def create(self):
# x:185 y:376, x:483 y:51
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:113 y:43
OperatableStateMachine.add('Change_to_MANIPULATE',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'finished', 'failed': 'failed'},
autonomy={'changed': Autonomy.High, 'failed': Autonomy.Low})
return _state_machine
def create(self):
# x:821 y:66, x:331 y:203
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.both = 'same'
_state_machine.userdata.left = 'left'
_state_machine.userdata.right = 'right'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:100 y:355, x:321 y:250
_sm_prep_right_arm_0 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['hand_side'])
with _sm_prep_right_arm_0:
# x:61 y:89
OperatableStateMachine.add(
'Go_to_Camera_Pose',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.
CAR_DRIVE_CAMERA_POSE,
vel_scaling=0.2,
ignore_collisions=False,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Open_Fingers',
'failed': 'Go_to_Camera_Pose'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'hand_side'})
# x:65 y:228
OperatableStateMachine.add('Open_Fingers',
FingerConfigurationState(
hand_type='robotiq',
configuration=0.0),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'hand_side': 'hand_side'})
# x:329 y:513, x:476 y:175
_sm_prep_left_arm_1 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['hand_side'])
with _sm_prep_left_arm_1:
# x:79 y:59
OperatableStateMachine.add(
'Look_Down',
TiltHeadState(desired_tilt=TiltHeadState.DOWN_60),
transitions={
'done': 'Go_to_Pre_Drive',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
})
# x:60 y:166
OperatableStateMachine.add(
'Go_to_Pre_Drive',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.
CAR_PREDRIVE_LARM_POSE,
vel_scaling=0.2,
ignore_collisions=False,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Open_Fingers',
'failed': 'Go_to_Pre_Drive'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'hand_side'})
# x:61 y:397
OperatableStateMachine.add(
'Go_to_Drive',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.CAR_DRIVE_LARM_POSE,
vel_scaling=0.2,
ignore_collisions=False,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Notify_Field_Team',
'failed': 'Go_to_Drive'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'hand_side'})
# x:65 y:283
OperatableStateMachine.add('Open_Fingers',
FingerConfigurationState(
hand_type='robotiq',
configuration=0.0),
transitions={
'done': 'Go_to_Drive',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'hand_side': 'hand_side'})
# x:71 y:504
OperatableStateMachine.add(
'Notify_Field_Team',
LogState(text='Ask field team to strap ATLAS',
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Full})
# x:409 y:455
_sm_prep_car_entry_2 = OperatableStateMachine(
outcomes=['finished'], input_keys=['both', 'left', 'right'])
with _sm_prep_car_entry_2:
# x:60 y:65
OperatableStateMachine.add(
'Car_Entry_Arms',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.CAR_ENTRY_ARMS_POSE,
vel_scaling=0.3,
ignore_collisions=True,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Car_Entry_Forearms',
'failed': 'Car_Entry_Arms'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'both'})
# x:60 y:217
OperatableStateMachine.add(
'Car_Entry_Forearms',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.CAR_ENTRY_FORE_POSE,
vel_scaling=0.5,
ignore_collisions=True,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Car_Entry_Left_Leg',
'failed': 'Car_Entry_Forearms'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'both'})
# x:60 y:351
OperatableStateMachine.add(
'Car_Entry_Left_Leg',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.CAR_ENTRY_LEGS_POSE,
vel_scaling=0.3,
ignore_collisions=False,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Car_Entry_Right_Leg',
'failed': 'Car_Entry_Left_Leg'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'left'})
# x:357 y:351
OperatableStateMachine.add(
'Car_Entry_Right_Leg',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.CAR_ENTRY_LEGS_POSE,
vel_scaling=0.3,
ignore_collisions=False,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'finished',
'failed': 'Car_Entry_Right_Leg'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'right'})
with _state_machine:
# x:39 y:63
OperatableStateMachine.add('Start_in_FREEZE_HP',
ChangeControlModeActionState(
target_mode='freeze_high_pressure'),
transitions={
'changed': 'Go_to_VEHICLE_ENTRY',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Full,
'failed': Autonomy.High
})
# x:51 y:446
OperatableStateMachine.add(
'Prep_Car_Entry',
_sm_prep_car_entry_2,
transitions={'finished': 'Go_to_FREEZE_HP'},
autonomy={'finished': Autonomy.Inherit},
remapping={
'both': 'both',
'left': 'left',
'right': 'right'
})
# x:278 y:451
OperatableStateMachine.add('Go_to_FREEZE_HP',
ChangeControlModeActionState(
target_mode='freeze_high_pressure'),
transitions={
'changed': 'Confirm_All_Clear',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.High,
'failed': Autonomy.High
})
# x:547 y:226
OperatableStateMachine.add('Prep_Left_Arm',
_sm_prep_left_arm_1,
transitions={
'finished': 'Prep_Right_Arm',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'hand_side': 'left'})
# x:523 y:16
OperatableStateMachine.add(
'Go_to_VEHICLE_DRIVE',
ChangeControlModeActionState(target_mode='vehicle_drive'),
transitions={
'changed': 'finished',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:515 y:347
OperatableStateMachine.add(
'Back_to_VEHICLE_MANIPULATE',
ChangeControlModeActionState(target_mode='vehicle_manipulate'),
transitions={
'changed': 'Prep_Left_Arm',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:550 y:449
OperatableStateMachine.add(
'Confirm_All_Clear',
LogState(text='Confirm that all personnel is clear!',
severity=Logger.REPORT_HINT),
transitions={'done': 'Back_to_VEHICLE_MANIPULATE'},
autonomy={'done': Autonomy.Full})
# x:39 y:252
OperatableStateMachine.add(
'Go_to_VEHICLE_ENTRY',
ChangeControlModeActionState(target_mode='vehicle_entry'),
transitions={
'changed': 'Prep_Car_Entry',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:543 y:101
OperatableStateMachine.add('Prep_Right_Arm',
_sm_prep_right_arm_0,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'hand_side': 'right'})
return _state_machine
def create(self):
box_part_1_affordance = "open_part_1"
box_part_2_affordance = "open_part_2"
# x:211 y:659, x:307 y:517
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.grasp_preference = 0
_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.hand_side_push = self.hand_side_push
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:758 y:166, x:513 y:45
_sm_back_to_pregrasp_0 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'grasp_preference'])
with _sm_back_to_pregrasp_0:
# x:33 y:49
OperatableStateMachine.add('Get_Pregrasp_Info',
GetTemplateGraspState(),
transitions={'done': 'Extract_Frame_Id', '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', 'preference': 'grasp_preference', 'grasp': 'grasp_pose'})
# x:40 y:293
OperatableStateMachine.add('Convert_Waypoints',
CalculationState(calculation=lambda msg: [msg.pose]),
transitions={'done': 'Plan_To_Pregrasp'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp_pose', 'output_value': 'grasp_waypoints'})
# x:242 y:292
OperatableStateMachine.add('Plan_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_To_Pregrasp_Pose', 'incomplete': 'Move_To_Pregrasp_Pose', 'failed': 'Get_Pregrasp_Info'},
autonomy={'planned': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
remapping={'waypoints': 'grasp_waypoints', 'hand': 'hand_side', 'frame_id': 'grasp_frame_id', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:526 y:228
OperatableStateMachine.add('Move_To_Pregrasp_Pose',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'finished', 'failed': 'Get_Pregrasp_Info'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# 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:634 y:104, x:343 y:102, x:1013 y:188
_sm_go_to_grasp_1 = OperatableStateMachine(outcomes=['finished', 'failed', 'again'], input_keys=['hand_side', 'grasp_preference', 'template_id'], output_keys=['grasp_preference'])
with _sm_go_to_grasp_1:
# x:33 y:49
OperatableStateMachine.add('Get_Grasp_Info',
