def create(self):
# x:1023 y:473, x:791 y:291, x:797 y:103
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed', 'critical_fail'],
input_keys=['Action'])
_state_machine.userdata.Action = ["Guide", 'table', 'kitchen']
_state_machine.userdata.relative = False
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:458
_sm_groupwait_0 = OperatableStateMachine(outcomes=['end'])
with _sm_groupwait_0:
# x:30 y:40
OperatableStateMachine.add('waitwait',
WaitState(wait_time=20),
transitions={'done': 'end'},
autonomy={'done': Autonomy.Off})
# x:534 y:319
_sm_move_head_and_base_at_the_end_1 = OperatableStateMachine(
outcomes=['failed'])
with _sm_move_head_and_base_at_the_end_1:
# x:52 y:31
OperatableStateMachine.add('setkeyorientation',
SetKey(Value=1.5),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:51 y:114
OperatableStateMachine.add(
'action_turn',
self.use_behavior(
action_turnSM,
'operator is still there/Move head and base end /move head and base at the end/action_turn'
),
transitions={
'finished': 'turn right head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:48 y:272
OperatableStateMachine.add('wait while head turn',
WaitState(wait_time=4),
transitions={'done': 'action_turn_2'},
autonomy={'done': Autonomy.Off})
# x:47 y:199
OperatableStateMachine.add(
'turn right head',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'wait while head turn'},
autonomy={'done': Autonomy.Off})
# x:45 y:348
OperatableStateMachine.add(
'action_turn_2',
self.use_behavior(
action_turnSM,
'operator is still there/Move head and base end /move head and base at the end/action_turn_2'
),
transitions={
'finished': 'left to rigth',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:43 y:592
OperatableStateMachine.add('left to rigth',
SaraSetHeadAngle(pitch=0, yaw=-1.57),
transitions={'done': 'waitwait1'},
autonomy={'done': Autonomy.Off})
# x:420 y:602
OperatableStateMachine.add('right to left',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'waitwait2'},
autonomy={'done': Autonomy.Off})
# x:266 y:541
OperatableStateMachine.add('waitwait1',
WaitState(wait_time=8),
transitions={'done': 'right to left'},
autonomy={'done': Autonomy.Off})
# x:236 y:674
OperatableStateMachine.add('waitwait2',
WaitState(wait_time=8),
transitions={'done': 'left to rigth'},
autonomy={'done': Autonomy.Off})
# x:231 y:538
_sm_find_a_human_2 = OperatableStateMachine(outcomes=['finished'],
input_keys=['ID'])
with _sm_find_a_human_2:
# x:78 y:275
OperatableStateMachine.add('find the human',
GetEntityByID(),
transitions={
'found': 'finished',
'not_found': 'find the human'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ID': 'ID',
'Entity': 'Entity'
})
# x:415 y:99, x:318 y:246, x:442 y:295
_sm_move_head_and_base_end__3 = ConcurrencyContainer(
outcomes=['failed'],
conditions=[('failed', [('move head and base at the end', 'failed')
]), ('failed', [('Groupwait', 'end')])])
with _sm_move_head_and_base_end__3:
# x:132 y:57
OperatableStateMachine.add('move head and base at the end',
_sm_move_head_and_base_at_the_end_1,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:121 y:218
OperatableStateMachine.add('Groupwait',
_sm_groupwait_0,
transitions={'end': 'failed'},
autonomy={'end': Autonomy.Inherit})
# x:67 y:227
_sm_export_no_waypoint_4 = OperatableStateMachine(
outcomes=['done'], output_keys=['waipoint', 'area_name'])
with _sm_export_no_waypoint_4:
# x:30 y:40
OperatableStateMachine.add('noWaypoint',
SetKey(Value=None),
transitions={'done': 'NoName'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'waipoint'})
# x:43 y:129
OperatableStateMachine.add('NoName',
SetKey(Value=None),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'area_name'})
# x:30 y:458
_sm_export_waypoint_5 = OperatableStateMachine(
outcomes=['done'],
input_keys=['entity'],
output_keys=['waipoint', 'area_name'])
with _sm_export_waypoint_5:
# x:58 y:107
OperatableStateMachine.add(
'Extract Wayppoint',
CalculationState(calculation=lambda x: x.waypoint),
transitions={'done': 'Extract Name'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity',
'output_value': 'waipoint'
})
# x:67 y:257
OperatableStateMachine.add(
'Extract Name',
CalculationState(calculation=lambda x: x.name),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity',
'output_value': 'area_name'
})
# x:379 y:221
_sm_wait_to_compte_6 = OperatableStateMachine(outcomes=['finished'])
with _sm_wait_to_compte_6:
# x:77 y:195
OperatableStateMachine.add('one more wait',
WaitState(wait_time=60),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:535 y:314
_sm_turn_around_7 = OperatableStateMachine(outcomes=['failed'])
with _sm_turn_around_7:
# x:47 y:45
OperatableStateMachine.add('set orientation',
SetKey(Value=1.57),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:42 y:213
OperatableStateMachine.add('move head',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'waitwait'},
autonomy={'done': Autonomy.Off})
# x:53 y:294
OperatableStateMachine.add('waitwait',
WaitState(wait_time=10),
transitions={'done': 'action_turn_2'},
autonomy={'done': Autonomy.Off})
# x:33 y:122
OperatableStateMachine.add(
'action_turn',
self.use_behavior(
action_turnSM,
'Try to reach/check person behind/move head and base/turn around/action_turn'
),
transitions={
'finished': 'move head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:31 y:434
OperatableStateMachine.add(
'action_turn_2',
self.use_behavior(
action_turnSM,
'Try to reach/check person behind/move head and base/turn around/action_turn_2'
),
transitions={
'finished': 'head left right',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:35 y:595
OperatableStateMachine.add('head left right',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'wait turn head'},
autonomy={'done': Autonomy.Off})
# x:308 y:537
OperatableStateMachine.add('wait turn head',
WaitState(wait_time=10),
transitions={'done': 'head right left'},
autonomy={'done': Autonomy.Off})
# x:495 y:604
OperatableStateMachine.add('head right left',
SaraSetHeadAngle(pitch=0, yaw=-1.57),
transitions={'done': 'wait wait wait'},
autonomy={'done': Autonomy.Off})
# x:271 y:711
OperatableStateMachine.add('wait wait wait',
WaitState(wait_time=10),
transitions={'done': 'head left right'},
autonomy={'done': Autonomy.Off})
# x:845 y:395
_sm_find_human_8 = OperatableStateMachine(outcomes=['finished'],
input_keys=['ID'])
with _sm_find_human_8:
# x:223 y:137
OperatableStateMachine.add('find person',
GetEntityByID(),
transitions={
'found': 'finished',
'not_found': 'find person'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ID': 'ID',
'Entity': 'Entity'
})
# x:549 y:135, x:555 y:269, x:230 y:458
_sm_move_head_and_base_9 = ConcurrencyContainer(
outcomes=['failed'],
conditions=[('failed', [('turn around', 'failed')]),
('failed', [('wait to compte', 'finished')])])
with _sm_move_head_and_base_9:
# x:268 y:77
OperatableStateMachine.add('turn around',
_sm_turn_around_7,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:263 y:246
OperatableStateMachine.add('wait to compte',
_sm_wait_to_compte_6,
transitions={'finished': 'failed'},
autonomy={'finished': Autonomy.Inherit})
# x:493 y:206
_sm_container_10 = OperatableStateMachine(outcomes=['check'])
with _sm_container_10:
# x:230 y:160
OperatableStateMachine.add('wait long',
WaitState(wait_time=40),
transitions={'done': 'check'},
autonomy={'done': Autonomy.Off})
# x:30 y:458, x:706 y:447
_sm_navigate_to_the_point_11 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['pose'])
with _sm_navigate_to_the_point_11:
# x:174 y:122
OperatableStateMachine.add('set relative',
SetKey(Value=False),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'relative'})
# x:347 y:191
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(
Action_MoveSM,
'Try to reach/Container/navigate to the point/Action_Move'
),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'pose'})
# x:728 y:335, x:792 y:103, x:738 y:249, x:724 y:448
_sm_check_person_behind_12 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['ID'],
conditions=[('failed', [('move head and base', 'failed')]),
('finished', [('find human', 'finished')])])
with _sm_check_person_behind_12:
# x:250 y:72
OperatableStateMachine.add('move head and base',
_sm_move_head_and_base_9,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:261 y:238
OperatableStateMachine.add('find human',
_sm_find_human_8,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:635 y:61, x:634 y:159, x:597 y:300, x:330 y:458, x:430 y:458, x:530 y:458
_sm_container_13 = ConcurrencyContainer(
outcomes=['finished', 'failed', 'check'],
input_keys=['waypoint'],
conditions=[('check', [('Container', 'check')]),
('finished', [('navigate to the point', 'finished')]),
('failed', [('navigate to the point', 'failed')])])
with _sm_container_13:
# x:315 y:51
OperatableStateMachine.add('navigate to the point',
_sm_navigate_to_the_point_11,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'waypoint'})
# x:322 y:257
OperatableStateMachine.add('Container',
_sm_container_10,
transitions={'check': 'check'},
autonomy={'check': Autonomy.Inherit})
# x:98 y:451
_sm_get_area_containers_14 = OperatableStateMachine(
outcomes=['done'],
input_keys=['command'],
output_keys=['containers'])
with _sm_get_area_containers_14:
# x:46 y:31
OperatableStateMachine.add(
'Set Empty Array',
SetKey(Value=[]),
transitions={'done': 'Set initial index'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'containers'})
# x:50 y:110
OperatableStateMachine.add('Set initial index',
SetKey(Value=2),
transitions={'done': 'Set Loop Max'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'iLoop'})
# x:49 y:192
OperatableStateMachine.add(
'Set Loop Max',
CalculationState(calculation=lambda x: len(x)),
transitions={'done': 'Check Loop End'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'command',
'output_value': 'iLoopMax'
})
# x:514 y:278
OperatableStateMachine.add(
