:62
            OperatableStateMachine.add('Look Center 2',
                                       SaraSetHeadAngle(pitch=0.1, yaw=0),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

            # x:484 y:54
            OperatableStateMachine.add('Look Center',
                                       SaraSetHeadAngle(pitch=-0.35, yaw=0),
                                       transitions={'done': 'Rotate Center'},
                                       autonomy={'done': Autonomy.Off})

            # x:657 y:49
            OperatableStateMachine.add('Rotate Center',
                                       WaitState(wait_time=4),
                                       transitions={'done': 'Look Right'},
                                       autonomy={'done': Autonomy.Off})

        # x:30 y:458
        _sm_follow_head_1 = OperatableStateMachine(outcomes=['end'],
                                                   input_keys=['person'])

        with _sm_follow_head_1:
            # x:214 y:48
            OperatableStateMachine.add('list all entities',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=10),
                                       transitions={
                                           'found': 'Get Nearest',
                                           'none_found': 'list all entities'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'person',
                                           'entity_list': 'entity_list',
                                           'number': 'number'
                                       })

            # x:456 y:51
            OperatableStateMachine.add(
                'Get Nearest',
                CalculationState(calculation=lambda x: x[0].ID),
                transitions={'done': 'look'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'entity_list',
                    'output_value': 'ID'
                })

            # x:291 y:177
            OperatableStateMachine.add(
                'look',
                KeepLookingAt(),
                transitions={'failed': 'list all entities'},
                autonomy={'failed': Autonomy.Off},
                remapping={'ID': 'ID'})

        # x:12 y:125, x:1130 y:515
        _sm_nlu_2 = OperatableStateMachine(outcomes=['finished', 'failed'])

        with _sm_nlu_2:
            # x:156 y:37
            OperatableStateMachine.add(
                'say ask',
                SaraSay(sentence="You can ask me your questions.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'Loop Questions'},
                autonomy={'done': Autonomy.Off})

            # x:1091 y:84
            OperatableStateMachine.add('Listen',
                                       GetSpeech(watchdog=10),
                                       transitions={
                                           'done': 'Engine',
                                           'nothing': 'Listen',
                                           'fail': 'Listen'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'sentence'})

            # x:1324 y:110
            OperatableStateMachine.add('Engine',
                                       SaraNLUspr(),
                                       transitions={
                                           'understood': 'Say_Answer',
                                           'not_understood': 'Listen',
                                           'fail': 'Listen'
                                       },
                                       autonomy={
                                           'understood': Autonomy.Off,
                                           'not_understood': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={
                                           'sentence': 'sentence',
                                           'answer': 'answer'
                                       })

            # x:632 y:77
            OperatableStateMachine.add(
                'Select Story',
                CalculationState(calculation=lambda x: x + 6),
                transitions={'done': 'Set_a_step'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'index',
                    'output_value': 'story'
                })

            # x:874 y:78
            OperatableStateMachine.add('Set_a_step',
                                       Set_a_step(step=1),
                                       transitions={'done': 'Listen'},
                                       autonomy={'done': Autonomy.Off})

            # x:398 y:81
            OperatableStateMachine.add('Loop Questions',
                                       ForLoop(repeat=5),
                                       transitions={
                                           'do': 'Select Story',
                                           'end': 'loop step'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index'})

            # x:439 y:252
            OperatableStateMachine.add(
                'Say Blind Game',
                SaraSay(sentence="Let's play the blind game !",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'Loop Questions'},
                autonomy={'done': Autonomy.Off})

            # x:189 y:193
            OperatableStateMachine.add('loop step',
                                       ForLoop(repeat=1),
                                       transitions={
                                           'do': 'Say Blind Game',
                                           'end': 'finished'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index'})

            # x:721 y:205
            OperatableStateMachine.add('Say_Answer',
                                       SaraSay(sentence=lambda x: str(x),
                                               input_keys=[],
                                               emotion=0,
                                               block=True),
                                       transitions={'done': 'Loop Questions'},
                                       autonomy={'done': Autonomy.Off})

        # x:817 y:123, x:130 y:458
        _sm_analyse_crowd_3 = OperatableStateMachine(
            outcomes=['finished', 'error'])

        with _sm_analyse_crowd_3:
            # x:87 y:97
            OperatableStateMachine.add('clear database',
                                       WonderlandClearPeoples(),
                                       transitions={
                                           'done': 'Rotate',
                                           'error': 'error'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'error': Autonomy.Off
                                       })

            # x:531 y:112
            OperatableStateMachine.add('Add Update Persons',
                                       WonderlandAddUpdatePeople(),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

            # x:311 y:97
            OperatableStateMachine.add(
                'Rotate',
                _sm_rotate_0,
                transitions={'finished': 'Add Update Persons'},
                autonomy={'finished': Autonomy.Inherit})

        # x:1203 y:11, x:1006 y:366
        _sm_init_scenario_4 = OperatableStateMachine(
            outcomes=['done', 'error'])

        with _sm_init_scenario_4:
            # x:30 y:42
            OperatableStateMachine.add(
                'Generate Vizbox Story',
                Set_Story(titre="Speech and Person Recognition",
                          storyline=[
                              "Waiting Begining", "Join Game Room",
                              "Waiting Crowd Placement", "Analysing Crowd",
                              "Begin Game", "Find Operator", "Question 1",
                              "Question 2", "Question 3", "Question 4",
                              "Question 5", "Leave Arena"
                          ]),
                transitions={'done': 'Set Story Step'},
                autonomy={'done': Autonomy.Off})

            # x:559 y:44
            OperatableStateMachine.add('WaitForBegining',
                                       ContinueButton(),
                                       transitions={
                                           'true': 'Reset Persons',
                                           'false': 'Reset Persons'
                                       },
                                       autonomy={
                                           'true': Autonomy.Off,
                                           'false': Autonomy.Off
                                       })

            # x:807 y:61
            OperatableStateMachine.add('Reset Persons',
                                       WonderlandClearPeoples(),
                                       transitions={
                                           'done': 'done',
                                           'error': 'error'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'error': Autonomy.Off
                                       })

            # x:247 y:49
            OperatableStateMachine.add('Set Story Step',
                                       Set_a_step(step=0),
                                       transitions={'done': 'setIDLE'},
                                       autonomy={'done': Autonomy.Off})

            # x:388 y:208
            OperatableStateMachine.add('Reset Arm',
                                       MoveitMove(move=True,
                                                  waitForExecution=True,
                                                  group="RightArm"),
                                       transitions={
                                           'done': 'Reset Persons',
                                           'failed': 'error'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'failed': Autonomy.Off
                                       },
                                       remapping={'target': 'target'})

            # x:427 y:40
            OperatableStateMachine.add('setIDLE',
                                       SetKey(Value="IdlePose"),
                                       transitions={'done': 'Reset Arm'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'target'})

        # x:30 y:458, x:230 y:458
        _sm_join_area_5 = OperatableStateMachine(
            outcomes=['failed', 'finished'], input_keys=['join'])

        with _sm_join_area_5:
            # x:95 y:40
            OperatableStateMachine.add(
                'Say Join Area',
                SaraSay(sentence="I will join the playing room !",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'Join Arena'},
                autonomy={'done': Autonomy.Off})

            # x:92 y:134
            OperatableStateMachine.add(
                'Join Arena',
                self.use_behavior(sara_flexbe_behaviors__ActionWrapper_MoveSM,
                                  'Join Area/Join Arena'),
                transitions={
                    'finished': 'finished',
                    'failed': 'failed',
                    'critical_fail': 'failed'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit,
                    'critical_fail': Autonomy.Inherit
                },
                remapping={'Action': 'join'})

        # x:489 y:56, x:604 y:278
        _sm_waiting_and_turn_6 = OperatableStateMachine(
            outcomes=['finished', 'failed'], input_keys=['half_turn'])

        with _sm_waiting_and_turn_6:
            # x:50 y:51
            OperatableStateMachine.add(
                'Want Play',
                SaraSay(sentence="Hum, I want to play riddles !",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'Wait 10s'},
                autonomy={'done': Autonomy.Off})

            # x:272 y:121
            OperatableStateMachine.add(
                'action_turn',
                self.use_behavior(sara_flexbe_behaviors__action_turnSM,
                                  'Waiting And Turn/action_turn'),
                transitions={
                    'finished': 'finished',
                    'failed': 'Cant turn'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'rotation': 'half_turn'})

            # x:437 y:240
            OperatableStateMachine.add('Cant turn',
                                       SaraSay(sentence="I can't turn !",
                                               input_keys=[],
                                               emotion=1,
                                               block=True),
                                       transitions={'done': 'failed'},
                                       autonomy={'done': Autonomy.Off})

            # x:63 y:178
            OperatableStateMachine.add(
                'Wait 10s',
                WaitState(wait_time=10),
                transitions={'done': 'Look In Front Of'},
                autonomy={'done': Autonomy.Off})

            # x:61 y:260
            OperatableStateMachine.add('Look In Front Of',
                                       SaraSetHeadAngle(pitch=0, yaw=0),
                                       transitions={'done': 'action_turn'},
                                       autonomy={'done': Autonomy.Off})

        # x:472 y:69, x:476 y:113, x:470 y:196, x:330 y:458, x:430 y:458
        _sm_questions_7 = ConcurrencyContainer(
            outcomes=['finished', 'failed'],
            input_keys=['person'],
            conditions=[('finished', [('NLU', 'finished')]),
                        ('failed', [('NLU', 'failed')]),
                        ('finished', [('Follow Head', 'end')])])

        with _sm_questions_7:
            # x:85 y:58
            OperatableStateMachine.add('NLU',
                                       _sm_nlu_2,
                                       transitions={
                                           'finished': 'finished',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       })

            # x:84 y:185
            OperatableStateMachine.add('Follow Head',
                                       _sm_follow_head_1,
                                       transitions={'end': 'finished'},
                                       autonomy={'end': Autonomy.Inherit},
                                       remapping={'person': 'person'})

        # x:283 y:294, x:60 y:571
        _sm_find_operator_8 = OperatableStateMachine(
            outcomes=['not_found', 'done'],
            input_keys=['person', 'operator_param'])

        with _sm_find_operator_8:
            # x:51 y:40
            OperatableStateMachine.add(
                'Ask Player',
                SaraSay(sentence="Who wan't to play with me ?",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'Wait Operator'},
                autonomy={'done': Autonomy.Off})

            # x:39 y:297
            OperatableStateMachine.add(
                'Get operator id',
                CalculationState(calculation=lambda x: x.entities[0].face.id),
                transitions={'done': 'Set Operator Id'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'entity_list',
                    'output_value': 'operator'
                })

            # x:33 y:384
            OperatableStateMachine.add('Set Operator Id',
                                       SetRosParamKey(),
                                       transitions={'done': 'Operator Id'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={
                                           'Value': 'operator_param',
                                           'ParamName': 'operator'
                                       })

            # x:46 y:117
            OperatableStateMachine.add('Wait Operator',
                                       WaitState(wait_time=6),
                                       transitions={'done': 'Find Operator'},
                                       autonomy={'done': Autonomy.Off})

            # x:35 y:495
            OperatableStateMachine.add('Operator Id',
                                       LogKeyState(
                                           text="Operator find. Id: {}",
                                           severity=Logger.REPORT_HINT),
                                       transitions={'done': 'done'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'data': 'operator'})

            # x:30 y:205
            OperatableStateMachine.add('Find Operator',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=10),
                                       transitions={
                                           'found': 'Get operator id',
                                           'none_found': 'Find Operator'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'person',
                                           'entity_list': 'entity_list',
                                           'number': 'number'
                                       })

        # x:703 y:198, x:88 y:199
        _sm_tell_basic_stats_9 = OperatableStateMachine(
            outcomes=['finished', 'failed'])

        with _sm_tell_basic_stats_9:
            # x:50 y:40
            OperatableStateMachine.add('wait',
                                       WaitState(wait_time=0),
                                       transitions={'done': 'GetPeopleStats'},
                                       autonomy={'done': Autonomy.Off})

            # x:218 y:43
            OperatableStateMachine.add('GetPeopleStats',
                                       WonderlandGetPersonStat(),
                                       transitions={
                                           'done': 'GenerateSentence',
                                           'none': 'Nobody',
                                           'error': 'failed'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'none': Autonomy.Off,
                                           'error': Autonomy.Off
                                       },
                                       remapping={
                                           'women': 'women',
                                           'men': 'men',
                                           'others': 'others'
                                       })

            # x:466 y:46
            OperatableStateMachine.add('Nobody',
                                       SaraSay(
                                           sentence="There is nobody here !",
                                           input_keys=[],
                                           emotion=1,
                                           block=True),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

            # x:162 y:243
            OperatableStateMachine.add(
                'GenerateSentence',
                FlexibleCalculationState(calculation=lambda x: "There is " +
                                         str(x[0] + x[1] + x[2]) + " persons.",
                                         input_keys=['men', 'women',
                                                     'others']),
                transitions={'done': 'Tell_Stats'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'men': 'men',
                    'women': 'women',
                    'others': 'others',
                    'output_value': 'sentence'
                })

            # x:151 y:345
            OperatableStateMachine.add(
                'Generate Sentence 2',
                FlexibleCalculationState(
                    calculation=lambda x: "I recognize " + str(x[
                        1]) + " women and " + str(x[0]) + " men.",
                    input_keys=['men', 'women', 'others']),
                transitions={'done': 'Tell_Stats 2'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'men': 'men',
                    'women': 'women',
                    'others': 'others',
                    'output_value': 'sentence'
                })

            # x:380 y:172
            OperatableStateMachine.add(
                'Tell_Stats',
                SaraSay(sentence=lambda x: x,
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'Generate Sentence 2'},
                autonomy={'done': Autonomy.Off})

            # x:409 y:276
            OperatableStateMachine.add('Tell_Stats 2',
                                       SaraSay(sentence=lambda x: x,
                                               input_keys=[],
                                               emotion=0,
                                               block=True),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

        with _state_machine:
            # x:30 y:40
            OperatableStateMachine.add('continue',
                                       ContinueButton(),
                                       transitions={
                                           'true': 'Init Scenario',
                                           'false': 'Init Scenario'
                                       },
                                       autonomy={
                                           'true': Autonomy.Off,
                                           'false': Autonomy.Off
                                       })

            # x:715 y:127
            OperatableStateMachine.add('Tell basic stats',
                                       _sm_tell_basic_stats_9,
                                       transitions={
                                           'finished': 'Set Find Operator',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       })

            # x:899 y:126
            OperatableStateMachine.add('Find Operator',
                                       _sm_find_operator_8,
                                       transitions={
                                           'not_found': 'Find Operator',
                                           'done': 'Questions'
                                       },
                                       autonomy={
                                           'not_found': Autonomy.Inherit,
                                           'done': Autonomy.Inherit
                                       },
                                       remapping={
                                           'person': 'person',
                                           'operator_param': 'operator_param'
                                       })

            # x:1120 y:126
            OperatableStateMachine.add('Questions',
                                       _sm_questions_7,
                                       transitions={
                                           'finished': 'set head',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={'person': 'person'})

            # x:343 y:49
            OperatableStateMachine.add(
                'Set Story Waiting',
                Set_a_step(step=2),
                transitions={'done': 'Waiting And Turn'},
                autonomy={'done': Autonomy.Off})

            # x:532 y:48
            OperatableStateMachine.add('Set Analyse',
                                       Set_a_step(step=3),
                                       transitions={'done': 'Analyse Crowd'},
                                       autonomy={'done': Autonomy.Off})

            # x:696 y:47
            OperatableStateMachine.add(
                'Set Begin Game',
                Set_a_step(step=4),
                transitions={'done': 'Tell basic stats'},
                autonomy={'done': Autonomy.Off})

            # x:899 y:49
            OperatableStateMachine.add('Set Find Operator',
                                       Set_a_step(step=5),
                                       transitions={'done': 'Find Operator'},
                                       autonomy={'done': Autonomy.Off})

            # x:332 y:127
            OperatableStateMachine.add('Waiting And Turn',
                                       _sm_waiting_and_turn_6,
                                       transitions={
                                           'finished': 'Set Analyse',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={'half_turn': 'half_turn'})

            # x:1333 y:232
            OperatableStateMachine.add('Set Go Out',
                                       Set_a_step(step=11),
                                       transitions={'done': 'Say And Of Game'},
                                       autonomy={'done': Autonomy.Off})

            # x:1517 y:148
            OperatableStateMachine.add(
                'Leave Arena',
                self.use_behavior(sara_flexbe_behaviors__ActionWrapper_MoveSM,
                                  'Leave Arena'),
                transitions={
                    'finished': 'finished',
                    'failed': 'finished',
                    'critical_fail': 'finished'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit,
                    'critical_fail': Autonomy.Inherit
                },
                remapping={'Action': 'leave'})

            # x:176 y:42
            OperatableStateMachine.add(
                'Set Join',
                Set_a_step(step=1),
                transitions={'done': 'Set Story Waiting'},
                autonomy={'done': Autonomy.Off})

            # x:177 y:120
            OperatableStateMachine.add('Join Area',
                                       _sm_join_area_5,
                                       transitions={
                                           'failed': 'failed',
                                           'finished': 'Set Story Waiting'
                                       },
                                       autonomy={
                                           'failed': Autonomy.Inherit,
                                           'finished': Autonomy.Inherit
                                       },
                                       remapping={'join': 'join'})

            # x:1302 y:140
            OperatableStateMachine.add(
                'Say And Of Game',
                SaraSay(
                    sentence=
                    "The game is finished. I will leave the arena. Thank you for playing with me.",
                    input_keys=[],
                    emotion=1,
                    block=True),
                transitions={'done': 'Leave Arena'},
                autonomy={'done': Autonomy.Off})

            # x:1120 y:237
            OperatableStateMachine.add('set head',
                                       SaraSetHeadAngle(pitch=-0.2, yaw=0),
                                       transitions={'done': 'Set Go Out'},
                                       autonomy={'done': Autonomy.Off})

            # x:34 y:130
            OperatableStateMachine.add('Init Scenario',
                                       _sm_init_scenario_4,
                                       transitions={
                                           'done': 'Set Join',
                                           'error': 'failed'
                                       },
                                       autonomy={
                                           'done': Autonomy.Inherit,
                                           'error': Autonomy.Inherit
                                       })

            # x:517 y:124
            OperatableStateMachine.add('Analyse Crowd',
                                       _sm_analyse_crowd_3,
                                       transitions={
                                           'finished': 'Set Begin Game',
                                           'error': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'error': Autonomy.Inherit
                                       })

        return _state_machine
Beispiel #3
0
    def create(self):
        # x:1103 y:529, x:321 y:227
        _state_machine = OperatableStateMachine(
            outcomes=['finished', 'failed'])
        _state_machine.userdata.Pose_Init = "IdlePose"
        _state_machine.userdata.Closed_Gripper_Width = 1
        _state_machine.userdata.Open_Gripper_Width = 255
        _state_machine.userdata.ID = 0
        _state_machine.userdata.PoseStart = "PoseStart"

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:30 y:365
        _sm_look_in_the_eyes_0 = OperatableStateMachine(outcomes=['finished'])

        with _sm_look_in_the_eyes_0:
            # x:189 y:48
            OperatableStateMachine.add('wait 3',
                                       WaitState(wait_time=3),
                                       transitions={'done': 'say ready'},
                                       autonomy={'done': Autonomy.Off})

            # x:171 y:288
            OperatableStateMachine.add('reset head',
                                       SaraSetHeadAngle(pitch=0.1, yaw=0),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

            # x:164 y:163
            OperatableStateMachine.add(
                'say ready',
                SaraSay(
                    sentence=
                    "Good, I see you want this bag. But, could you hand it to me please?",
                    input_keys=[],
                    emotion=0,
                    block=True),
                transitions={'done': 'reset head'},
                autonomy={'done': Autonomy.Off})

        # x:30 y:365
        _sm_look_at_it_1 = OperatableStateMachine(outcomes=['fail'],
                                                  input_keys=['position'])

        with _sm_look_at_it_1:
            # x:126 y:99
            OperatableStateMachine.add('look',
                                       LookAtPos(),
                                       transitions={
                                           'failed': 'look',
                                           'done': 'look'
                                       },
                                       autonomy={
                                           'failed': Autonomy.Off,
                                           'done': Autonomy.Off
                                       },
                                       remapping={'pos': 'position'})

