def create(self): # x:1056 y:73, x:588 y:324 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.agv_id = 'agv1' _state_machine.userdata.part_type = 'gear_part' _state_machine.userdata.pose_on_agv = [] _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.offset = 0.1 _state_machine.userdata.move_group = 'manipulator' _state_machine.userdata.move_group_prefix = '/ariac/arm1' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:52 y:43 OperatableStateMachine.add( 'StartAssignment', StartAssignment(), transitions={ 'continue': 'transport_part_form_bin_to_agv_state' }, autonomy={'continue': Autonomy.Off}) # x:822 y:60 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:510 y:50 OperatableStateMachine.add( 'transport_part_form_bin_to_agv_state', self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'), transitions={ 'finished': 'EndAssignment', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'part_type': 'part_type', 'agv_id': 'agv_id', 'pose_on_agv': 'pose_on_agv', 'pose': 'pose' }) return _state_machine
def create(self): part_list = ['gasket_part', 'piston_rod_part', 'gear_part', ' pulley_part', 'disk_part'] # x:842 y:52, x:158 y:179 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.camera_ref_frame = "arm1_linear_arm_actuator" _state_machine.userdata.camera_topic = "/ariac/logical_camera_1" _state_machine.userdata.camera_frame = "logical_camera_1_frame" _state_machine.userdata.pose = [] _state_machine.userdata.part = '' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:33 y:38 OperatableStateMachine.add('StaerAssignment', StartAssignment(), transitions={'continue': 'DetectFirstPartCamera'}, autonomy={'continue': Autonomy.Off}) # x:379 y:40 OperatableStateMachine.add('PartMessage', MessageState(), transitions={'continue': 'PoseMessage'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'part'}) # x:523 y:40 OperatableStateMachine.add('PoseMessage', MessageState(), transitions={'continue': 'EndAssignment'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'pose'}) # x:666 y:37 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:170 y:40 OperatableStateMachine.add('DetectFirstPartCamera', DetectFirstPartCameraAriacState(part_list=part_list, time_out=0.5), transitions={'continue': 'PartMessage', 'failed': 'failed', 'not_found': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off}, remapping={'ref_frame': 'camera_ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part', 'pose': 'pose'}) return _state_machine
def create(self): # x:599 y:55, x:321 y:144 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.agv_id = 'agv1' _state_machine.userdata.shipment_type = 'order_0_shipment_0' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:30 y:40 OperatableStateMachine.add( 'StartAssignment', StartAssignment(), transitions={'continue': 'SubmitShipment'}, autonomy={'continue': Autonomy.Off}) # x:443 y:42 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:322 y:42 OperatableStateMachine.add('Wait', WaitState(wait_time=30), transitions={'done': 'EndAssignment'}, autonomy={'done': Autonomy.Off}) # x:167 y:42 OperatableStateMachine.add('SubmitShipment', SubmitShipmentState(), transitions={ 'continue': 'Wait', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'agv_id': 'agv_id', 'shipment_type': 'shipment_type', 'inspection_result': 'inspection_result' }) return _state_machine
def create(self): # x:649 y:50, x:296 y:171 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.agv_id = 'agv1' _state_machine.userdata.part_type = 'gear_part' _state_machine.userdata.pose_on_agv = [] # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:52 y:43 OperatableStateMachine.add( 'StartAssignment', StartAssignment(), transitions={ 'continue': 'transport_part_form_bin_to_agv_state' }, autonomy={'continue': Autonomy.Off}) # x:445 y:45 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:188 y:44 OperatableStateMachine.add( 'transport_part_form_bin_to_agv_state', self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'), transitions={ 'finished': 'EndAssignment', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'part_type': 'part_type', 'agv_id': 'agv_id', 'pose_on_agv': 'pose_on_agv' }) return _state_machine
def create(self): # x:705 y:41 _state_machine = OperatableStateMachine(outcomes=['finished']) _state_machine.userdata.MaterialLocations = [] _state_machine.userdata.Part = 'piston_rod_part' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:34 y:25 OperatableStateMachine.add( 'StartAssignment', StartAssignment(), transitions={'continue': 'GetMaterialsLocations'}, autonomy={'continue': Autonomy.Off}) # x:362 y:28 OperatableStateMachine.add( 'MaterialsLocationMessage', MessageState(), transitions={'continue': 'EndAssignment'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'MaterialLocations'}) # x:541 y:29 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:176 y:26 OperatableStateMachine.add( 'GetMaterialsLocations', GetMaterialLocationsState(), transitions={'continue': 'MaterialsLocationMessage'}, autonomy={'continue': Autonomy.Off}, remapping={ 'part': 'Part', 'material_locations': 'MaterialLocations' }) return _state_machine
def create(self): # x:636 y:50, x:263 y:129 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.arm = 'arm1' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:49 y:39 OperatableStateMachine.add( 'StartAssignment', StartAssignment(), transitions={ 'continue': 'transport_part_from_belt_to_bin_state' }, autonomy={'continue': Autonomy.Off}) # x:472 y:44 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:196 y:40 OperatableStateMachine.add( 'transport_part_from_belt_to_bin_state', self.use_behavior(transport_part_from_belt_to_bin_stateSM, 'transport_part_from_belt_to_bin_state'), transitions={ 'finished': 'EndAssignment', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={'arm': 'arm'}) return _state_machine
def create(self): # x:667 y:540, x:729 y:205 _state_machine = OperatableStateMachine(outcomes=['finished', 'fail']) _state_machine.userdata.shipments = [] _state_machine.userdata.part_type = '' _state_machine.userdata.material_locations = [] _state_machine.userdata.number_of_shipments = 0 _state_machine.userdata.order_id = '' _state_machine.userdata.products = [] _state_machine.userdata.number_of_products = 0 _state_machine.userdata.agv_id = '' _state_machine.userdata.shipment_type = '' _state_machine.userdata.pose = [] _state_machine.userdata.product_index = 0 _state_machine.userdata.shipment_index = 1 _state_machine.userdata.add_one = 1 _state_machine.userdata.part_pose = [] _state_machine.userdata.zero = 0 # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:30 y:40 OperatableStateMachine.add('Start', StartAssignment(), transitions={'continue': 'GetOrder'}, autonomy={'continue': Autonomy.Off}) # x:905 y:34 OperatableStateMachine.add('GetProductPose', GetPartFromProductsState(), transitions={ 'continue': 'message_3', 'invalid_index': 'fail' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'part_pose' }) # x:1091 y:123 OperatableStateMachine.add('TransportPartToAgv', self.use_behavior( TransportPartToAgvSM, 'TransportPartToAgv'), transitions={ 'finished': 'IncrementProductIndex', 'failed': 'fail' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'agv_id': 'agv_id', 'part_type': 'part_type', 'part_pose': 'part_pose' }) # x:1095 y:229 OperatableStateMachine.add('IncrementProductIndex', AddNumericState(), transitions={'done': 'ShipmentReady?'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'product_index', 'value_b': 'add_one', 'result': 'product_index' }) # x:1092 y:486 OperatableStateMachine.add( 'IncrementShipmentIndex', AddNumericState(), transitions={'done': 'notify_shipment_ready'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'shipment_index', 'value_b': 'add_one', 'result': 'shipment_index' }) # x:1094 y:329 OperatableStateMachine.add('ShipmentReady?', EqualState(), transitions={ 'true': 'ResetProductIndex', 'false': 'GetProductPose' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'product_index', 'value_b': 'number_of_products' }) # x:474 y:461 OperatableStateMachine.add('OrderReady?', EqualState(), transitions={ 'true': 'ResetShiptIndex', 'false': 'GetProductsShipment' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'shipment_index', 'value_b': 'number_of_shipments' }) # x:857 y:483 OperatableStateMachine.add('notify_shipment_ready', self.use_behavior( notify_shipment_readySM, 'notify_shipment_ready'), transitions={ 'finished': 'OrderReady?', 'failed': 'fail' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:402 y:33 OperatableStateMachine.add( 'message', MessageLogger(), transitions={'continue': 'GetProductsShipment'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'order_id'}) # x:766 y:40 OperatableStateMachine.add( 'message_2', MessageLogger(), transitions={'continue': 'GetProductPose'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'shipment_type'}) # x:1090 y:36 OperatableStateMachine.add( 'message_3', MessageLogger(), transitions={'continue': 'TransportPartToAgv'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'part_type'}) # x:560 y:34 OperatableStateMachine.add('GetProductsShipment', GetProductsFromShipmentState(), transitions={ 'continue': 'message_2', 'invalid_index': 'fail' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products' }) # x:203 y:32 OperatableStateMachine.add('GetOrder', GetOrderState(), transitions={'continue': 'message'}, autonomy={'continue': Autonomy.Off}, remapping={ 'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments' }) # x:1090 y:407 OperatableStateMachine.add( 'ResetProductIndex', ReplaceState(), transitions={'done': 'IncrementShipmentIndex'}, autonomy={'done': Autonomy.Off}, remapping={ 'value': 'zero', 'result': 'product_index' }) # x:338 y:318 OperatableStateMachine.add('ResetShiptIndex', ReplaceState(), transitions={'done': 'GetOrder'}, autonomy={'done': Autonomy.Off}, remapping={ 'value': 'zero', 'result': 'shipment_index' }) return _state_machine
def create(self): # x:821 y:56, x:1214 y:358 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.order_id = '' _state_machine.userdata.shipments = [] _state_machine.userdata.number_of_shipments = 0 _state_machine.userdata.old_order_id = '' _state_machine.userdata.shipment_index = 0 _state_machine.userdata.shipment_type = '' _state_machine.userdata.agv_id = '' _state_machine.userdata.products = [] _state_machine.userdata.number_of_products = 0 _state_machine.userdata.product_index = 0 _state_machine.userdata.part_type = '' _state_machine.userdata.material_locations = [] _state_machine.userdata.bin_index = 0 _state_machine.userdata.bin_id = '' _state_machine.userdata.one_value = 1 _state_machine.userdata.zero_value = 0 _state_machine.userdata.arm_right = 'right_arm' _state_machine.userdata.arm_left = 'left_arm' _state_machine.userdata.product_location1 = '' _state_machine.userdata.product_location2 = '' _state_machine.userdata.home_rightarm_id = 'Right_PreGrasp' _state_machine.userdata.move_group_right = 'Right_Arm' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.home_leftarm_id = 'Left_PreGrasp' _state_machine.userdata.move_group_left = 'Left_Arm' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:57 y:48 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'GetOrder'}, autonomy={'continue': Autonomy.Off}) # x:218 y:48 OperatableStateMachine.add('GetOrder', GetOrderState(), transitions={'continue': 'Test_LastOrder'}, autonomy={'continue': Autonomy.Off}, remapping={'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments'}) # x:422 y:47 OperatableStateMachine.add('Test_LastOrder', EqualState(), transitions={'true': 'EndAssignment', 'false': 'Remember_OldOrder'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'value_a': 'order_id', 'value_b': 'old_order_id'}) # x:614 y:124 OperatableStateMachine.add('Remember_OldOrder', ReplaceState(), transitions={'done': 'GetShipment'}, autonomy={'done': Autonomy.Off}, remapping={'value': 'order_id', 'result': 'old_order_id'}) # x:622 y:47 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:801 y:119 OperatableStateMachine.add('GetShipment', GetProductsFromShipmentState(), transitions={'continue': 'GetPart', 'invalid_index': 'failed'}, autonomy={'continue': Autonomy.Off, 'invalid_index': Autonomy.Off}, remapping={'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products'}) # x:1023 y:119 OperatableStateMachine.add('GetPart', GetPartFromProductsState(), transitions={'continue': 'MaterialLocation', 'invalid_index': 'failed'}, autonomy={'continue': Autonomy.Off, 'invalid_index': Autonomy.Off}, remapping={'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'part_pose'}) # x:1217 y:116 OperatableStateMachine.add('MaterialLocation', GetMaterialLocationsState(), transitions={'continue': 'GetBin'}, autonomy={'continue': Autonomy.Off}, remapping={'part': 'part_type', 'material_locations': 'material_locations'}) # x:1403 y:114 OperatableStateMachine.add('GetBin', GetItemFromListState(), transitions={'done': 'CheckAttachedRight', 'invalid_index': 'failed'}, autonomy={'done': Autonomy.Off, 'invalid_index': Autonomy.Off}, remapping={'list': 'material_locations', 'index': 'bin_index', 'item': 'bin_id'}) # x:1361 y:507 OperatableStateMachine.add('IncrementProductIndex', AddNumericState(), transitions={'done': 