'Increment',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'Print container array'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'iLoop',
'output_value': 'iLoop'
})
# x:271 y:154
OperatableStateMachine.add(
'Add Container to Array',
FlexibleCalculationState(
calculation=lambda x: x[2] + [x[0][x[1]]],
input_keys=['command', 'iLoop', 'containers']),
transitions={'done': 'Increment'},
autonomy={'done': Autonomy.Off},
remapping={
'command': 'command',
'iLoop': 'iLoop',
'containers': 'containers',
'output_value': 'containers'
})
# x:42 y:287
OperatableStateMachine.add('Check Loop End',
FlexibleCheckConditionState(
predicate=lambda x: x[0] < x[1],
input_keys=['iLoop', 'iLoopMax']),
transitions={
'true': 'Add Container to Array',
'false': 'done'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'iLoop': 'iLoop',
'iLoopMax': 'iLoopMax'
})
# x:279 y:401
OperatableStateMachine.add('Print container array',
LogKeyState(
text="Containers: \n {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'Check Loop End'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'containers'})
# x:626 y:228, x:607 y:71, x:230 y:458, x:330 y:458
_sm_operator_is_still_there_15 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['ID'],
conditions=[('finished', [('find a human', 'finished')]),
('failed', [('Move head and base end ', 'failed')])])
with _sm_operator_is_still_there_15:
# x:207 y:54
OperatableStateMachine.add('Move head and base end ',
_sm_move_head_and_base_end__3,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:222 y:190
OperatableStateMachine.add('find a human',
_sm_find_a_human_2,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:1620 y:109, x:1648 y:375
_sm_try_to_find_area_16 = OperatableStateMachine(
outcomes=['found', 'not_found'],
input_keys=['area_to_search', 'containers'],
output_keys=['area_name', 'waypoint'])
with _sm_try_to_find_area_16:
# x:517 y:67
OperatableStateMachine.add(
'WonderlandUniqueEnity',
self.use_behavior(WonderlandUniqueEnitySM,
'Try to find area/WonderlandUniqueEnity'),
transitions={
'found': 'Export Waypoint',
'not_found': 'Export No Waypoint'
},
autonomy={
'found': Autonomy.Inherit,
'not_found': Autonomy.Inherit
},
remapping={
'name': 'area_to_search',
'containers': 'containers',
'entity': 'entity'
})
# x:966 y:71
OperatableStateMachine.add('Export Waypoint',
_sm_export_waypoint_5,
transitions={'done': 'say_going'},
autonomy={'done': Autonomy.Inherit},
remapping={
'entity': 'entity',
'waipoint': 'waypoint',
'area_name': 'area_name'
})
# x:1247 y:295
OperatableStateMachine.add('Export No Waypoint',
_sm_export_no_waypoint_4,
transitions={'done': 'not_found'},
autonomy={'done': Autonomy.Inherit},
remapping={
'waipoint': 'waypoint',
'area_name': 'area_name'
})
# x:1273 y:106
OperatableStateMachine.add(
'say_going',
SaraSay(sentence=lambda x: "I'm going to the " + x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off})
# x:323 y:632, x:638 y:631
_sm_try_to_reach_17 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['waypoint', 'relative', 'areaName', 'ID'])
with _sm_try_to_reach_17:
# x:252 y:161
OperatableStateMachine.add('Container',
_sm_container_13,
transitions={
'finished': 'say_reached',
'failed': 'Say_not_reached',
'check': 'say check'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'check': Autonomy.Inherit
},
remapping={'waypoint': 'waypoint'})
# x:581 y:163
OperatableStateMachine.add('check person behind',
_sm_check_person_behind_12,
transitions={
'finished': 'say found',
'failed': 'say lost'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'ID': 'ID'})
# x:706 y:484
OperatableStateMachine.add(
'say lost',
SaraSay(sentence="Oh no! I lost my operator!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:445 y:69
OperatableStateMachine.add(
'say check',
SaraSay(sentence="I check if my operator is still there",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'check person behind'},
autonomy={'done': Autonomy.Off})
# x:443 y:187
OperatableStateMachine.add(
'say found',
SaraSay(sentence="Great. You are still there.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Container'},
autonomy={'done': Autonomy.Off})
# x:463 y:398
OperatableStateMachine.add(
'Say_not_reached',
SaraSay(sentence=lambda x: "I have not reach the " + x + "!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:61 y:366
OperatableStateMachine.add(
'say_reached',
SaraSay(sentence=lambda x: "I have reach the " + x + "!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:871 y:59
_sm_decompose_command_18 = OperatableStateMachine(
outcomes=['done'],
input_keys=['command'],
output_keys=['containers', 'area'])
with _sm_decompose_command_18:
# x:163 y:34
OperatableStateMachine.add('Set State Command',
Set_a_step(step=0),
transitions={'done': 'Get area name'},
autonomy={'done': Autonomy.Off})
# x:387 y:58
OperatableStateMachine.add(
'Get area name',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'Get area containers'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'command',
'output_value': 'area'
})
# x:597 y:94
OperatableStateMachine.add('Get area containers',
_sm_get_area_containers_14,
transitions={'done': 'done'},
autonomy={'done': Autonomy.Inherit},
remapping={
'command': 'command',
'containers': 'containers'
})
with _state_machine:
# x:54 y:24
OperatableStateMachine.add(
'Get Person Id',
GetRosParam(ParamName="behavior/FoundPerson/Id"),
transitions={
'done': 'GetPerson',
'failed': 'Cant Find Person'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'Value': 'ID'})
# x:19 y:152
OperatableStateMachine.add(
'Decompose Command',
_sm_decompose_command_18,
transitions={'done': 'Try to find area'},
autonomy={'done': Autonomy.Inherit},
remapping={
'command': 'Action',
'containers': 'containers',
'area': 'area'
})
# x:43 y:358
OperatableStateMachine.add('Try to reach',
_sm_try_to_reach_17,
transitions={
'finished':
'operator is still there',
'failed': 'cause2'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'waypoint': 'waypoint',
'relative': 'relative',
'areaName': 'area_name',
'ID': 'ID'
})
# x:360 y:109
OperatableStateMachine.add('Cant Find Person',
SaraSay(
sentence="I can't find a person.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause1'},
autonomy={'done': Autonomy.Off})
# x:52 y:82
OperatableStateMachine.add('GetPerson',
GetEntityByID(),
transitions={
'found': 'Decompose Command',
'not_found': 'Cant Find Person'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ID': 'ID',
'Entity': 'Entity'
})
# x:36 y:219
OperatableStateMachine.add('Try to find area',
_sm_try_to_find_area_16,
transitions={
'found': 'sayfollowme',
'not_found': 'Cant Find Person'
},
autonomy={
'found': Autonomy.Inherit,
'not_found': Autonomy.Inherit
},
remapping={
'area_to_search': 'area',
'containers': 'containers',
'area_name': 'area_name',
'waypoint': 'waypoint'
})
# x:27 y:438
OperatableStateMachine.add('operator is still there',
_sm_operator_is_still_there_15,
transitions={
'finished': 'getentitybyID',
'failed': 'say lost operator'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'ID': 'ID'})
# x:347 y:370
OperatableStateMachine.add(
'say lost operator',
SaraSay(
sentence=
"I have reach my goal but I lost the person I was guiding.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause3'},
autonomy={'done': Autonomy.Off})
# x:49 y:291
OperatableStateMachine.add('sayfollowme',
SaraSay(sentence="Follow me please.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Try to reach'},
autonomy={'done': Autonomy.Off})
# x:808 y:451
OperatableStateMachine.add('head to middle',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:48 y:525
OperatableStateMachine.add('getentitybyID',
GetEntityByID(),
transitions={
'found': 'get entity to point',
'not_found': 'say_reach_the_entity'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ID': 'ID',
'Entity': 'Entity'
})
# x:249 y:562
OperatableStateMachine.add('get entity to point',
WonderlandGetEntityVerbal(),
transitions={
'one': 'find the point',
'multiple': 'say_reach_the_entity',
'none': 'say_reach_the_entity',
'error': 'say_reach_the_entity'
},
autonomy={
'one': Autonomy.Off,
'multiple': Autonomy.Off,
'none': Autonomy.Off,
'error': Autonomy.Off
},
remapping={
'name': 'area_name',
'containers': 'containers',
'entities': 'entities',
'firstEntity': 'firstEntity'
})
# x:708 y:529
OperatableStateMachine.add(
'Action_point_at',
self.use_behavior(Action_point_atSM, 'Action_point_at'),
transitions={
'finished': 'say_reach_the_entity',
'failed': 'say_reach_the_entity'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'targetPoint': 'targetPoint'})
# x:539 y:558
OperatableStateMachine.add(
'find the point',
CalculationState(calculation=lambda x: x.position),
transitions={'done': 'Action_point_at'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entities',
'output_value': 'targetPoint'
})
# x:547 y:121
OperatableStateMachine.add(
'cause1',
SetKey(Value="I didn't find any persone"),
transitions={'done': 'setrosparamfail'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:507 y:220
OperatableStateMachine.add(
'cause2',
SetKey(Value="I did not reach the area"),
transitions={'done': 'setrosparamfail'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:559 y:337
OperatableStateMachine.add(
'cause3',
SetKey(Value="I lost the person I was guiding."),
transitions={'done': 'setrosparamfail'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:656 y:250
OperatableStateMachine.add(
'setrosparamfail',
SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'Key'})
# x:523 y:462
OperatableStateMachine.add(
'say_reach_the_entity',
SaraSay(sentence=lambda x: "Here is the " + x,
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'head to middle'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:976 y:173, x:618 y:48
_state_machine = OperatableStateMachine(outcomes=['done', 'failed'])
_state_machine.userdata.nameFilter = ""
_state_machine.userdata.roomQuestion = "what room shall i clean, master ?"