        # x:30 y:365
        _sm_point_at_it_2 = OperatableStateMachine(outcomes=['finished'],
                                                   input_keys=['position'])

        with _sm_point_at_it_2:
            # x:112 y:202
            OperatableStateMachine.add(
                'Action_point_at',
                self.use_behavior(
                    Action_point_atSM,
                    'recevoir sac/Recevoir sac/look at bag/designate bag/point at it/Action_point_at'
                ),
                transitions={
                    'finished': 'Action_point_at',
                    'failed': 'Action_point_at'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'targetPoint': 'position'})

        # x:30 y:365
        _sm_move_to_it_3 = OperatableStateMachine(outcomes=['arrived'],
                                                  input_keys=['position'])

        with _sm_move_to_it_3:
            # x:204 y:52
            OperatableStateMachine.add('set distance',
                                       SetKey(Value=1),
                                       transitions={'done': 'get pose'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'distance'})

            # x:211 y:185
            OperatableStateMachine.add('get pose',
                                       Get_Reacheable_Waypoint(),
                                       transitions={'done': 'move to bag'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={
                                           'pose_in': 'position',
                                           'distance': 'distance',
                                           'pose_out': 'pose'
                                       })

            # x:188 y:279
            OperatableStateMachine.add('move to bag',
                                       SaraMoveBase(reference="map"),
                                       transitions={
                                           'arrived': 'arrived',
                                           'failed': 'arrived'
                                       },
                                       autonomy={
                                           'arrived': Autonomy.Off,
                                           'failed': Autonomy.Off
                                       },
                                       remapping={'pose': 'pose'})

        # x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
        _sm_designate_bag_4 = ConcurrencyContainer(
            outcomes=['finished'],
            input_keys=['position'],
            conditions=[('finished', [('look at it', 'fail')]),
                        ('finished', [('point at it', 'finished')]),
                        ('finished', [('move to it', 'arrived')])])

        with _sm_designate_bag_4:
            # x:499 y:118
            OperatableStateMachine.add('move to it',
                                       _sm_move_to_it_3,
                                       transitions={'arrived': 'finished'},
                                       autonomy={'arrived': Autonomy.Inherit},
                                       remapping={'position': 'position'})

            # x:239 y:126
            OperatableStateMachine.add('point at it',
                                       _sm_point_at_it_2,
                                       transitions={'finished': 'finished'},
                                       autonomy={'finished': Autonomy.Inherit},
                                       remapping={'position': 'position'})

            # x:45 y:121
            OperatableStateMachine.add('look at it',
                                       _sm_look_at_it_1,
                                       transitions={'fail': 'finished'},
                                       autonomy={'fail': Autonomy.Inherit},
                                       remapping={'position': 'position'})

        # x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
        _sm_receive_it_5 = ConcurrencyContainer(
            outcomes=['finished', 'failed'],
            input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'],
            conditions=[('finished', [('Action_Receive_Bag', 'finished'),
                                      ('look in the eyes', 'finished')]),
                        ('failed', [('Action_Receive_Bag', 'failed')])])

        with _sm_receive_it_5:
            # x:30 y:149
            OperatableStateMachine.add(
                'Action_Receive_Bag',
                self.use_behavior(
                    Action_Receive_BagSM,
                    'recevoir sac/Recevoir sac/receive it/Action_Receive_Bag'),
                transitions={
                    'finished': 'finished',
                    'failed': 'failed'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={
                    'Closed_Gripper_Width': 'Closed_Gripper_Width',
                    'Open_Gripper_Width': 'Open_Gripper_Width',
                    'Closed_Gripper_Width': 'Closed_Gripper_Width'
                })

            # x:259 y:150
            OperatableStateMachine.add('look in the eyes',
                                       _sm_look_in_the_eyes_0,
                                       transitions={'finished': 'finished'},
                                       autonomy={'finished': Autonomy.Inherit})

        # x:30 y:322
        _sm_look_at_bag_6 = OperatableStateMachine(outcomes=['finished'])

        with _sm_look_at_bag_6:
            # x:35 y:70
            OperatableStateMachine.add('setName',
                                       SetKey(Value="person"),
                                       transitions={'done': 'say 1'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'personName'})

            # x:233 y:109
            OperatableStateMachine.add(
                'say 1',
                SaraSay(sentence="Please, point at the bag you want.",
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'list'},
                autonomy={'done': Autonomy.Off})

            # x:28 y:193
            OperatableStateMachine.add('list',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=10),
                                       transitions={
                                           'found': 'calc',
                                           'none_found': 'list'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'personName',
                                           'entity_list': 'entity_list',
                                           'number': 'number'
                                       })

            # x:230 y:363
            OperatableStateMachine.add(
                'get bag position from pointing',
                GetPointedPositionOnPlane(planeHeight=0.2),
                transitions={
                    'done': 'designate bag',
                    'not_pointing': 'say 1',
                    'pointing_up': 'say 1',
                    'failed': 'list'
                },
                autonomy={
                    'done': Autonomy.Off,
                    'not_pointing': Autonomy.Off,
                    'pointing_up': Autonomy.Off,
                    'failed': Autonomy.Off
                },
                remapping={
                    'entity': 'entity',
                    'position': 'position'
                })

            # x:34 y:362
            OperatableStateMachine.add(
                'calc',
                CalculationState(calculation=lambda x: x[0]),
                transitions={'done': 'get bag position from pointing'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'entity_list',
                    'output_value': 'entity'
                })

            # x:241 y:554
            OperatableStateMachine.add('designate bag',
                                       _sm_designate_bag_4,
                                       transitions={'finished': 'finished'},
                                       autonomy={'finished': Autonomy.Inherit},
                                       remapping={'position': 'position'})

        # x:30 y:365, x:182 y:454
        _sm_recevoir_sac_7 = OperatableStateMachine(
            outcomes=['failed', 'done'],
            input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'])

        with _sm_recevoir_sac_7:
            # x:66 y:44
            OperatableStateMachine.add('look at bag',
                                       _sm_look_at_bag_6,
                                       transitions={'finished': 'close'},
                                       autonomy={'finished': Autonomy.Inherit})

            # x:41 y:267
            OperatableStateMachine.add('receive it',
                                       _sm_receive_it_5,
                                       transitions={
                                           'finished': 'sayCAr',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={
                                           'Closed_Gripper_Width':
                                           'Closed_Gripper_Width',
                                           'Open_Gripper_Width':
                                           'Open_Gripper_Width'
                                       })

            # x:81 y:157
            OperatableStateMachine.add(
                'close',
                SetGripperState(width=0, effort=0),
                transitions={
                    'object': 'receive it',
                    'no_object': 'receive it'
                },
                autonomy={
                    'object': Autonomy.Off,
                    'no_object': Autonomy.Off
                },
                remapping={'object_size': 'object_size'})

            # x:139 y:334
            OperatableStateMachine.add(
                'sayCAr',
                SaraSay(sentence="PLease tell me when we get to the car.",
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'done'},
                autonomy={'done': Autonomy.Off})

        # x:30 y:365
        _sm_listen_8 = OperatableStateMachine(outcomes=['done'])

        with _sm_listen_8:
            # x:50 y:76
            OperatableStateMachine.add(
                'SayFollow',
                SaraSay(
                    sentence=
                    "I will follow you to the car now. Tell me when we get to the car.",
                    input_keys=[],
                    emotion=0,
                    block=False),
                transitions={'done': 'LIsten'},
                autonomy={'done': Autonomy.Off})

            # x:161 y:148
            OperatableStateMachine.add('LIsten',
                                       GetSpeech(watchdog=10),
                                       transitions={
                                           'done': 'Listen2',
                                           'nothing': 'LIsten',
                                           'fail': 'LIsten'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'words'})

            # x:201 y:256
            OperatableStateMachine.add(
                'Listen2',
                RegexTester(regex=".*((car)|(here it is)|(now)).*"),
                transitions={
                    'true': 'done',
                    'false': 'Listen2'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={
                    'text': 'words',
                    'result': 'result'
                })

        # x:520 y:327
        _sm_follow_9 = OperatableStateMachine(outcomes=['failed'],
                                              input_keys=['ID'])

        with _sm_follow_9:
            # x:128 y:127
            OperatableStateMachine.add(
                'Action_follow',
                self.use_behavior(Action_followSM,
                                  'Follow and listen/follow/Action_follow'),
                transitions={'failed': 'set name'},
                autonomy={'failed': Autonomy.Inherit},
                remapping={'ID': 'ID'})

            # x:288 y:346
            OperatableStateMachine.add('list people',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=10),
                                       transitions={
                                           'found': 'get first ID',
                                           'none_found': 'failed'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'name',
                                           'entity_list': 'entity_list',
                                           'number': 'number'
                                       })

            # x:109 y:334
            OperatableStateMachine.add(
                'get first ID',
                CalculationState(calculation=lambda x: x[0].ID),
                transitions={'done': 'Action_follow'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'entity_list',
                    'output_value': 'ID'
                })

            # x:349 y:116
            OperatableStateMachine.add('set name',
                                       SetKey(Value="person"),
                                       transitions={'done': 'list people'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'name'})

        # x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365
        _sm_recevoir_sac_10 = ConcurrencyContainer(
            outcomes=['failed', 'done'],
            input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'],
            conditions=[('failed', [('Recevoir sac', 'failed')]),
                        ('done', [('Recevoir sac', 'done')]),
                        ('done', [('LookAtClosest', 'failed')])])

        with _sm_recevoir_sac_10:
            # x:30 y:40
            OperatableStateMachine.add('Recevoir sac',
                                       _sm_recevoir_sac_7,
                                       transitions={
                                           'failed': 'failed',
                                           'done': 'done'
                                       },
                                       autonomy={
                                           'failed': Autonomy.Inherit,
                                           'done': Autonomy.Inherit
                                       },
                                       remapping={
                                           'Closed_Gripper_Width':
                                           'Closed_Gripper_Width',
                                           'Open_Gripper_Width':
                                           'Open_Gripper_Width'
                                       })

            # x:234 y:114
            OperatableStateMachine.add('LookAtClosest',
                                       self.use_behavior(
                                           LookAtClosestSM,
                                           'recevoir sac/LookAtClosest'),
                                       transitions={'failed': 'done'},
                                       autonomy={'failed': Autonomy.Inherit})

        # x:390 y:296, x:111 y:269, x:230 y:365, x:542 y:339, x:465 y:331, x:530 y:380
        _sm_follow_and_listen_11 = ConcurrencyContainer(
            outcomes=['done', 'failed'],
            input_keys=['ID'],
            conditions=[('done', [('Listen', 'done')]),
                        ('failed', [('follow', 'failed')]),
                        ('done', [('continue', 'true')]),
                        ('done', [('continue', 'false')])])

        with _sm_follow_and_listen_11:
            # x:132 y:90
            OperatableStateMachine.add('follow',
                                       _sm_follow_9,
                                       transitions={'failed': 'failed'},
                                       autonomy={'failed': Autonomy.Inherit},
                                       remapping={'ID': 'ID'})

            # x:356 y:105
            OperatableStateMachine.add('Listen',
                                       _sm_listen_8,
                                       transitions={'done': 'done'},
                                       autonomy={'done': Autonomy.Inherit})

            # x:485 y:162
            OperatableStateMachine.add('continue',
                                       ContinueButton(),
                                       transitions={
                                           'true': 'done',
                                           'false': 'done'
                                       },
                                       autonomy={
                                           'true': Autonomy.Off,
                                           'false': Autonomy.Off
                                       })

        # x:76 y:535
        _sm_getidope_12 = OperatableStateMachine(outcomes=['done'],
                                                 output_keys=['ID'])

        with _sm_getidope_12:
            # x:55 y:63
            OperatableStateMachine.add('Person',
                                       SetKey(Value="person"),
                                       transitions={'done': 'GEtId'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'name'})

            # x:43 y:180
            OperatableStateMachine.add('GEtId',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=10),
                                       transitions={
                                           'found': 'ID',
                                           'none_found': 'GEtId'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'name',
                                           'entity_list': 'Entities_list',
                                           'number': 'number'
                                       })

            # x:52 y:290
            OperatableStateMachine.add(
                'ID',
                CalculationState(calculation=lambda x: x[0].ID),
                transitions={'done': 'setID'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'Entities_list',
                    'output_value': 'ID'
                })

            # x:37 y:399
            OperatableStateMachine.add(
                'setID',
                SetRosParam(ParamName="behavior/Operator/Id"),
                transitions={'done': 'done'},
                autonomy={'done': Autonomy.Off},
                remapping={'Value': 'ID'})

        with _state_machine:
            # x:38 y:33
            OperatableStateMachine.add('continue',
                                       ContinueButton(),
                                       transitions={
                                           'true': 'GEtPose',
                                           'false': 'GEtPose'
                                       },
                                       autonomy={
                                           'true': Autonomy.Off,
                                           'false': Autonomy.Off
                                       })

            # x:35 y:351
            OperatableStateMachine.add(
                'ImHere',
                SaraSay(sentence="I am ready to carry your luggage!",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'recevoir sac'},
                autonomy={'done': Autonomy.Off})

            # x:28 y:539
            OperatableStateMachine.add(
                'GetIDOpe',
                _sm_getidope_12,
                transitions={'done': 'Follow and listen'},
                autonomy={'done': Autonomy.Inherit},
                remapping={'ID': 'ID'})

            # x:220 y:536
            OperatableStateMachine.add('Follow and listen',
                                       _sm_follow_and_listen_11,
                                       transitions={
                                           'done': 'Action_Give_Back_Bag',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'done': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={'ID': 'ID'})

            # x:411 y:525
            OperatableStateMachine.add('Action_Give_Back_Bag',
                                       self.use_behavior(
                                           Action_Give_Back_BagSM,
                                           'Action_Give_Back_Bag'),
                                       transitions={
                                           'finished': 'GoBackHome',
                                           'failed': 'Action_Give_Back_Bag'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       })

            # x:16 y:206
            OperatableStateMachine.add('Init_Sequence',
                                       self.use_behavior(
                                           Init_SequenceSM, 'Init_Sequence'),
                                       transitions={
                                           'finished': 'move head up',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       })

            # x:634 y:522
            OperatableStateMachine.add(
                'GoBackHome',
                SaraSay(sentence="I will go back home now. Have a good day!",
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'setarm'},
                autonomy={'done': Autonomy.Off})

            # x:922 y:519
            OperatableStateMachine.add('Action_Move',
                                       self.use_behavior(
                                           Action_MoveSM, 'Action_Move'),
                                       transitions={
                                           'finished': 'finished',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={'pose': 'Origin'})

            # x:35 y:281
            OperatableStateMachine.add('move head up',
                                       SaraSetHeadAngle(pitch=0.1, yaw=0),
                                       transitions={'done': 'ImHere'},
                                       autonomy={'done': Autonomy.Off})

            # x:35 y:427
            OperatableStateMachine.add('recevoir sac',
                                       _sm_recevoir_sac_10,
                                       transitions={
                                           'failed': 'failed',
                                           'done': 'GetIDOpe'
                                       },
                                       autonomy={
                                           'failed': Autonomy.Inherit,
                                           'done': Autonomy.Inherit
                                       },
                                       remapping={
                                           'Closed_Gripper_Width':
                                           'Closed_Gripper_Width',
                                           'Open_Gripper_Width':
                                           'Open_Gripper_Width'
                                       })

            # x:770 y:526
            OperatableStateMachine.add('setarm',
                                       RunTrajectory(file="sac_transport",
                                                     duration=0),
                                       transitions={'done': 'Action_Move'},
                                       autonomy={'done': Autonomy.Off})

            # x:24 y:134
            OperatableStateMachine.add('GEtPose',
                                       Get_Robot_Pose(),
                                       transitions={'done': 'Init_Sequence'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'pose': 'Origin'})

        return _state_machine
    def create(self):
        # x:808 y:575, x:78 y:552, x:477 y:566
        _state_machine = OperatableStateMachine(
            outcomes=['finished', 'failed', 'critical_fail'],
            input_keys=['Action'])
        _state_machine.userdata.Action = [
            "Ask", "How are you today?", "Answer"
        ]

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:675 y:219, x:771 y:50
        _sm_confirm_0 = OperatableStateMachine(outcomes=['finished', 'failed'],
                                               input_keys=['answer'])

        with _sm_confirm_0:
            # x:70 y:60
            OperatableStateMachine.add(
                'Heard',
                SaraSay(
                    sentence=lambda x: "I heard " + x + ". Is that correct?",
                    input_keys=[],
                    emotion=0,
                    block=True),
                transitions={'done': 'get speech'},
                autonomy={'done': Autonomy.Off})

            # x:501 y:98
            OperatableStateMachine.add(
                'check yes',
                CheckConditionState(
                    predicate=lambda x: "yes" in x and not "no" in x),
                transitions={
                    'true': 'finished',
                    'false': 'failed'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'words'})

            # x:259 y:92
            OperatableStateMachine.add('get speech',
                                       GetSpeech(watchdog=5),
                                       transitions={
                                           'done': 'check yes',
                                           'nothing': 'failed',
                                           'fail': 'finished'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'words'})

        with _state_machine:
            # x:43 y:162
            OperatableStateMachine.add(
                'SetPerson',
                SetKey(Value="person"),
                transitions={'done': 'Action_findPerson'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'personKey'})

            # x:194 y:99
            OperatableStateMachine.add(
                'trouveLaQuestion',
                CalculationState(calculation=lambda x: x[1]),
                transitions={'done': 'AskTheQuestion'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'Action',
                    'output_value': 'question'
                })

            # x:545 y:161
            OperatableStateMachine.add('GetTheResponse',
                                       GetSpeech(watchdog=7),
                                       transitions={
                                           'done': 'Confirm',
                                           'nothing': 'looping',
                                           'fail': 'looping'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'response'})

            # x:372 y:262
            OperatableStateMachine.add(
                'NotUnderstand',
                SaraSay(sentence="Soory, I did not understand.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'AskTheQuestion'},
                autonomy={'done': Autonomy.Off})

            # x:23 y:285
            OperatableStateMachine.add('Action_findPerson',
                                       self.use_behavior(
                                           Action_findPersonSM,
                                           'Action_findPerson'),
                                       transitions={
                                           'done': 'fisrtSentence',
                                           'pas_done': 'NoPerson'
                                       },
                                       autonomy={
                                           'done': Autonomy.Inherit,
                                           'pas_done': Autonomy.Inherit
                                       },
                                       remapping={
                                           'className': 'personKey',
                                           'entity': 'entity'
                                       })

            # x:224 y:301
            OperatableStateMachine.add(
                'NoPerson',
                SaraSay(sentence="I did not find any person. ",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'cause1'},
                autonomy={'done': Autonomy.Off})

            # x:169 y:194
            OperatableStateMachine.add(
                'fisrtSentence',
                SaraSay(sentence="Hello, I have a question for you.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'trouveLaQuestion'},
                autonomy={'done': Autonomy.Off})

            # x:539 y:332
            OperatableStateMachine.add('looping',
                                       ForLoop(repeat=2),
                                       transitions={
                                           'do': 'NotUnderstand',
                                           'end': 'saraSorry'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index'})

            # x:540 y:473
            OperatableStateMachine.add(
                'saraSorry',
                SaraSay(sentence="Sorry, I can't understand your response.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'cause2'},
                autonomy={'done': Autonomy.Off})

            # x:776 y:209
            OperatableStateMachine.add(
                'getRosparmName',
                CalculationState(calculation=lambda x: x[2]),
                transitions={'done': 'SetRosParamKey'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'Action',
                    'output_value': 'RosParamName'
                })

            # x:778 y:301
            OperatableStateMachine.add('SetRosParamKey',
                                       SetRosParamKey(),
                                       transitions={'done': 'log'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={
                                           'Value': 'response',
                                           'ParamName': 'RosParamName'
                                       })

            # x:787 y:482
            OperatableStateMachine.add(
                'thank you',
                SaraSay(sentence="Thank you for your answer.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'finished'},
                autonomy={'done': Autonomy.Off})

            # x:789 y:390
            OperatableStateMachine.add('log',
                                       LogKeyState(
                                           text="{}",
                                           severity=Logger.REPORT_HINT),
                                       transitions={'done': 'thank you'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'data': 'response'})

            # x:221 y:384
            OperatableStateMachine.add(
                'cause1',
                SetKey(Value="I didn't find any person"),
                transitions={'done': 'set cause failure'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'Key'})

