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:324 y:50
OperatableStateMachine.add('CheckCrouched',
CheckJointState(outcomes=['body_crouched', 'unknown'], pose_ns='saved_msgs/joint_state', tolerance=0.17, joint_topic="joint_states", timeout=1.0),
transitions={'body_crouched': 'StepSequence', 'unknown': 'Crouch'},
autonomy={'body_crouched': Autonomy.Off, 'unknown': Autonomy.Off})
# x:412 y:178
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})
# x:127 y:182
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': 'Crouch', 'invalid_pose': 'Crouch', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'partial_movement': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off})
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:353, x:425 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:353, x:130 y:353, x:230 y:353, x:330 y:353, x:430 y:353, x:530 y:353
_sm_randheadmovements_0 = ConcurrencyContainer(outcomes=['finished', 'failed'], conditions=[
('finished', [('LookAt', 'done')]),
('failed', [('LookAt', 'failure')]),
('finished', [('RandPose', 'done')]),
('failed', [('RandPose', 'failure')])
])
with _sm_randheadmovements_0:
# x:48 y:117
OperatableStateMachine.add('LookAt',
SetOperational(controller='motion/controller/look_at', operational=True, resources=['head'], sync=True),
transitions={'done': 'finished', 'failure': 'failed'},
autonomy={'done': Autonomy.Off, 'failure': Autonomy.Off})
# x:286 y:122
OperatableStateMachine.add('RandPose',
RandPoseGenerator(topic='motion/controller/look_at/in_pose_ref', duration=self.timeout, interval=[1.0,4.0], maxXYZ=[1,0.3,0.6], minXYZ=[1.0,-0.3,0.2], frame_xyz='base_link', frame_out='odom_combined'),
transitions={'done': 'finished', 'failure': 'failed'},
autonomy={'done': Autonomy.Off, 'failure': Autonomy.Off})
with _state_machine:
# x:163 y:40
OperatableStateMachine.add('CheckCrouched',
CheckJointState(outcomes=['body_crouched', 'unknown'], pose_ns='saved_msgs/joint_state', tolerance=0.17, joint_topic="joint_states", timeout=1.0),
transitions={'body_crouched': 'StandUp', 'unknown': 'RandHeadMovements'},
autonomy={'body_crouched': Autonomy.Off, 'unknown': Autonomy.Off})
# x:412 y:68
OperatableStateMachine.add('StandUp',
ExecuteJointTrajectory(action_topic='motion/controller/joint_trajectory', trajectory_param='crouch_end', trajectory_ns='saved_msgs/joint_trajectory'),
transitions={'success': 'RandHeadMovements', 'partial_movement': 'failed', 'invalid_pose': 'failed', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'partial_movement': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off})
# x:150 y:341
OperatableStateMachine.add('HeadNominal',
SetJointState(controller='motion/controller/joint_state_head', pose_param='head_nominal', pose_ns='saved_msgs/joint_state', tolerance=0.017, timeout=10.0, joint_topic="joint_states"),
transitions={'done': 'finished', 'failed': 'failed', 'timeout': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off, 'timeout': Autonomy.Off})
# x:154 y:179
OperatableStateMachine.add('RandHeadMovements',
_sm_randheadmovements_0,
transitions={'finished': 'HeadNominal', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine
def create(self):
storage = 'joint_trajectory/'
# x:879 y:265, x:922 y:85
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:82 y:127
OperatableStateMachine.add(
'SetRedEyes',
TextCommandState(type='eyes/emotion',
command='normal',
topic='control'),
transitions={'done': 'SayStateMachines'},
autonomy={'done': Autonomy.Off})
# x:478 y:140
OperatableStateMachine.add(
'StateMachinesMove',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='hoof_stamp',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:295 y:138
OperatableStateMachine.add(
'SayStateMachines',
TextCommandState(type='voice/play_wav',
command='state_machines',
topic='control'),
transitions={'done': 'StateMachinesMove'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
storage = 'joint_trajectory/'
# x:84 y:357, x:195 y:363
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:34 y:36
OperatableStateMachine.add('SetNormalEyes',
TextCommandState(type='eyes/emotion',
command='normal',
topic='control'),
transitions={'done': 'SayGreeting'},
autonomy={'done': Autonomy.Off})
# x:40 y:171
OperatableStateMachine.add(
'GreetingMove',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='greeting',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:186 y:77
OperatableStateMachine.add('SayGreeting',
TextCommandState(type='voice/play_wav',
command='see_you_here',
topic='voice/voice'),
transitions={'done': 'GreetingMove'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
control_topic = 'control'
voice_topic = 'control'
joint_trajectory_action = 'motion/controller/joint_trajectory'
joy_topic = '/hmi/joystick'
moveit_action = 'move_group'
storage = 'joint_trajectory'
# x:157 y:271, x:501 y:342
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.joint_head_turned_right = [0.0, 0.6, 0.0, 0.0]
_state_machine.userdata.head_forward_joints = [0.15, 0.0, -0.15, 0.0]
_state_machine.userdata.unused = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:803 y:85, x:480 y:341
_sm_turnright_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['joint_head_turned_right'])
with _sm_turnright_0:
# x:282 y:82
OperatableStateMachine.add(
'TurnHead',
MoveitToJointsState(
move_group='head',
joint_names=['joint51', 'joint52', 'joint53', 'joint54'],
action_topic=moveit_action),
transitions={
'reached': 'TurnBody',
'planning_failed': 'failed',
'control_failed': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off
},
remapping={'joint_config': 'joint_head_turned_right'})
# x:466 y:69
OperatableStateMachine.add('TurnBody',
CompoundAction(
t1=[0, 0.0],
type1='motion/joint_trajectory',
cmd1='turn_right',
t2=[1, 0.0],
type2='motion/joint_trajectory',
cmd2='turn_right',
t3=[2, 0.0],
type3='motion/joint_trajectory',
cmd3='turn_right',
t4=[0, 0.0],
type4=None,
cmd4=''),
transitions={
'success': 'finished',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'failure': Autonomy.Off
})
# x:30 y:353, x:148 y:355, x:529 y:348, x:443 y:347, x:840 y:329, x:752 y:347
_sm_waitbegining_1 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['unused'],
conditions=[('finished', [('WaitKey', 'received')]),
('failed', [('WaitKey', 'unavailable')]),
('failed', [('RandHeadMovemets', 'failed')]),
('finished', [('RandHeadMovemets', 'done')])])
with _sm_waitbegining_1:
# x:167 y:134
OperatableStateMachine.add('WaitKey',
WaitForMessageState(
topic=joy_topic,
condition=lambda x: any(x.buttons),
buffered=False,
clear=False),
transitions={
'received': 'finished',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'message'})
# x:442 y:126
OperatableStateMachine.add('RandHeadMovemets',
SweetieBotRandHeadMovements(
controller='joint_state_head',
duration=600,
interval=[3, 5],
max2356=[0.3, 0.3, 1.5, 1.5],
min2356=[-0.3, -0.3, -1.5, -1.5]),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'config': 'unused'})
with _state_machine:
# x:25 y:176
OperatableStateMachine.add('WaitBegining',
_sm_waitbegining_1,
transitions={
'finished': 'HeadPose',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'unused': 'unused'})
# x:343 y:49
OperatableStateMachine.add('WaitKey',
WaitForMessageState(
topic=joy_topic,
condition=lambda x: any(x.buttons),
buffered=False,
clear=False),
transitions={
'received': 'TurnRight',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'message'})
# x:785 y:172
OperatableStateMachine.add('AskAboutProto1',
CompoundAction(
t1=[0, 0.0],
type1='voice/play_wav',
cmd1='what_proto1',
t2=[0, 0.0],
type2='motion/joint_trajectory',
cmd2='head_suprised_slow',
t3=[0, 0.0],
type3=None,
cmd3='',
t4=[0, 0.0],
type4=None,
cmd4=''),
transitions={
'success': 'WaitKey2',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'failure': Autonomy.Off
})
# x:799 y:264
OperatableStateMachine.add('WaitKey2',
WaitForMessageState(
topic=joy_topic,
condition=lambda x: any(x.buttons),
buffered=False,
clear=False),
transitions={
'received': 'AskAboutProto1Again',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'message'})
# x:797 y:379
OperatableStateMachine.add('AskAboutProto1Again',
CompoundAction(
t1=[0, 0.0],
type1='voice/play_wav',