_state_machine.userdata.waypointGenerationDistance = 0.5
_state_machine.userdata.placeholder = ""
_state_machine.userdata.doorName = "crowd"
_state_machine.userdata.firstTimeInRoom = "yes"
_state_machine.userdata.waypointToCheckDict = {"bedroom": ["bedroomWP1","bedroomWP2"]}
_state_machine.userdata.placedObjects = 0
_state_machine.userdata.misplacedObject = ""
_state_machine.userdata.skipDoorEntrance = True
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:153 y:437
_sm_deusexplacerecovery_0 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject'])
with _sm_deusexplacerecovery_0:
# x:85 y:72
OperatableStateMachine.add('getContainerId',
CalculationState(calculation=lambda x: x[1].containerId),
transitions={'done': 'getContainerEntity'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'containerId'})
# x:234 y:149
OperatableStateMachine.add('getContainerEntity',
WonderlandGetEntityByID(),
transitions={'found': 'ItGoesThere', 'not_found': 'finished', 'error': 'finished'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off},
remapping={'id': 'containerId', 'entity': 'containerEntity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'})
# x:366 y:284
OperatableStateMachine.add('ItGoesThere',
SaraSay(sentence=lambda x: "Looks like I dropped "+str(x[0][0].name)+". Can you put it in the "+ x[1].name+"?", input_keys=["misplacedObject","containerEntity"], emotion=0, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'misplacedObject': 'misplacedObject', 'containerEntity': 'containerEntity'})
# x:717 y:285
_sm_cantgotodestination_1 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject'])
with _sm_cantgotodestination_1:
# x:48 y:60
OperatableStateMachine.add('getContainerId',
CalculationState(calculation=lambda x: x[1].containerId),
transitions={'done': 'getContainerEntity'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'containerId'})
# x:463 y:245
OperatableStateMachine.add('Action_place',
self.use_behavior(sara_flexbe_behaviors__Action_placeSM, 'PutObjectInDesiredContainer/CantGoToDestination/Action_place'),
transitions={'finished': 'finished', 'failed': 'finished'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pos': 'droppingPose'})
# x:26 y:149
OperatableStateMachine.add('getContainerEntity',
WonderlandGetEntityByID(),
transitions={'found': 'ICantGetThere', 'not_found': 'ICantGetThereNCONT', 'error': 'ICantGetThereNCONT'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off},
remapping={'id': 'containerId', 'entity': 'containerEntity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'})
# x:249 y:176
OperatableStateMachine.add('ICantGetThere',
SaraSay(sentence=lambda x:"I can't find a way to "+str(x[0].name), input_keys=["containerEntity"], emotion=0, block=True),
transitions={'done': 'GetDroppingPose'},
autonomy={'done': Autonomy.Off},
remapping={'containerEntity': 'containerEntity'})
# x:247 y:114
OperatableStateMachine.add('ICantGetThereNCONT',
SaraSay(sentence="I can't find a way to the container", input_keys=[], emotion=0, block=True),
transitions={'done': 'GetDroppingPose'},
autonomy={'done': Autonomy.Off})
# x:475 y:148
OperatableStateMachine.add('GetDroppingPose',
GenPoseEuler(x=0.4, y=0, z=0.3, roll=0.0, pitch=0.0, yaw=0.0),
transitions={'done': 'Action_place'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'droppingPose'})
# x:632 y:527
_sm_putdownobject_2 = OperatableStateMachine(outcomes=['done'], input_keys=['misplacedObject'])
with _sm_putdownobject_2:
# x:70 y:215
OperatableStateMachine.add('GetDroppingPose',
GenPoseEuler(x=0.3, y=0, z=1.2, roll=0.0, pitch=0.0, yaw=0.0),
transitions={'done': 'Action_place'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'droppingPose'})
# x:269 y:215
OperatableStateMachine.add('Action_place',
self.use_behavior(sara_flexbe_behaviors__Action_placeSM, 'PutObjectInDesiredContainer/PutDownObject/Action_place'),
transitions={'finished': 'done', 'failed': 'DeusExPlaceRecovery'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pos': 'droppingPose'})
# x:592 y:127
OperatableStateMachine.add('DeusExPlaceRecovery',
_sm_deusexplacerecovery_0,
transitions={'finished': 'done'},
autonomy={'finished': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:518 y:44, x:531 y:152
_sm_gotodesiredcontainer_3 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['misplacedObject'])
with _sm_gotodesiredcontainer_3:
# x:86 y:79
OperatableStateMachine.add('GetContainerWaypoint',
CalculationState(calculation=lambda x:x[1].waypoint),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'targetWaypoint'})
# x:275 y:79
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'PutObjectInDesiredContainer/GotoDesiredContainer/Action_Move'),
transitions={'finished': 'done', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'targetWaypoint'})
# x:300 y:141, x:893 y:63
_sm_receiveitem_4 = OperatableStateMachine(outcomes=['failed', 'success'])
with _sm_receiveitem_4:
# x:69 y:47
OperatableStateMachine.add('opengripper',
SetGripperState(width=0.25, effort=1),
transitions={'object': 'setTarget1', 'no_object': 'setTarget1'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:280 y:263
OperatableStateMachine.add('Torque_Reader',
ReadTorque(watchdog=10, Joint="right_elbow_pitch_joint", Threshold=1, min_time=1),
transitions={'threshold': 'close_gripper', 'watchdog': 'Torque_Reader', 'fail': 'failed'},
autonomy={'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'torque': 'torque'})
# x:668 y:149
OperatableStateMachine.add('setTarget2',
SetKey(Value="PostGripPose"),
transitions={'done': 'Go_to_Pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:51 y:261
OperatableStateMachine.add('Go_to_receive_bag_pose',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'Torque_Reader', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'target'})
# x:450 y:274
OperatableStateMachine.add('close_gripper',
SetGripperState(width=0, effort=1),
transitions={'object': 'thank you', 'no_object': 'failed'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:640 y:273
OperatableStateMachine.add('thank you',
SaraSay(sentence="Thank you", input_keys=[], emotion=1, block=True),
transitions={'done': 'setTarget2'},
autonomy={'done': Autonomy.Off})
# x:50 y:141
OperatableStateMachine.add('setTarget1',
SetKey(Value="Help_me_carry"),
transitions={'done': 'Go_to_receive_bag_pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:660 y:57
OperatableStateMachine.add('Go_to_Pose',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'success', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'target'})
# x:169 y:514, x:508 y:495
_sm_deusexpickrecovery_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['misplacedObject'])
with _sm_deusexpickrecovery_5:
# x:81 y:50
OperatableStateMachine.add('GimmeTheObjict',
SaraSay(sentence=lambda x: "Could you give me the "+x[0][0].name+", please ?", input_keys=["misplacedObject"], emotion=0, block=True),
transitions={'done': 'ReceiveItem'},
autonomy={'done': Autonomy.Off},
remapping={'misplacedObject': 'misplacedObject'})
# x:213 y:130
OperatableStateMachine.add('ReceiveItem',
_sm_receiveitem_4,
transitions={'failed': 'Oh f**k', 'success': 'finished'},
autonomy={'failed': Autonomy.Inherit, 'success': Autonomy.Inherit})
# x:355 y:262
OperatableStateMachine.add('Oh f**k',
SaraSay(sentence="Oh. Nevermind then.", input_keys=[], emotion=2, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:676 y:610, x:1158 y:270
_sm_grabmisplacedobject_6 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['misplacedObject'])
with _sm_grabmisplacedobject_6:
# x:72 y:35
OperatableStateMachine.add('GetObjectId',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'Action_pick'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'misplacedObjectID'})
# x:307 y:89
OperatableStateMachine.add('oops',
SaraSay(sentence="Oops. I dropped the object!", input_keys=[], emotion=5, block=True),
transitions={'done': 'DeusExPickRecovery'},
autonomy={'done': Autonomy.Off})
# x:344 y:157
OperatableStateMachine.add('oops_2',
SaraSay(sentence="Oops. Seems I can't reach the object!", input_keys=[], emotion=3, block=True),
transitions={'done': 'DeusExPickRecovery'},
autonomy={'done': Autonomy.Off})
# x:362 y:239
OperatableStateMachine.add('oops_3',
SaraSay(sentence="Oops. I can't see the object!", input_keys=[], emotion=3, block=True),
transitions={'done': 'DeusExPickRecovery'},
autonomy={'done': Autonomy.Off})
# x:42 y:275
OperatableStateMachine.add('Action_pick',
self.use_behavior(sara_flexbe_behaviors__Action_pickSM, 'PickMisplacedObject/GrabMisplacedObject/Action_pick', default_keys=['Entity']),
transitions={'success': 'done', 'unreachable': 'oops_2', 'not found': 'oops_3', 'dropped': 'oops'},
autonomy={'success': Autonomy.Inherit, 'unreachable': Autonomy.Inherit, 'not found': Autonomy.Inherit, 'dropped': Autonomy.Inherit},
remapping={'objectID': 'misplacedObjectID', 'Entity': 'Entity'})
# x:600 y:177
OperatableStateMachine.add('DeusExPickRecovery',
_sm_deusexpickrecovery_5,
transitions={'finished': 'done', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:30 y:426
_sm_scanaround_7 = OperatableStateMachine(outcomes=['done'])
with _sm_scanaround_7:
# x:172 y:46
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:304 y:122
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:165 y:187
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:195 y:276
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 'center3'},
autonomy={'done': Autonomy.Off})
# x:309 y:49
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:308 y:187
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:56 y:191
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:40 y:270
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:317 y:277
OperatableStateMachine.add('center3',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:289 y:803, x:694 y:198, x:4 y:400
_sm_checkatwaypoints_8 = OperatableStateMachine(outcomes=['found', 'noneFound', 'failed'], input_keys=['waypointToCheckDict', 'cleaningRoom', 'nameFilter'], output_keys=['misplacedObject'])
with _sm_checkatwaypoints_8:
# x:60 y:44
OperatableStateMachine.add('GetNbOfWaypoints',
FlexibleCalculationState(calculation=lambda x: len(x[1][x[0]]), input_keys=["cleaningRoom","waypointToCheckDict"]),
transitions={'done': 'StartLoop'},
autonomy={'done': Autonomy.Off},
remapping={'cleaningRoom': 'cleaningRoom', 'waypointToCheckDict': 'waypointToCheckDict', 'output_value': 'lenWaypointDict'})
# x:137 y:471
OperatableStateMachine.add('ScanAround',
_sm_scanaround_7,
transitions={'done': 'StopCheckingForUnknownObj'},
autonomy={'done': Autonomy.Inherit})
# x:163 y:729
OperatableStateMachine.add('GetFirstElement',
CalculationState(calculation=lambda x:x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity_list', 'output_value': 'misplacedObject'})
# x:354 y:538
OperatableStateMachine.add('ListEntities',
list_entities_by_name(frontality_level=0.5, distance_max=10),
transitions={'found': 'CheckMisplacedObjects', 'none_found': 'CheckAtEachLocation'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'nameFilter', 'entity_list': 'entity_list', 'number': 'number'})
