def create(self):
hello = "Hello World"
# x:212 y:273, x:130 y:322
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:93 y:66
OperatableStateMachine.add('Initial_Wait',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'Print_Greeting'},
autonomy={'done': Autonomy.Off})
# x:145 y:159
OperatableStateMachine.add('Print_Greeting',
LogState(text=hello, severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
return _state_machine
def create(self):
# x:30 y:365, x:213 y:312
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['goal_brick'])
_state_machine.userdata.goal_brick = 1
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('grasp',
BrickGraspingActionState(),
transitions={
'grasped': 'finished',
'grasping_error': 'failed'
},
autonomy={
'grasped': Autonomy.Off,
'grasping_error': Autonomy.Off
},
remapping={
'goal_brick': 'goal_brick',
'success': 'success'
})
return _state_machine
def create(self):
# x:679 y:52, x:130 y:406
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.config_name_left = 'Left_Home_S'
_state_machine.userdata.config_name_right = 'Right_Home_S'
_state_machine.userdata.config_name_gantry = 'Gantry_Home_Pick'
_state_machine.userdata.move_group_g = 'Gantry'
_state_machine.userdata.move_group_prefix_g = '/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.move_group_l = 'Left_Arm'
_state_machine.userdata.move_group_r = 'Right_Arm'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:51 y:36
OperatableStateMachine.add('MoveGantryHome',
SrdfStateToMoveitAriac(),
transitions={'reached': 'finished', '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_gantry', 'move_group': 'move_group_g', 'move_group_prefix': 'move_group_prefix_g', '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:83 y:340, x:283 y:190
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:60 y:78
OperatableStateMachine.add('Log_Sweep',
LogState(text='Now performing a short sweep...', severity=Logger.REPORT_INFO),
transitions={'done': 'Perform_Sweep'},
autonomy={'done': Autonomy.Off})
# x:47 y:178
OperatableStateMachine.add('Perform_Sweep',
MetricSweepState(sweep_type='short'),
transitions={'sweeped': 'finished', 'failed': 'failed'},
autonomy={'sweeped': Autonomy.Off, 'failed': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:365
_state_machine = OperatableStateMachine(outcomes=['finished'])
_state_machine.userdata.GetalA = 10
_state_machine.userdata.GetalB = 5
_state_machine.userdata.GetalC = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Add',
AddNumericState(),
transitions={'done': 'Result'},
autonomy={'done': Autonomy.Off},
remapping={
'value_a': 'GetalA',
'value_b': 'GetalB',
'result': 'GetalC'
})
# x:211 y:41
OperatableStateMachine.add('Result',
MessageState(),
transitions={'continue': 'finished'},
autonomy={'continue': Autonomy.Off},
remapping={'message': 'GetalC'})
return _state_machine
def create(self):
# x:30 y:322, x:130 y:322
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:78 y:62
OperatableStateMachine.add('behavior_exploration',
self.use_behavior(behavior_explorationSM, 'behavior_exploration'),
transitions={'finished': 'GetCloserToVictim'},
autonomy={'finished': Autonomy.Inherit})
# x:89 y:195
OperatableStateMachine.add('GetCloserToVictim',
self.use_behavior(GetCloserToVictimSM, 'GetCloserToVictim'),
transitions={'done': 'behavior_exploration'},
autonomy={'done': Autonomy.Inherit})
return _state_machine
def create(self):
# x:740 y:75, x:421 y:456
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.waypoint1 = [0.7081,-2.5405, 0.0]
_state_machine.userdata.incremental1 = [0, 0, 0]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:206 y:190
OperatableStateMachine.add('battery_check',
self.use_behavior(battery_checkSM, 'battery_check'),
transitions={'LOW_B': 'go_to_battery_charging_station', 'failed': 'failed'},
autonomy={'LOW_B': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:488 y:226
OperatableStateMachine.add('go_to_battery_charging_station',
self.use_behavior(go_to_battery_charging_stationSM, 'go_to_battery_charging_station'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.waypoint = self.waypoint
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:130 y:106
OperatableStateMachine.add('to move base',
ToMoveBase(x=self.x,
y=self.y,
th=self.th),
transitions={
'failed': 'failed',
'done': 'finished'
},
autonomy={
'failed': Autonomy.Off,
'done': Autonomy.Off
},
remapping={'waypoint': 'waypoint'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.startCheckPosition = PoseStamped()
_state_machine.userdata.startCheckID = ''
_state_machine.userdata.objectType = 'start_check_pipe'
_state_machine.userdata.objectState = 0
_state_machine.userdata.joint_config = [0,0,0,0]
