def create(self):
# x:42 y:502, x:623 y:168
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['EntityId'], output_keys=['ContainerId'])
_state_machine.userdata.EntityId = 45
_state_machine.userdata.ContainerId = ""
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:111 y:46
OperatableStateMachine.add('GetWonderlandEntity',
WonderlandGetEntityByID(),
transitions={'found': 'GetContainer', 'not_found': 'failed', 'error': 'failed'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off},
remapping={'id': 'EntityId', 'entity': 'Entity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'})
# x:257 y:303
OperatableStateMachine.add('GetWonderlandEntity_2',
WonderlandGetEntityByID(),
transitions={'found': 'ClimbALevel', 'not_found': 'ThisIsTheContainer', 'error': 'ThisIsTheContainer'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off},
remapping={'id': 'ContainerId', 'entity': 'Entity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'})
# x:245 y:175
OperatableStateMachine.add('ClimbALevel',
CalculationState(calculation=lambda x: x),
transitions={'done': 'GetWonderlandEntity'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'ContainerId', 'output_value': 'EntityId'})
# x:126 y:432
OperatableStateMachine.add('ThisIsTheContainer',
CalculationState(calculation=lambda x: x),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'EntityId', 'output_value': 'ContainerId'})
# x:29 y:172
OperatableStateMachine.add('GetContainer',
CalculationState(calculation=lambda x: x.containerId),
transitions={'done': 'if as container'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'Entity', 'output_value': 'ContainerId'})
# x:39 y:291
OperatableStateMachine.add('if as container',
CheckConditionState(predicate=lambda x: x.containerId),
transitions={'true': 'GetWonderlandEntity_2', 'false': 'ThisIsTheContainer'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'Entity'})
return _state_machine
def create(self):
# x:572 y:333, x:130 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.unused = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:170 y:138
OperatableStateMachine.add('SelectAction',
CalculationState(calculation=lambda x: random.choice(['brohoof', 'menace'])),
transitions={'done': 'ExecuteCompoundAction'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'unused', 'output_value': 'action_param'})
# x:330 y:170
OperatableStateMachine.add('ExecuteCompoundAction',
CompoundActionParamKey(action_ns='saved_msgs/compound_action'),
transitions={'success': 'finished', 'invalid_pose': 'failed', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off},
remapping={'action_param': 'action_param'})
return _state_machine
def create(self):
# x:30 y:365, x:599 y:427
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:378 y:183
OperatableStateMachine.add('start',
InputState(request=integer, message=eeeee),
transitions={'received': 'eeeeeeeeeee', 'aborted': 'failed', 'no_connection': 'eeeeeeeeeee', 'data_error': 'finished'},
autonomy={'received': Autonomy.Off, 'aborted': Autonomy.Off, 'no_connection': Autonomy.Off, 'data_error': Autonomy.Off},
remapping={'data': 'data'})
# x:1115 y:242
OperatableStateMachine.add('eeeeeeeeeee',
DecisionState(outcomes="LOL", conditions=input_value > 0),
transitions={'LOL': 'failed'},
autonomy={'LOL': Autonomy.Off},
remapping={'input_value': 'data'})
# x:808 y:383
OperatableStateMachine.add('lmFAOR',
CalculationState(calculation=54x-5w),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'input_value', 'output_value': 'output_value'})
return _state_machine
def create(self):
# x:67 y:463, x:336 y:160
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['data'])
_state_machine.userdata.data = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('Wait',
WaitState(wait_time=0.5),
transitions={'done': 'Calculate'},
autonomy={'done': Autonomy.Off})
# x:36 y:240
OperatableStateMachine.add('Log Param',
flexbe_states__LogState(text=self.param,
severity=2),
transitions={'done': 'Verify Input'},
autonomy={'done': Autonomy.Off})
# x:32 y:340
OperatableStateMachine.add('Verify Input',
DecisionState(
outcomes=['accepted', 'rejected'],
conditions=lambda x: 'accepted'
if x > 3 else 'rejected'),
transitions={
'accepted': 'finished',
'rejected': 'failed'
},
autonomy={
'accepted': Autonomy.Off,
'rejected': Autonomy.Off
},
remapping={'input_value': 'data'})
# x:28 y:136
OperatableStateMachine.add(
'Calculate',
CalculationState(calculation=self._calculate),
transitions={'done': 'Log Param'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'data',
'output_value': 'data'
})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['data'],
output_keys=['result'])
_state_machine.userdata.data = None
_state_machine.userdata.result = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:40 y:73
OperatableStateMachine.add(
'Modify Data',
CalculationState(calculation=lambda x: x * 2),
transitions={'done': 'Decide Param'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'data',
'output_value': 'result'
})
# x:37 y:201
OperatableStateMachine.add(
'Decide Param',
DecisionState(outcomes=['finished', 'failed'],
conditions=lambda x: 'finished'
if self.value == 'correct' else 'failed'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'input_value': 'data'})
return _state_machine
def create(self):
# x:67 y:337, x:285 y:147
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], output_keys=['words'])
_state_machine.userdata.words = ""
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:38 y:133
OperatableStateMachine.add('subber',
SubscriberState(topic="/sara_command",
blocking=True,
clear=True),
transitions={
'received': 'get speech',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'message'})
# x:40 y:234
OperatableStateMachine.add(
'get speech',
CalculationState(calculation=lambda x: x.data),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'message',
'output_value': 'words'
})
return _state_machine
def create(self):
# x:72 y:443, x:514 y:143
_state_machine = OperatableStateMachine(outcomes=['done', 'pas_done'], input_keys=['className'], output_keys=['entity'])
_state_machine.userdata.className = "person"
_state_machine.userdata.entity = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:706 y:647
_sm_rotation_0 = OperatableStateMachine(outcomes=['end'])
with _sm_rotation_0:
# x:51 y:38
OperatableStateMachine.add('Set 180 degres',
SetKey(Value=3.1416),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:613 y:470
OperatableStateMachine.add('action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM, 'Container/Rotation/action_turn'),
transitions={'finished': 'Look Right', 'failed': 'Look Right'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'rotation': 'rotation'})
# x:421 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:265 y:56
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:630 y:56
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:250 y:177
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:618 y:304
OperatableStateMachine.add('Look Left 2',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:612 y:138
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:635 y:214
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'Look Left 2'},
autonomy={'done': Autonomy.Off})
# x:636 y:394
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:683 y:188
_sm_find_entity_1 = OperatableStateMachine(outcomes=['found'], input_keys=['className'], output_keys=['entity'])
with _sm_find_entity_1:
# x:181 y:178
OperatableStateMachine.add('find_entity',
list_entities_by_name(frontality_level=0.5, distance_max=4),
transitions={'found': 'Get Entity', 'none_found': 'find_entity'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'className', 'entity_list': 'entity_list', 'number': 'number'})
# x:454 y:178
OperatableStateMachine.add('Get Entity',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity_list', 'output_value': 'entity'})
# x:194 y:40
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'find_entity'},
autonomy={'done': Autonomy.Off})
# x:372 y:27, x:370 y:220, x:368 y:100, x:330 y:458
_sm_container_2 = ConcurrencyContainer(outcomes=['found', 'not_found'], input_keys=['className'], output_keys=['entity'], conditions=[
('not_found', [('Rotation', 'end')]),
('found', [('Find Entity', 'found')])
])
with _sm_container_2:
# x:131 y:44
OperatableStateMachine.add('Find Entity',
_sm_find_entity_1,
transitions={'found': 'found'},
autonomy={'found': Autonomy.Inherit},
remapping={'className': 'className', 'entity': 'entity'})
# x:129 y:197
OperatableStateMachine.add('Rotation',
_sm_rotation_0,
transitions={'end': 'not_found'},
autonomy={'end': Autonomy.Inherit})
with _state_machine:
# x:67 y:42
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'Container'},
autonomy={'done': Autonomy.Off})
# x:278 y:138
OperatableStateMachine.add('Look Center Not Found',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'pas_done'},
autonomy={'done': Autonomy.Off})
# x:58 y:326
OperatableStateMachine.add('Log Entity',
LogKeyState(text="Found entity: {}", severity=Logger.REPORT_HINT),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'entity'})
# x:63 y:126
OperatableStateMachine.add('Container',
_sm_container_2,
transitions={'found': 'WaitState', 'not_found': 'Look Center Not Found'},
autonomy={'found': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'className': 'className', 'entity': 'entity'})
# x:67 y:222
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'Log Entity'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
joy_topic = '/hmi/joystick'
# x:33 y:423, x:683 y:568
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['be_evil'])
_state_machine.userdata.cycle_counter = 0
_state_machine.userdata.be_evil = self.be_evil
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:356, x:644 y:383
_sm_detectjoyevent_0 = OperatableStateMachine(
outcomes=['received', 'unavailable'])
with _sm_detectjoyevent_0:
# x:229 y:154
OperatableStateMachine.add('JoyEvent',
SubscriberState(topic=joy_topic,
blocking=True,
clear=False),
transitions={
'received': 'CheckEvent',
'unavailable': 'unavailable'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'message'})
# x:229 y:296
OperatableStateMachine.add(
'CheckEvent',
DecisionState(
outcomes=['yes', 'no'],
conditions=lambda msg: 'yes'
if any(msg.buttons) or any(msg.axes[0:5]) else 'no'),
transitions={
'yes': 'received',
'no': 'JoyEvent'
},
autonomy={
'yes': Autonomy.Off,
'no': Autonomy.Off
},
remapping={'input_value': 'message'})
# x:778 y:316, x:75 y:354, x:294 y:358, x:776 y:358, x:777 y:406, x:530 y:356
_sm_checkjoy_1 = ConcurrencyContainer(
outcomes=['no_activity', 'activity_detected', 'failed'],
conditions=[('no_activity', [('WaitForJoy', 'done')]),
('failed', [('DetectJoyEvent', 'unavailable')]),
('activity_detected', [('DetectJoyEvent', 'received')])
])
with _sm_checkjoy_1:
# x:219 y:132
OperatableStateMachine.add('DetectJoyEvent',
_sm_detectjoyevent_0,
transitions={
'received': 'activity_detected',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Inherit,
'unavailable': Autonomy.Inherit
})
# x:624 y:152
OperatableStateMachine.add('WaitForJoy',
WaitState(wait_time=self.wait_time),
transitions={'done': 'no_activity'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:646 y:31
OperatableStateMachine.add(
'RandomChoose',
DecisionState(outcomes=['greeting', 'play', 'cheer', 'bad'],
conditions=self.select_behavior),
transitions={
'greeting': 'Greeting',
'play': 'Play',
'cheer': 'Cheer',
'bad': 'Bad'
},
autonomy={
'greeting': Autonomy.Low,
'play': Autonomy.Low,
'cheer': Autonomy.Low,
'bad': Autonomy.Low
},
remapping={'input_value': 'cycle_counter'})
# x:383 y:460
OperatableStateMachine.add('CheckJoy',
_sm_checkjoy_1,
transitions={
'no_activity': 'ResetCounter',
'activity_detected':
'AddCycleCounter',
'failed': 'failed'
},
autonomy={
'no_activity': Autonomy.Inherit,
'activity_detected':
Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:221 y:134
OperatableStateMachine.add(
'AddCycleCounter',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'RandomChoose'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'cycle_counter',
'output_value': 'cycle_counter'
})
# x:483 y:171
OperatableStateMachine.add('Greeting',
self.use_behavior(
GreetingSM, 'Greeting'),
transitions={
'finished': 'CheckJoy',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'be_evil': 'be_evil'})
# x:849 y:197
OperatableStateMachine.add('Cheer',
self.use_behavior(CheerSM, 'Cheer'),
transitions={
'finished': 'CheckJoy',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'be_evil': 'be_evil'})
# x:687 y:197
OperatableStateMachine.add('Play',
self.use_behavior(PlaySM, 'Play'),
transitions={
'finished': 'CheckJoy',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'be_evil': 'be_evil'})
# x:991 y:203
OperatableStateMachine.add('Bad',
self.use_behavior(BadSM, 'Bad'),
transitions={
'finished': 'CheckJoy',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'be_evil': 'be_evil'})
# x:115 y:364
OperatableStateMachine.add(
'ResetCounter',
CalculationState(calculation=lambda x: 0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'cycle_counter',
'output_value': 'cycle_counter'
})
return _state_machine
def create(self):
# x:267 y:194, x:706 y:131, x:92 y:292
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed', 'critical_fail'],
input_keys=['Action'])
_state_machine.userdata.Action = ["Move", "zone"]
_state_machine.userdata.relative = False
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:131 y:459, x:447 y:470
_sm_try_to_reach_0 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['Action'])
with _sm_try_to_reach_0:
# x:84 y:67
OperatableStateMachine.add(
'get destination',
CalculationState(calculation=lambda x: x[1:]),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Action',
'output_value': 'destination'
})
# x:258 y:149
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'Try to reach/Action_Move'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'destination'})
with _state_machine:
# x:65 y:108
OperatableStateMachine.add('Try to reach',
_sm_try_to_reach_0,
transitions={
'finished': 'finished',
'failed': 'gen fail cause'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'Action': 'Action'})
# x:532 y:113
OperatableStateMachine.add(
'paramoffailure',
SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'FailureCause'})
# x:290 y:110
OperatableStateMachine.add(
'gen fail cause',
CalculationState(calculation=lambda x: "I couldn't reach the "
+ x[1] + "."),
transitions={'done': 'paramoffailure'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Action',
'output_value': 'FailureCause'
})
return _state_machine
def create(self):
waypoints = [(1.0, 0.0)] # list of (x,y)
orientations = [0] # list of angles (degrees)
# x:1329 y:218, x:1324 y:61
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.target_pose = None
_state_machine.userdata.target_pose_index = 0
_state_machine.userdata.bagfile_name = '' # calculated
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# If the user doesn't specify any waypoints, default to these
if not waypoints:
waypoints = [(1.0, 0.0), (2.0, 0.26795), (2.73205, 1.0),
(2.0, 0.26795)]
orientations = [0, 30, 60, 30]
orientations = [ang * math.pi / 180
for ang in orientations] # convert to radians
# Prepare a list of pose stamped waypoints for use by the footstep planning state
self._poses_to_visit = list()
for i in range(0, len(waypoints)):
pt = Point(x=waypoints[i][0], y=waypoints[i][1])
qt = tf.transformations.quaternion_from_euler(
0, 0, orientations[i])
p = Pose(position=pt, orientation=Quaternion(*qt))
pose_stamped = PoseStamped(header=Header(frame_id='/world'),
pose=p)
self._poses_to_visit.append(pose_stamped)
# Topics of interest will be rosbag recorded and the bagfiles will be stored in the folder below
logs_folder = os.path.expanduser('~/footstep_tests/')
if not os.path.exists(logs_folder):
os.makedirs(logs_folder)
_state_machine.userdata.bagfile_name = logs_folder + "run_" + time.strftime(
"%Y-%m-%d-%H_%M") + ".bag"
# [/MANUAL_CREATE]
# x:730 y:38, x:328 y:117
_sm_perform_walking_0 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['target_pose'])
with _sm_perform_walking_0:
# x:157 y:27
OperatableStateMachine.add(
'Create_Step_Goal',
CreateStepGoalState(pose_is_pelvis=False),
transitions={
'done': 'Plan_To_Next_Pose',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={
'target_pose': 'target_pose',
'step_goal': 'step_goal'
})
# x:401 y:188
OperatableStateMachine.add(
'Print_The_Footstep_Plan',
CalculationState(calculation=self.print_plan),
transitions={'done': 'Execute_Footstep_Plan'},
autonomy={'done': Autonomy.High},
remapping={
'input_value': 'plan_header',
'output_value': 'output_value'
})
# x:398 y:30
OperatableStateMachine.add(
'Execute_Footstep_Plan',
ExecuteStepPlanActionState(),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'plan_header': 'plan_header'})
# x:156 y:188
OperatableStateMachine.add(
'Plan_To_Next_Pose',
PlanFootstepsState(
mode=PlanFootstepsState.MODE_STEP_NO_COLLISION),
transitions={
'planned': 'Print_The_Footstep_Plan',
'failed': 'failed'
},
autonomy={
'planned': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'step_goal': 'step_goal',
'plan_header': 'plan_header'
})
# x:1253 y:294, x:470 y:218
_sm_test_ocs_modified_plan_1 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['target_pose_index'])
with _sm_test_ocs_modified_plan_1:
# x:116 y:56
OperatableStateMachine.add(
'Set_Target_First_Pose',
CalculationState(
calculation=lambda x: self._poses_to_visit[0]),
transitions={'done': 'Create_Goal'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'target_pose_index',
'output_value': 'target_pose'
})
# x:707 y:54
OperatableStateMachine.add(
'Request_Plan',
PlanFootstepsState(
mode=PlanFootstepsState.MODE_STEP_NO_COLLISION),
transitions={
'planned': 'Print_Original_Plan',
'failed': 'failed'
},
autonomy={
'planned': Autonomy.High,
'failed': Autonomy.Low
},
remapping={
'step_goal': 'step_goal',
'plan_header': 'plan_header'
})
# x:1018 y:128
OperatableStateMachine.add(
'Modify',
InputState(
request=InputState.FOOTSTEP_PLAN_HEADER,
message='Modify plan (if necessary) and then confirm.'),
transitions={
'received': 'Print_Modified_Plan',
'aborted': 'failed',
'no_connection': 'failed',
'data_error': 'failed'
},
autonomy={
'received': Autonomy.High,
'aborted': Autonomy.Low,
'no_connection': Autonomy.Low,
'data_error': Autonomy.Low
},
remapping={'data': 'plan_header_new'})
# x:971 y:358
OperatableStateMachine.add(
'Execute',
ExecuteStepPlanActionState(),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'plan_header': 'plan_header_new'})
# x:431 y:56
OperatableStateMachine.add(
'Create_Goal',
CreateStepGoalState(pose_is_pelvis=False),
transitions={
'done': 'Request_Plan',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={
'target_pose': 'target_pose',
'step_goal': 'step_goal'
})
# x:1005 y:228
OperatableStateMachine.add(
'Print_Modified_Plan',
CalculationState(calculation=self.print_plan),
transitions={'done': 'Execute'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'plan_header_new',
'output_value': 'output_value'
})
# x:989 y:28
OperatableStateMachine.add(
'Print_Original_Plan',
CalculationState(calculation=self.print_plan),
transitions={'done': 'Modify'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'plan_header',
'output_value': 'output_value'
})
# x:8 y:123, x:561 y:146
_sm_test_waypoint_following_2 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['target_pose_index'])
with _sm_test_waypoint_following_2:
# x:361 y:28
OperatableStateMachine.add(
'Decide_Next_Target_Pose',
DecisionState(outcomes=['continue', 'finished'],
conditions=lambda x: 'continue'
if x < len(waypoints) else 'finished'),
transitions={
'continue': 'Set_Next_Target_Pose',
'finished': 'finished'
},
autonomy={
'continue': Autonomy.Low,
'finished': Autonomy.High
},
remapping={'input_value': 'target_pose_index'})
# x:349 y:254
OperatableStateMachine.add(
'Increment_To_Next_Target_Pose',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'Decide_Next_Target_Pose'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'target_pose_index',