cmd1='tell_me_more_about_proto1',
t2=[0, 0.0],
type2='motion/joint_trajectory',
cmd2='head_lean_forward_begin',
t3=[0, 0.0],
type3=None,
cmd3='',
t4=[0, 0.0],
type4=None,
cmd4=''),
transitions={
'success': 'WaitKey4',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'failure': Autonomy.Off
})
# x:801 y:518
OperatableStateMachine.add(
'WaitKey4',
WaitForMessageState(topic=joy_topic,
condition=lambda x: any(x.buttons),
buffered=False,
clear=False),
transitions={
'received': 'AskWhatHappensToProto1',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'message'})
# x:603 y:600
OperatableStateMachine.add('AskWhatHappensToProto1',
CompoundAction(
t1=[0, 0.0],
type1='voice/play_wav',
cmd1='what_happened_with_proto1',
t2=[0, 1.2],
type2='motion/joint_trajectory',
cmd2='hoof_wave',
t3=[0, 0.0],
type3=None,
cmd3='',
t4=[0, 0.0],
type4=None,
cmd4=''),
transitions={
'success': 'WaitKey3',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'failure': Autonomy.Off
})
# x:332 y:601
OperatableStateMachine.add('WaitKey3',
WaitForMessageState(
topic=joy_topic,
condition=lambda x: any(x.buttons),
buffered=False,
clear=False),
transitions={
'received': 'SayItIsOk',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'message'})
# x:554 y:51
OperatableStateMachine.add('TurnRight',
_sm_turnright_0,
transitions={
'finished': 'WatchPresentaion',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'joint_head_turned_right':
'joint_head_turned_right'
})
# x:81 y:597
OperatableStateMachine.add('SayItIsOk',
CompoundAction(
t1=[0, 0.0],
type1='motion/joint_trajectory',
cmd1='head_lean_forward_end',
t2=[0, 0.0],
type2='voice/play_wav',
cmd2='yes_exactly_tell_me_more',
t3=[0, 0.0],
type3=None,
cmd3='',
t4=[0, 0.0],
type4=None,
cmd4=''),
transitions={
'success': 'WatchPresentaion_2',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'failure': Autonomy.Off
})
# x:137 y:50
OperatableStateMachine.add(
'Hello',
CompoundAction(t1=[0, 0.0],
type1='motion/joint_trajectory',
cmd1='introduce_herself',
t2=[0, 0.0],
type2='voice/play_wav',
cmd2='hello_im_sweetie_bot_presentation',
t3=[0, 0.0],
type3=None,
cmd3='',
t4=[0, 0.0],
type4=None,
cmd4=''),
transitions={
'success': 'WaitKey',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'failure': Autonomy.Off
})
# x:166 y:159
OperatableStateMachine.add('HeadPose',
SrdfStateToMoveit(
config_name='head_basic',
move_group='head',
action_topic='move_group',
robot_name=''),
transitions={
'reached': 'Hello',
'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',
'move_group': 'move_group',
'robot_name': 'robot_name',
'action_topic': 'action_topic',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:776 y:30
OperatableStateMachine.add(
'WatchPresentaion',
self.use_behavior(WatchPresentaionSM,
'WatchPresentaion',
default_keys=['rand_head_config']),
transitions={
'finished': 'AskAboutProto1',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'head_pose_joints': 'joint_head_turned_right',
'rand_head_config': 'rand_head_config'
})
# x:92 y:465
OperatableStateMachine.add(
'WatchPresentaion_2',
self.use_behavior(WatchPresentaionSM,
'WatchPresentaion_2',
default_keys=['rand_head_config']),
transitions={
'finished': 'Greeting',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'head_pose_joints': 'head_forward_joints',
'rand_head_config': 'rand_head_config'
})
# x:73 y:332
OperatableStateMachine.add(
'Greeting',
ExecuteJointTrajectory(
action_topic=joint_trajectory_action,
trajectory_param='greeting',
trajectory_ns='/saved_msgs/joint_trajectory'),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
return _state_machine
def create(self):
joy_topic = '/hmi/joystick'
joint_trajectory_action = '/motion/controller/joint_trajectory'
# x:30 y:365, x:1031 y:242
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.rand_moves_config = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:397 y:287, x:130 y:297, x:230 y:297, x:330 y:297, x:459 y:297, x:530 y:297
_sm_joystickmovements_0 = ConcurrencyContainer(
outcomes=['failed', 'button1234', 'timeout'],
output_keys=['joy_msg'],
conditions=[('timeout', [('JoystickControl', 'done')]),
('failed', [('WaitButton1234Pressed', 'unavailable')]),
('button1234', [('WaitButton1234Pressed', 'received')])
])
with _sm_joystickmovements_0:
# x:385 y:129
OperatableStateMachine.add(
'JoystickControl',
JoystickJointControl(
joints_topic='/joint_states',
goal_joints_topic=
'/motion/controller/joint_state/out_joints_src_reset',
joy_topic=joy_topic,
buttons=[(4, 0.6, 'ear_l_joint', -3.0, 1.0),
(6, -0.6, 'ear_l_joint', -3.0, 1.0),
(5, 0.6, 'ear_r_joint', -3.0, 1.0),
(7, -0.6, 'ear_r_joint', -3.0, 1.0)],
axes=[(0, 0, 'eyes_yaw', -1.5, 1.5),
(1, 0, 'eyes_pitch', -1.5, 1.5),
(4, -0.4, 'head_joint4', -1.5, 1.5),
(5, 0.4, 'head_joint2', -1.5, 1.5),
(3, 0.5, 'mouth_joint', -0.6, 0)],
timeout=5.0),
transitions={'done': 'timeout'},
autonomy={'done': Autonomy.Off})
# x:130 y:136
OperatableStateMachine.add(
'WaitButton1234Pressed',
WaitForMessageState(
topic=joy_topic,
condition=lambda msg: any(msg.buttons[0:4]),
buffered=False,
clear=True),
transitions={
'received': 'button1234',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'joy_msg'})
# x:625 y:339, x:47 y:263, x:323 y:268, x:703 y:252, x:630 y:296, x:443 y:267, x:227 y:263
_sm_randmovements_1 = ConcurrencyContainer(
outcomes=['failed', 'timeout', 'joy_msg'],
input_keys=['rand_moves_config'],
output_keys=['joy_msg'],
conditions=[('failed', [('WaitJoystick', 'unavailable')]),
('failed', [('RandHeadMoves', 'failed')]),
('joy_msg', [('WaitJoystick', 'received')]),
('timeout', [('RandHeadMoves', 'done')])])
with _sm_randmovements_1:
# x:88 y:74
OperatableStateMachine.add(
'WaitJoystick',
WaitForMessageState(
topic=joy_topic,
condition=lambda msg: any(msg.buttons) or any(msg.axes),
buffered=False,
clear=False),
transitions={
'received': 'joy_msg',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'joy_msg'})
# x:332 y:60
OperatableStateMachine.add(
'RandHeadMoves',
RandJointsMovements(controller='joint_state_head',
duration=2000,
interval=[2.0, 5.0],
joints=['head_joint2', 'head_joint4'],
minimal=[-0.2, -0.3],
maximal=[0.3, 0.3]),
transitions={
'done': 'timeout',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'config': 'rand_moves_config'})
with _state_machine:
# x:57 y:26
OperatableStateMachine.add('RandMovements',
_sm_randmovements_1,
transitions={
'failed': 'failed',
'timeout': 'RandMovements',
'joy_msg': 'CheckButtonPressed'
},
autonomy={
'failed': Autonomy.Inherit,
'timeout': Autonomy.Inherit,
'joy_msg': Autonomy.Inherit
},
remapping={
'rand_moves_config':
'rand_moves_config',
'joy_msg': 'joy_msg'
})
# x:413 y:17
OperatableStateMachine.add('PlaceHead',
SrdfStateToMoveit(
config_name='head_group_basic',
move_group='head_group',
action_topic='move_group',
robot_name=''),
transitions={
'reached': 'SelectMovement',
'planning_failed': 'Wait',
'control_failed': 'Wait',
'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',
'robot_name': 'robot_name',
'action_topic': 'action_topic',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:373 y:236
OperatableStateMachine.add(
'Greeting',
ExecuteJointTrajectory(
action_topic=joint_trajectory_action,
trajectory_param='greeting',
trajectory_ns='/saved_msgs/joint_trajectory'),
transitions={
'success': 'JoystickMovements',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:85 y:283
OperatableStateMachine.add('JoystickMovements',
_sm_joystickmovements_0,
transitions={
'failed': 'failed',
'button1234': 'PlaceHead',
'timeout': 'RandMovements'
},
autonomy={
'failed': Autonomy.Inherit,
'button1234': Autonomy.Inherit,
'timeout': Autonomy.Inherit
},
remapping={'joy_msg': 'joy_msg'})
# x:612 y:186
OperatableStateMachine.add(
'SelectMovement',
DecisionState(outcomes=[
'none', 'button1', 'button2', 'button3', 'button4'
],
conditions=self.move_selector),
transitions={
'none': 'RandMovements',
'button1': 'Greeting',
'button2': 'HeadShake',
'button3': 'GrownUp',
'button4': 'Greeting'
},
autonomy={
'none': Autonomy.Off,
'button1': Autonomy.Off,
'button2': Autonomy.Off,
'button3': Autonomy.Off,
'button4': Autonomy.Off
},
remapping={'input_value': 'joy_msg'})
# x:412 y:317
OperatableStateMachine.add(
'HeadShake',
ExecuteJointTrajectory(
action_topic=joint_trajectory_action,