'EndProduct'}, autonomy={'done': Autonomy.Off}, remapping={'value_a': 'product_index', 'value_b': 'one_value', 'result': 'product_index'}) # x:1360 y:585 OperatableStateMachine.add('EndProduct', EqualState(), transitions={'true': 'HomepositieRightArm', 'false': 'CheckAttachedRight2'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'value_a': 'product_index', 'value_b': 'number_of_products'}) # x:95 y:565 OperatableStateMachine.add('ResetProductIndex', ReplaceState(), transitions={'done': 'IncrementShipmentIndex'}, autonomy={'done': Autonomy.Off}, remapping={'value': 'zero_value', 'result': 'product_index'}) # x:98 y:469 OperatableStateMachine.add('IncrementShipmentIndex', AddNumericState(), transitions={'done': 'Notify_Shipment_Ready'}, autonomy={'done': Autonomy.Off}, remapping={'value_a': 'shipment_index', 'value_b': 'one_value', 'result': 'shipment_index'}) # x:89 y:277 OperatableStateMachine.add('EndShipment', EqualState(), transitions={'true': 'ResetShipmentIndex', 'false': 'GetShipment'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'value_a': 'shipment_index', 'value_b': 'number_of_shipments'}) # x:87 y:378 OperatableStateMachine.add('Notify_Shipment_Ready', self.use_behavior(Notify_Shipment_ReadySM, 'Notify_Shipment_Ready'), transitions={'finished': 'EndShipment', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'agv_id': 'agv_id', 'shipment_type': 'shipment_type'}) # x:1605 y:181 OperatableStateMachine.add('Transport_part_from_bin_to_agv', self.use_behavior(Transport_part_from_bin_to_agvSM, 'Transport_part_from_bin_to_agv'), transitions={'finished': 'SetVariablePart1', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'agv_id': 'agv_id', 'part_type': 'part_type', 'part_pose': 'part_pose', 'bin_id': 'bin_id'}) # x:95 y:183 OperatableStateMachine.add('ResetShipmentIndex', ReplaceState(), transitions={'done': 'GetOrder'}, autonomy={'done': Autonomy.Off}, remapping={'value': 'zero_value', 'result': 'shipment_index'}) # x:1354 y:248 OperatableStateMachine.add('CheckAttachedRight', CheckGripperattached(), transitions={'True': 'CheckAttachedLeft', 'False': 'Transport_part_from_bin_to_agv', 'invalid_arm_id': 'failed'}, autonomy={'True': Autonomy.Off, 'False': Autonomy.Off, 'invalid_arm_id': Autonomy.Off}, remapping={'arm_id': 'arm_right'}) # x:1356 y:335 OperatableStateMachine.add('CheckAttachedLeft', CheckGripperattached(), transitions={'True': 'IncrementProductIndex', 'False': 'Transport_part_from_bin_to_agv_LeftArm', 'invalid_arm_id': 'failed'}, autonomy={'True': Autonomy.Off, 'False': Autonomy.Off, 'invalid_arm_id': Autonomy.Off}, remapping={'arm_id': 'arm_left'}) # x:1572 y:418 OperatableStateMachine.add('Transport_part_from_bin_to_agv_LeftArm', self.use_behavior(Transport_part_from_bin_to_agv_LeftArmSM, 'Transport_part_from_bin_to_agv_LeftArm'), transitions={'finished': 'SetVariablePart2', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'agv_id': 'agv_id', 'part_type': 'part_type', 'part_pose': 'part_pose', 'bin_id': 'bin_id'}) # x:1654 y:275 OperatableStateMachine.add('SetVariablePart1', ReplaceState(), transitions={'done': 'IncrementProductIndex'}, autonomy={'done': Autonomy.Off}, remapping={'value': 'part_pose', 'result': 'product_location1'}) # x:1651 y:503 OperatableStateMachine.add('SetVariablePart2', ReplaceState(), transitions={'done': 'IncrementProductIndex'}, autonomy={'done': Autonomy.Off}, remapping={'value': 'part_pose', 'result': 'product_location2'}) # x:997 y:510 OperatableStateMachine.add('CheckAttachedRight2', CheckGripperattached(), transitions={'True': 'CheckAttachedLeft2', 'False': 'GetPart', 'invalid_arm_id': 'failed'}, autonomy={'True': Autonomy.Off, 'False': Autonomy.Off, 'invalid_arm_id': Autonomy.Off}, remapping={'arm_id': 'arm_right'}) # x:803 y:520 OperatableStateMachine.add('CheckAttachedLeft2', CheckGripperattached(), transitions={'True': 'PlaceOnAgv', 'False': 'GetPart', 'invalid_arm_id': 'failed'}, autonomy={'True': Autonomy.Off, 'False': Autonomy.Off, 'invalid_arm_id': Autonomy.Off}, remapping={'arm_id': 'arm_left'}) # x:533 y:450 OperatableStateMachine.add('PlaceOnAgv', self.use_behavior(PlaceOnAgvSM, 'PlaceOnAgv'), transitions={'finished': 'GetPart', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'agv_id': 'agv_id', 'part_pose_right': 'product_location1', 'part_pose_left': 'product_location2'}) # x:1371 y:670 OperatableStateMachine.add('HomepositieRightArm', SrdfStateToMoveitAriac(), transitions={'reached': 'HomepositieLeftArm', 'planning_failed': 'Retry_1', 'control_failed': 'Retry_1', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'home_rightarm_id', 'move_group': 'move_group_right', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1182 y:655 OperatableStateMachine.add('HomepositieLeftArm', SrdfStateToMoveitAriac(), transitions={'reached': 'PlaceOnAgv_2', 'planning_failed': 'Retry_2', 'control_failed': 'Retry_2', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'home_leftarm_id', 'move_group': 'move_group_left', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1558 y:671 OperatableStateMachine.add('Retry_1', WaitState(wait_time=3), transitions={'done': 'HomepositieRightArm'}, autonomy={'done': Autonomy.Off}) # x:1226 y:733 OperatableStateMachine.add('Retry_2', WaitState(wait_time=3), transitions={'done': 'HomepositieLeftArm'}, autonomy={'done': Autonomy.Off}) # x:832 y:626 OperatableStateMachine.add('PlaceOnAgv_2', self.use_behavior(PlaceOnAgvSM, 'PlaceOnAgv_2'), transitions={'finished': 'ResetProductIndex', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'agv_id': 'agv_id', 'part_pose_right': 'product_location1', 'part_pose_left': 'product_location2'}) return _state_machine
def create(self): # x:644 y:287 _state_machine = OperatableStateMachine(outcomes=['failed']) _state_machine.userdata.powerOn = 100 _state_machine.userdata.part_type = '' _state_machine.userdata.pose = [] _state_machine.userdata.config_name_grasp_right = 'beltPreGrasp' _state_machine.userdata.move_group = 'Gantry' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.joint_names = '' _state_machine.userdata.joint_values = [] _state_machine.userdata.config_name_right = 'Right_Home' _state_machine.userdata.move_group_right = 'Right_Arm' _state_machine.userdata.part_type_right = '' _state_machine.userdata.part_type_left = '' _state_machine.userdata.config_name_place = 'gantryPosPlace' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:41 y:129 OperatableStateMachine.add('enable_grippers', self.use_behavior(enable_grippersSM, 'enable_grippers'), transitions={'finished': 'ExecuteMainBeltBin', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) # x:195 y:41 OperatableStateMachine.add('ConveyorPowerOn', SetConveyorbeltPowerState(), transitions={'continue': 'move_home_belt', 'fail': 'failed'}, autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'power': 'powerOn'}) # x:384 y:41 OperatableStateMachine.add('move_home_belt', self.use_behavior(move_home_beltSM, 'move_home_belt'), transitions={'finished': 'detect_product_belt', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) # x:576 y:42 OperatableStateMachine.add('detect_product_belt', self.use_behavior(detect_product_beltSM, 'detect_product_belt'), transitions={'finished': 'BeltPreGraspRight', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'part_type': 'part_type', 'pose': 'pose'}) # x:926 y:44 OperatableStateMachine.add('move_to_part_belt_right_arm', self.use_behavior(move_to_part_belt_right_armSM, 'move_to_part_belt_right_arm'), transitions={'finished': 'MoveRightSafety', 'failed': 'failed', 'unkown_id': 'BeltPreGraspRight'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'unkown_id': Autonomy.Inherit}, remapping={'part_type': 'part_type', 'pose': 'pose', 'joint_values': 'joint_values', 'part_type_right': 'part_type_right'}) # x:762 y:43 OperatableStateMachine.add('BeltPreGraspRight', SrdfStateToMoveitAriac(), transitions={'reached': 'move_to_part_belt_right_arm', 'planning_failed': 'detect_product_belt', 'control_failed': 'move_to_part_belt_right_arm', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_grasp_right', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1156 y:45 OperatableStateMachine.add('MoveRightSafety', SrdfStateToMoveitAriac(), transitions={'reached': 'moveplacepos', 'planning_failed': 'failed', 'control_failed': 'moveplacepos', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_right', 'move_group': 'move_group_right', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:39 y:40 OperatableStateMachine.add('ExecuteMainBeltBin', StartAssignment(), transitions={'continue': 'ConveyorPowerOn'}, autonomy={'continue': Autonomy.Off}) # x:1156 y:193 OperatableStateMachine.add('moveplacepos', SrdfStateToMoveitAriac(), transitions={'reached': 'move_part_to_bin', 'planning_failed': 'failed', 'control_failed': 'move_part_to_bin', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_place', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1131 y:348 OperatableStateMachine.add('move_part_to_bin', self.use_behavior(move_part_to_binSM, 'move_part_to_bin'), transitions={'finished': 'move_home_belt_2', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'part_type_right': 'part_type_right', 'part_type_left': 'part_type_left'}) # x:528 y:489 OperatableStateMachine.add('move_home_belt_2', self.use_behavior(move_home_beltSM, 'move_home_belt_2'), transitions={'finished': 'ConveyorPowerOn', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) return _state_machine
def create(self): # x:448 y:497, x:101 y:396 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.arm_id = '' _state_machine.userdata.power_on = 80 _state_machine.userdata.power_off = 0 _state_machine.userdata.config_name_home = 'home' _state_machine.userdata.move_group = 'manipulator' _state_machine.userdata.move_group_prefix1 = '/ariac/arm1' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.move_group_prefix2 = '/ariac/arm2' _state_machine.userdata.ref_frame = 'arm1_linear_arm_actuator' _state_machine.userdata.camera_topic = '/ariac/logical_camera_belt1' _state_machine.userdata.camera_frame = 'logical_camera_belt1_frame' _state_machine.userdata.part_type = 'disk_part' _state_machine.userdata.pose = [] _state_machine.userdata.config_name_belt = 'robotBelt' _state_machine.userdata.sensor_topic = '/ariac/break_beam_1' _state_machine.userdata.tool_link = 'ee_link' _state_machine.userdata.part_offset = 0.04 _state_machine.userdata.part_rotation = 0 # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:32 y:30 OperatableStateMachine.add( 'StartAssignment', StartAssignment(), transitions={'continue': 'TurnOnConveyor'}, autonomy={'continue': Autonomy.Off}) # x:522 y:27 OperatableStateMachine.add('MoveR2home', SrdfStateToMoveitAriac(), transitions={ 'reached': 'MoveR1Belt', 'planning_failed': 'failed', 'control_failed': 'failed', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name_home', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix2', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:176 y:29 OperatableStateMachine.add('TurnOnConveyor', SetConveyorbeltPowerState(), transitions={ 'continue': 'MoveR1Home', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'power': 'power_on'}) # x:360 y:28 OperatableStateMachine.add('MoveR1Home', SrdfStateToMoveitAriac(), transitions={ 'reached': 'MoveR2home', 'planning_failed': 'failed', 'control_failed': 'failed', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name_home', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix1', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:690 y:25 OperatableStateMachine.add('MoveR1Belt', SrdfStateToMoveitAriac(), transitions={ 'reached': 'DetectPart', 'planning_failed': 'failed', 'control_failed': 'failed', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name_belt', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix1', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:863 y:25 OperatableStateMachine.add( 'DetectPart', DetectPartCameraAriacState(time_out=0.5), transitions={ 'continue': 'TurnOffConveyor', 'failed': 'WaitRetry', 'not_found': 'WaitRetry' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off }, remapping={ 'ref_frame': 'ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part_type', 'pose': 'pose' }) # x:715 y:141 OperatableStateMachine.add('WaitRetry', WaitState(wait_time=0.1), transitions={'done': 'DetectPart'}, autonomy={'done': Autonomy.Off}) # x:1127 y:363 OperatableStateMachine.add('MoveToPart', MoveitToJointsDynAriacState(), transitions={ 'reached': 'EnableGripper', 'planning_failed': 'failed', 'control_failed': 'EnableGripper' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off }, remapping={ 'move_group_prefix': 'move_group_prefix1', 'move_group': 'move_group', 'action_topic': 'action_topic', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:1136 y:455 OperatableStateMachine.add('EnableGripper', GripperControl(enable=True), transitions={ 'continue': 'MoveHome', 'failed': 'failed', 'invalid_id': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off, 'invalid_id': Autonomy.Off }, remapping={'arm_id': 'arm_id'}) # x:1115 y:267 OperatableStateMachine.add( 'ComputeGrasp', ComputeGraspAriacState(joint_names=[ 'linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint' ]), transitions={ 'continue': 'MoveToPart', 'failed': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off }, remapping={ 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix1', 'tool_link': 'tool_link', 'pose': 'pose', 'offset': 'part_offset', 'rotation': 'part_rotation', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:1081 y:544 OperatableStateMachine.add('MoveHome', SrdfStateToMoveitAriac(), transitions={ 'reached': 'finished', 'planning_failed': 'failed', 'control_failed': 'finished', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name_home', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix1', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:1043 y:58 OperatableStateMachine.add('TurnOffConveyor', SetConveyorbeltPowerState(), transitions={ 'continue': 'DetectPart_2', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'power': 'power_off'}) # x:1071 y:136 OperatableStateMachine.add( 'DetectPart_2', DetectPartCameraAriacState(time_out=0.5), transitions={ 'continue': 'ComputeGrasp', 'failed': 'failed', 'not_found': 'WaitRetry' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off }, remapping={ 'ref_frame': 'ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part_type', 'pose': 'pose' }) return _state_machine