'output_value': 'target_pose_index'
})
# x:699 y:30
OperatableStateMachine.add(
'Set_Next_Target_Pose',
CalculationState(
calculation=lambda x: self._poses_to_visit[x]),
transitions={'done': 'Perform_Walking'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'target_pose_index',
'output_value': 'target_pose'
})
# x:679 y:254
OperatableStateMachine.add(
'Wait_For_Stand',
CheckCurrentControlModeState(
target_mode=CheckCurrentControlModeState.STAND, wait=True),
transitions={
'correct': 'Increment_To_Next_Target_Pose',
'incorrect': 'failed'
},
autonomy={
'correct': Autonomy.High,
'incorrect': Autonomy.Low
},
remapping={'control_mode': 'control_mode'})
# x:699 y:132
OperatableStateMachine.add(
'Perform_Walking',
_sm_perform_walking_0,
transitions={
'finished': 'Wait_For_Stand',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'target_pose': 'target_pose'})
with _state_machine:
# x:82 y:28
OperatableStateMachine.add(
'Start_Recording',
StartRecordLogsState(topics_to_record=self.topics_to_record),
transitions={'logging': 'Wait_For_Rosbag_Process'},
autonomy={'logging': Autonomy.Off},
remapping={
'bagfile_name': 'bagfile_name',
'rosbag_process': 'rosbag_process'
})
# x:1050 y:211
OperatableStateMachine.add(
'Stop_Recording_If_Finished',
StopRecordLogsState(),
transitions={'stopped': 'finished'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process'})
# x:1035 y:52
OperatableStateMachine.add(
'Stop_Recording_Before_Failed',
StopRecordLogsState(),
transitions={'stopped': 'failed'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process'})
# x:74 y:110
OperatableStateMachine.add(
'Wait_For_Rosbag_Process',
WaitState(wait_time=2),
transitions={'done': 'Decide_Test_Type'},
autonomy={'done': Autonomy.Off})
# x:570 y:28
OperatableStateMachine.add(
'Test_Waypoint_Following',
_sm_test_waypoint_following_2,
transitions={
'finished': 'Stop_Recording_If_Finished',
'failed': 'Stop_Recording_Before_Failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'target_pose_index': 'target_pose_index'})
# x:357 y:110
OperatableStateMachine.add('Decide_Test_Type',
OperatorDecisionState(outcomes=[
'waypoints', 'wide_stance',
'modified'
],
hint=None,
suggestion=None),
transitions={
'waypoints':
'Test_Waypoint_Following',
'wide_stance':
'Manipulation Config',
'modified': 'Test_OCS_Modified_Plan'
},
autonomy={
'waypoints': Autonomy.High,
'wide_stance': Autonomy.High,
'modified': Autonomy.High
})
# x:454 y:250
OperatableStateMachine.add(
'Manipulation Config',
self.use_behavior(ManipulationConfigSM, 'Manipulation Config'),
transitions={
'finished': 'Locomotion Config',
'failed': 'Stop_Recording_Before_Failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:704 y:252
OperatableStateMachine.add(
'Locomotion Config',
self.use_behavior(LocomotionConfigSM, 'Locomotion Config'),
transitions={
'finished': 'Stop_Recording_If_Finished',
'failed': 'Stop_Recording_Before_Failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:572 y:148
OperatableStateMachine.add(
'Test_OCS_Modified_Plan',
_sm_test_ocs_modified_plan_1,
transitions={
'finished': 'Stop_Recording_If_Finished',
'failed': 'Stop_Recording_Before_Failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'target_pose_index': 'target_pose_index'})
return _state_machine
def create(self):
# x:808 y:575, x:78 y:552, x:477 y:566
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed', 'critical_fail'],
input_keys=['Action'])
_state_machine.userdata.Action = [
"Ask", "How are you today?", "Answer"
]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:675 y:219, x:771 y:50
_sm_confirm_0 = OperatableStateMachine(outcomes=['finished', 'failed'],
input_keys=['answer'])
with _sm_confirm_0:
# x:70 y:60
OperatableStateMachine.add(
'Heard',
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:501 y:98
OperatableStateMachine.add(
'check yes',
CheckConditionState(
predicate=lambda x: "yes" in x and not "no" in x),
transitions={
'true': 'finished',
'false': 'failed'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'words'})
# x:259 y:92
OperatableStateMachine.add('get speech',
GetSpeech(watchdog=5),
transitions={
'done': 'check yes',
'nothing': 'failed',
'fail': 'finished'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'words'})
with _state_machine:
# x:43 y:162
OperatableStateMachine.add(
'SetPerson',
SetKey(Value="person"),
transitions={'done': 'Action_findPerson'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'personKey'})
# x:194 y:99
OperatableStateMachine.add(
'trouveLaQuestion',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'AskTheQuestion'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Action',
'output_value': 'question'
})
# x:545 y:161
OperatableStateMachine.add('GetTheResponse',
GetSpeech(watchdog=7),
transitions={
'done': 'Confirm',
'nothing': 'looping',
'fail': 'looping'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'response'})
# x:372 y:262
OperatableStateMachine.add(
'NotUnderstand',
SaraSay(sentence="Soory, I did not understand.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'AskTheQuestion'},
autonomy={'done': Autonomy.Off})
# x:23 y:285
OperatableStateMachine.add('Action_findPerson',
self.use_behavior(
Action_findPersonSM,
'Action_findPerson'),
transitions={
'done': 'fisrtSentence',
'pas_done': 'NoPerson'
},
autonomy={
'done': Autonomy.Inherit,
'pas_done': Autonomy.Inherit
},
remapping={
'className': 'personKey',
'entity': 'entity'
})
# x:224 y:301
OperatableStateMachine.add(
'NoPerson',
SaraSay(sentence="I did not find any person. ",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause1'},
autonomy={'done': Autonomy.Off})
# x:169 y:194
OperatableStateMachine.add(
'fisrtSentence',
SaraSay(sentence="Hello, I have a question for you.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'trouveLaQuestion'},
autonomy={'done': Autonomy.Off})
# x:539 y:332
OperatableStateMachine.add('looping',
ForLoop(repeat=2),
transitions={
'do': 'NotUnderstand',
'end': 'saraSorry'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:540 y:473
OperatableStateMachine.add(
'saraSorry',
SaraSay(sentence="Sorry, I can't understand your response.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause2'},
autonomy={'done': Autonomy.Off})
# x:776 y:209
OperatableStateMachine.add(
'getRosparmName',
CalculationState(calculation=lambda x: x[2]),
transitions={'done': 'SetRosParamKey'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Action',
'output_value': 'RosParamName'
})
# x:778 y:301
OperatableStateMachine.add('SetRosParamKey',
SetRosParamKey(),
transitions={'done': 'log'},
autonomy={'done': Autonomy.Off},
remapping={
'Value': 'response',
'ParamName': 'RosParamName'
})
# x:787 y:482
OperatableStateMachine.add(
'thank you',
SaraSay(sentence="Thank you for your answer.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:789 y:390
OperatableStateMachine.add('log',
LogKeyState(
text="{}",
severity=Logger.REPORT_HINT),
transitions={'done': 'thank you'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'response'})
# x:221 y:384
OperatableStateMachine.add(
'cause1',
SetKey(Value="I didn't find any person"),
transitions={'done': 'set cause failure'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:326 y:503
OperatableStateMachine.add(
'cause2',
SetKey(Value="I did not understand the answer"),
transitions={'done': 'set cause failure'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:159 y:468
OperatableStateMachine.add(
'set cause failure',
SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'Key'})
# x:769 y:88
OperatableStateMachine.add('Confirm',
_sm_confirm_0,
transitions={
'finished': 'getRosparmName',
'failed': 'AskTheQuestion'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'answer': 'response'})
# x:367 y:117
OperatableStateMachine.add('AskTheQuestion',
SaraSay(sentence=lambda x: x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'GetTheResponse'},
autonomy={'done': Autonomy.Off})
return _state_machine
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:392 y:613, x:739 y:627, x:59 y:602, x:34 y:328
_state_machine = OperatableStateMachine(
outcomes=['timeout', 'failed', 'invalid_pose', 'unknown_keys'],
input_keys=['key_pressed_msg'],
output_keys=['key_pressed_msg'])
_state_machine.userdata.key_pressed_msg = KeyPressed()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:353, x:130 y:353, x:626 y:359, x:330 y:353, x:430 y:353, x:530 y:353
_sm_waitkey_0 = ConcurrencyContainer(
outcomes=['received', 'timeout', 'failed'],
output_keys=['key_pressed_msg'],
conditions=[('received', [('WaitKeyPressed', 'received')]),
('timeout', [('WaitTimeout', 'done')]),
('failed', [('WaitKeyPressed', 'unavailable')])])
with _sm_waitkey_0:
# x:281 y:146
OperatableStateMachine.add(
'WaitKeyPressed',
WaitForMessageState(topic='/hmi/joy_decoder/keys_pressed',
condition=self.trigger,
buffered=False,
clear=True),
transitions={
'received': 'received',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'key_pressed_msg'})
# x:509 y:151
OperatableStateMachine.add('WaitTimeout',
WaitState(wait_time=self.timeout),
transitions={'done': 'timeout'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:51 y:31
OperatableStateMachine.add(
'CheckExitEnter',
DecisionState(
outcomes=['animation', 'exit', 'walk', 'unknown'],
conditions=self.decision),
transitions={
'animation': 'unknown_keys',
'exit': 'unknown_keys',
'walk': 'PrepareForWalk',
'unknown': 'unknown_keys'
},
autonomy={
'animation': Autonomy.Off,
'exit': Autonomy.Off,
'walk': Autonomy.Off,
'unknown': Autonomy.Off
},
remapping={'input_value': 'key_pressed_msg'})
# x:326 y:259
OperatableStateMachine.add(
'CheckExit',
DecisionState(
outcomes=['animation', 'walk', 'exit', 'unknown'],
conditions=self.decision),
transitions={
'animation': 'EndWalkUnknownKeys',
'walk': 'ProcessKeyMsg',
'exit': 'EndWalkUnknownKeys',
'unknown': 'WaitKey'
},
autonomy={
'animation': Autonomy.Off,
'walk': Autonomy.Off,
'exit': Autonomy.Off,
'unknown': Autonomy.Off
},
remapping={'input_value': 'key_pressed_msg'})
# x:703 y:410
OperatableStateMachine.add(
'ExecuteStepSeq',
ExecuteStepSequenceKey(
controller='motion/controller/step_sequence',
trajectory_ns='saved_msgs/step_sequence'),
transitions={
'success': 'WaitKey',
'unavailable': 'WaitKey',
'partial_movement': 'invalid_pose',
'invalid_pose': 'invalid_pose',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'unavailable': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'trajectory_param': 'motion_param'})
# x:431 y:381
OperatableStateMachine.add(
'WaitKey',
_sm_waitkey_0,
transitions={
'received': 'CheckExit',
'timeout': 'EndWalkTimeout',
'failed': 'failed'
},
autonomy={
'received': Autonomy.Inherit,
'timeout': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'key_pressed_msg': 'key_pressed_msg'})
# x:719 y:246
OperatableStateMachine.add(
'CheckNone',
CheckConditionState(predicate=lambda x: x == None),
transitions={
'true': 'WaitKey',
'false': 'ExecuteStepSeq'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'motion_param'})
# x:108 y:289
OperatableStateMachine.add(
'EndWalkUnknownKeys',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_end',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'unknown_keys',
'partial_movement': 'invalid_pose',
'invalid_pose': 'invalid_pose',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:379 y:491
OperatableStateMachine.add(
'EndWalkTimeout',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_end',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'timeout',
'partial_movement': 'invalid_pose',
'invalid_pose': 'invalid_pose',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:408 y:158
OperatableStateMachine.add(
'ProcessKeyMsg',
CalculationState(calculation=self.process_walk),
transitions={'done': 'CheckNone'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'key_pressed_msg',
'output_value': 'motion_param'
})
# x:211 y:72
OperatableStateMachine.add(
'PrepareForWalk',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_begin',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'ProcessKeyMsg',
'partial_movement': 'invalid_pose',
'invalid_pose': 'invalid_pose',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
return _state_machine
def create(self):
joint_trajectory_action = 'motion/controller/joint_trajectory'
storage = 'joint_trajectory/'
voice_topic = 'voice/voice'
eye_cmd_topic = 'control'
# x:1034 y:292, x:622 y:639
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['be_evil', 'new_be_evil'],
output_keys=['be_evil'])
_state_machine.userdata.be_evil = self.be_evil
_state_machine.userdata.new_be_evil = self.new_be_evil
_state_machine.userdata.head_crooked_pose = [0, 0, 0, 0.4]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:96 y:163
OperatableStateMachine.add('CheckEvil',
DecisionState(
outcomes=['good', 'evil'],
conditions=lambda x: 'good'
if not x else 'evil'),
transitions={
'good': 'CheckChangeToEvil',
'evil': 'CheckChangeToGood'
},
autonomy={
'good': Autonomy.Off,
'evil': Autonomy.Off
},
remapping={'input_value': 'be_evil'})
# x:252 y:50
OperatableStateMachine.add(
'CheckChangeToEvil',
DecisionState(outcomes=['yes', 'no'],
conditions=lambda x: 'yes' if x else 'no'),
transitions={
'yes': 'RedEyes',
'no': 'NormalEyes'
},
autonomy={
'yes': Autonomy.Off,
'no': Autonomy.Off
},
remapping={'input_value': 'new_be_evil'})
# x:426 y:48
OperatableStateMachine.add('RedEyes',
TextCommandState(type='eyes/emotion',
command='red_eyes',
topic=eye_cmd_topic),
transitions={'done': 'Seizure'},
autonomy={'done': Autonomy.Off})
# x:737 y:30
OperatableStateMachine.add(
'Seizure',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='seizure_evil',
trajectory_ns=storage),
transitions={
'success': 'SetEvil',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:961 y:162
OperatableStateMachine.add(
'SetEvil',
CalculationState(calculation=lambda x: True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'be_evil',
'output_value': 'be_evil'
})
# x:419 y:135
OperatableStateMachine.add('NormalEyes',
TextCommandState(type='eyes/emotion',
command='normal',
topic=eye_cmd_topic),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:195 y:281
OperatableStateMachine.add(
'CheckChangeToGood',
DecisionState(outcomes=['yes', 'no'],
conditions=lambda x: 'no' if x else 'yes'),
transitions={
'yes': 'NormalEyes2',
'no': 'RedEyes2'
},
autonomy={
'yes': Autonomy.Off,
'no': Autonomy.Off
},
remapping={'input_value': 'new_be_evil'})
# x:416 y:331
OperatableStateMachine.add(
'NormalEyes2',
TextCommandState(type='eyes/emotion',
command='normal',
topic=eye_cmd_topic),
transitions={'done': 'HeadAssumeBasicPose'},
autonomy={'done': Autonomy.Off})
# x:613 y:321
OperatableStateMachine.add(
'ShakeHead',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='head_shake',
trajectory_ns=storage),
transitions={
'success': 'LookAround',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:894 y:326
OperatableStateMachine.add(
'SetGood',
CalculationState(calculation=lambda x: False),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'be_evil',
'output_value': 'be_evil'
})
# x:671 y:437
OperatableStateMachine.add(
'LookAround',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='look_around',
trajectory_ns=storage),
transitions={
'success': 'SetGood',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:420 y:200
OperatableStateMachine.add('RedEyes2',
TextCommandState(type='eyes/emotion',
command='red_eyes',
topic=eye_cmd_topic),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:444 y:420
OperatableStateMachine.add('HeadAssumeBasicPose',
SrdfStateToMoveit(
config_name='head_basic',
move_group='head',
action_topic='move_group',
robot_name=''),
transitions={
'reached': 'ShakeHead',
'planning_failed': 'failed',
'control_failed': 'failed',
'param_error': 'failed'
},
autonomy={
'reached': Autonomy.Off,
'planning_failed': Autonomy.Off,
'control_failed': Autonomy.Off,
'param_error': Autonomy.Off
},
remapping={
'config_name': 'config_name',
'move_group': 'move_group',
'robot_name': 'robot_name',
'action_topic': 'action_topic',
'joint_values': 'joint_values',
'joint_names': 'joint_names'
})
return _state_machine
def create(self):
# x:712 y:612, x:820 y:97
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.name = "person"
_state_machine.userdata.distance = 1.05
_state_machine.userdata.taxi = "taxi"
_state_machine.userdata.umbrella = "umbrella"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365, x:130 y:365, x:230 y:365
_sm_get_closer_0 = ConcurrencyContainer(
outcomes=['finished'],
input_keys=['ID'],
conditions=[('finished', [('follow', 'failed')]),
('finished', [('wait 3', 'done')])])
with _sm_get_closer_0:
# x:46 y:131
OperatableStateMachine.add('follow',
SaraFollow(distance=1.15,
ReplanPeriod=0.5),
transitions={'failed': 'finished'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:223 y:134
OperatableStateMachine.add('wait 3',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:571 y:592
_sm_scan_1 = OperatableStateMachine(outcomes=['finished'])
with _sm_scan_1:
# x:42 y:66
OperatableStateMachine.add(
'Looking',
SaraSay(
sentence=
"I am trying to find who wants to leave. Please raise your hand.",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:394 y:262
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-0.3),
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:34 y:589
OperatableStateMachine.add('w1',
WaitState(wait_time=3),
transitions={'done': 'center3'},
autonomy={'done': Autonomy.Off})
# x:413 y:159
OperatableStateMachine.add('w2',
WaitState(wait_time=3),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:415 y:370
OperatableStateMachine.add('w3',
WaitState(wait_time=3),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:39 y:371
OperatableStateMachine.add('w4',
WaitState(wait_time=3),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:16 y:475
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=0.3),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:215 y:156
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:213 y:579
OperatableStateMachine.add('center3',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait'},
autonomy={'done': Autonomy.Off})
# x:393 y:576
OperatableStateMachine.add('wait',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:32 y:494, x:627 y:411
_sm_filtregender_2 = OperatableStateMachine(
outcomes=['none_found', 'found person'],
input_keys=['name'],
output_keys=['pronoun', 'person'])
with _sm_filtregender_2:
# x:109 y:51
OperatableStateMachine.add('List',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'FiltreWave',
'none_found': 'none_found'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'entity_list',
'number': 'number'
})
# x:180 y:301
OperatableStateMachine.add(
'FiltreExitingwomen',
Filter(filter=lambda x: x.face.gender == "female"),
transitions={'done': 'no female?'},
autonomy={'done': Autonomy.Off},
remapping={
'input_list': 'persons',
'output_list': 'female'
})
# x:174 y:386
OperatableStateMachine.add(
'no female?',
CheckConditionState(predicate=lambda x: len(x) > 0),
transitions={
'true': 'set pronoun female',
'false': 'set pronoun male'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'female'})
# x:374 y:312
OperatableStateMachine.add(
'set pronoun female',
SetKey(Value="miss"),
transitions={'done': 'get first female'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'pronoun'})
# x:181 y:476
OperatableStateMachine.add('set pronoun male',
SetKey(Value=""),
transitions={'done': 'get first male'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'pronoun'})
# x:599 y:290
OperatableStateMachine.add(
'get first female',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found person'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'female',
'output_value': 'person'
})
# x:381 y:408
OperatableStateMachine.add(
'get first male',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found person'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'persons',
'output_value': 'person'
})
# x:151 y:135
OperatableStateMachine.add(
'FiltreWave',
Filter(filter=lambda x: x.pose.right_arm_up or x.pose.