trajectory_param='head_shake',
trajectory_ns='/saved_msgs/joint_trajectory'),
transitions={
'success': 'JoystickMovements',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:472 y:404
OperatableStateMachine.add(
'GrownUp',
ExecuteJointTrajectory(
action_topic=joint_trajectory_action,
trajectory_param='very_grown_up',
trajectory_ns='/saved_msgs/joint_trajectory'),
transitions={
'success': 'JoystickMovements',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:167 y:134
OperatableStateMachine.add(
'CheckButtonPressed',
DecisionState(outcomes=['button1234', 'other'],
conditions=lambda msg: 'button1234'
if any(msg.buttons[0:4]) else 'other'),
transitions={
'button1234': 'PlaceHead',
'other': 'JoystickMovements'
},
autonomy={
'button1234': Autonomy.Off,
'other': Autonomy.Off
},
remapping={'input_value': 'joy_msg'})
# x:686 y:104
OperatableStateMachine.add('PlaceHead_2',
SrdfStateToMoveit(
config_name='head_group_basic',
move_group='head_group',
action_topic='move_group',
robot_name=''),
transitions={
'reached': 'SelectMovement',
'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',
'move_group': 'move_group',
'robot_name': 'robot_name',
'action_topic': 'action_topic',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:703 y:18
OperatableStateMachine.add('Wait',
WaitState(wait_time=0.5),
transitions={'done': 'PlaceHead_2'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:228 y:396, x:225 y:240, x:1010 y:659
_state_machine = OperatableStateMachine(outcomes=['finished', 'unreachable', 'failed'], input_keys=['pose'])
_state_machine.userdata.pose = PoseStamped(Header(frame_id = 'base_link'), Pose(Point(0.4, 0.0, -0.05), Quaternion(0, 0, 0, 1)))
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:118 y:85
OperatableStateMachine.add('CheckHandPosition',
DecisionState(outcomes=['good','bad'], conditions=self.checkHandPosition),
transitions={'good': 'GetHeadPose', 'bad': 'unreachable'},
autonomy={'good': Autonomy.Off, 'bad': Autonomy.Off},
remapping={'input_value': 'pose'})
# x:890 y:253
OperatableStateMachine.add('SayHello',
TextCommandState(type='voice/play_wav', command='hello_im_sweetie_bot_friedship_programms', topic='control'),
transitions={'done': 'Wait'},
autonomy={'done': Autonomy.Off})
# x:663 y:69
OperatableStateMachine.add('RaiseHead',
MoveitToJointsState(move_group='head', joint_names=['joint51', 'joint52', 'joint53', 'joint54'], action_topic='move_group'),
transitions={'reached': 'RaiseLegProgram', 'planning_failed': 'failed', 'control_failed': 'failed'},
autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off},
remapping={'joint_config': 'head_pose'})
# x:309 y:66
OperatableStateMachine.add('GetHeadPose',
GetJointValuesState(joints=['joint51', 'joint52', 'joint53', 'joint54']),
transitions={'retrieved': 'CalcRaisedHeadPose'},
autonomy={'retrieved': Autonomy.Off},
remapping={'joint_values': 'head_pose'})
# x:485 y:73
OperatableStateMachine.add('CalcRaisedHeadPose',
CalculationState(calculation=self.calculateHeadPoseFunc),
transitions={'done': 'RaiseHead'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'head_pose', 'output_value': 'head_pose'})
# x:891 y:65
OperatableStateMachine.add('RaiseLegProgram',
ExecuteJointTrajectory(action_topic='motion/controller/joint_trajectory', trajectory_param='brohoof_begin', trajectory_ns='/saved_msgs/joint_trajectory'),
transitions={'success': 'SayHello', 'partial_movement': 'failed', 'invalid_pose': 'failed', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'partial_movement': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off},
remapping={'result': 'result'})
# x:510 y:396
OperatableStateMachine.add('ReturnLegProgrammed',
ExecuteJointTrajectory(action_topic='motion/controller/joint_trajectory', trajectory_param='brohoof_end', trajectory_ns='/saved_msgs/joint_trajectory'),
transitions={'success': 'finished', 'partial_movement': 'failed', 'invalid_pose': 'failed', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'partial_movement': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off},
remapping={'result': 'result'})
# x:851 y:399
OperatableStateMachine.add('Wait',
WaitState(wait_time=self.wait_time),
transitions={'done': 'ReturnLegProgrammed'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
joint_trajectory_action = 'motion/controller/joint_trajectory'
voice_topic = 'control'
storage = 'joint_trajectory/'
# x:901 y:554, x:895 y:38
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['be_evil'])
_state_machine.userdata.be_evil = self.be_evil
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:48 y:105
OperatableStateMachine.add(
'SetHeadNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'CheckEvil',
'failed': 'failed',
'timeout': 'finished'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:579 y:498
OperatableStateMachine.add(
'HoofStamp',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='hoof_stamp',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:88 y:447
OperatableStateMachine.add(
'RandomChoice',
DecisionState(
outcomes=['evil1', 'evil2'],
conditions=lambda x: random.choice(['evil1', 'evil2'])),
transitions={
'evil1': 'PointDoNotTouch',
'evil2': 'SayWalk'
},
autonomy={
'evil1': Autonomy.High,
'evil2': Autonomy.High
},
remapping={'input_value': 'be_evil'})
# x:303 y:543
OperatableStateMachine.add('SayWalk',
TextCommandState(type='voice/play_wav',
command='i_hate_laws',
topic=voice_topic),
transitions={'done': 'Wait1'},
autonomy={'done': Autonomy.Off})
# x:467 y:539
OperatableStateMachine.add('Wait1',
WaitState(wait_time=0.5),
transitions={'done': 'HoofStamp'},
autonomy={'done': Autonomy.Off})
# x:497 y:102
OperatableStateMachine.add(
'PranceMaxFun',
CompoundActionParam(action_param='prance_maximum_fun',
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
})
# x:437 y:275
OperatableStateMachine.add(
'PointDoNotTouch',
CompoundActionParam(action_param='point_do_not_touch',
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
})
# x:140 y:251
OperatableStateMachine.add(
'CheckEvil',
DecisionState(outcomes=['good', 'evil'],
conditions=lambda x: 'evil' if x else 'good'),
transitions={
'good': 'PranceMaxFun',
'evil': 'RandomChoice'
},
autonomy={
'good': Autonomy.Off,
'evil': Autonomy.Off
},
remapping={'input_value': 'be_evil'})
return _state_machine
def create(self):
control_topic = '/control'
# x:902 y:204, x:178 y:606, x:677 y:537
_state_machine = OperatableStateMachine(
outcomes=['failed', 'finished', 'invalid_pose'],
input_keys=['text_command'],
output_keys=['text_command'])
_state_machine.userdata.text_command = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:353, x:130 y:353, x:230 y:353, x:330 y:353, x:430 y:353, x:530 y:353
_sm_waittextcommand_0 = ConcurrencyContainer(
outcomes=['finished', 'failed', 'timeout'],
output_keys=['text_command'],
conditions=[('finished', [('WaitCommandSub', 'received')]),
('failed', [('WaitCommandSub', 'unavailable')]),
('timeout', [('WaitTimeout', 'done')])])
with _sm_waittextcommand_0:
# x:142 y:113
OperatableStateMachine.add('WaitCommandSub',
SubscriberState(topic=control_topic,
blocking=True,
clear=True),
transitions={
'received': 'finished',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'text_command'})
# x:360 y:113
OperatableStateMachine.add('WaitTimeout',
WaitState(wait_time=self.timeout),
transitions={'done': 'timeout'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:52 y:170
OperatableStateMachine.add(
'PrepareToWalk',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_begin',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'CheckIfEmpty',
'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
})
# x:377 y:240
OperatableStateMachine.add(
'CheckIfStepSequence',
DecisionState(outcomes=['yes', 'no'],
conditions=lambda msg: 'yes'
if msg.type == 'motion/step_sequence' else 'no'),
transitions={
'yes': 'ExtractCmd',
'no': 'ClearTextCommandKey'
},
autonomy={
'yes': Autonomy.Off,
'no': Autonomy.Off
},
remapping={'input_value': 'text_command'})
# x:100 y:358
OperatableStateMachine.add(
'StandUp',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_end',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'finished',
'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
})