            # x:326 y:503
            OperatableStateMachine.add(
                'cause2',
                SetKey(Value="I did not understand the answer"),
                transitions={'done': 'set cause failure'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'Key'})

            # x:159 y:468
            OperatableStateMachine.add(
                'set cause failure',
                SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
                transitions={'done': 'failed'},
                autonomy={'done': Autonomy.Off},
                remapping={'Value': 'Key'})

            # x:769 y:88
            OperatableStateMachine.add('Confirm',
                                       _sm_confirm_0,
                                       transitions={
                                           'finished': 'getRosparmName',
                                           'failed': 'AskTheQuestion'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={'answer': 'response'})

            # x:367 y:117
            OperatableStateMachine.add('AskTheQuestion',
                                       SaraSay(sentence=lambda x: x,
                                               input_keys=[],
                                               emotion=0,
                                               block=True),
                                       transitions={'done': 'GetTheResponse'},
                                       autonomy={'done': Autonomy.Off})

        return _state_machine
    def create(self):
        # x:391 y:586, x:438 y:304
        _state_machine = OperatableStateMachine(
            outcomes=['finished', 'failed'])
        _state_machine.userdata.StartPosition = "Operator"
        _state_machine.userdata.PositionBras = "IdlePose"
        _state_machine.userdata.title = "GPSR"
        _state_machine.userdata.EntryName = "door1/enter"
        _state_machine.userdata.ExitName = "door2/exit"

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:135 y:542, x:527 y:395
        _sm_validate_0 = OperatableStateMachine(outcomes=['done', 'bad'],
                                                input_keys=['sentence'])

        with _sm_validate_0:
            # x:56 y:62
            OperatableStateMachine.add(
                'Say_Command',
                SaraSay(
                    sentence=lambda x: "I heard. " + x + ". Is that correct?",
                    input_keys=[],
                    emotion=0,
                    block=True),
                transitions={'done': 'get speech'},
                autonomy={'done': Autonomy.Off})

            # x:44 y:165
            OperatableStateMachine.add('get speech',
                                       GetSpeech(watchdog=10),
                                       transitions={
                                           'done': 'is yes',
                                           'nothing': 'say repeate',
                                           'fail': 'say repeate'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'words'})

            # x:91 y:307
            OperatableStateMachine.add(
                'is yes',
                CheckConditionState(predicate=lambda x: "yes" in x or "right"
                                    in x or "sure" in x),
                transitions={
                    'true': 'done',
                    'false': 'say repeate'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'words'})

            # x:423 y:332
            OperatableStateMachine.add(
                'say repeate',
                SaraSay(sentence="Please, repeat your command.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'bad'},
                autonomy={'done': Autonomy.Off})

        # x:30 y:324
        _sm_look_at_op_1 = OperatableStateMachine(outcomes=['fail'])

        with _sm_look_at_op_1:
            # x:61 y:31
            OperatableStateMachine.add('set name',
                                       SetKey(Value="person"),
                                       transitions={'done': 'list persons'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'name'})

            # x:44 y:110
            OperatableStateMachine.add('list persons',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=10),
                                       transitions={
                                           'found': 'get closest',
                                           'none_found': 'list persons'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'name',
                                           'entity_list': 'entity_list',
                                           'number': 'number'
                                       })

            # x:43 y:211
            OperatableStateMachine.add(
                'get closest',
                CalculationState(calculation=lambda x: x[0].ID),
                transitions={'done': 'look at'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'entity_list',
                    'output_value': 'ID'
                })

            # x:210 y:198
            OperatableStateMachine.add('look at',
                                       KeepLookingAt(),
                                       transitions={'failed': 'list persons'},
                                       autonomy={'failed': Autonomy.Off},
                                       remapping={'ID': 'ID'})

        # x:307 y:35, x:335 y:491
        _sm_get_commands_2 = OperatableStateMachine(
            outcomes=['fail', 'understood'],
            output_keys=['ActionForms', 'sentence'])

        with _sm_get_commands_2:
            # x:50 y:48
            OperatableStateMachine.add(
                'say ready',
                SaraSay(sentence="I'm ready for your commands.",
                        input_keys=[],
                        emotion=1,
                        block=False),
                transitions={'done': 'GetSpeech'},
                autonomy={'done': Autonomy.Off})

            # x:32 y:408
            OperatableStateMachine.add('SaraNLUgpsr',
                                       SaraNLUgpsr(),
                                       transitions={
                                           'understood': 'say understood',
                                           'not_understood': 'say sorry',
                                           'fail': 'say sorry'
                                       },
                                       autonomy={
                                           'understood': Autonomy.Off,
                                           'not_understood': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={
                                           'sentence': 'sentence',
                                           'ActionForms': 'ActionForms'
                                       })

            # x:597 y:223
            OperatableStateMachine.add(
                'say sorry',
                SaraSay(
                    sentence="Sorry, I could not understand what you said.",
                    input_keys=[],
                    emotion=1,
                    block=True),
                transitions={'done': 'GetSpeech'},
                autonomy={'done': Autonomy.Off})

            # x:30 y:491
            OperatableStateMachine.add('say understood',
                                       SaraSay(sentence="Ok",
                                               input_keys=[],
                                               emotion=1,
                                               block=True),
                                       transitions={'done': 'understood'},
                                       autonomy={'done': Autonomy.Off})

            # x:44 y:131
            OperatableStateMachine.add('GetSpeech',
                                       GetSpeech(watchdog=5),
                                       transitions={
                                           'done': 'validate',
                                           'nothing': 'GetSpeech',
                                           'fail': 'fail'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'sentence'})

            # x:29 y:259
            OperatableStateMachine.add('validate',
                                       _sm_validate_0,
                                       transitions={
                                           'done': 'SaraNLUgpsr',
                                           'bad': 'GetSpeech'
                                       },
                                       autonomy={
                                           'done': Autonomy.Inherit,
                                           'bad': Autonomy.Inherit
                                       },
                                       remapping={'sentence': 'sentence'})

        # x:122 y:413
        _sm_end_3 = OperatableStateMachine(outcomes=['done'],
                                           input_keys=['ExitName'])

        with _sm_end_3:
            # x:30 y:40
            OperatableStateMachine.add(
                'win',
                SaraSay(sentence="Thank you. I'm going now.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'Action_Pass_Door'},
                autonomy={'done': Autonomy.Off})

            # x:33 y:163
            OperatableStateMachine.add(
                'Action_Pass_Door',
                self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM,
                                  'End/Action_Pass_Door'),
                transitions={
                    'Done': 'say yay',
                    'Fail': 'done'
                },
                autonomy={
                    'Done': Autonomy.Inherit,
                    'Fail': Autonomy.Inherit
                },
                remapping={'DoorName': 'ExitName'})

            # x:210 y:262
            OperatableStateMachine.add(
                'say yay',
                SaraSay(sentence="I did it. I'm the best robot.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'done'},
                autonomy={'done': Autonomy.Off})

        # x:320 y:82, x:322 y:143, x:265 y:407, x:306 y:225, x:430 y:324
        _sm_interact_operator_4 = ConcurrencyContainer(
            outcomes=['fail', 'understood'],
            output_keys=['ActionForms', 'sentence'],
            conditions=[('understood', [('Get Commands', 'understood')]),
                        ('fail', [('Get Commands', 'fail')]),
                        ('fail', [('look at op', 'fail')])])

        with _sm_interact_operator_4:
            # x:95 y:45
            OperatableStateMachine.add('Get Commands',
                                       _sm_get_commands_2,
                                       transitions={
                                           'fail': 'fail',
                                           'understood': 'understood'
                                       },
                                       autonomy={
                                           'fail': Autonomy.Inherit,
                                           'understood': Autonomy.Inherit
                                       },
                                       remapping={
                                           'ActionForms': 'ActionForms',
                                           'sentence': 'sentence'
                                       })

            # x:99 y:198
            OperatableStateMachine.add('look at op',
                                       _sm_look_at_op_1,
                                       transitions={'fail': 'fail'},
                                       autonomy={'fail': Autonomy.Inherit})

        # x:325 y:387, x:314 y:190
        _sm_fail_state_5 = OperatableStateMachine(
            outcomes=['finished', 'failed'], input_keys=['StartPosition'])

        with _sm_fail_state_5:
            # x:36 y:29
            OperatableStateMachine.add(
                'say failed',
                SaraSay(sentence="I failed. I'm going back to tell my master.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'Action_Move'},
                autonomy={'done': Autonomy.Off})

            # x:42 y:301
            OperatableStateMachine.add(
                'get error',
                GetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
                transitions={
                    'done': 'Say_Error',
                    'failed': 'finished'
                },
                autonomy={
                    'done': Autonomy.Off,
                    'failed': Autonomy.Off
                },
                remapping={'Value': 'Error'})

            # x:48 y:414
            OperatableStateMachine.add(
                'Say_Error',
                SaraSay(sentence=lambda x: "Sorry, I failed because " + x,
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'finished'},
                autonomy={'done': Autonomy.Off})

            # x:25 y:172
            OperatableStateMachine.add(
                'Action_Move',
                self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
                                  'Fail state/Action_Move'),
                transitions={
                    'finished': 'get error',
                    'failed': 'failed'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'pose': 'StartPosition'})

        # x:588 y:141, x:590 y:545, x:642 y:410
        _sm_do_the_actions_6 = OperatableStateMachine(
            outcomes=['finished', 'failed', 'critical fail'],
            input_keys=['ActionForms', 'OriginalPose'])

        with _sm_do_the_actions_6:
            # x:85 y:33
            OperatableStateMachine.add('set i',
                                       SetKey(Value=0),
                                       transitions={'done': 'is form?'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'index'})

            # x:48 y:339
            OperatableStateMachine.add(
                'GetForm',
                FlexibleCalculationState(calculation=lambda x: x[0][x[1]],
                                         input_keys=["ActionForms", "index"]),
                transitions={'done': 'Action_Executor'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'ActionForms': 'ActionForms',
                    'index': 'index',
                    'output_value': 'ActionForm'
                })

            # x:57 y:131
            OperatableStateMachine.add(
                'is form?',
                FlexibleCheckConditionState(
                    predicate=lambda x: x[1] < len(x[0]),
                    input_keys=["ActionForms", "index"]),
                transitions={
                    'true': 'set setp',
                    'false': 'finished'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={
                    'ActionForms': 'ActionForms',
                    'index': 'index'
                })

            # x:204 y:237
            OperatableStateMachine.add(
                '++i',
                CalculationState(calculation=lambda x: x + 1),
                transitions={'done': 'is form?'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'index',
                    'output_value': 'index'
                })

            # x:72 y:479
            OperatableStateMachine.add(
                'Action_Executor',
                self.use_behavior(sara_flexbe_behaviors__Action_ExecutorSM,
                                  'Do the actions/Action_Executor'),
                transitions={
                    'finished': '++i',
                    'failed': 'failed',
                    'critical_fail': 'critical fail'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit,
                    'critical_fail': Autonomy.Inherit
                },
                remapping={'Action': 'ActionForm'})

            # x:45 y:241
            OperatableStateMachine.add('set setp',
                                       StoryboardSetStepKey(),
                                       transitions={'done': 'GetForm'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'step': 'index'})

        # x:424 y:175
        _sm_initialisation_7 = OperatableStateMachine(
            outcomes=['done'], input_keys=['PositionBras', 'EntryName'])

        with _sm_initialisation_7:
            # x:62 y:79
            OperatableStateMachine.add(
                'Action_Pass_Door',
                self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM,
                                  'Initialisation/Action_Pass_Door'),
                transitions={
                    'Done': 'set step',
                    'Fail': 'done'
                },
                autonomy={
                    'Done': Autonomy.Inherit,
                    'Fail': Autonomy.Inherit
                },
                remapping={'DoorName': 'EntryName'})

            # x:70 y:306
            OperatableStateMachine.add('set story',
                                       Set_Story(titre="GPSR", storyline=[]),
                                       transitions={'done': 'bras en lair'},
                                       autonomy={'done': Autonomy.Off})

            # x:288 y:375
            OperatableStateMachine.add(
                'say start',
                SaraSay(sentence="I'm ready to start the GPSR scenario.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'done'},
                autonomy={'done': Autonomy.Off})

            # x:78 y:205
            OperatableStateMachine.add('set step',
                                       Set_a_step(step=0),
                                       transitions={'done': 'set story'},
                                       autonomy={'done': Autonomy.Off})

            # x:101 y:395
            OperatableStateMachine.add('bras en lair',
                                       MoveitMove(move=True,
                                                  waitForExecution=False,
                                                  group="RightArm"),
                                       transitions={
                                           'done': 'say start',
                                           'failed': 'say start'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'failed': Autonomy.Off
                                       },
                                       remapping={'target': 'PositionBras'})

        with _state_machine:
            # x:33 y:103
            OperatableStateMachine.add('Initialisation',
                                       _sm_initialisation_7,
                                       transitions={'done': 'Action_Move'},
                                       autonomy={'done': Autonomy.Inherit},
                                       remapping={
                                           'PositionBras': 'PositionBras',
                                           'EntryName': 'EntryName'
                                       })

            # x:767 y:196
            OperatableStateMachine.add('Do the actions',
                                       _sm_do_the_actions_6,
                                       transitions={
                                           'finished': 'say succseed',
                                           'failed': 'Fail state',
                                           'critical fail': 'critical'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit,
                                           'critical fail': Autonomy.Inherit
                                       },
                                       remapping={
                                           'ActionForms': 'ActionForms',
                                           'OriginalPose': 'OriginalPose'
                                       })

            # x:250 y:126
            OperatableStateMachine.add(
                'Fail state',
                _sm_fail_state_5,
                transitions={
                    'finished': 'lift head',
                    'failed': 'critical'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'StartPosition': 'StartPosition'})

            # x:250 y:257
            OperatableStateMachine.add(
                'critical',
                SaraSay(
                    sentence="Critical failure! I require medical assistance.",
                    input_keys=[],
                    emotion=1,
                    block=True),
                transitions={'done': 'failed'},
                autonomy={'done': Autonomy.Off})

            # x:52 y:468
            OperatableStateMachine.add('for 3',
                                       ForLoop(repeat=3),
                                       transitions={
                                           'do': 'GetOriginalPose',
                                           'end': 'End'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index'})

            # x:747 y:475
            OperatableStateMachine.add('say succseed',
                                       SaraSay(
                                           sentence="I succeed my mission.",
                                           input_keys=[],
                                           emotion=1,
                                           block=True),
                                       transitions={'done': 'for 3'},
                                       autonomy={'done': Autonomy.Off})

            # x:204 y:368
            OperatableStateMachine.add('Interact operator',
                                       _sm_interact_operator_4,
                                       transitions={
                                           'fail': 'critical',
                                           'understood': 'set step'
                                       },
                                       autonomy={
                                           'fail': Autonomy.Inherit,
                                           'understood': Autonomy.Inherit
                                       },
                                       remapping={
                                           'ActionForms': 'ActionForms',
                                           'sentence': 'sentence'
                                       })

            # x:553 y:316
            OperatableStateMachine.add('set story',
                                       StoryboardSetStoryFromAction(),
                                       transitions={'done': 'Do the actions'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={
                                           'titre': 'title',
                                           'actionList': 'ActionForms'
                                       })

            # x:404 y:377
            OperatableStateMachine.add('set step',
                                       Set_a_step(step=0),
                                       transitions={'done': 'set story'},
                                       autonomy={'done': Autonomy.Off})

            # x:41 y:375
            OperatableStateMachine.add(
                'GetOriginalPose',
                Get_Robot_Pose(),
                transitions={'done': 'Interact operator'},
                autonomy={'done': Autonomy.Off},
                remapping={'pose': 'OriginalPose'})

            # x:37 y:564
            OperatableStateMachine.add('End',
                                       _sm_end_3,
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Inherit},
                                       remapping={'ExitName': 'ExitName'})

            # x:30 y:288
            OperatableStateMachine.add('lift head',
                                       SaraSetHeadAngle(pitch=-0.3, yaw=0),
                                       transitions={'done': 'GetOriginalPose'},
                                       autonomy={'done': Autonomy.Off})

            # x:48 y:23
            OperatableStateMachine.add('ContinueButton',
                                       ContinueButton(),
                                       transitions={
                                           'true': 'Initialisation',
                                           'false': 'Initialisation'
                                       },
                                       autonomy={
                                           'true': Autonomy.Off,
                                           'false': Autonomy.Off
                                       })

            # x:21 y:185
            OperatableStateMachine.add(
                'Action_Move',
                self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
                                  'Action_Move'),
                transitions={
                    'finished': 'lift head',
                    'failed': 'critical'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'pose': 'StartPosition'})

        return _state_machine
    def create(self):
        # x:317 y:570, x:757 y:138, x:589 y:443
        _state_machine = OperatableStateMachine(
            outcomes=['finished', 'failed', 'critical_fail'])

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:30 y:365, x:130 y:365, x:230 y:365
        _sm_turntofindanotherpersononce_0 = OperatableStateMachine(
            outcomes=['end', 'finished', 'failed'])

        with _sm_turntofindanotherpersononce_0:
            # x:32 y:135
            OperatableStateMachine.add(
                'sayNeverMind',
                SaraSay(sentence="OK. Never mind",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'loopFindOtherPerson'},
                autonomy={'done': Autonomy.Off})

            # x:156 y:151
            OperatableStateMachine.add('loopFindOtherPerson',
                                       ForLoop(repeat=1),
                                       transitions={
                                           'do': 'SetRotation',
                                           'end': 'end'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index3'})

            # x:30 y:40
            OperatableStateMachine.add(
                'action_turn',
                self.use_behavior(action_turnSM,
                                  'turnToFindAnotherPersonOnce/action_turn'),
                transitions={
                    'finished': 'finished',
                    'failed': 'failed'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={'rotation': 'rotation'})

            # x:194 y:86
            OperatableStateMachine.add('SetRotation',
                                       SetKey(Value=3.1416),
                                       transitions={'done': 'action_turn'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'rotation'})

        # x:196 y:458, x:495 y:340
        _sm_listenandstorethequestion_1 = OperatableStateMachine(
            outcomes=['done', 'end'], output_keys=['operatorQuestion'])

        with _sm_listenandstorethequestion_1:
            # x:30 y:51
            OperatableStateMachine.add(
                'sayAskQuestion',
                SaraSay(sentence="Ask me your question please.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'getQuestion'},
                autonomy={'done': Autonomy.Off})

            # x:50 y:194
            OperatableStateMachine.add('getQuestion',
                                       GetSpeech(watchdog=7),
                                       transitions={
                                           'done': 'done',
                                           'nothing': 'looping2',
                                           'fail': 'looping2'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'operatorQuestion'})

            # x:250 y:262
            OperatableStateMachine.add('looping2',
                                       ForLoop(repeat=1),
                                       transitions={
                                           'do': 'sayRepeat2',
                                           'end': 'end'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index2'})

            # x:273 y:94
            OperatableStateMachine.add(
                'sayRepeat2',
                SaraSay(sentence="I didn't understand. Can you repeat please?",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'getQuestion'},
                autonomy={'done': Autonomy.Off})

        # x:137 y:546, x:475 y:361, x:494 y:244
        _sm_ifquestionforsara_2 = OperatableStateMachine(
            outcomes=['true', 'false', 'end'])

        with _sm_ifquestionforsara_2:
            # x:30 y:40
            OperatableStateMachine.add(
                'AskIfQuestion',
                SaraSay(sentence="Do you have a question for me?",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'getResponse'},
                autonomy={'done': Autonomy.Off})

            # x:23 y:108
            OperatableStateMachine.add('getResponse',
                                       GetSpeech(watchdog=7),
                                       transitions={
                                           'done': 'ifYes',
                                           'nothing': 'looping',
                                           'fail': 'looping'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'response'})

            # x:261 y:216
            OperatableStateMachine.add('looping',
                                       ForLoop(repeat=1),
                                       transitions={
                                           'do': 'sayRepeat',
                                           'end': 'end'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index'})

            # x:254 y:63
            OperatableStateMachine.add(
                'sayRepeat',
                SaraSay(sentence=
                        "I didn't understand. Do you have a question for me?",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'getResponse'},
                autonomy={'done': Autonomy.Off})