def create(self): # x:1648 y:487, x:394 y:242 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.config_name_gantry_Pre_Conv_LA = 'Gantry_PreGrasp_Conv_LA' _state_machine.userdata.move_group_gantry = 'Gantry' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.poweroff = 0 _state_machine.userdata.Partsaantal = 0 _state_machine.userdata.Partsvast = 3 _state_machine.userdata.Plus1 = 1 _state_machine.userdata.poweron = 100 _state_machine.userdata.ref_frame = 'world' _state_machine.userdata.camera_topic = '/ariac/logical_camera_4' _state_machine.userdata.camera_frame = 'logical_camera_4_frame' _state_machine.userdata.part = '' _state_machine.userdata.pose = '' _state_machine.userdata.move_group_right_arm = 'Right_Arm' _state_machine.userdata.move_group_left_arm = 'Left_Arm' _state_machine.userdata.arm_idL = 'left' _state_machine.userdata.arm_idR = 'right' _state_machine.userdata.config_name_Left_Home = '' _state_machine.userdata.config_name_Right_Home = '' _state_machine.userdata.config_name_gantry_Pre_Conv_RA = 'Gantry_PreGrasp_Conv_RA' _state_machine.userdata.config_name_RA_pre = 'config_name_RA_pre' _state_machine.userdata.config_name_LA_pre = 'config_name_LA_pre' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:30 y:40 OperatableStateMachine.add( 'Start', StartAssignment(), transitions={'continue': 'Move_to_Home'}, autonomy={'continue': Autonomy.Off}) # x:213 y:41 OperatableStateMachine.add('Move_to_Home', self.use_behavior( Move_to_HomeSM, 'Move_to_Home'), transitions={ 'finished': 'Oppakken', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'arm_idL': 'arm_idL', 'arm_idR': 'arm_idR', 'config_name_PreSide': 'config_name_PreSide', 'config_name_Right_Home': 'config_name_Right_Home', 'config_name_Left_Home': 'config_name_Left_Home', 'config_name_gantry': 'config_name_gantry' }) # x:977 y:473 OperatableStateMachine.add('3 parts?', EqualState(), transitions={ 'true': 'finished', 'false': 'Start conveyer' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'Partsvast', 'value_b': 'Partsaantal' }) # x:1233 y:370 OperatableStateMachine.add('increase', AddNumericState(), transitions={'done': '3 parts?'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'Plus1', 'value_b': 'Partsaantal', 'result': 'Partsaantal' }) # x:601 y:399 OperatableStateMachine.add('Start conveyer', SetConveyorbeltPowerState(), transitions={ 'continue': 'Oppakken', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'power': 'poweron'}) # x:823 y:35 OperatableStateMachine.add( 'Oppakken', self.use_behavior(OppakkenSM, 'Oppakken'), transitions={ 'finished': 'Droppen', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'part': 'part', 'pose': 'pose', 'move_group_prefix': 'move_group_prefix', 'move_group_right_arm': 'move_group_right_arm', 'move_group_left_arm': 'move_group_left_arm', 'action_topic': 'action_topic', 'camera_frame': 'camera_frame', 'camera_topic': 'camera_topic', 'poweroff': 'poweroff', 'ref_frame': 'ref_frame', 'move_group_gantry': 'move_group_gantry', 'robot_name': 'robot_name', 'config_name_Left_Home': 'config_name_Left_Home', 'config_name_Right_Home': 'config_name_Right_Home', 'arm_idL': 'arm_idL', 'arm_idR': 'arm_idR', 'config_name_gantry_Pre_Conv_RA': 'config_name_gantry_Pre_Conv_RA', 'config_name_gantry_Pre_Conv_LA': 'config_name_gantry_Pre_Conv_LA', 'config_name_RA_pre': 'config_name_RA_pre', 'config_name_LA_pre': 'config_name_LA_pre', 'offset_var_left': 'offset_var_left', 'offset_var_right': 'offset_var_right', 'offset_gasket': 'offset_gasket', 'offset_piston': 'offset_piston' }) # x:1314 y:156 OperatableStateMachine.add('Droppen', self.use_behavior(DroppenSM, 'Droppen'), transitions={ 'finished': 'increase', 'failed': 'failed', 'end': 'finished' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'end': Autonomy.Inherit }, remapping={ 'move_group_prefix': 'move_group_prefix', 'move_group_right_arm': 'move_group_right_arm', 'move_group_left_arm': 'move_group_left_arm', 'action_topic': 'action_topic', 'camera_frame': 'camera_frame', 'camera_topic': 'camera_topic', 'ref_frame': 'ref_frame', 'move_group_gantry': 'move_group_gantry', 'robot_name': 'robot_name', 'offset_var_left': 'offset_var_left', 'offset_var_right': 'offset_var_right', 'offset_gasket': 'offset_gasket', 'offset_piston': 'offset_piston', 'arm_idL': 'arm_idL', 'arm_idR': 'arm_idR', 'config_name_Right_Home': 'config_name_Right_Home', 'config_name_Left_Home': 'config_name_Left_Home', 'config_name_RA_pre': 'config_name_RA_pre', 'config_name_LA_pre': 'config_name_LA_pre' }) return _state_machine
def create(self): # x:509 y:35, x:204 y:373 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.shipments = [] _state_machine.userdata.number_of_shipments = 0 _state_machine.userdata.agv_id = '' _state_machine.userdata.number_of_products = 0 _state_machine.userdata.shipment_type = '' _state_machine.userdata.products = [] _state_machine.userdata.number_of_products = 0 _state_machine.userdata.shipment_index = 0 _state_machine.userdata.product_index = 0 _state_machine.userdata.part_type = '' _state_machine.userdata.one_value = 1 _state_machine.userdata.zero_value = 0 _state_machine.userdata.order_id = '' _state_machine.userdata.part_pose = [] _state_machine.userdata.old_order_id = '' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:65 y:95 OperatableStateMachine.add('start', StartAssignment(), transitions={'continue': 'getorder'}, autonomy={'continue': Autonomy.Off}) # x:243 y:92 OperatableStateMachine.add( 'getorder', GetOrderState(), transitions={'continue': 'compare_last_order'}, autonomy={'continue': Autonomy.Off}, remapping={ 'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments' }) # x:465 y:94 OperatableStateMachine.add('get_products_from_shipments', GetProductsFromShipmentState(), transitions={ 'continue': 'get_part_from_products', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products' }) # x:689 y:90 OperatableStateMachine.add( 'get_part_from_products', GetPartFromProductsState(), transitions={ 'continue': 'transport_part_form_bin_to_agv_state', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'part_pose' }) # x:986 y:193 OperatableStateMachine.add('increment_product_index', AddNumericState(), transitions={'done': 'einde_products'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'product_index', 'value_b': 'one_value', 'result': 'product_index' }) # x:978 y:283 OperatableStateMachine.add('einde_products', EqualState(), transitions={ 'true': 'reset_product index', 'false': 'get_part_from_products' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'product_index', 'value_b': 'number_of_products' }) # x:972 y:480 OperatableStateMachine.add('increment_shipment_index', AddNumericState(), transitions={'done': 'einde_shipments'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'shipment_index', 'value_b': 'one_value', 'result': 'shipment_index' }) # x:971 y:579 OperatableStateMachine.add('einde_shipments', EqualState(), transitions={ 'true': 'notify_shipment_ready', 'false': 'get_products_from_shipments' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'shipment_index', 'value_b': 'number_of_shipments' }) # x:978 y:384 OperatableStateMachine.add( 'reset_product index', ReplaceState(), transitions={'done': 'increment_shipment_index'}, autonomy={'done': Autonomy.Off}, remapping={ 'value': 'zero_value', 'result': 'product_index' }) # x:572 y:362 OperatableStateMachine.add('notify_shipment_ready', self.use_behavior( notify_shipment_readySM, 'notify_shipment_ready'), transitions={ 'finished': 'get_products_from_shipments', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:959 y:86 OperatableStateMachine.add( 'transport_part_form_bin_to_agv_state', self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'), transitions={ 'finished': 'increment_product_index', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'part_type': 'part_type', 'agv_id': 'agv_id', 'pose_on_agv': 'part_pose' }) # x:266 y:2 OperatableStateMachine.add('compare_last_order', EqualState(), transitions={ 'true': 'finished', 'false': 'rememberoldorder' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'order_id', 'value_b': 'old_order_id' }) # x:584 y:4 OperatableStateMachine.add( 'rememberoldorder', ReplaceState(), transitions={'done': 'get_products_from_shipments'}, autonomy={'done': Autonomy.Off}, remapping={ 'value': 'order_id', 'result': 'old_order_id' }) return _state_machine
def create(self): # x:650 y:25, x:929 y:416 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.agv_id = '' _state_machine.userdata.part_type = '' _state_machine.userdata.products = [] _state_machine.userdata.product_index = 0 _state_machine.userdata.shipment_index = 0 _state_machine.userdata.material_locations = [] _state_machine.userdata.bin_index = 0 _state_machine.userdata.order_id = '' _state_machine.userdata.shipments = [] _state_machine.userdata.number_of_shipments = 0 _state_machine.userdata.shipment_type = '' _state_machine.userdata.number_of_products = 0 _state_machine.userdata.bin_id = '' _state_machine.userdata.old_order_id = '' _state_machine.userdata.one_value = 1 _state_machine.userdata.zero_value = 0 # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:45 y:112 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'GetOrder'}, autonomy={'continue': Autonomy.Off}) # x:211 y:112 OperatableStateMachine.add('GetOrder', GetOrderState(), transitions={'continue': 'ConveyorOff'}, autonomy={'continue': Autonomy.Off}, remapping={ 'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments' }) # x:424 y:113 OperatableStateMachine.add('TestLastOrder', EqualState(), transitions={ 'true': 'EndAssignment', 'false': 'RememberOldOrder' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'order_id', 'value_b': 'old_order_id' }) # x:650 y:114 OperatableStateMachine.add('RememberOldOrder', ReplaceState(), transitions={'done': 'GetShipment'}, autonomy={'done': Autonomy.Off}, remapping={ 'value': 'order_id', 'result': 'old_order_id' }) # x:869 y:114 OperatableStateMachine.add('GetShipment', GetProductsFromShipmentState(), transitions={ 'continue': 'GetPart', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products' }) # x:1122 y:115 OperatableStateMachine.add('GetPart', GetPartFromProductsState(), transitions={ 'continue': 'MaterialLocation', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'part_pose' }) # x:1361 y:113 OperatableStateMachine.add('MaterialLocation', GetMaterialLocationsState(), transitions={'continue': 'GetBin'}, autonomy={'continue': Autonomy.Off}, remapping={ 'part': 'part_type', 'material_locations': 'material_locations' }) # x:1361 y:235 OperatableStateMachine.add('GetBin', GetItemFromListState(), transitions={ 'done': 'AGV_id', 'invalid_index': 'failed' }, autonomy={ 'done': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'list': 'material_locations', 'index': 'bin_index', 'item': 'bin_id' }) # x:759 y:683 OperatableStateMachine.add('IncrementShipmentIndex', AddNumericState(), transitions={'done': 'EndShipment'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'shipment_index', 'value_b': 'one_value', 'result': 'shipment_index' }) # x:536 y:683 OperatableStateMachine.add('EndShipment', EqualState(), transitions={ 'true': 'Notify_shipment_ready', 'false': 'GetShipment' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'shipment_index', 'value_b': 'number_of_shipments' }) # x:446 y:6 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:206 y:680 OperatableStateMachine.add('Notify_shipment_ready', self.use_behavior( Notify_shipment_readySM, 'Notify_shipment_ready'), transitions={ 'finished': 'ResetShipmentIndex', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'shipment_type': 'shipment_type', 'agv_id': 'agv_id' }) # x:1357 y:675 OperatableStateMachine.add( 'GripperChoice', self.use_behavior(GripperChoiceSM, 'GripperChoice'), transitions={ 'finished': 'IncrementShipmentIndex', 'failed': 'failed', 'false': 'GetPart' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'false': Autonomy.Inherit }, remapping={ 'number_of_products': 'number_of_products', 'product_index': 'product_index', 'bin_id': 'bin_id', 'part_type': 'part_type', 'part_pose': 'part_pose', 'agv_id': 'agv_id' }) # x:194 y:377 OperatableStateMachine.add('ResetShipmentIndex', ReplaceState(), transitions={'done': 'GetOrder'}, autonomy={'done': Autonomy.Off}, remapping={ 'value': 'zero_value', 'result': 'shipment_index' }) # x:216 y:19 OperatableStateMachine.add('ConveyorOff', SetConveyorbeltPowerState(), transitions={ 'continue': 'TestLastOrder', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'power': 'zero_value'}) # x:1384 y:446 OperatableStateMachine.add( 'AGV_id', MessageState(), transitions={'continue': 'GripperChoice'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'agv_id'}) return _state_machine