GetTemplateGraspState(),
transitions={'done': 'Extract_Frame_Id', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full, 'not_available': Autonomy.Full},
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.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
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': 'finished', 'failed': 'Decide_Which_Grasp'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# 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:727 y:50
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.Full})
# x:772 y:165, x:514 y:83
_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:83 y:68
OperatableStateMachine.add('Get_Pregrasp_Info',
GetTemplatePregraspState(),
transitions={'done': 'Plan_To_Pregrasp_Pose', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full, 'not_available': Autonomy.Full},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'preference': 'grasp_preference', 'pre_grasp': 'pregrasp_pose'})
# x:531 y:294
OperatableStateMachine.add('Move_To_Pregrasp_Pose',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'finished', 'failed': 'Decide_Which_Pregrasp'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
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:314 y:219
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.High, 'failed': Autonomy.Full},
remapping={'target_pose': 'pregrasp_pose', 'hand': 'hand_side', 'joint_trajectory': 'joint_trajectory'})
# x:309 y:395
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:365, x:130 y:365
_sm_perform_step_back_3 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['step_back_distance'])
with _sm_perform_step_back_3:
# 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:722 y:376, x:130 y:365
_sm_push_button_4 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'grasp_preference'])
with _sm_push_button_4:
# x:94 y:57
OperatableStateMachine.add('Go_to_Pregrasp',
_sm_go_to_pregrasp_2,
transitions={'finished': 'Go_to_Grasp', 'failed': 'failed'},
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:362 y:206
OperatableStateMachine.add('Go_to_Grasp',
_sm_go_to_grasp_1,
transitions={'finished': 'Back_to_Pregrasp', 'failed': 'failed', 'again': 'Go_to_Pregrasp'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'again': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'grasp_preference': 'grasp_preference', 'template_id': 'template_id'})
# x:619 y:282
OperatableStateMachine.add('Back_to_Pregrasp',
_sm_back_to_pregrasp_0,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'grasp_preference': 'grasp_preference'})
# x:1187 y:28, x:856 y:73
_sm_open_box_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'none'])
with _sm_open_box_5:
# x:93 y:98
OperatableStateMachine.add('Grasp_Box',
self.use_behavior(GraspObjectSM, 'Open_Box/Grasp_Box'),
transitions={'finished': 'Get_Open_Part_1_Affordance', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id'})
# x:275 y:250
OperatableStateMachine.add('Plan_Open_Part_1_Affordance',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Open_Part_1_Affordance', 'incomplete': 'Execute_Open_Part_1_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
remapping={'affordance': 'box_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:280 y:331
OperatableStateMachine.add('Execute_Open_Part_1_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Get_Open_Part_2_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:274 y:178
OperatableStateMachine.add('Get_Open_Part_1_Affordance',
GetTemplateAffordanceState(identifier=box_part_1_affordance),
transitions={'done': 'Plan_Open_Part_1_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': 'box_affordance'})
# x:500 y:462
OperatableStateMachine.add('Plan_Open_Part_2_Affordance',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Open_Part_2_Affordance', 'incomplete': 'Execute_Open_Part_2_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
remapping={'affordance': 'box_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:728 y:461
OperatableStateMachine.add('Execute_Open_Part_2_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Open_Fingers', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:365 y:396
OperatableStateMachine.add('Get_Open_Part_2_Affordance',
GetTemplateAffordanceState(identifier=box_part_2_affordance),
transitions={'done': 'Plan_Open_Part_2_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': 'box_affordance'})
# x:964 y:433
OperatableStateMachine.add('Open_Fingers',
FingerConfigurationState(hand_type=self.hand_type, configuration=0),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'hand_side': 'hand_side'})
with _state_machine:
# x:73 y:78
OperatableStateMachine.add('Request_Box_Template',
InputState(request=InputState.SELECTED_OBJECT_ID, message="Place Box 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:330 y:172
OperatableStateMachine.add('Walk_To_Template',
self.use_behavior(WalktoTemplateSM, 'Walk_To_Template'),
transitions={'finished': 'Set_Manipulate', 'failed': 'failed', 'aborted': 'Set_Manipulate'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'aborted': Autonomy.Inherit},
remapping={'grasp_preference': 'grasp_preference', 'hand_side': 'hand_side', 'template_id': '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:566 y:78
OperatableStateMachine.add('Set_Manipulate',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'Open_Box', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Full})
# x:794 y:72
OperatableStateMachine.add('Open_Box',
_sm_open_box_5,
transitions={'finished': 'Warn_Stand_Pose_1', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id', 'none': 'none'})
# x:646 y:365
OperatableStateMachine.add('Go_To_Stand_Pose_1',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.STAND_POSE, vel_scaling=0.1, ignore_collisions=False, link_paddings={}, is_cartesian=False),
transitions={'done': 'Request_Button_Template', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'side': 'none'})
# x:642 y:449
OperatableStateMachine.add('Request_Button_Template',
InputState(request=InputState.SELECTED_OBJECT_ID, message="Place Button template"),
transitions={'received': 'Push_Button', '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:761 y:512
OperatableStateMachine.add('Push_Button',
_sm_push_button_4,
transitions={'finished': 'Warn_Stand_Pose_2', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side_push', 'template_id': 'template_id', 'grasp_preference': 'grasp_preference'})
# x:788 y:178
OperatableStateMachine.add('Warn_Stand_Pose_1',
LogState(text="Going to STAND pose", severity=Logger.REPORT_INFO),
transitions={'done': 'Close_Fingers'},
autonomy={'done': Autonomy.High})
# x:679 y:599
OperatableStateMachine.add('Warn_Stand_Pose_2',
LogState(text="Going to STAND pose", severity=Logger.REPORT_INFO),
transitions={'done': 'Go_To_Stand_Pose_2'},
autonomy={'done': Autonomy.High})
# x:493 y:598
OperatableStateMachine.add('Go_To_Stand_Pose_2',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.STAND_POSE, vel_scaling=0.1, ignore_collisions=False, link_paddings={}, is_cartesian=False),
transitions={'done': 'Decide_Step_Back', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'side': 'none'})
# x:587 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:327 y:672
OperatableStateMachine.add('Perform_Step_Back',
_sm_perform_step_back_3,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'step_back_distance': 'step_back_distance'})
# x:782 y:278
OperatableStateMachine.add('Close_Fingers',
FingerConfigurationState(hand_type=self.hand_type, configuration=1),
transitions={'done': 'Go_To_Stand_Pose_1', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'hand_side': 'hand_side'})
return _state_machine
def create(self):
bag_folder_in = "~/sysid_tests"
bag_folder_out = "" # optional (if not provided, an /out folder will be created in the bag_folder_in directory
prefix = "" # optional (applies to bag and video files)
input_bagfiles = [] # calculated (leave empty)
output_bagfiles = [] # calculated (leave empty)
desired_num_tests = 1 # num of tests per trajectory
wait_time = 3.0 # before execution (for rosbag record)
settling_time = 2.0 # after execution
mode_for_tests = "dance" # "manipulate", "system_id", etc.