            # x:73 y:394
            OperatableStateMachine.add(
                'ifYes',
                CheckConditionState(predicate=lambda x: "yes" in x or "sure" in
                                    x or "of course" in x),
                transitions={
                    'true': 'true',
                    'false': 'false'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'response'})

        with _state_machine:
            # x:30 y:40
            OperatableStateMachine.add(
                'SetPersonClass',
                SetKey(Value="person"),
                transitions={'done': 'Action_findPerson'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'personClass'})

            # x:20 y:117
            OperatableStateMachine.add('Action_findPerson',
                                       self.use_behavior(
                                           Action_findPersonSM,
                                           'Action_findPerson'),
                                       transitions={
                                           'done': 'IfQuestionForSARA',
                                           'pas_done': 'noPerson'
                                       },
                                       autonomy={
                                           'done': Autonomy.Inherit,
                                           'pas_done': Autonomy.Inherit
                                       },
                                       remapping={
                                           'className': 'personClass',
                                           'entity': 'entity'
                                       })

            # x:374 y:60
            OperatableStateMachine.add(
                'noPerson',
                SaraSay(sentence="I can't find any person here.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'cause1'},
                autonomy={'done': Autonomy.Off})

            # x:332 y:298
            OperatableStateMachine.add(
                'NotUnderstandEnd',
                SaraSay(sentence="Sorry. I can't understand your answer.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'cause2'},
                autonomy={'done': Autonomy.Off})

            # x:39 y:384
            OperatableStateMachine.add('SendToNLU',
                                       SaraNLUspr(),
                                       transitions={
                                           'understood': 'log answer',
                                           'not_understood': 'CannotAnswer',
                                           'fail': 'CannotAnswer'
                                       },
                                       autonomy={
                                           'understood': Autonomy.Off,
                                           'not_understood': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={
                                           'sentence': 'operatorQuestion',
                                           'answer': 'answer'
                                       })

            # x:334 y:408
            OperatableStateMachine.add(
                'CannotAnswer',
                SaraSay(sentence="Sorry. I can't answer your question.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'cause3'},
                autonomy={'done': Autonomy.Off})

            # x:23 y:208
            OperatableStateMachine.add('IfQuestionForSARA',
                                       _sm_ifquestionforsara_2,
                                       transitions={
                                           'true': 'ListenAndStoreTheQuestion',
                                           'false':
                                           'turnToFindAnotherPersonOnce',
                                           'end': 'NotUnderstandEnd'
                                       },
                                       autonomy={
                                           'true': Autonomy.Inherit,
                                           'false': Autonomy.Inherit,
                                           'end': Autonomy.Inherit
                                       })

            # x:16 y:298
            OperatableStateMachine.add(
                'ListenAndStoreTheQuestion',
                _sm_listenandstorethequestion_1,
                transitions={
                    'done': 'SendToNLU',
                    'end': 'NotUnderstandEnd'
                },
                autonomy={
                    'done': Autonomy.Inherit,
                    'end': Autonomy.Inherit
                },
                remapping={'operatorQuestion': 'operatorQuestion'})

            # x:299 y:169
            OperatableStateMachine.add('turnToFindAnotherPersonOnce',
                                       _sm_turntofindanotherpersononce_0,
                                       transitions={
                                           'end': 'cause1',
                                           'finished': 'Action_findPerson',
                                           'failed': 'cause1'
                                       },
                                       autonomy={
                                           'end': Autonomy.Inherit,
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       })

            # x:541 y:89
            OperatableStateMachine.add(
                'cause1',
                SetKey(Value="I did not find any person"),
                transitions={'done': 'SetRosParam'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'Key'})

            # x:523 y:253
            OperatableStateMachine.add(
                'cause2',
                SetKey(Value="I did not understand the question."),
                transitions={'done': 'SetRosParam'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'Key'})

            # x:515 y:350
            OperatableStateMachine.add(
                'cause3',
                SetKey(Value="I was unable to answer the question."),
                transitions={'done': 'SetRosParam'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'Key'})

            # x:630 y:196
            OperatableStateMachine.add(
                'SetRosParam',
                SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
                transitions={'done': 'failed'},
                autonomy={'done': Autonomy.Off},
                remapping={'Value': 'Key'})

            # x:40 y:469
            OperatableStateMachine.add('log answer',
                                       LogKeyState(
                                           text="{}",
                                           severity=Logger.REPORT_HINT),
                                       transitions={'done': 'Say_Answer'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'data': 'answer'})

            # x:42 y:550
            OperatableStateMachine.add('Say_Answer',
                                       SaraSay(sentence=lambda x: x,
                                               input_keys=[],
                                               emotion=0,
                                               block=True),
                                       transitions={'done': 'finished'},
                                       autonomy={'done': Autonomy.Off})

        return _state_machine
	def create(self):
		# x:976 y:173, x:618 y:48
		_state_machine = OperatableStateMachine(outcomes=['done', 'failed'])
		_state_machine.userdata.nameFilter = ""
		_state_machine.userdata.roomQuestion = "what room shall i clean, master ?"
		_state_machine.userdata.waypointGenerationDistance = 0.5
		_state_machine.userdata.placeholder = ""
		_state_machine.userdata.doorName = "crowd"
		_state_machine.userdata.firstTimeInRoom = "yes"
		_state_machine.userdata.waypointToCheckDict = {"bedroom": ["bedroomWP1","bedroomWP2"]}
		_state_machine.userdata.placedObjects = 0
		_state_machine.userdata.misplacedObject = ""
		_state_machine.userdata.skipDoorEntrance = True

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
        
        # [/MANUAL_CREATE]

		# x:153 y:437
		_sm_deusexplacerecovery_0 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject'])

		with _sm_deusexplacerecovery_0:
			# x:85 y:72
			OperatableStateMachine.add('getContainerId',
										CalculationState(calculation=lambda x: x[1].containerId),
										transitions={'done': 'getContainerEntity'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'misplacedObject', 'output_value': 'containerId'})

			# x:234 y:149
			OperatableStateMachine.add('getContainerEntity',
										WonderlandGetEntityByID(),
										transitions={'found': 'ItGoesThere', 'not_found': 'finished', 'error': 'finished'},
										autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off},
										remapping={'id': 'containerId', 'entity': 'containerEntity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'})

			# x:366 y:284
			OperatableStateMachine.add('ItGoesThere',
										SaraSay(sentence=lambda x: "Looks like I dropped "+str(x[0][0].name)+". Can you put it in the "+ x[1].name+"?", input_keys=["misplacedObject","containerEntity"], emotion=0, block=True),
										transitions={'done': 'finished'},
										autonomy={'done': Autonomy.Off},
										remapping={'misplacedObject': 'misplacedObject', 'containerEntity': 'containerEntity'})


		# x:717 y:285
		_sm_cantgotodestination_1 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject'])

		with _sm_cantgotodestination_1:
			# x:48 y:60
			OperatableStateMachine.add('getContainerId',
										CalculationState(calculation=lambda x: x[1].containerId),
										transitions={'done': 'getContainerEntity'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'misplacedObject', 'output_value': 'containerId'})

			# x:463 y:245
			OperatableStateMachine.add('Action_place',
										self.use_behavior(sara_flexbe_behaviors__Action_placeSM, 'PutObjectInDesiredContainer/CantGoToDestination/Action_place'),
										transitions={'finished': 'finished', 'failed': 'finished'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pos': 'droppingPose'})

			# x:26 y:149
			OperatableStateMachine.add('getContainerEntity',
										WonderlandGetEntityByID(),
										transitions={'found': 'ICantGetThere', 'not_found': 'ICantGetThereNCONT', 'error': 'ICantGetThereNCONT'},
										autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off},
										remapping={'id': 'containerId', 'entity': 'containerEntity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'})

			# x:249 y:176
			OperatableStateMachine.add('ICantGetThere',
										SaraSay(sentence=lambda x:"I can't find a way to "+str(x[0].name), input_keys=["containerEntity"], emotion=0, block=True),
										transitions={'done': 'GetDroppingPose'},
										autonomy={'done': Autonomy.Off},
										remapping={'containerEntity': 'containerEntity'})

			# x:247 y:114
			OperatableStateMachine.add('ICantGetThereNCONT',
										SaraSay(sentence="I can't find a way to the container", input_keys=[], emotion=0, block=True),
										transitions={'done': 'GetDroppingPose'},
										autonomy={'done': Autonomy.Off})

			# x:475 y:148
			OperatableStateMachine.add('GetDroppingPose',
										GenPoseEuler(x=0.4, y=0, z=0.3, roll=0.0, pitch=0.0, yaw=0.0),
										transitions={'done': 'Action_place'},
										autonomy={'done': Autonomy.Off},
										remapping={'pose': 'droppingPose'})


		# x:632 y:527
		_sm_putdownobject_2 = OperatableStateMachine(outcomes=['done'], input_keys=['misplacedObject'])

		with _sm_putdownobject_2:
			# x:70 y:215
			OperatableStateMachine.add('GetDroppingPose',
										GenPoseEuler(x=0.3, y=0, z=1.2, roll=0.0, pitch=0.0, yaw=0.0),
										transitions={'done': 'Action_place'},
										autonomy={'done': Autonomy.Off},
										remapping={'pose': 'droppingPose'})

			# x:269 y:215
			OperatableStateMachine.add('Action_place',
										self.use_behavior(sara_flexbe_behaviors__Action_placeSM, 'PutObjectInDesiredContainer/PutDownObject/Action_place'),
										transitions={'finished': 'done', 'failed': 'DeusExPlaceRecovery'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pos': 'droppingPose'})

			# x:592 y:127
			OperatableStateMachine.add('DeusExPlaceRecovery',
										_sm_deusexplacerecovery_0,
										transitions={'finished': 'done'},
										autonomy={'finished': Autonomy.Inherit},
										remapping={'misplacedObject': 'misplacedObject'})


		# x:518 y:44, x:531 y:152
		_sm_gotodesiredcontainer_3 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['misplacedObject'])

		with _sm_gotodesiredcontainer_3:
			# x:86 y:79
			OperatableStateMachine.add('GetContainerWaypoint',
										CalculationState(calculation=lambda x:x[1].waypoint),
										transitions={'done': 'Action_Move'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'misplacedObject', 'output_value': 'targetWaypoint'})

			# x:275 y:79
			OperatableStateMachine.add('Action_Move',
										self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'PutObjectInDesiredContainer/GotoDesiredContainer/Action_Move'),
										transitions={'finished': 'done', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pose': 'targetWaypoint'})


		# x:300 y:141, x:893 y:63
		_sm_receiveitem_4 = OperatableStateMachine(outcomes=['failed', 'success'])

		with _sm_receiveitem_4:
			# x:69 y:47
			OperatableStateMachine.add('opengripper',
										SetGripperState(width=0.25, effort=1),
										transitions={'object': 'setTarget1', 'no_object': 'setTarget1'},
										autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
										remapping={'object_size': 'object_size'})

			# x:280 y:263
			OperatableStateMachine.add('Torque_Reader',
										ReadTorque(watchdog=10, Joint="right_elbow_pitch_joint", Threshold=1, min_time=1),
										transitions={'threshold': 'close_gripper', 'watchdog': 'Torque_Reader', 'fail': 'failed'},
										autonomy={'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off},
										remapping={'torque': 'torque'})

			# x:668 y:149
			OperatableStateMachine.add('setTarget2',
										SetKey(Value="PostGripPose"),
										transitions={'done': 'Go_to_Pose'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'target'})

			# x:51 y:261
			OperatableStateMachine.add('Go_to_receive_bag_pose',
										MoveitMove(move=True, waitForExecution=True, group="RightArm"),
										transitions={'done': 'Torque_Reader', 'failed': 'failed'},
										autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
										remapping={'target': 'target'})

			# x:450 y:274
			OperatableStateMachine.add('close_gripper',
										SetGripperState(width=0, effort=1),
										transitions={'object': 'thank you', 'no_object': 'failed'},
										autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
										remapping={'object_size': 'object_size'})

			# x:640 y:273
			OperatableStateMachine.add('thank you',
										SaraSay(sentence="Thank you", input_keys=[], emotion=1, block=True),
										transitions={'done': 'setTarget2'},
										autonomy={'done': Autonomy.Off})

			# x:50 y:141
			OperatableStateMachine.add('setTarget1',
										SetKey(Value="Help_me_carry"),
										transitions={'done': 'Go_to_receive_bag_pose'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'target'})

			# x:660 y:57
			OperatableStateMachine.add('Go_to_Pose',
										MoveitMove(move=True, waitForExecution=True, group="RightArm"),
										transitions={'done': 'success', 'failed': 'failed'},
										autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
										remapping={'target': 'target'})


		# x:169 y:514, x:508 y:495
		_sm_deusexpickrecovery_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['misplacedObject'])

		with _sm_deusexpickrecovery_5:
			# x:81 y:50
			OperatableStateMachine.add('GimmeTheObjict',
										SaraSay(sentence=lambda x: "Could you give me the "+x[0][0].name+", please ?", input_keys=["misplacedObject"], emotion=0, block=True),
										transitions={'done': 'ReceiveItem'},
										autonomy={'done': Autonomy.Off},
										remapping={'misplacedObject': 'misplacedObject'})

			# x:213 y:130
			OperatableStateMachine.add('ReceiveItem',
										_sm_receiveitem_4,
										transitions={'failed': 'Oh f**k', 'success': 'finished'},
										autonomy={'failed': Autonomy.Inherit, 'success': Autonomy.Inherit})

			# x:355 y:262
			OperatableStateMachine.add('Oh f**k',
										SaraSay(sentence="Oh. Nevermind then.", input_keys=[], emotion=2, block=True),
										transitions={'done': 'failed'},
										autonomy={'done': Autonomy.Off})


		# x:676 y:610, x:1158 y:270
		_sm_grabmisplacedobject_6 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['misplacedObject'])

		with _sm_grabmisplacedobject_6:
			# x:72 y:35
			OperatableStateMachine.add('GetObjectId',
										CalculationState(calculation=lambda x: x[0].ID),
										transitions={'done': 'Action_pick'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'misplacedObject', 'output_value': 'misplacedObjectID'})

			# x:307 y:89
			OperatableStateMachine.add('oops',
										SaraSay(sentence="Oops. I dropped the object!", input_keys=[], emotion=5, block=True),
										transitions={'done': 'DeusExPickRecovery'},
										autonomy={'done': Autonomy.Off})

			# x:344 y:157
			OperatableStateMachine.add('oops_2',
										SaraSay(sentence="Oops. Seems I can't reach the object!", input_keys=[], emotion=3, block=True),
										transitions={'done': 'DeusExPickRecovery'},
										autonomy={'done': Autonomy.Off})

			# x:362 y:239
			OperatableStateMachine.add('oops_3',
										SaraSay(sentence="Oops. I can't see the object!", input_keys=[], emotion=3, block=True),
										transitions={'done': 'DeusExPickRecovery'},
										autonomy={'done': Autonomy.Off})

			# x:42 y:275
			OperatableStateMachine.add('Action_pick',
										self.use_behavior(sara_flexbe_behaviors__Action_pickSM, 'PickMisplacedObject/GrabMisplacedObject/Action_pick', default_keys=['Entity']),
										transitions={'success': 'done', 'unreachable': 'oops_2', 'not found': 'oops_3', 'dropped': 'oops'},
										autonomy={'success': Autonomy.Inherit, 'unreachable': Autonomy.Inherit, 'not found': Autonomy.Inherit, 'dropped': Autonomy.Inherit},
										remapping={'objectID': 'misplacedObjectID', 'Entity': 'Entity'})

			# x:600 y:177
			OperatableStateMachine.add('DeusExPickRecovery',
										_sm_deusexpickrecovery_5,
										transitions={'finished': 'done', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'misplacedObject': 'misplacedObject'})


		# x:30 y:426
		_sm_scanaround_7 = OperatableStateMachine(outcomes=['done'])

		with _sm_scanaround_7:
			# x:172 y:46
			OperatableStateMachine.add('center',
										SaraSetHeadAngle(pitch=0.1, yaw=0),
										transitions={'done': 'w2'},
										autonomy={'done': Autonomy.Off})

			# x:304 y:122
			OperatableStateMachine.add('right',
										SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
										transitions={'done': 'w3'},
										autonomy={'done': Autonomy.Off})

			# x:165 y:187
			OperatableStateMachine.add('center2',
										SaraSetHeadAngle(pitch=0.1, yaw=0),
										transitions={'done': 'w4'},
										autonomy={'done': Autonomy.Off})

			# x:195 y:276
			OperatableStateMachine.add('w1',
										WaitState(wait_time=1),
										transitions={'done': 'center3'},
										autonomy={'done': Autonomy.Off})

			# x:309 y:49
			OperatableStateMachine.add('w2',
										WaitState(wait_time=4),
										transitions={'done': 'right'},
										autonomy={'done': Autonomy.Off})

			# x:308 y:187
			OperatableStateMachine.add('w3',
										WaitState(wait_time=4),
										transitions={'done': 'center2'},
										autonomy={'done': Autonomy.Off})

			# x:56 y:191
			OperatableStateMachine.add('w4',
										WaitState(wait_time=4),
										transitions={'done': 'left'},
										autonomy={'done': Autonomy.Off})

			# x:40 y:270
			OperatableStateMachine.add('left',
										SaraSetHeadAngle(pitch=0.1, yaw=1.5),
										transitions={'done': 'w1'},
										autonomy={'done': Autonomy.Off})

			# x:317 y:277
			OperatableStateMachine.add('center3',
										SaraSetHeadAngle(pitch=0.1, yaw=0),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off})


		# x:289 y:803, x:694 y:198, x:4 y:400
		_sm_checkatwaypoints_8 = OperatableStateMachine(outcomes=['found', 'noneFound', 'failed'], input_keys=['waypointToCheckDict', 'cleaningRoom', 'nameFilter'], output_keys=['misplacedObject'])

		with _sm_checkatwaypoints_8:
			# x:60 y:44
			OperatableStateMachine.add('GetNbOfWaypoints',
										FlexibleCalculationState(calculation=lambda x: len(x[1][x[0]]), input_keys=["cleaningRoom","waypointToCheckDict"]),
										transitions={'done': 'StartLoop'},
										autonomy={'done': Autonomy.Off},
										remapping={'cleaningRoom': 'cleaningRoom', 'waypointToCheckDict': 'waypointToCheckDict', 'output_value': 'lenWaypointDict'})

			# x:137 y:471
			OperatableStateMachine.add('ScanAround',
										_sm_scanaround_7,
										transitions={'done': 'StopCheckingForUnknownObj'},
										autonomy={'done': Autonomy.Inherit})

			# x:163 y:729
			OperatableStateMachine.add('GetFirstElement',
										CalculationState(calculation=lambda x:x[0]),
										transitions={'done': 'found'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'entity_list', 'output_value': 'misplacedObject'})

			# x:354 y:538
			OperatableStateMachine.add('ListEntities',
										list_entities_by_name(frontality_level=0.5, distance_max=10),
										transitions={'found': 'CheckMisplacedObjects', 'none_found': 'CheckAtEachLocation'},
										autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
										remapping={'name': 'nameFilter', 'entity_list': 'entity_list', 'number': 'number'})

			# x:23 y:198
			OperatableStateMachine.add('EverythingsFine',
										SaraSay(sentence="I'll check at another location.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'GetLocation'},
										autonomy={'done': Autonomy.Off})

			# x:184 y:289
			OperatableStateMachine.add('Action_Move',
										self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'CheckForMisplacedObjects/CheckAtWaypoints/Action_Move'),
										transitions={'finished': 'CheckForUnknownObjs', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pose': 'waypointToGo'})

			# x:511 y:338
			OperatableStateMachine.add('CheckAtEachLocation',
										ForLoopWithInput(repeat=10),
										transitions={'do': 'CheckIfLastLocationOfList', 'end': 'noneFound'},
										autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
										remapping={'index_in': 'index_in', 'index_out': 'locationToGet'})

			# x:318 y:58
			OperatableStateMachine.add('StartLoop',
										SetKey(Value=-1),
										transitions={'done': 'CheckAtEachLocation'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'index_in'})

			# x:9 y:262
			OperatableStateMachine.add('GetLocation',
										FlexibleCalculationState(calculation=lambda x: x[1][x[2]][x[0]], input_keys=["index_out","waypointToCheckDict","cleaningRoom"]),
										transitions={'done': 'Action_Move'},
										autonomy={'done': Autonomy.Off},
										remapping={'index_out': 'locationToGet', 'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleaningRoom', 'output_value': 'waypointToGo'})