# x:23 y:198
OperatableStateMachine.add('EverythingsFine',
SaraSay(sentence="I'll check at another location.", input_keys=[], emotion=1, block=True),
transitions={'done': 'GetLocation'},
autonomy={'done': Autonomy.Off})
# x:184 y:289
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'CheckForMisplacedObjects/CheckAtWaypoints/Action_Move'),
transitions={'finished': 'CheckForUnknownObjs', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'waypointToGo'})
# x:511 y:338
OperatableStateMachine.add('CheckAtEachLocation',
ForLoopWithInput(repeat=10),
transitions={'do': 'CheckIfLastLocationOfList', 'end': 'noneFound'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index_in': 'index_in', 'index_out': 'locationToGet'})
# x:318 y:58
OperatableStateMachine.add('StartLoop',
SetKey(Value=-1),
transitions={'done': 'CheckAtEachLocation'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'index_in'})
# x:9 y:262
OperatableStateMachine.add('GetLocation',
FlexibleCalculationState(calculation=lambda x: x[1][x[2]][x[0]], input_keys=["index_out","waypointToCheckDict","cleaningRoom"]),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'index_out': 'locationToGet', 'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleaningRoom', 'output_value': 'waypointToGo'})
# x:173 y:195
OperatableStateMachine.add('CheckIfLastLocationOfList',
FlexibleCheckConditionState(predicate=lambda x: x[0]-1 >= x[1], input_keys=["lenWaypointDict","locationToGet"]),
transitions={'true': 'noneFound', 'false': 'EverythingsFine'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'lenWaypointDict': 'lenWaypointDict', 'locationToGet': 'locationToGet'})
# x:418 y:665
OperatableStateMachine.add('CheckMisplacedObjects',
CheckMisplacedObjects(position_tolerance=0.1, default_destination="bin"),
transitions={'all_expected': 'CheckAtEachLocation', 'unexpected': 'GetFirstElement'},
autonomy={'all_expected': Autonomy.Off, 'unexpected': Autonomy.Off},
remapping={'entities': 'entity_list', 'expected_objects': 'expected_objects', 'unexpected_objects': 'unexpected_objects'})
# x:119 y:402
OperatableStateMachine.add('CheckForUnknownObjs',
SetSegmentationRosParam(ValueTableSegmentation=True, ValueObjectSegmentation=True),
transitions={'done': 'ScanAround'},
autonomy={'done': Autonomy.Off})
# x:114 y:561
OperatableStateMachine.add('StopCheckingForUnknownObj',
SetSegmentationRosParam(ValueTableSegmentation=False, ValueObjectSegmentation=False),
transitions={'done': 'ListEntities'},
autonomy={'done': Autonomy.Off})
# x:547 y:290
_sm_scanaround_9 = OperatableStateMachine(outcomes=['done'], input_keys=['input_value'])
with _sm_scanaround_9:
# x:172 y:46
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:304 y:122
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:165 y:187
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:195 y:276
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 'center3'},
autonomy={'done': Autonomy.Off})
# x:367 y:47
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:308 y:187
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:56 y:191
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:40 y:270
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:317 y:277
OperatableStateMachine.add('center3',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:293 y:350, x:857 y:186
_sm_ask_10 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['roomQuestion'], output_keys=['roomAnswer'])
with _sm_ask_10:
# x:79 y:95
OperatableStateMachine.add('say question',
SaraSay(sentence=lambda x: x[0], input_keys=["question"], emotion=0, block=True),
transitions={'done': 'get answer'},
autonomy={'done': Autonomy.Off},
remapping={'question': 'roomQuestion'})
# x:92 y:304
OperatableStateMachine.add('get answer',
GetSpeech(watchdog=10),
transitions={'done': 'finished', 'nothing': 'retry ask', 'fail': 'retry ask'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'roomAnswer'})
# x:345 y:202
OperatableStateMachine.add('retry ask',
ForLoop(repeat=2),
transitions={'do': 'say not understand', 'end': 'say failed'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:232 y:90
OperatableStateMachine.add('say not understand',
SaraSay(sentence="Sorry, I did not understand your answer.", input_keys=[], emotion=0, block=True),
transitions={'done': 'say question'},
autonomy={'done': Autonomy.Off})
# x:604 y:151
OperatableStateMachine.add('say failed',
SaraSay(sentence="Sorry, I can't understand your answer.", input_keys=[], emotion=0, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:30 y:365, x:424 y:392
_sm_nlu_11 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['roomAnswer'], output_keys=['cleanupRoom'])
with _sm_nlu_11:
# x:212 y:89
OperatableStateMachine.add('NLU',
SaraNLUgetRoom(),
transitions={'understood': 'done', 'not_understood': 'failed', 'fail': 'failed'},
autonomy={'understood': Autonomy.Off, 'not_understood': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'sentence': 'roomAnswer', 'answer': 'cleanupRoom'})
# x:736 y:312
_sm_putobjectindesiredcontainer_12 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject', 'placedObjects'], output_keys=['placedObjects'])
with _sm_putobjectindesiredcontainer_12:
# x:138 y:153
OperatableStateMachine.add('GotoDesiredContainer',
_sm_gotodesiredcontainer_3,
transitions={'done': 'PutDownObject', 'failed': 'CantGoToDestination'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:277 y:313
OperatableStateMachine.add('PutDownObject',
_sm_putdownobject_2,
transitions={'done': 'OneMoreObjectPlaced'},
autonomy={'done': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:339 y:80
OperatableStateMachine.add('CantGoToDestination',
_sm_cantgotodestination_1,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:468 y:381
OperatableStateMachine.add('OneMoreObjectPlaced',
CalculationState(calculation=lambda x: x+1),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'placedObjects', 'output_value': 'placedObjects'})
# x:609 y:528, x:593 y:240
_sm_pickmisplacedobject_13 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['misplacedObject', 'waypointGenerationDistance'])
with _sm_pickmisplacedobject_13:
# x:82 y:71
OperatableStateMachine.add('GetObjectPosition',
CalculationState(calculation=lambda x: x[0].position),
transitions={'done': 'FindAWay'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'misplacedObjectPosition'})
# x:67 y:304
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'PickMisplacedObject/Action_Move'),
transitions={'finished': 'GrabMisplacedObject', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'misplacedObjectWaypoint'})
# x:82 y:202
OperatableStateMachine.add('FindAWay',
Get_Reacheable_Waypoint(),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'misplacedObjectPosition', 'distance': 'waypointGenerationDistance', 'pose_out': 'misplacedObjectWaypoint'})
# x:58 y:514
OperatableStateMachine.add('GrabMisplacedObject',
_sm_grabmisplacedobject_6,
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:957 y:154, x:535 y:369, x:800 y:304
_sm_checkformisplacedobjects_14 = OperatableStateMachine(outcomes=['noneLeft', 'found', 'failed'], input_keys=['nameFilter', 'waypointToCheckDict', 'cleaningRoom', 'placedObjects'], output_keys=['misplacedObject'])
with _sm_checkformisplacedobjects_14:
# x:241 y:59
OperatableStateMachine.add('CheckIf5Placed',
CheckConditionState(predicate=lambda x: x >= 5),
transitions={'true': 'OkItsClean', 'false': 'RetryOnce'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'placedObjects'})
# x:115 y:477
OperatableStateMachine.add('CheckMisplacedObjects',
CheckMisplacedObjects(position_tolerance=0.1, default_destination="bin"),
transitions={'all_expected': 'EverythingsFine', 'unexpected': 'GetFirstElement'},
autonomy={'all_expected': Autonomy.Off, 'unexpected': Autonomy.Off},
remapping={'entities': 'entity_list', 'expected_objects': 'expected_objects', 'unexpected_objects': 'unexpected_objects'})
# x:76 y:251
OperatableStateMachine.add('ScanAround',
_sm_scanaround_9,
transitions={'done': 'ListEntities'},
autonomy={'done': Autonomy.Inherit},
remapping={'input_value': 'nameFilter'})
# x:300 y:486
OperatableStateMachine.add('GetFirstElement',
CalculationState(calculation=lambda x:x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity_list', 'output_value': 'misplacedObject'})
# x:77 y:360
OperatableStateMachine.add('ListEntities',
list_entities_by_name(frontality_level=0.5, distance_max=10),
transitions={'found': 'CheckMisplacedObjects', 'none_found': 'RetryOnce'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'nameFilter', 'entity_list': 'entity_list', 'number': 'number'})
# x:305 y:355
OperatableStateMachine.add('EverythingsFine',
SaraSay(sentence="Everything seems in order. I'll check again.", input_keys=[], emotion=1, block=True),
transitions={'done': 'RetryOnce'},
autonomy={'done': Autonomy.Off})
# x:738 y:175
OperatableStateMachine.add('OkItsClean',
SaraSay(sentence="I cleaned the room!", input_keys=[], emotion=1, block=True),
transitions={'done': 'noneLeft'},
autonomy={'done': Autonomy.Off})
# x:488 y:226
OperatableStateMachine.add('CheckAtWaypoints',
_sm_checkatwaypoints_8,
transitions={'found': 'found', 'noneFound': 'OkItsClean', 'failed': 'failed'},
autonomy={'found': Autonomy.Inherit, 'noneFound': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleaningRoom', 'nameFilter': 'nameFilter', 'misplacedObject': 'misplacedObject'})
# x:268 y:226
OperatableStateMachine.add('RetryOnce',
ForLoop(repeat=1),
transitions={'do': 'ScanAround', 'end': 'CheckAtWaypoints'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:644 y:459, x:651 y:336
_sm_gotoroom_15 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['cleanupRoom', 'firstTimeInRoom'], output_keys=['firstTimeInRoom'])
with _sm_gotoroom_15:
# x:141 y:121
OperatableStateMachine.add('IsItMyFirstTime',
DecisionState(outcomes=["no", "yes"], conditions=lambda x: x),
transitions={'no': 'GoingBackToTheRoom', 'yes': 'OkImGoingToTheRoom'},
autonomy={'no': Autonomy.Off, 'yes': Autonomy.Off},
remapping={'input_value': 'firstTimeInRoom'})
# x:130 y:220
OperatableStateMachine.add('GoingBackToTheRoom',
SaraSay(sentence=lambda x: "I'm going back to the "+str(x[0])+".", input_keys=["cleanupRoom"], emotion=0, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'cleanupRoom': 'cleanupRoom'})
# x:342 y:171
OperatableStateMachine.add('OkImGoingToTheRoom',
SaraSay(sentence=lambda x: "Okay, I'm going to the "+str(x[0])+".", input_keys=["cleanupRoom"], emotion=0, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'cleanupRoom': 'cleanupRoom'})
# x:330 y:448
OperatableStateMachine.add('IWentThere',
SetKey(Value="no"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'firstTimeInRoom'})
# x:320 y:326
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'GoToRoom/Action_Move'),
transitions={'finished': 'IWentThere', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'cleanupRoom'})
# x:709 y:520, x:850 y:66
_sm_enterarena_16 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['roomQuestion', 'doorName', 'skipDoorEntrance'], output_keys=['cleanupRoom'])
with _sm_enterarena_16:
# x:77 y:28
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM, 'EnterArena/Init_Sequence'),