_state_machine.userdata.group_name = 'arm_group'
_state_machine.userdata.armType = 'pipes'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('DetectObject',
DetectObjectNew(),
transitions={'found': 'MoveArmPipe'},
autonomy={'found': Autonomy.Off},
remapping={'type': 'objectType', 'state': 'objectState', 'pose': 'startCheckPosition', 'object_id': 'startCheckID'})
# x:326 y:64
OperatableStateMachine.add('MoveArmPipe',
MoveArmDynState(),
transitions={'reached': 'finished', 'sampling_failed': 'MoveArmPipe', 'planning_failed': 'MoveArmPipe', 'control_failed': 'MoveArmPipe'},
autonomy={'reached': Autonomy.Off, 'sampling_failed': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off},
remapping={'object_pose': 'startCheckPosition', 'object_type': 'armType', 'object_id': 'startCheckID'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['pose'])
_state_machine.userdata.pose = PoseStamped()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:104 y:61
OperatableStateMachine.add('Move_To',
MoveToWaypointState(),
transitions={
'reached': 'finished',
'failed': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'waypoint': 'pose'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:175 y:158
OperatableStateMachine.add('Detect',
Object_Detection(),
transitions={
'continue': 'Detect',
'found': 'finished'
},
autonomy={
'continue': Autonomy.Off,
'found': Autonomy.Off
},
remapping={'pose': 'pose'})
return _state_machine
def create(self):
# x:845 y:121, x:342 y:314, x:139 y:350
_state_machine = OperatableStateMachine(
outcomes=['continue', 'failed', 'trials_complete'],
input_keys=['number_of_trials'],
output_keys=['rotation'])
_state_machine.userdata.number_of_trials = 0
_state_machine.userdata.rotation = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:174 y:110
OperatableStateMachine.add(
'trial_control_GR',
Trial_Control_State_GR(direction=1, rotation=self.rotation),
transitions={
'continue': 'continue',
'failed': 'failed',
'complete': 'trials_complete'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off,
'complete': Autonomy.Off
},
remapping={
'number_of_trials': 'number_of_trials',
'rotation': 'rotation'
})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:77 y:81
OperatableStateMachine.add(
'hsr_BooleanDummy',
hsr_BooleanDummy(text=""),
transitions={'continue': 'hsr_FollowMe'},
autonomy={'continue': Autonomy.Off},
remapping={'follow_me': 'follow_me'})
# x:252 y:83
OperatableStateMachine.add('hsr_FollowMe',
hsr_FollowMe(),
transitions={'continue': 'finished'},
autonomy={'continue': Autonomy.Off},
remapping={'request': 'follow_me'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:143 y:127
OperatableStateMachine.add('wait',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'initialize'},
autonomy={'done': Autonomy.Low})
# x:280 y:162
OperatableStateMachine.add('initialize',
InitializeRobotState(=1),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:463, x:130 y:463
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.Distance = 4.5
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:164 y:98
OperatableStateMachine.add('Get_Current_Pose',
SubscriberState(topic='/pose',
blocking=True,
clear=False),
transitions={
'received': 'finished',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'curr_pose'})
return _state_machine
def create(self):
hello = "Hello World!"
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:129 y:81
OperatableStateMachine.add('Initial_Wait',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'Hello_Greeting'},
autonomy={'done': Autonomy.Off})
# x:130 y:215
OperatableStateMachine.add('Hello_Greeting',
LogState(text=hello,
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
return _state_machine
def create(self):
# x:27 y:362, x:435 y:185
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:239 y:71
OperatableStateMachine.add('ReturnToNormal',
CompoundAction(
t1=[0, 0.0],
type1='eyes/emotion',
cmd1='normal',
t2=[0, 0.0],
type2='motion/joint_trajectory',
cmd2='head_node',
t3=[0, 0.0],
type3=None,
cmd3='',
t4=[0, 0.0],
type4=None,
cmd4=''),
transitions={
'success': 'Goodbye',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'failure': Autonomy.Off
})
# x:234 y:264
OperatableStateMachine.add('Goodbye',
CompoundAction(
t1=[0, 0.0],
type1='voice/play_wav',
cmd1='spasibo_za_vnimanie',
t2=[0, 0.0],
type2='motion/joint_trajectory',
cmd2='introduce_herself_slow',
t3=[0, 8.0],
type3='motion/joint_trajectory',
cmd3='bow_begin',
t4=[3, 4.0],
type4='motion/joint_trajectory',
cmd4='bow_end'),
transitions={
'success': 'finished',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'failure': Autonomy.Off
})
return _state_machine
def create(self):
log_msg = "Hello World!"