desired_controllers = ["left_arm_traj_controller","right_arm_traj_controller", "left_leg_traj_controller","right_leg_traj_controller","torso_traj_controller"]
# x:880 y:104, x:660 y:14
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.traj_index = 0
_state_machine.userdata.tests_counter = 0
_state_machine.userdata.none = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# Get folder containing input bagfiles and create folder for output
bag_folder_in = os.path.expanduser(bag_folder_in)
if not os.path.exists(bag_folder_in):
Logger.logwarn('Path to input bag folder does not exist (%s)' % bag_folder_in)
if not bag_folder_out:
bag_folder_out = os.path.join(bag_folder_in, 'out')
if not os.path.exists(bag_folder_out):
os.makedirs(bag_folder_out)
else:
# The user has provided a directory for output bagfiles
bag_folder_out = os.path.expanduser(bag_folder_out)
if not os.path.exists(bag_folder_out):
os.makedirs(bag_folder_out)
# Initialize lists again, in case the user did alter them
input_bagfiles = []
output_bagfiles = []
# Get all input bagfile names from bag folder and also name the corresponding output bagfiles
os.chdir(bag_folder_in)
for bagfile in sorted(glob.glob("*.bag")):
input_bagfiles.append(os.path.join(bag_folder_in, bagfile))
bare_name = bagfile.split(".")[0]
output_name = bare_name + "_" + time.strftime("%Y-%m-%d-%H_%M") + "_" # file name will be completed by flexible calculation state
output_bagfiles.append(output_name)
Logger.loginfo('Found %d input bag files in %s' % (len(input_bagfiles), bag_folder_in))
# Create STAND posture trajectories
_state_machine.userdata.stand_posture = AtlasFunctions.gen_stand_posture_trajectory()
# [/MANUAL_CREATE]
# x:836 y:51, x:858 y:296
_sm_starting_point_0 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['experiment_name', 'trajectories'])
with _sm_starting_point_0:
# x:49 y:42
OperatableStateMachine.add('Gen_Starting_Name',
CalculationState(calculation=lambda en: en + "_starting"),
transitions={'done': 'Gen_Starting_Bagfile_Name'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'experiment_name', 'output_value': 'starting_name'})
# x:42 y:231
OperatableStateMachine.add('Record_Starting_Point',
StartRecordLogsState(topics_to_record=self.topics_to_record),
transitions={'logging': 'Wait_for_Rosbag_Record'},
autonomy={'logging': Autonomy.Off},
remapping={'bagfile_name': 'output_bagfile_starting', 'rosbag_process': 'rosbag_process_starting'})
# x:38 y:330
OperatableStateMachine.add('Wait_for_Rosbag_Record',
WaitState(wait_time=wait_time),
transitions={'done': 'Extract_Left_Arm_Part'},
autonomy={'done': Autonomy.Off})
# x:29 y:133
OperatableStateMachine.add('Gen_Starting_Bagfile_Name',
CalculationState(calculation=lambda en: os.path.join(bag_folder_out, en) + ".bag"),
transitions={'done': 'Record_Starting_Point'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'starting_name', 'output_value': 'output_bagfile_starting'})
# x:536 y:47
OperatableStateMachine.add('Stop_Recording_Starting_Point',
StopRecordLogsState(),
transitions={'stopped': 'finished'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process_starting'})
# x:228 y:757
OperatableStateMachine.add('Plan_to_Starting_Point_Left_Arm',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={'done': 'Plan_to_Starting_Point_Right_Arm', 'failed': 'Report_Starting_Point_Failure'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'desired_goal': 'trajectories_left_arm', 'plan_to_goal': 'plan_to_goal_left_arm'})
# x:236 y:655
OperatableStateMachine.add('Plan_to_Starting_Point_Right_Arm',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={'done': 'Plan_to_Starting_Point_Left_Leg', 'failed': 'Report_Starting_Point_Failure'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'desired_goal': 'trajectories_right_arm', 'plan_to_goal': 'plan_to_goal_right_arm'})
# x:272 y:47
OperatableStateMachine.add('Go_to_Starting_Point',
ExecuteTrajectoryWholeBodyState(controllers=desired_controllers),
transitions={'done': 'Stop_Recording_Starting_Point', 'failed': 'Report_Starting_Point_Failure'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Low},
remapping={'trajectories': 'trajectories_all'})
# x:536 y:169
OperatableStateMachine.add('Report_Starting_Point_Failure',
LogState(text="Failed to plan or go to starting point!", severity=Logger.REPORT_WARN),
transitions={'done': 'Stop_Recording_When_Failed'},
autonomy={'done': Autonomy.Full})
# x:34 y:424
OperatableStateMachine.add('Extract_Left_Arm_Part',
CalculationState(calculation=lambda t: {'left_arm': t['left_arm']} if 'left_arm' in t else None),
transitions={'done': 'Extract_Right_Arm_Part'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'trajectories', 'output_value': 'trajectories_left_arm'})
# x:21 y:507
OperatableStateMachine.add('Extract_Right_Arm_Part',
CalculationState(calculation=lambda t: {'right_arm': t['right_arm']} if 'right_arm' in t else None),
transitions={'done': 'Extract_Left_Leg_Part'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'trajectories', 'output_value': 'trajectories_right_arm'})
# x:293 y:146
OperatableStateMachine.add('Combine_Plans',
FlexibleCalculationState(calculation=self.combine_plans, input_keys=['left_arm', 'right_arm', 'left_leg', 'right_leg', 'torso']),
transitions={'done': 'Go_to_Starting_Point'},
autonomy={'done': Autonomy.Low},
remapping={'left_arm': 'plan_to_goal_left_arm', 'right_arm': 'plan_to_goal_right_arm', 'left_leg': 'plan_to_goal_left_leg', 'right_leg': 'plan_to_goal_right_leg', 'torso': 'plan_to_goal_torso', 'output_value': 'trajectories_all'})
# x:789 y:167
OperatableStateMachine.add('Stop_Recording_When_Failed',
StopRecordLogsState(),
transitions={'stopped': 'failed'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process_starting'})
# x:24 y:601
OperatableStateMachine.add('Extract_Left_Leg_Part',
CalculationState(calculation=lambda t: {'left_leg': t['left_leg']} if 'left_leg' in t else None),
transitions={'done': 'Extract_Right_Leg_Part'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'trajectories', 'output_value': 'trajectories_left_leg'})
# x:22 y:665
OperatableStateMachine.add('Extract_Right_Leg_Part',
CalculationState(calculation=lambda t: {'right_leg': t['right_leg']} if 'right_leg' in t else None),
transitions={'done': 'Extract_Torso_Part'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'trajectories', 'output_value': 'trajectories_right_leg'})
# x:33 y:765
OperatableStateMachine.add('Extract_Torso_Part',
CalculationState(calculation=lambda t: {'torso': t['torso']} if 'torso' in t else None),
transitions={'done': 'Plan_to_Starting_Point_Left_Arm'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'trajectories', 'output_value': 'trajectories_torso'})
# x:227 y:410
OperatableStateMachine.add('Plan_to_Starting_Point_Right_Leg',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={'done': 'Plan_to_Starting_Point_Torso', 'failed': 'Report_Starting_Point_Failure'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'desired_goal': 'trajectories_right_leg', 'plan_to_goal': 'plan_to_goal_right_leg'})
# x:237 y:531
OperatableStateMachine.add('Plan_to_Starting_Point_Left_Leg',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={'done': 'Plan_to_Starting_Point_Right_Leg', 'failed': 'Report_Starting_Point_Failure'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'desired_goal': 'trajectories_left_leg', 'plan_to_goal': 'plan_to_goal_left_leg'})
# x:241 y:296
OperatableStateMachine.add('Plan_to_Starting_Point_Torso',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={'done': 'Combine_Plans', 'failed': 'Report_Starting_Point_Failure'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'desired_goal': 'trajectories_torso', 'plan_to_goal': 'plan_to_goal_torso'})
# x:1118 y:103, x:348 y:32
_sm_execute_individual_trajectory_1 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['traj_index', 'tests_counter'])
with _sm_execute_individual_trajectory_1:
# x:79 y:28
OperatableStateMachine.add('Get_Input_Bagfile',
CalculationState(calculation=lambda idx: input_bagfiles[idx]),
transitions={'done': 'Gen_Experiment_Name'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'traj_index', 'output_value': 'input_bagfile'})
# x:904 y:187
OperatableStateMachine.add('Stop_Recording',
StopRecordLogsState(),
transitions={'stopped': 'Stop_Video_Logging'},
autonomy={'stopped': Autonomy.Low},
remapping={'rosbag_process': 'rosbag_process'})