left_arm_up),
transitions={'done': 'if more than 0'},
autonomy={'done': Autonomy.Off},
remapping={
'input_list': 'entity_list',
'output_list': 'persons'
})
# x:157 y:217
OperatableStateMachine.add(
'if more than 0',
CheckConditionState(predicate=lambda x: len(x) > 0),
transitions={
'true': 'FiltreExitingwomen',
'false': 'none_found'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'persons'})
# x:772 y:208, x:360 y:516
_sm_confirm_3 = OperatableStateMachine(
outcomes=['false', 'done'], input_keys=['Person', 'pronoun'])
with _sm_confirm_3:
# x:66 y:83
OperatableStateMachine.add(
'Confirm',
SaraSay(sentence=lambda x: "would you like to leave, " + x[0] +
"?",
input_keys=["pronoun"],
emotion=0,
block=True),
transitions={'done': 'GetSpeech'},
autonomy={'done': Autonomy.Off},
remapping={'pronoun': 'pronoun'})
# x:82 y:504
OperatableStateMachine.add('GetID',
SetRosParam(ParamName="OpeID"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ID'})
# x:67 y:298
OperatableStateMachine.add('if yes',
RegexTester(regex=".*((yes)|(I do)).*"),
transitions={
'true': 'get id',
'false': 'test no'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'text',
'result': 'result'
})
# x:84 y:409
OperatableStateMachine.add('get id',
GetAttribute(attributes=["ID"]),
transitions={'done': 'GetID'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'Person',
'ID': 'ID'
})
# x:87 y:188
OperatableStateMachine.add('GetSpeech',
GetSpeech(watchdog=10),
transitions={
'done': 'if yes',
'nothing': 'sayno',
'fail': 'if yes'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'text'})
# x:259 y:193
OperatableStateMachine.add(
'sayno',
SaraSay(
sentence="Sorry, did you say that you wanted to leave?",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'getno'},
autonomy={'done': Autonomy.Off})
# x:439 y:179
OperatableStateMachine.add('getno',
GetSpeech(watchdog=10),
transitions={
'done': 'getNO',
'nothing': 'false',
'fail': 'false'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'text'})
# x:603 y:337
OperatableStateMachine.add('getNO',
RegexTester(regex=".*((yes)|(I do)).*"),
transitions={
'true': 'get id',
'false': 'false'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'text',
'result': 'result'
})
# x:246 y:298
OperatableStateMachine.add('test no',
RegexTester(regex=".*((no)|(not)).*"),
transitions={
'true': 'false',
'false': 'sayno'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'text',
'result': 'result'
})
# x:228 y:419
_sm_find_raising_arm_4 = OperatableStateMachine(
outcomes=['finished'], output_keys=['umbrella'])
with _sm_find_raising_arm_4:
# x:33 y:48
OperatableStateMachine.add('setperson',
SetKey(Value="person"),
transitions={'done': 'gettaxiperson'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'person'})
# x:183 y:120
OperatableStateMachine.add('gettaxiperson',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'taxi',
'none_found': 'gettaxiperson'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'person',
'entity_list': 'entity_list',
'number': 'number'
})
# x:408 y:270
OperatableStateMachine.add(
'if',
CheckConditionState(predicate=lambda x: len(x) > 0),
transitions={
'true': 'get first',
'false': 'gettaxiperson'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'output_list'})
# x:344 y:184
OperatableStateMachine.add(
'taxi',
Filter(filter=lambda x: x.pose.right_arm_up or x.pose.
left_arm_up),
transitions={'done': 'if'},
autonomy={'done': Autonomy.Off},
remapping={
'input_list': 'entity_list',
'output_list': 'output_list'
})
# x:405 y:359
OperatableStateMachine.add(
'get first',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'output_list',
'output_value': 'umbrella'
})
# x:30 y:365
_sm_rotation_5 = OperatableStateMachine(outcomes=['end'])
with _sm_rotation_5:
# x:51 y:38
OperatableStateMachine.add('Set 180 degres',
SetKey(Value=3.1416),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:613 y:470
OperatableStateMachine.add(
'action_turn',
self.use_behavior(
sara_flexbe_behaviors__action_turnSM,
'GetTaxi/Find umbrella/gettaxihuman/Rotation/action_turn'),
transitions={
'finished': 'Look Right',
'failed': 'Look Right'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:421 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=0, yaw=-1.5),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:265 y:56
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:630 y:56
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:250 y:177
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:618 y:304
OperatableStateMachine.add('Look Left 2',
SaraSetHeadAngle(pitch=0, yaw=1.5),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:612 y:138
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:635 y:214
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'Look Left 2'},
autonomy={'done': Autonomy.Off})
# x:636 y:394
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_find_entity_6 = OperatableStateMachine(outcomes=['found'],
input_keys=['className'],
output_keys=['entity'])
with _sm_find_entity_6:
# x:181 y:178
OperatableStateMachine.add('find_entity',
list_entities_by_name(
frontality_level=0.5,
distance_max=4),
transitions={
'found': 'Get Entity',
'none_found': 'find_entity'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'className',
'entity_list': 'entity_list',
'number': 'number'
})
# x:454 y:178
OperatableStateMachine.add(
'Get Entity',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'entity'
})
# x:194 y:40
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'find_entity'},
autonomy={'done': Autonomy.Off})
# x:34 y:496, x:130 y:365, x:475 y:291, x:330 y:365, x:430 y:365
_sm_gettaxihuman_7 = ConcurrencyContainer(
outcomes=['found', 'not_found'],
input_keys=['umbrella'],
output_keys=['umbrella'],
conditions=[('not_found', [('Rotation', 'end')]),
('found', [('Find Entity', 'found')]),
('found', [('FInd raising arm', 'finished')])])
with _sm_gettaxihuman_7:
# x:127 y:67
OperatableStateMachine.add('Find Entity',
_sm_find_entity_6,
transitions={'found': 'found'},
autonomy={'found': Autonomy.Inherit},
remapping={
'className': 'umbrella',
'entity': 'umbrella'
})
# x:129 y:180
OperatableStateMachine.add('Rotation',
_sm_rotation_5,
transitions={'end': 'not_found'},
autonomy={'end': Autonomy.Inherit})
# x:377 y:127
OperatableStateMachine.add('FInd raising arm',
_sm_find_raising_arm_4,
transitions={'finished': 'found'},
autonomy={'finished': Autonomy.Inherit},
remapping={'umbrella': 'umbrella'})
# x:73 y:441, x:586 y:51
_sm_find_umbrella_8 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['umbrella'],
output_keys=['umbrella'])
with _sm_find_umbrella_8:
# x:67 y:42
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'gettaxihuman'},
autonomy={'done': Autonomy.Off})
# x:278 y:138
OperatableStateMachine.add('Look Center Not Found',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:58 y:326
OperatableStateMachine.add('Log Entity',
LogKeyState(
text="Found entity: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'umbrella'})
# x:63 y:126
OperatableStateMachine.add('gettaxihuman',
_sm_gettaxihuman_7,
transitions={
'found': 'WaitState',
'not_found': 'Look Center Not Found'
},
autonomy={
'found': Autonomy.Inherit,
'not_found': Autonomy.Inherit
},
remapping={'umbrella': 'umbrella'})
# x:67 y:222
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'Log Entity'},
autonomy={'done': Autonomy.Off})
# x:83 y:284
_sm_lift_head_9 = OperatableStateMachine(outcomes=['finished'])
with _sm_lift_head_9:
# x:53 y:42
OperatableStateMachine.add('lift head',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'wait 2'},
autonomy={'done': Autonomy.Off})
# x:57 y:152
OperatableStateMachine.add('wait 2',
WaitState(wait_time=3),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_get_closer_10 = OperatableStateMachine(outcomes=['finished'],
input_keys=['person'])
with _sm_get_closer_10:
# x:151 y:63
OperatableStateMachine.add('get ID',
GetAttribute(attributes=["ID"]),
transitions={'done': 'Get closer'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'person',
'ID': 'ID'
})
# x:135 y:194
OperatableStateMachine.add('Get closer',
_sm_get_closer_0,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:607 y:98, x:558 y:330
_sm_get_gender_11 = OperatableStateMachine(
outcomes=['none_found', 'done'],
input_keys=['name', 'distance'],
output_keys=['person', 'pronoun'])
with _sm_get_gender_11:
# x:30 y:40
OperatableStateMachine.add('set head',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'Scan'},
autonomy={'done': Autonomy.Off})
# x:441 y:109
OperatableStateMachine.add('FiltreGender',
_sm_filtregender_2,
transitions={
'none_found': 'none_found',
'found person': 'done'
},
autonomy={
'none_found': Autonomy.Inherit,
'found person': Autonomy.Inherit
},
remapping={
'name': 'name',
'pronoun': 'pronoun',
'person': 'person'
})
# x:211 y:93
OperatableStateMachine.add(
'Scan',
_sm_scan_1,
transitions={'finished': 'FiltreGender'},
autonomy={'finished': Autonomy.Inherit})
# x:30 y:373, x:130 y:373
_sm_nevermind_12 = OperatableStateMachine(outcomes=['done', 'failed'],
input_keys=['poseOrigin'])
with _sm_nevermind_12:
# x:30 y:40
OperatableStateMachine.add('say ok',
SaraSay(sentence="I will try again",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:26 y:192
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'nevermind/Action_Move'),
transitions={
'finished': 'done',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'poseOrigin'})
# x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458
_sm_confirm_13 = ConcurrencyContainer(
outcomes=['false', 'done'],
input_keys=['person', 'pronoun'],
conditions=[('false', [('Confirm', 'false')]),
('done', [('Confirm', 'done')]),
('false', [('LookAtClosest', 'failed')])])
with _sm_confirm_13:
# x:95 y:163
OperatableStateMachine.add('Confirm',
_sm_confirm_3,
transitions={
'false': 'false',
'done': 'done'
},
autonomy={
'false': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'Person': 'person',
'pronoun': 'pronoun'
})
# x:309 y:162
OperatableStateMachine.add(
'LookAtClosest',
self.use_behavior(sara_flexbe_behaviors__LookAtClosestSM,
'confirm/LookAtClosest'),
transitions={'failed': 'false'},
autonomy={'failed': Autonomy.Inherit})
# x:65 y:581, x:688 y:449
_sm_gettaxi_14 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['distance', 'taxi', 'umbrella'])
with _sm_gettaxi_14:
# x:103 y:28
OperatableStateMachine.add(
'Action_Move_to taxi',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'GetTaxi/Action_Move_to taxi'),
transitions={
'finished': 'Lift head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'taxi'})
# x:220 y:546
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'GetTaxi/Action_Move'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'pose_out'})
# x:80 y:475
OperatableStateMachine.add('NotTooClose',
Get_Reacheable_Waypoint(),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={
'pose_in': 'position',
'distance': 'distance',
'pose_out': 'pose_out'
})
# x:81 y:400
OperatableStateMachine.add('GEtUmbrellaPosition',
GetAttribute(attributes=["position"]),
transitions={'done': 'NotTooClose'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'umbrella',
'position': 'position'
})
# x:108 y:131
OperatableStateMachine.add(
'Lift head',
_sm_lift_head_9,
transitions={'finished': 'Find umbrella'},
autonomy={'finished': Autonomy.Inherit})
# x:150 y:315
OperatableStateMachine.add(
'log',
LogKeyState(text="found umbrella: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'GEtUmbrellaPosition'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'umbrella'})
# x:267 y:312
OperatableStateMachine.add(
'say see taxy',
SaraSay(
sentence=
"I see the taxi. Over there. The person with the umbrella.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'log'},
autonomy={'done': Autonomy.Off})
# x:111 y:204
OperatableStateMachine.add('Find umbrella',
_sm_find_umbrella_8,
transitions={
'finished': 'say see taxy',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'umbrella': 'umbrella'})
with _state_machine:
# x:46 y:16
OperatableStateMachine.add('GetOrigin',
Get_Robot_Pose(),
transitions={'done': 'Init_Sequence'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'poseOrigin'})
# x:63 y:574
OperatableStateMachine.add('GetTaxi',
_sm_gettaxi_14,
transitions={
'finished': 'say succeed',
'failed': 'say fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'distance': 'distance',
'taxi': 'taxi',
'umbrella': 'umbrella'
})
# x:103 y:369
OperatableStateMachine.add('confirm',
_sm_confirm_13,
transitions={
'false': 'nevermind',
'done': 'say taxi'
},
autonomy={
'false': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'person': 'person',
'pronoun': 'pronoun'
})
# x:289 y:142
OperatableStateMachine.add(
'say nobody',
SaraSay(sentence="I don't see any raised hand.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'Get Gender'},
autonomy={'done': Autonomy.Off})
# x:571 y:104
OperatableStateMachine.add(
'say fail',
SaraSay(sentence="I failed this scenario. Sorry.",
input_keys=[],
emotion=3,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:245 y:595
OperatableStateMachine.add('say succeed',
SaraSay(
sentence="here is the taxy driver.",
input_keys=[],
emotion=5,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:103 y:483
OperatableStateMachine.add(
'say taxi',
SaraSay(sentence="Ok, follow me to the taxi then.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'GetTaxi'},
autonomy={'done': Autonomy.Off})
# x:49 y:101
OperatableStateMachine.add(
'Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM,
'Init_Sequence'),
transitions={
'finished': 'Get Gender',
'failed': 'say fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:17 y:288
OperatableStateMachine.add('nevermind',
_sm_nevermind_12,
transitions={
'done': 'Get Gender',
'failed': 'say fail'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'poseOrigin': 'poseOrigin'})
# x:30 y:192
OperatableStateMachine.add('Get Gender',
_sm_get_gender_11,
transitions={
'none_found': 'say nobody',
'done': 'get closer'
},
autonomy={
'none_found': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'name': 'name',
'distance': 'distance',
'person': 'person',
'pronoun': 'pronoun'
})
# x:259 y:310
OperatableStateMachine.add('get closer',
_sm_get_closer_10,
transitions={'finished': 'confirm'},
autonomy={'finished': Autonomy.Inherit},
remapping={'person': 'person'})
return _state_machine
def create(self):
# x:1195 y:433, x:132 y:431, x:750 y:42, x:991 y:471
_state_machine = OperatableStateMachine(outcomes=['Given', 'Person_not_found', 'No_object_in_hand', 'fail'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:130 y:365
_sm_lookat_0 = OperatableStateMachine(outcomes=['failed'], input_keys=['ID'])
with _sm_lookat_0:
# x:114 y:127
OperatableStateMachine.add('look',
KeepLookingAt(),
transitions={'failed': 'look'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:299 y:300, x:263 y:535
_sm_give_1 = OperatableStateMachine(outcomes=['failed', 'given'], input_keys=['Object'])
with _sm_give_1:
# x:67 y:27
OperatableStateMachine.add('SetPose',
SetKey(Value="ShowGripper"),
transitions={'done': 'say_give'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:53 y:413
OperatableStateMachine.add('read torque',
ReadTorque(watchdog=5, Joint="right_elbow_pitch_joint", Threshold=2, min_time=1),
transitions={'threshold': 'open gripper', 'watchdog': 'read torque', 'fail': 'failed'},
autonomy={'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'torque': 'torque'})
# x:52 y:500
OperatableStateMachine.add('open gripper',
SetGripperState(width=0.15, effort=1),
transitions={'object': 'given', 'no_object': 'given'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:64 y:248
OperatableStateMachine.add('say pull',
SaraSay(sentence="You can pull on it", input_keys=[], emotion=1, block=False),
transitions={'done': 'wait 1'},
autonomy={'done': Autonomy.Off})
# x:64 y:325
OperatableStateMachine.add('wait 1',
WaitState(wait_time=1),
transitions={'done': 'read torque'},
autonomy={'done': Autonomy.Off})
# x:57 y:175
OperatableStateMachine.add('moveArm',
MoveitMove(move=True, waitForExecution=True, group="RightArm", watchdog=15),
transitions={'done': 'say pull', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'target'})
# x:60 y:88
OperatableStateMachine.add('say_give',
SaraSay(sentence=lambda x: "Hi. I'm giving you this "+str(x), input_keys=[], emotion=0, block=True),
transitions={'done': 'moveArm'},
autonomy={'done': Autonomy.Off})
# x:596 y:480
_sm_follow_2 = OperatableStateMachine(outcomes=['finished'], input_keys=['ID'])
with _sm_follow_2:
# x:180 y:123
OperatableStateMachine.add('follow',
SaraFollow(distance=1.5, ReplanPeriod=0.5),
transitions={'failed': 'follow'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:313 y:247, x:301 y:177, x:103 y:293, x:343 y:113, x:397 y:411, x:311 y:27, x:630 y:365
_sm_give_3 = ConcurrencyContainer(outcomes=['failed', 'given', 'continue'], input_keys=['ID', 'Object'], conditions=[
('failed', [('Give', 'failed')]),
('given', [('Give', 'given')]),
('given', [('Follow', 'finished')]),
('failed', [('LookAt', 'failed')])
])
with _sm_give_3:
# x:91 y:50
OperatableStateMachine.add('Follow',
_sm_follow_2,
transitions={'finished': 'given'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:84 y:164
OperatableStateMachine.add('Give',
_sm_give_1,
transitions={'failed': 'failed', 'given': 'given'},
autonomy={'failed': Autonomy.Inherit, 'given': Autonomy.Inherit},
remapping={'Object': 'Object'})
# x:175 y:371
OperatableStateMachine.add('LookAt',
_sm_lookat_0,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
with _state_machine:
# x:77 y:29
OperatableStateMachine.add('Get hand content',
GetRosParam(ParamName="behavior/GripperContent"),
transitions={'done': 'is object in hand?', 'failed': 'fail'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'Value': 'Object'})
# x:58 y:108
OperatableStateMachine.add('is object in hand?',
CheckConditionState(predicate=lambda x: x),
transitions={'true': 'name', 'false': 'log empty hand'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'Object'})
# x:70 y:277
OperatableStateMachine.add('list persons',
list_entities_by_name(frontality_level=0.5, distance_max=10),
transitions={'found': 'get id', 'none_found': 'Person_not_found'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'People_list', 'number': 'number'})
# x:414 y:37
OperatableStateMachine.add('log empty hand',
LogState(text="The hand is empty. Set the GripperContent rosParam", severity=Logger.REPORT_HINT),
transitions={'done': 'No_object_in_hand'},
autonomy={'done': Autonomy.Off})
# x:754 y:223
OperatableStateMachine.add('log moveitfail',
LogState(text="moveit failed", severity=Logger.REPORT_HINT),
transitions={'done': 'fail'},
autonomy={'done': Autonomy.Off})
# x:606 y:371
OperatableStateMachine.add('log movebase fail',
LogState(text="giving Failed", severity=Logger.REPORT_HINT),
transitions={'done': 'fail'},
autonomy={'done': Autonomy.Off})
# x:402 y:133
OperatableStateMachine.add('set idle pose',
SetKey(Value="IdlePose"),
transitions={'done': 'say_good'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:751 y:108
OperatableStateMachine.add('moveArm2',
MoveitMove(move=True, waitForExecution=True, group="RightArm", watchdog=15),
transitions={'done': 'set none', 'failed': 'log moveitfail'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'target'})
# x:920 y:278
OperatableStateMachine.add('close gripper',
SetGripperState(width=0, effort=1),
transitions={'object': 'Given', 'no_object': 'Given'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:1048 y:236
OperatableStateMachine.add('remove gripper content',
SetRosParam(ParamName="GripperContent"),
transitions={'done': 'close gripper'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'none'})
# x:910 y:182
OperatableStateMachine.add('set none',
SetKey(Value=None),
transitions={'done': 'close gripper'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'none'})
# x:408 y:333
OperatableStateMachine.add('give',
_sm_give_3,
transitions={'failed': 'log movebase fail', 'given': 'set idle pose', 'continue': 'give'},
autonomy={'failed': Autonomy.Inherit, 'given': Autonomy.Inherit, 'continue': Autonomy.Inherit},
remapping={'ID': 'ID', 'Object': 'Object'})
# x:256 y:278
OperatableStateMachine.add('get id',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'give'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'People_list', 'output_value': 'ID'})
# x:68 y:192
OperatableStateMachine.add('name',
SetKey(Value="person"),
transitions={'done': 'list persons'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:591 y:138
OperatableStateMachine.add('say_good',
SaraSay(sentence=lambda x: "Good, enjoy your "+str(x), input_keys=[], emotion=0, block=True),
transitions={'done': 'moveArm2'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:860 y:786, x:837 y:171, x:828 y:43
_state_machine = OperatableStateMachine(
outcomes=['found', 'failed', 'not_found'],
input_keys=['question'],
output_keys=['entityFound'])
_state_machine.userdata.question = ""
_state_machine.userdata.entityFound = ""
_state_machine.userdata.personKey = "person"
_state_machine.userdata.index = -1
_state_machine.userdata.rotation180degres = -3.14
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:458, x:130 y:458
_sm_keep_looking_at_person_0 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['personID'])
with _sm_keep_looking_at_person_0:
# x:79 y:77
OperatableStateMachine.add('keep looking',
KeepLookingAt(),
transitions={'failed': 'keep looking'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'personID'})
# x:30 y:458, x:130 y:458
_sm_ask_1 = OperatableStateMachine(outcomes=['finished', 'failed'],
input_keys=['question'],
output_keys=['answer'])
with _sm_ask_1:
# x:57 y:66
OperatableStateMachine.add('wait',
WaitState(wait_time=3),
transitions={'done': 'Action_Ask'},
autonomy={'done': Autonomy.Off})
# x:46 y:155
OperatableStateMachine.add(
'Action_Ask',
self.use_behavior(
sara_flexbe_behaviors__Action_AskSM,
'ask while looking at person/ask/Action_Ask'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'question': 'question',
'answer': 'answer'
})
# x:871 y:712, x:874 y:127
_sm_get_real_id_2 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['entity', 'personKey', 'FIFO'],
output_keys=['personID'])
with _sm_get_real_id_2:
# x:47 y:32
OperatableStateMachine.add(
'get posittion face or entity',
CalculationState(calculation=lambda x: x.face.boundingBox.