# x:83 y:390
_state_machine = OperatableStateMachine(outcomes=['finished'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:52 y:78
OperatableStateMachine.add('Print_Message',
LogState(text=log_msg, severity=Logger.REPORT_HINT),
transitions={'done': 'Wait_After_Logging'},
autonomy={'done': Autonomy.Low})
# x:40 y:228
OperatableStateMachine.add('Wait_After_Logging',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:322, x:130 y:322
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:78 y:62
OperatableStateMachine.add(
'behavior_exploration',
self.use_behavior(behavior_explorationSM,
'behavior_exploration'),
transitions={'finished': 'GetCloserToVictim'},
autonomy={'finished': Autonomy.Inherit})
# x:89 y:195
OperatableStateMachine.add(
'GetCloserToVictim',
self.use_behavior(GetCloserToVictimSM, 'GetCloserToVictim'),
transitions={'done': 'behavior_exploration'},
autonomy={'done': Autonomy.Inherit})
return _state_machine
def create(self):
# x:572 y:333, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.unused = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:170 y:138
OperatableStateMachine.add('SelectAction',
CalculationState(calculation=lambda x: random.choice(['brohoof', 'menace'])),
transitions={'done': 'ExecuteCompoundAction'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'unused', 'output_value': 'action_param'})
# x:330 y:170
OperatableStateMachine.add('ExecuteCompoundAction',
CompoundActionParamKey(action_ns='saved_msgs/compound_action'),
transitions={'success': 'finished', 'invalid_pose': 'failed', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off},
remapping={'action_param': 'action_param'})
return _state_machine
def create(self):
# x:43 y:392, x:240 y:396, x:477 y:395
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed', 'invalid_pose'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:161 y:101
OperatableStateMachine.add('StepSequence',
ExecuteStepSequence(controller='motion/controller/step_sequence', trajectory_param=self.action_name, trajectory_ns='saved_msgs/step_sequence'),
transitions={'success': 'finished', 'partial_movement': 'invalid_pose', 'invalid_pose': 'Crouch', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'partial_movement': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off})
# x:413 y:104
OperatableStateMachine.add('Crouch',
ExecuteJointTrajectory(action_topic='motion/controller/joint_trajectory', trajectory_param='crouch_begin', trajectory_ns='saved_msgs/joint_trajectory'),
transitions={'success': 'StepSequence', 'partial_movement': 'invalid_pose', 'invalid_pose': 'invalid_pose', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'partial_movement': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.jn = [-0.034, -24.0]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:382 y:109
OperatableStateMachine.add('iiii',
MoveitToJointsState(
move_group="robot",
joint_names=["Joint1", "Joint2"],
action_topic='/move_group'),
transitions={
'reached': 'failed',
'planning_failed': 'failed',
'control_failed': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Low,
'control_failed': Autonomy.Low
},
remapping={'joint_config': 'jn'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:146 y:49
OperatableStateMachine.add(
'dold',
WaitForDoldButton(dold_button_topic='/dold_driver/state'),
transitions={
'done': 'torsoToPerson',
'failure': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failure': Autonomy.Off
})
# x:371 y:51
OperatableStateMachine.add(
'torsoToPerson',
AdjustTorso(person_stop_dist=self.person_stop_dist,
with_j1=True,
rate=10),
transitions={'done': 'dold'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:322, x:130 y:322
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.goalId = 'abcd'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('wait',
Wait_DriveTo(useMoveBase=True),
transitions={
'succeeded': 'finished',
'aborted': 'failed',
'waiting': 'wait'
},
autonomy={
'succeeded': Autonomy.Off,
'aborted': Autonomy.Off,
'waiting': Autonomy.Off
},
remapping={'goalId': 'goalId'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:170 y:158
OperatableStateMachine.add(
'Drive Forward State',
GoFowardState(speed=self.my_speed,
travel_dist=self.my_travel_dist,
obstacle_dist=self.my_obstacle_dist),
transitions={
'failed': 'failed',
'done': 'finished'
},
autonomy={
'failed': Autonomy.Off,
'done': Autonomy.Off
})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add(
'TTS',
TTSBulgarian(
ttsbg_text="Ехоо, това е български език. Иван е готин пич!"
