def create(self):
# x:1103 y:529, x:321 y:227
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.Pose_Init = "IdlePose"
_state_machine.userdata.Closed_Gripper_Width = 1
_state_machine.userdata.Open_Gripper_Width = 255
_state_machine.userdata.ID = 0
_state_machine.userdata.PoseStart = "PoseStart"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365
_sm_look_in_the_eyes_0 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_in_the_eyes_0:
# x:189 y:48
OperatableStateMachine.add('wait 3',
WaitState(wait_time=3),
transitions={'done': 'say ready'},
autonomy={'done': Autonomy.Off})
# x:171 y:288
OperatableStateMachine.add('reset head',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:164 y:163
OperatableStateMachine.add(
'say ready',
SaraSay(
sentence=
"Good, I see you want this bag. But, could you hand it to me please?",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'reset head'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_look_at_it_1 = OperatableStateMachine(outcomes=['fail'],
input_keys=['position'])
with _sm_look_at_it_1:
# x:126 y:99
OperatableStateMachine.add('look',
LookAtPos(),
transitions={
'failed': 'look',
'done': 'look'
},
autonomy={
'failed': Autonomy.Off,
'done': Autonomy.Off
},
remapping={'pos': 'position'})
# x:30 y:365
_sm_point_at_it_2 = OperatableStateMachine(outcomes=['finished'],
input_keys=['position'])
with _sm_point_at_it_2:
# x:112 y:202
OperatableStateMachine.add(
'Action_point_at',
self.use_behavior(
Action_point_atSM,
'recevoir sac/Recevoir sac/look at bag/designate bag/point at it/Action_point_at'
),
transitions={
'finished': 'Action_point_at',
'failed': 'Action_point_at'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'targetPoint': 'position'})
# x:30 y:365
_sm_move_to_it_3 = OperatableStateMachine(outcomes=['arrived'],
input_keys=['position'])
with _sm_move_to_it_3:
# x:204 y:52
OperatableStateMachine.add('set distance',
SetKey(Value=1),
transitions={'done': 'get pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:211 y:185
OperatableStateMachine.add('get pose',
Get_Reacheable_Waypoint(),
transitions={'done': 'move to bag'},
autonomy={'done': Autonomy.Off},
remapping={
'pose_in': 'position',
'distance': 'distance',
'pose_out': 'pose'
})
# x:188 y:279
OperatableStateMachine.add('move to bag',
SaraMoveBase(reference="map"),
transitions={
'arrived': 'arrived',
'failed': 'arrived'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'pose'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
_sm_designate_bag_4 = ConcurrencyContainer(
outcomes=['finished'],
input_keys=['position'],
conditions=[('finished', [('look at it', 'fail')]),
('finished', [('point at it', 'finished')]),
('finished', [('move to it', 'arrived')])])
with _sm_designate_bag_4:
# x:499 y:118
OperatableStateMachine.add('move to it',
_sm_move_to_it_3,
transitions={'arrived': 'finished'},
autonomy={'arrived': Autonomy.Inherit},
remapping={'position': 'position'})
# x:239 y:126
OperatableStateMachine.add('point at it',
_sm_point_at_it_2,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'position': 'position'})
# x:45 y:121
OperatableStateMachine.add('look at it',
_sm_look_at_it_1,
transitions={'fail': 'finished'},
autonomy={'fail': Autonomy.Inherit},
remapping={'position': 'position'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
_sm_receive_it_5 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'],
conditions=[('finished', [('Action_Receive_Bag', 'finished'),
('look in the eyes', 'finished')]),
('failed', [('Action_Receive_Bag', 'failed')])])
with _sm_receive_it_5:
# x:30 y:149
OperatableStateMachine.add(
'Action_Receive_Bag',
self.use_behavior(
Action_Receive_BagSM,
'recevoir sac/Recevoir sac/receive it/Action_Receive_Bag'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width': 'Closed_Gripper_Width',
'Open_Gripper_Width': 'Open_Gripper_Width',
'Closed_Gripper_Width': 'Closed_Gripper_Width'
})
# x:259 y:150
OperatableStateMachine.add('look in the eyes',
_sm_look_in_the_eyes_0,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit})
# x:30 y:322
_sm_look_at_bag_6 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_at_bag_6:
# x:35 y:70
OperatableStateMachine.add('setName',
SetKey(Value="person"),
transitions={'done': 'say 1'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'personName'})
# x:233 y:109
OperatableStateMachine.add(
'say 1',
SaraSay(sentence="Please, point at the bag you want.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off})
# x:28 y:193
OperatableStateMachine.add('list',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'calc',
'none_found': 'list'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'personName',
'entity_list': 'entity_list',
'number': 'number'
})
# x:230 y:363
OperatableStateMachine.add(
'get bag position from pointing',
GetPointedPositionOnPlane(planeHeight=0.2),
transitions={
'done': 'designate bag',
'not_pointing': 'say 1',
'pointing_up': 'say 1',
'failed': 'list'
},
autonomy={
'done': Autonomy.Off,
'not_pointing': Autonomy.Off,
'pointing_up': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'entity': 'entity',
'position': 'position'
})
# x:34 y:362
OperatableStateMachine.add(
'calc',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'get bag position from pointing'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'entity'
})
# x:241 y:554
OperatableStateMachine.add('designate bag',
_sm_designate_bag_4,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'position': 'position'})
# x:30 y:365, x:182 y:454
_sm_recevoir_sac_7 = OperatableStateMachine(
outcomes=['failed', 'done'],
input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'])
with _sm_recevoir_sac_7:
# x:66 y:44
OperatableStateMachine.add('look at bag',
_sm_look_at_bag_6,
transitions={'finished': 'close'},
autonomy={'finished': Autonomy.Inherit})
# x:41 y:267
OperatableStateMachine.add('receive it',
_sm_receive_it_5,
transitions={
'finished': 'sayCAr',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width':
'Closed_Gripper_Width',
'Open_Gripper_Width':
'Open_Gripper_Width'
})
# x:81 y:157
OperatableStateMachine.add(
'close',
SetGripperState(width=0, effort=0),
transitions={
'object': 'receive it',
'no_object': 'receive it'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:139 y:334
OperatableStateMachine.add(
'sayCAr',
SaraSay(sentence="PLease tell me when we get to the car.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_listen_8 = OperatableStateMachine(outcomes=['done'])
with _sm_listen_8:
# x:50 y:76
OperatableStateMachine.add(
'SayFollow',
SaraSay(
sentence=
"I will follow you to the car now. Tell me when we get to the car.",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'LIsten'},
autonomy={'done': Autonomy.Off})
# x:161 y:148
OperatableStateMachine.add('LIsten',
GetSpeech(watchdog=10),
transitions={
'done': 'Listen2',
'nothing': 'LIsten',
'fail': 'LIsten'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'words'})
# x:201 y:256
OperatableStateMachine.add(
'Listen2',
RegexTester(regex=".*((car)|(here it is)|(now)).*"),
transitions={
'true': 'done',
'false': 'Listen2'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'words',
'result': 'result'
})
# x:520 y:327
_sm_follow_9 = OperatableStateMachine(outcomes=['failed'],
input_keys=['ID'])
with _sm_follow_9:
# x:128 y:127
OperatableStateMachine.add(
'Action_follow',
self.use_behavior(Action_followSM,
'Follow and listen/follow/Action_follow'),
transitions={'failed': 'set name'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:288 y:346
OperatableStateMachine.add('list people',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'get first ID',
'none_found': 'failed'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'entity_list',
'number': 'number'
})
# x:109 y:334
OperatableStateMachine.add(