transitions={'finished': 'SkipEntrance', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:278 y:473
OperatableStateMachine.add('NLU',
_sm_nlu_11,
transitions={'done': 'done', 'failed': 'Sorry'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'roomAnswer': 'roomAnswer', 'cleanupRoom': 'cleanupRoom'})
# x:467 y:87
OperatableStateMachine.add('Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'EnterArena/Action_Pass_Door'),
transitions={'Done': 'RetryOnce', 'Fail': 'failed'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'doorName'})
# x:234 y:259
OperatableStateMachine.add('RetryOnce',
ForLoop(repeat=2),
transitions={'do': 'Ask', 'end': 'failed'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:295 y:354
OperatableStateMachine.add('Sorry',
SaraSay(sentence="Sorry, I misunderstood.", input_keys=[], emotion=0, block=True),
transitions={'done': 'RetryOnce'},
autonomy={'done': Autonomy.Off})
# x:213 y:119
OperatableStateMachine.add('SkipEntrance',
CheckConditionState(predicate=lambda x: x),
transitions={'true': 'RetryOnce', 'false': 'Action_Pass_Door'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'skipDoorEntrance'})
# x:51 y:354
OperatableStateMachine.add('Ask',
_sm_ask_10,
transitions={'finished': 'NLU', 'failed': 'RetryOnce'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'roomQuestion': 'roomQuestion', 'roomAnswer': 'roomAnswer'})
with _state_machine:
# x:131 y:130
OperatableStateMachine.add('EnterArena',
_sm_enterarena_16,
transitions={'done': 'GoToRoom', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'roomQuestion': 'roomQuestion', 'doorName': 'doorName', 'skipDoorEntrance': 'skipDoorEntrance', 'cleanupRoom': 'cleanupRoom'})
# x:286 y:217
OperatableStateMachine.add('GoToRoom',
_sm_gotoroom_15,
transitions={'done': 'CheckForMisplacedObjects', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'cleanupRoom': 'cleanupRoom', 'firstTimeInRoom': 'firstTimeInRoom'})
# x:652 y:203
OperatableStateMachine.add('CheckForMisplacedObjects',
_sm_checkformisplacedobjects_14,
transitions={'noneLeft': 'done', 'found': 'PickMisplacedObject', 'failed': 'failed'},
autonomy={'noneLeft': Autonomy.Inherit, 'found': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'nameFilter': 'nameFilter', 'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleanupRoom', 'placedObjects': 'placedObjects', 'misplacedObject': 'misplacedObject'})
# x:557 y:403
OperatableStateMachine.add('PickMisplacedObject',
_sm_pickmisplacedobject_13,
transitions={'finished': 'PutObjectInDesiredContainer', 'failed': 'GoToRoom'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject', 'waypointGenerationDistance': 'waypointGenerationDistance'})
# x:234 y:476
OperatableStateMachine.add('PutObjectInDesiredContainer',
_sm_putobjectindesiredcontainer_12,
transitions={'finished': 'GoToRoom'},
autonomy={'finished': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject', 'placedObjects': 'placedObjects'})
return _state_machine
def create(self):
# x:391 y:586, x:438 y:304
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.StartPosition = "Operator"
_state_machine.userdata.PositionBras = "IdlePose"
_state_machine.userdata.title = "GPSR"
_state_machine.userdata.EntryName = "door1/enter"
_state_machine.userdata.ExitName = "door2/exit"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:135 y:542, x:527 y:395
_sm_validate_0 = OperatableStateMachine(outcomes=['done', 'bad'],
input_keys=['sentence'])
with _sm_validate_0:
# x:56 y:62
OperatableStateMachine.add(
'Say_Command',
SaraSay(
sentence=lambda x: "I heard. " + x + ". Is that correct?",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'get speech'},
autonomy={'done': Autonomy.Off})
# x:44 y:165
OperatableStateMachine.add('get speech',
GetSpeech(watchdog=10),
transitions={
'done': 'is yes',
'nothing': 'say repeate',
'fail': 'say repeate'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'words'})
# x:91 y:307
OperatableStateMachine.add(
'is yes',
CheckConditionState(predicate=lambda x: "yes" in x or "right"
in x or "sure" in x),
transitions={
'true': 'done',
'false': 'say repeate'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'words'})
# x:423 y:332
OperatableStateMachine.add(
'say repeate',
SaraSay(sentence="Please, repeat your command.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'bad'},
autonomy={'done': Autonomy.Off})
# x:30 y:324
_sm_look_at_op_1 = OperatableStateMachine(outcomes=['fail'])
with _sm_look_at_op_1:
# x:61 y:31
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list persons'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:44 y:110
OperatableStateMachine.add('list persons',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'get closest',
'none_found': 'list persons'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'entity_list',
'number': 'number'
})
# x:43 y:211
OperatableStateMachine.add(
'get closest',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'look at'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'ID'
})
# x:210 y:198
OperatableStateMachine.add('look at',
KeepLookingAt(),
transitions={'failed': 'list persons'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:307 y:35, x:335 y:491
_sm_get_commands_2 = OperatableStateMachine(
outcomes=['fail', 'understood'],
output_keys=['ActionForms', 'sentence'])
with _sm_get_commands_2:
# x:50 y:48
OperatableStateMachine.add(
'say ready',
SaraSay(sentence="I'm ready for your commands.",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'GetSpeech'},
autonomy={'done': Autonomy.Off})
# x:32 y:408
OperatableStateMachine.add('SaraNLUgpsr',
SaraNLUgpsr(),
transitions={
'understood': 'say understood',
'not_understood': 'say sorry',
'fail': 'say sorry'
},
autonomy={
'understood': Autonomy.Off,
'not_understood': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'sentence': 'sentence',
'ActionForms': 'ActionForms'
})
# x:597 y:223
OperatableStateMachine.add(
'say sorry',
SaraSay(
sentence="Sorry, I could not understand what you said.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'GetSpeech'},
autonomy={'done': Autonomy.Off})
# x:30 y:491
OperatableStateMachine.add('say understood',
SaraSay(sentence="Ok",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'understood'},
autonomy={'done': Autonomy.Off})
# x:44 y:131
OperatableStateMachine.add('GetSpeech',
GetSpeech(watchdog=5),
transitions={
'done': 'validate',
'nothing': 'GetSpeech',
'fail': 'fail'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'sentence'})
# x:29 y:259
OperatableStateMachine.add('validate',
_sm_validate_0,
transitions={
'done': 'SaraNLUgpsr',
'bad': 'GetSpeech'
},
autonomy={
'done': Autonomy.Inherit,
'bad': Autonomy.Inherit
},
remapping={'sentence': 'sentence'})
# x:122 y:413
_sm_end_3 = OperatableStateMachine(outcomes=['done'],
input_keys=['ExitName'])
with _sm_end_3:
# x:30 y:40
OperatableStateMachine.add(
'win',
SaraSay(sentence="Thank you. I'm going now.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Action_Pass_Door'},
autonomy={'done': Autonomy.Off})
# x:33 y:163
OperatableStateMachine.add(
'Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM,
'End/Action_Pass_Door'),
transitions={
'Done': 'say yay',
'Fail': 'done'
},
autonomy={
'Done': Autonomy.Inherit,
'Fail': Autonomy.Inherit
},
remapping={'DoorName': 'ExitName'})
# x:210 y:262
OperatableStateMachine.add(
'say yay',
SaraSay(sentence="I did it. I'm the best robot.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:320 y:82, x:322 y:143, x:265 y:407, x:306 y:225, x:430 y:324
_sm_interact_operator_4 = ConcurrencyContainer(
outcomes=['fail', 'understood'],
output_keys=['ActionForms', 'sentence'],
conditions=[('understood', [('Get Commands', 'understood')]),
('fail', [('Get Commands', 'fail')]),
('fail', [('look at op', 'fail')])])
with _sm_interact_operator_4:
# x:95 y:45
OperatableStateMachine.add('Get Commands',
_sm_get_commands_2,
transitions={
'fail': 'fail',
'understood': 'understood'
},
autonomy={
'fail': Autonomy.Inherit,
'understood': Autonomy.Inherit
},
remapping={
'ActionForms': 'ActionForms',
'sentence': 'sentence'
})
# x:99 y:198
OperatableStateMachine.add('look at op',
_sm_look_at_op_1,
transitions={'fail': 'fail'},
autonomy={'fail': Autonomy.Inherit})
# x:325 y:387, x:314 y:190
_sm_fail_state_5 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['StartPosition'])
with _sm_fail_state_5:
# x:36 y:29
OperatableStateMachine.add(
'say failed',
SaraSay(sentence="I failed. I'm going back to tell my master.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:42 y:301
OperatableStateMachine.add(
'get error',
GetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
transitions={
'done': 'Say_Error',
'failed': 'finished'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'Value': 'Error'})
# x:48 y:414
OperatableStateMachine.add(
'Say_Error',
SaraSay(sentence=lambda x: "Sorry, I failed because " + x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:25 y:172
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'Fail state/Action_Move'),
transitions={
'finished': 'get error',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'StartPosition'})
# x:588 y:141, x:590 y:545, x:642 y:410
_sm_do_the_actions_6 = OperatableStateMachine(
outcomes=['finished', 'failed', 'critical fail'],
input_keys=['ActionForms', 'OriginalPose'])
with _sm_do_the_actions_6:
# x:85 y:33
OperatableStateMachine.add('set i',
SetKey(Value=0),
transitions={'done': 'is form?'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'index'})
# x:48 y:339
OperatableStateMachine.add(
'GetForm',
FlexibleCalculationState(calculation=lambda x: x[0][x[1]],
input_keys=["ActionForms", "index"]),
transitions={'done': 'Action_Executor'},
autonomy={'done': Autonomy.Off},
remapping={
'ActionForms': 'ActionForms',
'index': 'index',
'output_value': 'ActionForm'
})
# x:57 y:131
OperatableStateMachine.add(
'is form?',
FlexibleCheckConditionState(
predicate=lambda x: x[1] < len(x[0]),
input_keys=["ActionForms", "index"]),
transitions={
'true': 'set setp',
'false': 'finished'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'ActionForms': 'ActionForms',
'index': 'index'
})
# x:204 y:237
OperatableStateMachine.add(
'++i',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'is form?'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'index',
'output_value': 'index'
})
# x:72 y:479
OperatableStateMachine.add(
'Action_Executor',
self.use_behavior(sara_flexbe_behaviors__Action_ExecutorSM,
'Do the actions/Action_Executor'),
transitions={
'finished': '++i',
'failed': 'failed',
'critical_fail': 'critical fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'ActionForm'})
# x:45 y:241
OperatableStateMachine.add('set setp',
StoryboardSetStepKey(),
transitions={'done': 'GetForm'},
autonomy={'done': Autonomy.Off},
remapping={'step': 'index'})
# x:424 y:175
_sm_initialisation_7 = OperatableStateMachine(
outcomes=['done'], input_keys=['PositionBras', 'EntryName'])
with _sm_initialisation_7:
# x:62 y:79
OperatableStateMachine.add(
'Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM,
'Initialisation/Action_Pass_Door'),
transitions={