Center if x.face.id != '' else x.position),
transitions={'done': 'get direction to point'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity',
'output_value': 'pointToLook'
})
# x:27 y:351
OperatableStateMachine.add('look at point',
SaraSetHeadAngleKey(),
transitions={'done': 'wait 1'},
autonomy={'done': Autonomy.Off},
remapping={
'yaw': 'yaw',
'pitch': 'pitch'
})
# x:40 y:423
OperatableStateMachine.add(
'wait 1',
WaitState(wait_time=1),
transitions={'done': 'list entity in front'},
autonomy={'done': Autonomy.Off})
# x:24 y:491
OperatableStateMachine.add(
'list entity in front',
list_entities_by_name(frontality_level=0.5, distance_max=3),
transitions={
'found':
'fitler the entity list to remove id already checked',
'none_found': 'set key'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'personKey',
'entity_list': 'entity_list',
'number': 'number'
})
# x:42 y:632
OperatableStateMachine.add(
'calcul first entity ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'say real id'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'filteredEntityList',
'output_value': 'personID'
})
# x:518 y:578
OperatableStateMachine.add(
'say real id',
SaraSay(sentence=lambda x: "The real ID is " + str(x[0]) + ".",
input_keys=["personID"],
emotion=0,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'personID': 'personID'})
# x:539 y:164
OperatableStateMachine.add('set key',
SetKey(Value=0),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'personID'})
# x:34 y:234
OperatableStateMachine.add('pitch to 0.1 if no face',
FlexibleCalculationState(
calculation=lambda x: x[0]
if x[1].face.id != '' else 0.1,
input_keys=["pitch", "entity"]),
transitions={'done': 'look at point'},
autonomy={'done': Autonomy.Off},
remapping={
'pitch': 'pitch',
'entity': 'entity',
'output_value': 'pitch'
})
# x:37 y:149
OperatableStateMachine.add('get direction to point',
Get_direction_to_point(
frame_origin="base_link",
frame_reference="head_link"),
transitions={
'done': 'pitch to 0.1 if no face',
'fail': 'set key'
},
autonomy={
'done': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'targetPoint': 'pointToLook',
'yaw': 'yaw',
'pitch': 'pitch'
})
# x:29 y:560
OperatableStateMachine.add(
'fitler the entity list to remove id already checked',
FilterKey(filter_function=lambda x: x[0].ID not in x[1],
input_keys=["input_list", "FIFO"]),
transitions={
'not_empty': 'calcul first entity ID',
'empty': 'set key'
},
autonomy={
'not_empty': Autonomy.Off,
'empty': Autonomy.Off
},
remapping={
'input_list': 'entity_list',
'FIFO': 'FIFO',
'output_list': 'filteredEntityList'
})
# x:30 y:458, x:710 y:24
_sm_tourne_tete_et_base_3 = OperatableStateMachine(
outcomes=['done', 'failed'],
input_keys=['index', 'rotation180degres'])
with _sm_tourne_tete_et_base_3:
# x:57 y:27
OperatableStateMachine.add(
'decide',
DecisionState(outcomes=["_0", "_1", "_2", "_3", "_4"],
conditions=lambda x: "_" + str(x)),
transitions={
'_0': 'look center',
'_1': 'look center_2',
'_2': 'look center_3',
'_3': 'action_turn',
'_4': 'look center_5'
},
autonomy={
'_0': Autonomy.Off,
'_1': Autonomy.Off,
'_2': Autonomy.Off,
'_3': Autonomy.Off,
'_4': Autonomy.Off
},
remapping={'input_value': 'index'})
# x:186 y:236
OperatableStateMachine.add('look right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'wait right'},
autonomy={'done': Autonomy.Off})
# x:208 y:307
OperatableStateMachine.add('wait right',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:322 y:109
OperatableStateMachine.add('look center_3',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center_3'},
autonomy={'done': Autonomy.Off})
# x:325 y:174
OperatableStateMachine.add('wait center_3',
WaitState(wait_time=3),
transitions={'done': 'look right_2'},
autonomy={'done': Autonomy.Off})
# x:318 y:240
OperatableStateMachine.add('look right_2',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'wait right_2'},
autonomy={'done': Autonomy.Off})
# x:345 y:310
OperatableStateMachine.add('wait right_2',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:489 y:178
OperatableStateMachine.add('look left_2_2',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'waitleft_2_2'},
autonomy={'done': Autonomy.Off})
# x:506 y:247
OperatableStateMachine.add('waitleft_2_2',
WaitState(wait_time=3),
transitions={'done': 'look center_4'},
autonomy={'done': Autonomy.Off})
# x:501 y:319
OperatableStateMachine.add('look center_4',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center_4'},
autonomy={'done': Autonomy.Off})
# x:520 y:407
OperatableStateMachine.add('wait center_4',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:476 y:109
OperatableStateMachine.add(
'action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM,
'tourne tete et base/action_turn'),
transitions={
'finished': 'look left_2_2',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation180degres'})
# x:199 y:108
OperatableStateMachine.add('look center_2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center_2'},
autonomy={'done': Autonomy.Off})
# x:51 y:113
OperatableStateMachine.add('look center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center'},
autonomy={'done': Autonomy.Off})
# x:56 y:174
OperatableStateMachine.add('wait center',
WaitState(wait_time=4),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:206 y:173
OperatableStateMachine.add('wait center_2',
WaitState(wait_time=2),
transitions={'done': 'look right'},
autonomy={'done': Autonomy.Off})
# x:730 y:110
OperatableStateMachine.add('look center_5',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center_5'},
autonomy={'done': Autonomy.Off})
# x:741 y:193
OperatableStateMachine.add('wait center_5',
WaitState(wait_time=3),
transitions={'done': 'look right_5'},
autonomy={'done': Autonomy.Off})
# x:733 y:296
OperatableStateMachine.add('look right_5',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'wait right_5'},
autonomy={'done': Autonomy.Off})
# x:731 y:422
OperatableStateMachine.add('wait right_5',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:449 y:45, x:454 y:135, x:447 y:195, x:446 y:252, x:430 y:458, x:530 y:458
_sm_ask_while_looking_at_person_4 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['personID', 'question'],
output_keys=['answer'],
conditions=[('finished', [('ask', 'finished')]),
('failed', [('ask', 'failed')]),
('finished', [('keep looking at person', 'finished')]),
('failed', [('keep looking at person', 'failed')])])
with _sm_ask_while_looking_at_person_4:
# x:97 y:55
OperatableStateMachine.add('ask',
_sm_ask_1,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'question': 'question',
'answer': 'answer'
})
# x:65 y:197
OperatableStateMachine.add('keep looking at person',
_sm_keep_looking_at_person_0,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'personID': 'personID'})
with _state_machine:
# x:30 y:115
OperatableStateMachine.add(
'Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM,
'Init_Sequence'),
transitions={
'finished': 'create fifo',
'failed': 'create fifo'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:164 y:62
OperatableStateMachine.add('for loop',
ForLoopWithInput(repeat=4),
transitions={
'do': 'tourne tete et base',
'end': 'not_found'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'index_in': 'index',
'index_out': 'index'
})
# x:260 y:557
OperatableStateMachine.add('ask while looking at person',
_sm_ask_while_looking_at_person_4,
transitions={
'finished': 'answer contains yes',
'failed': 'add id'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'personID': 'personID',
'question': 'question',
'answer': 'answer'
})
# x:289 y:480
OperatableStateMachine.add(
'get personID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'ask while looking at person'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'personEntity',
'output_value': 'personID'
})
# x:270 y:643
OperatableStateMachine.add(
'answer contains yes',
RegexTester(
regex=".*((yes)|(Yes)|(yep)|(sure)|(of course)).*"),
transitions={
'true': 'say ty',
'false': 'add id'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'answer',
'result': 'result'
})
# x:173 y:260
OperatableStateMachine.add('look center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'for loop'},
autonomy={'done': Autonomy.Off})
# x:372 y:89
OperatableStateMachine.add('tourne tete et base',
_sm_tourne_tete_et_base_3,
transitions={
'done': 'get list of person',
'failed': 'not_found'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'index': 'index',
'rotation180degres':
'rotation180degres'
})
# x:263 y:322
OperatableStateMachine.add(
'fitler the entity list to remove id already checked',
FilterKey(filter_function=lambda x: x[0].ID not in x[1],
input_keys=["input_list", "FIFO"]),
transitions={
'not_empty': 'get first entity',
'empty': 'look center'
},
autonomy={
'not_empty': Autonomy.Off,
'empty': Autonomy.Off
},
remapping={
'input_list': 'entityList',
'FIFO': 'FIFO',
'output_list': 'filteredEntityList'
})
# x:268 y:388
OperatableStateMachine.add(
'get first entity',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'get real id'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'filteredEntityList',
'output_value': 'personEntity'
})
# x:296 y:168
OperatableStateMachine.add(
'get list of person',
list_entities_by_name(frontality_level=0.5, distance_max=3),
transitions={
'found':
'fitler the entity list to remove id already checked',
'none_found': 'for loop'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'personKey',
'entity_list': 'entityList',
'number': 'numberOfEntity'
})
# x:111 y:533
OperatableStateMachine.add(
'add id',
FIFO_Add(),
transitions={'done': 'say keep looking'},
autonomy={'done': Autonomy.Off},
remapping={
'Entry': 'personID',
'FIFO': 'FIFO'
})
# x:609 y:651
OperatableStateMachine.add('say ty',
SaraSay(sentence="Thank you.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off})
# x:113 y:386
OperatableStateMachine.add('say keep looking',
SaraSay(sentence="Ok, never mind.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'for loop'},
autonomy={'done': Autonomy.Off})
# x:472 y:438
OperatableStateMachine.add('get real id',
_sm_get_real_id_2,
transitions={
'finished':
'ask while looking at person',
'failed': 'get personID'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'entity': 'personEntity',
'personKey': 'personKey',
'FIFO': 'FIFO',
'personID': 'personID'
})
# x:35 y:53
OperatableStateMachine.add('create fifo',
FIFO_New(),
transitions={'done': 'for loop'},
autonomy={'done': Autonomy.Off},
remapping={'FIFO': 'FIFO'})
return _state_machine
def create(self):
joy_topic = '/hmi/joystick'
# x:30 y:365, x:846 y:376
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.unused = None
_state_machine.userdata.joy_msg = Joy()
_state_machine.userdata.text_msg = TextCommand()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:353
_sm_waituntiltextcmd_0 = OperatableStateMachine(
outcomes=['received'], output_keys=['text_msg'])
with _sm_waituntiltextcmd_0:
# x:87 y:101
OperatableStateMachine.add(
'WaitTextMsg',
WaitForMessageState(
topic='/control',
condition=lambda x: x.type == 'flexbe/action',
buffered=False,
clear=True),
transitions={
'received': 'received',
'unavailable': 'Wait1s'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'text_msg'})
# x:314 y:97
OperatableStateMachine.add('Wait1s',
WaitState(wait_time=1),
transitions={'done': 'WaitTextMsg'},
autonomy={'done': Autonomy.Off})
# x:397 y:287, x:85 y:291, x:504 y:228, x:330 y:297, x:459 y:297, x:530 y:297
_sm_joystickmovements_1 = ConcurrencyContainer(
outcomes=['failed', 'button1234', 'timeout'],
input_keys=['joy_msg'],
output_keys=['joy_msg'],
conditions=[('timeout', [('JoystickControl', 'done')]),
('failed', [('WaitButton1234Pressed', 'unavailable')]),
('button1234', [('WaitButton1234Pressed', 'received')])
])
with _sm_joystickmovements_1:
# x:385 y:129
OperatableStateMachine.add(
'JoystickControl',
JoystickJointControl(
joints_topic='/joint_states',
goal_joints_topic=
'/motion/controller/joint_state/out_joints_src_reset',
joy_topic=joy_topic,
buttons=[(4, 0.6, 'ear_l_joint', -3.0, 1.0),
(6, -0.6, 'ear_l_joint', -3.0, 1.0),
(5, 0.6, 'ear_r_joint', -3.0, 1.0),
(7, -0.6, 'ear_r_joint', -3.0, 1.0)],
axes=[(0, 0, 'eyes_yaw', -1.5, 1.5),
(1, 0, 'eyes_pitch', -1.5, 1.5),
(4, -0.4, 'head_joint4', -1.5, 1.5),
(5, 0.4, 'head_joint2', -1.5, 1.5),
(3, 0.5, 'mouth_joint', -0.6, 0)],
timeout=5.0),
transitions={'done': 'timeout'},
autonomy={'done': Autonomy.Off})
# x:130 y:136
OperatableStateMachine.add(
'WaitButton1234Pressed',
WaitForMessageState(
topic=joy_topic,
condition=lambda msg: any(msg.buttons[0:4]),
buffered=False,
clear=True),
transitions={
'received': 'button1234',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'joy_msg'})
# x:205 y:274, x:300 y:274, x:68 y:275, x:449 y:266, x:595 y:272, x:833 y:323, x:638 y:392, x:730 y:353, x:949 y:274
_sm_randmovements_2 = ConcurrencyContainer(
outcomes=['failed', 'timeout', 'joy_msg', 'text_msg'],
input_keys=['unused', 'joy_msg', 'text_msg'],
output_keys=['joy_msg', 'text_msg', 'unused'],
conditions=[('failed', [('WaitJoystick', 'unavailable')]),
('failed', [('RandHeadMoves', 'failed')]),
('joy_msg', [('WaitJoystick', 'received')]),
('timeout', [('RandHeadMoves', 'done')]),
('text_msg', [('WaitUntilTextCmd', 'received')])])
with _sm_randmovements_2:
# x:88 y:74
OperatableStateMachine.add(
'WaitJoystick',
WaitForMessageState(
topic=joy_topic,
condition=lambda msg: any(msg.buttons) or any(msg.axes),
buffered=False,
clear=True),
transitions={
'received': 'joy_msg',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'joy_msg'})
# x:332 y:60
OperatableStateMachine.add(
'RandHeadMoves',
RandJointsMovements(controller='joint_state_head',
duration=10,
interval=[2.0, 5.0],
joints=['head_joint2', 'head_joint4'],
minimal=[-0.2, -0.3],
maximal=[0.3, 0.3]),
transitions={
'done': 'timeout',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'config': 'unused'})
# x:647 y:50
OperatableStateMachine.add('WaitUntilTextCmd',
_sm_waituntiltextcmd_0,
transitions={'received': 'text_msg'},
autonomy={'received': Autonomy.Inherit},
remapping={'text_msg': 'text_msg'})
with _state_machine:
# x:12 y:169
OperatableStateMachine.add(
'SetNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'RandMovements',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:127 y:370
OperatableStateMachine.add('JoystickMovements',
_sm_joystickmovements_1,
transitions={
'failed': 'failed',
'button1234': 'ProcessButton',
'timeout': 'RandMovements'
},
autonomy={
'failed': Autonomy.Inherit,
'button1234': Autonomy.Inherit,
'timeout': Autonomy.Inherit
},
remapping={'joy_msg': 'joy_msg'})
# x:248 y:186
OperatableStateMachine.add(
'CheckButtonPressed',
DecisionState(outcomes=['button1234', 'other'],
conditions=lambda msg: 'button1234'
if any(msg.buttons[0:4]) else 'other'),
transitions={
'button1234': 'ProcessButton',
'other': 'JoystickMovements'
},
autonomy={
'button1234': Autonomy.Off,
'other': Autonomy.Off
},
remapping={'input_value': 'joy_msg'})
# x:690 y:123
OperatableStateMachine.add(
'SetHeadNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'ExecuteAction',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:425 y:181
OperatableStateMachine.add(
'ProcessButton',
CalculationState(calculation=self.process_joy_msg),
transitions={'done': 'SetHeadNominalPose'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joy_msg',
'output_value': 'action_name'
})
# x:272 y:100
OperatableStateMachine.add(
'ProcessTextMsg',
CalculationState(calculation=self.process_text_msg),
transitions={'done': 'SetHeadNominalPose'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'text_msg',
'output_value': 'action_name'
})
# x:457 y:12
OperatableStateMachine.add(
'RandomAction',
CalculationState(calculation=self.random_action),
transitions={'done': 'SetHeadNominalPose'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'unused',
'output_value': 'action_name'
})
# x:383 y:325
OperatableStateMachine.add(
'ExecuteAction',
ExecuteJointTrajectoryKey(
controller='motion/controller/joint_trajectory',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'JoystickMovements',
'unavalible': 'JoystickMovements',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'unavalible': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'trajectory_param': 'action_name'})
# x:308 y:7
OperatableStateMachine.add(