'get first ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'Action_follow'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'ID'
})
# x:349 y:116
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list people'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365
_sm_recevoir_sac_10 = ConcurrencyContainer(
outcomes=['failed', 'done'],
input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'],
conditions=[('failed', [('Recevoir sac', 'failed')]),
('done', [('Recevoir sac', 'done')]),
('done', [('LookAtClosest', 'failed')])])
with _sm_recevoir_sac_10:
# x:30 y:40
OperatableStateMachine.add('Recevoir sac',
_sm_recevoir_sac_7,
transitions={
'failed': 'failed',
'done': 'done'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width':
'Closed_Gripper_Width',
'Open_Gripper_Width':
'Open_Gripper_Width'
})
# x:234 y:114
OperatableStateMachine.add('LookAtClosest',
self.use_behavior(
LookAtClosestSM,
'recevoir sac/LookAtClosest'),
transitions={'failed': 'done'},
autonomy={'failed': Autonomy.Inherit})
# x:390 y:296, x:111 y:269, x:230 y:365, x:542 y:339, x:465 y:331, x:530 y:380
_sm_follow_and_listen_11 = ConcurrencyContainer(
outcomes=['done', 'failed'],
input_keys=['ID'],
conditions=[('done', [('Listen', 'done')]),
('failed', [('follow', 'failed')]),
('done', [('continue', 'true')]),
('done', [('continue', 'false')])])
with _sm_follow_and_listen_11:
# x:132 y:90
OperatableStateMachine.add('follow',
_sm_follow_9,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:356 y:105
OperatableStateMachine.add('Listen',
_sm_listen_8,
transitions={'done': 'done'},
autonomy={'done': Autonomy.Inherit})
# x:485 y:162
OperatableStateMachine.add('continue',
ContinueButton(),
transitions={
'true': 'done',
'false': 'done'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:76 y:535
_sm_getidope_12 = OperatableStateMachine(outcomes=['done'],
output_keys=['ID'])
with _sm_getidope_12:
# x:55 y:63
OperatableStateMachine.add('Person',
SetKey(Value="person"),
transitions={'done': 'GEtId'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:43 y:180
OperatableStateMachine.add('GEtId',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'ID',
'none_found': 'GEtId'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'Entities_list',
'number': 'number'
})
# x:52 y:290
OperatableStateMachine.add(
'ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'setID'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Entities_list',
'output_value': 'ID'
})
# x:37 y:399
OperatableStateMachine.add(
'setID',
SetRosParam(ParamName="behavior/Operator/Id"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ID'})
with _state_machine:
# x:38 y:33
OperatableStateMachine.add('continue',
ContinueButton(),
transitions={
'true': 'GEtPose',
'false': 'GEtPose'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:35 y:351
OperatableStateMachine.add(
'ImHere',
SaraSay(sentence="I am ready to carry your luggage!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'recevoir sac'},
autonomy={'done': Autonomy.Off})
# x:28 y:539
OperatableStateMachine.add(
'GetIDOpe',
_sm_getidope_12,
transitions={'done': 'Follow and listen'},
autonomy={'done': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:220 y:536
OperatableStateMachine.add('Follow and listen',
_sm_follow_and_listen_11,
transitions={
'done': 'Action_Give_Back_Bag',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'ID': 'ID'})
# x:411 y:525
OperatableStateMachine.add('Action_Give_Back_Bag',
self.use_behavior(
Action_Give_Back_BagSM,
'Action_Give_Back_Bag'),
transitions={
'finished': 'GoBackHome',
'failed': 'Action_Give_Back_Bag'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:16 y:206
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(
Init_SequenceSM, 'Init_Sequence'),
transitions={
'finished': 'move head up',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:634 y:522
OperatableStateMachine.add(
'GoBackHome',
SaraSay(sentence="I will go back home now. Have a good day!",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'setarm'},
autonomy={'done': Autonomy.Off})
# x:922 y:519
OperatableStateMachine.add('Action_Move',
self.use_behavior(
Action_MoveSM, 'Action_Move'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'Origin'})
# x:35 y:281
OperatableStateMachine.add('move head up',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'ImHere'},
autonomy={'done': Autonomy.Off})
# x:35 y:427
OperatableStateMachine.add('recevoir sac',
_sm_recevoir_sac_10,
transitions={
'failed': 'failed',
'done': 'GetIDOpe'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width':
'Closed_Gripper_Width',
'Open_Gripper_Width':
'Open_Gripper_Width'
})
# x:770 y:526
OperatableStateMachine.add('setarm',
RunTrajectory(file="sac_transport",
duration=0),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:24 y:134
OperatableStateMachine.add('GEtPose',
Get_Robot_Pose(),
transitions={'done': 'Init_Sequence'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'Origin'})
return _state_machine
def create(self):
# x:1474 y:331, x:56 y:575
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.half_turn = 3.1416
_state_machine.userdata.person = "person"
_state_machine.userdata.operator_param = "behavior/Operaror/Id"
_state_machine.userdata.join = ["Move", "spr/initialpose"]
_state_machine.userdata.leave = ["Move", "door2/exit"]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:1182 y:163
_sm_rotate_0 = OperatableStateMachine(outcomes=['finished'])
with _sm_rotate_0:
# x:103 y:61
OperatableStateMachine.add('Look Left',
SaraSetHeadAngle(pitch=-0.35, yaw=0.5),
transitions={'done': 'Rotate Left'},
autonomy={'done': Autonomy.Off})
# x:794 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=-0.35, yaw=-0.5),
transitions={'done': 'Rotate Right'},
autonomy={'done': Autonomy.Off})
# x:325 y:61
OperatableStateMachine.add('Rotate Left',
WaitState(wait_time=8),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off})
# x:961 y:65
OperatableStateMachine.add('Rotate Right',
WaitState(wait_time=4),
transitions={'done': 'Look Center 2'},
autonomy={'done': Autonomy.Off})
# x:1115 y:62
OperatableStateMachine.add('Look Center 2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:484 y:54
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=-0.35, yaw=0),
transitions={'done': 'Rotate Center'},
autonomy={'done': Autonomy.Off})
# x:657 y:49
OperatableStateMachine.add('Rotate Center',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:30 y:458
_sm_follow_head_1 = OperatableStateMachine(outcomes=['end'],
input_keys=['person'])
with _sm_follow_head_1:
# x:214 y:48
OperatableStateMachine.add('list all entities',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'Get Nearest',
'none_found': 'list all entities'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'person',
'entity_list': 'entity_list',
'number': 'number'
})
# x:456 y:51
OperatableStateMachine.add(
'Get Nearest',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'look'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'ID'
})
# x:291 y:177
OperatableStateMachine.add(
'look',
KeepLookingAt(),
transitions={'failed': 'list all entities'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:12 y:125, x:1130 y:515
_sm_nlu_2 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_nlu_2:
# x:156 y:37
OperatableStateMachine.add(
'say ask',
SaraSay(sentence="You can ask me your questions.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Loop Questions'},
autonomy={'done': Autonomy.Off})
# x:1091 y:84
OperatableStateMachine.add('Listen',
GetSpeech(watchdog=10),
transitions={
'done': 'Engine',
'nothing': 'Listen',
'fail': 'Listen'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'sentence'})
# x:1324 y:110
OperatableStateMachine.add('Engine',
SaraNLUspr(),
transitions={
'understood': 'Say_Answer',
'not_understood': 'Listen',
'fail': 'Listen'
},
autonomy={
'understood': Autonomy.Off,