			# x:173 y:195
			OperatableStateMachine.add('CheckIfLastLocationOfList',
										FlexibleCheckConditionState(predicate=lambda x: x[0]-1 >= x[1], input_keys=["lenWaypointDict","locationToGet"]),
										transitions={'true': 'noneFound', 'false': 'EverythingsFine'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'lenWaypointDict': 'lenWaypointDict', 'locationToGet': 'locationToGet'})

			# x:418 y:665
			OperatableStateMachine.add('CheckMisplacedObjects',
										CheckMisplacedObjects(position_tolerance=0.1, default_destination="bin"),
										transitions={'all_expected': 'CheckAtEachLocation', 'unexpected': 'GetFirstElement'},
										autonomy={'all_expected': Autonomy.Off, 'unexpected': Autonomy.Off},
										remapping={'entities': 'entity_list', 'expected_objects': 'expected_objects', 'unexpected_objects': 'unexpected_objects'})

			# x:119 y:402
			OperatableStateMachine.add('CheckForUnknownObjs',
										SetSegmentationRosParam(ValueTableSegmentation=True, ValueObjectSegmentation=True),
										transitions={'done': 'ScanAround'},
										autonomy={'done': Autonomy.Off})

			# x:114 y:561
			OperatableStateMachine.add('StopCheckingForUnknownObj',
										SetSegmentationRosParam(ValueTableSegmentation=False, ValueObjectSegmentation=False),
										transitions={'done': 'ListEntities'},
										autonomy={'done': Autonomy.Off})


		# x:547 y:290
		_sm_scanaround_9 = OperatableStateMachine(outcomes=['done'], input_keys=['input_value'])

		with _sm_scanaround_9:
			# x:172 y:46
			OperatableStateMachine.add('center',
										SaraSetHeadAngle(pitch=0.1, yaw=0),
										transitions={'done': 'w2'},
										autonomy={'done': Autonomy.Off})

			# x:304 y:122
			OperatableStateMachine.add('right',
										SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
										transitions={'done': 'w3'},
										autonomy={'done': Autonomy.Off})

			# x:165 y:187
			OperatableStateMachine.add('center2',
										SaraSetHeadAngle(pitch=0.1, yaw=0),
										transitions={'done': 'w4'},
										autonomy={'done': Autonomy.Off})

			# x:195 y:276
			OperatableStateMachine.add('w1',
										WaitState(wait_time=1),
										transitions={'done': 'center3'},
										autonomy={'done': Autonomy.Off})

			# x:367 y:47
			OperatableStateMachine.add('w2',
										WaitState(wait_time=4),
										transitions={'done': 'right'},
										autonomy={'done': Autonomy.Off})

			# x:308 y:187
			OperatableStateMachine.add('w3',
										WaitState(wait_time=4),
										transitions={'done': 'center2'},
										autonomy={'done': Autonomy.Off})

			# x:56 y:191
			OperatableStateMachine.add('w4',
										WaitState(wait_time=4),
										transitions={'done': 'left'},
										autonomy={'done': Autonomy.Off})

			# x:40 y:270
			OperatableStateMachine.add('left',
										SaraSetHeadAngle(pitch=0.1, yaw=1.5),
										transitions={'done': 'w1'},
										autonomy={'done': Autonomy.Off})

			# x:317 y:277
			OperatableStateMachine.add('center3',
										SaraSetHeadAngle(pitch=0.1, yaw=0),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off})


		# x:293 y:350, x:857 y:186
		_sm_ask_10 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['roomQuestion'], output_keys=['roomAnswer'])

		with _sm_ask_10:
			# x:79 y:95
			OperatableStateMachine.add('say question',
										SaraSay(sentence=lambda x: x[0], input_keys=["question"], emotion=0, block=True),
										transitions={'done': 'get answer'},
										autonomy={'done': Autonomy.Off},
										remapping={'question': 'roomQuestion'})

			# x:92 y:304
			OperatableStateMachine.add('get answer',
										GetSpeech(watchdog=10),
										transitions={'done': 'finished', 'nothing': 'retry ask', 'fail': 'retry ask'},
										autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
										remapping={'words': 'roomAnswer'})

			# x:345 y:202
			OperatableStateMachine.add('retry ask',
										ForLoop(repeat=2),
										transitions={'do': 'say not understand', 'end': 'say failed'},
										autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
										remapping={'index': 'index'})

			# x:232 y:90
			OperatableStateMachine.add('say not understand',
										SaraSay(sentence="Sorry, I did not understand your answer.", input_keys=[], emotion=0, block=True),
										transitions={'done': 'say question'},
										autonomy={'done': Autonomy.Off})

			# x:604 y:151
			OperatableStateMachine.add('say failed',
										SaraSay(sentence="Sorry, I can't understand your answer.", input_keys=[], emotion=0, block=True),
										transitions={'done': 'failed'},
										autonomy={'done': Autonomy.Off})


		# x:30 y:365, x:424 y:392
		_sm_nlu_11 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['roomAnswer'], output_keys=['cleanupRoom'])

		with _sm_nlu_11:
			# x:212 y:89
			OperatableStateMachine.add('NLU',
										SaraNLUgetRoom(),
										transitions={'understood': 'done', 'not_understood': 'failed', 'fail': 'failed'},
										autonomy={'understood': Autonomy.Off, 'not_understood': Autonomy.Off, 'fail': Autonomy.Off},
										remapping={'sentence': 'roomAnswer', 'answer': 'cleanupRoom'})


		# x:736 y:312
		_sm_putobjectindesiredcontainer_12 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject', 'placedObjects'], output_keys=['placedObjects'])

		with _sm_putobjectindesiredcontainer_12:
			# x:138 y:153
			OperatableStateMachine.add('GotoDesiredContainer',
										_sm_gotodesiredcontainer_3,
										transitions={'done': 'PutDownObject', 'failed': 'CantGoToDestination'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'misplacedObject': 'misplacedObject'})

			# x:277 y:313
			OperatableStateMachine.add('PutDownObject',
										_sm_putdownobject_2,
										transitions={'done': 'OneMoreObjectPlaced'},
										autonomy={'done': Autonomy.Inherit},
										remapping={'misplacedObject': 'misplacedObject'})

			# x:339 y:80
			OperatableStateMachine.add('CantGoToDestination',
										_sm_cantgotodestination_1,
										transitions={'finished': 'finished'},
										autonomy={'finished': Autonomy.Inherit},
										remapping={'misplacedObject': 'misplacedObject'})

			# x:468 y:381
			OperatableStateMachine.add('OneMoreObjectPlaced',
										CalculationState(calculation=lambda x: x+1),
										transitions={'done': 'finished'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'placedObjects', 'output_value': 'placedObjects'})


		# x:609 y:528, x:593 y:240
		_sm_pickmisplacedobject_13 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['misplacedObject', 'waypointGenerationDistance'])

		with _sm_pickmisplacedobject_13:
			# x:82 y:71
			OperatableStateMachine.add('GetObjectPosition',
										CalculationState(calculation=lambda x: x[0].position),
										transitions={'done': 'FindAWay'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'misplacedObject', 'output_value': 'misplacedObjectPosition'})

			# x:67 y:304
			OperatableStateMachine.add('Action_Move',
										self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'PickMisplacedObject/Action_Move'),
										transitions={'finished': 'GrabMisplacedObject', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pose': 'misplacedObjectWaypoint'})

			# x:82 y:202
			OperatableStateMachine.add('FindAWay',
										Get_Reacheable_Waypoint(),
										transitions={'done': 'Action_Move'},
										autonomy={'done': Autonomy.Off},
										remapping={'pose_in': 'misplacedObjectPosition', 'distance': 'waypointGenerationDistance', 'pose_out': 'misplacedObjectWaypoint'})

			# x:58 y:514
			OperatableStateMachine.add('GrabMisplacedObject',
										_sm_grabmisplacedobject_6,
										transitions={'done': 'finished', 'failed': 'failed'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'misplacedObject': 'misplacedObject'})


		# x:957 y:154, x:535 y:369, x:800 y:304
		_sm_checkformisplacedobjects_14 = OperatableStateMachine(outcomes=['noneLeft', 'found', 'failed'], input_keys=['nameFilter', 'waypointToCheckDict', 'cleaningRoom', 'placedObjects'], output_keys=['misplacedObject'])

		with _sm_checkformisplacedobjects_14:
			# x:241 y:59
			OperatableStateMachine.add('CheckIf5Placed',
										CheckConditionState(predicate=lambda x: x >= 5),
										transitions={'true': 'OkItsClean', 'false': 'RetryOnce'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'input_value': 'placedObjects'})

			# x:115 y:477
			OperatableStateMachine.add('CheckMisplacedObjects',
										CheckMisplacedObjects(position_tolerance=0.1, default_destination="bin"),
										transitions={'all_expected': 'EverythingsFine', 'unexpected': 'GetFirstElement'},
										autonomy={'all_expected': Autonomy.Off, 'unexpected': Autonomy.Off},
										remapping={'entities': 'entity_list', 'expected_objects': 'expected_objects', 'unexpected_objects': 'unexpected_objects'})

			# x:76 y:251
			OperatableStateMachine.add('ScanAround',
										_sm_scanaround_9,
										transitions={'done': 'ListEntities'},
										autonomy={'done': Autonomy.Inherit},
										remapping={'input_value': 'nameFilter'})

			# x:300 y:486
			OperatableStateMachine.add('GetFirstElement',
										CalculationState(calculation=lambda x:x[0]),
										transitions={'done': 'found'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'entity_list', 'output_value': 'misplacedObject'})

			# x:77 y:360
			OperatableStateMachine.add('ListEntities',
										list_entities_by_name(frontality_level=0.5, distance_max=10),
										transitions={'found': 'CheckMisplacedObjects', 'none_found': 'RetryOnce'},
										autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
										remapping={'name': 'nameFilter', 'entity_list': 'entity_list', 'number': 'number'})

			# x:305 y:355
			OperatableStateMachine.add('EverythingsFine',
										SaraSay(sentence="Everything seems in order. I'll check again.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'RetryOnce'},
										autonomy={'done': Autonomy.Off})

			# x:738 y:175
			OperatableStateMachine.add('OkItsClean',
										SaraSay(sentence="I cleaned the room!", input_keys=[], emotion=1, block=True),
										transitions={'done': 'noneLeft'},
										autonomy={'done': Autonomy.Off})

			# x:488 y:226
			OperatableStateMachine.add('CheckAtWaypoints',
										_sm_checkatwaypoints_8,
										transitions={'found': 'found', 'noneFound': 'OkItsClean', 'failed': 'failed'},
										autonomy={'found': Autonomy.Inherit, 'noneFound': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleaningRoom', 'nameFilter': 'nameFilter', 'misplacedObject': 'misplacedObject'})

			# x:268 y:226
			OperatableStateMachine.add('RetryOnce',
										ForLoop(repeat=1),
										transitions={'do': 'ScanAround', 'end': 'CheckAtWaypoints'},
										autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
										remapping={'index': 'index'})


		# x:644 y:459, x:651 y:336
		_sm_gotoroom_15 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['cleanupRoom', 'firstTimeInRoom'], output_keys=['firstTimeInRoom'])

		with _sm_gotoroom_15:
			# x:141 y:121
			OperatableStateMachine.add('IsItMyFirstTime',
										DecisionState(outcomes=["no", "yes"], conditions=lambda x: x),
										transitions={'no': 'GoingBackToTheRoom', 'yes': 'OkImGoingToTheRoom'},
										autonomy={'no': Autonomy.Off, 'yes': Autonomy.Off},
										remapping={'input_value': 'firstTimeInRoom'})

			# x:130 y:220
			OperatableStateMachine.add('GoingBackToTheRoom',
										SaraSay(sentence=lambda x: "I'm going back to the "+str(x[0])+".", input_keys=["cleanupRoom"], emotion=0, block=True),
										transitions={'done': 'Action_Move'},
										autonomy={'done': Autonomy.Off},
										remapping={'cleanupRoom': 'cleanupRoom'})

			# x:342 y:171
			OperatableStateMachine.add('OkImGoingToTheRoom',
										SaraSay(sentence=lambda x: "Okay, I'm going to the "+str(x[0])+".", input_keys=["cleanupRoom"], emotion=0, block=True),
										transitions={'done': 'Action_Move'},
										autonomy={'done': Autonomy.Off},
										remapping={'cleanupRoom': 'cleanupRoom'})

			# x:330 y:448
			OperatableStateMachine.add('IWentThere',
										SetKey(Value="no"),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'firstTimeInRoom'})

			# x:320 y:326
			OperatableStateMachine.add('Action_Move',
										self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'GoToRoom/Action_Move'),
										transitions={'finished': 'IWentThere', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pose': 'cleanupRoom'})


		# x:709 y:520, x:850 y:66
		_sm_enterarena_16 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['roomQuestion', 'doorName', 'skipDoorEntrance'], output_keys=['cleanupRoom'])

		with _sm_enterarena_16:
			# x:77 y:28
			OperatableStateMachine.add('Init_Sequence',
										self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM, 'EnterArena/Init_Sequence'),
										transitions={'finished': 'SkipEntrance', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})

			# x:278 y:473
			OperatableStateMachine.add('NLU',
										_sm_nlu_11,
										transitions={'done': 'done', 'failed': 'Sorry'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'roomAnswer': 'roomAnswer', 'cleanupRoom': 'cleanupRoom'})

			# x:467 y:87
			OperatableStateMachine.add('Action_Pass_Door',
										self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'EnterArena/Action_Pass_Door'),
										transitions={'Done': 'RetryOnce', 'Fail': 'failed'},
										autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
										remapping={'DoorName': 'doorName'})

			# x:234 y:259
			OperatableStateMachine.add('RetryOnce',
										ForLoop(repeat=2),
										transitions={'do': 'Ask', 'end': 'failed'},
										autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
										remapping={'index': 'index'})

			# x:295 y:354
			OperatableStateMachine.add('Sorry',
										SaraSay(sentence="Sorry, I misunderstood.", input_keys=[], emotion=0, block=True),
										transitions={'done': 'RetryOnce'},
										autonomy={'done': Autonomy.Off})

			# x:213 y:119
			OperatableStateMachine.add('SkipEntrance',
										CheckConditionState(predicate=lambda x: x),
										transitions={'true': 'RetryOnce', 'false': 'Action_Pass_Door'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'input_value': 'skipDoorEntrance'})

			# x:51 y:354
			OperatableStateMachine.add('Ask',
										_sm_ask_10,
										transitions={'finished': 'NLU', 'failed': 'RetryOnce'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'roomQuestion': 'roomQuestion', 'roomAnswer': 'roomAnswer'})



		with _state_machine:
			# x:131 y:130
			OperatableStateMachine.add('EnterArena',
										_sm_enterarena_16,
										transitions={'done': 'GoToRoom', 'failed': 'failed'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'roomQuestion': 'roomQuestion', 'doorName': 'doorName', 'skipDoorEntrance': 'skipDoorEntrance', 'cleanupRoom': 'cleanupRoom'})

			# x:286 y:217
			OperatableStateMachine.add('GoToRoom',
										_sm_gotoroom_15,
										transitions={'done': 'CheckForMisplacedObjects', 'failed': 'failed'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'cleanupRoom': 'cleanupRoom', 'firstTimeInRoom': 'firstTimeInRoom'})

			# x:652 y:203
			OperatableStateMachine.add('CheckForMisplacedObjects',
										_sm_checkformisplacedobjects_14,
										transitions={'noneLeft': 'done', 'found': 'PickMisplacedObject', 'failed': 'failed'},
										autonomy={'noneLeft': Autonomy.Inherit, 'found': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'nameFilter': 'nameFilter', 'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleanupRoom', 'placedObjects': 'placedObjects', 'misplacedObject': 'misplacedObject'})

			# x:557 y:403
			OperatableStateMachine.add('PickMisplacedObject',
										_sm_pickmisplacedobject_13,
										transitions={'finished': 'PutObjectInDesiredContainer', 'failed': 'GoToRoom'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'misplacedObject': 'misplacedObject', 'waypointGenerationDistance': 'waypointGenerationDistance'})

			# x:234 y:476
			OperatableStateMachine.add('PutObjectInDesiredContainer',
										_sm_putobjectindesiredcontainer_12,
										transitions={'finished': 'GoToRoom'},
										autonomy={'finished': Autonomy.Inherit},
										remapping={'misplacedObject': 'misplacedObject', 'placedObjects': 'placedObjects'})


		return _state_machine
	def create(self):
		# x:763 y:423, x:866 y:181, x:896 y:268
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed', 'critical_fail'], input_keys=['Action'])
		_state_machine.userdata.Action = ["Follow", "rachel"]
		_state_machine.userdata.distance = 1

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
        
        # [/MANUAL_CREATE]

		# x:30 y:368
		_sm_wait_stop_0 = OperatableStateMachine(outcomes=['finished'])

		with _sm_wait_stop_0:
			# x:112 y:116
			OperatableStateMachine.add('Get Command',
										GetSpeech(watchdog=1000),
										transitions={'done': 'Command Stop', 'nothing': 'Get Command', 'fail': 'Get Command'},
										autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
										remapping={'words': 'words'})

			# x:115 y:270
			OperatableStateMachine.add('Command Stop',
										CheckConditionState(predicate=lambda x: True in [True for match in ['stop', 'arrived', 'reached', 'here', 'ok'] if match in x]),
										transitions={'true': 'finished', 'false': 'Get Command'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'input_value': 'words'})


		# x:395 y:153, x:390 y:47, x:359 y:362, x:304 y:368
		_sm_follow_loop_1 = ConcurrencyContainer(outcomes=['finished', 'error'], input_keys=['ID', 'distance'], conditions=[
										('finished', [('Wait Stop', 'finished')]),
										('error', [('Action_follow', 'failed')])
										])

		with _sm_follow_loop_1:
			# x:190 y:37
			OperatableStateMachine.add('Action_follow',
										self.use_behavior(Action_followSM, 'Follow Loop/Action_follow'),
										transitions={'failed': 'error'},
										autonomy={'failed': Autonomy.Inherit},
										remapping={'ID': 'ID'})

			# x:190 y:139
			OperatableStateMachine.add('Wait Stop',
										_sm_wait_stop_0,
										transitions={'finished': 'finished'},
										autonomy={'finished': Autonomy.Inherit})



		with _state_machine:
			# x:85 y:51
			OperatableStateMachine.add('GetName',
										CalculationState(calculation=lambda x: x[1]),
										transitions={'done': 'Get Person ID'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'Action', 'output_value': 'name'})

			# x:97 y:141
			OperatableStateMachine.add('Get Person ID',
										GetRosParam(ParamName="/behavior/FoundPerson/Id"),
										transitions={'done': 'Get Entity Location', 'failed': 'Say_Lost'},
										autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
										remapping={'Value': 'personId'})

			# x:92 y:225
			OperatableStateMachine.add('Get Entity Location',
										GetEntityByID(),
										transitions={'found': 'Tell_Follow', 'not_found': 'Say_Lost'},
										autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
										remapping={'ID': 'personId', 'Entity': 'Entity'})

			# x:231 y:389
			OperatableStateMachine.add('Tell Way',
										SaraSay(sentence="Show me the way !", input_keys=[], emotion=1, block=True),
										transitions={'done': 'Follow Loop'},
										autonomy={'done': Autonomy.Off})

			# x:391 y:374
			OperatableStateMachine.add('Follow Loop',
										_sm_follow_loop_1,
										transitions={'finished': 'Stop_Follow', 'error': 'Cant_Follow'},
										autonomy={'finished': Autonomy.Inherit, 'error': Autonomy.Inherit},
										remapping={'ID': 'personId', 'distance': 'distance'})

			# x:533 y:140
			OperatableStateMachine.add('cause1',
										SetKey(Value="I lost the person I was following."),
										transitions={'done': 'setrosparamcause'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'Key'})

			# x:540 y:219
			OperatableStateMachine.add('cause2',
										SetKey(Value="I was unable to follow the person."),
										transitions={'done': 'setrosparamcause'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'Key'})

			# x:697 y:178
			OperatableStateMachine.add('setrosparamcause',
										SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
										transitions={'done': 'failed'},
										autonomy={'done': Autonomy.Off},
										remapping={'Value': 'Key'})