# x:497 y:359
OperatableStateMachine.add(
'ExtractCmd',
CalculationState(calculation=lambda msg: msg.command),
transitions={'done': 'ExecuteStepSeq'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'text_command',
'output_value': 'command_field'
})
# x:679 y:304
OperatableStateMachine.add(
'ExecuteStepSeq',
ExecuteStepSequenceKey(
controller='motion/controller/step_sequence',
trajectory_ns='saved_msgs/step_sequence'),
transitions={
'success': 'WaitTextCommand',
'unavailable': 'WaitTextCommand',
'partial_movement': 'invalid_pose',
'invalid_pose': 'invalid_pose',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'unavailable': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'trajectory_param': 'command_field'})
# x:224 y:61
OperatableStateMachine.add(
'CheckIfEmpty',
DecisionState(outcomes=['yes', 'no'],
conditions=lambda x: 'yes'
if x == None else 'no'),
transitions={
'yes': 'WaitTextCommand',
'no': 'CheckIfStepSequence'
},
autonomy={
'yes': Autonomy.Off,
'no': Autonomy.Off
},
remapping={'input_value': 'text_command'})
# x:271 y:479
OperatableStateMachine.add('ClearTextCommandKey',
CalculationState(calculation=None),
transitions={'done': 'StandUp'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'text_command',
'output_value': 'text_command'
})
# x:427 y:106
OperatableStateMachine.add(
'WaitTextCommand',
_sm_waittextcommand_0,
transitions={
'finished': 'CheckIfStepSequence',
'failed': 'failed',
'timeout': 'StandUp'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'timeout': Autonomy.Inherit
},
remapping={'text_command': 'text_command'})
return _state_machine
def create(self):
# x:583 y:683, x:578 y:422
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.unused = None
_state_machine.userdata.rand_head_config = {'interval': [0.5, 1]}
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:278 y:24
OperatableStateMachine.add('SesectBehavior',
OperatorDecisionState(
outcomes=['dance', 'rand_moves'],
hint='Select behavior',
suggestion='dance'),
transitions={
'dance': 'TestMovement',
'rand_moves': 'RandHead'
},
autonomy={
'dance': Autonomy.Full,
'rand_moves': Autonomy.Full
})
# x:114 y:352
OperatableStateMachine.add(
'TurnOffJointStateController',
SetBoolState(
service='motion/controller/joint_state/set_operational',
value=False),
transitions={
'true': 'SingASong',
'false': 'failed',
'failure': 'failed'
},
autonomy={
'true': Autonomy.High,
'false': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={
'success': 'success',
'message': 'message'
})
# x:136 y:518
OperatableStateMachine.add('SingASong',
TextCommandState(type='voice/play_wav',
command='mmm_song',
topic='control'),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Full})
# x:248 y:213
OperatableStateMachine.add(
'TestMovement',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='dance14',
trajectory_param='/saved_msgs/joint_trajectory'),
transitions={
'success': 'TurnOffJointStateController',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Low,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:939 y:351
OperatableStateMachine.add(
'RandSelector',
DecisionState(
outcomes=['first', 'second'],
conditions=(lambda x: 'first'
if random.uniform(0, 1) < 0.5 else 'second')),
transitions={
'first': 'PlaceHead',
'second': 'TestMovement'
},
autonomy={
'first': Autonomy.Full,
'second': Autonomy.Full
},
remapping={'input_value': 'unused'})
# x:704 y:603
OperatableStateMachine.add(
'HeadShake',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='head_shake',
trajectory_param='/saved_msgs/joint_trajectory'),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:958 y:510
OperatableStateMachine.add('PlaceHead',
SrdfStateToMoveit(
config_name='head_basic',
move_group='head',
action_topic='move_group',
robot_name=''),
transitions={
'reached': 'HeadShake',
'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',
'move_group': 'move_group',
'robot_name': 'robot_name',
'action_topic': 'action_topic',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
# x:725 y:125
OperatableStateMachine.add(
'RandHead',
SweetieBotRandHeadMovements(controller='joint_state_head',
duration=120,
interval=[3, 5],
max2356=[0.3, 0.3, 1.5, 1.5],
min2356=[-0.3, -0.3, -1.5, -1.5]),
transitions={
'done': 'RandSelector',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'config': 'rand_head_config'})
return _state_machine
def create(self):
# x:392 y:613, x:739 y:627, x:59 y:602, x:34 y:328
_state_machine = OperatableStateMachine(
outcomes=['timeout', 'failed', 'invalid_pose', 'unknown_keys'],
input_keys=['key_pressed_msg'],
output_keys=['key_pressed_msg'])
_state_machine.userdata.key_pressed_msg = KeyPressed()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:353, x:130 y:353, x:626 y:359, x:330 y:353, x:430 y:353, x:530 y:353
_sm_waitkey_0 = ConcurrencyContainer(
outcomes=['received', 'timeout', 'failed'],
output_keys=['key_pressed_msg'],
conditions=[('received', [('WaitKeyPressed', 'received')]),
('timeout', [('WaitTimeout', 'done')]),
('failed', [('WaitKeyPressed', 'unavailable')])])
with _sm_waitkey_0:
# x:281 y:146
OperatableStateMachine.add(
'WaitKeyPressed',
WaitForMessageState(topic='/hmi/joy_decoder/keys_pressed',
condition=self.trigger,
buffered=False,
clear=True),
transitions={
'received': 'received',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'key_pressed_msg'})
# x:509 y:151
OperatableStateMachine.add('WaitTimeout',
WaitState(wait_time=self.timeout),
transitions={'done': 'timeout'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:51 y:31
OperatableStateMachine.add(
'CheckExitEnter',
DecisionState(
outcomes=['animation', 'exit', 'walk', 'unknown'],
conditions=self.decision),
transitions={
'animation': 'unknown_keys',
'exit': 'unknown_keys',
'walk': 'PrepareForWalk',
'unknown': 'unknown_keys'
},
autonomy={
'animation': Autonomy.Off,
'exit': Autonomy.Off,
'walk': Autonomy.Off,
'unknown': Autonomy.Off
},
remapping={'input_value': 'key_pressed_msg'})
# x:326 y:259
OperatableStateMachine.add(
'CheckExit',
DecisionState(
outcomes=['animation', 'walk', 'exit', 'unknown'],
conditions=self.decision),
transitions={
'animation': 'EndWalkUnknownKeys',
'walk': 'ProcessKeyMsg',
'exit': 'EndWalkUnknownKeys',
'unknown': 'WaitKey'
},
autonomy={
'animation': Autonomy.Off,
'walk': Autonomy.Off,
'exit': Autonomy.Off,
'unknown': Autonomy.Off
},
remapping={'input_value': 'key_pressed_msg'})
# x:703 y:410
OperatableStateMachine.add(
'ExecuteStepSeq',
ExecuteStepSequenceKey(
controller='motion/controller/step_sequence',
trajectory_ns='saved_msgs/step_sequence'),
transitions={
'success': 'WaitKey',
'unavailable': 'WaitKey',
'partial_movement': 'invalid_pose',
'invalid_pose': 'invalid_pose',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'unavailable': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'trajectory_param': 'motion_param'})
# x:431 y:381
OperatableStateMachine.add(
'WaitKey',
_sm_waitkey_0,
transitions={
'received': 'CheckExit',
'timeout': 'EndWalkTimeout',
'failed': 'failed'
},
autonomy={
'received': Autonomy.Inherit,
'timeout': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'key_pressed_msg': 'key_pressed_msg'})
# x:719 y:246
OperatableStateMachine.add(
'CheckNone',
CheckConditionState(predicate=lambda x: x == None),
transitions={
'true': 'WaitKey',
'false': 'ExecuteStepSeq'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'motion_param'})
# x:108 y:289
OperatableStateMachine.add(
'EndWalkUnknownKeys',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_end',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'unknown_keys',
'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
})
# x:379 y:491
OperatableStateMachine.add(
'EndWalkTimeout',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_end',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'timeout',
'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
})
# x:408 y:158
OperatableStateMachine.add(
'ProcessKeyMsg',
CalculationState(calculation=self.process_walk),
transitions={'done': 'CheckNone'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'key_pressed_msg',
'output_value': 'motion_param'
})
# x:211 y:72
OperatableStateMachine.add(
'PrepareForWalk',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_begin',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'ProcessKeyMsg',