'Done': 'set step',
'Fail': 'done'
},
autonomy={
'Done': Autonomy.Inherit,
'Fail': Autonomy.Inherit
},
remapping={'DoorName': 'EntryName'})
# x:70 y:306
OperatableStateMachine.add('set story',
Set_Story(titre="GPSR", storyline=[]),
transitions={'done': 'bras en lair'},
autonomy={'done': Autonomy.Off})
# x:288 y:375
OperatableStateMachine.add(
'say start',
SaraSay(sentence="I'm ready to start the GPSR scenario.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:78 y:205
OperatableStateMachine.add('set step',
Set_a_step(step=0),
transitions={'done': 'set story'},
autonomy={'done': Autonomy.Off})
# x:101 y:395
OperatableStateMachine.add('bras en lair',
MoveitMove(move=True,
waitForExecution=False,
group="RightArm"),
transitions={
'done': 'say start',
'failed': 'say start'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'PositionBras'})
with _state_machine:
# x:33 y:103
OperatableStateMachine.add('Initialisation',
_sm_initialisation_7,
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Inherit},
remapping={
'PositionBras': 'PositionBras',
'EntryName': 'EntryName'
})
# x:767 y:196
OperatableStateMachine.add('Do the actions',
_sm_do_the_actions_6,
transitions={
'finished': 'say succseed',
'failed': 'Fail state',
'critical fail': 'critical'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical fail': Autonomy.Inherit
},
remapping={
'ActionForms': 'ActionForms',
'OriginalPose': 'OriginalPose'
})
# x:250 y:126
OperatableStateMachine.add(
'Fail state',
_sm_fail_state_5,
transitions={
'finished': 'lift head',
'failed': 'critical'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'StartPosition': 'StartPosition'})
# x:250 y:257
OperatableStateMachine.add(
'critical',
SaraSay(
sentence="Critical failure! I require medical assistance.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:52 y:468
OperatableStateMachine.add('for 3',
ForLoop(repeat=3),
transitions={
'do': 'GetOriginalPose',
'end': 'End'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:747 y:475
OperatableStateMachine.add('say succseed',
SaraSay(
sentence="I succeed my mission.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'for 3'},
autonomy={'done': Autonomy.Off})
# x:204 y:368
OperatableStateMachine.add('Interact operator',
_sm_interact_operator_4,
transitions={
'fail': 'critical',
'understood': 'set step'
},
autonomy={
'fail': Autonomy.Inherit,
'understood': Autonomy.Inherit
},
remapping={
'ActionForms': 'ActionForms',
'sentence': 'sentence'
})
# x:553 y:316
OperatableStateMachine.add('set story',
StoryboardSetStoryFromAction(),
transitions={'done': 'Do the actions'},
autonomy={'done': Autonomy.Off},
remapping={
'titre': 'title',
'actionList': 'ActionForms'
})
# x:404 y:377
OperatableStateMachine.add('set step',
Set_a_step(step=0),
transitions={'done': 'set story'},
autonomy={'done': Autonomy.Off})
# x:41 y:375
OperatableStateMachine.add(
'GetOriginalPose',
Get_Robot_Pose(),
transitions={'done': 'Interact operator'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'OriginalPose'})
# x:37 y:564
OperatableStateMachine.add('End',
_sm_end_3,
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Inherit},
remapping={'ExitName': 'ExitName'})
# x:30 y:288
OperatableStateMachine.add('lift head',
SaraSetHeadAngle(pitch=-0.3, yaw=0),
transitions={'done': 'GetOriginalPose'},
autonomy={'done': Autonomy.Off})
# x:48 y:23
OperatableStateMachine.add('ContinueButton',
ContinueButton(),
transitions={
'true': 'Initialisation',
'false': 'Initialisation'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:21 y:185
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'Action_Move'),
transitions={
'finished': 'lift head',
'failed': 'critical'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'StartPosition'})
return _state_machine
def create(self):
# x:902 y:757, x:882 y:161
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:1232 y:907, x:1267 y:613, x:1271 y:566
_sm_find_table_and_place_0 = OperatableStateMachine(outcomes=['finished', 'failed', 'no_table'])
with _sm_find_table_and_place_0:
# x:877 y:673
OperatableStateMachine.add('run traj',
RunTrajectory(file="receive_object", duration=0),
transitions={'done': 'say release'},
autonomy={'done': Autonomy.Off})
# x:532 y:572
OperatableStateMachine.add('Action_find_2',
self.use_behavior(Action_findSM, 'take objects and bring the order to customer/find table and place/Action_find_2'),
transitions={'done': 'get table position', 'failed': 'say do not find table'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'className': 'tableKey', 'entity': 'tableEntity'})
# x:576 y:514
OperatableStateMachine.add('set tableKey',
SetKey(Value="table"),
transitions={'done': 'Action_find_2'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'tableKey'})
# x:538 y:638
OperatableStateMachine.add('get table position',
CalculationState(calculation=lambda x: x.position),
transitions={'done': 'Action_place'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'tableEntity', 'output_value': 'pose'})
# x:736 y:677
OperatableStateMachine.add('say do not find table',
SaraSay(sentence="I can not find the table. Please be ready to grab the object.", input_keys=[], emotion=0, block=True),
transitions={'done': 'run traj'},
autonomy={'done': Autonomy.Off})
# x:41 y:231
OperatableStateMachine.add('find a table and a free spot',
GetPositionToPlaceOnTable(),
transitions={'done': 'Action_place', 'not_found': 'look down_left'},
autonomy={'done': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'distanceFromEdge': 'distanceFromEdge', 'position': 'pose'})
# x:291 y:805
OperatableStateMachine.add('Action_place',
self.use_behavior(Action_placeSM, 'take objects and bring the order to customer/find table and place/Action_place'),
transitions={'finished': 'finished', 'failed': 'say do not find table'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pos': 'pose'})
# x:50 y:102
OperatableStateMachine.add('look down',
SaraSetHeadAngle(pitch=0, yaw=0.7),
transitions={'done': 'wait'},
autonomy={'done': Autonomy.Off})
# x:214 y:378
OperatableStateMachine.add('find a table and a free spot_2',
GetPositionToPlaceOnTable(),
transitions={'done': 'Action_place', 'not_found': 'look down_right'},
autonomy={'done': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'distanceFromEdge': 'distanceFromEdge', 'position': 'pose'})
# x:240 y:232
OperatableStateMachine.add('look down_left',
SaraSetHeadAngle(pitch=0.7, yaw=0.6),
transitions={'done': 'wait_2'},
autonomy={'done': Autonomy.Off})
# x:387 y:513
OperatableStateMachine.add('find a table and a free spot_2_2',
GetPositionToPlaceOnTable(),
transitions={'done': 'Action_place', 'not_found': 'set tableKey'},
autonomy={'done': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'distanceFromEdge': 'distanceFromEdge', 'position': 'pose'})
# x:402 y:378
OperatableStateMachine.add('look down_right',
SaraSetHeadAngle(pitch=-0.7, yaw=0.6),
transitions={'done': 'wait_3'},
autonomy={'done': Autonomy.Off})
# x:66 y:169
OperatableStateMachine.add('wait',
WaitState(wait_time=3),
transitions={'done': 'find a table and a free spot'},
autonomy={'done': Autonomy.Off})
# x:242 y:294
OperatableStateMachine.add('wait_2',
WaitState(wait_time=3),
transitions={'done': 'find a table and a free spot_2'},
autonomy={'done': Autonomy.Off})
# x:411 y:444
OperatableStateMachine.add('wait_3',
WaitState(wait_time=3),
transitions={'done': 'find a table and a free spot_2_2'},
autonomy={'done': Autonomy.Off})
# x:1000 y:670
OperatableStateMachine.add('say release',
SaraSay(sentence="Here is your order. I will open my gripper in 3, 2, 1, now.", input_keys=[], emotion=0, block=True),
transitions={'done': 'open gripper'},
autonomy={'done': Autonomy.Off})
# x:1122 y:666
OperatableStateMachine.add('open gripper',
SetGripperState(width=0.1, effort=1),
transitions={'object': 'say good day', 'no_object': 'say good day'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:1170 y:771
OperatableStateMachine.add('say good day',
SaraSay(sentence="Thank you. Have a good day.", input_keys=[], emotion=6, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:62 y:29
OperatableStateMachine.add('set distance',
SetKey(Value=0.3),
transitions={'done': 'look down'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distanceFromEdge'})
# x:30 y:458, x:130 y:458
_sm_keep_looking_1 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['personID'])
with _sm_keep_looking_1:
# x:30 y:40
OperatableStateMachine.add('keep',
KeepLookingAt(),
transitions={'failed': 'keep'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'personID'})
# x:30 y:458, x:130 y:458
_sm_ask_2 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['question'], output_keys=['answer'])
with _sm_ask_2:
# x:30 y:40
OperatableStateMachine.add('Action_Ask',
self.use_behavior(Action_AskSM, 'ask and save order/ask AND look person/ask/Action_Ask'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'question': 'question', 'answer': 'answer'})
# x:30 y:458, x:130 y:458
_sm_confirm_order_3 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['orderList'])
with _sm_confirm_order_3:
# x:114 y:67
OperatableStateMachine.add('produce question',
CalculationState(calculation=lambda x: "Did you order :" + str(x[0].data)),
transitions={'done': 'Action_Ask'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'orderList', 'output_value': 'question'})
# x:423 y:171
OperatableStateMachine.add('Action_Ask',
self.use_behavior(Action_AskSM, 'ask and save order/confirm order/Action_Ask'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'question': 'question', 'answer': 'answer'})
# x:348 y:66, x:351 y:97, x:339 y:159, x:336 y:195, x:518 y:89, x:515 y:175
_sm_ask_and_look_person_4 = ConcurrencyContainer(outcomes=['finished', 'failed'], input_keys=['personID', 'question'], output_keys=['answer'], conditions=[
('finished', [('ask', 'finished')]),
('failed', [('ask', 'failed')]),
('finished', [('keep looking', 'finished')]),
('failed', [('keep looking', 'failed')])
])
with _sm_ask_and_look_person_4:
# x:30 y:40
OperatableStateMachine.add('ask',
_sm_ask_2,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'question': 'question', 'answer': 'answer'})
# x:30 y:138
OperatableStateMachine.add('keep looking',
_sm_keep_looking_1,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'personID': 'personID'})
# x:30 y:458
_sm_look_around_2_5 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_around_2_5:
# x:215 y:156
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:394 y:262
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:206 y:372
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:38 y:596
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:413 y:159
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:415 y:370
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:39 y:371
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:25 y:482
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:30 y:458
_sm_look_around_6 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_around_6:
# x:215 y:156
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:394 y:262
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:206 y:372