def create(self): # x:1132 y:54, x:687 y:211 _state_machine = OperatableStateMachine(outcomes=['finished', 'fail']) _state_machine.userdata.StartText = 'Opdracht gestart' _state_machine.userdata.StopText = 'Opdracht gestopt' _state_machine.userdata.Shipments = [] _state_machine.userdata.part = 'gear_part' _state_machine.userdata.material_locations = [] _state_machine.userdata.NumberOfShipments = 0 _state_machine.userdata.OrderId = '' _state_machine.userdata.Products = [] _state_machine.userdata.NumberOfProducts = 0 # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:30 y:40 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'GetOrder'}, autonomy={'continue': Autonomy.Off}) # x:838 y:39 OperatableStateMachine.add('EndAssigment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:286 y:41 OperatableStateMachine.add( 'GetOrder', GetOrderState(), transitions={'continue': 'get_shipments'}, autonomy={'continue': Autonomy.Off}, remapping={ 'order_id': 'OrderId', 'shipments': 'Shipments', 'number_of_shipments': 'NumberOfShipments' }) # x:614 y:40 OperatableStateMachine.add('get_shipments', self.use_behavior( get_shipmentsSM, 'get_shipments'), transitions={ 'finished': 'EndAssigment', 'fail': 'fail' }, autonomy={ 'finished': Autonomy.Inherit, 'fail': Autonomy.Inherit }, remapping={ 'Shipments': 'Shipments', 'NumberOfShipments': 'NumberOfShipments' }) return _state_machine
def create(self): # x:642 y:425, x:506 y:337 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed'], output_keys=['part_type', 'agv_id', 'pose_on_agv']) _state_machine.userdata.order_id = ' ' _state_machine.userdata.shipments = [] _state_machine.userdata.number_of_shipments = 0 _state_machine.userdata.shipment_index = 0 _state_machine.userdata.shipment_type = '' _state_machine.userdata.agv_id = '' _state_machine.userdata.products = [] _state_machine.userdata.number_of_products = 0 _state_machine.userdata.product_index = 0 _state_machine.userdata.part_type = '' _state_machine.userdata.one_value = 1 _state_machine.userdata.zero_value = 0 _state_machine.userdata.pose_on_agv = [] _state_machine.userdata.camera_ref_frame = '' _state_machine.userdata.camera_frame = '' _state_machine.userdata.tool_link = 'ee_link' _state_machine.userdata.camera_topic = '' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:59 y:52 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'GetOrder'}, autonomy={'continue': Autonomy.Off}) # x:225 y:52 OperatableStateMachine.add( 'GetOrder', GetOrderState(), transitions={'continue': 'GetProductsFromShipment'}, autonomy={'continue': Autonomy.Off}, remapping={ 'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments' }) # x:442 y:53 OperatableStateMachine.add('GetProductsFromShipment', GetProductsFromShipmentState(), transitions={ 'continue': 'GetPartFromProduct', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products' }) # x:675 y:55 OperatableStateMachine.add( 'GetPartFromProduct', GetPartFromProductsState(), transitions={ 'continue': 'transport_part_form_bin_to_agv_state', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'pose_on_agv' }) # x:958 y:176 OperatableStateMachine.add( 'IncrementProductIndex', AddNumericState(), transitions={'done': 'EindeProductenLijst'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'product_index', 'value_b': 'one_value', 'result': 'product_index' }) # x:963 y:273 OperatableStateMachine.add('EindeProductenLijst', EqualState(), transitions={ 'true': 'IncrementShipmentIndex', 'false': 'GetPartFromProduct' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'product_index', 'value_b': 'number_of_products' }) # x:964 y:363 OperatableStateMachine.add('IncrementShipmentIndex', AddNumericState(), transitions={'done': 'EindeShipment'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'shipment_index', 'value_b': 'one_value', 'result': 'shipment_index' }) # x:967 y:449 OperatableStateMachine.add('EindeShipment', EqualState(), transitions={ 'true': 'GetOrder', 'false': 'GetProductsFromShipment' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'shipment_index', 'value_b': 'number_of_shipments' }) # x:917 y:45 OperatableStateMachine.add( 'transport_part_form_bin_to_agv_state', self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'), transitions={ 'finished': 'IncrementProductIndex', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'part_type': 'part_type', 'agv_id': 'agv_id', 'pose_on_agv': 'pose_on_agv', 'camera_ref_frame': 'camera_ref_frame', 'camera_frame': 'camera_frame', 'camera_topic': 'camera_topic' }) return _state_machine
def create(self): # x:1751 y:131, x:910 y:358 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.shipments = [] _state_machine.userdata.material_locations = [] _state_machine.userdata.NumberOfShipments = 0 _state_machine.userdata.OrderId = '' _state_machine.userdata.Products = [] _state_machine.userdata.NumberOfProducts = 0 _state_machine.userdata.power = 0 _state_machine.userdata.config_name_PreHomeR = 'Rechts_PreDrop_AGV' _state_machine.userdata.config_name_PreHomeL = 'Links_PreDrop_AGV' _state_machine.userdata.move_group_R = 'Right_Arm' _state_machine.userdata.move_group_L = 'Left_Arm' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.Old_Id = '' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:62 y:57 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'TurnOffBelt'}, autonomy={'continue': Autonomy.Off}) # x:958 y:51 OperatableStateMachine.add('GetOrder', GetOrderState(), transitions={'continue': 'Id_Check'}, autonomy={'continue': Autonomy.Off}, remapping={'order_id': 'OrderId', 'shipments': 'Shipments', 'number_of_shipments': 'NumberOfShipments'}) # x:1552 y:126 OperatableStateMachine.add('EndAssigment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:1317 y:273 OperatableStateMachine.add('GetShipments', self.use_behavior(GetShipmentsSM, 'GetShipments'), transitions={'finished': 'GetOrder', 'failed': 'EndAssigment'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'Shipments': 'Shipments', 'NumberOfShipments': 'NumberOfShipments'}) # x:249 y:56 OperatableStateMachine.add('TurnOffBelt', SetConveyorbeltPowerState(), transitions={'continue': 'PreHomeL', 'fail': 'failed'}, autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'power': 'power'}) # x:514 y:36 OperatableStateMachine.add('PreHomeL', SrdfStateToMoveitAriac(), transitions={'reached': 'PreHomeR', 'planning_failed': 'failed', 'control_failed': 'PreHomeR', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_PreHomeL', 'move_group': 'move_group_L', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:739 y:53 OperatableStateMachine.add('PreHomeR', SrdfStateToMoveitAriac(), transitions={'reached': 'GetOrder', 'planning_failed': 'failed', 'control_failed': 'GetOrder', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_PreHomeR', 'move_group': 'move_group_R', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1318 y:161 OperatableStateMachine.add('Old_Id', ReplaceState(), transitions={'done': 'GetShipments'}, autonomy={'done': Autonomy.Off}, remapping={'value': 'OrderId', 'result': 'Old_Id'}) # x:1314 y:38 OperatableStateMachine.add('Id_Check', EqualState(), transitions={'true': 'EndAssigment', 'false': 'Old_Id'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'value_a': 'OrderId', 'value_b': 'Old_Id'}) return _state_machine
def create(self): # x:37 y:662, x:476 y:317 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.conveyor_belt_power = 100.0 _state_machine.userdata.config_name_home = 'home' _state_machine.userdata.move_group = 'manipulator' _state_machine.userdata.move_group_prefix = '/ariac/arm1' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.camera_ref_frame = 'arm1_linear_arm_actuator' _state_machine.userdata.camera_topic = '/ariac/logical_camera_6' _state_machine.userdata.camera_frame = 'logical_camera_6_frame' _state_machine.userdata.part = 'gasket_part' _state_machine.userdata.config_name_bin6PreGrasp = 'bin6PreGrasp' _state_machine.userdata.tool_link = 'ee_link' _state_machine.userdata.part_offset = 0.1 _state_machine.userdata.part_rotation = 0 _state_machine.userdata.config_name_tray1PreDrop = 'tray1PreDrop' _state_machine.userdata.agv_pose = [] # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:71 y:109 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'MoveR1Home'}, autonomy={'continue': Autonomy.Off}) # x:182 y:656 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:233 y:110 OperatableStateMachine.add('MoveR1Home', SrdfStateToMoveitAriac(), transitions={'reached': 'DetectCameraPart', 'planning_failed': 'WaitRetry1', 'control_failed': 'WaitRetry1', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_home', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:233 y:8 OperatableStateMachine.add('WaitRetry1', WaitState(wait_time=5), transitions={'done': 'MoveR1Home'}, autonomy={'done': Autonomy.Off}) # x:438 y:112 OperatableStateMachine.add('DetectCameraPart', DetectPartCameraAriacState(time_out=5), transitions={'continue': 'MoveR1PreGrasp1', 'failed': 'failed', 'not_found': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off}, remapping={'ref_frame': 'camera_ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part', 'pose': 'pose'}) # x:641 y:111 OperatableStateMachine.add('MoveR1PreGrasp1', SrdfStateToMoveitAriac(), transitions={'reached': 'ComputePick', 'planning_failed': 'WaitRetry2', 'control_failed': 'WaitRetry2', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_bin6PreGrasp', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:640 y:6 OperatableStateMachine.add('WaitRetry2', WaitState(wait_time=5), transitions={'done': 'MoveR1PreGrasp1'}, autonomy={'done': Autonomy.Off}) # x:840 y:113 OperatableStateMachine.add('ComputePick', ComputeGraspAriacState(joint_names=['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']), transitions={'continue': 'MoveR1ToPick1', 'failed': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'tool_link': 'tool_link', 'pose': 'pose', 'offset': 'part_offset', 'rotation': 'part_rotation', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1023 y:110 OperatableStateMachine.add('MoveR1ToPick1', MoveitToJointsDynAriacState(), transitions={'reached': 'WachtEven', 'planning_failed': 'WaitRetry3', 'control_failed': 'WaitRetry3'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off}, remapping={'move_group_prefix': 'move_group_prefix', 'move_group': 'move_group', 'action_topic': 'action_topic', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1215 y:107 OperatableStateMachine.add('WaitRetry3', WaitState(wait_time=5), transitions={'done': 'MoveR1ToPick1'}, autonomy={'done': Autonomy.Off}) # x:1022 y:200 OperatableStateMachine.add('WachtEven', WaitState(wait_time=1), transitions={'done': 'MoveR1PreGrasp2'}, autonomy={'done': Autonomy.Off}) # x:1017 y:280 OperatableStateMachine.add('MoveR1PreGrasp2', SrdfStateToMoveitAriac(), transitions={'reached': 'MoveR1PreDrop', 'planning_failed': 'WaitRetry4', 'control_failed': 'WaitRetry4', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_bin6PreGrasp', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1215 y:278 OperatableStateMachine.add('WaitRetry4', WaitState(wait_time=5), transitions={'done': 'MoveR1PreGrasp2'}, autonomy={'done': Autonomy.Off}) # x:1005 y:369 OperatableStateMachine.add('MoveR1PreDrop', SrdfStateToMoveitAriac(), transitions={'reached': 'GetAgvPose', 'planning_failed': 'WaitRetry5', 'control_failed': 'WaitRetry5', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_tray1PreDrop', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1210 y:372 OperatableStateMachine.add('WaitRetry5', WaitState(wait_time=5), transitions={'done': 'MoveR1PreDrop'}, autonomy={'done': Autonomy.Off}) # x:1002 y:454 OperatableStateMachine.add('GetAgvPose', GetObjectPoseState(object_frame='kit_tray_1', ref_frame='arm1_linear_arm_actuator'), transitions={'continue': 'ComputeDrop', 'failed': 'ComputeDrop'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'pose': 'agv_pose'}) # x:998 y:592 OperatableStateMachine.add('ComputeDrop', ComputeGraspAriacState(joint_names=['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']), transitions={'continue': 'MoveR1ToDrop', 'failed': 'MoveR1ToDrop'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'tool_link': 'tool_link', 'pose': 'agv_pose', 'offset': 'part_offset', 'rotation': 'part_rotation', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:661 y:522 OperatableStateMachine.add('MoveR1ToDrop', MoveitToJointsDynAriacState(), transitions={'reached': 'notify_shipment_ready', 'planning_failed': 'WaitRetry6', 'control_failed': 'WaitRetry6'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off}, remapping={'move_group_prefix': 'move_group_prefix', 'move_group': 'move_group', 'action_topic': 'action_topic', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:661 y:640 OperatableStateMachine.add('WaitRetry6', WaitState(wait_time=5), transitions={'done': 'MoveR1ToDrop'}, autonomy={'done': Autonomy.Off}) # x:418 y:581 OperatableStateMachine.add('notify_shipment_ready', self.use_behavior(notify_shipment_readySM, 'notify_shipment_ready'), transitions={'finished': 'EndAssignment', 'failed': 'EndAssignment'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) return _state_machine