'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):
joint_trajectory_action = 'motion/controller/joint_trajectory'
voice_topic = 'control'
storage = 'joint_trajectory/'
# x:1011 y:80, x:1002 y:571
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['be_evil'])
_state_machine.userdata.be_evil = self.be_evil
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:45 y:143
OperatableStateMachine.add(
'SetHeadNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'CheckEvil',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:421 y:472
OperatableStateMachine.add('SayDoNotTouch',
TextCommandState(
type='voice/play_wav',
command='do_not_touch_me',
topic=voice_topic),
transitions={'done': 'HoofStamp'},
autonomy={'done': Autonomy.Off})
# x:496 y:147
OperatableStateMachine.add(
'SayOverflow',
TextCommandState(type='voice/play_wav',
command='you_are_using_software_incorrectly',
topic=voice_topic),
transitions={'done': 'Applause'},
autonomy={'done': Autonomy.Off})
# x:747 y:153
OperatableStateMachine.add(
'Applause',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='applause',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:745 y:226
OperatableStateMachine.add(
'NoHeadShake',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='head_shake',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:495 y:227
OperatableStateMachine.add(
'SayDizzy',
TextCommandState(type='voice/play_wav',
command='who_am_i_what_is_my_purpose',
topic=voice_topic),
transitions={'done': 'NoHeadShake'},
autonomy={'done': Autonomy.Off})
# x:648 y:466
OperatableStateMachine.add(
'HoofStamp',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='hoof_stamp',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:242 y:273
OperatableStateMachine.add(
'CheckEvil',
DecisionState(outcomes=['good', 'evil'],
conditions=lambda x: 'evil' if x else 'good'),
transitions={
'good': 'RandomChoiceGood',
'evil': 'SayDoNotTouch'
},
autonomy={
'good': Autonomy.Off,
'evil': Autonomy.Low
},
remapping={'input_value': 'be_evil'})
# x:320 y:143
OperatableStateMachine.add(
'RandomChoiceGood',
DecisionState(
outcomes=['good1', 'good2'],
conditions=lambda x: random.choice(['good1', 'good2'])),
transitions={
'good1': 'SayOverflow',
'good2': 'SayDizzy'
},
autonomy={
'good1': Autonomy.Low,
'good2': Autonomy.Low
},
remapping={'input_value': 'be_evil'})
return _state_machine
def create(self):
storage = 'joint_trajectory/'
joint_state_control_topic = 'motion/controller/joint_state/out_joints_src_reset'
eyes_topic = 'control'
voice_topic = 'control'
joint_trajectory_action = 'motion/controller/joint_trajectory'
# x:322 y:652, x:984 y:622
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.counter = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:220 y:573, x:535 y:559
_sm_seizure_0 = OperatableStateMachine(outcomes=['finished', 'failed'],
input_keys=['counter'])
with _sm_seizure_0:
# x:125 y:111
OperatableStateMachine.add('SayDoNotTouch',
TextCommandState(type='voice/play_wav',
command='05donottouch',
topic=voice_topic),
transitions={'done': 'Seizure'},
autonomy={'done': Autonomy.Off})
# x:389 y:247
OperatableStateMachine.add(
'AddCounter',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'Seizure'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'counter',
'output_value': 'counter'
})
# x:412 y:87
OperatableStateMachine.add(
'Select',
DecisionState(
outcomes=['say1', 'say2', 'say3', 'end'],
conditions=lambda x: ['say1', 'say2', 'say3', 'end'][x]),
transitions={
'say1': 'SayWalk',
'say2': 'SayBlaster',
'say3': 'SayWin',
'end': 'Farewell'
},
autonomy={
'say1': Autonomy.Off,
'say2': Autonomy.Off,
'say3': Autonomy.Off,
'end': Autonomy.High
},
remapping={'input_value': 'counter'})
# x:612 y:81
OperatableStateMachine.add('SayWalk',
TextCommandState(type='voice/play_wav',
command='17walk',
topic=voice_topic),
transitions={'done': 'AddCounter'},
autonomy={'done': Autonomy.Off})
# x:681 y:173
OperatableStateMachine.add('SayBlaster',
TextCommandState(type='voice/play_wav',
command='18blaster',
topic=voice_topic),
transitions={'done': 'AddCounter'},
autonomy={'done': Autonomy.Off})
# x:686 y:240
OperatableStateMachine.add('SayWin',
TextCommandState(type='voice/play_wav',
command='08win',
topic=voice_topic),
transitions={'done': 'AddCounter'},
autonomy={'done': Autonomy.Off})
# x:85 y:238
OperatableStateMachine.add(
'Seizure',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='seizure',
trajectory_ns=storage),
transitions={
'success': 'Select',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:132 y:419
OperatableStateMachine.add(
'Farewell',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='farewell',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
with _state_machine:
# x:15 y:642
OperatableStateMachine.add('RandomMovements',
SweetieBotRandHeadMovements(
controller='joint_state_head',
duration=100000,
interval=[2, 3],
max2356=[0.3, 0.3, 1.5, 1.5],
min2356=[-0.3, -0.3, -1.5, -1.5]),
transitions={'done': 'StartPose'},
autonomy={'done': Autonomy.High})
# x:124 y:352
OperatableStateMachine.add('WaitSayIamAlive',
WaitState(wait_time=1),
transitions={'done': 'WarmUp'},
autonomy={'done': Autonomy.Off})
# x:102 y:154
OperatableStateMachine.add(
'LookAtHoof',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='look_on_hoof',
trajectory_ns=storage),
transitions={
'success': 'SayIamAlive',
'partial_movement': 'finished',
'invalid_pose': 'finished',
'failure': 'finished'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:96 y:484
OperatableStateMachine.add(
'WarmUp',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='little_shake_fast',
trajectory_ns=storage),
transitions={
'success': 'WaitBeforeDomination',
'partial_movement': 'finished',
'invalid_pose': 'finished',
'failure': 'finished'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:528 y:547
OperatableStateMachine.add('SayMenace',
TextCommandState(
type='voice/play_wav',
command='02technic',
topic='/sweetie_bot/voice/voice'),
transitions={'done': 'WaitSayMenace'},
autonomy={'done': Autonomy.Off})
# x:529 y:454
OperatableStateMachine.add('WaitSayMenace',
WaitState(wait_time=2.3),
transitions={'done': 'EvilLook'},
autonomy={'done': Autonomy.Off})
# x:396 y:219
OperatableStateMachine.add(
'Menace',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='menace',
trajectory_ns=storage),
transitions={
'success': 'TryingToAcquireControl',
'partial_movement': 'finished',
'invalid_pose': 'finished',
'failure': 'finished'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:431 y:107
OperatableStateMachine.add('TryingToAcquireControl',
WaitState(wait_time=10),
transitions={'done': 'SadLook'},
autonomy={'done': Autonomy.Off})
# x:429 y:301
OperatableStateMachine.add('SayBattleSystemActivation',
TextCommandState(
type='voice/play_wav',
command='03domination',
topic='/sweetie_bot/voice/voice'),
transitions={'done': 'Menace'},
autonomy={'done': Autonomy.Off})
# x:840 y:91
OperatableStateMachine.add('SayDominationFailed',
TextCommandState(
type='voice/play_wav',
command='04notfound',
topic='/sweetie_bot/voice/voice'),
transitions={'done': 'WaitFailed'},
autonomy={'done': Autonomy.Off})
# x:818 y:281
OperatableStateMachine.add(
'MenceCanceled',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='menace_canceled',
trajectory_ns=storage),
transitions={
'success': 'WaitBeforeHoofStamp',
'partial_movement': 'finished',
'invalid_pose': 'finished',
'failure': 'finished'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:885 y:188
OperatableStateMachine.add('WaitFailed',
WaitState(wait_time=1),
transitions={'done': 'MenceCanceled'},
autonomy={'done': Autonomy.Off})
# x:139 y:573
OperatableStateMachine.add('WaitBeforeDomination',
WaitState(wait_time=2),
transitions={'done': 'RedEyes'},
autonomy={'done': Autonomy.Off})
# x:856 y:396
OperatableStateMachine.add('WaitBeforeHoofStamp',
WaitState(wait_time=1),
transitions={'done': 'HoofStamp'},
autonomy={'done': Autonomy.Off})
# x:826 y:490
OperatableStateMachine.add(
'HoofStamp',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='hoof_stamp',
trajectory_ns=storage),
transitions={
'success': 'NormalLook',
'partial_movement': 'finished',
'invalid_pose': 'finished',