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:38 y:596
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:413 y:159
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:415 y:370
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:39 y:371
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:25 y:482
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:30 y:458, x:130 y:458
_sm_turn_around_7 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_turn_around_7:
# x:80 y:26
OperatableStateMachine.add('look around',
_sm_look_around_6,
transitions={'finished': 'pose with 180 rotation'},
autonomy={'finished': Autonomy.Inherit})
# x:66 y:286
OperatableStateMachine.add('rotation',
SaraMoveBase(reference="base_link"),
transitions={'arrived': 'look around_2', 'failed': 'failed'},
autonomy={'arrived': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'pose': 'pose'})
# x:56 y:388
OperatableStateMachine.add('look around_2',
_sm_look_around_2_5,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit})
# x:63 y:133
OperatableStateMachine.add('pose with 180 rotation',
GenPoseEuler(x=0, y=0, z=0, roll=0, pitch=0, yaw=3.14),
transitions={'done': 'rotation'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'pose'})
# x:30 y:458
_sm_get_waving_people_8 = OperatableStateMachine(outcomes=['finished'], output_keys=['waving_person'])
with _sm_get_waving_people_8:
# x:47 y:45
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list people'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:40 y:236
OperatableStateMachine.add('filter waving',
FilterKey(filter_function=lambda x: x[0].pose.right_arm_up or x[0].pose.left_arm_up, input_keys=["input_list"]),
transitions={'not_empty': 'get first', 'empty': 'list people'},
autonomy={'not_empty': Autonomy.Off, 'empty': Autonomy.Off},
remapping={'input_list': 'entity_list', 'output_list': 'waving_peoples'})
# x:53 y:326
OperatableStateMachine.add('get first',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'waving_peoples', 'output_value': 'waving_person'})
# x:40 y:133
OperatableStateMachine.add('list people',
list_entities_by_name(frontality_level=0.5, distance_max=5),
transitions={'found': 'filter waving', 'none_found': 'list people'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'})
# x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458
_sm_look_for_waving_people_9 = ConcurrencyContainer(outcomes=['finished', 'failed'], output_keys=['waving_person'], conditions=[
('failed', [('turn around', 'failed')]),
('failed', [('turn around', 'finished')]),
('finished', [('get waving people', 'finished')])
])
with _sm_look_for_waving_people_9:
# x:268 y:118
OperatableStateMachine.add('get waving people',
_sm_get_waving_people_8,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'waving_person': 'waving_person'})
# x:60 y:126
OperatableStateMachine.add('turn around',
_sm_turn_around_7,
transitions={'finished': 'failed', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:441 y:583, x:93 y:568
_sm_repeate_if_first_commande_10 = OperatableStateMachine(outcomes=['finished', 'repeate'], input_keys=['commandNumber'], output_keys=['commandNumber'])
with _sm_repeate_if_first_commande_10:
# x:242 y:97
OperatableStateMachine.add('if first command',
CheckConditionState(predicate=lambda x: x == 1),
transitions={'true': 'set second command', 'false': 'finished'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'commandNumber'})
# x:73 y:329
OperatableStateMachine.add('set second command',
SetKey(Value=2),
transitions={'done': 'repeate'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'commandNumber'})
# x:1053 y:687, x:1068 y:149
_sm_take_objects_and_bring_the_order_to_customer_11 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['barPosition', 'orderList', 'robotPositionToCustomer'])
with _sm_take_objects_and_bring_the_order_to_customer_11:
# x:73 y:26
OperatableStateMachine.add('set indexkey',
SetKey(Value=0),
transitions={'done': 'one element by one element from the list'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'indexKey'})
# x:591 y:684
OperatableStateMachine.add('increment indexKey',
CalculationState(calculation=lambda x: x+1),
transitions={'done': 'check if end of the list'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'indexKey', 'output_value': 'indexKey'})
# x:796 y:679
OperatableStateMachine.add('check if end of the list',
FlexibleCheckConditionState(predicate=lambda x: len(x[0]) <= x[1], input_keys=["orderList", "indexKey"]),
transitions={'true': 'finished', 'false': 'Action_Move_2'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'orderList': 'orderList', 'indexKey': 'indexKey'})
# x:31 y:243
OperatableStateMachine.add('Action_find',
self.use_behavior(Action_findSM, 'take objects and bring the order to customer/Action_find'),
transitions={'done': 'get entity ID', 'failed': 'say cannot find'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'className': 'item', 'entity': 'entity'})
# x:76 y:183
OperatableStateMachine.add('say search and grip',
SaraSay(sentence=lambda x: "I am now searching for the "+x[0]+".", input_keys=["item"], emotion=0, block=True),
transitions={'done': 'Action_find'},
autonomy={'done': Autonomy.Off},
remapping={'item': 'item'})
# x:258 y:261
OperatableStateMachine.add('say cannot find',
SaraSay(sentence="I cannot find the item.", input_keys=[], emotion=0, block=True),
transitions={'done': 'place arm'},
autonomy={'done': Autonomy.Off})
# x:63 y:393
OperatableStateMachine.add('Action_pick',
self.use_behavior(Action_pickSM, 'take objects and bring the order to customer/Action_pick'),
transitions={'success': 'say go to the customer', 'unreachable': 'say cannot pick', 'not found': 'say cannot pick', 'dropped': 'say cannot pick'},
autonomy={'success': Autonomy.Inherit, 'unreachable': Autonomy.Inherit, 'not found': Autonomy.Inherit, 'dropped': Autonomy.Inherit},
remapping={'objectID': 'entityID'})
# x:61 y:548
OperatableStateMachine.add('Action_Move',
self.use_behavior(Action_MoveSM, 'take objects and bring the order to customer/Action_Move'),
transitions={'finished': 'find table and place', 'failed': 'say cant get back to customer'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'robotPositionToCustomer'})
# x:83 y:326
OperatableStateMachine.add('get entity ID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'Action_pick'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity', 'output_value': 'entityID'})
# x:568 y:407
OperatableStateMachine.add('say put in the gripper',
SaraSay(sentence=lambda x: "Please, put the "+x[0]+" in my gripper. I will close it in 3, 2, 1, now.", input_keys=["item"], emotion=0, block=True),
transitions={'done': 'close gripper'},
autonomy={'done': Autonomy.Off},
remapping={'item': 'item'})
# x:243 y:387
OperatableStateMachine.add('say cannot pick',
SaraSay(sentence="I can not pick the item.", input_keys=[], emotion=0, block=True),
transitions={'done': 'place arm'},
autonomy={'done': Autonomy.Off})
# x:388 y:502
OperatableStateMachine.add('say thank you',
SaraSay(sentence="Thank you.", input_keys=[], emotion=0, block=True),
transitions={'done': 'place arm 2'},
autonomy={'done': Autonomy.Off})
# x:72 y:465
OperatableStateMachine.add('say go to the customer',
SaraSay(sentence="I will serve it to the customer.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:522 y:505
OperatableStateMachine.add('close gripper',
SetGripperState(width=0, effort=1),
transitions={'object': 'say thank you', 'no_object': 'open gripper'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:357 y:569
OperatableStateMachine.add('say cant get back to customer',
SaraSay(sentence="I am not able to go back to the customer.", input_keys=[], emotion=0, block=True),
transitions={'done': 'increment indexKey'},
autonomy={'done': Autonomy.Off})
# x:541 y:317
OperatableStateMachine.add('open gripper',
SetGripperState(width=0.10, effort=1),
transitions={'object': 'say put in the gripper', 'no_object': 'say put in the gripper'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:63 y:110
OperatableStateMachine.add('one element by one element from the list',
FlexibleCalculationState(calculation=lambda x: x[0][x[1]].data, input_keys=["orderList", "indexKey"]),
transitions={'done': 'say search and grip'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList', 'indexKey': 'indexKey', 'output_value': 'item'})
# x:376 y:324
OperatableStateMachine.add('place arm',
RunTrajectory(file="receive_object", duration=0),
transitions={'done': 'open gripper'},
autonomy={'done': Autonomy.Off})
# x:638 y:184
OperatableStateMachine.add('Action_Move_2',
self.use_behavior(Action_MoveSM, 'take objects and bring the order to customer/Action_Move_2'),
transitions={'finished': 'increment indexKey', 'failed': 'say cannot go back to bar'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'barPosition'})
# x:817 y:178
OperatableStateMachine.add('say cannot go back to bar',
SaraSay(sentence="I am not able to go back to the barman. I will try a new command.", input_keys=[], emotion=0, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:85 y:740
OperatableStateMachine.add('find table and place',
_sm_find_table_and_place_0,
transitions={'finished': 'retour repos', 'failed': 'retour repos', 'no_table': 'retour repos'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'no_table': Autonomy.Inherit})
# x:248 y:505
OperatableStateMachine.add('place arm 2',
RunTrajectory(file="transport", duration=0),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:362 y:679
OperatableStateMachine.add('retour repos',
RunTrajectory(file="repos", duration=0),
transitions={'done': 'increment indexKey'},
autonomy={'done': Autonomy.Off})
# x:242 y:352, x:1086 y:243
_sm_get_the_order_12 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['orderList'])
with _sm_get_the_order_12:
# x:68 y:39
OperatableStateMachine.add('length 1',
CheckConditionState(predicate=lambda x: len(x) == 1),
transitions={'true': 'say order', 'false': 'length 2'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'orderList'})
# x:236 y:41
OperatableStateMachine.add('length 2',
CheckConditionState(predicate=lambda x: len(x) ==2),
transitions={'true': 'say order_2', 'false': 'say order_3'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'orderList'})
# x:228 y:111
OperatableStateMachine.add('say order_2',
SaraSay(sentence=lambda x: "For this order, I would like to have one "+x[0][0].data+" and one "+x[0][1].data+", please.", input_keys=["orderList"], emotion=0, block=True),
transitions={'done': 'wait 5'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList'})
# x:374 y:109
OperatableStateMachine.add('say order_3',
SaraSay(sentence=lambda x: "For this order, I would like to have one "+x[0][0].data+", one "+x[0][1].data+" and one "+x[0][2].data+", please.", input_keys=["orderList"], emotion=0, block=True),
transitions={'done': 'wait 5'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList'})
# x:67 y:117
OperatableStateMachine.add('say order',
SaraSay(sentence=lambda x: "For this order, I would like to have one "+x[0][0].data+", please.", input_keys=["orderList"], emotion=0, block=True),