def create(self): # x:32 y:406, x:900 y:385 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.agv_id = '' _state_machine.userdata.part_type = '' _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.offset = '' _state_machine.userdata.move_group = 'Gantry' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.config_name_home = 'home' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.ref_frame = 'torso_base_main_joint' _state_machine.userdata.camera_topic = '/ariac/logical_camera_bins1' _state_machine.userdata.camera_frame = 'logical_camera_bins1_frame' _state_machine.userdata.tool_link = 'ee_link' _state_machine.userdata.arm_id = 'links' _state_machine.userdata.config_name_Gantry_Bins_RechtsBovenRechts = 'Gantry_Bins_RechtsBovenRechts' _state_machine.userdata.config_name_Gantry_Bins_RechtsBovenLinks = 'Gantry_Bins_RechtsBovenLinks' _state_machine.userdata.config_name_Gantry_Bins_LinksBovenRechts = 'Gantry_Bins_LinksBovenRechts' _state_machine.userdata.config_name_Gantry_Bins_LinksBovenLinks = 'Gantry_Bins_LinksBovenLinks' _state_machine.userdata.null = 0 _state_machine.userdata.config_name_Gantry_Transportband = 'Gantry_Transportband' _state_machine.userdata.config_name_Gantry_AGV_Rechts_L = 'Gantry_AGV_Rechts_L' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:73 y:57 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'stop belt'}, autonomy={'continue': Autonomy.Off}) # x:582 y:39 OperatableStateMachine.add('Pregrasp_G', SrdfStateToMoveitAriac(), transitions={'reached': 'Pregrasp_G_2', 'planning_failed': 'failed', 'control_failed': 'Pregrasp_G_2', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Gantry_Bins_RechtsBovenLinks', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:261 y:30 OperatableStateMachine.add('stop belt', SetConveyorbeltPowerState(), transitions={'continue': 'Pregrasp_G', 'fail': 'failed'}, autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'power': 'null'}) # x:819 y:34 OperatableStateMachine.add('Pregrasp_G_2', SrdfStateToMoveitAriac(), transitions={'reached': 'Pregrasp_G_3', 'planning_failed': 'failed', 'control_failed': 'Pregrasp_G_3', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Gantry_Bins_RechtsBovenRechts', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1030 y:31 OperatableStateMachine.add('Pregrasp_G_3', SrdfStateToMoveitAriac(), transitions={'reached': 'Pregrasp_G_4', 'planning_failed': 'failed', 'control_failed': 'Pregrasp_G_4', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Gantry_Bins_LinksBovenRechts', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1253 y:26 OperatableStateMachine.add('Pregrasp_G_4', SrdfStateToMoveitAriac(), transitions={'reached': 'Pregrasp_G_5', 'planning_failed': 'failed', 'control_failed': 'Pregrasp_G_5', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Gantry_Bins_LinksBovenLinks', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1264 y:264 OperatableStateMachine.add('Pregrasp_G_5', SrdfStateToMoveitAriac(), transitions={'reached': 'Pregrasp_G_6', 'planning_failed': 'failed', 'control_failed': 'Pregrasp_G_6', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Gantry_Transportband', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1288 y:401 OperatableStateMachine.add('Pregrasp_G_6', SrdfStateToMoveitAriac(), transitions={'reached': 'finished', 'planning_failed': 'finished', 'control_failed': 'failed', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Gantry_AGV_Rechts_L', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) return _state_machine
def create(self): # x:944 y:732, x:764 y:355 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.agv_id = '' _state_machine.userdata.part_type = 'gear_part_red' _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.offset = 0.025 _state_machine.userdata.move_group_G = 'Gantry' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.config_name_home = 'home' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.ref_frame = 'world' _state_machine.userdata.camera_topic = '/ariac/logical_camera_bins1' _state_machine.userdata.camera_frame = 'logical_camera_bins1_frame' _state_machine.userdata.tool_link_R = 'right_ee_link' _state_machine.userdata.arm_id = 'Left_Arm' _state_machine.userdata.config_name_Gantry_pick = 'Gantry_Bins_LinksBovenRechts' _state_machine.userdata.null = 0 _state_machine.userdata.config_name_Gantry_Transportband = 'Gantry_Transportband' _state_machine.userdata.config_name_Gantry_AGV = 'Gantry_AGV_Rechts_L' _state_machine.userdata.config_name_Left_home = 'Left_Home' _state_machine.userdata.config_name_Right_home = 'Right_Home' _state_machine.userdata.move_group_L = 'Left_Arm' _state_machine.userdata.move_group_R = 'Right_Arm' _state_machine.userdata.config_name_L = 'Links_PreDrop_Stelling' _state_machine.userdata.config_name_R = 'Rechts_PreDrop_Stelling' _state_machine.userdata.tool_link_L = 'left_ee_link' _state_machine.userdata.rotation = 0 _state_machine.userdata.camera_ref_frame = 'world' _state_machine.userdata.config_name_PrePick = 'Links_PreGrasp_Bins' _state_machine.userdata.config_name_PreDrop = 'Links_PreDrop_AGV' _state_machine.userdata.pose = [] # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:73 y:57 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'stop belt'}, autonomy={'continue': Autonomy.Off}) # x:1574 y:26 OperatableStateMachine.add('Pregrasp_G', SrdfStateToMoveitAriac(), transitions={'reached': 'PrePick', 'planning_failed': 'failed', 'control_failed': 'PrePick', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Gantry_pick', 'move_group': 'move_group_G', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:261 y:30 OperatableStateMachine.add('stop belt', SetConveyorbeltPowerState(), transitions={'continue': 'PreLeftHome', 'fail': 'failed'}, autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'power': 'null'}) # x:988 y:18 OperatableStateMachine.add('LeftHome', SrdfStateToMoveitAriac(), transitions={'reached': 'RightHome', 'planning_failed': 'failed', 'control_failed': 'RightHome', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Left_home', 'move_group': 'move_group_L', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1259 y:20 OperatableStateMachine.add('RightHome', SrdfStateToMoveitAriac(), transitions={'reached': 'Pregrasp_G', 'planning_failed': 'failed', 'control_failed': 'Pregrasp_G', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Right_home', 'move_group': 'move_group_R', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:522 y:12 OperatableStateMachine.add('PreLeftHome', SrdfStateToMoveitAriac(), transitions={'reached': 'PreRightHome', 'planning_failed': 'failed', 'control_failed': 'PreRightHome', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_L', 'move_group': 'move_group_L', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:759 y:14 OperatableStateMachine.add('PreRightHome', SrdfStateToMoveitAriac(), transitions={'reached': 'LeftHome', 'planning_failed': 'failed', 'control_failed': 'LeftHome', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_R', 'move_group': 'move_group_R', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1566 y:263 OperatableStateMachine.add('CheckPartPoseBin', DetectPartCameraAriacState(time_out=2), transitions={'continue': 'ComputePick', 'failed': 'failed', 'not_found': 'Retry'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off}, remapping={'ref_frame': 'camera_ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part_type', 'pose': 'pose'}) # x:1579 y:349 OperatableStateMachine.add('ComputePick', ComputeGraspAriacState(joint_names=['left_shoulder_pan_joint', 'left_shoulder_lift_joint', 'left_elbow_joint', 'left_wrist_1_joint', 'left_wrist_2_joint', 'left_wrist_3_joint']), transitions={'continue': 'Pick', 'failed': 'Retry'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'move_group': 'move_group_L', 'move_group_prefix': 'move_group_prefix', 'tool_link': 'tool_link_L', 'pose': 'pose', 'offset': 'offset', 'rotation': 'rotation', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1326 y:337 OperatableStateMachine.add('Retry', WaitState(wait_time=0.2), transitions={'done': 'PrePick'}, autonomy={'done': Autonomy.Off}) # x:1579 y:157 OperatableStateMachine.add('PrePick', SrdfStateToMoveitAriac(), transitions={'reached': 'CheckPartPoseBin', 'planning_failed': 'CheckPartPoseBin', 'control_failed': 'failed', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_PrePick', 'move_group': 'move_group_L', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1329 y:732 OperatableStateMachine.add('LeftHome_2', SrdfStateToMoveitAriac(), transitions={'reached': 'finished', 'planning_failed': 'failed', 'control_failed': 'finished', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_Left_home', 'move_group': 'move_group_L', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1602 y:444 OperatableStateMachine.add('Pick', MoveitToJointsDynAriacState(), transitions={'reached': 'GripperEnable', 'planning_failed': 'failed', 'control_failed': 'GripperEnable'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off}, remapping={'move_group_prefix': 'move_group_prefix', 'move_group': 'move_group_L', 'action_topic': 'action_topic', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1597 y:703 OperatableStateMachine.add('PrePick_2', SrdfStateToMoveitAriac(), transitions={'reached': 'LeftHome_2', 'planning_failed': 'failed', 'control_failed': 'LeftHome_2', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_PrePick', 'move_group': 'move_group_L', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1582 y:575 OperatableStateMachine.add('GripperEnable', VacuumGripperControlState(enable=True), transitions={'continue': 'PrePick_2', 'failed': 'Retry', 'invalid_arm_id': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'invalid_arm_id': Autonomy.Off}, remapping={'arm_id': 'arm_id'}) return _state_machine
def create(self): # x:52 y:611, x:343 y:359 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.agv_id = 'agv1' _state_machine.userdata.part_type = 'gear_part' _state_machine.userdata.pose_on_agv = [] _state_machine.userdata.pose = [] _state_machine.userdata.part_pose = [] _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.offset = 0.1 _state_machine.userdata.move_group = 'manipulator' _state_machine.userdata.move_group_prefix = '/ariac/arm1' _state_machine.userdata.config_name_home = 'home' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.config_name_bin3PreGrasp = 'bin3PreGrasp' _state_machine.userdata.config_name_tray1PreDrop = 'tray1PreDrop' _state_machine.userdata.camera_ref_frame = 'arm1_linear_arm_actuator' _state_machine.userdata.camera_topic = '/ariac/logical_camera_5' _state_machine.userdata.camera_frame = 'logical_camera_5_frame' _state_machine.userdata.tool_link = 'ee_link' _state_machine.userdata.agv_pose = [] _state_machine.userdata.part_offset = 0.035 _state_machine.userdata.part_rotation = 0 _state_machine.userdata.conveyor_belt_power = 100.0 _state_machine.userdata.config_name_bin1PreGrasp = 'bin1PreGrasp' _state_machine.userdata.arm_id = "arm1" _state_machine.userdata.part_drop_offset = 0.1 _state_machine.userdata.StartText = 'Opdracht gestart' _state_machine.userdata.StopText = 'Opdracht gestopt' _state_machine.userdata.Shipments = [] _state_machine.userdata.material_locations = [] _state_machine.userdata.NumberOfShipments = 0 _state_machine.userdata.OrderId = '' _state_machine.userdata.Products = [] _state_machine.userdata.NumberOfProducts = 0 _state_machine.userdata.MaterialsLocationList = [] _state_machine.userdata.config_name_bin3PreDrop = 'bin3PreDrop' _state_machine.userdata.part = 'gasket_part' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:54 y:102 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'ConveyorBelt'}, autonomy={'continue': Autonomy.Off}) # x:197 y:603 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:654 y:113 OperatableStateMachine.add('MoveR1Home', SrdfStateToMoveitAriac(), transitions={'reached': 'DetectCameraPart', 'planning_failed': 'WaitRetry1', 'control_failed': 'WaitRetry1', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_home', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:666 y:12 OperatableStateMachine.add('WaitRetry1', WaitState(wait_time=5), transitions={'done': 'MoveR1Home'}, autonomy={'done': Autonomy.Off}) # x:836 y:111 OperatableStateMachine.add('DetectCameraPart', DetectPartCameraAriacState(time_out=5.0), transitions={'continue': 'MoveR1PreGrasp1', 'failed': 'failed', 'not_found': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off}, remapping={'ref_frame': 'camera_ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part', 'pose': 'pose'}) # x:1039 y:116 OperatableStateMachine.add('MoveR1PreGrasp1', SrdfStateToMoveitAriac(), transitions={'reached': 'ComputePick', 'planning_failed': 