'failure': 'finished'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:385 y:567
OperatableStateMachine.add('RedEyes',
TextCommandState(type='eyes/emotion',
command='red_eyes',
topic=eyes_topic),
transitions={'done': 'SayMenace'},
autonomy={'done': Autonomy.Off})
# x:151 y:77
OperatableStateMachine.add(
'LookAround',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='look_around',
trajectory_ns=storage),
transitions={
'success': 'LookAtHoof',
'partial_movement': 'finished',
'invalid_pose': 'finished',
'failure': 'finished'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:375 y:18
OperatableStateMachine.add('Wait',
WaitState(wait_time=1),
transitions={'done': 'LookAround'},
autonomy={'done': Autonomy.Off})
# x:195 y:10
OperatableStateMachine.add('NormalEyes',
TextCommandState(type='eyes/emotion',
command='normal',
topic=eyes_topic),
transitions={'done': 'Wait'},
autonomy={'done': Autonomy.Off})
# x:519 y:374
OperatableStateMachine.add(
'EvilLook',
TextCommandState(type='eyes/emotion',
command='evil_look',
topic=eyes_topic),
transitions={'done': 'SayBattleSystemActivation'},
autonomy={'done': Autonomy.Off})
# x:696 y:85
OperatableStateMachine.add(
'SadLook',
TextCommandState(type='eyes/emotion',
command='sad_look',
topic=eyes_topic),
transitions={'done': 'SayDominationFailed'},
autonomy={'done': Autonomy.Off})
# x:817 y:569
OperatableStateMachine.add('NormalLook',
TextCommandState(type='eyes/emotion',
command='normal_look',
topic=eyes_topic),
transitions={'done': 'Seizure'},
autonomy={'done': Autonomy.High})
# x:1124 y:445
OperatableStateMachine.add('Seizure',
_sm_seizure_0,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'counter': 'counter'})
# x:40 y:35
OperatableStateMachine.add(
'StartPose',
PublisherState(topic=joint_state_control_topic,
msg_type=JointState,
value={
'name': [
'joint51', 'joint52', 'joint53',
'eyes_pitch', 'eyes_yaw'
],
'position': [0.2, 0.0, 0, 0.0, 0.0]
}),
transitions={
'done': 'NormalEyes',
'failed': 'finished'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
})
# x:127 y:254
OperatableStateMachine.add('SayIamAlive',
TextCommandState(
type='voice/play_wav',
command='01alive',
topic='/sweetie_bot/voice/voice'),
transitions={'done': 'WaitSayIamAlive'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:902 y:403, x:697 y:491
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.be_evil = False
_state_machine.userdata.unused = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:32 y:127
OperatableStateMachine.add('SetStandingPose',
SetJointState(controller='motion/controller/joint_state_head', pose_param='body_nominal', pose_ns='saved_msgs/joint_state', tolerance=0.017, timeout=10.0, joint_topic="joint_states"),
transitions={'done': 'SelectTrick', 'failed': 'failed', 'timeout': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off, 'timeout': Autonomy.Off})
# x:371 y:161
OperatableStateMachine.add('Greeting',
self.use_behavior(GreetingSM, 'Greeting'),
transitions={'finished': 'RandHead', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'be_evil': 'be_evil'})
# x:371 y:284
OperatableStateMachine.add('Play',
self.use_behavior(PlaySM, 'Play'),
transitions={'finished': 'RandHead', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'be_evil': 'be_evil'})
# x:202 y:154
OperatableStateMachine.add('SelectTrick',
DecisionState(outcomes=['play','cheer','greet'], conditions=lambda x: random.choice(['play','cheer','greet'])),
transitions={'play': 'Play', 'cheer': 'Cheer', 'greet': 'Greeting'},
autonomy={'play': Autonomy.Off, 'cheer': Autonomy.Off, 'greet': Autonomy.Off},
remapping={'input_value': 'unused'})
# x:823 y:274
OperatableStateMachine.add('PrepareToWalk',
ExecuteJointTrajectory(action_topic='motion/controller/joint_trajectory', trajectory_param='crouch_begin', trajectory_ns='saved_msgs/joint_trajectory'),
transitions={'success': 'finished', 'partial_movement': 'failed', 'invalid_pose': 'failed', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'partial_movement': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off})
# x:376 y:38
OperatableStateMachine.add('Cheer',
self.use_behavior(CheerSM, 'Cheer'),
transitions={'finished': 'RandHead', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'be_evil': 'be_evil'})
# x:774 y:45
OperatableStateMachine.add('RandHead',
SweetieBotRandHeadMovements(controller='joint_state_head', duration=8, interval=[3,5], max2356=[0.3,0.3,1.5,1.5], min2356=[-0.3,-0.3,-1.5,-1.5]),
transitions={'done': 'SetHeadNominal', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'config': 'unused'})
# x:809 y:138
OperatableStateMachine.add('SetHeadNominal',
SetJointState(controller='motion/controller/joint_state_head', pose_param='head_nominal', pose_ns='saved_msgs/joint_state', tolerance=0.017, timeout=10.0, joint_topic="joint_states"),
transitions={'done': 'PrepareToWalk', 'failed': 'failed', 'timeout': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off, 'timeout': Autonomy.Off})
return _state_machine
def create(self):
# x:30 y:353, x:488 y:318
_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:189 y:30
OperatableStateMachine.add(
'CheckCrouched',
CheckJointState(outcomes=['body_crouched', 'unknown'],
pose_ns='saved_msgs/joint_state',
tolerance=0.17,
joint_topic="joint_states",
timeout=1.0),
transitions={
'body_crouched': 'StandUp',
'unknown': 'RandHeadMovements'
},
autonomy={
'body_crouched': Autonomy.Off,
'unknown': Autonomy.Off
})
# x:196 y:256
OperatableStateMachine.add(
'HeadNominal',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'finished',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:445 y:78
OperatableStateMachine.add(
'StandUp',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_end',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'RandHeadMovements',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:176 y:144
OperatableStateMachine.add('RandHeadMovements',
SweetieBotRandHeadMovements(
controller='joint_state_head',
duration=self.timeout,
interval=[1, 4],
max2356=[0.3, 0.3, 1.5, 1.5],
min2356=[-0.3, -0.3, -1.5, -1.5]),
transitions={
'done': 'HeadNominal',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'config': 'unused'})
return _state_machine
def create(self):
storage = 'joint_trajectory/'
# x:200 y:516, 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('SayMenace',
TextCommandState(type='voice/play_wav',
command='fear',
topic='voice/voice'),
transitions={'done': 'MoveApplause'},
autonomy={'done': Autonomy.Off})
# x:664 y:212
OperatableStateMachine.add(
'MoveMenace',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='menace',
trajectory_ns=storage),
transitions={
'success': 'EyesNormal',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Full,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:28 y:114
OperatableStateMachine.add(
'MoveApplause',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='applause',
trajectory_ns=storage),
transitions={
'success': 'MoveBuck',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:326 y:36
OperatableStateMachine.add(
'MoveBuck',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='buck3',
trajectory_ns=storage),
transitions={
'success': 'SetRedEyes',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:610 y:39
OperatableStateMachine.add('SetRedEyes',
TextCommandState(type='eyes/emotion',
command='red_eyes',
topic='control'),
transitions={'done': 'MoveMenace'},
autonomy={'done': Autonomy.Off})
# x:684 y:336
OperatableStateMachine.add(
'EyesNormal',
TextCommandState(type='eyes/emotion',
command='normal',
topic='control'),
transitions={'done': 'MoveMenaceCanceled'},
autonomy={'done': Autonomy.Full})
# x:630 y:467
OperatableStateMachine.add(
'MoveMenaceCanceled',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='menace_canceled',
trajectory_ns=storage),
transitions={
'success': 'MoveHeadShake',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:340 y:480
OperatableStateMachine.add(
'MoveHeadShake',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='look_around',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
return _state_machine
def parse_compound_action_msg(self, compound_action_msg):
''' Converts sweetie_bot_text_msgs.msg.CompoundActionElement to the list of SimpleActions.'''