),
transitions={
'failed': 'failed',
'done': 'finished'
},
autonomy={
'failed': Autonomy.Low,
'done': Autonomy.Low
})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:210 y:118
OperatableStateMachine.add('Change Yaw',
BigYawParameterState(topic=self.topic,
angle=self.angle),
transitions={
'Success': 'finished',
'Failure': 'failed'
},
autonomy={
'Success': Autonomy.Off,
'Failure': Autonomy.Off
})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.carrying = True
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:52 y:142
OperatableStateMachine.add('init',
InitHandTracking(),
transitions={'done': 'check_near'},
autonomy={'done': Autonomy.Off},
remapping={'carrying': 'carrying'})
# x:314 y:170
OperatableStateMachine.add(
'check_near',
CheckHandNearness(dist_threshold=0.12,
n_steps=10,
target_frame='handover_frame_right'),
transitions={'near': 'finished'},
autonomy={'near': Autonomy.Off})
return _state_machine
def create(self):
log_msg = "Hello World!"
# x:83 y:390
_state_machine = OperatableStateMachine(outcomes=['finished'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:52 y:78
OperatableStateMachine.add(
'Print_Message',
LogState(text=log_msg, severity=Logger.REPORT_HINT),
transitions={'done': 'Wait_After_Logging'},
autonomy={'done': Autonomy.Low})
# x:40 y:228
OperatableStateMachine.add('Wait_After_Logging',
WaitState(wait_time=self.waiting_time),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.pose = PoseStamped()
_state_machine.userdata.goalId = 'abc'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Drive',
Drive_to_new(),
transitions={'succeeded': 'Wait'},
autonomy={'succeeded': Autonomy.Off},
remapping={'pose': 'pose'})
# x:191 y:77
OperatableStateMachine.add('Wait',
Wait_DriveTo_new(useMoveBase=True),
transitions={'succeeded': 'finished', 'aborted': 'failed', 'waiting': 'Wait'},
autonomy={'succeeded': Autonomy.Off, 'aborted': Autonomy.Off, 'waiting': Autonomy.Off},
remapping={'goalId': 'goalId'})
return _state_machine
def create(self):
# x:83 y:340, x:283 y:190
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:60 y:78
OperatableStateMachine.add(
'Log_Sweep',
LogState(text='Now performing a short sweep...',
severity=Logger.REPORT_INFO),
transitions={'done': 'Perform_Sweep'},
autonomy={'done': Autonomy.Off})
# x:47 y:178
OperatableStateMachine.add('Perform_Sweep',
MetricSweepState(sweep_type='short'),
transitions={
'sweeped': 'finished',
'failed': 'failed'
},
autonomy={
'sweeped': Autonomy.Off,
'failed': Autonomy.Off
})
return _state_machine
def create(self):
motion_key_1 = stand_up_front_100
motion_key_2 = stand_up_front_200
# x:533 y:194, x:130 y:322
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Execute_First_Part',
MotionServiceState(motion_key=motion_key_1, time_factor=1),
transitions={'done': 'Execute_Second_Part', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'failed': Autonomy.Low})
# x:203 y:125
OperatableStateMachine.add('Execute_Second_Part',
MotionServiceState(motion_key=motion_key_2, time_factor=1),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'failed': Autonomy.Low})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:287 y:79
OperatableStateMachine.add('test',
TestActionState(),
transitions={
'communicated_with_server':
'finished',
'no_communication_with_server':
'failed'
},
autonomy={
'communicated_with_server':
Autonomy.Off,
'no_communication_with_server':
Autonomy.Off
})
return _state_machine
def create(self):
# x:322 y:361, x:960 y:237, x:804 y:397, x:817 y:95
_state_machine = OperatableStateMachine(outcomes=['added', 'updated', 'error', 'bad_object'], input_keys=['entity'])
_state_machine.userdata.entity = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:216 y:230
OperatableStateMachine.add('AddPerson',
WonderlandAddPerson(),
transitions={'done': 'added', 'already_exit': 'PatchPerson', 'bad_request': 'bad_object', 'error': 'error'},
autonomy={'done': Autonomy.Off, 'already_exit': Autonomy.Off, 'bad_request': Autonomy.Off, 'error': Autonomy.Off},
remapping={'entity': 'entity'})
# x:586 y:231
OperatableStateMachine.add('PatchPerson',
WonderlandPatchPerson(),
transitions={'done': 'updated', 'dont_exist': 'bad_object', 'bad_request': 'bad_object', 'error': 'error'},
autonomy={'done': Autonomy.Off, 'dont_exist': Autonomy.Off, 'bad_request': Autonomy.Off, 'error': Autonomy.Off},
remapping={'entity': 'entity'})
return _state_machine
def create(self):