transitions={'done': 'wait 5'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList'})
# x:224 y:256
OperatableStateMachine.add('wait 5',
WaitState(wait_time=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:216 y:528, x:572 y:238
_sm_go_to_the_barman_13 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['barPosition', 'barmanID'])
with _sm_go_to_the_barman_13:
# x:30 y:102
OperatableStateMachine.add('Action_Move',
self.use_behavior(Action_MoveSM, 'go to the barman/Action_Move'),
transitions={'finished': 'if barman id is 0', 'failed': 'say cannot'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'barPosition'})
# x:365 y:99
OperatableStateMachine.add('say cannot',
SaraSay(sentence="I can not reach my destination. I will take another order. If you have one, please raise your hand.", input_keys=[], emotion=0, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:30 y:320
OperatableStateMachine.add('Action_findPersonByID',
self.use_behavior(Action_findPersonByIDSM, 'go to the barman/Action_findPersonByID',
default_keys=['className']),
transitions={'found': 'finished', 'not_found': 'finished'},
autonomy={'found': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'personID': 'barmanID', 'personEntity': 'personEntity'})
# x:115 y:230
OperatableStateMachine.add('if barman id is 0',
CheckConditionState(predicate=lambda x: x == 0),
transitions={'true': 'finished', 'false': 'Action_findPersonByID'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'barmanID'})
# x:898 y:561, x:871 y:123
_sm_ask_and_save_order_14 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['customerID'], output_keys=['orderList'])
with _sm_ask_and_save_order_14:
# x:70 y:112
OperatableStateMachine.add('say ready',
SaraSay(sentence="Hello.", input_keys=[], emotion=0, block=True),
transitions={'done': 'set question'},
autonomy={'done': Autonomy.Off})
# x:69 y:187
OperatableStateMachine.add('set question',
SetKey(Value="What do you want to order?"),
transitions={'done': 'ask AND look person'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'question'})
# x:411 y:138
OperatableStateMachine.add('say cannot',
SaraSay(sentence="I am not able to understand your order. I will take another order.", input_keys=[], emotion=0, block=True),
transitions={'done': 'set question'},
autonomy={'done': Autonomy.Off})
# x:59 y:272
OperatableStateMachine.add('ask AND look person',
_sm_ask_and_look_person_4,
transitions={'finished': 'nlu restaurant', 'failed': 'say cannot'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'personID': 'customerID', 'question': 'question', 'answer': 'answer'})
# x:411 y:453
OperatableStateMachine.add('nlu restaurant',
SaraNLUrestaurant(),
transitions={'understood': 'confirm order', 'fail': 'say cannot'},
autonomy={'understood': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'sentence': 'answer', 'orderList': 'orderList'})
# x:657 y:417
OperatableStateMachine.add('confirm order',
_sm_confirm_order_3,
transitions={'finished': 'say bring', 'failed': 'set question'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'orderList': 'orderList'})
# x:852 y:402
OperatableStateMachine.add('say bring',
SaraSay(sentence=lambda x: "understood. I will bring you the "+str(x[0][0].data), input_keys=["orderList"], emotion=0, block=False),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList'})
# x:677 y:318, x:735 y:160
_sm_move_to_table_and_save_position_15 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['customerPosition'], output_keys=['robotPositionToCustomer'])
with _sm_move_to_table_and_save_position_15:
# x:69 y:24
OperatableStateMachine.add('set distance to person',
SetKey(Value=0.7),
transitions={'done': 'compute robot pose to customer'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distanceToPerson'})
# x:344 y:115
OperatableStateMachine.add('say cannot',
SaraSay(sentence="I can not reach my destination. I will take another order. If you have one, please raise your hand.", input_keys=[], emotion=0, block=True),
transitions={'done': 'save pose to not get flexbe problems'},
autonomy={'done': Autonomy.Off})
# x:497 y:129
OperatableStateMachine.add('save pose to not get flexbe problems',
Get_Robot_Pose(),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'pose'})
# x:47 y:98
OperatableStateMachine.add('compute robot pose to customer',
Get_Reacheable_Waypoint(),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'customerPosition', 'distance': 'distanceToPerson', 'pose_out': 'robotPositionToCustomer'})
# x:78 y:199
OperatableStateMachine.add('Action_Move',
self.use_behavior(Action_MoveSM, 'move to table and save position/Action_Move'),
transitions={'finished': 'finished', 'failed': 'say cannot'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'robotPositionToCustomer'})
# x:112 y:525, x:363 y:46
_sm_detect_people_waving_16 = OperatableStateMachine(outcomes=['finished', 'failed'], output_keys=['customerPosition', 'customerID'])
with _sm_detect_people_waving_16:
# x:84 y:25
OperatableStateMachine.add('say looking',
SaraSay(sentence="I am now looking for customers. If you want to order something, please raise your hand.", input_keys=[], emotion=0, block=False),
transitions={'done': 'Look for waving people'},
autonomy={'done': Autonomy.Off})
# x:73 y:375
OperatableStateMachine.add('reachable position_2',
Get_Reacheable_Waypoint(),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'customerPosition', 'distance': 'distance', 'pose_out': 'customerPosition'})
# x:71 y:291
OperatableStateMachine.add('set distance to customer_2',
SetKey(Value=0.5),
transitions={'done': 'reachable position_2'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:94 y:216
OperatableStateMachine.add('get attributes',
GetAttribute(attributes=["ID", "position"]),
transitions={'done': 'set distance to customer_2'},
autonomy={'done': Autonomy.Off},
remapping={'object': 'waving_person', 'ID': 'customerID', 'position': 'customerPosition'})
# x:63 y:120
OperatableStateMachine.add('Look for waving people',
_sm_look_for_waving_people_9,
transitions={'finished': 'get attributes', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'waving_person': 'waving_person'})
# x:874 y:499, x:747 y:100
_sm_save_bar_position_and_initiation_17 = OperatableStateMachine(outcomes=['finished', 'failed'], output_keys=['barPosition', 'commandNumber', 'barmanID'])
with _sm_save_bar_position_and_initiation_17:
# x:66 y:96
OperatableStateMachine.add('set question barman',
SetKey(Value="Are you the bartender?"),
transitions={'done': 'Action_FindPersonByQuestion'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'questionBarman'})
# x:488 y:85
OperatableStateMachine.add('say failed to find the barman',
SaraSay(sentence="I am not able to find the barman. I will get the order and come back here to get the items.", input_keys=[], emotion=0, block=True),
transitions={'done': 'barman ID to 0'},
autonomy={'done': Autonomy.Off})
# x:83 y:406
OperatableStateMachine.add('save barman ID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'get current pose'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'personFound', 'output_value': 'barmanID'})
# x:512 y:183
OperatableStateMachine.add('barman ID to 0',
SetKey(Value=0),
transitions={'done': 'get current pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'barmanID'})
# x:488 y:391
OperatableStateMachine.add('get current pose',
Get_Robot_Pose(),
transitions={'done': 'set first command'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'barPosition'})
# x:55 y:214
OperatableStateMachine.add('Action_FindPersonByQuestion',
self.use_behavior(Action_FindPersonByQuestionSM, 'save bar position and initiation/Action_FindPersonByQuestion'),
transitions={'found': 'save barman ID', 'failed': 'say failed to find the barman', 'not_found': 'say failed to find the barman'},
autonomy={'found': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'question': 'questionBarman', 'entityFound': 'personFound'})
# x:489 y:478
OperatableStateMachine.add('set first command',
SetKey(Value=1),
transitions={'done': 'say instructions'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'commandNumber'})
# x:689 y:477
OperatableStateMachine.add('say instructions',
SaraSay(sentence="Good! I wil now start to serve people.", input_keys=[], emotion=0, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('save bar position and initiation',
_sm_save_bar_position_and_initiation_17,
transitions={'finished': 'detect people waving', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'barPosition': 'barPosition', 'commandNumber': 'commandNumber', 'barmanID': 'barmanID'})
# x:131 y:141
OperatableStateMachine.add('detect people waving',
_sm_detect_people_waving_16,
transitions={'finished': 'move to table and save position', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'customerPosition': 'customerPosition', 'customerID': 'customerID'})
# x:233 y:250
OperatableStateMachine.add('move to table and save position',
_sm_move_to_table_and_save_position_15,
transitions={'finished': 'ask and save order', 'failed': 'detect people waving'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'customerPosition': 'customerPosition', 'robotPositionToCustomer': 'robotPositionToCustomer'})
# x:286 y:337
OperatableStateMachine.add('ask and save order',
_sm_ask_and_save_order_14,
transitions={'finished': 'go to the barman', 'failed': 'detect people waving'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'customerID': 'customerID', 'orderList': 'orderList'})
# x:264 y:434
OperatableStateMachine.add('go to the barman',
_sm_go_to_the_barman_13,
transitions={'finished': 'get the order', 'failed': 'detect people waving'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'barPosition': 'barPosition', 'barmanID': 'barmanID'})
# x:278 y:526
OperatableStateMachine.add('get the order',
_sm_get_the_order_12,
transitions={'finished': 'take objects and bring the order to customer', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'orderList': 'orderList'})
# x:260 y:626
OperatableStateMachine.add('take objects and bring the order to customer',
_sm_take_objects_and_bring_the_order_to_customer_11,
transitions={'finished': 'repeate if first commande', 'failed': 'repeate if first commande'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'barPosition': 'barPosition', 'orderList': 'orderList', 'robotPositionToCustomer': 'robotPositionToCustomer'})
# x:118 y:735
OperatableStateMachine.add('repeate if first commande',
_sm_repeate_if_first_commande_10,
transitions={'finished': 'say finish', 'repeate': 'detect people waving'},
autonomy={'finished': Autonomy.Inherit, 'repeate': Autonomy.Inherit},
remapping={'commandNumber': 'commandNumber'})
# x:431 y:743
OperatableStateMachine.add('say finish',
SaraSay(sentence="I reach the end of my scenario. I will go back to the bar.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:616 y:735
OperatableStateMachine.add('Action_Move',
self.use_behavior(Action_MoveSM, 'Action_Move'),
transitions={'finished': 'finished', 'failed': 'finished'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'barPosition'})
return _state_machine