'WaitRetry2', 'control_failed': 'WaitRetry2', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_bin1PreGrasp', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1048 y:21 OperatableStateMachine.add('WaitRetry2', WaitState(wait_time=5), transitions={'done': 'MoveR1PreGrasp1'}, autonomy={'done': Autonomy.Off}) # x:1038 y:200 OperatableStateMachine.add('ComputePick', ComputeGraspAriacState(joint_names=['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']), transitions={'continue': 'MoveR1ToPick1', 'failed': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'tool_link': 'tool_link', 'pose': 'pose', 'offset': 'part_offset', 'rotation': 'part_rotation', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1069 y:379 OperatableStateMachine.add('Wait', WaitState(wait_time=1), transitions={'done': 'transport_part_from_bin_to_agv_1'}, autonomy={'done': Autonomy.Off}) # x:1303 y:280 OperatableStateMachine.add('WaitRetry3', WaitState(wait_time=5), transitions={'done': 'MoveR1ToPick1'}, autonomy={'done': Autonomy.Off}) # x:1035 y:284 OperatableStateMachine.add('MoveR1ToPick1', MoveitToJointsDynAriacState(), transitions={'reached': 'EnableGripper', 'planning_failed': 'WaitRetry3', 'control_failed': 'EnableGripper'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off}, remapping={'move_group_prefix': 'move_group_prefix', 'move_group': 'move_group', 'action_topic': 'action_topic', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:818 y:282 OperatableStateMachine.add('EnableGripper', VacuumGripperControlState(enable=True), transitions={'continue': 'Wait', 'failed': 'failed', 'invalid_arm_id': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'invalid_arm_id': Autonomy.Off}, remapping={'arm_id': 'arm_id'}) # x:294 y:484 OperatableStateMachine.add('DisableGripper', VacuumGripperControlState(enable=False), transitions={'continue': 'EndAssignment', 'failed': 'failed', 'invalid_arm_id': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'invalid_arm_id': Autonomy.Off}, remapping={'arm_id': 'arm_id'}) # x:975 y:541 OperatableStateMachine.add('transport_part_from_bin_to_agv_1', self.use_behavior(transport_part_from_bin_to_agv_1SM, 'transport_part_from_bin_to_agv_1'), transitions={'finished': 'DisableGripper', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) # x:222 y:106 OperatableStateMachine.add('ConveyorBelt', SetConveyorbeltPowerState(), transitions={'continue': 'MoveR1Home', 'fail': 'failed'}, autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'power': 'conveyor_belt_power'}) return _state_machine
def create(self): # x:845 y:63, x:414 y:193 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.agv_id = 'agv1' _state_machine.userdata.part_type = 'gear_part' _state_machine.userdata.pose_on_agv = [] _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.move_group = 'manipulator' _state_machine.userdata.config_name_home = 'home' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.tool_link = 'ee_link' _state_machine.userdata.config_name_R2Bin4Pre = 'R2Bin4Pre' _state_machine.userdata.arm_id = 'arm1' _state_machine.userdata.move_group_prefix = '/ariac/arm1' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:52 y:43 OperatableStateMachine.add( 'StartAssignment', StartAssignment(), transitions={'continue': 'arm_selector'}, autonomy={'continue': Autonomy.Off}) # x:625 y:49 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:326 y:46 OperatableStateMachine.add( 'transport_part_form_bin_to_agv_state', self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'), transitions={ 'finished': 'EndAssignment', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'part_type': 'part_type', 'agv_id': 'agv_id', 'pose_on_agv': 'pose_on_agv', 'move_group_prefix': 'move_group_prefix' }) # x:177 y:125 OperatableStateMachine.add( 'arm_selector', self.use_behavior(arm_selectorSM, 'arm_selector'), transitions={ 'finished': 'transport_part_form_bin_to_agv_state', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'arm_id': 'arm_id', 'move_group_prefix': 'move_group_prefix' }) return _state_machine
def create(self): # x:1253 y:57, x:671 y:211 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.shipments = [] _state_machine.userdata.order_id = '' _state_machine.userdata.number_of_shipments = 0 _state_machine.userdata.shipment_index = 1 _state_machine.userdata.shipment_type = '' _state_machine.userdata.agv_id = '' _state_machine.userdata.products = [] _state_machine.userdata.number_of_products = 0 _state_machine.userdata.product_index = 1 _state_machine.userdata.part_type = '' _state_machine.userdata.part_pose = [] _state_machine.userdata.move_group = 'manipulator' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:30 y:40 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'GetOrder'}, autonomy={'continue': Autonomy.Off}) # x:369 y:42 OperatableStateMachine.add('GetProductsFromShipment', GetProductsFromShipmentState(), transitions={ 'continue': 'GetPartFromProducts', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products' }) # x:574 y:43 OperatableStateMachine.add( 'GetPartFromProducts', GetPartFromProductsState(), transitions={ 'continue': 'transport_part_form_bin_to_agv_state', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'part_pose' }) # x:780 y:44 OperatableStateMachine.add( 'transport_part_form_bin_to_agv_state', self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'), transitions={ 'finished': 'EndAssignment', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'part_type': 'part_type', 'agv_id': 'agv_id', 'pose_on_agv': 'part_pose' }) # x:1040 y:45 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:181 y:44 OperatableStateMachine.add( 'GetOrder', GetOrderState(), transitions={'continue': 'GetProductsFromShipment'}, autonomy={'continue': Autonomy.Off}, remapping={ 'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments' }) return _state_machine
def create(self): # x:70 y:501, x:515 y:301 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.part_pose = [] _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.part = 'gasket_part' _state_machine.userdata.offset = 0.1 _state_machine.userdata.move_group = 'manipulator' _state_machine.userdata.move_group_prefix = '/ariac/arm1' _state_machine.userdata.config_name_home = 'home' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.config_name_bin3PreGrasp = 'bin3PreGrasp' _state_machine.userdata.config_name_tray1PreDrop = 'tray1PreDrop' _state_machine.userdata.camera_ref_frame = 'arm1_linear_arm_actuator' _state_machine.userdata.camera_topic = '/ariac/logical_camera_1' _state_machine.userdata.camera_frame = 'logical_camera_1_frame' _state_machine.userdata.tool_link = 'ee_link' _state_machine.userdata.agv_pose = [] _state_machine.userdata.part_offset = 0.035 _state_machine.userdata.part_rotation = 0 _state_machine.userdata.conveyor_belt_power = 100.0 # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:20 y:140 OperatableStateMachine.add( 'StartAssignment', StartAssignment(), transitions={'continue': 'SetConveyorbeltPower'}, autonomy={'continue': Autonomy.Off}) # x:909 y:288 OperatableStateMachine.add('WachtEven', WaitState(wait_time=1), transitions={'done': 'MoveR1PreGrasp2'}, autonomy={'done': Autonomy.Off}) # x:746 y:427 OperatableStateMachine.add( 'GetAgvPose', GetObjectPoseState(object_frame='kit_tray_1', ref_frame='arm1_linear_arm_actuator'), transitions={ 'continue': 'ComuteDorp', 'failed': 'ComuteDorp' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'pose': 'agv_pose'}) # x:373 y:13 OperatableStateMachine.add('WaitRetry1', WaitState(wait_time=5), transitions={'done': 'MoveR1Home'}, autonomy={'done': Autonomy.Off}) # x:755 y:14 OperatableStateMachine.add('WaitRetry2', WaitState(wait_time=5), transitions={'done': 'MoveR1PreGrasp1'}, autonomy={'done': Autonomy.Off}) # x:1107 y:222 OperatableStateMachine.add('WaitRetry3', WaitState(wait_time=5), transitions={'done': 'MoveR1ToPick1'}, autonomy={'done': Autonomy.Off}) # x:1104 y:355 OperatableStateMachine.add('WaitRetry4', WaitState(wait_time=5), transitions={'done': 'MoveR1PreGrasp2'}, autonomy={'done': Autonomy.Off}) # x:383 y:523 OperatableStateMachine.add('WaitRetry6', WaitState(wait_time=5), transitions={'done': 'MoveR1ToDrop'}, autonomy={'done': Autonomy.Off}) # x:1104 y:430 OperatableStateMachine.add('WaitRetry5', WaitState(wait_time=5), transitions={'done': 'MoveR1PreDrop'}, autonomy={'done': Autonomy.Off}) # x:158 y:420 OperatableStateMachine.add('DeliverShipment', self.use_behavior( notify_shipment_readySM, 'DeliverShipment'), transitions={ 'finished': 'EndAssignment', 'failed': 'ComuteDorp' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:733 y:148 OperatableStateMachine.add('MoveR1PreGrasp1', SrdfStateToMoveitAriac(), transitions={ 'reached': 'ComutePick', 'planning_failed': 'WaitRetry2', 'control_failed': 'WaitRetry2', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name_bin3PreGrasp', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:910 y:355 OperatableStateMachine.add('MoveR1PreGrasp2', SrdfStateToMoveitAriac(), transitions={ 'reached': 'MoveR1PreDrop', 'planning_failed': 'WaitRetry4', 'control_failed': 'WaitRetry4', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name_bin3PreGrasp', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:913 y:428 OperatableStateMachine.add('MoveR1PreDrop', SrdfStateToMoveitAriac(), transitions={ 'reached': 'GetAgvPose', 'planning_failed': 'WaitRetry5', 'control_failed': 'WaitRetry5', 'param_error': 'ComuteDorp' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name_tray1PreDrop', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:908 y:220 OperatableStateMachine.add('MoveR1ToPick1', MoveitToJointsDynAriacState(), transitions={ 'reached': 'WachtEven', 'planning_failed': 'WaitRetry3', 'control_failed': 'WaitRetry3' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off }, remapping={ 'move_group_prefix': 'move_group_prefix', 'move_group': 'move_group', 'action_topic': 'action_topic', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:349 y:422 OperatableStateMachine.add('MoveR1ToDrop', MoveitToJointsDynAriacState(), transitions={ 'reached': 'DeliverShipment', 'planning_failed': 'WaitRetry6', 'control_failed': 'WaitRetry6' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off }, remapping={ 'move_group_prefix': 'move_group_prefix', 'move_group': 'move_group', 'action_topic': 'action_topic', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:526 y:146 OperatableStateMachine.add( 'DetectCameraPart', DetectPartCameraAriacState(time_out=5.0), transitions={ 'continue': 'MoveR1PreGrasp1', 'failed': 'failed', 'not_found': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off }, remapping={ 'ref_frame': 'camera_ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part', 'pose': 'pose' }) # x:908 y:148 OperatableStateMachine.add( 'ComutePick', ComputeGraspAriacState(joint_names=[ 'linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint' ]), transitions={ 'continue': 'MoveR1ToPick1', 'failed': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off }, remapping={ 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'tool_link': 'tool_link', 'pose': 'pose', 'offset': 'part_offset', 'rotation': 'part_rotation', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:539 y:424 OperatableStateMachine.add( 'ComuteDorp', ComputeGraspAriacState(joint_names=[ 'linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint' ]), transitions={ 'continue': 'MoveR1ToDrop', 'failed': 'MoveR1ToDrop' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off }, remapping={ 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'tool_link': 'tool_link', 'pose': 'agv_pose', 'offset': 'part_offset', 'rotation': 'part_rotation', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:353 y:143 OperatableStateMachine.add('MoveR1Home', SrdfStateToMoveitAriac(), transitions={ 'reached': 'DetectCameraPart', 'planning_failed': 'WaitRetry1', 'control_failed': 'WaitRetry1', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name_home', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:28 y:422 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:165 y:144 OperatableStateMachine.add( 'SetConveyorbeltPower', SetConveyorbeltPowerState(), transitions={ 'continue': 'MoveR1Home', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'power': 'conveyor_belt_power'}) return _state_machine