'not_understood': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'sentence': 'sentence',
'answer': 'answer'
})
# x:632 y:77
OperatableStateMachine.add(
'Select Story',
CalculationState(calculation=lambda x: x + 6),
transitions={'done': 'Set_a_step'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'index',
'output_value': 'story'
})
# x:874 y:78
OperatableStateMachine.add('Set_a_step',
Set_a_step(step=1),
transitions={'done': 'Listen'},
autonomy={'done': Autonomy.Off})
# x:398 y:81
OperatableStateMachine.add('Loop Questions',
ForLoop(repeat=5),
transitions={
'do': 'Select Story',
'end': 'loop step'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:439 y:252
OperatableStateMachine.add(
'Say Blind Game',
SaraSay(sentence="Let's play the blind game !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Loop Questions'},
autonomy={'done': Autonomy.Off})
# x:189 y:193
OperatableStateMachine.add('loop step',
ForLoop(repeat=1),
transitions={
'do': 'Say Blind Game',
'end': 'finished'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:721 y:205
OperatableStateMachine.add('Say_Answer',
SaraSay(sentence=lambda x: str(x),
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'Loop Questions'},
autonomy={'done': Autonomy.Off})
# x:817 y:123, x:130 y:458
_sm_analyse_crowd_3 = OperatableStateMachine(
outcomes=['finished', 'error'])
with _sm_analyse_crowd_3:
# x:87 y:97
OperatableStateMachine.add('clear database',
WonderlandClearPeoples(),
transitions={
'done': 'Rotate',
'error': 'error'
},
autonomy={
'done': Autonomy.Off,
'error': Autonomy.Off
})
# x:531 y:112
OperatableStateMachine.add('Add Update Persons',
WonderlandAddUpdatePeople(),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:311 y:97
OperatableStateMachine.add(
'Rotate',
_sm_rotate_0,
transitions={'finished': 'Add Update Persons'},
autonomy={'finished': Autonomy.Inherit})
# x:1203 y:11, x:1006 y:366
_sm_init_scenario_4 = OperatableStateMachine(
outcomes=['done', 'error'])
with _sm_init_scenario_4:
# x:30 y:42
OperatableStateMachine.add(
'Generate Vizbox Story',
Set_Story(titre="Speech and Person Recognition",
storyline=[
"Waiting Begining", "Join Game Room",
"Waiting Crowd Placement", "Analysing Crowd",
"Begin Game", "Find Operator", "Question 1",
"Question 2", "Question 3", "Question 4",
"Question 5", "Leave Arena"
]),
transitions={'done': 'Set Story Step'},
autonomy={'done': Autonomy.Off})
# x:559 y:44
OperatableStateMachine.add('WaitForBegining',
ContinueButton(),
transitions={
'true': 'Reset Persons',
'false': 'Reset Persons'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:807 y:61
OperatableStateMachine.add('Reset Persons',
WonderlandClearPeoples(),
transitions={
'done': 'done',
'error': 'error'
},
autonomy={
'done': Autonomy.Off,
'error': Autonomy.Off
})
# x:247 y:49
OperatableStateMachine.add('Set Story Step',
Set_a_step(step=0),
transitions={'done': 'setIDLE'},
autonomy={'done': Autonomy.Off})
# x:388 y:208
OperatableStateMachine.add('Reset Arm',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm"),
transitions={
'done': 'Reset Persons',
'failed': 'error'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'target'})
# x:427 y:40
OperatableStateMachine.add('setIDLE',
SetKey(Value="IdlePose"),
transitions={'done': 'Reset Arm'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:30 y:458, x:230 y:458
_sm_join_area_5 = OperatableStateMachine(
outcomes=['failed', 'finished'], input_keys=['join'])
with _sm_join_area_5:
# x:95 y:40
OperatableStateMachine.add(
'Say Join Area',
SaraSay(sentence="I will join the playing room !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Join Arena'},
autonomy={'done': Autonomy.Off})
# x:92 y:134
OperatableStateMachine.add(
'Join Arena',
self.use_behavior(sara_flexbe_behaviors__ActionWrapper_MoveSM,
'Join Area/Join Arena'),
transitions={
'finished': 'finished',
'failed': 'failed',
'critical_fail': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'join'})
# x:489 y:56, x:604 y:278
_sm_waiting_and_turn_6 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['half_turn'])
with _sm_waiting_and_turn_6:
# x:50 y:51
OperatableStateMachine.add(
'Want Play',
SaraSay(sentence="Hum, I want to play riddles !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Wait 10s'},
autonomy={'done': Autonomy.Off})
# x:272 y:121
OperatableStateMachine.add(
'action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM,
'Waiting And Turn/action_turn'),
transitions={
'finished': 'finished',
'failed': 'Cant turn'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'half_turn'})
# x:437 y:240
OperatableStateMachine.add('Cant turn',
SaraSay(sentence="I can't turn !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:63 y:178
OperatableStateMachine.add(
'Wait 10s',
WaitState(wait_time=10),
transitions={'done': 'Look In Front Of'},
autonomy={'done': Autonomy.Off})
# x:61 y:260
OperatableStateMachine.add('Look In Front Of',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:472 y:69, x:476 y:113, x:470 y:196, x:330 y:458, x:430 y:458
_sm_questions_7 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['person'],
conditions=[('finished', [('NLU', 'finished')]),
('failed', [('NLU', 'failed')]),
('finished', [('Follow Head', 'end')])])
with _sm_questions_7:
# x:85 y:58
OperatableStateMachine.add('NLU',
_sm_nlu_2,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:84 y:185
OperatableStateMachine.add('Follow Head',
_sm_follow_head_1,
transitions={'end': 'finished'},
autonomy={'end': Autonomy.Inherit},
remapping={'person': 'person'})
# x:283 y:294, x:60 y:571
_sm_find_operator_8 = OperatableStateMachine(
outcomes=['not_found', 'done'],
input_keys=['person', 'operator_param'])
with _sm_find_operator_8:
# x:51 y:40
OperatableStateMachine.add(
'Ask Player',
SaraSay(sentence="Who wan't to play with me ?",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Wait Operator'},
autonomy={'done': Autonomy.Off})
# x:39 y:297
OperatableStateMachine.add(
'Get operator id',
CalculationState(calculation=lambda x: x.entities[0].face.id),
transitions={'done': 'Set Operator Id'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'operator'
})
# x:33 y:384
OperatableStateMachine.add('Set Operator Id',
SetRosParamKey(),
transitions={'done': 'Operator Id'},
autonomy={'done': Autonomy.Off},
remapping={
'Value': 'operator_param',
'ParamName': 'operator'
})
# x:46 y:117
OperatableStateMachine.add('Wait Operator',
WaitState(wait_time=6),
transitions={'done': 'Find Operator'},
autonomy={'done': Autonomy.Off})
# x:35 y:495
OperatableStateMachine.add('Operator Id',
LogKeyState(
text="Operator find. Id: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'operator'})
# x:30 y:205
OperatableStateMachine.add('Find Operator',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'Get operator id',
'none_found': 'Find Operator'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'person',
'entity_list': 'entity_list',
'number': 'number'
})
# x:703 y:198, x:88 y:199
_sm_tell_basic_stats_9 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_tell_basic_stats_9:
# x:50 y:40
OperatableStateMachine.add('wait',
WaitState(wait_time=0),
transitions={'done': 'GetPeopleStats'},
autonomy={'done': Autonomy.Off})
# x:218 y:43
OperatableStateMachine.add('GetPeopleStats',
WonderlandGetPersonStat(),
transitions={
'done': 'GenerateSentence',
'none': 'Nobody',
'error': 'failed'
},
autonomy={
'done': Autonomy.Off,
'none': Autonomy.Off,
'error': Autonomy.Off
},
remapping={
'women': 'women',
'men': 'men',
'others': 'others'
})
# x:466 y:46
OperatableStateMachine.add('Nobody',
SaraSay(
sentence="There is nobody here !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:162 y:243
OperatableStateMachine.add(
'GenerateSentence',
FlexibleCalculationState(calculation=lambda x: "There is " +
str(x[0] + x[1] + x[2]) + " persons.",
input_keys=['men', 'women',
'others']),
transitions={'done': 'Tell_Stats'},