# x:494 y:292
OperatableStateMachine.add('Wait_For_Rosbag_Record',
WaitState(wait_time=wait_time),
transitions={'done': 'Execute_Trajs_from_Bagfile'},
autonomy={'done': Autonomy.Low})
# x:507 y:384
OperatableStateMachine.add('Record_SysID_Test',
StartRecordLogsState(topics_to_record=self.topics_to_record),
transitions={'logging': 'Wait_For_Rosbag_Record'},
autonomy={'logging': Autonomy.Off},
remapping={'bagfile_name': 'output_bagfile', 'rosbag_process': 'rosbag_process'})
# x:484 y:106
OperatableStateMachine.add('Stop_Recording_After_Failure',
StopRecordLogsState(),
transitions={'stopped': 'Stop_Video_Logging_After_Failure'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process'})
# x:727 y:188
OperatableStateMachine.add('Wait_for_Settling',
WaitState(wait_time=settling_time),
transitions={'done': 'Stop_Recording'},
autonomy={'done': Autonomy.Off})
# x:482 y:188
OperatableStateMachine.add('Execute_Trajs_from_Bagfile',
ExecuteTrajectoryWholeBodyState(controllers=desired_controllers),
transitions={'done': 'Wait_for_Settling', 'failed': 'Stop_Recording_After_Failure'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Low},
remapping={'trajectories': 'trajectories'})
# x:48 y:283
OperatableStateMachine.add('Load_Trajs_from_Bagfile',
LoadTrajectoryFromBagfileState(),
transitions={'done': 'Start_Video_Logging', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Low},
remapping={'bagfile_name': 'input_bagfile', 'trajectories': 'trajectories'})
# x:65 y:113
OperatableStateMachine.add('Gen_Experiment_Name',
FlexibleCalculationState(calculation=lambda i: prefix + output_bagfiles[i[0]] + str(i[1] + 1), input_keys=["idx", "counter"]),
transitions={'done': 'Gen_Output_Bagfile_Name'},
autonomy={'done': Autonomy.Off},
remapping={'idx': 'traj_index', 'counter': 'tests_counter', 'output_value': 'experiment_name'})
# x:56 y:192
OperatableStateMachine.add('Gen_Output_Bagfile_Name',
CalculationState(calculation=lambda en: os.path.join(bag_folder_out, en) + ".bag"),
transitions={'done': 'Load_Trajs_from_Bagfile'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'experiment_name', 'output_value': 'output_bagfile'})
# x:903 y:97
OperatableStateMachine.add('Stop_Video_Logging',
VideoLoggingState(command=VideoLoggingState.STOP, no_video=False, no_bags=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'experiment_name': 'experiment_name', 'description': 'experiment_name'})
# x:472 y:26
OperatableStateMachine.add('Stop_Video_Logging_After_Failure',
VideoLoggingState(command=VideoLoggingState.STOP, no_video=False, no_bags=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'experiment_name': 'experiment_name', 'description': 'experiment_name'})
# x:285 y:378
OperatableStateMachine.add('Starting_Point',
_sm_starting_point_0,
transitions={'finished': 'Record_SysID_Test', 'failed': 'Stop_Video_Logging_After_Failure'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'experiment_name': 'experiment_name', 'trajectories': 'trajectories'})
# x:71 y:384
OperatableStateMachine.add('Start_Video_Logging',
VideoLoggingState(command=VideoLoggingState.START, no_video=False, no_bags=True),
transitions={'done': 'Starting_Point'},
autonomy={'done': Autonomy.Off},
remapping={'experiment_name': 'experiment_name', 'description': 'experiment_name'})
# x:475 y:405
_sm_execute_sysid_trajectories_2 = OperatableStateMachine(outcomes=['finished'], input_keys=['traj_index', 'tests_counter'], output_keys=['traj_index'])
with _sm_execute_sysid_trajectories_2:
# x:367 y:24
OperatableStateMachine.add('Execute_Individual_Trajectory',
_sm_execute_individual_trajectory_1,
transitions={'finished': 'Increment_Tests_per_Traj_counter', 'failed': 'Wait_before_Fail'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'traj_index': 'traj_index', 'tests_counter': 'tests_counter'})
# x:714 y:27
OperatableStateMachine.add('Increment_Tests_per_Traj_counter',
CalculationState(calculation=lambda counter: counter + 1),
transitions={'done': 'More_Tests_for_this_Traj?'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'tests_counter', 'output_value': 'tests_counter'})
# x:738 y:207
OperatableStateMachine.add('More_Tests_for_this_Traj?',
DecisionState(outcomes=['yes', 'no'], conditions=lambda counter: 'no' if counter >= desired_num_tests else 'yes'),
transitions={'yes': 'Execute_Individual_Trajectory', 'no': 'Reset_Tests_counter'},
autonomy={'yes': Autonomy.Low, 'no': Autonomy.Low},
remapping={'input_value': 'tests_counter'})
# x:752 y:298
OperatableStateMachine.add('Reset_Tests_counter',
CalculationState(calculation=lambda counter: 0),
transitions={'done': 'Increment_Traj_Index'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'tests_counter', 'output_value': 'tests_counter'})
# x:752 y:399
OperatableStateMachine.add('Increment_Traj_Index',
CalculationState(calculation=lambda idx: idx + 1),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'traj_index', 'output_value': 'traj_index'})
# x:405 y:141
OperatableStateMachine.add('Wait_before_Fail',
WaitState(wait_time=2.0),
transitions={'done': 'Increment_Tests_per_Traj_counter'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:122 y:26
OperatableStateMachine.add('Starting_Execution',
LogState(text="Execution is starting. Confirm first transition!", severity=Logger.REPORT_HINT),
transitions={'done': 'Go_to_Desired_Mode'},
autonomy={'done': Autonomy.High})
# x:328 y:298
OperatableStateMachine.add('Execute SysID Trajectories',
_sm_execute_sysid_trajectories_2,
transitions={'finished': 'More_Trajectories?'},
autonomy={'finished': Autonomy.Inherit},
remapping={'traj_index': 'traj_index', 'tests_counter': 'tests_counter'})
# x:129 y:215
OperatableStateMachine.add('More_Trajectories?',
DecisionState(outcomes=['yes', 'no'], conditions=lambda idx: 'no' if idx >= len(input_bagfiles) else 'yes'),
transitions={'yes': 'Notify_Next_Trajectory', 'no': 'Move_to_Stand_Posture'},
autonomy={'yes': Autonomy.Low, 'no': Autonomy.High},
remapping={'input_value': 'traj_index'})
# x:592 y:103
OperatableStateMachine.add('Go_to_FREEZE_before_Exit',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.FREEZE),
transitions={'changed': 'finished', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Low})
# x:584 y:214
OperatableStateMachine.add('Failed_To_Go_To_Stand_Posture',
LogState(text="Failed to go to stand posture", severity=Logger.REPORT_WARN),
transitions={'done': 'Go_to_FREEZE_before_Exit'},
autonomy={'done': Autonomy.Off})
# x:121 y:393
OperatableStateMachine.add('Notify_Next_Trajectory',
LogState(text="Continuing with next trajectory.", severity=Logger.REPORT_INFO),
transitions={'done': 'Execute SysID Trajectories'},
autonomy={'done': Autonomy.Off})
# x:112 y:102
OperatableStateMachine.add('Go_to_Desired_Mode',
ChangeControlModeActionState(target_mode=mode_for_tests),
transitions={'changed': 'More_Trajectories?', 'failed': 'Go_to_FREEZE_before_Exit'},
autonomy={'changed': Autonomy.High, 'failed': Autonomy.High})
# x:329 y:158
OperatableStateMachine.add('Move_to_Stand_Posture',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.STAND_POSE, vel_scaling=0.3, ignore_collisions=False, link_paddings={}),
transitions={'done': 'Go_to_FREEZE_before_Exit', 'failed': 'Failed_To_Go_To_Stand_Posture'},
autonomy={'done': Autonomy.High, 'failed': Autonomy.High},
remapping={'side': 'none'})
return _state_machine
def create(self):
arm_controller = ExecuteTrajectoryMsgState.CONTROLLER_LEFT_ARM if self.hand_side == 'left' else ExecuteTrajectoryMsgState.CONTROLLER_RIGHT_ARM
no_valve_collision = True
turning_affordance = "open"
turn_amount = 200 # degree
turn_back_affordance = "close"
turn_test_amount = 25 # degree
# x:933 y:490, x:333 y:390
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.default_preference = 0
_state_machine.userdata.hand_side = self.hand_side
_state_machine.userdata.step_back_distance = 1 # meters
_state_machine.userdata.none = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
self._turn_amount = turn_amount
self._turn_test_amount = turn_test_amount
# [/MANUAL_CREATE]
# x:30 y:478, x:130 y:478, x:230 y:478
_sm_planning_pipeline_0 = OperatableStateMachine(outcomes=['finished', 'failed', 'aborted'], input_keys=['stand_pose'], output_keys=['plan_header'])
with _sm_planning_pipeline_0:
# 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:483 y:540, x:183 y:290
_sm_perform_turn_back_1 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'back_rotation', 'none'])
with _sm_perform_turn_back_1:
# x:71 y:78
OperatableStateMachine.add('Get_Turn_Back_Affordance',
GetTemplateAffordanceState(identifier=turn_back_affordance),
transitions={'done': 'Set_Back_Rotation', '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': 'turning_affordance'})
# x:419 y:228
OperatableStateMachine.add('Plan_Turn_Back_Affordance',
PlanAffordanceState(vel_scaling=0.2, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Turn_Back_Affordance', 'incomplete': 'Execute_Turn_Back_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'incomplete': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'affordance': 'turning_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:411 y:378
OperatableStateMachine.add('Execute_Turn_Back_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'finished', 'failed': 'finished'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:434 y:78
OperatableStateMachine.add('Set_Back_Rotation',
FlexibleCalculationState(calculation=self.set_back_rotation, input_keys=["turning_affordance", "back_rotation"]),
transitions={'done': 'Plan_Turn_Back_Affordance'},
autonomy={'done': Autonomy.Off},
remapping={'turning_affordance': 'turning_affordance', 'back_rotation': 'back_rotation', 'output_value': 'turning_affordance'})
# x:383 y:40, x:433 y:490
_sm_perform_turning_2 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'none'], output_keys=['back_rotation'])
with _sm_perform_turning_2:
# x:92 y:28
OperatableStateMachine.add('Adjust_Hand_Pose',
LogState(text="Make sure hand is in valve", severity=Logger.REPORT_HINT),
transitions={'done': 'Init_Back_Rotation'},
autonomy={'done': Autonomy.Full})
# x:926 y:228
OperatableStateMachine.add('Plan_Turning_Affordance',
PlanAffordanceState(vel_scaling=0.3, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Turning_Affordance', 'incomplete': 'Execute_Turning_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'incomplete': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'affordance': 'turning_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:495 y:228
OperatableStateMachine.add('Set_Full_Rotation',
CalculationState(calculation=self.set_full_rotation_angle),
transitions={'done': 'Plan_Turning_Affordance'},
autonomy={'done': Autonomy.Low},
remapping={'input_value': 'turning_affordance', 'output_value': 'turning_affordance'})
# x:818 y:78
OperatableStateMachine.add('Execute_Turning_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Accumulate_Rotation', 'failed': 'Accumulate_Rotation'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.High},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:534 y:78
OperatableStateMachine.add('Accumulate_Rotation',
FlexibleCalculationState(calculation=lambda x: x[0] + self._turn_amount * x[1], input_keys=["back_rotation", "plan_fraction"]),
transitions={'done': 'Decide_Turn_Again'},
autonomy={'done': Autonomy.Off},
remapping={'back_rotation': 'back_rotation', 'plan_fraction': 'plan_fraction', 'output_value': 'back_rotation'})
# x:287 y:128
OperatableStateMachine.add('Decide_Turn_Again',
OperatorDecisionState(outcomes=["extract", "turn"], hint="Turn again or extract hand?", suggestion="turn"),
transitions={'extract': 'finished', 'turn': 'Decide_If_Test'},
autonomy={'extract': Autonomy.High, 'turn': Autonomy.Full})
# x:73 y:228
OperatableStateMachine.add('Get_Turning_Affordance',
GetTemplateAffordanceState(identifier=turning_affordance),
transitions={'done': 'Decide_If_Test', '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': 'turning_affordance'})
# x:302 y:228
OperatableStateMachine.add('Decide_If_Test',
DecisionState(outcomes=["test", "full"], conditions=lambda x: "test" if x == 0 else "full"),
transitions={'test': 'Set_Test_Rotation', 'full': 'Set_Full_Rotation'},
autonomy={'test': Autonomy.Low, 'full': Autonomy.Low},
remapping={'input_value': 'back_rotation'})
# x:494 y:178
OperatableStateMachine.add('Set_Test_Rotation',
CalculationState(calculation=self.set_test_rotation_angle),
transitions={'done': 'Plan_Test_Turning_Affordance'},
autonomy={'done': Autonomy.Low},
remapping={'input_value': 'turning_affordance', 'output_value': 'turning_affordance'})
# x:92 y:128
OperatableStateMachine.add('Init_Back_Rotation',
CalculationState(calculation=lambda x: 0),
transitions={'done': 'Get_Turning_Affordance'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'none', 'output_value': 'back_rotation'})
# x:713 y:178
OperatableStateMachine.add('Plan_Test_Turning_Affordance',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Turning_Affordance', 'incomplete': 'Execute_Turning_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'incomplete': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'affordance': 'turning_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:733 y:190, x:433 y:140
_sm_extract_hand_3 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'preference', 'none'])
with _sm_extract_hand_3:
# x:77 y:55
OperatableStateMachine.add('Get_Pregrasp',
GetTemplatePregraspState(),
transitions={'done': 'Extract_Frame_Id', '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', 'preference': 'preference', 'pre_grasp': 'pre_grasp'})
# x:296 y:328
OperatableStateMachine.add('Plan_To_Pregrasp',
PlanEndeffectorCartesianWaypointsState(ignore_collisions=no_valve_collision, include_torso=False, keep_endeffector_orientation=True, allow_incomplete_plans=True, vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'planned': 'Move_To_Pregrasp', 'incomplete': 'Move_To_Pregrasp', 'failed': 'failed'},
autonomy={'planned': Autonomy.Low, 'incomplete': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'waypoints': 'waypoints', 'hand': 'hand_side', 'frame_id': 'frame_id', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:96 y:328
OperatableStateMachine.add('Create_Pose_List',
CalculationState(calculation=lambda x: [x.pose]),
transitions={'done': 'Plan_To_Pregrasp'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'pre_grasp', 'output_value': 'waypoints'})
# x:676 y:328
OperatableStateMachine.add('Move_To_Pregrasp',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:95 y:228
OperatableStateMachine.add('Extract_Frame_Id',
CalculationState(calculation=lambda x: x.header.frame_id),
transitions={'done': 'Create_Pose_List'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'pre_grasp', 'output_value': 'frame_id'})
# x:733 y:190, x:433 y:190
_sm_insert_hand_4 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'preference', 'none'])
with _sm_insert_hand_4:
# x:83 y:78
OperatableStateMachine.add('Get_Grasp',
GetTemplateGraspState(),
transitions={'done': 'Extract_Frame_Id', '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', 'preference': 'preference', 'grasp': 'grasp'})
# x:296 y:328
OperatableStateMachine.add('Plan_To_Grasp',
PlanEndeffectorCartesianWaypointsState(ignore_collisions=no_valve_collision, include_torso=False, keep_endeffector_orientation=True, allow_incomplete_plans=True, vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'planned': 'Move_To_Grasp', 'incomplete': 'Move_To_Grasp', 'failed': 'failed'},
autonomy={'planned': Autonomy.Low, 'incomplete': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'waypoints': 'waypoints', 'hand': 'hand_side', 'frame_id': 'frame_id', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:96 y:328
OperatableStateMachine.add('Create_Pose_List',
CalculationState(calculation=lambda x: [x.pose]),
transitions={'done': 'Plan_To_Grasp'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp', 'output_value': 'waypoints'})
# x:676 y:328
OperatableStateMachine.add('Move_To_Grasp',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:96 y:228
OperatableStateMachine.add('Extract_Frame_Id',
CalculationState(calculation=lambda x: x.header.frame_id),
transitions={'done': 'Create_Pose_List'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp', 'output_value': 'frame_id'})
# x:933 y:290, x:133 y:340
_sm_prepare_joint_limit_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'none'])
with _sm_prepare_joint_limit_5:
# x:71 y:78
OperatableStateMachine.add('Get_Turn_Back_Affordance',
GetTemplateAffordanceState(identifier=turn_back_affordance),
transitions={'done': 'Set_Back_Rotation', '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': 'turning_affordance'})
# x:419 y:228
OperatableStateMachine.add('Plan_Turn_Back_Affordance',