def create(self): # x:27 y:469, x:242 y:360 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.powerOn = 100 _state_machine.userdata.config_name = '' _state_machine.userdata.move_group_g = 'Gantry' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = 'gantry' _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.ref_frame = 'world' _state_machine.userdata.camera_topic = '' _state_machine.userdata.camera_frame = '' _state_machine.userdata.tool_link = '' _state_machine.userdata.pose = '' _state_machine.userdata.rotation = 0 _state_machine.userdata.move_group = '' _state_machine.userdata.arm_id = '' _state_machine.userdata.part_index = 0 _state_machine.userdata.part_type = '' _state_machine.userdata.one = 1 _state_machine.userdata.product_itt = 0 _state_machine.userdata.shipments_index = 0 # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:64 y:31 OperatableStateMachine.add( 'Start_assignment', StartAssignment(), transitions={'continue': 'move_home_belt'}, autonomy={'continue': Autonomy.Off}) # x:431 y:28 OperatableStateMachine.add( 'get_orders', GetOrderState(), transitions={'continue': 'Get shipments'}, autonomy={'continue': Autonomy.Off}, remapping={ 'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments' }) # x:615 y:25 OperatableStateMachine.add('Get shipments', GetProductsFromShipmentState(), transitions={ 'continue': 'get part', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'shipments': 'shipments', 'index': 'shipments_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products' }) # x:833 y:35 OperatableStateMachine.add('get part', GetPartFromProductsState(), transitions={ 'continue': 'message part main prg', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'products': 'products', 'index': 'part_index', 'type': 'part_type', 'pose': 'pose' }) # x:261 y:28 OperatableStateMachine.add('move_home_belt', self.use_behavior( move_home_beltSM, 'move_home_belt'), transitions={ 'finished': 'get_orders', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:1153 y:72 OperatableStateMachine.add('Order_picking', self.use_behavior( Order_pickingSM, 'Order_picking'), transitions={ 'finished': 'add_itterator order', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={'part_type': 'part_type'}) # x:1038 y:147 OperatableStateMachine.add( 'add_itterator order', AddNumericState(), transitions={'done': 'part index message'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'one', 'value_b': 'part_index', 'result': 'part_index' }) # x:1034 y:328 OperatableStateMachine.add('Check_product_amount', EqualState(), transitions={ 'true': 'move_home_belt', 'false': 'Get shipments' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'number_of_products', 'value_b': 'part_index' }) # x:1053 y:12 OperatableStateMachine.add( 'message part main prg', MessageState(), transitions={'continue': 'Order_picking'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'part_type'}) # x:1141 y:221 OperatableStateMachine.add( 'part index message', MessageState(), transitions={'continue': 'Check_product_amount'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'part_index'}) return _state_machine
def create(self): # x:1274 y:459, x:654 y:517 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.move_groupL = 'Left_Arm' _state_machine.userdata.move_groupR = 'Right_Arm' _state_machine.userdata.armidl = 'left' _state_machine.userdata.armidr = 'right' _state_machine.userdata.robot_name = '' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.config_namePBL = 'Left_Pre_Band' _state_machine.userdata.config_namePBR = 'Right_Pre_Band' _state_machine.userdata.Power = 100 _state_machine.userdata.NoPower = 0 # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:51 y:37 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'BeltOff'}, autonomy={'continue': Autonomy.Off}) # x:1464 y:55 OperatableStateMachine.add('EndAssignment', EndAssignment(), transitions={'continue': 'finished'}, autonomy={'continue': Autonomy.Off}) # x:1219 y:45 OperatableStateMachine.add('belt_to_bin', self.use_behavior(belt_to_binSM, 'belt_to_bin'), transitions={'finished': 'EndAssignment', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) # x:616 y:39 OperatableStateMachine.add('RH', SrdfStateToMoveitAriac(), transitions={'reached': 'GripperUitR', 'planning_failed': 'failed', 'control_failed': 'failed', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_namePBR', 'move_group': 'move_groupR', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:428 y:38 OperatableStateMachine.add('GripperUitL', VacuumGripperControlState(enable=False), transitions={'continue': 'RH', 'failed': 'failed', 'invalid_arm_id': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'invalid_arm_id': Autonomy.Off}, remapping={'arm_id': 'armidl'}) # x:791 y:39 OperatableStateMachine.add('GripperUitR', VacuumGripperControlState(enable=False), transitions={'continue': 'BeltOn', 'failed': 'failed', 'invalid_arm_id': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'invalid_arm_id': Autonomy.Off}, remapping={'arm_id': 'armidr'}) # x:225 y:36 OperatableStateMachine.add('LH', SrdfStateToMoveitAriac(), transitions={'reached': 'GripperUitL', 'planning_failed': 'failed', 'control_failed': 'failed', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_namePBL', 'move_group': 'move_groupL', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:112 y:134 OperatableStateMachine.add('BeltOff', SetConveyorbeltPowerState(), transitions={'continue': 'LH', 'fail': 'failed'}, autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'power': 'NoPower'}) # x:1011 y:39 OperatableStateMachine.add('BeltOn', SetConveyorbeltPowerState(), transitions={'continue': 'belt_to_bin', 'fail': 'failed'}, autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'power': 'Power'}) return _state_machine
def create(self): # x:328 y:654, x:130 y:365 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed'], input_keys=['part_type_R']) _state_machine.userdata.camera_frame = '' _state_machine.userdata.camera_topic = '' _state_machine.userdata.ref_frame = 'world' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.move_group_R = 'Right_Arm' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = 'gantry' _state_machine.userdata.pose = [] _state_machine.userdata.offset = 0.03 _state_machine.userdata.rotation = 0 _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.tool_link = 'right_ee_link' _state_machine.userdata.move_group = '' _state_machine.userdata.config_name = 'Gantry_Pulley_R' _state_machine.userdata.part_type_R = 'pulley_part_red' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:30 y:40 OperatableStateMachine.add('start', StartAssignment(), transitions={'continue': 'Find'}, autonomy={'continue': Autonomy.Off}) # x:285 y:343 OperatableStateMachine.add( 'Compute grasp', ComputeGraspAriacState(joint_names=[ 'right_elbow_joint', 'right_shoulder_lift_joint', 'right_shoulder_pan_joint', 'right_wrist_1_joint', 'right_wrist_2_joint', 'right_wrist_3_joint' ]), transitions={ 'continue': 'move', 'failed': 'Compute grasp' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off }, remapping={ 'move_group': 'move_group_R', 'move_group_prefix': 'move_group_prefix', 'tool_link': 'tool_link', 'pose': 'pose', 'offset': 'offset', 'rotation': 'rotation', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:279 y:232 OperatableStateMachine.add( 'cam', DetectPartCameraAriacState(time_out=0.5), transitions={ 'continue': 'Compute grasp', 'failed': 'failed', 'not_found': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off }, remapping={ 'ref_frame': 'ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part_type_R', 'pose': 'pose' }) # x:277 y:429 OperatableStateMachine.add('move', MoveitToJointsDynAriacState(), transitions={ 'reached': 'grip', 'planning_failed': 'failed', 'control_failed': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off }, remapping={ 'move_group_prefix': 'move_group_prefix', 'move_group': 'move_group', 'action_topic': 'action_topic', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:274 y:503 OperatableStateMachine.add('grip', GripperControl(enable=True), transitions={ 'continue': 'MOve_2_2', 'failed': 'move', 'invalid_id': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off, 'invalid_id': Autonomy.Off }, remapping={'arm_id': 'move_group_R'}) # x:293 y:68 OperatableStateMachine.add('MOve_2', SrdfStateToMoveitAriac(), transitions={ 'reached': 'cam', 'planning_failed': 'failed', 'control_failed': 'MOve_2', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:469 y:553 OperatableStateMachine.add('MOve_2_2', SrdfStateToMoveitAriac(), transitions={ 'reached': 'finished', 'planning_failed': 'failed', 'control_failed': 'MOve_2_2', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'config_name', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:30 y:102 OperatableStateMachine.add('Find', FindPart(time_out=0.2), transitions={ 'found': 'MOve_2', 'failed': 'failed', 'not_found': 'failed' }, autonomy={ 'found': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off }, remapping={ 'part_type': 'part_type_R', 'gantry_pos': 'gantry_pos', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame' }) return _state_machine
def create(self): # x:867 y:12, x:483 y:355 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.order_id = '' _state_machine.userdata.shipments = [] _state_machine.userdata.number_of_shipments = 0 _state_machine.userdata.shipment_type = '' _state_machine.userdata.shipment_index = 0 _state_machine.userdata.agv_id = '' _state_machine.userdata.number_of_products = 0 _state_machine.userdata.products = [] _state_machine.userdata.product_index = 0 _state_machine.userdata.part_type = '' _state_machine.userdata.part_pose = [] _state_machine.userdata.increment = 1 _state_machine.userdata.Null = 0 _state_machine.userdata.pose_on_agv = [] _state_machine.userdata.old_order_id = '' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:49 y:117 OperatableStateMachine.add('startassignment', StartAssignment(), transitions={'continue': 'get_order'}, autonomy={'continue': Autonomy.Off}) # x:207 y:119 OperatableStateMachine.add('get_order', GetOrderState(), transitions={'continue': 'TestLastOrder'}, autonomy={'continue': Autonomy.Off}, remapping={'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments'}) # x:410 y:121 OperatableStateMachine.add('getProductsfromshipment', GetProductsFromShipmentState(), transitions={'continue': 'ShipmentID', 'invalid_index': 'failed'}, autonomy={'continue': Autonomy.Off, 'invalid_index': Autonomy.Off}, remapping={'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products'}) # x:848 y:122 OperatableStateMachine.add('transport_part_form_bin_to_agv_state', self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'), transitions={'finished': 'IncreaseProductIndex', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'part_type': 'part_type', 'agv_id': 'agv_id', 'part_pose': 'part_pose', 'pose': 'pose'}) # x:649 y:120 OperatableStateMachine.add('GetPartinfo', GetPartFromProductsState(), transitions={'continue': 'transport_part_form_bin_to_agv_state', 'invalid_index': 'failed'}, autonomy={'continue': Autonomy.Off, 'invalid_index': Autonomy.Off}, remapping={'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'part_pose'}) # x:928 y:241 OperatableStateMachine.add('IncreaseProductIndex', AddNumericState(), transitions={'done': 'CheckProduct_index'}, autonomy={'done': Autonomy.Off}, remapping={'value_a': 'product_index', 'value_b': 'increment', 'result': 'product_index'}) # x:934 y:323 OperatableStateMachine.add('CheckProduct_index', EqualState(), transitions={'true': 'SETnull', 'false': 'GetPartinfo'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'value_a': 'product_index', 'value_b': 'number_of_products'}) # x:770 y:514 OperatableStateMachine.add('IncreaseShipmentIndex', AddNumericState(), transitions={'done': 'Checkshipmentindex'}, autonomy={'done': Autonomy.Off}, remapping={'value_a': 'shipment_index', 'value_b': 'increment', 'result': 'shipment_index'}) # x:396 y:499 OperatableStateMachine.add('Checkshipmentindex', EqualState(), transitions={'true': 'get_order', 'false': 'notify_shipment_ready'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'value_a': 'number_of_shipments', 'value_b': 'shipment_index'}) # x:990 y:530 OperatableStateMachine.add('SETnull', ReplaceState(), transitions={'done': 'IncreaseShipmentIndex'}, autonomy={'done': Autonomy.Off}, remapping={'value': 'Null', 'result': 'product_index'}) # x:721 y:355 OperatableStateMachine.add('notify_shipment_ready', self.use_behavior(notify_shipment_readySM, 'notify_shipment_ready'), transitions={'finished': 'getProductsfromshipment', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) # x:388 y:13 OperatableStateMachine.add('TestLastOrder', EqualState(), transitions={'true': 'finished', 'false': 'RememberOldOrder'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'value_a': 'order_id', 'value_b': 'old_order_id'}) # x:632 y:44 OperatableStateMachine.add('RememberOldOrder', ReplaceState(), transitions={'done': 'getProductsfromshipment'}, autonomy={'done': Autonomy.Off}, remapping={'value': 'order_id', 'result': 'old_order_id'}) # x:40 y:265 OperatableStateMachine.add('ShipmentID', MessageState(), transitions={'continue': 'GetPartinfo'}, autonomy={'continue': Autonomy.Off}, remapping={'message': 'shipment_type'}) return _state_machine