autonomy={'done': Autonomy.Off},
remapping={
'men': 'men',
'women': 'women',
'others': 'others',
'output_value': 'sentence'
})
# x:151 y:345
OperatableStateMachine.add(
'Generate Sentence 2',
FlexibleCalculationState(
calculation=lambda x: "I recognize " + str(x[
1]) + " women and " + str(x[0]) + " men.",
input_keys=['men', 'women', 'others']),
transitions={'done': 'Tell_Stats 2'},
autonomy={'done': Autonomy.Off},
remapping={
'men': 'men',
'women': 'women',
'others': 'others',
'output_value': 'sentence'
})
# x:380 y:172
OperatableStateMachine.add(
'Tell_Stats',
SaraSay(sentence=lambda x: x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'Generate Sentence 2'},
autonomy={'done': Autonomy.Off})
# x:409 y:276
OperatableStateMachine.add('Tell_Stats 2',
SaraSay(sentence=lambda x: x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('continue',
ContinueButton(),
transitions={
'true': 'Init Scenario',
'false': 'Init Scenario'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:715 y:127
OperatableStateMachine.add('Tell basic stats',
_sm_tell_basic_stats_9,
transitions={
'finished': 'Set Find Operator',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:899 y:126
OperatableStateMachine.add('Find Operator',
_sm_find_operator_8,
transitions={
'not_found': 'Find Operator',
'done': 'Questions'
},
autonomy={
'not_found': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'person': 'person',
'operator_param': 'operator_param'
})
# x:1120 y:126
OperatableStateMachine.add('Questions',
_sm_questions_7,
transitions={
'finished': 'set head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'person': 'person'})
# x:343 y:49
OperatableStateMachine.add(
'Set Story Waiting',
Set_a_step(step=2),
transitions={'done': 'Waiting And Turn'},
autonomy={'done': Autonomy.Off})
# x:532 y:48
OperatableStateMachine.add('Set Analyse',
Set_a_step(step=3),
transitions={'done': 'Analyse Crowd'},
autonomy={'done': Autonomy.Off})
# x:696 y:47
OperatableStateMachine.add(
'Set Begin Game',
Set_a_step(step=4),
transitions={'done': 'Tell basic stats'},
autonomy={'done': Autonomy.Off})
# x:899 y:49
OperatableStateMachine.add('Set Find Operator',
Set_a_step(step=5),
transitions={'done': 'Find Operator'},
autonomy={'done': Autonomy.Off})
# x:332 y:127
OperatableStateMachine.add('Waiting And Turn',
_sm_waiting_and_turn_6,
transitions={
'finished': 'Set Analyse',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'half_turn': 'half_turn'})
# x:1333 y:232
OperatableStateMachine.add('Set Go Out',
Set_a_step(step=11),
transitions={'done': 'Say And Of Game'},
autonomy={'done': Autonomy.Off})
# x:1517 y:148
OperatableStateMachine.add(
'Leave Arena',
self.use_behavior(sara_flexbe_behaviors__ActionWrapper_MoveSM,
'Leave Arena'),
transitions={
'finished': 'finished',
'failed': 'finished',
'critical_fail': 'finished'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'leave'})
# x:176 y:42
OperatableStateMachine.add(
'Set Join',
Set_a_step(step=1),
transitions={'done': 'Set Story Waiting'},
autonomy={'done': Autonomy.Off})
# x:177 y:120
OperatableStateMachine.add('Join Area',
_sm_join_area_5,
transitions={
'failed': 'failed',
'finished': 'Set Story Waiting'
},
autonomy={
'failed': Autonomy.Inherit,
'finished': Autonomy.Inherit
},
remapping={'join': 'join'})
# x:1302 y:140
OperatableStateMachine.add(
'Say And Of Game',
SaraSay(
sentence=
"The game is finished. I will leave the arena. Thank you for playing with me.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Leave Arena'},
autonomy={'done': Autonomy.Off})
# x:1120 y:237
OperatableStateMachine.add('set head',
SaraSetHeadAngle(pitch=-0.2, yaw=0),
transitions={'done': 'Set Go Out'},
autonomy={'done': Autonomy.Off})
# x:34 y:130
OperatableStateMachine.add('Init Scenario',
_sm_init_scenario_4,
transitions={
'done': 'Set Join',
'error': 'failed'
},
autonomy={
'done': Autonomy.Inherit,
'error': Autonomy.Inherit
})
# x:517 y:124
OperatableStateMachine.add('Analyse Crowd',
_sm_analyse_crowd_3,
transitions={
'finished': 'Set Begin Game',
'error': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'error': Autonomy.Inherit
})
return _state_machine
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:738 y:371, x:736 y:220
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.bin1Waypoint = "trash bin 2"
_state_machine.userdata.bin2Waypoint = "trash bin"
_state_machine.userdata.bin1Height = "1"
_state_machine.userdata.bin2Height = "1"
_state_machine.userdata.dropzone1Waypoint = "drop_zone1"
_state_machine.userdata.dropzone2Waypoint = "drop_zone2"
_state_machine.userdata.DoorName = "door_1_entry"
_state_machine.userdata.exit_door = "door_2_exit"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:810 y:644, x:808 y:125
_sm_go_to_drop_the_bag_0 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['dropzoneWaypoint', 'exit_door'])
with _sm_go_to_drop_the_bag_0:
# x:84 y:36
OperatableStateMachine.add('say drop',
SaraSay(sentence="I will go and drop this bag in the drop zone.", input_keys=[], emotion=0, block=False),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:66 y:598
OperatableStateMachine.add('open the gripper',
SetGripperState(width=0.1, effort=1),
transitions={'object': 'go to pose transport', 'no_object': 'go to pose transport'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:341 y:469
OperatableStateMachine.add('say cant go to drop zone',
SaraSay(sentence="I am not able to go to the drop zone. I will put the bag here and go to the second bin.", input_keys=[], emotion=0, block=True),
transitions={'done': 'run depose sac'},
autonomy={'done': Autonomy.Off})
# x:74 y:490
OperatableStateMachine.add('run depose sac',
RunTrajectory(file="poubelle_depose", duration=10),
transitions={'done': 'open the gripper'},
autonomy={'done': Autonomy.Off})
# x:69 y:726
OperatableStateMachine.add('go to pose transport',
RunTrajectory(file="transport", duration=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:76 y:386
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'First bin/go to drop the bag/Action_Move'),
transitions={'finished': 'run depose sac', 'failed': 'say cant go to drop zone'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'dropzoneWaypoint'})
# x:570 y:519, x:575 y:330
_sm_find_the_bin_1 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_find_the_bin_1:
# x:89 y:62
OperatableStateMachine.add('place arm',
RunTrajectory(file="poubelle_init", duration=0),
transitions={'done': 'leve la tete'},
autonomy={'done': Autonomy.Off})
# x:270 y:378
OperatableStateMachine.add('get waypoint',
Get_Reacheable_Waypoint(),
transitions={'done': 'move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'detectedBin', 'distance': 'distanceToBin', 'pose_out': 'poseToBin'})
# x:296 y:284
OperatableStateMachine.add('set distance to bin',
SetKey(Value=0.5),
transitions={'done': 'get waypoint'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distanceToBin'})
# x:278 y:201
OperatableStateMachine.add('pose form lidar to map',
TF_transformation(in_ref="front_hokuyo_link", out_ref="map"),
transitions={'done': 'set distance to bin', 'fail': 'failed'},
autonomy={'done': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'in_pos': 'detectedObstacle', 'out_pos': 'detectedBin'})
# x:80 y:514
OperatableStateMachine.add('redo ajustements de la position',
ForLoop(repeat=2),
transitions={'do': 'find closest obstacle point', 'end': 'finished'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:87 y:129
OperatableStateMachine.add('find closest obstacle point',
GetClosestObstacle(topic="/scan", maximumDistance=2),
transitions={'done': 'pose form lidar to map'},
autonomy={'done': Autonomy.Off},
remapping={'Angle': 'Angle', 'distance': 'distance', 'position': 'detectedObstacle'})
# x:288 y:77
OperatableStateMachine.add('leve la tete',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'find closest obstacle point'},