'RandomChoice',
DecisionState(outcomes=['move', 'continue'],
conditions=lambda x: 'continue'
if random.random() < 0.4 else 'move'),
transitions={
'move': 'RandomAction',
'continue': 'RandMovements'
},
autonomy={
'move': Autonomy.Off,
'continue': Autonomy.Off
},
remapping={'input_value': 'unused'})
# x:117 y:39
OperatableStateMachine.add('RandMovements',
_sm_randmovements_2,
transitions={
'failed': 'failed',
'timeout': 'RandomChoice',
'joy_msg': 'CheckButtonPressed',
'text_msg': 'ProcessTextMsg'
},
autonomy={
'failed': Autonomy.Inherit,
'timeout': Autonomy.Inherit,
'joy_msg': Autonomy.Inherit,
'text_msg': Autonomy.Inherit
},
remapping={
'unused': 'unused',
'joy_msg': 'joy_msg',
'text_msg': 'text_msg'
})
return _state_machine
def create(self):
# x:860 y:152, x:755 y:568
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['pose'])
_state_machine.userdata.pose = "crowd"
_state_machine.userdata.name = "destination"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:130 y:365
_sm_look_around_0 = OperatableStateMachine(outcomes=['failed'])
with _sm_look_around_0:
# x:78 y:40
OperatableStateMachine.add('set pitch',
SetKey(Value=0.9),
transitions={'done': 'get angle'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'pitch'})
# x:348 y:210
OperatableStateMachine.add('set head',
SaraSetHeadAngleKey(),
transitions={'done': 'get angle'},
autonomy={'done': Autonomy.Off},
remapping={
'yaw': 'yaw',
'pitch': 'pitch'
})
# x:204 y:248
OperatableStateMachine.add(
'limit yaw',
CalculationState(calculation=lambda x: max(min(x, 1), -1)),
transitions={'done': 'set head'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'yaw',
'output_value': 'yaw'
})
# x:191 y:126
OperatableStateMachine.add('get angle',
GetClosestObstacle(topic="/scan",
maximumDistance=2),
transitions={'done': 'limit yaw'},
autonomy={'done': Autonomy.Off},
remapping={'Angle': 'yaw'})
# x:30 y:365, x:130 y:365
_sm_move_1 = OperatableStateMachine(outcomes=['arrived', 'failed'],
input_keys=['pose'])
with _sm_move_1:
# x:95 y:122
OperatableStateMachine.add('move',
SaraMoveBase(reference="map"),
transitions={
'arrived': 'arrived',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'pose'})
# x:259 y:573, x:491 y:362, x:491 y:453
_sm_manage_name_2 = OperatableStateMachine(
outcomes=['done', 'too much', 'not found'],
input_keys=['pose'],
output_keys=['pose', 'name'])
with _sm_manage_name_2:
# x:39 y:48
OperatableStateMachine.add(
'check if Pose',
CheckConditionState(predicate=lambda x: type(x) is type([])),
transitions={
'true': 'getname',
'false': 'check if string'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'pose'})
# x:257 y:264
OperatableStateMachine.add(
'getcontainers',
CalculationState(calculation=lambda x: x[1:]),
transitions={'done': 'get wonderland entity'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'pose',
'output_value': 'containers'
})
# x:232 y:354
OperatableStateMachine.add('get wonderland entity',
WonderlandGetEntityVerbal(),
transitions={
'one': 'get waypoint',
'multiple': 'too much',
'none': 'not found',
'error': 'not found'
},
autonomy={
'one': Autonomy.Off,
'multiple': Autonomy.Off,
'none': Autonomy.Off,
'error': Autonomy.Off
},
remapping={
'name': 'name',
'containers': 'containers',
'entities': 'entities',
'firstEntity': 'firstEntity'
})
# x:238 y:442
OperatableStateMachine.add('get waypoint',
GetAttribute(attributes=["waypoint"]),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'firstEntity',
'waypoint': 'pose'
})
# x:256 y:166
OperatableStateMachine.add(
'getname',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'getcontainers'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'pose',
'output_value': 'name'
})
# x:42 y:180
OperatableStateMachine.add(
'check if string',
CheckConditionState(predicate=lambda x: type(x) is type("")),
transitions={
'true': 'remap to name',
'false': 'done'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'pose'})
# x:40 y:251
OperatableStateMachine.add(
'remap to name',
CalculationState(calculation=lambda x: x),
transitions={'done': 'set containers empty'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'pose',
'output_value': 'name'
})
# x:30 y:326
OperatableStateMachine.add(
'set containers empty',
SetKey(Value=[]),
transitions={'done': 'get wonderland entity'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'containers'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365
_sm_move_concurent_3 = ConcurrencyContainer(
outcomes=['arrived', 'failed'],
input_keys=['pose'],
conditions=[('arrived', [('Move', 'arrived')]),
('failed', [('Move', 'failed')]),
('failed', [('Look around', 'failed')])])
with _sm_move_concurent_3:
# x:30 y:40
OperatableStateMachine.add('Move',
_sm_move_1,
transitions={
'arrived': 'arrived',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'pose'})
# x:268 y:74
OperatableStateMachine.add('Look around',
_sm_look_around_0,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
with _state_machine:
# x:54 y:27
OperatableStateMachine.add('SetCount',
SetKey(Value=2),
transitions={'done': 'manage name'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Count'})
# x:258 y:250
OperatableStateMachine.add('stuck',
SaraSay(sentence="I'm getting stuck.",
input_keys=[],
emotion=2,
block=True),
transitions={'done': 'Count--'},
autonomy={'done': Autonomy.Off})
# x:49 y:251
OperatableStateMachine.add('try again',
SaraSay(sentence="But I'm still going.",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'Move concurent'},
autonomy={'done': Autonomy.Off})
# x:360 y:508
OperatableStateMachine.add(
'sorry',
SaraSay(sentence="Well. It seem's I can't go there.",
input_keys=[],
emotion=2,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:672 y:147
OperatableStateMachine.add('set blink',
SetExpression(emotion=6, brightness=-1),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:252 y:146
OperatableStateMachine.add('Move concurent',
_sm_move_concurent_3,
transitions={
'arrived': 'reset head',
'failed': 'stuck'
},
autonomy={
'arrived': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'pose'})
# x:254 y:353
OperatableStateMachine.add(
'Count--',
CalculationState(calculation=lambda x: x - 1),
transitions={'done': 'check count'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Count',
'output_value': 'Count'
})
# x:37 y:351
OperatableStateMachine.add(
'check count',
CheckConditionState(predicate=lambda x: x >= 0),
transitions={
'true': 'try again',
'false': 'sorry'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'Count'})
# x:497 y:149
OperatableStateMachine.add('reset head',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'set blink'},
autonomy={'done': Autonomy.Off})
# x:269 y:21
OperatableStateMachine.add('manage name',
_sm_manage_name_2,
transitions={
'done': 'set head',
'too much': 'say too much',
'not found': 'say not known'
},
autonomy={
'done': Autonomy.Inherit,
'too much': Autonomy.Inherit,
'not found': Autonomy.Inherit
},
remapping={
'pose': 'pose',
'name': 'name'
})
# x:46 y:147
OperatableStateMachine.add('set head',
SaraSetHeadAngle(pitch=0.8, yaw=0),
transitions={'done': 'Move concurent'},
autonomy={'done': Autonomy.Off})
# x:477 y:333
OperatableStateMachine.add(
'say too much',
SaraSay(
sentence=lambda x: "There is more than one " + x[0] + ".",
input_keys=["poseName"],
emotion=3,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'poseName': 'name'})
# x:445 y:418
OperatableStateMachine.add(
'say not known',
SaraSay(sentence=lambda x: "I don't know where the " + x[0] +
" is.",
input_keys=["poseName"],
emotion=0,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'poseName': 'name'})
return _state_machine
def create(self):
# x:84 y:465, x:727 y:360
_state_machine = OperatableStateMachine(outcomes=['done', 'failed'],
input_keys=['className'],
output_keys=['entity'])
_state_machine.userdata.className = "bottle"
_state_machine.userdata.entity = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365
_sm_look_at_0 = OperatableStateMachine(outcomes=['end'],
input_keys=['ID'])
with _sm_look_at_0:
# x:75 y:135
OperatableStateMachine.add('look at',
KeepLookingAt(),
transitions={'failed': 'look at'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:798 y:597
_sm_rotation360_1 = OperatableStateMachine(outcomes=['end'])
with _sm_rotation360_1:
# x:42 y:34
OperatableStateMachine.add('Set 180 degres',
SetKey(Value=3.1416),
transitions={'done': 'rotate center'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:610 y:293
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=0.5, yaw=1),
transitions={'done': 'Rotate Right'},
autonomy={'done': Autonomy.Off})
# x:406 y:58
OperatableStateMachine.add('Rotate Left',
WaitState(wait_time=5),
transitions={'done': 'rotate center'},
autonomy={'done': Autonomy.Off})
# x:410 y:313
OperatableStateMachine.add('Rotate Right',
WaitState(wait_time=5),
transitions={'done': 'look center 2'},
autonomy={'done': Autonomy.Off})
# x:209 y:50
OperatableStateMachine.add('Look Left',
SaraSetHeadAngle(pitch=0.5, yaw=-1),
transitions={'done': 'Rotate Left'},
autonomy={'done': Autonomy.Off})
# x:216 y:186
OperatableStateMachine.add('Rotate Left 2',
WaitState(wait_time=5),
transitions={'done': 'Look Left'},
autonomy={'done': Autonomy.Off})
# x:630 y:170
OperatableStateMachine.add('wait 5',
WaitState(wait_time=5),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:603 y:47
OperatableStateMachine.add('rotate center',
SaraSetHeadAngle(pitch=0.5, yaw=0),
transitions={'done': 'wait 5'},
autonomy={'done': Autonomy.Off})
# x:208 y:308
OperatableStateMachine.add('look center 2',
SaraSetHeadAngle(pitch=0.5, yaw=0),
transitions={'done': 'Rotate Left 2'},
autonomy={'done': Autonomy.Off})
# x:683 y:188
_sm_find_entity_2 = OperatableStateMachine(outcomes=['found'],
input_keys=['className'],
output_keys=['entity'])
with _sm_find_entity_2:
# x:181 y:178
OperatableStateMachine.add('find_entity',
list_entities_by_name(
frontality_level=0.5,
distance_max=2),
transitions={
'found': 'Get Entity',
'none_found': 'find_entity'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'className',
'entity_list': 'entity_list',
'number': 'number'
})
# x:454 y:178
OperatableStateMachine.add(
'Get Entity',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'entity'
})
# x:371 y:306, x:130 y:365, x:230 y:365
_sm_look_for_2_sec_3 = ConcurrencyContainer(
outcomes=['done'],
input_keys=['ID'],
conditions=[('done', [('WaitState 2', 'done')]),
('done', [('Look at', 'end')])])
with _sm_look_for_2_sec_3:
# x:84 y:166
OperatableStateMachine.add('Look at',
_sm_look_at_0,
transitions={'end': 'done'},
autonomy={'end': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:345 y:187
OperatableStateMachine.add('WaitState 2',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:372 y:27, x:370 y:220, x:368 y:100, x:352 y:305, x:460 y:465
_sm_find_entity_while_turning360_4 = ConcurrencyContainer(
outcomes=['found', 'not_found'],
input_keys=['className'],
output_keys=['entity'],
conditions=[('not_found', [('Rotation360', 'end')]),
('found', [('Find Entity', 'found')]),
('not_found', [('wait', 'done')])])
with _sm_find_entity_while_turning360_4:
# x:131 y:44
OperatableStateMachine.add('Find Entity',
_sm_find_entity_2,
transitions={'found': 'found'},
autonomy={'found': Autonomy.Inherit},
remapping={
'className': 'className',
'entity': 'entity'
})
# x:129 y:197
OperatableStateMachine.add('Rotation360',
_sm_rotation360_1,
transitions={'end': 'not_found'},
autonomy={'end': Autonomy.Inherit})
# x:149 y:306
OperatableStateMachine.add('wait',
WaitState(wait_time=30),
transitions={'done': 'not_found'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:55 y:41
OperatableStateMachine.add(
'Look Front Center',
SaraSetHeadAngle(pitch=0.7, yaw=0),
transitions={'done': 'Find Entity WHILE Turning360'},
autonomy={'done': Autonomy.Off})
# x:345 y:156
OperatableStateMachine.add('Look Center Not Found',
SaraSetHeadAngle(pitch=0.7, yaw=0),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:59 y:376
OperatableStateMachine.add('Log Entity',
LogKeyState(
text="Found entity: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'entity'})
# x:26 y:121
OperatableStateMachine.add('Find Entity WHILE Turning360',
_sm_find_entity_while_turning360_4,
transitions={
'found': 'get ID',
'not_found': 'Look Center Not Found'
},
autonomy={
'found': Autonomy.Inherit,
'not_found': Autonomy.Inherit
},
remapping={
'className': 'className',
'entity': 'entity'
})
# x:45 y:290
OperatableStateMachine.add('look for 2 sec',
_sm_look_for_2_sec_3,
transitions={'done': 'Log Entity'},
autonomy={'done': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:62 y:211
OperatableStateMachine.add(
'get ID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'look for 2 sec'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity',
'output_value': 'ID'
})
return _state_machine
def create(self):
# x:254 y:640, x:565 y:232, x:530 y:448
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed', 'critical_fail'], input_keys=['Action'])
_state_machine.userdata.Action = ["Count", "bottle", "behavior/Count/CountedObject"]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:41 y:32
OperatableStateMachine.add('get name',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'Say_Start'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'Action', 'output_value': 'className'})
# x:22 y:213
OperatableStateMachine.add('Action_count',
self.use_behavior(sara_flexbe_behaviors__Action_countSM, 'Action_count'),
transitions={'done': 'get paramname', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'className': 'className', 'Count': 'Count'})
# x:14 y:462
OperatableStateMachine.add('concat',
FlexibleCalculationState(calculation=lambda x: "I counted "+str(x[0])+" "+str(x[1])+".", input_keys=["Count", "className"]),
transitions={'done': 'Say_Count'},
autonomy={'done': Autonomy.Off},
remapping={'Count': 'Count', 'className': 'className', 'output_value': 'sentence'})
# x:28 y:388
OperatableStateMachine.add('store param',
SetRosParamKey(),
transitions={'done': 'concat'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'Count', 'ParamName': 'ParamName'})
# x:45 y:290
OperatableStateMachine.add('get paramname',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'store param'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'Action', 'output_value': 'ParamName'})
# x:17 y:633
OperatableStateMachine.add('set head back',
SaraSetHeadAngle(pitch=-0.3, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:36 y:120
OperatableStateMachine.add('Say_Start',
SaraSay(sentence=lambda x: "I'm starting to count the "+str(x)+"s.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Action_count'},
autonomy={'done': Autonomy.Off})
# x:27 y:546
OperatableStateMachine.add('Say_Count',
SaraSay(sentence=lambda x: x, input_keys=[], emotion=0, block=True),
transitions={'done': 'set head back'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:787 y:587, x:280 y:361
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.hand_side = self.hand_side
_state_machine.userdata.none = None
_state_machine.userdata.grasp_preference = 0
_state_machine.userdata.step_back_distance = 0.5 # m
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:686 y:240, x:384 y:196
_sm_perform_walking_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['none', 'step_back_distance'])
with _sm_perform_walking_0:
# x:64 y:78
OperatableStateMachine.add(
'Plan_Realign_Feet',
FootstepPlanRealignCenterState(),
transitions={
'planned': 'Execute_Realign_Feet',
'failed': 'failed'
},
autonomy={
'planned': Autonomy.High,
'failed': Autonomy.Low
},
remapping={'plan_header': 'plan_header'})
# x:624 y:378
OperatableStateMachine.add(
'Perform_Step_Back',
ExecuteStepPlanActionState(),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'plan_header': 'plan_header'})
# x:328 y:378
OperatableStateMachine.add(
'Plan_Step_Back',
FootstepPlanRelativeState(
direction=FootstepPlanRelativeState.DIRECTION_BACKWARD),
transitions={
'planned': 'Perform_Step_Back',
'failed': 'failed'
},
autonomy={
'planned': Autonomy.High,
'failed': Autonomy.Low
},
remapping={
'distance': 'step_back_distance',
'plan_header': 'plan_header'
})
# x:74 y:190
OperatableStateMachine.add(
'Execute_Realign_Feet',
ExecuteStepPlanActionState(),
transitions={