			# x:96 y:341
			OperatableStateMachine.add('Tell_Follow',
										SaraSay(sentence=lambda x: "I will follow you, " + x[0] + " !", input_keys=["name"], emotion=0, block=True),
										transitions={'done': 'Tell Way'},
										autonomy={'done': Autonomy.Off},
										remapping={'name': 'name'})

			# x:571 y:411
			OperatableStateMachine.add('Stop_Follow',
										SaraSay(sentence=lambda x: "Ok " + x[0] + ", I will stop to follow you !", input_keys=["name"], emotion=0, block=True),
										transitions={'done': 'finished'},
										autonomy={'done': Autonomy.Off},
										remapping={'name': 'name'})

			# x:359 y:262
			OperatableStateMachine.add('Cant_Follow',
										SaraSay(sentence=lambda x: "I can't follow you, " + x[0] + " !", input_keys=["name"], emotion=0, block=True),
										transitions={'done': 'cause2'},
										autonomy={'done': Autonomy.Off},
										remapping={'name': 'name'})

			# x:345 y:149
			OperatableStateMachine.add('Say_Lost',
										SaraSay(sentence=lambda x: "I have lost " + x[0] + " !", input_keys=["name"], emotion=0, block=True),
										transitions={'done': 'cause1'},
										autonomy={'done': Autonomy.Off},
										remapping={'name': 'name'})


		return _state_machine
Beispiel #9
0
    def create(self):
        # x:283 y:267
        _state_machine = OperatableStateMachine(outcomes=['Shutdown'])
        _state_machine.userdata.Command = "no nothing"
        _state_machine.userdata.End = False

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:887 y:420
        _sm_sara_brain_0 = OperatableStateMachine(
            outcomes=['error'],
            input_keys=['HighFIFO', 'LowFIFO', 'MedFIFO', 'DoNow', 'End'])

        with _sm_sara_brain_0:
            # x:270 y:346
            OperatableStateMachine.add(
                'sara_command_manager',
                self.use_behavior(
                    sara_command_managerSM,
                    'Sara parallel Runtime/Sara brain/sara_command_manager'),
                transitions={
                    'finished': 'if stop',
                    'failed': 'set end'
                },
                autonomy={
                    'finished': Autonomy.Inherit,
                    'failed': Autonomy.Inherit
                },
                remapping={
                    'HighFIFO': 'HighFIFO',
                    'MedFIFO': 'MedFIFO',
                    'LowFIFO': 'LowFIFO',
                    'DoNow': 'DoNow'
                })

            # x:725 y:388
            OperatableStateMachine.add(
                'set end',
                CalculationState(calculation=lambda x: True),
                transitions={'done': 'error'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'End',
                    'output_value': 'End'
                })

            # x:516 y:448
            OperatableStateMachine.add(
                'if stop',
                CheckConditionState(predicate=lambda x: x[0][0] == "Stop"),
                transitions={
                    'true': 'set end',
                    'false': 'sara_command_manager'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'DoNow'})

        # x:841 y:231
        _sm_sara_action_executor_1 = OperatableStateMachine(
            outcomes=['shutdown'],
            input_keys=['HighFIFO', 'MedFIFO', 'LowFIFO', 'DoNow', 'End'])

        with _sm_sara_action_executor_1:
            # x:128 y:134
            OperatableStateMachine.add(
                'log',
                LogState(text="Start action executor",
                         severity=Logger.REPORT_HINT),
                transitions={'done': 'Sara action executor'},
                autonomy={'done': Autonomy.Off})

            # x:636 y:111
            OperatableStateMachine.add(
                'Critical failure',
                LogState(text="Critical fail in action executer!",
                         severity=Logger.REPORT_HINT),
                transitions={'done': 'shutdown'},
                autonomy={'done': Autonomy.Off})

            # x:366 y:149
            OperatableStateMachine.add(
                'Sara action executor',
                self.use_behavior(
                    SaraactionexecutorSM,
                    'Sara parallel Runtime/Sara action executor/Sara action executor'
                ),
                transitions={
                    'CriticalFail': 'Critical failure',
                    'Shutdown': 'shutdown'
                },
                autonomy={
                    'CriticalFail': Autonomy.Inherit,
                    'Shutdown': Autonomy.Inherit
                },
                remapping={
                    'HighFIFO': 'HighFIFO',
                    'MedFIFO': 'MedFIFO',
                    'LowFIFO': 'LowFIFO',
                    'End': 'End'
                })

        # x:30 y:365
        _sm_sara_init_2 = OperatableStateMachine(outcomes=['done'])

        with _sm_sara_init_2:
            # x:30 y:40
            OperatableStateMachine.add('set head',
                                       SaraSetHeadAngle(angle=0.1),
                                       transitions={'done': 'set face'},
                                       autonomy={'done': Autonomy.Off})

            # x:47 y:119
            OperatableStateMachine.add('set arm',
                                       MoveitMove(move=True,
                                                  waitForExecution=True,
                                                  group="RightArm"),
                                       transitions={
                                           'done': 'hello',
                                           'failed': 'hello'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'failed': Autonomy.Off
                                       },
                                       remapping={'target': 'target'})

            # x:242 y:288
            OperatableStateMachine.add(
                'hello',
                SaraSay(
                    sentence=
                    "Good morning. I am Sara the robot. Please give me orders.",
                    emotion=1,
                    block=True),
                transitions={'done': 'done'},
                autonomy={'done': Autonomy.Off})

            # x:239 y:21
            OperatableStateMachine.add('set face',
                                       SetExpression(emotion=0,
                                                     brightness=200),
                                       transitions={'done': 'www'},
                                       autonomy={'done': Autonomy.Off})

            # x:339 y:116
            OperatableStateMachine.add('on face',
                                       SetExpression(emotion=1, brightness=-1),
                                       transitions={'done': 'setTarget'},
                                       autonomy={'done': Autonomy.Off})

            # x:484 y:41
            OperatableStateMachine.add('www',
                                       WaitState(wait_time=2),
                                       transitions={'done': 'on face'},
                                       autonomy={'done': Autonomy.Off})

            # x:197 y:113
            OperatableStateMachine.add('setTarget',
                                       SetKey(Value="IdlePose"),
                                       transitions={'done': 'set arm'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'target'})

        # x:55 y:366
        _sm_create_fifos_3 = OperatableStateMachine(
            outcomes=['done'],
            output_keys=['HighFIFO', 'MedFIFO', 'LowFIFO', 'DoNow'])

        with _sm_create_fifos_3:
            # x:33 y:40
            OperatableStateMachine.add('Create HighFIFO',
                                       FIFO_New(),
                                       transitions={'done': 'Create MedFIFO'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'FIFO': 'HighFIFO'})

            # x:30 y:114
            OperatableStateMachine.add('Create MedFIFO',
                                       FIFO_New(),
                                       transitions={'done': 'Create LowFIFO'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'FIFO': 'MedFIFO'})

            # x:30 y:189
            OperatableStateMachine.add('Create LowFIFO',
                                       FIFO_New(),
                                       transitions={'done': 'Create DoNow'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'FIFO': 'LowFIFO'})

            # x:34 y:260
            OperatableStateMachine.add('Create DoNow',
                                       FIFO_New(),
                                       transitions={'done': 'done'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'FIFO': 'DoNow'})

        # x:30 y:322
        _sm_sara_shutdown_4 = OperatableStateMachine(outcomes=['finished'])

        with _sm_sara_shutdown_4:
            # x:57 y:86
            OperatableStateMachine.add('log',
                                       LogState(text="shutdown",
                                                severity=Logger.REPORT_HINT),
                                       transitions={'done': 'say'},
                                       autonomy={'done': Autonomy.Off})

            # x:122 y:228
            OperatableStateMachine.add(
                'say',
                SaraSay(sentence="I'm goint to shutdown for safety reasons",
                        emotion=1,
                        block=True),
                transitions={'done': 'finished'},
                autonomy={'done': Autonomy.Off})

        # x:336 y:314, x:315 y:433, x:276 y:271
        _sm_sara_parallel_runtime_5 = ConcurrencyContainer(
            outcomes=['Shutdown'],
            input_keys=['HighFIFO', 'MedFIFO', 'LowFIFO', 'DoNow', 'End'],
            conditions=[('Shutdown', [('Sara brain', 'error')]),
                        ('Shutdown', [('Sara action executor', 'shutdown')])])

        with _sm_sara_parallel_runtime_5:
            # x:52 y:416
            OperatableStateMachine.add('Sara action executor',
                                       _sm_sara_action_executor_1,
                                       transitions={'shutdown': 'Shutdown'},
                                       autonomy={'shutdown': Autonomy.Inherit},
                                       remapping={
                                           'HighFIFO': 'HighFIFO',
                                           'MedFIFO': 'MedFIFO',
                                           'LowFIFO': 'LowFIFO',
                                           'DoNow': 'DoNow',
                                           'End': 'End'
                                       })

            # x:57 y:333
            OperatableStateMachine.add('Sara brain',
                                       _sm_sara_brain_0,
                                       transitions={'error': 'Shutdown'},
                                       autonomy={'error': Autonomy.Inherit},
                                       remapping={
                                           'HighFIFO': 'HighFIFO',
                                           'LowFIFO': 'LowFIFO',
                                           'MedFIFO': 'MedFIFO',
                                           'DoNow': 'DoNow',
                                           'End': 'End'
                                       })

        with _state_machine:
            # x:43 y:60
            OperatableStateMachine.add('log',
                                       LogState(text="Start Sara",
                                                severity=Logger.REPORT_HINT),
                                       transitions={'done': 'low head'},
                                       autonomy={'done': Autonomy.Off})

            # x:306 y:365
            OperatableStateMachine.add(
                'Sara parallel Runtime',
                _sm_sara_parallel_runtime_5,
                transitions={'Shutdown': 'Sara shutdown'},
                autonomy={'Shutdown': Autonomy.Inherit},
                remapping={
                    'HighFIFO': 'HighFIFO',
                    'MedFIFO': 'MedFIFO',
                    'LowFIFO': 'LowFIFO',
                    'DoNow': 'DoNow',
                    'End': 'End'
                })

            # x:315 y:462
            OperatableStateMachine.add('Sara shutdown',
                                       _sm_sara_shutdown_4,
                                       transitions={'finished': 'low head'},
                                       autonomy={'finished': Autonomy.Inherit})

            # x:328 y:284
            OperatableStateMachine.add(
                'Create_FIFOs',
                _sm_create_fifos_3,
                transitions={'done': 'Sara parallel Runtime'},
                autonomy={'done': Autonomy.Inherit},
                remapping={
                    'HighFIFO': 'HighFIFO',
                    'MedFIFO': 'MedFIFO',
                    'LowFIFO': 'LowFIFO',
                    'DoNow': 'DoNow'
                })

            # x:150 y:207
            OperatableStateMachine.add('listen',
                                       GetSpeech(watchdog=10),
                                       transitions={
                                           'done': 'check hello',
                                           'nothing': 'listen',
                                           'fail': 'Shutdown'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'words'})

            # x:345 y:195
            OperatableStateMachine.add('Sara init',
                                       _sm_sara_init_2,
                                       transitions={'done': 'Create_FIFOs'},
                                       autonomy={'done': Autonomy.Inherit})

            # x:355 y:96
            OperatableStateMachine.add(
                'check hello',
                RegexTester(
                    regex=
                    ".*((wake up)|(sarah?)|(shut up)|(hello)(robot)|(hi)|(morning)|(greet)).*"
                ),
                transitions={
                    'true': 'Sara init',
                    'false': 'listen'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={
                    'text': 'words',
                    'result': 'result'
                })

            # x:15 y:220
            OperatableStateMachine.add('close face',
                                       SetExpression(emotion=0, brightness=20),
                                       transitions={'done': 'listen'},
                                       autonomy={'done': Autonomy.Off})

            # x:102 y:115
            OperatableStateMachine.add('low head',
                                       SaraSetHeadAngle(angle=0.8),
                                       transitions={'done': 'close face'},
                                       autonomy={'done': Autonomy.Off})

        return _state_machine
    def create(self):
        # x:310 y:409, x:130 y:365
        _state_machine = OperatableStateMachine(
            outcomes=['finished', 'failed'])

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:17 y:314
        _sm_group_0 = OperatableStateMachine(outcomes=['done'],
                                             output_keys=['Words'])

        with _sm_group_0:
            # x:84 y:76
            OperatableStateMachine.add('speech',
                                       GetSpeech(watchdog=8),
                                       transitions={
                                           'done': 'wait',
                                           'nothing': 'speech',
                                           'fail': 'speech'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'Words'})

            # x:92 y:221
            OperatableStateMachine.add('wait',
                                       WaitState(wait_time=1),
                                       transitions={'done': 'done'},
                                       autonomy={'done': Autonomy.Off})

        # x:30 y:365
        _sm_group_2_1 = OperatableStateMachine(outcomes=['done'])

        with _sm_group_2_1:
            # x:32 y:131
            OperatableStateMachine.add('test_sound',
                                       LookAtSound(moveBase=True),
                                       transitions={'done': 'test_sound'},
                                       autonomy={'done': Autonomy.Off})

        # x:30 y:365, x:337 y:100, x:230 y:365
        _sm_look_and_wait_2 = ConcurrencyContainer(
            outcomes=['done'],
            output_keys=['Words'],
            conditions=[('done', [('Group', 'done')]),
                        ('done', [('Group_2', 'done')])])

        with _sm_look_and_wait_2:
            # x:75 y:82
            OperatableStateMachine.add('Group_2',
                                       _sm_group_2_1,
                                       transitions={'done': 'done'},
                                       autonomy={'done': Autonomy.Inherit})

            # x:28 y:173
            OperatableStateMachine.add('Group',
                                       _sm_group_0,
                                       transitions={'done': 'done'},
                                       autonomy={'done': Autonomy.Inherit},
                                       remapping={'Words': 'Words'})

        with _state_machine:
            # x:60 y:65
            OperatableStateMachine.add('say marco!',
                                       SaraSay(sentence="Marco?",
                                               input_keys=[],
                                               emotion=1,
                                               block=True),
                                       transitions={'done': 'Look and wait'},
                                       autonomy={'done': Autonomy.Off})

            # x:335 y:191
            OperatableStateMachine.add('Look and wait',
                                       _sm_look_and_wait_2,
                                       transitions={'done': 'is polo!'},
                                       autonomy={'done': Autonomy.Inherit},
                                       remapping={'Words': 'Words'})

            # x:281 y:85
            OperatableStateMachine.add(
                'hey',
                SaraSay(sentence="Hey! You need to say polo!",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'say marco!'},
                autonomy={'done': Autonomy.Off})

            # x:520 y:36
            OperatableStateMachine.add(
                'is polo!',
                RegexTester(regex="[^o]*o[^o\ ]*o[^o]*"),
                transitions={
                    'true': 'say marco!',
                    'false': 'hey'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={
                    'text': 'Words',
                    'result': 'result'
                })

        return _state_machine
Beispiel #11
0
    def create(self):
        # x:814 y:45, x:514 y:274
        _state_machine = OperatableStateMachine(outcomes=['Found', 'NotFound'],
                                                output_keys=['Operator'])
        _state_machine.userdata.Operator = None
        _state_machine.userdata.Name = "person"

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:506 y:393, x:515 y:462
        _sm_move_to_person_0 = OperatableStateMachine(
            outcomes=['finished', 'failed'], input_keys=['Operator'])

        with _sm_move_to_person_0:
            # x:30 y:83
            OperatableStateMachine.add(
                'Getpos',
                CalculationState(calculation=lambda x: x.position),
                transitions={'done': 'setDistance'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'Operator',
                    'output_value': 'pose_in'
                })

            # x:35 y:450
            OperatableStateMachine.add('Action_Move',
                                       self.use_behavior(
                                           Action_MoveSM,
                                           'Move to person/Action_Move'),
                                       transitions={
                                           'finished': 'finished',
                                           'failed': 'failed'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={'pose': 'Pose'})

            # x:47 y:368
            OperatableStateMachine.add('set not rel',
                                       SetKey(Value=False),
                                       transitions={'done': 'Action_Move'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'relative'})

            # x:41 y:179
            OperatableStateMachine.add('setDistance',
                                       SetKey(Value=1.5),
                                       transitions={'done': 'Close position'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'distance'})

            # x:27 y:280
            OperatableStateMachine.add('Close position',
                                       Get_Reacheable_Waypoint(),
                                       transitions={'done': 'set not rel'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={
                                           'pose_in': 'pose_in',
                                           'distance': 'distance',
                                           'pose_out': 'Pose'
                                       })

        with _state_machine:
            # x:64 y:35
            OperatableStateMachine.add(
                'Get previous ID',
                GetRosParam(ParamName="behavior/Operator/Id"),
                transitions={
                    'done': 'Get Operator',
                    'failed': 'for 3'
                },
                autonomy={
                    'done': Autonomy.Off,
                    'failed': Autonomy.Off
                },
                remapping={'Value': 'ID'})

            # x:271 y:37
            OperatableStateMachine.add('Get Operator',
                                       GetEntityByID(),
                                       transitions={
                                           'found': 'Found',
                                           'not_found': 'Say lost operator'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'not_found': Autonomy.Off
                                       },
                                       remapping={
                                           'ID': 'ID',
                                           'Entity': 'Operator'
                                       })

            # x:263 y:155
            OperatableStateMachine.add('Say lost operator',
                                       SaraSay(sentence="I lost my operator",
                                               input_keys=[],
                                               emotion=1,
                                               block=True),
                                       transitions={'done': 'for 3'},
                                       autonomy={'done': Autonomy.Off})

            # x:780 y:517
            OperatableStateMachine.add('ask if operator',
                                       SaraSay(sentence="Are you my operator?",
                                               input_keys=[],
                                               emotion=1,
                                               block=True),
                                       transitions={'done': 'get speech'},
                                       autonomy={'done': Autonomy.Off})

            # x:70 y:273
            OperatableStateMachine.add('for 3',
                                       ForLoop(repeat=3),
                                       transitions={
                                           'do': 'for 3_2',
                                           'end': 'set None'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index'})

            # x:249 y:357
            OperatableStateMachine.add('say where are you',
                                       SaraSay(
                                           sentence="Operator. Where are you?",
                                           input_keys=[],
                                           emotion=1,
                                           block=True),
                                       transitions={'done': 'for 3'},
                                       autonomy={'done': Autonomy.Off})

            # x:281 y:265
            OperatableStateMachine.add('set None',
                                       SetKey(Value=None),
                                       transitions={'done': 'NotFound'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'Operator'})

            # x:49 y:511
            OperatableStateMachine.add('Get persons',
                                       list_entities_by_name(
                                           frontality_level=0.5,
                                           distance_max=10),
                                       transitions={
                                           'found': 'get next closest',
                                           'none_found': 'say where are you'
                                       },
                                       autonomy={
                                           'found': Autonomy.Off,
                                           'none_found': Autonomy.Off
                                       },
                                       remapping={
                                           'name': 'Name',
                                           'entity_list': 'entity_list',
                                           'number': 'number'
                                       })

            # x:461 y:475
            OperatableStateMachine.add('Move to person',
                                       _sm_move_to_person_0,
                                       transitions={
                                           'finished': 'ask if operator',
                                           'failed': 'NotFound'
                                       },
                                       autonomy={
                                           'finished': Autonomy.Inherit,
                                           'failed': Autonomy.Inherit
                                       },
                                       remapping={'Operator': 'Operator'})

            # x:783 y:161
            OperatableStateMachine.add(
                'set new ID',
                SetRosParam(ParamName="behavior/Operator/Id"),
                transitions={'done': 'Found'},
                autonomy={'done': Autonomy.Off},
                remapping={'Value': 'ID'})

            # x:775 y:269
            OperatableStateMachine.add(
                'get ID',
                CalculationState(calculation=lambda x: x.ID),
                transitions={'done': 'set new ID'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'Operator',
                    'output_value': 'ID'
                })

            # x:784 y:433
            OperatableStateMachine.add('get speech',
                                       GetSpeech(watchdog=5),
                                       transitions={
                                           'done': 'Yes ?',
                                           'nothing': 'for 3_2',
                                           'fail': 'NotFound'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'words'})

            # x:69 y:402
            OperatableStateMachine.add('for 3_2',
                                       ForLoop(repeat=3),
                                       transitions={
                                           'do': 'Get persons',
                                           'end': 'set None'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index2'})