autonomy={'done': Autonomy.Off})
# x:287 y:464
OperatableStateMachine.add('move',
SaraMoveBase(reference="map"),
transitions={'arrived': 'redo ajustements de la position', 'failed': 'failed'},
autonomy={'arrived': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'pose': 'poseToBin'})
# x:573 y:546, x:622 y:92
_sm_go_to_bin_2 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['bin1Waypoint'])
with _sm_go_to_bin_2:
# x:86 y:104
OperatableStateMachine.add('bras sur le cote',
RunTrajectory(file="poubelle_transport", duration=0),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:254 y:199
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'First bin/go to bin/Action_Move'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'bin1Waypoint'})
# x:600 y:617, x:666 y:442
_sm_find_the_bin_3 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_find_the_bin_3:
# x:89 y:62
OperatableStateMachine.add('place arm',
RunTrajectory(file="poubelle_init", duration=0),
transitions={'done': 'leve la tete'},
autonomy={'done': Autonomy.Off})
# x:268 y:410
OperatableStateMachine.add('get waypoint',
Get_Reacheable_Waypoint(),
transitions={'done': 'move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'detectedBin', 'distance': 'distanceToBin', 'pose_out': 'poseToBin'})
# x:293 y:326
OperatableStateMachine.add('set distance to bin',
SetKey(Value=0.5),
transitions={'done': 'get waypoint'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distanceToBin'})
# x:278 y:238
OperatableStateMachine.add('pose form lidar to map',
TF_transformation(in_ref="front_hokuyo_link", out_ref="map"),
transitions={'done': 'set distance to bin', 'fail': 'failed'},
autonomy={'done': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'in_pos': 'detectedObstacle', 'out_pos': 'detectedBin'})
# x:80 y:598
OperatableStateMachine.add('redo ajustements de la position',
ForLoop(repeat=2),
transitions={'do': 'find closest obstacle point', 'end': 'finished'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:89 y:168
OperatableStateMachine.add('find closest obstacle point',
GetClosestObstacle(topic="/scan", maximumDistance=2),
transitions={'done': 'pose form lidar to map'},
autonomy={'done': Autonomy.Off},
remapping={'Angle': 'Angle', 'distance': 'distance', 'position': 'detectedObstacle'})
# x:288 y:104
OperatableStateMachine.add('leve la tete',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'find closest obstacle point'},
autonomy={'done': Autonomy.Off})
# x:285 y:504
OperatableStateMachine.add('move',
SaraMoveBase(reference="map"),
transitions={'arrived': 'redo ajustements de la position', 'failed': 'failed'},
autonomy={'arrived': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'pose': 'poseToBin'})
# x:30 y:365, x:130 y:365
_sm_go_to_bin_4 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['bin2Waypoint'])
with _sm_go_to_bin_4:
# x:59 y:100
OperatableStateMachine.add('bras sur le cote',
RunTrajectory(file="poubelle_transport", duration=0),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:254 y:199
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'second bin/go to bin/Action_Move'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'bin2Waypoint'})
# x:418 y:580, x:694 y:339
_sm_go_to_drop_the_bag_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['dropzoneWaypoint', 'exit_door'])
with _sm_go_to_drop_the_bag_5:
# x:65 y:215
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'second bin/go to drop the bag/Action_Move'),
transitions={'finished': 'run depose sac', 'failed': 'say cant go to drop zone'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'dropzoneWaypoint'})
# x:385 y:324
OperatableStateMachine.add('say cant go to drop zone',
SaraSay(sentence="I am not able to go to the drop zone. I will put the bag here.", input_keys=[], emotion=0, block=True),
transitions={'done': 'run depose sac'},
autonomy={'done': Autonomy.Off})
# x:76 y:340
OperatableStateMachine.add('run depose sac',
RunTrajectory(file="poubelle_depose", duration=10),
transitions={'done': 'open the gripper'},
autonomy={'done': Autonomy.Off})
# x:74 y:505
OperatableStateMachine.add('go to pose transport',
RunTrajectory(file="transport", duration=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:74 y:426
OperatableStateMachine.add('open the gripper',
SetGripperState(width=0.1, effort=1),
transitions={'object': 'go to pose transport', 'no_object': 'go to pose transport'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:704 y:599, x:717 y:53
_sm_first_bin_6 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['bin1Waypoint', 'bin1Height', 'dropzoneWaypoint', 'exit_door'])
with _sm_first_bin_6:
# x:57 y:26
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM, 'First bin/Init_Sequence'),
transitions={'finished': 'go to bin', 'failed': 'go to bin'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:257 y:329
OperatableStateMachine.add('Action_TakeBag',
self.use_behavior(sara_flexbe_behaviors__Action_TakeBagSM, 'First bin/Action_TakeBag'),
transitions={'finished': 'go to drop the bag', 'failed': 'Missed It once'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:275 y:35
OperatableStateMachine.add('go to bin',
_sm_go_to_bin_2,
transitions={'finished': 'find the bin', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'bin1Waypoint': 'bin1Waypoint'})
# x:286 y:164
OperatableStateMachine.add('find the bin',
_sm_find_the_bin_1,
transitions={'finished': 'Try twice', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:292 y:234
OperatableStateMachine.add('Try twice',
ForLoop(repeat=1),
transitions={'do': 'Action_TakeBag', 'end': 'failed'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:102 y:262
OperatableStateMachine.add('Missed It once',
SaraSay(sentence="I will try one more time.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Try twice'},
autonomy={'done': Autonomy.Off})
# x:267 y:432
OperatableStateMachine.add('go to drop the bag',
_sm_go_to_drop_the_bag_0,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'dropzoneWaypoint': 'dropzoneWaypoint', 'exit_door': 'exit_door'})
# x:946 y:467, x:907 y:75
_sm_second_bin_7 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['bin2Waypoint', 'bin2Height', 'dropzoneWaypoint', 'exit_door'])
with _sm_second_bin_7:
# x:57 y:26
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM, 'second bin/Init_Sequence'),
transitions={'finished': 'go to bin', 'failed': 'go to bin'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:267 y:432
OperatableStateMachine.add('go to drop the bag',
_sm_go_to_drop_the_bag_5,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'dropzoneWaypoint': 'dropzoneWaypoint', 'exit_door': 'exit_door'})
# x:257 y:346
OperatableStateMachine.add('Action_TakeBag',
self.use_behavior(sara_flexbe_behaviors__Action_TakeBagSM, 'second bin/Action_TakeBag'),
transitions={'finished': 'go to drop the bag', 'failed': 'Missed It once'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:275 y:35
OperatableStateMachine.add('go to bin',
_sm_go_to_bin_4,
transitions={'finished': 'find the bin', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'bin2Waypoint': 'bin2Waypoint'})
# x:286 y:164
OperatableStateMachine.add('find the bin',
_sm_find_the_bin_3,
transitions={'finished': 'Try twice', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:298 y:254
OperatableStateMachine.add('Try twice',
ForLoop(repeat=1),
transitions={'do': 'Action_TakeBag', 'end': 'failed'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:102 y:262
OperatableStateMachine.add('Missed It once',
SaraSay(sentence="I will try one more time.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Try twice'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:15 y:242
OperatableStateMachine.add('button',
ContinueButton(),
transitions={'true': 'Action_Pass_Door', 'false': 'Action_Pass_Door'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off})