# x:30 y:322, x:130 y:322
_state_machine = OperatableStateMachine(outcomes=['succeeded', 'aborted'], input_keys=['pose', 'params_distance'])
_state_machine.userdata.goalId = ''
_state_machine.userdata.params_distance = 0
_state_machine.userdata.pose = PoseStamped()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('send_request',
Send_Request_new(useMoveBase=True),
transitions={'succeeded': 'wait'},
autonomy={'succeeded': Autonomy.Off},
remapping={'goalId': 'goalId', 'params_distance': 'params_distance', 'pose': 'pose'})
# x:223 y:96
OperatableStateMachine.add('wait',
Wait_DriveTo_new(useMoveBase=True),
transitions={'succeeded': 'succeeded', 'aborted': 'aborted', 'waiting': 'wait'},
autonomy={'succeeded': Autonomy.Off, 'aborted': Autonomy.Off, 'waiting': Autonomy.Off},
remapping={'goalId': 'goalId'})
return _state_machine
def create(self):
# x:836 y:130, x:639 y:366, x:855 y:267
_state_machine = OperatableStateMachine(
outcomes=['continue', 'failed', 'tests_completed'],
output_keys=['number_of_trials'])
_state_machine.userdata.number_of_trials = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:262 y:106
OperatableStateMachine.add(
'Test_control_GR',
Test_Control_State_GR(direction=self.direction,
num_trials=self.num_trials,
num_tests=self.num_tests),
transitions={
'continue': 'continue',
'failed': 'failed',
'completed': 'tests_completed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off,
'completed': Autonomy.Off
},
remapping={'number_of_trials': 'number_of_trials'})
return _state_machine
def create(self):
# x:947 y:100, x:618 y:382
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:212 y:48
OperatableStateMachine.add(
'multiple cups pour behavior using containers',
self.use_behavior(
multiplecupspourbehaviorusingcontainersSM,
'multiple cups pour behavior using containers'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
return _state_machine
def create(self):
# x:52 y:481, x:134 y:482
_state_machine = OperatableStateMachine(outcomes=["finished", "failed"])
_state_machine.userdata.pose = PoseStamped()
_state_machine.userdata.startPoint = PoseStamped()
_state_machine.userdata.endPoint = PoseStamped()
_state_machine.userdata.switchFalse = False
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:31 y:51
OperatableStateMachine.add(
"SimpleMissionInitialize",
self.use_behavior(SimpleMissionInitializeSM, "SimpleMissionInitialize"),
transitions={"finished": "SimpleMissionDoAction"},
autonomy={"finished": Autonomy.Inherit},
remapping={"startPoint": "startPoint", "endPoint": "endPoint"},
)
# x:515 y:72
OperatableStateMachine.add(
"SimpleMissionDoAction",
self.use_behavior(SimpleMissionDoActionSM, "SimpleMissionDoAction"),
transitions={"finished": "DriveToStart", "failed": "SimpleMissionError"},
autonomy={"finished": Autonomy.Inherit, "failed": Autonomy.Inherit},
)
# x:818 y:222
OperatableStateMachine.add(
"DriveToEnd",
self.use_behavior(SimpleMissionDriveToSM, "DriveToEnd"),
transitions={"finished": "SimpleMissionDoAction", "failed": "SimpleMissionError"},
autonomy={"finished": Autonomy.Inherit, "failed": Autonomy.Inherit},
remapping={"pose": "endPoint"},
)
# x:218 y:222
OperatableStateMachine.add(
"DriveToStart",
self.use_behavior(SimpleMissionDriveToSM, "DriveToStart"),
transitions={"finished": "DriveToEnd", "failed": "SimpleMissionError"},
autonomy={"finished": Autonomy.Inherit, "failed": Autonomy.Inherit},
remapping={"pose": "startPoint"},
)
# x:524 y:372
OperatableStateMachine.add(
"SimpleMissionError",
self.use_behavior(SimpleMissionErrorSM, "SimpleMissionError"),
transitions={"failed": "failed", "toStart": "DriveToStart", "toEnd": "DriveToEnd"},
autonomy={"failed": Autonomy.Inherit, "toStart": Autonomy.Inherit, "toEnd": Autonomy.Inherit},
remapping={"startPoint": "startPoint", "endPoint": "endPoint"},
)
return _state_machine
def create(self):
pcl_topic = '/local_metric_map/metaroom'
object_name = 'teabox'
# x:183 y:440, x:383 y:190
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.text_found = 'I found %s' % object_name
_state_machine.userdata.text_not_found = 'I will continue my search'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:47 y:28
OperatableStateMachine.add('Perform_Sweep',
MetricSweepState(sweep_type=MetricSweepState.SHORT),
transitions={'sweeped': 'Store_Pointcloud', 'failed': 'failed'},
autonomy={'sweeped': Autonomy.Off, 'failed': Autonomy.Off})
# x:38 y:228
OperatableStateMachine.add('Recognize_Object',