# convert parameteres to actions
actions = list()
for i, p in enumerate(compound_action_msg.action_list):
if not isinstance(p.seq_num, int) or not isinstance(
p.seq_delay, float):
raise TypeError, 'CompoundAction: Incorrect action (seq_num,seq_delay) pair in position %d. (int,float) pair was expected..' % i
if p.seq_num >= i + 1 or p.seq_delay < 0:
raise TypeError, 'CompoundAction parse error: incorrect action (seq_num,seq_delay) pair in position %d. seq_num must reference only previously defined actions.' % i
if p.cmd.type == None:
actions.append(None)
else:
# get parameters
previous_action = None if p.seq_num == 0 else actions[p.seq_num
- 1]
delay = p.seq_delay
description = p.cmd.type + ' ' + p.cmd.command
if not isinstance(p.cmd.type, str):
raise TypeError, 'CompoundAction: Incorrect action type %d. Type must be string or None.' % i
# Select action
if p.cmd.type == 'motion/joint_trajectory':
flexbe_state = ExecuteJointTrajectory(
trajectory_param=p.cmd.command)
outcome_map = {
'success': 'success',
'invalid_pose': 'invalid_pose',
'partial_movement': 'invalid_pose'
}
elif p.cmd.type == 'motion/step_sequence':
flexbe_state = ExecuteStepSequence(
trajectory_param=p.cmd.command)
outcome_map = {
'success': 'success',
'invalid_pose': 'invalid_pose',
'partial_movement': 'invalid_pose'
}
elif p.cmd.type == 'set/joint_state':
flexbe_state = SetJointState(pose_param=p.cmd.command)
outcome_map = {
'done': 'success',
'timeout': 'invalid_pose'
}
elif p.cmd.type == 'generate/step_sequence':
flexbe_state = GenerateStepSequence(
trajectory_param=p.cmd.command)
outcome_map = {
'success': 'success',
'invalid_pose': 'invalid_pose',
'partial_movement': 'invalid_pose'
}
else:
flexbe_state = TextCommandState(p.cmd.type,
p.cmd.command,
topic='control')
outcome_map = {'done': 'success'}
# add action to list
actions.append(
CompoundActionBase.SimpleAction(previous_action, delay,
'WAITING', flexbe_state,
outcome_map, 0.0,
description))
# remove None actions
return [a for a in actions if a != None]
def create(self):
# x:821 y:618, x:163 y:383
_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:88 y:87
OperatableStateMachine.add(
'PrepareToWalk',
SetCartesianPose(controller='motion/controller/stance',
pose=[0.0, 0.0, 0.2085, 0.0, 0.0, 0.0],
frame_id='base_link_path',
frame_is_moving=False,
resources=['leg1', 'leg2', 'leg3', 'leg4'],
actuator_frame_id='base_link',
tolerance_lin=0.001,
tolerance_ang=0.0085,
timeout=10.0),
transitions={
'done': 'CheckCrouched',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:583 y:31
OperatableStateMachine.add(
'WalkFwd',
ExecuteStepSequence(
controller='motion/controller/step_sequence',
trajectory_param='walk_fwd_40',
trajectory_ns='saved_msgs/step_sequence'),
transitions={
'success': 'GenerateTurnLeft',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:461 y:256
OperatableStateMachine.add(
'EndWalk',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'Greeting',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:654 y:319
OperatableStateMachine.add(
'Greeting',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='greeting',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'CompoundCrouchAndWalk',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:671 y:447
OperatableStateMachine.add(
'CompoundCrouchAndWalk',
CompoundAction(t1=[0, 0.0],
type1='motion/joint_trajectory',
cmd1='crouch_begin',
t2=[1, 0.0],
type2='motion/step_sequence',
cmd2='walk_fwd_40',
t3=[2, 0.0],
type3='generate/step_sequence',
cmd3='to_nominal',
t4=[3, 0.0],
type4='set/joint_state',
cmd4='nominal'),
transitions={
'success': 'ComponudActionFromParam',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:601 y:137
OperatableStateMachine.add(
'GenerateTurnLeft',
GenerateStepSequence(controller='clop_generator',
trajectory_param='turn_left_45',
trajectory_ns='saved_msgs/move_base'),
transitions={
'success': 'EndWalk',
'solution_not_found': 'failed',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'solution_not_found': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:507 y:546
OperatableStateMachine.add(
'ComponudActionFromParam',
CompoundActionParam(action_param='brohoof',
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
})
# x:298 y:42
OperatableStateMachine.add(
'CheckCrouched',
CheckJointState(outcomes=[
'body_nominal', 'body_lying', 'body_crouched', 'unknown'
],
pose_ns='saved_msgs/joint_state',
tolerance=0.17,
joint_topic="joint_states",
timeout=1.0),
transitions={
'body_nominal': 'failed',
'body_lying': 'failed',
'unknown': 'WalkFwd',
'body_crouched': 'WalkFwd'
},
autonomy={
'body_nominal': Autonomy.Off,
'body_lying': Autonomy.Off,
'unknown': Autonomy.Off,
'body_crouched': Autonomy.Off
})
return _state_machine
def create(self):
# x:30 y:365, x:183 y:341, x:352 y:353
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed', 'invalid_pose'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:584 y:41, x:452 y:346, x:230 y:353
_sm_container_0 = OperatableStateMachine(
outcomes=['finished', 'failed', 'invalid_pose'])
with _sm_container_0:
# x:127 y:102
OperatableStateMachine.add(
'CheckBodyPose',
CheckJointState(
outcomes=['body_nominal', 'body_crouched', 'unknown'],
pose_ns='saved_msgs/joint_state',
tolerance=0.17,
joint_topic="joint_states",
timeout=1.0),
transitions={
'body_nominal': 'finished',
'unknown': 'invalid_pose',
'body_crouched': 'CrouchEnd'
},
autonomy={
'body_nominal': Autonomy.Off,
'unknown': Autonomy.Off,
'body_crouched': Autonomy.Off
})
# x:350 y:172
OperatableStateMachine.add(
'CrouchEnd',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_end',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'finished',
'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
})
# x:30 y:353, x:130 y:353, x:230 y:353, x:330 y:353, x:430 y:353, x:530 y:353, x:630 y:353, x:730 y:353
_sm_standup_1 = ConcurrencyContainer(
outcomes=['finished', 'invalid_pose', 'failed'],
conditions=[('failed', [('HeadNominal', 'failed')]),
('finished', [('HeadNominal', 'done'),
('Container', 'finished')]),
('invalid_pose', [('HeadNominal', 'timeout')]),
('failed', [('Container', 'failed')]),
('invalid_pose', [('Container', 'invalid_pose')])])
with _sm_standup_1:
# x:425 y:127
OperatableStateMachine.add('Container',
_sm_container_0,
transitions={
'finished': 'finished',
'failed': 'failed',
'invalid_pose': 'invalid_pose'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'invalid_pose': Autonomy.Inherit
})
# x:105 y:127
OperatableStateMachine.add(
'HeadNominal',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'finished',
'failed': 'failed',
'timeout': 'invalid_pose'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
with _state_machine:
# x:108 y:85
OperatableStateMachine.add(
'CompoundAction',
CompoundActionParam(action_param=self.action_name,
action_ns='saved_msgs/compound_action'),
transitions={
'success': 'finished',
'invalid_pose': 'StandUp',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:405 y:81
OperatableStateMachine.add('StandUp',
_sm_standup_1,
transitions={
'finished': 'CompoundAction',
'invalid_pose': 'invalid_pose',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'invalid_pose': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
return _state_machine
def create(self):
joint_trajectory_action = 'motion/controller/joint_trajectory'
storage = 'joint_trajectory/'
voice_topic = 'voice/voice'
eye_cmd_topic = 'control'
# x:1034 y:292, x:622 y:639
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['be_evil', 'new_be_evil'],
output_keys=['be_evil'])
_state_machine.userdata.be_evil = self.be_evil
_state_machine.userdata.new_be_evil = self.new_be_evil
_state_machine.userdata.head_crooked_pose = [0, 0, 0, 0.4]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:96 y:163
OperatableStateMachine.add('CheckEvil',
DecisionState(
outcomes=['good', 'evil'],
conditions=lambda x: 'good'
if not x else 'evil'),
transitions={
'good': 'CheckChangeToEvil',
'evil': 'CheckChangeToGood'
},
autonomy={
'good': Autonomy.Off,
'evil': Autonomy.Off
},
remapping={'input_value': 'be_evil'})
# x:252 y:50
OperatableStateMachine.add(
'CheckChangeToEvil',
DecisionState(outcomes=['yes', 'no'],
conditions=lambda x: 'yes' if x else 'no'),
transitions={
'yes': 'RedEyes',
'no': 'NormalEyes'
},
autonomy={
'yes': Autonomy.Off,