PlanAffordanceState(vel_scaling=0.2, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Turn_Back_Affordance', 'incomplete': 'Execute_Turn_Back_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'incomplete': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'affordance': 'turning_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:411 y:378
OperatableStateMachine.add('Execute_Turn_Back_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Decide_Turn_Further', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:442 y:78
OperatableStateMachine.add('Set_Back_Rotation',
CalculationState(calculation=self.set_full_rotation_angle),
transitions={'done': 'Plan_Turn_Back_Affordance'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'turning_affordance', 'output_value': 'turning_affordance'})
# x:687 y:278
OperatableStateMachine.add('Decide_Turn_Further',
DecisionState(outcomes=["turn_again", "done"], conditions=lambda x: "turn_again" if x > 0.95 else "done"),
transitions={'turn_again': 'Plan_Turn_Back_Affordance', 'done': 'finished'},
autonomy={'turn_again': Autonomy.High, 'done': Autonomy.Low},
remapping={'input_value': 'plan_fraction'})
# x:30 y:478, x:130 y:478, x:230 y:478
_sm_walk_to_template_6 = OperatableStateMachine(outcomes=['finished', 'failed', 'aborted'], input_keys=['template_id', 'grasp_preference', 'hand_side'])
with _sm_walk_to_template_6:
# 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_0,
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:183 y:590, x:383 y:290
_sm_manipulate_valve_7 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'preference', 'none'])
with _sm_manipulate_valve_7:
# x:144 y:72
OperatableStateMachine.add('Insert_Hand',
_sm_insert_hand_4,
transitions={'finished': 'Perform_Turning', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id', 'preference': 'preference', 'none': 'none'})
# x:543 y:422
OperatableStateMachine.add('Extract_Hand',
_sm_extract_hand_3,
transitions={'finished': 'Decide_Repeat', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id', 'preference': 'preference', 'none': 'none'})
# x:534 y:72
OperatableStateMachine.add('Perform_Turning',
_sm_perform_turning_2,
transitions={'finished': 'Extract_Hand', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'none': 'none', 'back_rotation': 'back_rotation'})
# x:127 y:272
OperatableStateMachine.add('Perform_Turn_Back',
_sm_perform_turn_back_1,
transitions={'finished': 'Adjust_Hand_Rotation', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'back_rotation': 'back_rotation', 'none': 'none'})
# x:137 y:428
OperatableStateMachine.add('Decide_Repeat',
OperatorDecisionState(outcomes=['insert_again', 'continue'], hint="Continue or adjust wry2 rotation and rotate again", suggestion='insert_again'),
transitions={'insert_again': 'Perform_Turn_Back', 'continue': 'finished'},
autonomy={'insert_again': Autonomy.High, 'continue': Autonomy.Full})
# x:134 y:178
OperatableStateMachine.add('Adjust_Hand_Rotation',
OperatorDecisionState(outcomes=['done'], hint="Adjust poking stick rotation", suggestion=None),
transitions={'done': 'Insert_Hand'},
autonomy={'done': Autonomy.Full})
# x:83 y:340, x:333 y:140
_sm_step_back_8 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['distance'])
with _sm_step_back_8:
# x:28 y:63
OperatableStateMachine.add('Plan_Steps_Back',
FootstepPlanRelativeState(direction=FootstepPlanRelativeState.DIRECTION_BACKWARD),
transitions={'planned': 'Execute_Steps_Back', 'failed': 'failed'},
autonomy={'planned': Autonomy.High, 'failed': Autonomy.Full},
remapping={'distance': 'distance', 'plan_header': 'plan_header'})
# x:24 y:163
OperatableStateMachine.add('Execute_Steps_Back',
ExecuteStepPlanActionState(),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'plan_header': 'plan_header'})
# x:638 y:580, x:230 y:239
_sm_prepare_manipulation_9 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'grasp_preference', 'hand_side', 'none'])
with _sm_prepare_manipulation_9:
# x:65 y:36
OperatableStateMachine.add('Go_To_Manipulate',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'Set_Template_Frame', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Full})
# x:586 y:463
OperatableStateMachine.add('Adjust_Hand_Rotation',
OperatorDecisionState(outcomes=['done'], hint="Adjust poking stick rotation", suggestion=None),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Full})
# x:116 y:409
OperatableStateMachine.add('Get_Pregrasp',
GetTemplatePregraspState(),
transitions={'done': 'Plan_To_Pregrasp', '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', 'preference': 'grasp_preference', 'pre_grasp': 'pre_grasp'})
# x:329 y:178
OperatableStateMachine.add('Plan_To_Pregrasp',
PlanEndeffectorPoseState(ignore_collisions=False, include_torso=False, allowed_collisions=[], planner_id="RRTConnectkConfigDefault"),
transitions={'planned': 'Move_To_Pregrasp', 'failed': 'failed'},
autonomy={'planned': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'target_pose': 'pre_grasp', 'hand': 'hand_side', 'joint_trajectory': 'joint_trajectory'})
# x:576 y:178
OperatableStateMachine.add('Move_To_Pregrasp',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Prepare_Joint_Limit', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:577 y:322
OperatableStateMachine.add('Prepare_Joint_Limit',
_sm_prepare_joint_limit_5,
transitions={'finished': 'Adjust_Hand_Rotation', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'none': 'none'})
# x:53 y:130
OperatableStateMachine.add('Set_Template_Frame',
CalculationState(calculation=lambda x: 'template_tf_' + str(x)),
transitions={'done': 'Look_At_Valve'},
autonomy={'done': Autonomy.Low},
remapping={'input_value': 'template_id', 'output_value': 'template_frame'})
# x:51 y:213
OperatableStateMachine.add('Look_At_Valve',
LookAtTargetState(),
transitions={'done': 'Align_Valve_Log'},
autonomy={'done': Autonomy.Low},
remapping={'frame': 'template_frame'})
# x:55 y:301
OperatableStateMachine.add('Align_Valve_Log',
LogState(text="Adjust pose of the valve template", severity=Logger.REPORT_HINT),
transitions={'done': 'Get_Pregrasp'},
autonomy={'done': Autonomy.Full})
with _state_machine:
# x:35 y:78
OperatableStateMachine.add('Request_Template_ID',
InputState(request=InputState.SELECTED_OBJECT_ID, message="Place the valve template"),
transitions={'received': 'Decide_Walking', 'aborted': 'failed', 'no_connection': 'failed', 'data_error': 'failed'},
autonomy={'received': Autonomy.High, 'aborted': Autonomy.Full, 'no_connection': Autonomy.Full, 'data_error': Autonomy.Full},
remapping={'data': 'template_id'})
# x:473 y:72
OperatableStateMachine.add('Prepare_Manipulation',
_sm_prepare_manipulation_9,
transitions={'finished': 'Manipulate_Valve', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'grasp_preference': 'default_preference', 'hand_side': 'hand_side', 'none': 'none'})
# x:237 y:28
OperatableStateMachine.add('Decide_Walking',
OperatorDecisionState(outcomes=['walk', 'skip'], hint="Walk to the valve?", suggestion='skip'),
transitions={'walk': 'Walk_To_Template', 'skip': 'Prepare_Manipulation'},
autonomy={'walk': Autonomy.Full, 'skip': Autonomy.Low})
# x:644 y:557
OperatableStateMachine.add('Step_Back',
_sm_step_back_8,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'distance': 'step_back_distance'})
# x:637 y:428
OperatableStateMachine.add('Decide_Step_Back',
OperatorDecisionState(outcomes=["stand", "step_back"], hint="Should the robot step back from the valve?", suggestion="step_back"),
transitions={'stand': 'finished', 'step_back': 'Step_Back'},
autonomy={'stand': Autonomy.Full, 'step_back': Autonomy.High})
# x:738 y:228
OperatableStateMachine.add('Inform_About_Stand',
LogState(text="Back to STAND", severity=Logger.REPORT_INFO),
transitions={'done': 'Go_To_Stand'},
autonomy={'done': Autonomy.Low})
# x:733 y:72
OperatableStateMachine.add('Manipulate_Valve',
_sm_manipulate_valve_7,
transitions={'finished': 'Inform_About_Stand', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'preference': 'default_preference', 'none': 'none'})
# x:616 y:328
OperatableStateMachine.add('Go_To_Stand',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.STAND),
transitions={'changed': 'Decide_Step_Back', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Full})
# x:230 y:122
OperatableStateMachine.add('Walk_To_Template',
_sm_walk_to_template_6,
transitions={'finished': 'Prepare_Manipulation', 'failed': 'failed', 'aborted': 'Prepare_Manipulation'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'aborted': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'grasp_preference': 'default_preference', 'hand_side': 'hand_side'})