# x:485 y:201
OperatableStateMachine.add('try second bin',
SaraSay(sentence="I failed to take out the garbage from the first bin but I will try the second bin.", input_keys=[], emotion=0, block=True),
transitions={'done': 'second bin'},
autonomy={'done': Autonomy.Off})
# x:267 y:199
OperatableStateMachine.add('say take second bag',
SaraSay(sentence="Good! I will now get rid of the second bag.", input_keys=[], emotion=0, block=True),
transitions={'done': 'second bin'},
autonomy={'done': Autonomy.Off})
# x:267 y:376
OperatableStateMachine.add('second bin',
_sm_second_bin_7,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'bin2Waypoint': 'bin2Waypoint', 'bin2Height': 'bin2Height', 'dropzoneWaypoint': 'dropzone2Waypoint', 'exit_door': 'exit_door'})
# x:94 y:153
OperatableStateMachine.add('IllManageSomehow',
SaraSay(sentence="Hmmm. This is a hard door to pass...", input_keys=[], emotion=0, block=True),
transitions={'done': 'First bin'},
autonomy={'done': Autonomy.Off})
# x:277 y:63
OperatableStateMachine.add('First bin',
_sm_first_bin_6,
transitions={'finished': 'say take second bag', 'failed': 'try second bin'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'bin1Waypoint': 'bin1Waypoint', 'bin1Height': 'bin1Height', 'dropzoneWaypoint': 'dropzone1Waypoint', 'exit_door': 'exit_door'})
# x:65 y:53
OperatableStateMachine.add('Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'Action_Pass_Door'),
transitions={'Done': 'First bin', 'Fail': 'IllManageSomehow'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'DoorName'})
return _state_machine
def create(self):
# x:832 y:260, x:728 y:256
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['ID'])
_state_machine.userdata.ID = 0
_state_machine.userdata.Closed_Gripper_Width = 1
_state_machine.userdata.Open_Gripper_Width = 255
_state_machine.userdata.Relative = False
_state_machine.userdata.Pose_Init = "IdlePose"
_state_machine.userdata.dropPose = "DropBagPose"
_state_machine.userdata.EntryDoor = "door1/enter"
_state_machine.userdata.ExitDoor = "door1/exit"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:700 y:231, x:418 y:463
_sm_ecoute_getpose_0 = OperatableStateMachine(outcomes=['arrete', 'fail'])
with _sm_ecoute_getpose_0:
# x:53 y:35
OperatableStateMachine.add('Ecoute',
GetSpeech(watchdog=5),
transitions={'done': 'stop', 'nothing': 'Ecoute', 'fail': 'fail'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'words'})
# x:373 y:215
OperatableStateMachine.add('stop',
RegexTester(regex=".*stop.*"),
transitions={'true': 'arrete', 'false': 'Ecoute'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'text': 'words', 'result': 'result'})
# x:350 y:105, x:261 y:311
_sm_get_operator_id_1 = OperatableStateMachine(outcomes=['not_found', 'done'], output_keys=['ID'])
with _sm_get_operator_id_1:
# x:42 y:30
OperatableStateMachine.add('nom',
SetKey(Value="person"),
transitions={'done': 'FindId'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:37 y:347
OperatableStateMachine.add('setID',
SetRosParam(ParamName="OperatorID"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ID'})
# x:30 y:112
OperatableStateMachine.add('FindId',
list_entities_by_name(frontality_level=0.5, distance_max=10),
transitions={'found': 'GetID', 'none_found': 'not_found'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'Entities_list', 'number': 'number'})
# x:38 y:238
OperatableStateMachine.add('GetID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'setID'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'Entities_list', 'output_value': 'ID'})
# x:346 y:367, x:610 y:472, x:230 y:365, x:628 y:425, x:619 y:318, x:54 y:367
_sm_follow_2 = ConcurrencyContainer(outcomes=['done', 'failed', 'not_found'], input_keys=['ID', 'distance'], output_keys=['Position'], conditions=[
('not_found', [('Action_follow', 'failed')]),
('done', [('Ecoute_getPose', 'arrete')]),
('failed', [('Ecoute_getPose', 'fail')])
])
with _sm_follow_2:
# x:107 y:103
OperatableStateMachine.add('Action_follow',
self.use_behavior(sara_flexbe_behaviors__Action_followSM, 'Getting ID Operator and follow /Follow/Action_follow'),
transitions={'failed': 'not_found'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:294 y:146
OperatableStateMachine.add('Ecoute_getPose',
_sm_ecoute_getpose_0,
transitions={'arrete': 'done', 'fail': 'failed'},
autonomy={'arrete': Autonomy.Inherit, 'fail': Autonomy.Inherit})
# x:57 y:371, x:419 y:55
_sm_waiting_for_operator_3 = OperatableStateMachine(outcomes=['done', 'failed'])
with _sm_waiting_for_operator_3:
# x:57 y:67
OperatableStateMachine.add('getSpeech',
GetSpeech(watchdog=15),
transitions={'done': 'UnderstandingOpe', 'nothing': 'failed', 'fail': 'failed'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'words'})
# x:53 y:249
OperatableStateMachine.add('start',
SaraSay(sentence="I will follow you. Tell me when to stop.", input_keys=[], emotion=1, block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:203 y:180
OperatableStateMachine.add('UnderstandingOpe',
RegexTester(regex=".*follow.*"),
transitions={'true': 'start', 'false': 'failed'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'text': 'words', 'result': 'result'})
# x:130 y:365
_sm_look_at_4 = OperatableStateMachine(outcomes=['failed'])
with _sm_look_at_4:
# x:105 y:160
OperatableStateMachine.add('LookAtClosest',
self.use_behavior(sara_flexbe_behaviors__LookAtClosestSM, 'Recevoir sac/Look at/LookAtClosest'),
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:280 y:296, x:248 y:549
_sm_receive_bag_5 = OperatableStateMachine(outcomes=['failed', 'done'], input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'])
with _sm_receive_bag_5:
# x:42 y:326
OperatableStateMachine.add('PutBAg',
SaraSay(sentence="Please put the grocery bag in my hand", input_keys=[], emotion=1, block=False),
transitions={'done': 'Action_Receive_Bag'},
autonomy={'done': Autonomy.Off})
# x:18 y:427
OperatableStateMachine.add('Action_Receive_Bag',
self.use_behavior(sara_flexbe_behaviors__Action_Receive_BagSM, 'Recevoir sac/Receive bag/Action_Receive_Bag'),
transitions={'finished': 'bringit', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width', 'Closed_Gripper_Width': 'Closed_Gripper_Width'})
# x:66 y:125
OperatableStateMachine.add('getspeech2',
GetSpeech(watchdog=5),
transitions={'done': 'takebag', 'nothing': 'getspeech2', 'fail': 'failed'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'words'})
# x:64 y:218
OperatableStateMachine.add('takebag',
RegexTester(regex=".*((take)|(bag)|(ready)).*"),
transitions={'true': 'PutBAg', 'false': 'getspeech2'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'text': 'words', 'result': 'result'})
# x:42 y:531
OperatableStateMachine.add('bringit',
SaraSay(sentence="I will bring it inside", input_keys=[], emotion=1, block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:77 y:40
OperatableStateMachine.add('sac',
SaraSay(sentence="Ok. Tell me, when you are ready", input_keys=[], emotion=1, block=True),
transitions={'done': 'getspeech2'},
autonomy={'done': Autonomy.Off})
# x:147 y:579
_sm_look_at_closest_6 = OperatableStateMachine(outcomes=['failed'], output_keys=['Entity'])
with _sm_look_at_closest_6:
# x:40 y:39
OperatableStateMachine.add('set person',
SetKey(Value="person"),
transitions={'done': 'head angle'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Person'})
# x:36 y:119
OperatableStateMachine.add('head angle',
SaraSetHeadAngle(pitch=-0.3, yaw=0),
transitions={'done': 'get persons'},
autonomy={'done': Autonomy.Off})
# x:271 y:149
OperatableStateMachine.add('get persons',
list_entities_by_name(frontality_level=0.5, distance_max=2),
transitions={'found': 'set person', 'none_found': 'get persons'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'Person', 'entity_list': 'entity_list', 'number': 'number'})