            # x:744 y:332
            OperatableStateMachine.add(
                'Yes ?',
                CheckConditionState(predicate=lambda x: "yes" in x),
                transitions={
                    'true': 'get ID',
                    'false': 'for 3_2'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'words'})

            # x:263 y:535
            OperatableStateMachine.add(
                'get next closest',
                FlexibleCalculationState(calculation=lambda x: x[0][x[1]],
                                         input_keys=["entity_list", "index"]),
                transitions={'done': 'ask if operator'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'entity_list': 'entity_list',
                    'index': 'index',
                    'output_value': 'Operator'
                })

        return _state_machine
	def create(self):
		# x:832 y:260, x:728 y:256
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['ID'])
		_state_machine.userdata.ID = 0
		_state_machine.userdata.Closed_Gripper_Width = 1
		_state_machine.userdata.Open_Gripper_Width = 255
		_state_machine.userdata.Relative = False
		_state_machine.userdata.Pose_Init = "IdlePose"
		_state_machine.userdata.dropPose = "DropBagPose"
		_state_machine.userdata.EntryDoor = "door1/enter"
		_state_machine.userdata.ExitDoor = "door1/exit"

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]

		# x:700 y:231, x:418 y:463
		_sm_ecoute_getpose_0 = OperatableStateMachine(outcomes=['arrete', 'fail'])

		with _sm_ecoute_getpose_0:
			# x:53 y:35
			OperatableStateMachine.add('Ecoute',
										GetSpeech(watchdog=5),
										transitions={'done': 'stop', 'nothing': 'Ecoute', 'fail': 'fail'},
										autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
										remapping={'words': 'words'})

			# x:373 y:215
			OperatableStateMachine.add('stop',
										RegexTester(regex=".*stop.*"),
										transitions={'true': 'arrete', 'false': 'Ecoute'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'text': 'words', 'result': 'result'})


		# x:350 y:105, x:261 y:311
		_sm_get_operator_id_1 = OperatableStateMachine(outcomes=['not_found', 'done'], output_keys=['ID'])

		with _sm_get_operator_id_1:
			# x:42 y:30
			OperatableStateMachine.add('nom',
										SetKey(Value="person"),
										transitions={'done': 'FindId'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'name'})

			# x:37 y:347
			OperatableStateMachine.add('setID',
										SetRosParam(ParamName="OperatorID"),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off},
										remapping={'Value': 'ID'})

			# x:30 y:112
			OperatableStateMachine.add('FindId',
										list_entities_by_name(frontality_level=0.5, distance_max=10),
										transitions={'found': 'GetID', 'none_found': 'not_found'},
										autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
										remapping={'name': 'name', 'entity_list': 'Entities_list', 'number': 'number'})

			# x:38 y:238
			OperatableStateMachine.add('GetID',
										CalculationState(calculation=lambda x: x[0].ID),
										transitions={'done': 'setID'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'Entities_list', 'output_value': 'ID'})


		# x:346 y:367, x:610 y:472, x:230 y:365, x:628 y:425, x:619 y:318, x:54 y:367
		_sm_follow_2 = ConcurrencyContainer(outcomes=['done', 'failed', 'not_found'], input_keys=['ID', 'distance'], output_keys=['Position'], conditions=[
										('not_found', [('Action_follow', 'failed')]),
										('done', [('Ecoute_getPose', 'arrete')]),
										('failed', [('Ecoute_getPose', 'fail')])
										])

		with _sm_follow_2:
			# x:107 y:103
			OperatableStateMachine.add('Action_follow',
										self.use_behavior(sara_flexbe_behaviors__Action_followSM, 'Getting ID Operator and follow /Follow/Action_follow'),
										transitions={'failed': 'not_found'},
										autonomy={'failed': Autonomy.Inherit},
										remapping={'ID': 'ID'})

			# x:294 y:146
			OperatableStateMachine.add('Ecoute_getPose',
										_sm_ecoute_getpose_0,
										transitions={'arrete': 'done', 'fail': 'failed'},
										autonomy={'arrete': Autonomy.Inherit, 'fail': Autonomy.Inherit})


		# x:57 y:371, x:419 y:55
		_sm_waiting_for_operator_3 = OperatableStateMachine(outcomes=['done', 'failed'])

		with _sm_waiting_for_operator_3:
			# x:57 y:67
			OperatableStateMachine.add('getSpeech',
										GetSpeech(watchdog=15),
										transitions={'done': 'UnderstandingOpe', 'nothing': 'failed', 'fail': 'failed'},
										autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
										remapping={'words': 'words'})

			# x:53 y:249
			OperatableStateMachine.add('start',
										SaraSay(sentence="I will follow you. Tell me when to stop.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off})

			# x:203 y:180
			OperatableStateMachine.add('UnderstandingOpe',
										RegexTester(regex=".*follow.*"),
										transitions={'true': 'start', 'false': 'failed'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'text': 'words', 'result': 'result'})


		# x:130 y:365
		_sm_look_at_4 = OperatableStateMachine(outcomes=['failed'])

		with _sm_look_at_4:
			# x:105 y:160
			OperatableStateMachine.add('LookAtClosest',
										self.use_behavior(sara_flexbe_behaviors__LookAtClosestSM, 'Recevoir sac/Look at/LookAtClosest'),
										transitions={'failed': 'failed'},
										autonomy={'failed': Autonomy.Inherit})


		# x:280 y:296, x:248 y:549
		_sm_receive_bag_5 = OperatableStateMachine(outcomes=['failed', 'done'], input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'])

		with _sm_receive_bag_5:
			# x:42 y:326
			OperatableStateMachine.add('PutBAg',
										SaraSay(sentence="Please put the grocery bag in my hand", input_keys=[], emotion=1, block=False),
										transitions={'done': 'Action_Receive_Bag'},
										autonomy={'done': Autonomy.Off})

			# x:18 y:427
			OperatableStateMachine.add('Action_Receive_Bag',
										self.use_behavior(sara_flexbe_behaviors__Action_Receive_BagSM, 'Recevoir sac/Receive bag/Action_Receive_Bag'),
										transitions={'finished': 'bringit', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width', 'Closed_Gripper_Width': 'Closed_Gripper_Width'})

			# x:66 y:125
			OperatableStateMachine.add('getspeech2',
										GetSpeech(watchdog=5),
										transitions={'done': 'takebag', 'nothing': 'getspeech2', 'fail': 'failed'},
										autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
										remapping={'words': 'words'})

			# x:64 y:218
			OperatableStateMachine.add('takebag',
										RegexTester(regex=".*((take)|(bag)|(ready)).*"),
										transitions={'true': 'PutBAg', 'false': 'getspeech2'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'text': 'words', 'result': 'result'})

			# x:42 y:531
			OperatableStateMachine.add('bringit',
										SaraSay(sentence="I will bring it inside", input_keys=[], emotion=1, block=True),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off})

			# x:77 y:40
			OperatableStateMachine.add('sac',
										SaraSay(sentence="Ok. Tell me, when you are ready", input_keys=[], emotion=1, block=True),
										transitions={'done': 'getspeech2'},
										autonomy={'done': Autonomy.Off})


		# x:147 y:579
		_sm_look_at_closest_6 = OperatableStateMachine(outcomes=['failed'], output_keys=['Entity'])

		with _sm_look_at_closest_6:
			# x:40 y:39
			OperatableStateMachine.add('set person',
										SetKey(Value="person"),
										transitions={'done': 'head angle'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'Person'})

			# x:36 y:119
			OperatableStateMachine.add('head angle',
										SaraSetHeadAngle(pitch=-0.3, yaw=0),
										transitions={'done': 'get persons'},
										autonomy={'done': Autonomy.Off})

			# x:271 y:149
			OperatableStateMachine.add('get persons',
										list_entities_by_name(frontality_level=0.5, distance_max=2),
										transitions={'found': 'set person', 'none_found': 'get persons'},
										autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
										remapping={'name': 'Person', 'entity_list': 'entity_list', 'number': 'number'})


		# x:30 y:365
		_sm_get_op_7 = OperatableStateMachine(outcomes=['true'])

		with _sm_get_op_7:
			# x:76 y:40
			OperatableStateMachine.add('Say Joke',
										SaraSay(sentence="Can someone come help me, I only have one arm.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'ecouteNewPerson'},
										autonomy={'done': Autonomy.Off})

			# x:208 y:255
			OperatableStateMachine.add('listen',
										RegexTester(regex=".*((i)|(come)|(help)).*"),
										transitions={'true': 'true', 'false': 'ecouteNewPerson'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'text': 'words', 'result': 'result'})

			# x:32 y:106
			OperatableStateMachine.add('ecouteNewPerson',
										GetSpeech(watchdog=5),
										transitions={'done': 'listen', 'nothing': 'ecouteNewPerson', 'fail': 'ecouteNewPerson'},
										autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
										remapping={'words': 'words'})


		# x:65 y:357, x:130 y:365, x:230 y:365
		_sm_get_ope_8 = ConcurrencyContainer(outcomes=['true'], output_keys=['Entity'], conditions=[
										('true', [('get op', 'true')]),
										('true', [('look at closest', 'failed')])
										])

		with _sm_get_ope_8:
			# x:37 y:35
			OperatableStateMachine.add('get op',
										_sm_get_op_7,
										transitions={'true': 'true'},
										autonomy={'true': Autonomy.Inherit})

			# x:238 y:109
			OperatableStateMachine.add('look at closest',
										_sm_look_at_closest_6,
										transitions={'failed': 'true'},
										autonomy={'failed': Autonomy.Inherit},
										remapping={'Entity': 'Entity'})


		# x:37 y:417, x:236 y:263
		_sm_init_sara_9 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['Pose_Init'], output_keys=['Origin'])

		with _sm_init_sara_9:
			# x:30 y:40
			OperatableStateMachine.add('get_pose',
										Get_Robot_Pose(),
										transitions={'done': 'SETHEAD'},
										autonomy={'done': Autonomy.Off},
										remapping={'pose': 'Origin'})

			# x:24 y:259
			OperatableStateMachine.add('Init Arm',
										MoveitMove(move=True, waitForExecution=True, group="RightArm"),
										transitions={'done': 'done', 'failed': 'failed'},
										autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
										remapping={'target': 'Pose_Init'})

			# x:23 y:183
			OperatableStateMachine.add('SETHEAD',
										SaraSetHeadAngle(pitch=0, yaw=0),
										transitions={'done': 'Init Arm'},
										autonomy={'done': Autonomy.Off})


		# x:92 y:291, x:242 y:133
		_sm_exitarena_10 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['ExitDoor'])

		with _sm_exitarena_10:
			# x:38 y:119
			OperatableStateMachine.add('Action_Pass_Door',
										self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'ExitArena/Action_Pass_Door'),
										transitions={'Done': 'finished', 'Fail': 'failed'},
										autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
										remapping={'DoorName': 'ExitDoor'})


		# x:353 y:529, x:369 y:296
		_sm_enter_arena_11 = OperatableStateMachine(outcomes=['done', 'fail'], input_keys=['EntryDoor'])

		with _sm_enter_arena_11:
			# x:132 y:147
			OperatableStateMachine.add('Action_Pass_Door',
										self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'Enter arena/Action_Pass_Door'),
										transitions={'Done': 'say start', 'Fail': 'fail'},
										autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
										remapping={'DoorName': 'EntryDoor'})

			# x:124 y:501
			OperatableStateMachine.add('say help',
										SaraSay(sentence="Hi, i will help you carry some bags. LEt me know when you need me", input_keys=[], emotion=1, block=True),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off})

			# x:146 y:256
			OperatableStateMachine.add('say start',
										SaraSay(sentence="", input_keys=[], emotion=1, block=True),
										transitions={'done': 'Action_Move'},
										autonomy={'done': Autonomy.Off})

			# x:121 y:375
			OperatableStateMachine.add('Action_Move',
										self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Enter arena/Action_Move'),
										transitions={'finished': 'say help', 'failed': 'fail'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pose': 'EntryDoor'})


		# x:372 y:428, x:389 y:477
		_sm_getting_id_operator_and_follow__12 = OperatableStateMachine(outcomes=['failed', 'done'], output_keys=['Position'])

		with _sm_getting_id_operator_and_follow__12:
			# x:70 y:115
			OperatableStateMachine.add('Waiting for operator',
										_sm_waiting_for_operator_3,
										transitions={'done': 'Get operator ID', 'failed': 'Waiting for operator'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit})

			# x:71 y:504
			OperatableStateMachine.add('get pose',
										Get_Robot_Pose(),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off},
										remapping={'pose': 'Position'})

			# x:69 y:415
			OperatableStateMachine.add('Follow',
										_sm_follow_2,
										transitions={'done': 'get pose', 'failed': 'failed', 'not_found': 'initial'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
										remapping={'ID': 'ID', 'distance': 'distance', 'Position': 'Position'})

			# x:60 y:222
			OperatableStateMachine.add('Get operator ID',
										_sm_get_operator_id_1,
										transitions={'not_found': 'Get operator ID', 'done': 'set follow distance'},
										autonomy={'not_found': Autonomy.Inherit, 'done': Autonomy.Inherit},
										remapping={'ID': 'ID'})

			# x:60 y:324
			OperatableStateMachine.add('set follow distance',
										SetKey(Value="0.5"),
										transitions={'done': 'Follow'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'distance'})

			# x:286 y:327
			OperatableStateMachine.add('initial',
										SaraSetHeadAngle(pitch=0, yaw=0),
										transitions={'done': 'Get operator ID'},
										autonomy={'done': Autonomy.Off})


		# x:247 y:123, x:282 y:200, x:230 y:365
		_sm_drop_le_sac_13 = OperatableStateMachine(outcomes=['failed', 'no_object', 'done'], input_keys=['Idle', 'dropPose'])

		with _sm_drop_le_sac_13:
			# x:22 y:114
			OperatableStateMachine.add('dropbag',
										MoveitMove(move=True, waitForExecution=True, group="RightArm"),
										transitions={'done': 'Open', 'failed': 'failed'},
										autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
										remapping={'target': 'dropPose'})

			# x:5 y:344
			OperatableStateMachine.add('close',
										SetGripperState(width=0, effort=1),
										transitions={'object': 'returnIdl', 'no_object': 'returnIdl'},
										autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
										remapping={'object_size': 'object_size'})

			# x:19 y:268
			OperatableStateMachine.add('wait',
										WaitState(wait_time=2),
										transitions={'done': 'close'},
										autonomy={'done': Autonomy.Off})

			# x:8 y:433
			OperatableStateMachine.add('returnIdl',
										MoveitMove(move=True, waitForExecution=True, group="RightArm"),
										transitions={'done': 'done', 'failed': 'failed'},
										autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
										remapping={'target': 'Idle'})

			# x:10 y:190
			OperatableStateMachine.add('Open',
										SetGripperState(width=0.1, effort=1),
										transitions={'object': 'wait', 'no_object': 'no_object'},
										autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
										remapping={'object_size': 'object_size'})


		# x:555 y:54, x:568 y:190
		_sm_retour_maison_14 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['PoseOrigin', 'Relative'])

		with _sm_retour_maison_14:
			# x:54 y:63
			OperatableStateMachine.add('keydistance',
										SetKey(Value=0),
										transitions={'done': 'adapt the end pose'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'distance'})

			# x:258 y:51
			OperatableStateMachine.add('Arrived',
										SaraSay(sentence="I have food, people. I will drop the bags on the floor.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off})

			# x:43 y:141
			OperatableStateMachine.add('adapt the end pose',
										Get_Reacheable_Waypoint(),
										transitions={'done': 'Action_Move'},
										autonomy={'done': Autonomy.Off},
										remapping={'pose_in': 'PoseOrigin', 'distance': 'distance', 'pose_out': 'pose_out'})

			# x:236 y:182
			OperatableStateMachine.add('Action_Move',
										self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Retour maison/Action_Move'),
										transitions={'finished': 'Arrived', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'pose': 'pose_out'})


		# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365
		_sm_recevoir_sac_15 = ConcurrencyContainer(outcomes=['failed', 'done'], input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'], conditions=[
										('failed', [('Receive bag', 'failed')]),
										('done', [('Receive bag', 'done')]),
										('failed', [('Look at', 'failed')])
										])

		with _sm_recevoir_sac_15:
			# x:84 y:156
			OperatableStateMachine.add('Receive bag',
										_sm_receive_bag_5,
										transitions={'failed': 'failed', 'done': 'done'},
										autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit},
										remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width'})

			# x:262 y:154
			OperatableStateMachine.add('Look at',
										_sm_look_at_4,
										transitions={'failed': 'failed'},
										autonomy={'failed': Autonomy.Inherit})


		# x:728 y:533, x:722 y:468
		_sm_getnewperson_16 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['Position'])

		with _sm_getnewperson_16:
			# x:52 y:77
			OperatableStateMachine.add('Get ope',
										_sm_get_ope_8,
										transitions={'true': 'set name'},
										autonomy={'true': Autonomy.Inherit},
										remapping={'Entity': 'Entity'})

			# x:46 y:508
			OperatableStateMachine.add('SET HEAD',
										SaraSetHeadAngle(pitch=-0.2, yaw=0),
										transitions={'done': 'Action_Guide2'},
										autonomy={'done': Autonomy.Off})

			# x:39 y:297
			OperatableStateMachine.add('list',
										list_entities_by_name(frontality_level=0.5, distance_max=2),
										transitions={'found': 'get closest ID', 'none_found': 'list'},
										autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
										remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'})

			# x:70 y:194
			OperatableStateMachine.add('set name',
										SetKey(Value="person"),
										transitions={'done': 'list'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'name'})

			# x:151 y:413
			OperatableStateMachine.add('get closest ID',
										CalculationState(calculation=lambda x: x[0].ID),
										transitions={'done': 'SET HEAD'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'entity_list', 'output_value': 'ID'})

			# x:293 y:534
			OperatableStateMachine.add('Action_Guide2',
										self.use_behavior(sara_flexbe_behaviors__Action_Guide2SM, 'GetNewPerson/Action_Guide2'),
										transitions={'finished': 'done', 'failed': 'failed', 'critical_fail': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'critical_fail': Autonomy.Inherit},
										remapping={'Position': 'Position', 'ID': 'ID'})

			# x:57 y:399
			OperatableStateMachine.add('set 0',
										SetKey(Value=0),
										transitions={'done': 'SET HEAD'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'ID'})



		with _state_machine:
			# x:188 y:35
			OperatableStateMachine.add('say ready',
										SaraSay(sentence="I'm ready for the help me carry scenario. I will follow when you ask me.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'INIT SARA'},
										autonomy={'done': Autonomy.Off})

			# x:827 y:439
			OperatableStateMachine.add('finish',
										SaraSay(sentence="I am done for the day", input_keys=[], emotion=2, block=True),
										transitions={'done': 'finished'},
										autonomy={'done': Autonomy.Off})

			# x:53 y:641
			OperatableStateMachine.add('GetNewPerson',
										_sm_getnewperson_16,
										transitions={'done': 'say leave', 'failed': 'failed'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'Position': 'Position'})

			# x:48 y:349
			OperatableStateMachine.add('Recevoir sac',
										_sm_recevoir_sac_15,
										transitions={'failed': 'failed', 'done': 'Retour maison'},
										autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit},
										remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width'})

			# x:36 y:448
			OperatableStateMachine.add('Retour maison',
										_sm_retour_maison_14,
										transitions={'done': 'drop le sac', 'failed': 'failed'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'PoseOrigin': 'Origin', 'Relative': 'Relative'})

			# x:49 y:556
			OperatableStateMachine.add('drop le sac',
										_sm_drop_le_sac_13,
										transitions={'failed': 'failed', 'no_object': 'failed', 'done': 'GetNewPerson'},
										autonomy={'failed': Autonomy.Inherit, 'no_object': Autonomy.Inherit, 'done': Autonomy.Inherit},
										remapping={'Idle': 'Pose_Init', 'dropPose': 'dropPose'})

			# x:150 y:260
			OperatableStateMachine.add('Getting ID Operator and follow ',
										_sm_getting_id_operator_and_follow__12,
										transitions={'failed': 'failed', 'done': 'Recevoir sac'},
										autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit},
										remapping={'Position': 'Position'})

			# x:148 y:177
			OperatableStateMachine.add('Enter arena',
										_sm_enter_arena_11,
										transitions={'done': 'Getting ID Operator and follow ', 'fail': 'failed'},
										autonomy={'done': Autonomy.Inherit, 'fail': Autonomy.Inherit},
										remapping={'EntryDoor': 'EntryDoor'})