RecognizeObjectState(object_name=object_name),
transitions={'detected': 'Say_Found', 'not_detected': 'Say_Not_Found', 'failed': 'failed'},
autonomy={'detected': Autonomy.Low, 'not_detected': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'pointcloud': 'pointcloud'})
# x:44 y:328
OperatableStateMachine.add('Say_Found',
SpeechOutputState(),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'text': 'text_found'})
# x:244 y:278
OperatableStateMachine.add('Say_Not_Found',
SpeechOutputState(),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'text': 'text_not_found'})
# x:41 y:128
OperatableStateMachine.add('Store_Pointcloud',
StorePointcloudState(topic=pcl_topic),
transitions={'done': 'Recognize_Object'},
autonomy={'done': Autonomy.Off},
remapping={'pointcloud': 'pointcloud'})
return _state_machine
def create(self):
# x:52 y:481, x:134 y:482
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.pose = PoseStamped()
_state_machine.userdata.startPoint = PoseStamped()
_state_machine.userdata.endPoint = PoseStamped()
_state_machine.userdata.switchFalse = False
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:31 y:51
OperatableStateMachine.add('SimpleMissionInitialize',
self.use_behavior(SimpleMissionInitializeSM, 'SimpleMissionInitialize'),
transitions={'finished': 'SimpleMissionDoAction'},
autonomy={'finished': Autonomy.Inherit},
remapping={'startPoint': 'startPoint', 'endPoint': 'endPoint'})
# x:515 y:72
OperatableStateMachine.add('SimpleMissionDoAction',
self.use_behavior(SimpleMissionDoActionSM, 'SimpleMissionDoAction'),
transitions={'finished': 'DriveToStart', 'failed': 'SimpleMissionError'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:818 y:222
OperatableStateMachine.add('DriveToEnd',
self.use_behavior(SimpleMissionDriveToSM, 'DriveToEnd'),
transitions={'finished': 'SimpleMissionDoAction', 'failed': 'SimpleMissionError'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'endPoint'})
# x:218 y:222
OperatableStateMachine.add('DriveToStart',
self.use_behavior(SimpleMissionDriveToSM, 'DriveToStart'),
transitions={'finished': 'DriveToEnd', 'failed': 'SimpleMissionError'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'startPoint'})
# x:524 y:372
OperatableStateMachine.add('SimpleMissionError',
self.use_behavior(SimpleMissionErrorSM, 'SimpleMissionError'),
transitions={'failed': 'failed', 'toStart': 'DriveToStart', 'toEnd': 'DriveToEnd'},
autonomy={'failed': Autonomy.Inherit, 'toStart': Autonomy.Inherit, 'toEnd': Autonomy.Inherit},
remapping={'startPoint': 'startPoint', 'endPoint': 'endPoint'})
return _state_machine
def create(self):
# x:833 y:90, x:583 y:490
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:37 y:78
OperatableStateMachine.add('Ask_If_Wide_Stance',
OperatorDecisionState(outcomes=['wide_stance', 'just_stand'], hint="Do you want to go to wide stance?", suggestion='wide_stance'),
transitions={'wide_stance': 'Plan_To_Wide_Stance', 'just_stand': 'Set_Manipulate'},
autonomy={'wide_stance': Autonomy.Low, 'just_stand': Autonomy.Full})
# x:274 y:278
OperatableStateMachine.add('Go_To_Wide_Stance',
ExecuteStepPlanActionState(),
transitions={'finished': 'Wait_For_Stand', 'failed': 'failed'},
autonomy={'finished': Autonomy.Low, 'failed': Autonomy.Low},
remapping={'footstep_plan': 'plan_wide_stance'})
# x:19 y:278
OperatableStateMachine.add('Plan_To_Wide_Stance',
FootstepPlanWideStanceState(),
transitions={'planned': 'Go_To_Wide_Stance', 'failed': 'failed'},
autonomy={'planned': Autonomy.Low, 'failed': Autonomy.Low},
remapping={'footstep_plan': 'plan_wide_stance'})
# x:566 y:78
OperatableStateMachine.add('Set_Manipulate',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'finished', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Low})
# x:266 y:178
OperatableStateMachine.add('Wait_For_Stand',
CheckCurrentControlModeState(target_mode=CheckCurrentControlModeState.STAND, wait=True),
transitions={'correct': 'Set_Manipulate', 'incorrect': 'failed'},
autonomy={'correct': Autonomy.Low, 'incorrect': Autonomy.Full},
remapping={'control_mode': 'control_mode'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('abc',
ExampleState(target_time=1),
transitions={'continue': 'finished', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Test',
DrivepathTest(),
transitions={'reached': 'finished', 'failed': 'failed'},
autonomy={'reached': Autonomy.Off, 'failed': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('OperatorDrive',