'finished': 'Wait_For_Stand',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'plan_header': 'plan_header'})
# x:66 y:316
OperatableStateMachine.add(
'Wait_For_Stand',
CheckCurrentControlModeState(
target_mode=CheckCurrentControlModeState.STAND, wait=True),
transitions={
'correct': 'Plan_Step_Back',
'incorrect': 'failed'
},
autonomy={
'correct': Autonomy.Low,
'incorrect': Autonomy.Full
},
remapping={'control_mode': 'control_mode'})
# x:733 y:290, x:133 y:290
_sm_back_to_stand_1 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['none'])
with _sm_back_to_stand_1:
# x:66 y:78
OperatableStateMachine.add(
'Set_Manipulate',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Stand_Posture',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.High,
'failed': Autonomy.Low
})
# x:376 y:78
OperatableStateMachine.add(
'Stand_Posture',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.STAND_POSE,
vel_scaling=0.3,
ignore_collisions=False,
link_paddings={}),
transitions={
'done': 'Set_Stand',
'failed': 'Set_Stand'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'side': 'none'})
# x:666 y:78
OperatableStateMachine.add(
'Set_Stand',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'finished',
'failed': 'finished'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.Low
})
# x:120 y:404, x:298 y:222
_sm_step_back_2 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'hand_side', 'none', 'template_id', 'grasp_preference',
'step_back_distance'
])
with _sm_step_back_2:
# x:76 y:28
OperatableStateMachine.add(
'Go_To_Stand_Posture',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.STAND_POSE,
vel_scaling=0.1,
ignore_collisions=False,
link_paddings={}),
transitions={
'done': 'Set_To_Stand_Manipulate',
'failed': 'Set_To_Stand_Manipulate'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'side': 'none'})
# x:66 y:140
OperatableStateMachine.add(
'Set_To_Stand_Manipulate',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND_MANIPULATE),
transitions={
'changed': 'Perform_Walking',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.High,
'failed': Autonomy.Low
})
# x:84 y:272
OperatableStateMachine.add('Perform_Walking',
_sm_perform_walking_0,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'none':
'none',
'step_back_distance':
'step_back_distance'
})
# x:755 y:48, x:401 y:428
_sm_preparation_3 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['none'],
output_keys=['template_id'])
with _sm_preparation_3:
# x:66 y:164
OperatableStateMachine.add(
'Head_Look_Straight',
TiltHeadState(desired_tilt=TiltHeadState.STRAIGHT),
transitions={
'done': 'Place_Template',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Low
})
# x:566 y:163
OperatableStateMachine.add(
'Request_Template_ID',
InputState(request=InputState.SELECTED_OBJECT_ID,
message="Provide the ID of the placed template."),
transitions={
'received': 'finished',
'aborted': 'failed',
'no_connection': 'Log_No_Connection',
'data_error': 'Log_Data_Error'
},
autonomy={
'received': Autonomy.High,
'aborted': Autonomy.High,
'no_connection': Autonomy.Low,
'data_error': Autonomy.Low
},
remapping={'data': 'template_id'})
# x:287 y:204
OperatableStateMachine.add('Log_No_Connection',
LogState(
text="Have no connection to OCS!",
severity=Logger.REPORT_ERROR),
transitions={'done': 'Decide_Input'},
autonomy={'done': Autonomy.Off})
# x:344 y:144
OperatableStateMachine.add('Log_Data_Error',
LogState(
text="Received wrong data format!",
severity=Logger.REPORT_ERROR),
transitions={'done': 'Decide_Input'},
autonomy={'done': Autonomy.Off})
# x:483 y:44
OperatableStateMachine.add(
'Fake_Input',
CalculationState(calculation=lambda x: 0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'none',
'output_value': 'template_id'
})
# x:236 y:40
OperatableStateMachine.add(
'Decide_Input',
OperatorDecisionState(
outcomes=['fake_id', 'ocs_request'],
hint="How do you want to provide the template?",
suggestion=None),
transitions={
'fake_id': 'Fake_Input',
'ocs_request': 'Request_Template_ID'
},
autonomy={
'fake_id': Autonomy.Full,
'ocs_request': Autonomy.Full
})
# x:78 y:40
OperatableStateMachine.add(
'Place_Template',
LogState(text="Please place the drill template.",
severity=Logger.REPORT_HINT),
transitions={'done': 'Decide_Input'},
autonomy={'done': Autonomy.Full})
with _state_machine:
# x:44 y:72
OperatableStateMachine.add('Preparation',
_sm_preparation_3,
transitions={
'finished': 'Ask_Perform_Walking',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'none': 'none',
'template_id': 'template_id'
})
# x:547 y:571
OperatableStateMachine.add('Step_Back',
_sm_step_back_2,
transitions={
'finished': 'finished',
'failed': 'Back_To_Stand'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'hand_side':
'hand_side',
'none':
'none',
'template_id':
'template_id',
'grasp_preference':
'grasp_preference',
'step_back_distance':
'step_back_distance'
})
# x:284 y:78
OperatableStateMachine.add(
'Ask_Perform_Walking',
OperatorDecisionState(
outcomes=['walk', 'stand'],
hint="Does the robot need to walk to the table?",
suggestion='walk'),
transitions={
'walk': 'Walk to Template',
'stand': 'Manipulation Config'
},
autonomy={
'walk': Autonomy.High,
'stand': Autonomy.Full
})
# x:531 y:22
OperatableStateMachine.add(
'Walk to Template',
self.use_behavior(WalktoTemplateSM, 'Walk to Template'),
transitions={
'finished': 'Manipulation Config',
'failed': 'Walk_Manually',
'aborted': 'Walk_Manually'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'aborted': Autonomy.Inherit
},
remapping={
'grasp_preference': 'grasp_preference',
'hand_side': 'hand_side',
'template_id': 'template_id'
})
# x:525 y:143
OperatableStateMachine.add(
'Manipulation Config',
self.use_behavior(ManipulationConfigSM, 'Manipulation Config'),
transitions={
'finished': 'Head_Look_Down',
'failed': 'Manipulation_Config_Manually'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:264 y:228
OperatableStateMachine.add(
'Manipulation_Config_Manually',
OperatorDecisionState(
outcomes=["done", "abort"],
hint="Make sure the robot is ready to grasp",
suggestion=None),
transitions={
'done': 'Pickup Object',
'abort': 'failed'
},
autonomy={
'done': Autonomy.Full,
'abort': Autonomy.Full
})
# x:769 y:78
OperatableStateMachine.add(
'Walk_Manually',
LogState(text="Guide the robot to the template manually.",
severity=Logger.REPORT_HINT),
transitions={'done': 'Manipulation Config'},
autonomy={'done': Autonomy.Full})
# x:245 y:485
OperatableStateMachine.add('Back_To_Stand',
_sm_back_to_stand_1,
transitions={
'finished': 'failed',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'none': 'none'})
# x:538 y:353
OperatableStateMachine.add('Pickup Object',
self.use_behavior(
PickupObjectSM, 'Pickup Object'),
transitions={
'finished': 'Head_Look_Straight',
'failed': 'Back_To_Stand'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'hand_side': 'hand_side',
'template_id': 'template_id'
})
# x:545 y:257
OperatableStateMachine.add(
'Head_Look_Down',
TiltHeadState(desired_tilt=TiltHeadState.DOWN_45),
transitions={
'done': 'Pickup Object',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Low
})
# x:540 y:473
OperatableStateMachine.add(
'Head_Look_Straight',
TiltHeadState(desired_tilt=TiltHeadState.STRAIGHT),
transitions={
'done': 'Step_Back',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Low
})
return _state_machine
def create(self):
# x:660 y:509, x:880 y:203, x:715 y:440
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed', 'critical_fail'],
input_keys=['Action'])
_state_machine.userdata.Action = ["Pick", "bottle"]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
_sm_group_0 = ConcurrencyContainer(outcomes=['done'],
input_keys=['pose_out'],
conditions=[
('done', [('move', 'arrived')]),
('done', [('move', 'failed')]),
('done', [('3', 'done')])
])
with _sm_group_0:
# x:30 y:40
OperatableStateMachine.add('move',
SaraMoveBase(reference="map"),
transitions={
'arrived': 'done',
'failed': 'done'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'pose_out'})
# x:179 y:91
OperatableStateMachine.add('3',
WaitState(wait_time=2),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:40 y:700
_sm_get_closer_1 = OperatableStateMachine(outcomes=['done'],
input_keys=['Object'])
with _sm_get_closer_1:
# x:59 y:36
OperatableStateMachine.add('set targetpose',
SetKey(Value="PreGripPose"),
transitions={'done': 'say closer'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:88 y:374
OperatableStateMachine.add('set dist',
SetKey(Value=0.8),
transitions={'done': 'get close pos'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:26 y:448
OperatableStateMachine.add('get close pos',
Get_Reacheable_Waypoint(),
transitions={'done': 'Group'},
autonomy={'done': Autonomy.Off},
remapping={
'pose_in': 'Pos',
'distance': 'distance',
'pose_out': 'pose_out'
})
# x:47 y:213
OperatableStateMachine.add(
'get pos',
CalculationState(calculation=lambda x: x.position),
transitions={'done': 'move head'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Object',
'output_value': 'Pos'
})
# x:88 y:290
OperatableStateMachine.add('move head',
SaraSetHeadAngle(pitch=0.7, yaw=0),
transitions={'done': 'set dist'},
autonomy={'done': Autonomy.Off})
# x:201 y:156
OperatableStateMachine.add('move arm',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'get pos',
'failed': 'get pos'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'target'})
# x:60 y:106
OperatableStateMachine.add(
'say closer',
SaraSay(sentence="I need to get a bit closer.",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'move arm'},
autonomy={'done': Autonomy.Off})
# x:26 y:541
OperatableStateMachine.add('Group',
_sm_group_0,
transitions={'done': 'wait'},
autonomy={'done': Autonomy.Inherit},
remapping={'pose_out': 'pose_out'})
# x:33 y:625
OperatableStateMachine.add('wait',
WaitState(wait_time=2),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:59 y:308, x:447 y:59, x:384 y:162
_sm_check_form_2 = OperatableStateMachine(
outcomes=['done', 'fail_full', 'full_no_object'],
input_keys=['Action'])
with _sm_check_form_2:
# x:31 y:40
OperatableStateMachine.add(
'check if gripper full',
GetRosParam(ParamName="behavior/Gripper_Content"),
transitions={
'done': 'Say_Full',
'failed': 'cond'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'Value': 'ObjectInGripper'})
# x:30 y:121
OperatableStateMachine.add(
'cond',
CheckConditionState(predicate=lambda x: x[1] == ''),
transitions={
'true': 'not told',
'false': 'done'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'Action'})
# x:222 y:119
OperatableStateMachine.add(
'not told',
SaraSay(sentence="Hum! They didn't told me what to pick",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'full_no_object'},
autonomy={'done': Autonomy.Off})
# x:242 y:31
OperatableStateMachine.add(
'Say_Full',
SaraSay(sentence=lambda x: "Wait. There is already a " + x +
"in my gripper.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'fail_full'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:84 y:30
OperatableStateMachine.add('Check Form',
_sm_check_form_2,
transitions={
'done': 'get name',
'fail_full': 'cause1',
'full_no_object': 'cause2'
},
autonomy={
'done': Autonomy.Inherit,
'fail_full': Autonomy.Inherit,
'full_no_object': Autonomy.Inherit
},
remapping={'Action': 'Action'})
# x:28 y:452
OperatableStateMachine.add('Action_pick',
self.use_behavior(
Action_pickSM, 'Action_pick'),
transitions={
'success': 'Got_It',
'unreachable': 'for 1',
'not found': 'Say_lost',
'dropped': 'say missed'
},
autonomy={
'success': Autonomy.Inherit,
'unreachable': Autonomy.Inherit,
'not found': Autonomy.Inherit,
'dropped': Autonomy.Inherit
},
remapping={'objectID': 'ID'})
# x:261 y:239
OperatableStateMachine.add('Get closer',
_sm_get_closer_1,
transitions={'done': 'Action_find'},
autonomy={'done': Autonomy.Inherit},
remapping={'Object': 'Object'})
# x:275 y:333
OperatableStateMachine.add('for 1',
ForLoop(repeat=1),
transitions={
'do': 'Get closer',
'end': 'say giveup'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:416 y:264
OperatableStateMachine.add('say giveup',
SaraSay(sentence="I give up",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause4'},
autonomy={'done': Autonomy.Off})
# x:284 y:496
OperatableStateMachine.add('say missed',
SaraSay(sentence="Oops! I missed.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause4'},
autonomy={'done': Autonomy.Off})
# x:469 y:495
OperatableStateMachine.add(
'set param',
SetRosParam(ParamName="behavior/GripperContent"),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ObjectName'})
# x:82 y:115
OperatableStateMachine.add(
'get name',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'Action_find'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Action',
'output_value': 'ObjectName'
})
# x:511 y:20
OperatableStateMachine.add(
'cause1',
SetKey(Value="My gripper was already full."),
transitions={'done': 'setrosparam'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:512 y:81
OperatableStateMachine.add(
'cause2',
SetKey(Value="I didn't know what to pick."),
transitions={'done': 'setrosparam'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:511 y:143
OperatableStateMachine.add(
'cause3',
SetKey(Value="I didn't found the object."),
transitions={'done': 'setrosparam'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:690 y:197
OperatableStateMachine.add(
'setrosparam',
SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'Key'})
# x:605 y:312
OperatableStateMachine.add(
'cause4',
SetKey(Value="I was unable to pick the object."),
transitions={'done': 'setrosparam'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:30 y:188
OperatableStateMachine.add('Action_find',
self.use_behavior(
Action_findSM, 'Action_find'),
transitions={
'done': 'getID',
'failed': 'cause3'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'className': 'ObjectName',
'entity': 'Object'
})
# x:49 y:322
OperatableStateMachine.add(
'getID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'Action_pick'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Object',
'output_value': 'ID'
})
# x:284 y:422
OperatableStateMachine.add(
'Say_lost',
SaraSay(sentence=lambda x: "Hum! I lost sight of the " + x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'cause4'},
autonomy={'done': Autonomy.Off})
# x:281 y:572
OperatableStateMachine.add(
'Got_It',
SaraSay(sentence=lambda x: "I have the " + x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'set param'},
autonomy={'done': Autonomy.Off})
return _state_machine
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:30 y:365
_state_machine = OperatableStateMachine(outcomes=['failed'])
_state_machine.userdata.ObjectName = "person"
_state_machine.userdata.ID = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365, x:130 y:365
_sm_keeplookingforatime_0 = ConcurrencyContainer(
outcomes=['failed'],
input_keys=['ID'],
conditions=[('failed', [('keep looking', 'failed'),
('wait 3', 'done')])])
with _sm_keeplookingforatime_0:
# x:210 y:103
OperatableStateMachine.add('wait 3',
WaitState(wait_time=3),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:37 y:128
OperatableStateMachine.add('keep looking',
KeepLookingAt(),
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
with _state_machine:
# x:49 y:113
OperatableStateMachine.add('list',
list_entities_by_name(
frontality_level=0.8,
distance_max=10),
transitions={
'found': 'getclosest',
'none_found': 'list'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'ObjectName',
'entity_list': 'entity_list',
'number': 'number'
})
# x:296 y:131
OperatableStateMachine.add(
'getclosest',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'KeepLookingForATime'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'ID'
})
# x:220 y:258
OperatableStateMachine.add('KeepLookingForATime',
_sm_keeplookingforatime_0,
transitions={'failed': 'list'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
return _state_machine
def create(self):
POINT_LOCATION = 0
SELECTED_OBJECT_ID = 1
WAYPOINT_GOAL_POSE = 2
GHOST_JOINT_STATES = 3
concurrent_states = dict()
concurrent_mapping = list()
type1 = POINT_LOCATION
type2 = SELECTED_OBJECT_ID
# x:717 y:559, x:344 y:460
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
concurrent_states['input1'] = InputState(
request=type1, message="Please give me data 1...")
concurrent_states['input2'] = InputState(
request=type2, message="Please give me data 2...")