			# x:498 y:617
			OperatableStateMachine.add('ExitArena',
										_sm_exitarena_10,
										transitions={'finished': 'finish', 'failed': 'failed'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'ExitDoor': 'ExitDoor'})

			# x:389 y:14
			OperatableStateMachine.add('ContinueButton',
										ContinueButton(),
										transitions={'true': 'say ready', 'false': 'say ready'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off})

			# x:329 y:645
			OperatableStateMachine.add('say leave',
										SaraSay(sentence="I will leave now. Goodbye", input_keys=[], emotion=1, block=True),
										transitions={'done': 'ExitArena'},
										autonomy={'done': Autonomy.Off})

			# x:319 y:101
			OperatableStateMachine.add('wait1',
										WaitState(wait_time=5),
										transitions={'done': 'say ready'},
										autonomy={'done': Autonomy.Off})

			# x:35 y:78
			OperatableStateMachine.add('INIT SARA',
										_sm_init_sara_9,
										transitions={'done': 'Getting ID Operator and follow ', 'failed': 'failed'},
										autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'Pose_Init': 'Pose_Init', 'Origin': 'Origin'})


		return _state_machine
    def create(self):
        # x:998 y:146, x:723 y:729, x:1065 y:284
        _state_machine = OperatableStateMachine(
            outcomes=['finished', 'failed', 'critical_fail'],
            input_keys=['Action'])
        _state_machine.userdata.Action = []
        _state_machine.userdata.person_name = "operator"
        _state_machine.userdata.Empty = None
        _state_machine.userdata.className = "person"

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        # x:585 y:427, x:704 y:287, x:702 y:47
        _sm_get_person_0 = OperatableStateMachine(
            outcomes=['true', 'done', 'pas_done'],
            input_keys=['Action', 'className'],
            output_keys=['entity'])

        with _sm_get_person_0:
            # x:30 y:40
            OperatableStateMachine.add(
                'cond',
                CheckConditionState(predicate=lambda x: x[1] != ''),
                transitions={
                    'true': 'get ',
                    'false': 'Action_findPerson_2'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'Action'})

            # x:9 y:537
            OperatableStateMachine.add('name',
                                       GetSpeech(watchdog=5),
                                       transitions={
                                           'done': 'confirming_persons_name',
                                           'nothing': 'name',
                                           'fail': 'Action_findPerson'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'person_name'})

            # x:295 y:359
            OperatableStateMachine.add(
                'confirming_persons_name',
                CheckConditionState(predicate=lambda x: "yes" in x),
                transitions={
                    'true': 'true',
                    'false': 'Action_findPerson'
                },
                autonomy={
                    'true': Autonomy.Off,
                    'false': Autonomy.Off
                },
                remapping={'input_value': 'person_name'})

            # x:338 y:105
            OperatableStateMachine.add(
                'Action_findPerson_2',
                self.use_behavior(sara_flexbe_behaviors__Action_findPersonSM,
                                  'get_person/Action_findPerson_2'),
                transitions={
                    'done': 'done',
                    'pas_done': 'pas_done'
                },
                autonomy={
                    'done': Autonomy.Inherit,
                    'pas_done': Autonomy.Inherit
                },
                remapping={
                    'className': 'className',
                    'entity': 'entity'
                })

            # x:21 y:223
            OperatableStateMachine.add(
                'Action_findPerson',
                self.use_behavior(sara_flexbe_behaviors__Action_findPersonSM,
                                  'get_person/Action_findPerson'),
                transitions={
                    'done': 'Is_Person',
                    'pas_done': 'Action_findPerson_2'
                },
                autonomy={
                    'done': Autonomy.Inherit,
                    'pas_done': Autonomy.Inherit
                },
                remapping={
                    'className': 'className',
                    'entity': 'entity'
                })

            # x:47 y:127
            OperatableStateMachine.add(
                'get ',
                CalculationState(calculation=lambda x: x[1]),
                transitions={'done': 'Action_findPerson'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'Action',
                    'output_value': 'person_name'
                })

            # x:111 y:343
            OperatableStateMachine.add(
                'Is_Person',
                SaraSay(sentence=lambda x: "Hello, are you " + x + "?",
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'name'},
                autonomy={'done': Autonomy.Off})

        with _state_machine:
            # x:43 y:40
            OperatableStateMachine.add(
                'Object',
                GetRosParam(ParamName="behavior/GripperContent"),
                transitions={
                    'done': 'get_person',
                    'failed': 'no_object'
                },
                autonomy={
                    'done': Autonomy.Off,
                    'failed': Autonomy.Off
                },
                remapping={'Value': 'gripperContent'})

            # x:369 y:92
            OperatableStateMachine.add(
                'Action_Give',
                self.use_behavior(sara_flexbe_behaviors__Action_GiveSM,
                                  'Action_Give'),
                transitions={
                    'Given': 'empty hand',
                    'Person_not_found': 'Person_Lost',
                    'No_object_in_hand': 'cause1',
                    'fail': 'cause3'
                },
                autonomy={
                    'Given': Autonomy.Inherit,
                    'Person_not_found': Autonomy.Inherit,
                    'No_object_in_hand': Autonomy.Inherit,
                    'fail': Autonomy.Inherit
                })

            # x:286 y:217
            OperatableStateMachine.add(
                'Nobody_here',
                SaraSay(sentence="I can't find a person. Goodbye.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'failed'},
                autonomy={'done': Autonomy.Off})

            # x:398 y:360
            OperatableStateMachine.add(
                'getID',
                CalculationState(calculation=lambda x: x.ID),
                transitions={'done': 'Action_Give'},
                autonomy={'done': Autonomy.Off},
                remapping={
                    'input_value': 'entity',
                    'output_value': 'ID'
                })

            # x:116 y:178
            OperatableStateMachine.add('get_person',
                                       _sm_get_person_0,
                                       transitions={
                                           'true': 'confirm giving',
                                           'done': 'confirm giving',
                                           'pas_done': 'Nobody_here'
                                       },
                                       autonomy={
                                           'true': Autonomy.Inherit,
                                           'done': Autonomy.Inherit,
                                           'pas_done': Autonomy.Inherit
                                       },
                                       remapping={
                                           'Action': 'Action',
                                           'className': 'className',
                                           'entity': 'entity'
                                       })

            # x:53 y:480
            OperatableStateMachine.add(
                'no_object',
                SaraSay(sentence="There is nothing in my gripper.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'cause1'},
                autonomy={'done': Autonomy.Off})

            # x:212 y:355
            OperatableStateMachine.add(
                'confirm giving',
                SaraSay(sentence="Let me give you this object.",
                        input_keys=[],
                        emotion=1,
                        block=True),
                transitions={'done': 'getID'},
                autonomy={'done': Autonomy.Off})

            # x:806 y:92
            OperatableStateMachine.add(
                'empty hand',
                SetRosParam(ParamName="behavior/GripperContent"),
                transitions={'done': 'finished'},
                autonomy={'done': Autonomy.Off},
                remapping={'Value': 'Empty'})

            # x:586 y:453
            OperatableStateMachine.add(
                'cause1',
                SetKey(Value="There was nothing in my gripper."),
                transitions={'done': 'setcausefailure'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'Key'})

            # x:789 y:373
            OperatableStateMachine.add('cause2',
                                       SetKey(Value="I lost the person."),
                                       transitions={'done': 'setcausefailure'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'Key': 'Key'})

            # x:886 y:230
            OperatableStateMachine.add(
                'cause3',
                SetKey(Value="I was unable to give the object."),
                transitions={'done': 'setcausefailure'},
                autonomy={'done': Autonomy.Off},
                remapping={'Key': 'Key'})

            # x:930 y:463
            OperatableStateMachine.add(
                'setcausefailure',
                SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
                transitions={'done': 'failed'},
                autonomy={'done': Autonomy.Off},
                remapping={'Value': 'Key'})

            # x:680 y:259
            OperatableStateMachine.add(
                'Person_Lost',
                SaraSay(sentence=lambda x: "I've lost " + x[1] + "!",
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'cause2'},
                autonomy={'done': Autonomy.Off})

        return _state_machine
	def create(self):
		# x:1083 y:361, x:1016 y:460, x:1004 y:649
		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed', 'critical_fail'], input_keys=['Action'])
		_state_machine.userdata.Action = ["FindPerson","philippe"]
		_state_machine.userdata.rotation = -1.57
		_state_machine.userdata.className = "person"

		# Additional creation code can be added inside the following tags
		# [MANUAL_CREATE]
		
		# [/MANUAL_CREATE]

		# x:30 y:458
		_sm_look_at_0 = OperatableStateMachine(outcomes=['finished'], input_keys=['entity'])

		with _sm_look_at_0:
			# x:142 y:112
			OperatableStateMachine.add('get ID',
										CalculationState(calculation=lambda x: x.ID),
										transitions={'done': 'look'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'entity', 'output_value': 'ID'})

			# x:106 y:262
			OperatableStateMachine.add('look',
										KeepLookingAt(),
										transitions={'failed': 'look'},
										autonomy={'failed': Autonomy.Off},
										remapping={'ID': 'ID'})


		# x:297 y:737, x:531 y:481, x:378 y:120, x:739 y:299
		_sm_ask_confirmation_1 = OperatableStateMachine(outcomes=['yes', 'no', 'error', 'noname'], input_keys=['name'])

		with _sm_ask_confirmation_1:
			# x:473 y:44
			OperatableStateMachine.add('check if ask name',
										CheckConditionState(predicate=lambda x: x[1] != ""),
										transitions={'true': 'Repeat the question', 'false': 'wait 2'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'input_value': 'name'})

			# x:35 y:303
			OperatableStateMachine.add('Get Yes or No',
										GetSpeech(watchdog=5),
										transitions={'done': 'Repeat', 'nothing': 'Sara_Not_Understand', 'fail': 'Sara_Not_Understand'},
										autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
										remapping={'words': 'words'})

			# x:34 y:486
			OperatableStateMachine.add('Check Yes',
										CheckConditionState(predicate=lambda x: "yes" in x),
										transitions={'true': 'yes', 'false': 'Check No'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'input_value': 'words'})

			# x:281 y:476
			OperatableStateMachine.add('Check No',
										CheckConditionState(predicate=lambda x: "no" in x),
										transitions={'true': 'no', 'false': 'Sara_Not_Understand'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'input_value': 'words'})

			# x:55 y:390
			OperatableStateMachine.add('Repeat',
										LogKeyState(text="I heard: {}", severity=Logger.REPORT_HINT),
										transitions={'done': 'Check Yes'},
										autonomy={'done': Autonomy.Off},
										remapping={'data': 'words'})

			# x:529 y:253
			OperatableStateMachine.add('say hi',
										SaraSay(sentence="Hi there", input_keys=[], emotion=1, block=True),
										transitions={'done': 'noname'},
										autonomy={'done': Autonomy.Off})

			# x:534 y:159
			OperatableStateMachine.add('wait 2',
										WaitState(wait_time=2),
										transitions={'done': 'say hi'},
										autonomy={'done': Autonomy.Off})

			# x:37 y:95
			OperatableStateMachine.add('Repeat the question',
										ForLoop(repeat=5),
										transitions={'do': 'Ask_Person', 'end': 'error'},
										autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
										remapping={'index': 'index'})

			# x:31 y:193
			OperatableStateMachine.add('Ask_Person',
										SaraSay(sentence=lambda x: "Are you " + x + "?", input_keys=[], emotion=0, block=True),
										transitions={'done': 'Get Yes or No'},
										autonomy={'done': Autonomy.Off})

			# x:264 y:269
			OperatableStateMachine.add('Sara_Not_Understand',
										SaraSay(sentence=lambda x: "I did not understand.", input_keys=[], emotion=0, block=True),
										transitions={'done': 'Repeat the question'},
										autonomy={'done': Autonomy.Off})


		# x:305 y:322, x:301 y:53
		_sm_if_need_the_one_2 = OperatableStateMachine(outcomes=['done', 'no_param'], input_keys=['Action'], output_keys=['person', 'name'])

		with _sm_if_need_the_one_2:
			# x:30 y:40
			OperatableStateMachine.add('cond',
										CheckConditionState(predicate=lambda x: x[1] != None and x[1] != ''),
										transitions={'true': 'ReadParameters', 'false': 'no_param'},
										autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
										remapping={'input_value': 'Action'})

			# x:95 y:129
			OperatableStateMachine.add('ReadParameters',
										CalculationState(calculation=lambda x: x[1]),
										transitions={'done': 'Say_Find_Objects'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'Action', 'output_value': 'name'})

			# x:122 y:297
			OperatableStateMachine.add('set person',
										SetKey(Value="person"),
										transitions={'done': 'done'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'person'})

			# x:97 y:213
			OperatableStateMachine.add('Say_Find_Objects',
										SaraSay(sentence=lambda x: "I'm now looking for " + x, input_keys=[], emotion=0, block=True),
										transitions={'done': 'set person'},
										autonomy={'done': Autonomy.Off})


		# x:499 y:233, x:499 y:138, x:508 y:57, x:467 y:328, x:430 y:458, x:530 y:458, x:630 y:458, x:470 y:369, x:840 y:558
		_sm_confirm_and_look_at_3 = ConcurrencyContainer(outcomes=['yes', 'no', 'error', 'noname'], input_keys=['name', 'entity'], conditions=[
										('yes', [('Ask Confirmation', 'yes')]),
										('no', [('Ask Confirmation', 'no')]),
										('error', [('Ask Confirmation', 'error')]),
										('noname', [('Ask Confirmation', 'noname')]),
										('error', [('look at', 'finished')])
										])

		with _sm_confirm_and_look_at_3:
			# x:176 y:40
			OperatableStateMachine.add('Ask Confirmation',
										_sm_ask_confirmation_1,
										transitions={'yes': 'yes', 'no': 'no', 'error': 'error', 'noname': 'noname'},
										autonomy={'yes': Autonomy.Inherit, 'no': Autonomy.Inherit, 'error': Autonomy.Inherit, 'noname': Autonomy.Inherit},
										remapping={'name': 'name'})

			# x:30 y:122
			OperatableStateMachine.add('look at',
										_sm_look_at_0,
										transitions={'finished': 'error'},
										autonomy={'finished': Autonomy.Inherit},
										remapping={'entity': 'entity'})



		with _state_machine:
			# x:62 y:38
			OperatableStateMachine.add('Action_findPerson',
										self.use_behavior(Action_findPersonSM, 'Action_findPerson'),
										transitions={'done': 'If need the one', 'pas_done': 'reset Head'},
										autonomy={'done': Autonomy.Inherit, 'pas_done': Autonomy.Inherit},
										remapping={'className': 'className', 'entity': 'entity'})

			# x:512 y:255
			OperatableStateMachine.add('Do not find person',
										SaraSay(sentence="I did not find a person.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'cause2'},
										autonomy={'done': Autonomy.Off})

			# x:200 y:536
			OperatableStateMachine.add('Retry',
										ForLoop(repeat=1),
										transitions={'do': 'Try again', 'end': 'reset Head'},
										autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
										remapping={'index': 'index'})

			# x:73 y:456
			OperatableStateMachine.add('Try again',
										SaraSay(sentence="Oh, I will try again.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'action_turn'},
										autonomy={'done': Autonomy.Off})

			# x:63 y:310
			OperatableStateMachine.add('action_turn',
										self.use_behavior(action_turnSM, 'action_turn'),
										transitions={'finished': 'Action_findPerson', 'failed': 'reset Head'},
										autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
										remapping={'rotation': 'rotation'})

			# x:145 y:194
			OperatableStateMachine.add('reset Head',
										SaraSetHeadAngle(pitch=0, yaw=0),
										transitions={'done': 'Do not find person'},
										autonomy={'done': Autonomy.Off})

			# x:997 y:258
			OperatableStateMachine.add('set param',
										SetRosParam(ParamName="/behavior/FoundPerson/Id"),
										transitions={'done': 'finished'},
										autonomy={'done': Autonomy.Off},
										remapping={'Value': 'ID'})

			# x:970 y:88
			OperatableStateMachine.add('get ID',
										CalculationState(calculation=lambda x: x.ID),
										transitions={'done': 'set param'},
										autonomy={'done': Autonomy.Off},
										remapping={'input_value': 'entity', 'output_value': 'ID'})

			# x:531 y:38
			OperatableStateMachine.add('confirm and look at',
										_sm_confirm_and_look_at_3,
										transitions={'yes': 'Say_found', 'no': 'Retry', 'error': 'reset Head', 'noname': 'get ID'},
										autonomy={'yes': Autonomy.Inherit, 'no': Autonomy.Inherit, 'error': Autonomy.Inherit, 'noname': Autonomy.Inherit},
										remapping={'name': 'name', 'entity': 'entity'})

			# x:662 y:325
			OperatableStateMachine.add('cause2',
										SetKey(Value="I did not find any person."),
										transitions={'done': 'setrosparamfailure'},
										autonomy={'done': Autonomy.Off},
										remapping={'Key': 'Key'})

			# x:820 y:377
			OperatableStateMachine.add('setrosparamfailure',
										SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
										transitions={'done': 'failed'},
										autonomy={'done': Autonomy.Off},
										remapping={'Value': 'Key'})

			# x:782 y:169
			OperatableStateMachine.add('say found person',
										SaraSay(sentence="I found a person.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'get ID'},
										autonomy={'done': Autonomy.Off})

			# x:417 y:167
			OperatableStateMachine.add('say hello',
										SaraSay(sentence="Hello.", input_keys=[], emotion=1, block=True),
										transitions={'done': 'confirm and look at'},
										autonomy={'done': Autonomy.Off})

			# x:278 y:47
			OperatableStateMachine.add('If need the one',
										_sm_if_need_the_one_2,
										transitions={'done': 'say hello', 'no_param': 'say found person'},
										autonomy={'done': Autonomy.Inherit, 'no_param': Autonomy.Inherit},
										remapping={'Action': 'Action', 'person': 'person', 'name': 'name'})

			# x:724 y:101
			OperatableStateMachine.add('Say_found',
										SaraSay(sentence=lambda x: "I have found " + x + "!", input_keys=[], emotion=0, block=True),
										transitions={'done': 'get ID'},
										autonomy={'done': Autonomy.Off})


		return _state_machine
    def create(self):
        # x:1013 y:314, x:1017 y:162
        _state_machine = OperatableStateMachine(
            outcomes=['finished', 'failed'],
            input_keys=['question'],
            output_keys=['answer'])
        _state_machine.userdata.question = ""
        _state_machine.userdata.answer = ""

        # Additional creation code can be added inside the following tags
        # [MANUAL_CREATE]

        # [/MANUAL_CREATE]

        with _state_machine:
            # x:79 y:95
            OperatableStateMachine.add('say question',
                                       SaraSay(sentence=lambda x: x[0],
                                               input_keys=["question"],
                                               emotion=0,
                                               block=True),
                                       transitions={'done': 'get answer'},
                                       autonomy={'done': Autonomy.Off},
                                       remapping={'question': 'question'})

            # x:92 y:304
            OperatableStateMachine.add('get answer',
                                       GetSpeech(watchdog=10),
                                       transitions={
                                           'done': 'finished',
                                           'nothing': 'retry ask',
                                           'fail': 'retry ask'
                                       },
                                       autonomy={
                                           'done': Autonomy.Off,
                                           'nothing': Autonomy.Off,
                                           'fail': Autonomy.Off
                                       },
                                       remapping={'words': 'answer'})

            # x:345 y:202
            OperatableStateMachine.add('retry ask',
                                       ForLoop(repeat=2),
                                       transitions={
                                           'do': 'say not understand',
                                           'end': 'say failed'
                                       },
                                       autonomy={
                                           'do': Autonomy.Off,
                                           'end': Autonomy.Off
                                       },
                                       remapping={'index': 'index'})

            # x:232 y:90
            OperatableStateMachine.add(
                'say not understand',
                SaraSay(sentence="Sorry, I did not understand your answer.",
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'say question'},
                autonomy={'done': Autonomy.Off})

            # x:604 y:151
            OperatableStateMachine.add(
                'say failed',
                SaraSay(sentence="Sorry, I can't understand your answer.",
                        input_keys=[],
                        emotion=0,
                        block=True),
                transitions={'done': 'failed'},
                autonomy={'done': Autonomy.Off})

        return _state_machine