return _state_machine
def create(self):
joint_names_left = [
"l_arm_shz", "l_arm_shx", "l_arm_ely", "l_arm_elx", "l_arm_wry",
"l_arm_wrx"
]
joint_names_right = [
"r_arm_shz", "r_arm_shx", "r_arm_ely", "r_arm_elx", "r_arm_wry",
"r_arm_wrx"
]
wait_time = 10.0
bagfolder = "" # calculated
gains_list = {
'pid_gains': ['p', 'i', 'd'],
'bdi_gains': ['k_qd_p', 'ff_qd_d'],
'vigir_gains': ['ff_bang', 'ff_effort', 'ff_friction']
}
amplitudes = [2, 5, 10] # set i to 1
frequencies = [1.26, 3.14, 6.28]
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.joints_left_up = [] # calculated
_state_machine.userdata.joints_right_up = [] # calculated
_state_machine.userdata.joint_index = 0
_state_machine.userdata.none = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# 'Basic' configuration for SIMULATION
#_state_machine.userdata.joints_left_up = [0.00, 0.18, 1.57, 1.18, 0.00, 0.57]
#_state_machine.userdata.joints_right_up = [0.00, -0.18, 1.57, -1.18, 0.00, -0.57]
logs_folder = os.path.expanduser('~/joint_control_tests/')
if not os.path.exists(logs_folder):
os.makedirs(logs_folder)
bagfolder = logs_folder + "run_" + time.strftime(
"%Y-%m-%d-%H_%M") + "/"
os.makedirs(bagfolder)
self._joint_limits = self._joint_limits_rob if self.real_robot else self._joint_limits_sim
# standard config
joints_left_up = [0] * 6
for i in range(6):
joint_range = self._joint_limits[i][1] - self._joint_limits[i][0]
joints_left_up[5 -
i] = self._joint_limits[i][0] + joint_range * 0.5
joints_right_up = [0] * 6
for i in range(6):
joint_range = self._joint_limits[i +
6][1] - self._joint_limits[i +
6][0]
joints_right_up[5 -
i] = self._joint_limits[i +
6][0] + joint_range * 0.5
_state_machine.userdata.joints_left_up = joints_left_up
_state_machine.userdata.joints_right_up = joints_right_up
rospy.loginfo('Average left joint positions: ' +
' '.join(map(str, joints_left_up)))
rospy.loginfo('Average right joint positions: ' +
' '.join(map(str, joints_right_up)))
self._amplitudes = amplitudes
self._frequencies = frequencies
# [/MANUAL_CREATE]
_sm_perform_sinusoide_motion = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'altered_gains', 'joint_index', 'traj_controller',
'nominal_gains'
])
with _sm_perform_sinusoide_motion:
# x:64 y:39
OperatableStateMachine.add(
'Set_Logfile_Name',
FlexibleCalculationState(
calculation=lambda i: bagfolder + self._traj_controllers[i[
1]][1] + "_amp_" + str(i[0][0]) + "_freq_" + str(i[0][
2]) + ".bag",
input_keys=["gain_percentage", "joint_index"]),
transitions={'done': 'Start_Gain_Logs'},
autonomy={'done': Autonomy.Off},
remapping={
'gain_percentage': 'altered_gains',
'joint_index': 'joint_index',
'output_value': 'bagfile_name'
})
# x:332 y:61
OperatableStateMachine.add(
'Start_Gain_Logs',
StartRecordLogsState(topics_to_record=self.topics_to_record),
transitions={'logging': 'Wait_For_Logging'},
autonomy={'logging': Autonomy.Off},
remapping={
'bagfile_name': 'bagfile_name',
'rosbag_process': 'rosbag_process'
})
# x:154 y:397
OperatableStateMachine.add(
'Stop_Gain_Logs',
StopRecordLogsState(),
transitions={'stopped': 'finished'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process'})
# x:344 y:344
OperatableStateMachine.add(
'Reset_Joint_Gains',
UpdateDynamicParameterState(param=gains_list),
transitions={
'updated': 'Stop_Gain_Logs',
'failed': 'failed'
},
autonomy={
'updated': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'traj_controller': 'traj_controller',
'parameter_value': 'nominal_gains'
})
# x:564 y:89
OperatableStateMachine.add('Wait_For_Logging',
WaitState(wait_time=2),
transitions={'done': 'Set_Joint_Gain'},
autonomy={'done': Autonomy.Off})
# x:598 y:361
OperatableStateMachine.add(
'Wait_For_Motion',
WaitState(wait_time=wait_time),
transitions={'done': 'Reset_Joint_Gains'},
autonomy={'done': Autonomy.Off})
# x:562 y:234
OperatableStateMachine.add(
'Set_Joint_Gain',
UpdateDynamicParameterState(param=gains_list),
transitions={
'updated': 'Wait_For_Motion',
'failed': 'failed'
},
autonomy={
'updated': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'traj_controller': 'traj_controller',
'parameter_value': 'altered_gains'
})
_sm_move_joints_to_standard = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['joints_right_up', 'joints_left_up'])
with _sm_move_joints_to_standard:
# x:71 y:145
OperatableStateMachine.add(
'Move_Left_Arm_Back',
MoveitMoveGroupState(planning_group="l_arm_group",
joint_names=joint_names_left),
transitions={
'reached': 'Move_Right_Arm_Back',
'failed': 'failed'
},
autonomy={
'reached': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'target_joint_config': 'joints_left_up'})
# x:317 y:132
OperatableStateMachine.add(
'Move_Right_Arm_Back',
MoveitMoveGroupState(planning_group="r_arm_group",
joint_names=joint_names_right),
transitions={
'reached': 'finished',
'failed': 'failed'
},
autonomy={
'reached': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'target_joint_config': 'joints_right_up'})
_sm_test_individual_joint = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'joint_index', 'traj_controller', 'none', 'joints_right_up',
'joints_left_up'
])
with _sm_test_individual_joint:
# x:45 y:60
OperatableStateMachine.add(
'Initialize_Iteration',
CalculationState(calculation=lambda x: 0),
transitions={'done': 'Move_Joints_To_Standard'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'none',
'output_value': 'iteration'
})
# x:176 y:388
OperatableStateMachine.add(
'Decide_If_Tests_To_Go',
DecisionState(
outcomes=["done", "continue"],
conditions=lambda it: "done" if it ==
(len(amplitudes) * len(frequencies)) else "continue"),
transitions={
'done': 'finished',
'continue': 'Calculate_Next_Gain_Value'
},
autonomy={
'done': Autonomy.Off,
'continue': Autonomy.Off
},
remapping={'input_value': 'iteration'})
# x:144 y:298
OperatableStateMachine.add(
'Calculate_Next_Gain_Value',
FlexibleCalculationState(
calculation=self.calculate_gains,
input_keys=["iteration", "nominal_gain"]),
transitions={'done': 'Perform_Sinusoide_Motion'},
autonomy={'done': Autonomy.High},
remapping={
'iteration': 'iteration',
'nominal_gain': 'nominal_gains',
'output_value': 'altered_gains'
})
# x:190 y:193
OperatableStateMachine.add(
'Get_Joint_Gains',
ReadDynamicParameterState(param=gains_list),
transitions={
'read': 'Calculate_Next_Gain_Value',
'failed': 'failed'
},
autonomy={
'read': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'traj_controller': 'traj_controller',
'parameter_value': 'nominal_gains'
})
# x:158 y:505
OperatableStateMachine.add(
'Increment_Iteration_Counter',
CalculationState(calculation=lambda it: it + 1),
transitions={'done': 'Decide_If_Tests_To_Go'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'iteration',
'output_value': 'iteration'
})
# x:210 y:53
OperatableStateMachine.add('Move_Joints_To_Standard',
_sm_move_joints_to_standard,
transitions={
'finished': 'Get_Joint_Gains',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'joints_right_up':
'joints_right_up',
'joints_left_up': 'joints_left_up'
})
# x:496 y:393
OperatableStateMachine.add('Perform_Sinusoide_Motion',
_sm_perform_sinusoide_motion,
transitions={
'finished':
'Increment_Iteration_Counter',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'altered_gains': 'altered_gains',
'joint_index': 'joint_index',
'traj_controller':
'traj_controller',
'nominal_gains': 'nominal_gains'
})
_sm_test_joint_controls = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'joint_index', 'none', 'joints_right_up', 'joints_left_up'
])
with _sm_test_joint_controls:
# x:47 y:121
OperatableStateMachine.add(
'Decide_Joints_To_Go',
DecisionState(outcomes=["done", "continue"],
conditions=lambda idx: "done"
if idx == 12 else "continue"),
transitions={
'done': 'finished',
'continue': 'Set_Trajectory_Controller'
},
autonomy={
'done': Autonomy.High,
'continue': Autonomy.Low
},
remapping={'input_value': 'joint_index'})
# x:571 y:68
OperatableStateMachine.add('Test_Individual_Joint',
_sm_test_individual_joint,
transitions={
'finished': 'Increment_Joint_Index',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'joint_index': 'joint_index',
'traj_controller':
'traj_controller',
'none': 'none',
'joints_right_up':
'joints_right_up',
'joints_left_up': 'joints_left_up'
})
# x:279 y:41
OperatableStateMachine.add(
'Increment_Joint_Index',
CalculationState(calculation=lambda it: it + 1),