WaitState(wait_time=5),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
return _state_machine
def create(self):
# x:185 y:376, x:483 y:51
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:113 y:43
OperatableStateMachine.add('Change_to_MANIPULATE',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'finished', 'failed': 'failed'},
autonomy={'changed': Autonomy.High, 'failed': Autonomy.Low})
return _state_machine
def create(self):
# x:30 y:365
_state_machine = OperatableStateMachine(outcomes=['finished'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:66 y:154
OperatableStateMachine.add('Print_Msg',
LogState(text="My param is: " + self.msg, severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:175 y:158
OperatableStateMachine.add('Detect',
Object_Detection(),
transitions={'continue': 'Detect', 'found': 'finished'},
autonomy={'continue': Autonomy.Off, 'found': Autonomy.Off},
remapping={'pose': 'pose'})
return _state_machine
def create(self):
# x:30 y:365, x:129 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.pose = PoseStamped()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365, x:530 y:365
_sm_container_0 = ConcurrencyContainer(outcomes=['finished', 'failed'], output_keys=['pose'], conditions=[
('finished', [('NewExp', 'finished')]),
('failed', [('NewExp', 'failed')]),
('finished', [('Detect', 'continue')]),
('failed', [('Detect', 'found')])
])
with _sm_container_0:
# x:30 y:40
OperatableStateMachine.add('NewExp',
self.use_behavior(NewExpSM, 'Container/NewExp'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:210 y:40
OperatableStateMachine.add('Detect',
Object_Detection(),
transitions={'continue': 'finished', 'found': 'failed'},
autonomy={'continue': Autonomy.Off, 'found': Autonomy.Off},
remapping={'pose': 'pose'})
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Container',
_sm_container_0,
transitions={'finished': 'finished', 'failed': 'DriveTo'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'pose'})
# x:310 y:186
OperatableStateMachine.add('DriveTo',
Drive_to_new(),
transitions={'succeeded': 'failed'},
autonomy={'succeeded': Autonomy.Off},
remapping={'pose': 'pose'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.pose = PoseStamped()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:435 y:160
OperatableStateMachine.add('Drive_To',
Drive_to_new(),
transitions={'succeeded': 'finished'},
autonomy={'succeeded': Autonomy.Off},
remapping={'pose': 'pose'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['pose'])
_state_machine.userdata.pose = PoseStamped()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:104 y:61
OperatableStateMachine.add('Move_To',
MoveToWaypointState(),
transitions={'reached': 'finished', 'failed': 'failed'},
autonomy={'reached': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'waypoint': 'pose'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.goalId = ' '
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('wait',
Wait_Exploration(),
transitions={'aborted': 'wait', 'succeeded': 'wait', 'waiting': 'wait', 'getVictim': 'wait'},
autonomy={'aborted': Autonomy.Off, 'succeeded': Autonomy.Off, 'waiting': Autonomy.Off, 'getVictim': Autonomy.Off},
remapping={'goalId': 'goalId'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], output_keys=['startPoint'])
_state_machine.userdata.startPoint = PoseStamped()
_state_machine.userdata.switchTrue = True
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:95
OperatableStateMachine.add('StartCheck',
StartCheck(),
transitions={'succeeded': 'ActivateMapping'},
autonomy={'succeeded': Autonomy.Off})
# x:198 y:97
OperatableStateMachine.add('ActivateMapping',
Mapping(),
transitions={'succeeded': 'Startpoint'},
autonomy={'succeeded': Autonomy.Off},
remapping={'switch': 'switchTrue'})
# x:404 y:99
OperatableStateMachine.add('Startpoint',
MarkPoint(),
transitions={'succeeded': 'finished'},
autonomy={'succeeded': Autonomy.Off},
remapping={'pose': 'startPoint'})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.poses = []
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Get Pose',
GetRobotPose(),
transitions={'succeeded': 'Build Path'},
autonomy={'succeeded': Autonomy.Off},
remapping={'pose': 'pose'})
# x:256 y:42
OperatableStateMachine.add('Build Path',
BuildPath(),
transitions={'succeeded': 'Test', 'next': 'Get Pose'},
autonomy={'succeeded': Autonomy.High, 'next': Autonomy.High},
remapping={'pose': 'pose', 'poses': 'poses'})