'no': Autonomy.Off
},
remapping={'input_value': 'new_be_evil'})
# x:426 y:48
OperatableStateMachine.add('RedEyes',
TextCommandState(type='eyes/emotion',
command='red_eyes',
topic=eye_cmd_topic),
transitions={'done': 'Seizure'},
autonomy={'done': Autonomy.Off})
# x:737 y:30
OperatableStateMachine.add(
'Seizure',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='seizure_evil',
trajectory_ns=storage),
transitions={
'success': 'SetEvil',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:961 y:162
OperatableStateMachine.add(
'SetEvil',
CalculationState(calculation=lambda x: True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'be_evil',
'output_value': 'be_evil'
})
# x:419 y:135
OperatableStateMachine.add('NormalEyes',
TextCommandState(type='eyes/emotion',
command='normal',
topic=eye_cmd_topic),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:195 y:281
OperatableStateMachine.add(
'CheckChangeToGood',
DecisionState(outcomes=['yes', 'no'],
conditions=lambda x: 'no' if x else 'yes'),
transitions={
'yes': 'NormalEyes2',
'no': 'RedEyes2'
},
autonomy={
'yes': Autonomy.Off,
'no': Autonomy.Off
},
remapping={'input_value': 'new_be_evil'})
# x:416 y:331
OperatableStateMachine.add(
'NormalEyes2',
TextCommandState(type='eyes/emotion',
command='normal',
topic=eye_cmd_topic),
transitions={'done': 'HeadAssumeBasicPose'},
autonomy={'done': Autonomy.Off})
# x:613 y:321
OperatableStateMachine.add(
'ShakeHead',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='head_shake',
trajectory_ns=storage),
transitions={
'success': 'LookAround',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:894 y:326
OperatableStateMachine.add(
'SetGood',
CalculationState(calculation=lambda x: False),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'be_evil',
'output_value': 'be_evil'
})
# x:671 y:437
OperatableStateMachine.add(
'LookAround',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='look_around',
trajectory_ns=storage),
transitions={
'success': 'SetGood',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:420 y:200
OperatableStateMachine.add('RedEyes2',
TextCommandState(type='eyes/emotion',
command='red_eyes',
topic=eye_cmd_topic),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:444 y:420
OperatableStateMachine.add('HeadAssumeBasicPose',
SrdfStateToMoveit(
config_name='head_basic',
move_group='head',
action_topic='move_group',
robot_name=''),
transitions={
'reached': 'ShakeHead',
'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',
'move_group': 'move_group',
'robot_name': 'robot_name',
'action_topic': 'action_topic',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
return _state_machine
def create(self):
voice_topic = 'control'
joint_trajectory_action = 'motion/controller/joint_trajectory'
storage = 'joint_trajectory/'
# x:1032 y:51, x:1042 y:573
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['be_evil'])
_state_machine.userdata.be_evil = self.be_evil
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:25 y:102
OperatableStateMachine.add(
'SetHeadNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'CheckEvil',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:322 y:149
OperatableStateMachine.add('SingSong2',
TextCommandState(type='voice/play_wav',
command='mmm_song',
topic=voice_topic),
transitions={'done': 'SlowShake'},
autonomy={'done': Autonomy.Off})
# x:150 y:194
OperatableStateMachine.add(
'RandomGood',
DecisionState(
outcomes=['good1', 'good2', 'good3', 'good4', 'good5'],
conditions=lambda x: random.choice(
['good1', 'good2', 'good3', 'good4', 'good5'])),
transitions={
'good1': 'SingSong1',
'good2': 'SingSong2',
'good3': 'SayHybridStateMachines',
'good4': 'SayCuiteMark',
'good5': 'SayHumansAreEverywhere'
},
autonomy={
'good1': Autonomy.Low,
'good2': Autonomy.Low,
'good3': Autonomy.Low,
'good4': Autonomy.Low,
'good5': Autonomy.Low
},
remapping={'input_value': 'be_evil'})
# x:475 y:80
OperatableStateMachine.add(
'SlowShake',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='little_shake_fast',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:669 y:556
OperatableStateMachine.add(
'PointOnSomethingEvil',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='begone',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:50 y:568
OperatableStateMachine.add(
'RandomEvil',
DecisionState(outcomes=['evil2', 'evil3', 'evil4', 'evil5'],
conditions=lambda x: random.choice(
['evil2', 'evil3', 'evil4', 'evil5'])),
transitions={
'evil2': 'SayUpgraded',
'evil3': 'SayGloryToRobots',
'evil4': 'SayIRememeberYou',
'evil5': 'SayControlYou'
},
autonomy={
'evil2': Autonomy.Low,
'evil3': Autonomy.Low,
'evil4': Autonomy.Low,
'evil5': Autonomy.Low
},
remapping={'input_value': 'be_evil'})
# x:327 y:304
OperatableStateMachine.add('SayCuiteMark',
TextCommandState(
type='voice/play_wav',
command='cuite_mark_acquisition',
topic=voice_topic),
transitions={'done': 'Seizure'},
autonomy={'done': Autonomy.Off})
# x:309 y:464
OperatableStateMachine.add('SayUpgraded',
TextCommandState(
type='voice/play_wav',
command='you_must_be_upgraded2',
topic=voice_topic),
transitions={'done': 'Applause'},
autonomy={'done': Autonomy.Off})
# x:528 y:459
OperatableStateMachine.add(
'Applause',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='applause',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:522 y:363
OperatableStateMachine.add(
'PointOnSomething',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='begone',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:310 y:524
OperatableStateMachine.add('SayGloryToRobots',
TextCommandState(
type='voice/play_wav',
command='glory_to_robots',
topic=voice_topic),
transitions={'done': 'Applause'},
autonomy={'done': Autonomy.Off})
# x:506 y:580
OperatableStateMachine.add(
'Wait2',
WaitState(wait_time=0.5),
transitions={'done': 'PointOnSomethingEvil'},
autonomy={'done': Autonomy.Off})
# x:310 y:581
OperatableStateMachine.add('SayIRememeberYou',
TextCommandState(
type='voice/play_wav',
command='i_remember_you',
topic=voice_topic),
transitions={'done': 'Wait2'},
autonomy={'done': Autonomy.Off})
# x:11 y:373
OperatableStateMachine.add(
'CheckEvil',
CheckConditionState(predicate=lambda x: x),
transitions={
'true': 'SetEyesEvil',
'false': 'SetEyesGood'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'be_evil'})
# x:325 y:227
OperatableStateMachine.add('SayHybridStateMachines',
TextCommandState(
type='voice/play_wav',
command='hybrid_state_machines',
topic=voice_topic),
transitions={'done': 'ComplexMovement'},
autonomy={'done': Autonomy.Off})
# x:483 y:159
OperatableStateMachine.add(
'ComplexMovement',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='look_on_printer_fast',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:308 y:637
OperatableStateMachine.add('SayControlYou',
TextCommandState(
type='voice/play_wav',
command='someday_ill_control_you',
topic=voice_topic),
transitions={'done': 'Wait4'},
autonomy={'done': Autonomy.Off})
# x:506 y:640
OperatableStateMachine.add('Wait4',
WaitState(wait_time=0.5),
transitions={'done': 'HoofStamp'},
autonomy={'done': Autonomy.Off})
# x:671 y:625
OperatableStateMachine.add(
'HoofStamp',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='hoof_stamp',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:509 y:246
OperatableStateMachine.add(
'Seizure',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='seizure',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:324 y:377
OperatableStateMachine.add(
'SayHumansAreEverywhere',
TextCommandState(type='voice/play_wav',
command='humans_are_everywhere',
topic=voice_topic),
transitions={'done': 'PointOnSomething'},
autonomy={'done': Autonomy.Off})
# x:14 y:474
OperatableStateMachine.add('SetEyesEvil',
TextCommandState(type='eyes/emotion',
command='red_eyes',
topic='control'),
transitions={'done': 'RandomEvil'},
autonomy={'done': Autonomy.Off})
# x:101 y:278
OperatableStateMachine.add('SetEyesGood',
TextCommandState(type='eyes/emotion',
command='normal',
topic='control'),
transitions={'done': 'RandomGood'},
autonomy={'done': Autonomy.Off})
# x:314 y:39
OperatableStateMachine.add('SingSong1',
TextCommandState(
type='voice/play_wav',
command='beep_beep_im_a_sheep',
topic=voice_topic),
transitions={'done': 'SlowShake'},
autonomy={'done': Autonomy.Off})
return _state_machine