# x:30 y:365
_sm_get_op_7 = OperatableStateMachine(outcomes=['true'])
with _sm_get_op_7:
# x:76 y:40
OperatableStateMachine.add('Say Joke',
SaraSay(sentence="Can someone come help me, I only have one arm.", input_keys=[], emotion=1, block=True),
transitions={'done': 'ecouteNewPerson'},
autonomy={'done': Autonomy.Off})
# x:208 y:255
OperatableStateMachine.add('listen',
RegexTester(regex=".*((i)|(come)|(help)).*"),
transitions={'true': 'true', 'false': 'ecouteNewPerson'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'text': 'words', 'result': 'result'})
# x:32 y:106
OperatableStateMachine.add('ecouteNewPerson',
GetSpeech(watchdog=5),
transitions={'done': 'listen', 'nothing': 'ecouteNewPerson', 'fail': 'ecouteNewPerson'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'words'})
# x:65 y:357, x:130 y:365, x:230 y:365
_sm_get_ope_8 = ConcurrencyContainer(outcomes=['true'], output_keys=['Entity'], conditions=[
('true', [('get op', 'true')]),
('true', [('look at closest', 'failed')])
])
with _sm_get_ope_8:
# x:37 y:35
OperatableStateMachine.add('get op',
_sm_get_op_7,
transitions={'true': 'true'},
autonomy={'true': Autonomy.Inherit})
# x:238 y:109
OperatableStateMachine.add('look at closest',
_sm_look_at_closest_6,
transitions={'failed': 'true'},
autonomy={'failed': Autonomy.Inherit},
remapping={'Entity': 'Entity'})
# x:37 y:417, x:236 y:263
_sm_init_sara_9 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['Pose_Init'], output_keys=['Origin'])
with _sm_init_sara_9:
# x:30 y:40
OperatableStateMachine.add('get_pose',
Get_Robot_Pose(),
transitions={'done': 'SETHEAD'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'Origin'})
# x:24 y:259
OperatableStateMachine.add('Init Arm',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'done', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'Pose_Init'})
# x:23 y:183
OperatableStateMachine.add('SETHEAD',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'Init Arm'},
autonomy={'done': Autonomy.Off})
# x:92 y:291, x:242 y:133
_sm_exitarena_10 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['ExitDoor'])
with _sm_exitarena_10:
# x:38 y:119
OperatableStateMachine.add('Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'ExitArena/Action_Pass_Door'),
transitions={'Done': 'finished', 'Fail': 'failed'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'ExitDoor'})
# x:353 y:529, x:369 y:296
_sm_enter_arena_11 = OperatableStateMachine(outcomes=['done', 'fail'], input_keys=['EntryDoor'])
with _sm_enter_arena_11:
# x:132 y:147
OperatableStateMachine.add('Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'Enter arena/Action_Pass_Door'),
transitions={'Done': 'say start', 'Fail': 'fail'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'EntryDoor'})
# x:124 y:501
OperatableStateMachine.add('say help',
SaraSay(sentence="Hi, i will help you carry some bags. LEt me know when you need me", input_keys=[], emotion=1, block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:146 y:256
OperatableStateMachine.add('say start',
SaraSay(sentence="", input_keys=[], emotion=1, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:121 y:375
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Enter arena/Action_Move'),
transitions={'finished': 'say help', 'failed': 'fail'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'EntryDoor'})
# x:372 y:428, x:389 y:477
_sm_getting_id_operator_and_follow__12 = OperatableStateMachine(outcomes=['failed', 'done'], output_keys=['Position'])
with _sm_getting_id_operator_and_follow__12:
# x:70 y:115
OperatableStateMachine.add('Waiting for operator',
_sm_waiting_for_operator_3,
transitions={'done': 'Get operator ID', 'failed': 'Waiting for operator'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:71 y:504
OperatableStateMachine.add('get pose',
Get_Robot_Pose(),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'Position'})
# x:69 y:415
OperatableStateMachine.add('Follow',
_sm_follow_2,
transitions={'done': 'get pose', 'failed': 'failed', 'not_found': 'initial'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'ID': 'ID', 'distance': 'distance', 'Position': 'Position'})
# x:60 y:222
OperatableStateMachine.add('Get operator ID',
_sm_get_operator_id_1,
transitions={'not_found': 'Get operator ID', 'done': 'set follow distance'},
autonomy={'not_found': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:60 y:324
OperatableStateMachine.add('set follow distance',
SetKey(Value="0.5"),
transitions={'done': 'Follow'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:286 y:327
OperatableStateMachine.add('initial',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'Get operator ID'},
autonomy={'done': Autonomy.Off})
# x:247 y:123, x:282 y:200, x:230 y:365
_sm_drop_le_sac_13 = OperatableStateMachine(outcomes=['failed', 'no_object', 'done'], input_keys=['Idle', 'dropPose'])
with _sm_drop_le_sac_13:
# x:22 y:114
OperatableStateMachine.add('dropbag',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'Open', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'dropPose'})
# x:5 y:344
OperatableStateMachine.add('close',
SetGripperState(width=0, effort=1),
transitions={'object': 'returnIdl', 'no_object': 'returnIdl'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:19 y:268
OperatableStateMachine.add('wait',
WaitState(wait_time=2),
transitions={'done': 'close'},
autonomy={'done': Autonomy.Off})
# x:8 y:433
OperatableStateMachine.add('returnIdl',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'done', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'Idle'})
# x:10 y:190
OperatableStateMachine.add('Open',
SetGripperState(width=0.1, effort=1),
transitions={'object': 'wait', 'no_object': 'no_object'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:555 y:54, x:568 y:190
_sm_retour_maison_14 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['PoseOrigin', 'Relative'])
with _sm_retour_maison_14:
# x:54 y:63
OperatableStateMachine.add('keydistance',
SetKey(Value=0),
transitions={'done': 'adapt the end pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:258 y:51
OperatableStateMachine.add('Arrived',
SaraSay(sentence="I have food, people. I will drop the bags on the floor.", input_keys=[], emotion=1, block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:43 y:141
OperatableStateMachine.add('adapt the end pose',
Get_Reacheable_Waypoint(),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'PoseOrigin', 'distance': 'distance', 'pose_out': 'pose_out'})
# x:236 y:182
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Retour maison/Action_Move'),
transitions={'finished': 'Arrived', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'pose_out'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365
_sm_recevoir_sac_15 = ConcurrencyContainer(outcomes=['failed', 'done'], input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'], conditions=[
('failed', [('Receive bag', 'failed')]),
('done', [('Receive bag', 'done')]),
('failed', [('Look at', 'failed')])
])
with _sm_recevoir_sac_15:
# x:84 y:156
OperatableStateMachine.add('Receive bag',
_sm_receive_bag_5,
transitions={'failed': 'failed', 'done': 'done'},
autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width'})
# x:262 y:154
OperatableStateMachine.add('Look at',
_sm_look_at_4,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:728 y:533, x:722 y:468
_sm_getnewperson_16 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['Position'])
with _sm_getnewperson_16:
# x:52 y:77
OperatableStateMachine.add('Get ope',
_sm_get_ope_8,
transitions={'true': 'set name'},
autonomy={'true': Autonomy.Inherit},
remapping={'Entity': 'Entity'})
# x:46 y:508
OperatableStateMachine.add('SET HEAD',
SaraSetHeadAngle(pitch=-0.2, yaw=0),
transitions={'done': 'Action_Guide2'},
autonomy={'done': Autonomy.Off})
# x:39 y:297
OperatableStateMachine.add('list',