concurrent_states['calc'] = CalculationState(lambda x: 0)
concurrent_mapping.append({
'outcome': 'done',
'condition': {
'input1': 'received',
'input2': 'received'
}
})
# [/MANUAL_CREATE]
with _state_machine:
# x:30 y:40
OperatableStateMachine.add(
'Request_Data',
InputState(request=SELECTED_OBJECT_ID,
message="Please give me some data..."),
transitions={
'received': 'Log_Received',
'aborted': 'Log_Aborted',
'no_connection': 'Log_No_Connection',
'data_error': 'Log_Data_Error'
},
autonomy={
'received': Autonomy.High,
'aborted': Autonomy.High,
'no_connection': Autonomy.High,
'data_error': Autonomy.High
},
remapping={'data': 'data'})
# x:30 y:247
OperatableStateMachine.add('Log_Received',
LogState(text="Got behavior data!",
severity=Logger.REPORT_INFO),
transitions={'done': 'Print_Result'},
autonomy={'done': Autonomy.Off})
# x:324 y:255
OperatableStateMachine.add(
'Log_Aborted',
LogState(text="Operator aborted data request.",
severity=Logger.REPORT_WARN),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:489 y:241
OperatableStateMachine.add('Log_No_Connection',
LogState(
text="Unable to connect to OCS!",
severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:158 y:243
OperatableStateMachine.add('Log_Data_Error',
LogState(
text="Failed to deserialize data.",
severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:27 y:411
OperatableStateMachine.add(
'Print_Result',
CalculationState(calculation=self.print_input_data),
transitions={'done': 'Concurrent_Request'},
autonomy={'done': Autonomy.Low},
remapping={
'input_value': 'data',
'output_value': 'output_value'
})
# x:242 y:586 {?input_keys = ['calc_input_value'],?output_keys = ['input1_data', 'input2_data', 'calc_output_value']}
OperatableStateMachine.add(
'Concurrent_Request',
ConcurrentState(states=concurrent_states,
outcomes=['done', 'failed'],
outcome_mapping=concurrent_mapping),
transitions={
'done': 'Print_Result_1',
'failed': 'failed'
},
autonomy={
'done': Autonomy.High,
'failed': Autonomy.Full
},
remapping={
'calc_input_value': 'data',
'input1_data': 'input1_data',
'input2_data': 'input2_data',
'calc_output_value': 'calc_output_value'
})
# x:520 y:481
OperatableStateMachine.add(
'Print_Result_1',
CalculationState(calculation=self.print_input_data),
transitions={'done': 'Print_Result_2'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'input1_data',
'output_value': 'output_value'
})
# x:495 y:646
OperatableStateMachine.add(
'Print_Result_2',
CalculationState(calculation=self.print_input_data),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'input2_data',
'output_value': 'output_value'
})
return _state_machine
def create(self):
pull_affordance = "pull"
affordance_controller = ExecuteTrajectoryMsgState.CONTROLLER_LEFT_ARM if self.hand_side == "left" else ExecuteTrajectoryMsgState.CONTROLLER_RIGHT_ARM
pull_displacement = 0.3 # meters
# x:383 y:840, x:483 y:490
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.hand_side = self.hand_side
_state_machine.userdata.none = None
_state_machine.userdata.step_back_distance = 1.0 # meters
_state_machine.userdata.grasp_preference = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
self._pull_displacement = pull_displacement
# [/MANUAL_CREATE]
# x:1033 y:40, x:333 y:90, x:1033 y:190
_sm_go_to_grasp_0 = OperatableStateMachine(outcomes=['finished', 'failed', 'again'], input_keys=['hand_side', 'grasp_preference', 'template_id'], output_keys=['grasp_preference'])
with _sm_go_to_grasp_0:
# x:33 y:49
OperatableStateMachine.add('Get_Grasp_Info',
GetTemplateGraspState(),
transitions={'done': 'Extract_Frame_Id', 'failed': 'failed', 'not_available': 'Inform_Grasp_Failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Low, 'not_available': Autonomy.Low},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'preference': 'grasp_preference', 'grasp': 'grasp_pose'})
# x:40 y:293
OperatableStateMachine.add('Convert_Waypoints',
CalculationState(calculation=lambda msg: [msg.pose]),
transitions={'done': 'Plan_To_Grasp'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp_pose', 'output_value': 'grasp_waypoints'})
# x:242 y:292
OperatableStateMachine.add('Plan_To_Grasp',
PlanEndeffectorCartesianWaypointsState(ignore_collisions=True, include_torso=False, keep_endeffector_orientation=False, allow_incomplete_plans=True, vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'planned': 'Move_To_Grasp_Pose', 'incomplete': 'Move_To_Grasp_Pose', 'failed': 'Decide_Which_Grasp'},
autonomy={'planned': Autonomy.Low, 'incomplete': Autonomy.High, 'failed': Autonomy.High},
remapping={'waypoints': 'grasp_waypoints', 'hand': 'hand_side', 'frame_id': 'grasp_frame_id', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:494 y:175
OperatableStateMachine.add('Move_To_Grasp_Pose',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Optional_Template_Adjustment', 'failed': 'Decide_Which_Grasp'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Low},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:226 y:177
OperatableStateMachine.add('Inform_Grasp_Failed',
LogState(text="No grasp choice left!", severity=Logger.REPORT_WARN),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:970 y:294
OperatableStateMachine.add('Increase_Preference_Index',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'again'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp_preference', 'output_value': 'grasp_preference'})
# x:41 y:178
OperatableStateMachine.add('Extract_Frame_Id',
CalculationState(calculation=lambda pose: pose.header.frame_id),
transitions={'done': 'Convert_Waypoints'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp_pose', 'output_value': 'grasp_frame_id'})
# x:712 y:78
OperatableStateMachine.add('Optional_Template_Adjustment',
OperatorDecisionState(outcomes=["grasp", "pregrasp", "skip"], hint="Consider adjusting the template's pose", suggestion="skip"),
transitions={'grasp': 'Get_Grasp_Info', 'pregrasp': 'again', 'skip': 'finished'},
autonomy={'grasp': Autonomy.Full, 'pregrasp': Autonomy.Full, 'skip': Autonomy.High})
# x:754 y:294
OperatableStateMachine.add('Decide_Which_Grasp',
OperatorDecisionState(outcomes=["same", "next"], hint='Try the same grasp or the next one?', suggestion='same'),
transitions={'same': 'Optional_Template_Adjustment', 'next': 'Increase_Preference_Index'},
autonomy={'same': Autonomy.High, 'next': Autonomy.High})
# x:133 y:390, x:433 y:190, x:983 y:140
_sm_perform_grasp_1 = OperatableStateMachine(outcomes=['finished', 'failed', 'next'], input_keys=['hand_side', 'grasp_preference', 'template_id', 'pregrasp_pose'], output_keys=['grasp_preference'])
with _sm_perform_grasp_1:
# x:68 y:76
OperatableStateMachine.add('Get_Finger_Configuration',
GetTemplateFingerConfigState(),
transitions={'done': 'Close_Fingers', 'failed': 'failed', 'not_available': 'Inform_Closing_Failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High, 'not_available': Autonomy.High},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'preference': 'grasp_preference', 'finger_config': 'finger_config'})
# x:293 y:328
OperatableStateMachine.add('Convert_Waypoints',
CalculationState(calculation=lambda msg: [msg.pose]),
transitions={'done': 'Plan_Back_To_Pregrasp'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'pregrasp_pose', 'output_value': 'pregrasp_waypoints'})
# x:496 y:328
OperatableStateMachine.add('Plan_Back_To_Pregrasp',
PlanEndeffectorCartesianWaypointsState(ignore_collisions=True, include_torso=False, keep_endeffector_orientation=False, allow_incomplete_plans=True, vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'planned': 'Move_Back_To_Pregrasp_Pose', 'incomplete': 'Move_Back_To_Pregrasp_Pose', 'failed': 'failed'},
autonomy={'planned': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Low},
remapping={'waypoints': 'pregrasp_waypoints', 'hand': 'hand_side', 'frame_id': 'pregrasp_frame_id', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:662 y:228
OperatableStateMachine.add('Move_Back_To_Pregrasp_Pose',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Increase_Preference_Index', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Low},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:296 y:228
OperatableStateMachine.add('Extract_Frame_Id',
CalculationState(calculation=lambda pose: pose.header.frame_id),
transitions={'done': 'Convert_Waypoints'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'pregrasp_pose', 'output_value': 'pregrasp_frame_id'})
# x:673 y:128
OperatableStateMachine.add('Increase_Preference_Index',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'next'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp_preference', 'output_value': 'grasp_preference'})
# x:81 y:228
OperatableStateMachine.add('Close_Fingers',
HandTrajectoryState(hand_type=self.hand_type),
transitions={'done': 'finished', 'failed': 'Extract_Frame_Id'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'finger_trajectory': 'finger_config', 'hand_side': 'hand_side'})
# x:490 y:75
OperatableStateMachine.add('Inform_Closing_Failed',
LogState(text="No grasp choice left!", severity=Logger.REPORT_WARN),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:733 y:190, x:383 y:40
_sm_go_to_pregrasp_2 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'grasp_preference', 'template_id'], output_keys=['grasp_preference', 'pregrasp_pose'])
with _sm_go_to_pregrasp_2:
# x:27 y:68
OperatableStateMachine.add('Get_Pregrasp_Info',
GetTemplatePregraspState(),
transitions={'done': 'Plan_To_Pregrasp_Pose', 'failed': 'failed', 'not_available': 'Inform_Pregrasp_Failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High, 'not_available': Autonomy.High},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'preference': 'grasp_preference', 'pre_grasp': 'pregrasp_pose'})
# x:269 y:153
OperatableStateMachine.add('Inform_Pregrasp_Failed',
LogState(text="No grasp choice left!", severity=Logger.REPORT_WARN),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Low})
# x:537 y:228
OperatableStateMachine.add('Move_To_Pregrasp_Pose',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'finished', 'failed': 'Decide_Which_Pregrasp'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:25 y:328
OperatableStateMachine.add('Increase_Preference_Index',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'Get_Pregrasp_Info'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp_preference', 'output_value': 'grasp_preference'})
# x:266 y:228
OperatableStateMachine.add('Plan_To_Pregrasp_Pose',
PlanEndeffectorPoseState(ignore_collisions=False, include_torso=False, allowed_collisions=[], planner_id="RRTConnectkConfigDefault"),
transitions={'planned': 'Move_To_Pregrasp_Pose', 'failed': 'Decide_Which_Pregrasp'},
autonomy={'planned': Autonomy.Low, 'failed': Autonomy.High},
remapping={'target_pose': 'pregrasp_pose', 'hand': 'hand_side', 'joint_trajectory': 'joint_trajectory'})
# x:266 y:327
OperatableStateMachine.add('Decide_Which_Pregrasp',
OperatorDecisionState(outcomes=["same", "next"], hint='Try the same pregrasp or the next one?', suggestion='same'),
transitions={'same': 'Get_Pregrasp_Info', 'next': 'Increase_Preference_Index'},
autonomy={'same': Autonomy.High, 'next': Autonomy.High})
# x:30 y:444, x:162 y:478, x:230 y:478
_sm_planning_pipeline_3 = OperatableStateMachine(outcomes=['finished', 'failed', 'aborted'], input_keys=['stand_pose'], output_keys=['plan_header'])
with _sm_planning_pipeline_3:
# x:34 y:57
OperatableStateMachine.add('Create_Step_Goal',
CreateStepGoalState(pose_is_pelvis=True),
transitions={'done': 'Plan_To_Waypoint', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'target_pose': 'stand_pose', 'step_goal': 'step_goal'})
# x:553 y:481
OperatableStateMachine.add('Modify_Plan',
InputState(request=InputState.FOOTSTEP_PLAN_HEADER, message='Modify plan, VALIDATE, and confirm.'),
transitions={'received': 'finished', 'aborted': 'aborted', 'no_connection': 'failed', 'data_error': 'failed'},
autonomy={'received': Autonomy.Low, 'aborted': Autonomy.Full, 'no_connection': Autonomy.Full, 'data_error': Autonomy.Full},
remapping={'data': 'plan_header'})
# x:34 y:484
OperatableStateMachine.add('Plan_To_Waypoint',
PlanFootstepsState(mode=self.parameter_set),
transitions={'planned': 'Modify_Plan', 'failed': 'Decide_Replan_without_Collision'},
autonomy={'planned': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'step_goal': 'step_goal', 'plan_header': 'plan_header'})
# x:139 y:314
OperatableStateMachine.add('Decide_Replan_without_Collision',
OperatorDecisionState(outcomes=['replan', 'fail'], hint='Try replanning without collision avoidance.', suggestion='replan'),
transitions={'replan': 'Replan_without_Collision', 'fail': 'failed'},
autonomy={'replan': Autonomy.Low, 'fail': Autonomy.Full})
# x:319 y:406
OperatableStateMachine.add('Replan_without_Collision',
PlanFootstepsState(mode='drc_step_no_collision'),
transitions={'planned': 'Modify_Plan', 'failed': 'failed'},
autonomy={'planned': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'step_goal': 'step_goal', 'plan_header': 'plan_header'})
# x:1103 y:424, x:130 y:478
_sm_grasp_trigger_4 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'grasp_preference'])
with _sm_grasp_trigger_4:
# x:86 y:72
OperatableStateMachine.add('Go_to_Pregrasp',
_sm_go_to_pregrasp_2,
transitions={'finished': 'Open_Fingers', 'failed': 'Grasp_Manually'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'grasp_preference': 'grasp_preference', 'template_id': 'template_id', 'pregrasp_pose': 'pregrasp_pose'})
# x:789 y:172
OperatableStateMachine.add('Perform_Grasp',
_sm_perform_grasp_1,
transitions={'finished': 'finished', 'failed': 'Grasp_Manually', 'next': 'Close_Fingers'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'next': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'grasp_preference': 'grasp_preference', 'template_id': 'template_id', 'pregrasp_pose': 'pregrasp_pose'})
# x:332 y:178
OperatableStateMachine.add('Open_Fingers',
FingerConfigurationState(hand_type=self.hand_type, configuration=0.0),
transitions={'done': 'Go_to_Grasp', 'failed': 'Grasp_Manually'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.High},
remapping={'hand_side': 'hand_side'})
# x:332 y:28
OperatableStateMachine.add('Close_Fingers',
FingerConfigurationState(hand_type=self.hand_type, configuration=1.0),
transitions={'done': 'Go_to_Pregrasp', 'failed': 'Grasp_Manually'},
autonomy={'done': Autonomy.High, 'failed': Autonomy.High},
remapping={'hand_side': 'hand_side'})
# x:324 y:428
OperatableStateMachine.add('Grasp_Manually',
OperatorDecisionState(outcomes=["fingers_closed", "abort"], hint="Grasp the object manually, continue when fingers are closed.", suggestion=None),
transitions={'fingers_closed': 'finished', 'abort': 'failed'},
autonomy={'fingers_closed': Autonomy.Full, 'abort': Autonomy.Full})
# x:543 y:172
OperatableStateMachine.add('Go_to_Grasp',
_sm_go_to_grasp_0,
transitions={'finished': 'Perform_Grasp', 'failed': 'Grasp_Manually', 'again': 'Close_Fingers'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'again': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'grasp_preference': 'grasp_preference', 'template_id': 'template_id'})
# x:30 y:478, x:130 y:478, x:230 y:478
_sm_walk_to_template_5 = OperatableStateMachine(outcomes=['finished', 'failed', 'aborted'], input_keys=['template_id', 'grasp_preference', 'hand_side'])
with _sm_walk_to_template_5:
# x:265 y:28
OperatableStateMachine.add('Decide_Request_Template',
DecisionState(outcomes=['request', 'continue'], conditions=lambda x: 'continue' if x is not None else 'request'),
transitions={'request': 'Request_Template', 'continue': 'Get_Stand_Pose'},
autonomy={'request': Autonomy.Low, 'continue': Autonomy.Off},
remapping={'input_value': 'template_id'})
# x:1033 y:106
OperatableStateMachine.add('Increment_Stand_Pose',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'Inform_About_Retry'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp_preference', 'output_value': 'grasp_preference'})
# x:1162 y:29
OperatableStateMachine.add('Inform_About_Retry',
LogState(text="Stand pose choice failed. Trying again.", severity=Logger.REPORT_INFO),
transitions={'done': 'Get_Stand_Pose'},
autonomy={'done': Autonomy.Off})
# x:567 y:118
OperatableStateMachine.add('Inform_About_Fail',
LogState(text="Unable to find a suitable stand pose for the template.", severity=Logger.REPORT_WARN),
transitions={'done': 'Decide_Repeat_Request'},
autonomy={'done': Autonomy.Off})
# x:554 y:274
OperatableStateMachine.add('Get_Goal_from_Operator',
InputState(request=InputState.WAYPOINT_GOAL_POSE, message="Provide a waypoint in front of the template."),
transitions={'received': 'Walk_To_Waypoint', 'aborted': 'aborted', 'no_connection': 'failed', 'data_error': 'failed'},
autonomy={'received': Autonomy.Low, 'aborted': Autonomy.Full, 'no_connection': Autonomy.Full, 'data_error': Autonomy.Full},
remapping={'data': 'plan_header'})
# x:279 y:110
OperatableStateMachine.add('Request_Template',
InputState(request=InputState.SELECTED_OBJECT_ID, message="Specify target template"),
transitions={'received': 'Get_Stand_Pose', 'aborted': 'aborted', 'no_connection': 'failed', 'data_error': 'failed'},
autonomy={'received': Autonomy.Off, 'aborted': Autonomy.Full, 'no_connection': Autonomy.Full, 'data_error': Autonomy.Full},
remapping={'data': 'template_id'})
# x:825 y:461
OperatableStateMachine.add('Wait_For_Stand',
CheckCurrentControlModeState(target_mode=CheckCurrentControlModeState.STAND, wait=True),
transitions={'correct': 'finished', 'incorrect': 'failed'},
autonomy={'correct': Autonomy.Low, 'incorrect': Autonomy.Full},
remapping={'control_mode': 'control_mode'})
# x:1143 y:277
OperatableStateMachine.add('Decide_Stand_Preference',
OperatorDecisionState(outcomes=["same", "next", "abort"], hint="Same or next stand pose?", suggestion="next"),
transitions={'same': 'Inform_About_Retry', 'next': 'Increment_Stand_Pose', 'abort': 'aborted'},
autonomy={'same': Autonomy.Full, 'next': Autonomy.Full, 'abort': Autonomy.Full})
# x:842 y:152
OperatableStateMachine.add('Planning_Pipeline',
_sm_planning_pipeline_3,
transitions={'finished': 'Walk_To_Waypoint', 'failed': 'Decide_Stand_Preference', 'aborted': 'Decide_Stand_Preference'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'aborted': Autonomy.Inherit},
remapping={'stand_pose': 'stand_pose', 'plan_header': 'plan_header'})
# x:833 y:276
OperatableStateMachine.add('Walk_To_Waypoint',
ExecuteStepPlanActionState(),
transitions={'finished': 'Wait_For_Stand', 'failed': 'Decide_Stand_Preference'},
autonomy={'finished': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'plan_header': 'plan_header'})
# x:554 y:195
OperatableStateMachine.add('Decide_Repeat_Request',
OperatorDecisionState(outcomes=['repeat_id', 'request_goal'], hint=None, suggestion=None),