# x:408 y:44
OperatableStateMachine.add('Test',
DrivepathTest(),
transitions={'reached': 'finished', 'failed': 'failed'},
autonomy={'reached': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'poses': 'poses'})
return _state_machine
def create(self):
# x:916 y:133
_state_machine = OperatableStateMachine(outcomes=['finished'])
_state_machine.userdata.goalId = 'abcd'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:50 y:39
OperatableStateMachine.add('StartExploration',
START_Exploration_Transform(),
transitions={'succeeded': 'Wait'},
autonomy={'succeeded': Autonomy.Off},
remapping={'goalId': 'goalId'})
# x:280 y:158
OperatableStateMachine.add('Error',
Error_Exploration(),
transitions={'restart': 'StartExploration'},
autonomy={'restart': Autonomy.Off})
# x:491 y:39
OperatableStateMachine.add('Wait',
Wait_Exploration(),
transitions={'aborted': 'Error', 'succeeded': 'Error', 'waiting': 'Wait', 'getVictim': 'finished'},
autonomy={'aborted': Autonomy.Off, 'succeeded': Autonomy.Off, 'waiting': Autonomy.Off, 'getVictim': Autonomy.Off},
remapping={'goalId': 'goalId'})
return _state_machine
def create(self):
# x:48 y:364
_state_machine = OperatableStateMachine(outcomes=['finished'])
_state_machine.userdata.lookAround = 'look_around'
_state_machine.userdata.speed = self.speed
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:33 y:51
OperatableStateMachine.add('Look_Around',
LookAtPattern(),
transitions={'succeeded': 'Explore', 'failed': 'Error'},
autonomy={'succeeded': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'pattern': 'lookAround'})
# x:252 y:133
OperatableStateMachine.add('Error',
ErrorExploration(),
transitions={'restart': 'Look_Around'},
autonomy={'restart': Autonomy.Off})
# x:471 y:49
OperatableStateMachine.add('Explore',
Explore(),
transitions={'succeeded': 'Error', 'failed': 'Error'},
autonomy={'succeeded': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'speed': 'speed'})
return _state_machine
def create(self):
# x:30 y:322, x:130 y:322
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:143 y:40
OperatableStateMachine.add('START',
START_Exploration_Transform(target_time=3),
transitions={'succeeded': 'Wait'},
autonomy={'succeeded': Autonomy.Off})
# x:506 y:47
OperatableStateMachine.add('Wait',
Wait_Exploration(target_time=3),
transitions={'waiting': 'Wait', 'succeeded': 'Error', 'aborted': 'Error'},
autonomy={'waiting': Autonomy.Off, 'succeeded': Autonomy.Off, 'aborted': Autonomy.Off})
# x:200 y:200
OperatableStateMachine.add('Error',
Error_Exploration(),
transitions={'restart': 'START'},
autonomy={'restart': Autonomy.Off})
return _state_machine
def create(self):
# x:59 y:401
_state_machine = OperatableStateMachine(outcomes=['finished'], output_keys=['startPoint', 'endPoint'])
_state_machine.userdata.startPoint = PoseStamped()
_state_machine.userdata.endPoint = PoseStamped()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:34 y:51
OperatableStateMachine.add('Get_Start_Point',
GetRobotPose(),
transitions={'succeeded': 'Operator_Drive'},
autonomy={'succeeded': Autonomy.Off},
remapping={'pose': 'startPoint'})
# x:35 y:294
OperatableStateMachine.add('Get_End_Point',
GetRobotPose(),
transitions={'succeeded': 'finished'},
autonomy={'succeeded': Autonomy.Off},
remapping={'pose': 'endPoint'})
# x:27 y:178
OperatableStateMachine.add('Operator_Drive',
OperatorDecisionState(outcomes=['done'], hint="Drive robot to end pose", suggestion=None),
transitions={'done': 'Get_End_Point'},
autonomy={'done': Autonomy.Full})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=["finished", "failed"], input_keys=["pose"])
_state_machine.userdata.pose = PoseStamped()
_state_machine.userdata.speed = self.speed
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:213 y:74
OperatableStateMachine.add(
"Move_To",
MoveToFixedWaypoint(allow_backwards=self.allow_backwards),
transitions={"reached": "finished", "failed": "failed"},
autonomy={"reached": Autonomy.Off, "failed": Autonomy.Off},
remapping={"waypoint": "pose", "speed": "speed"},
)
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.startCheckPosition = PoseStamped()
_state_machine.userdata.startCheckID = ''
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:148 y:62
OperatableStateMachine.add('DetectStartCheck',
DetectObject(),
transitions={'found': 'finished'},
autonomy={'found': Autonomy.Off},
remapping={'pose': 'startCheckPosition', 'victim': 'startCheckID'})
return _state_machine