list_entities_by_name(frontality_level=0.5, distance_max=2),
transitions={'found': 'get closest ID', 'none_found': 'list'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'})
# x:70 y:194
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:151 y:413
OperatableStateMachine.add('get closest ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'SET HEAD'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity_list', 'output_value': 'ID'})
# x:293 y:534
OperatableStateMachine.add('Action_Guide2',
self.use_behavior(sara_flexbe_behaviors__Action_Guide2SM, 'GetNewPerson/Action_Guide2'),
transitions={'finished': 'done', 'failed': 'failed', 'critical_fail': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'critical_fail': Autonomy.Inherit},
remapping={'Position': 'Position', 'ID': 'ID'})
# x:57 y:399
OperatableStateMachine.add('set 0',
SetKey(Value=0),
transitions={'done': 'SET HEAD'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'ID'})
with _state_machine:
# x:188 y:35
OperatableStateMachine.add('say ready',
SaraSay(sentence="I'm ready for the help me carry scenario. I will follow when you ask me.", input_keys=[], emotion=1, block=True),
transitions={'done': 'INIT SARA'},
autonomy={'done': Autonomy.Off})
# x:827 y:439
OperatableStateMachine.add('finish',
SaraSay(sentence="I am done for the day", input_keys=[], emotion=2, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:53 y:641
OperatableStateMachine.add('GetNewPerson',
_sm_getnewperson_16,
transitions={'done': 'say leave', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'Position': 'Position'})
# x:48 y:349
OperatableStateMachine.add('Recevoir sac',
_sm_recevoir_sac_15,
transitions={'failed': 'failed', 'done': 'Retour maison'},
autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width'})
# x:36 y:448
OperatableStateMachine.add('Retour maison',
_sm_retour_maison_14,
transitions={'done': 'drop le sac', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'PoseOrigin': 'Origin', 'Relative': 'Relative'})
# x:49 y:556
OperatableStateMachine.add('drop le sac',
_sm_drop_le_sac_13,
transitions={'failed': 'failed', 'no_object': 'failed', 'done': 'GetNewPerson'},
autonomy={'failed': Autonomy.Inherit, 'no_object': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'Idle': 'Pose_Init', 'dropPose': 'dropPose'})
# x:150 y:260
OperatableStateMachine.add('Getting ID Operator and follow ',
_sm_getting_id_operator_and_follow__12,
transitions={'failed': 'failed', 'done': 'Recevoir sac'},
autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'Position': 'Position'})
# x:148 y:177
OperatableStateMachine.add('Enter arena',
_sm_enter_arena_11,
transitions={'done': 'Getting ID Operator and follow ', 'fail': 'failed'},
autonomy={'done': Autonomy.Inherit, 'fail': Autonomy.Inherit},
remapping={'EntryDoor': 'EntryDoor'})
# x:498 y:617
OperatableStateMachine.add('ExitArena',
_sm_exitarena_10,
transitions={'finished': 'finish', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'ExitDoor': 'ExitDoor'})
# x:389 y:14
OperatableStateMachine.add('ContinueButton',
ContinueButton(),
transitions={'true': 'say ready', 'false': 'say ready'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off})
# x:329 y:645
OperatableStateMachine.add('say leave',
SaraSay(sentence="I will leave now. Goodbye", input_keys=[], emotion=1, block=True),
transitions={'done': 'ExitArena'},
autonomy={'done': Autonomy.Off})
# x:319 y:101
OperatableStateMachine.add('wait1',
WaitState(wait_time=5),
transitions={'done': 'say ready'},
autonomy={'done': Autonomy.Off})
# x:35 y:78
OperatableStateMachine.add('INIT SARA',
_sm_init_sara_9,
transitions={'done': 'Getting ID Operator and follow ', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'Pose_Init': 'Pose_Init', 'Origin': 'Origin'})
return _state_machine
def create(self):
# x:358 y:506
_state_machine = OperatableStateMachine(outcomes=['finished'])
_state_machine.userdata.relative = False
_state_machine.userdata.EntryName = "door_1_entry"
_state_machine.userdata.container = None
_state_machine.userdata.TestName = "living room"
_state_machine.userdata.ExitName = "door_2_exit"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:52 y:27
OperatableStateMachine.add('Bouton to start',
ContinueButton(),
transitions={'true': 'Action_Pass_Door', 'false': 'Bouton to start'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off})
# x:41 y:430
OperatableStateMachine.add('Failed',
SaraSound(sound="error.wav"),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:328 y:370
OperatableStateMachine.add('Waiting',
SaraSound(sound="to_be_continued.wav"),
transitions={'done': 'Bouton continuer'},
autonomy={'done': Autonomy.Off})
# x:310 y:111
OperatableStateMachine.add('Move to test zone',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Move to test zone'),
transitions={'finished': 'say ready', 'failed': 'Failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'TestName'})
# x:329 y:197
OperatableStateMachine.add('say ready',
SaraSay(sentence="I'm ready for my safety check. Press the continue button on my back when you are done.", input_keys=[], emotion=1, block=True),
transitions={'done': 'Bouton continuer'},
autonomy={'done': Autonomy.Off})
# x:34 y:115
OperatableStateMachine.add('Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'Action_Pass_Door'),
transitions={'Done': 'Move to test zone', 'Fail': 'Failed'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'EntryName'})
# x:332 y:282
OperatableStateMachine.add('Bouton continuer',
ContinueButton(),
transitions={'true': 'say bye', 'false': 'Waiting'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off})
# x:513 y:432
OperatableStateMachine.add('Action_Pass_Door_2',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'Action_Pass_Door_2'),
transitions={'Done': 'finished', 'Fail': 'Failed'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'ExitName'})
# x:530 y:282
OperatableStateMachine.add('say bye',
SaraSay(sentence="Thank you, See you later.", input_keys=[], emotion=1, block=True),
transitions={'done': 'Action_Pass_Door_2'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:1141 y:183, x:1069 y:298
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:119
OperatableStateMachine.add('coninue',
ContinueButton(),
transitions={'true': 'GetOrigin', 'false': 'GetOrigin'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off})
# x:750 y:145
OperatableStateMachine.add('Farewell_2',
self.use_behavior(FarewellSM, 'Farewell_2'),
transitions={'finished': 'finish', 'failed': 'didnt succed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:410 y:182
OperatableStateMachine.add('Try again',
SaraSay(sentence="Sorry, I will try with the next person", input_keys=[], emotion=2, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:403 y:47
OperatableStateMachine.add('say next',
SaraSay(sentence="I will now get the net person.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:549 y:98
OperatableStateMachine.add('Action_Move',
self.use_behavior(Action_MoveSM, 'Action_Move'),
transitions={'finished': 'Farewell_2', 'failed': 'Action_Move'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'poseOrigin'})
# x:1020 y:75
OperatableStateMachine.add('finish',
SaraSay(sentence="I am done BYe bye", input_keys=[], emotion=0, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:906 y:243
OperatableStateMachine.add('didnt succed',
SaraSay(sentence="I failed sorry", input_keys=[], emotion=0, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:173 y:106
OperatableStateMachine.add('Farewell',
self.use_behavior(FarewellSM, 'Farewell'),
transitions={'finished': 'say next', 'failed': 'Try again'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:39 y:31
OperatableStateMachine.add('GetOrigin',
Get_Robot_Pose(),
transitions={'done': 'Farewell'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'poseOrigin'})
return _state_machine