transitions={'repeat_id': 'Request_Template', 'request_goal': 'Get_Goal_from_Operator'},
autonomy={'repeat_id': Autonomy.Low, 'request_goal': Autonomy.High})
# x:547 y:27
OperatableStateMachine.add('Get_Stand_Pose',
GetTemplateStandPoseState(),
transitions={'done': 'Planning_Pipeline', 'failed': 'Inform_About_Fail', 'not_available': 'Inform_About_Fail'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Low, 'not_available': Autonomy.High},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'preference': 'grasp_preference', 'stand_pose': 'stand_pose'})
# x:133 y:340, x:383 y:140
_sm_perform_step_back_6 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['step_back_distance'])
with _sm_perform_step_back_6:
# x:78 y:78
OperatableStateMachine.add('Plan_Steps_Back',
FootstepPlanRelativeState(direction=FootstepPlanRelativeState.DIRECTION_BACKWARD),
transitions={'planned': 'Do_Steps_Back', 'failed': 'failed'},
autonomy={'planned': Autonomy.High, 'failed': Autonomy.Full},
remapping={'distance': 'step_back_distance', 'plan_header': 'plan_header'})
# x:74 y:228
OperatableStateMachine.add('Do_Steps_Back',
ExecuteStepPlanActionState(),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'plan_header': 'plan_header'})
# x:133 y:340, x:333 y:90
_sm_release_trigger_7 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'none'])
with _sm_release_trigger_7:
# x:82 y:78
OperatableStateMachine.add('Open_Fingers',
FingerConfigurationState(hand_type=self.hand_type, configuration=0),
transitions={'done': 'Take_Hand_Back', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'hand_side': 'hand_side'})
# x:96 y:178
OperatableStateMachine.add('Take_Hand_Back',
LogState(text="Take hand slightly back", severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Full})
# x:733 y:240, x:33 y:289
_sm_pull_trigger_8 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'none'])
with _sm_pull_trigger_8:
# x:202 y:28
OperatableStateMachine.add('Ready_To_Pull',
LogState(text="Ready to pull the trigger down", severity=Logger.REPORT_INFO),
transitions={'done': 'Get_Pull_Affordance'},
autonomy={'done': Autonomy.High})
# x:192 y:328
OperatableStateMachine.add('Plan_Pull',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Pull', 'incomplete': 'Execute_Pull', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
remapping={'affordance': 'affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:176 y:428
OperatableStateMachine.add('Execute_Pull',
ExecuteTrajectoryMsgState(controller=affordance_controller),
transitions={'done': 'Decide_Repeat_Pull', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:183 y:228
OperatableStateMachine.add('Scale_Pull_Affordance',
CalculationState(calculation=lambda x: x),
transitions={'done': 'Plan_Pull'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'affordance', 'output_value': 'affordance'})
# x:173 y:128
OperatableStateMachine.add('Get_Pull_Affordance',
GetTemplateAffordanceState(identifier=pull_affordance),
transitions={'done': 'Scale_Pull_Affordance', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full, 'not_available': Autonomy.Full},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'affordance': 'affordance'})
# x:437 y:228
OperatableStateMachine.add('Decide_Repeat_Pull',
OperatorDecisionState(outcomes=['done', 'repeat'], hint="Pull further?", suggestion='done'),
transitions={'done': 'finished', 'repeat': 'Get_Pull_Affordance'},
autonomy={'done': Autonomy.High, 'repeat': Autonomy.Full})
with _state_machine:
# x:73 y:78
OperatableStateMachine.add('Request_Trigger_Template',
InputState(request=InputState.SELECTED_OBJECT_ID, message="Place trigger template"),
transitions={'received': 'Decide_Walking', 'aborted': 'failed', 'no_connection': 'failed', 'data_error': 'failed'},
autonomy={'received': Autonomy.Low, 'aborted': Autonomy.Full, 'no_connection': Autonomy.Full, 'data_error': Autonomy.Full},
remapping={'data': 'template_id'})
# x:337 y:78
OperatableStateMachine.add('Decide_Walking',
OperatorDecisionState(outcomes=["walk", "stand"], hint="Walk to template?", suggestion="walk"),
transitions={'walk': 'Walk_To_Template', 'stand': 'Set_Manipulate'},
autonomy={'walk': Autonomy.High, 'stand': Autonomy.Full})
# x:844 y:322
OperatableStateMachine.add('Pull_Trigger',
_sm_pull_trigger_8,
transitions={'finished': 'Release_Trigger', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'none': 'none'})
# x:836 y:422
OperatableStateMachine.add('Release_Trigger',
_sm_release_trigger_7,
transitions={'finished': 'Warn_Stand', 'failed': 'Warn_Stand'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'none': 'none'})
# x:826 y:678
OperatableStateMachine.add('Go_To_Stand_Pose',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.STAND_POSE, vel_scaling=0.1, ignore_collisions=False, link_paddings={}, is_cartesian=False),
transitions={'done': 'Set_Stand', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'side': 'none'})
# x:566 y:78
OperatableStateMachine.add('Set_Manipulate',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'Set_Template_Frame', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Full})
# x:858 y:578
OperatableStateMachine.add('Warn_Stand',
LogState(text="Will go to stand now", severity=Logger.REPORT_INFO),
transitions={'done': 'Go_To_Stand_Pose'},
autonomy={'done': Autonomy.High})
# x:566 y:678
OperatableStateMachine.add('Set_Stand',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.STAND),
transitions={'changed': 'Decide_Step_Back', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Full})
# x:337 y:678
OperatableStateMachine.add('Decide_Step_Back',
OperatorDecisionState(outcomes=["walk", "stand"], hint="Step back?", suggestion="walk"),
transitions={'walk': 'Perform_Step_Back', 'stand': 'finished'},
autonomy={'walk': Autonomy.High, 'stand': Autonomy.Full})
# x:77 y:672
OperatableStateMachine.add('Perform_Step_Back',
_sm_perform_step_back_6,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'step_back_distance': 'step_back_distance'})
# x:330 y:172
OperatableStateMachine.add('Walk_To_Template',
_sm_walk_to_template_5,
transitions={'finished': 'Set_Manipulate', 'failed': 'failed', 'aborted': 'Set_Manipulate'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'aborted': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'grasp_preference': 'grasp_preference', 'hand_side': 'hand_side'})
# x:841 y:222
OperatableStateMachine.add('Grasp_Trigger',
_sm_grasp_trigger_4,
transitions={'finished': 'Pull_Trigger', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id', 'grasp_preference': 'grasp_preference'})
# x:846 y:128
OperatableStateMachine.add('Look_At_Trigger',
LookAtTargetState(),
transitions={'done': 'Grasp_Trigger'},
autonomy={'done': Autonomy.Off},
remapping={'frame': 'template_frame'})
# x:837 y:28
OperatableStateMachine.add('Set_Template_Frame',
CalculationState(calculation=lambda x: "template_tf_%d" % x),
transitions={'done': 'Look_At_Trigger'},
autonomy={'done': Autonomy.Low},
remapping={'input_value': 'template_id', 'output_value': 'template_frame'})
return _state_machine
def create(self):
# x:923 y:114
_state_machine = OperatableStateMachine(outcomes=['finished'])
_state_machine.userdata.none = None
_state_machine.userdata.do_turn_torso = False
_state_machine.userdata.pushing_side = 'right' if self.hand_side == 'left' else 'left'
_state_machine.userdata.torso_side = self.hand_side
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:333 y:440, x:433 y:240
_sm_opening_motion_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['do_turn_torso', 'pushing_side', 'none', 'torso_side'])
with _sm_opening_motion_0:
# x:438 y:28
OperatableStateMachine.add(
'Branch_Torso_Open',
DecisionState(outcomes=['turn', 'fixed'],
conditions=lambda x: 'turn' if x else 'fixed'),
transitions={
'turn': 'Turn_Torso',
'fixed': 'Go_To_Open_Door_Pose_Straight'
},
autonomy={
'turn': Autonomy.Low,
'fixed': Autonomy.Low
},
remapping={'input_value': 'do_turn_torso'})
# x:57 y:278
OperatableStateMachine.add(
'Go_To_Open_Door_Pose_Turned',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.
DOOR_OPEN_POSE_TURNED,
vel_scaling=0.05,
ignore_collisions=True,
link_paddings={}),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'side': 'pushing_side'})
# x:705 y:228
OperatableStateMachine.add(
'Go_To_Open_Door_Pose_Straight',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.
DOOR_OPEN_POSE_STRAIGHT,
vel_scaling=0.05,
ignore_collisions=True,
link_paddings={}),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'side': 'pushing_side'})
# x:76 y:128
OperatableStateMachine.add(
'Turn_Torso',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.TURN_TORSO_FULL,
vel_scaling=0.05,
ignore_collisions=False,
link_paddings={}),
transitions={
'done': 'Go_To_Open_Door_Pose_Turned',
'failed': 'Log_No_Turn'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'side': 'torso_side'})
# x:484 y:128
OperatableStateMachine.add(
'Set_Turn_Torso_False',
CalculationState(calculation=lambda x: False),
transitions={'done': 'Go_To_Open_Door_Pose_Straight'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'none',
'output_value': 'do_turn_torso'
})
# x:305 y:128
OperatableStateMachine.add(
'Log_No_Turn',
LogState(text="Skip turning because of collision",
severity=Logger.REPORT_INFO),
transitions={'done': 'Set_Turn_Torso_False'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:287 y:78
OperatableStateMachine.add(
'Decide_If_Turn',
OperatorDecisionState(outcomes=['turn_torso', 'fixed_torso'],
hint=None,
suggestion=None),
transitions={
'turn_torso': 'Decide_Go_To_Stand',
'fixed_torso': 'Go_To_Door_Ready_Pose'
},
autonomy={
'turn_torso': Autonomy.Full,
'fixed_torso': Autonomy.Full
})
# x:125 y:478
OperatableStateMachine.add(
'Go_To_Door_Ready_Pose',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.DOOR_READY_POSE,
vel_scaling=0.2,
ignore_collisions=False,
link_paddings={}),
transitions={
'done': 'Opening_Motion',
'failed': 'Decide_No_Collision_Avoidance'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'side': 'pushing_side'})
# x:887 y:378
OperatableStateMachine.add('Ask_If_Open',
OperatorDecisionState(
outcomes=['open', 'push_again'],
hint='Is the door open?',
suggestion='open'),
transitions={
'open': 'Go_To_Final_Stand',
'push_again': 'Log_Try_Push_Again'
},
autonomy={
'open': Autonomy.High,
'push_again': Autonomy.Full
})
# x:521 y:82
OperatableStateMachine.add('Log_Try_Push_Again',
LogState(
text='Move robot closer to door',
severity=Logger.REPORT_HINT),
transitions={'done': 'Decide_If_Turn'},
autonomy={'done': Autonomy.Full})
# x:620 y:628
OperatableStateMachine.add(
'Back_To_Door_Ready_Pose',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.DOOR_READY_POSE,
vel_scaling=0.3,
ignore_collisions=False,
link_paddings={}),
transitions={
'done': 'Branch_Torso_Retract',
'failed': 'Open_Manually'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'side': 'pushing_side'})
# x:136 y:328
OperatableStateMachine.add(
'Set_Turn_Torso_True',
CalculationState(calculation=lambda x: True),
transitions={'done': 'Go_To_Door_Ready_Pose'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'none',
'output_value': 'do_turn_torso'
})
# x:186 y:622
OperatableStateMachine.add('Opening_Motion',
_sm_opening_motion_0,
transitions={
'finished':
'Back_To_Door_Ready_Pose',
'failed': 'Open_Manually'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'do_turn_torso': 'do_turn_torso',
'pushing_side': 'pushing_side',
'none': 'none',
'torso_side': 'torso_side'
})
# x:893 y:201
OperatableStateMachine.add(
'Go_To_Final_Stand',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.STAND_POSE,
vel_scaling=0.2,
ignore_collisions=False,
link_paddings={}),
transitions={
'done': 'finished',
'failed': 'finished'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'side': 'none'})
# x:826 y:528
OperatableStateMachine.add(
'Turn_Torso_Center_Pose',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.
TURN_TORSO_CENTER_POSE,
vel_scaling=0.05,
ignore_collisions=False,
link_paddings={}),
transitions={
'done': 'Ask_If_Open',
'failed': 'Open_Manually'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'side': 'none'})
# x:1034 y:628
OperatableStateMachine.add(
'Branch_Torso_Retract',
DecisionState(outcomes=['turn', 'fixed'],
conditions=lambda x: 'turn' if x else 'fixed'),
transitions={
'turn': 'Turn_Torso_Center_Pose',
'fixed': 'Ask_If_Open'
},
autonomy={
'turn': Autonomy.Low,
'fixed': Autonomy.Low
},
remapping={'input_value': 'do_turn_torso'})
# x:26 y:278
OperatableStateMachine.add(
'Go_To_Stand',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.STAND_POSE,
vel_scaling=0.2,
ignore_collisions=False,
link_paddings={}),
transitions={
'done': 'Set_Turn_Torso_True',
'failed': 'Go_To_Door_Ready_Pose'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'side': 'none'})
# x:136 y:128
OperatableStateMachine.add(
'Decide_Go_To_Stand',
DecisionState(outcomes=['stand', 'skip'],
conditions=lambda x: 'stand'
if not x else 'skip'),
transitions={
'stand': 'Check_Hand_Space',
'skip': 'Set_Turn_Torso_True'
},
autonomy={
'stand': Autonomy.Low,
'skip': Autonomy.Low
},
remapping={'input_value': 'do_turn_torso'})
# x:360 y:378
OperatableStateMachine.add(
'Decide_No_Collision_Avoidance',
OperatorDecisionState(outcomes=[
'replan_ignore_collisions', 'continue', 'open_manual'
],
hint="Try again and ignore collisions?",
suggestion='replan_ignore_collisions'),
transitions={
'replan_ignore_collisions': 'Go_To_Door_Ready_Pose_NC',
'continue': 'Opening_Motion',
'open_manual': 'Open_Manually'
},
autonomy={
'replan_ignore_collisions': Autonomy.Full,
'continue': Autonomy.Full,
'open_manual': Autonomy.Full
})
# x:365 y:528
OperatableStateMachine.add(
'Go_To_Door_Ready_Pose_NC',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.DOOR_READY_POSE,
vel_scaling=0.3,
ignore_collisions=True,
link_paddings={}),
transitions={
'done': 'Opening_Motion',
'failed': 'Open_Manually'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'side': 'pushing_side'})
# x:651 y:528
OperatableStateMachine.add('Open_Manually',
LogState(text="Open door manually",
severity=Logger.REPORT_HINT),
transitions={'done': 'Ask_If_Open'},
autonomy={'done': Autonomy.Full})
# x:40 y:178
OperatableStateMachine.add(
'Check_Hand_Space',
LogState(
text="Make sure the hands have enough space to the door",
severity=Logger.REPORT_HINT),
transitions={'done': 'Go_To_Stand'},
autonomy={'done': Autonomy.Full})
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):
session_id = None
wait_for_question = 25
wait_for_utter = 15
intents = ['YesNo', 'Complete']
answer_key = 'confirm'
detail_levels = 'low'
# x:73 y:608, x:539 y:365, x:575 y:287
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed', 'max_retry'], output_keys=['answer'])
_state_machine.userdata.question = 'Please, is the gripper complete?'
_state_machine.userdata.retry = 2
_state_machine.userdata.answer = ''
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:373, x:385 y:382
_sm_continueretry_0 = OperatableStateMachine(outcomes=['true', 'false'], input_keys=['retry'], output_keys=['retry'])
with _sm_continueretry_0:
# x:158 y:82
OperatableStateMachine.add('decrease_retry',
CalculationState(calculation=lambda x: x-1),
transitions={'done': 'continue_asking'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'retry', 'output_value': 'retry'})
# x:156 y:221
OperatableStateMachine.add('continue_asking',
CheckConditionState(predicate=lambda x: x > 0),
transitions={'true': 'true', 'false': 'false'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'retry'})
with _state_machine:
# x:416 y:26
OperatableStateMachine.add('AskForComplete',
LisaUtterAndWaitForIntentState(context_id=session_id, intents=intents, wait_time=wait_for_question),
transitions={'intent_recognized': 'Recognized', 'intent_not_recognized': 'NotRecognized', 'preempt': 'failed', 'timeouted': 'failed', 'error': 'failed'},
autonomy={'intent_recognized': Autonomy.Off, 'intent_not_recognized': Autonomy.Off, 'preempt': Autonomy.Off, 'timeouted': Autonomy.Off, 'error': Autonomy.Off},
remapping={'text_to_utter': 'question', 'payload': 'payload', 'original_sentence': 'original_sentence', 'error_reason': 'error_reason', 'intent_recognized': 'intent_recognized'})
# x:690 y:190
OperatableStateMachine.add('ContinueRetry',
_sm_continueretry_0,
transitions={'true': 'log_retry_value', 'false': 'max_retry'},
autonomy={'true': Autonomy.Inherit, 'false': Autonomy.Inherit},
remapping={'retry': 'retry'})
# x:52 y:390
OperatableStateMachine.add('GetAnswerKey',
LisaGetPayloadKeyState(payload_key=answer_key),
transitions={'done': 'log_output', 'error': 'failed'},
autonomy={'done': Autonomy.Off, 'error': Autonomy.Off},
remapping={'payload': 'payload', 'payload_value': 'answer'})
# x:783 y:27
OperatableStateMachine.add('NotRecognized',
LisaRecognitionResultToStringState(context_id=session_id, detail_levels=detail_levels),
transitions={'done': 'UtterNotRecognizedText'},
autonomy={'done': Autonomy.Off},
remapping={'payload': 'payload', 'original_sentence': 'original_sentence', 'error_reason': 'error_reason', 'intent_recognized': 'intent_recognized', 'text_to_utter': 'text_to_utter'})
# x:42 y:122
OperatableStateMachine.add('Recognized',
LisaRecognitionResultToStringState(context_id=session_id, detail_levels=detail_levels),
transitions={'done': 'GetAnswerKey'},
autonomy={'done': Autonomy.Off},
remapping={'payload': 'payload', 'original_sentence': 'original_sentence', 'error_reason': 'error_reason', 'intent_recognized': 'intent_recognized', 'text_to_utter': 'text_to_utter'})
# x:878 y:289
OperatableStateMachine.add('UtterNotRecognizedText',
LisaUtterState(context_id=session_id, wait_time=wait_for_utter, suspend_time=1),
transitions={'done': 'ContinueRetry', 'preempt': 'failed', 'timeouted': 'failed', 'error': 'failed'},
autonomy={'done': Autonomy.Off, 'preempt': Autonomy.Off, 'timeouted': Autonomy.Off, 'error': Autonomy.Off},
remapping={'text_to_utter': 'text_to_utter', 'error_reason': 'error_reason'})
# x:278 y:216
OperatableStateMachine.add('UtterRecognized',
LisaUtterState(context_id=session_id, wait_time=wait_for_utter, suspend_time=1),
transitions={'done': 'GetAnswerKey', 'preempt': 'failed', 'timeouted': 'failed', 'error': 'failed'},
autonomy={'done': Autonomy.Off, 'preempt': Autonomy.Off, 'timeouted': Autonomy.Off, 'error': Autonomy.Off},
remapping={'text_to_utter': 'text_to_utter', 'error_reason': 'error_reason'})
# x:74 y:506
OperatableStateMachine.add('log_output',
LogKeyState(text="GC: exit with answer: {}", severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'answer'})
# x:646 y:73
OperatableStateMachine.add('log_retry_value',
LogKeyState(text="GC: retry level is {}", severity=Logger.REPORT_HINT),
transitions={'done': 'AskForComplete'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'retry'})
return _state_machine