def create(self): # x:1227 y:622, x:267 y:397 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) _state_machine.userdata.powerOn = 100 _state_machine.userdata.move_group_g = 'Gantry' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.joint_values = [] _state_machine.userdata.joint_names = [] _state_machine.userdata.powerOff = 0 _state_machine.userdata.ref_frame = 'world' _state_machine.userdata.camera_topic = '/ariac/logical_camera_6' _state_machine.userdata.camera_frame = 'logical_camera_6_frame' _state_machine.userdata.pose = [] _state_machine.userdata.camera_topic_7 = '/ariac/logical_camera_7' _state_machine.userdata.camera_frame_7 = 'logical_camera_7_frame' _state_machine.userdata.part_offset = 0 _state_machine.userdata.rotation = 0 _state_machine.userdata.tool_link = 'right_ee_link' _state_machine.userdata.config_name_pregrasp = 'beltPreGrasp' _state_machine.userdata.part_type = '' _state_machine.userdata.move_group = 'Right_Arm' _state_machine.userdata.joint_names_r = ['right_shoulder_pan_joint', 'right_shoulder_lift_joint', 'right_elbow_joint', 'right_wrist_1_joint', 'right_wrist_2_joint', 'right_wrist_3_joint'] _state_machine.userdata.robot_name_g = '' _state_machine.userdata.arm_id = 'Right_Arm' _state_machine.userdata.config_name_r_home = 'Right_Home' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:30 y:40 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'TurnOnConveyor'}, autonomy={'continue': Autonomy.Off}) # x:172 y:41 OperatableStateMachine.add('TurnOnConveyor', SetConveyorbeltPowerState(), transitions={'continue': 'move_home_belt', 'fail': 'failed'}, autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'power': 'powerOn'}) # x:361 y:39 OperatableStateMachine.add('move_home_belt', self.use_behavior(move_home_beltSM, 'move_home_belt'), transitions={'finished': 'DetectFirstPartBelt', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) # x:769 y:38 OperatableStateMachine.add('TurnOffConveyor', SetConveyorbeltPowerState(), transitions={'continue': 'DetectFirstPartBelt_2', 'fail': 'failed'}, autonomy={'continue': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'power': 'powerOff'}) # x:1156 y:204 OperatableStateMachine.add('ComputeGrasp', ComputeGraspAriacState(joint_names=['right_shoulder_pan_joint', 'right_shoulder_lift_joint', 'right_elbow_joint', 'right_wrist_1_joint', 'right_wrist_2_joint', 'right_wrist_3_joint']), transitions={'continue': 'PickProduct', 'failed': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'tool_link': 'tool_link', 'pose': 'pose', 'offset': 'part_offset', 'rotation': 'rotation', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:470 y:134 OperatableStateMachine.add('WaitRetry', WaitState(wait_time=0.5), transitions={'done': 'DetectFirstPartBelt'}, autonomy={'done': Autonomy.Off}) # x:1143 y:288 OperatableStateMachine.add('PickProduct', MoveitToJointsDynAriacState(), transitions={'reached': 'EnableGripper', 'planning_failed': 'failed', 'control_failed': 'EnableGripper'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off}, remapping={'move_group_prefix': 'move_group_prefix', 'move_group': 'move_group', 'action_topic': 'action_topic', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:561 y:38 OperatableStateMachine.add('DetectFirstPartBelt', DetectFirstPartCameraAriacState(part_list=['piston_rod_part_red', 'gasket_part_blue_0', 'gasket_part_blue_1', 'gasket_part_blue_2'], time_out=0.5), transitions={'continue': 'TurnOffConveyor', 'failed': 'WaitRetry', 'not_found': 'WaitRetry'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off}, remapping={'ref_frame': 'ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part_type', 'pose': 'pose'}) # x:958 y:36 OperatableStateMachine.add('DetectFirstPartBelt_2', DetectFirstPartCameraAriacState(part_list=['piston_rod_part_red', 'gasket_part_blue_0', 'gasket_part_blue_1', 'gasket_part_blue_2'], time_out=0.5), transitions={'continue': 'MovePreGraspBelt', 'failed': 'failed', 'not_found': 'failed'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off}, remapping={'ref_frame': 'ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part_type', 'pose': 'pose'}) # x:1164 y:36 OperatableStateMachine.add('MovePreGraspBelt', SrdfStateToMoveitAriac(), transitions={'reached': 'DecideOffset', 'planning_failed': 'failed', 'control_failed': 'failed', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_pregrasp', 'move_group': 'move_group_g', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name_g', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1167 y:449 OperatableStateMachine.add('MoveUp', SrdfStateToMoveitAriac(), transitions={'reached': 'finished', 'planning_failed': 'failed', 'control_failed': 'finished', 'param_error': 'failed'}, autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off}, remapping={'config_name': 'config_name_r_home', 'move_group': 'move_group', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names'}) # x:1186 y:368 OperatableStateMachine.add('EnableGripper', GripperControl(enable=True), transitions={'continue': 'MoveUp', 'failed': 'PickProduct', 'invalid_id': 'PickProduct'}, autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off, 'invalid_id': Autonomy.Off}, remapping={'arm_id': 'arm_id'}) # x:1177 y:119 OperatableStateMachine.add('DecideOffset', DecideOffsetProduct(target_time=0.5), transitions={'succes': 'ComputeGrasp', 'unknown_id': 'DetectFirstPartBelt_2'}, autonomy={'succes': Autonomy.Off, 'unknown_id': Autonomy.Off}, remapping={'part_type': 'part_type', 'part_offset': 'part_offset'}) return _state_machine
def create(self): # x:370 y:633, x:752 y:439 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.config_name = '' _state_machine.userdata.move_group = '' _state_machine.userdata.move_group_prefix = '/ariac/gantry' _state_machine.userdata.action_topic = '/move_group' _state_machine.userdata.robot_name = '' _state_machine.userdata.pose = [] _state_machine.userdata.rotation = 0 _state_machine.userdata.ref_frame = 'world' _state_machine.userdata.camera_topic = '/ariac/logical_camera_belt' _state_machine.userdata.camera_frame = 'logical_camera_belt_frame' _state_machine.userdata.home = 'Home' _state_machine.userdata.safe = 'Gantry_Bin' _state_machine.userdata.Up = 0.2 _state_machine.userdata.power_off = 0 _state_machine.userdata.power_on = 100 _state_machine.userdata.move_group_gantry = 'Gantry' _state_machine.userdata.move_group_left = 'Left_Arm' _state_machine.userdata.move_group_right = 'Right_Arm' _state_machine.userdata.voortest = 'voor test' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:204 y:28 OperatableStateMachine.add('Start_Assignment', StartAssignment(), transitions={'continue': 'Detect_Part'}, autonomy={'continue': Autonomy.Off}) # x:358 y:118 OperatableStateMachine.add('Stop_Belt', SetConveyorbeltPowerState(), transitions={ 'continue': 'Move_R1_Home', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'power': 'power_off'}) # x:597 y:131 OperatableStateMachine.add('Move_R1_Home', SrdfStateToMoveitAriac(), transitions={ 'reached': 'Move_R2_Home', 'planning_failed': 'Move_R1_Home', 'control_failed': 'Move_R1_Home', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'home', 'move_group': 'move_group_left', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:797 y:132 OperatableStateMachine.add('Move_R2_Home', SrdfStateToMoveitAriac(), transitions={ 'reached': 'Pick_Red_Part', 'planning_failed': 'Move_R2_Home', 'control_failed': 'Move_R2_Home', 'param_error': 'failed' }, autonomy={ 'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off, 'param_error': Autonomy.Off }, remapping={ 'config_name': 'home', 'move_group': 'move_group_right', 'move_group_prefix': 'move_group_prefix', 'action_topic': 'action_topic', 'robot_name': 'robot_name', 'config_name_out': 'config_name_out', 'move_group_out': 'move_group_out', 'robot_name_out': 'robot_name_out', 'action_topic_out': 'action_topic_out', 'joint_values': 'joint_values', 'joint_names': 'joint_names' }) # x:358 y:34 OperatableStateMachine.add( 'Detect_Part', DetectFirstPartCameraAriacState( part_list=['gasket_part_blue', 'piston_rod_part_red'], time_out=0.5), transitions={ 'continue': 'Stop_Belt', 'failed': 'Detect_Part', 'not_found': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off }, remapping={ 'ref_frame': 'ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part', 'pose': 'pose' }) # x:1000 y:122 OperatableStateMachine.add('Pick_Red_Part', self.use_behavior( Pick_Red_PartSM, 'Pick_Red_Part'), transitions={ 'finished': 'Place_Red_Part', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:1002 y:218 OperatableStateMachine.add('Place_Red_Part', self.use_behavior( Place_Red_PartSM, 'Place_Red_Part'), transitions={ 'finished': 'Start_Belt', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:352 y:212 OperatableStateMachine.add('Stop_Belt_2', SetConveyorbeltPowerState(), transitions={ 'continue': 'Pick_Blue_Part_Def', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'power': 'power_off'}) # x:568 y:222 OperatableStateMachine.add( 'Detect_Part_2', DetectFirstPartCameraAriacState( part_list=['gasket_part_blue', 'piston_rod_part_red'], time_out=0.5), transitions={ 'continue': 'Stop_Belt_2', 'failed': 'Detect_Part_2', 'not_found': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'failed': Autonomy.Off, 'not_found': Autonomy.Off }, remapping={ 'ref_frame': 'ref_frame', 'camera_topic': 'camera_topic', 'camera_frame': 'camera_frame', 'part': 'part', 'pose': 'pose' }) # x:798 y:220 OperatableStateMachine.add('Start_Belt', SetConveyorbeltPowerState(), transitions={ 'continue': 'Detect_Part_2', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'power': 'power_on'}) # x:350 y:290 OperatableStateMachine.add('Start_Belt_2', SetConveyorbeltPowerState(), transitions={ 'continue': 'Detect_Part', 'fail': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'power': 'power_on'}) # x:154 y:192 OperatableStateMachine.add('Pick_Blue_Part_Def', self.use_behavior( Pick_Blue_Part_DefSM, 'Pick_Blue_Part_Def'), transitions={ 'finished': 'Place_Blue_Part', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:150 y:290 OperatableStateMachine.add('Place_Blue_Part', self.use_behavior( Place_Blue_PartSM, 'Place_Blue_Part'), transitions={ 'finished': 'Start_Belt_2', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) return _state_machine
def create(self): # x:144 y:698, x:147 y:461 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) _state_machine.userdata.order_id = '' _state_machine.userdata.shipments = [] _state_machine.userdata.number_of_shipments = 0 _state_machine.userdata.shipment_index = 0 _state_machine.userdata.agv_id = '' _state_machine.userdata.products = [] _state_machine.userdata.number_of_products = 0 _state_machine.userdata.product_index = 0 _state_machine.userdata.part_type = '' _state_machine.userdata.part_pose = [] _state_machine.userdata.one_value = 1 _state_machine.userdata.zero_value = 0 _state_machine.userdata.shipment_type = '' # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:30 y:40 OperatableStateMachine.add('StartAssignment', StartAssignment(), transitions={'continue': 'GetOrder'}, autonomy={'continue': Autonomy.Off}) # x:190 y:41 OperatableStateMachine.add( 'GetOrder', GetOrderState(), transitions={'continue': 'GetProductsFromShipment'}, autonomy={'continue': Autonomy.Off}, remapping={ 'order_id': 'order_id', 'shipments': 'shipments', 'number_of_shipments': 'number_of_shipments' }) # x:409 y:40 OperatableStateMachine.add('GetProductsFromShipment', GetProductsFromShipmentState(), transitions={ 'continue': 'GetPartFromProduct', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'shipments': 'shipments', 'index': 'shipment_index', 'shipment_type': 'shipment_type', 'agv_id': 'agv_id', 'products': 'products', 'number_of_products': 'number_of_products' }) # x:670 y:38 OperatableStateMachine.add( 'GetPartFromProduct', GetPartFromProductsState(), transitions={ 'continue': 'transport_part_form_bin_to_agv_state', 'invalid_index': 'failed' }, autonomy={ 'continue': Autonomy.Off, 'invalid_index': Autonomy.Off }, remapping={ 'products': 'products', 'index': 'product_index', 'type': 'part_type', 'pose': 'part_pose' }) # x:1211 y:34 OperatableStateMachine.add('IncrementProductIndex', AddNumericState(), transitions={'done': 'EndProducts'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'product_index', 'value_b': 'one_value', 'result': 'product_index' }) # x:1213 y:164 OperatableStateMachine.add('EndProducts', EqualState(), transitions={ 'true': 'ResetProductIndex', 'false': 'GetPartFromProduct' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'product_index', 'value_b': 'number_of_products' }) # x:1214 y:282 OperatableStateMachine.add( 'ResetProductIndex', ReplaceState(), transitions={'done': 'IncrementShipmentIndex'}, autonomy={'done': Autonomy.Off}, remapping={ 'value': 'zero_value', 'result': 'product_index' }) # x:1214 y:413 OperatableStateMachine.add('IncrementShipmentIndex', AddNumericState(), transitions={'done': 'EindShipments'}, autonomy={'done': Autonomy.Off}, remapping={ 'value_a': 'shipment_index', 'value_b': 'one_value', 'result': 'shipment_index' }) # x:1215 y:541 OperatableStateMachine.add('EindShipments', EqualState(), transitions={ 'true': 'ResetShipmentIndex', 'false': 'notify_shipment_ready' }, autonomy={ 'true': Autonomy.Off, 'false': Autonomy.Off }, remapping={ 'value_a': 'shipment_index', 'value_b': 'number_of_shipments' }) # x:1000 y:541 OperatableStateMachine.add('ResetShipmentIndex', ReplaceState(), transitions={'done': 'GetOrder'}, autonomy={'done': Autonomy.Off}, remapping={ 'value': 'zero_value', 'result': 'shipment_index' }) # x:1211 y:782 OperatableStateMachine.add('notify_shipment_ready', self.use_behavior( notify_shipment_readySM, 'notify_shipment_ready'), transitions={ 'finished': 'GetProductsFromShipment', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:911 y:38 OperatableStateMachine.add( 'transport_part_form_bin_to_agv_state', self.use_behavior(transport_part_form_bin_to_agv_stateSM, 'transport_part_form_bin_to_agv_state'), transitions={ 'finished': 'IncrementProductIndex', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) return _state_machine