transitions={'done': 'Decide_Joints_To_Go'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joint_index',
'output_value': 'joint_index'
})
# x:447 y:224
OperatableStateMachine.add(
'Set_Trajectory_Controller',
CalculationState(
calculation=lambda idx: self._traj_controllers[idx]),
transitions={'done': 'Test_Individual_Joint'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joint_index',
'output_value': 'traj_controller'
})
with _state_machine:
# x:112 y:38
OperatableStateMachine.add(
'Check_Initial_Stand',
CheckCurrentControlModeState(
target_mode=CheckCurrentControlModeState.STAND,
wait=False),
transitions={
'correct': 'Switch_To_Manipulate',
'incorrect': 'Set_Initial_Stand'
},
autonomy={
'correct': Autonomy.Low,
'incorrect': Autonomy.Low
},
remapping={'control_mode': 'control_mode'})
# x:336 y:123
OperatableStateMachine.add(
'Set_Initial_Stand',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'Switch_To_Manipulate',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:60 y:235
OperatableStateMachine.add(
'Switch_To_Manipulate',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Bring_Left_Arm_Up',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:105 y:428
OperatableStateMachine.add(
'Bring_Left_Arm_Up',
MoveitMoveGroupState(planning_group="l_arm_group",
joint_names=joint_names_left),
transitions={
'reached': 'Bring_Right_Arm_Up',
'failed': 'failed'
},
autonomy={
'reached': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'target_joint_config': 'joints_left_up'})
# x:323 y:482
OperatableStateMachine.add(
'Bring_Right_Arm_Up',
MoveitMoveGroupState(planning_group="r_arm_group",
joint_names=joint_names_right),
transitions={
'reached': 'Test_Joint_Controls',
'failed': 'failed'
},
autonomy={
'reached': Autonomy.High,
'failed': Autonomy.High
},
remapping={'target_joint_config': 'joints_right_up'})
# x:620 y:465
OperatableStateMachine.add('Test_Joint_Controls',
_sm_test_joint_controls,
transitions={
'finished': 'Change_Back_To_Stand',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'joint_index': 'joint_index',
'none': 'none',
'joints_right_up':
'joints_right_up',
'joints_left_up': 'joints_left_up'
})
# x:887 y:469
OperatableStateMachine.add(
'Change_Back_To_Stand',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'Log_Finished',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.Off
})
# x:897 y:316
OperatableStateMachine.add(
'Log_Finished',
LogState(text="Behavior finished successfully!",
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
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:533 y:590, x:583 y:140
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.none = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:66 y:78
OperatableStateMachine.add(
'Check_Manipulate',
CheckCurrentControlModeState(
target_mode=CheckCurrentControlModeState.MANIPULATE,
wait=False),
transitions={
'correct': 'Set_Stand_Posture',
'incorrect': 'Set_Manipulate'
},
autonomy={
'correct': Autonomy.Low,
'incorrect': Autonomy.Low
},
remapping={'control_mode': 'control_mode'})
# x:266 y:128
OperatableStateMachine.add(
'Set_Manipulate',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Set_Stand_Posture',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.Low
})
# x:76 y:228
OperatableStateMachine.add(
'Set_Stand_Posture',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.STAND_POSE,
vel_scaling=0.2,
ignore_collisions=False,
link_paddings={}),
transitions={
'done': 'Set_Stand',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'side': 'none'})
# x:333 y:378
OperatableStateMachine.add(
'Realign_Feet_Decision',
OperatorDecisionState(
outcomes=["realign", "just_stand"],
hint="Need to realign the feet after wide stance?",
suggestion="realign"),
transitions={
'realign': 'Plan_Realign',
'just_stand': 'finished'
},
autonomy={
'realign': Autonomy.Low,
'just_stand': Autonomy.Full
})
# x:464 y:278
OperatableStateMachine.add(
'Plan_Realign',
FootstepPlanRealignCenterState(),
transitions={
'planned': 'Execute_Realign',
'failed': 'failed'
},
autonomy={
'planned': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'plan_header': 'plan_header'})
# x:524 y:378
OperatableStateMachine.add(
'Execute_Realign',
ExecuteStepPlanActionState(),
transitions={
'finished': 'Wait_For_Stand',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'plan_header': 'plan_header'})
# x:66 y:328
OperatableStateMachine.add(
'Set_Stand',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'Realign_Feet_Decision',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.Low
})
# x:766 y:378
OperatableStateMachine.add(
'Wait_For_Stand',
CheckCurrentControlModeState(
target_mode=CheckCurrentControlModeState.STAND,
wait=False),
transitions={
'correct': 'finished',
'incorrect': 'failed'
},
autonomy={
'correct': Autonomy.Low,
'incorrect': Autonomy.Full
},
remapping={'control_mode': 'control_mode'})
return _state_machine
def create(self):
arm_controller = ExecuteTrajectoryMsgState.CONTROLLER_LEFT_ARM if self.hand_side == 'left' else ExecuteTrajectoryMsgState.CONTROLLER_RIGHT_ARM
turn_handle_affordance = 'Up'
strafe_direction = FootstepPlanRelativeState.DIRECTION_RIGHT if self.hand_side == 'right' else FootstepPlanRelativeState.DIRECTION_LEFT
# x:16 y:476, x:360 y:313
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.grasp_preference = 0
_state_machine.userdata.hand_side = self.hand_side
_state_machine.userdata.none = None
_state_machine.userdata.zero = 0
_state_machine.userdata.both_arms = 'same'
_state_machine.userdata.strafe_distance = 3.0 # meters
_state_machine.userdata.stand_pose_preference = 0
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:851 y:272, x:198 y:293
_sm_push_door_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['handle_template_id', 'hand_side', 'none'])
with _sm_push_door_0:
# x:156 y:74
OperatableStateMachine.add(
'Get_Push_Affordance',
GetTemplateAffordanceState(identifier='push'),
transitions={
'done': 'Plan_Push_Door',
'failed': 'failed',
'not_available': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High,
'not_available': Autonomy.High
},
remapping={
'template_id': 'handle_template_id',
'hand_side': 'hand_side',
'affordance': 'door_affordance'
})
# x:781 y:72
OperatableStateMachine.add(
'Push_Door',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:465 y:73
OperatableStateMachine.add(
'Plan_Push_Door',
PlanAffordanceState(vel_scaling=0.1,
planner_id="RRTConnectkConfigDefault"),
transitions={
'done': 'Push_Door',
'incomplete': 'Push_Door',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'incomplete': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'affordance': 'door_affordance',
'hand': 'hand_side',
'reference_point': 'none',
'joint_trajectory': 'joint_trajectory',
'plan_fraction': 'plan_fraction'
})
# x:642 y:277, x:123 y:475
_sm_turn_handle_1 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['handle_template_id', 'hand_side', 'none'])
with _sm_turn_handle_1:
# x:73 y:78
OperatableStateMachine.add(
'Get_Handle_Affordance',
GetTemplateAffordanceState(identifier=turn_handle_affordance),
transitions={
'done': 'Plan_Turn_Handle',
'failed': 'failed',
'not_available': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High,
'not_available': Autonomy.High
},
remapping={
'template_id': 'handle_template_id',
'hand_side': 'hand_side',
'affordance': 'handle_affordance'
})
# x:342 y:78
OperatableStateMachine.add(
'Plan_Turn_Handle',
PlanAffordanceState(vel_scaling=0.03,
planner_id="RRTConnectkConfigDefault"),
transitions={
'done': 'Turn_Handle',
'incomplete': 'Turn_Handle',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'incomplete': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'affordance': 'handle_affordance',
'hand': 'hand_side',
'reference_point': 'none',
'joint_trajectory': 'joint_trajectory',
'plan_fraction': 'plan_fraction'
})
# x:580 y:77
OperatableStateMachine.add(
'Turn_Handle',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:1075 y:57, x:260 y:86, x:1048 y:173
_sm_go_to_grasp_2 = OperatableStateMachine(
outcomes=['finished', 'failed', 'again'],
input_keys=['hand_side', 'grasp_preference', 'template_id'],
output_keys=['grasp_preference'])
with _sm_go_to_grasp_2:
# 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:727 y:50
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:30 y:365, x:130 y:365
_sm_go_to_pregrasp_3 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['hand_side', 'grasp_preference', 'template_id'],
output_keys=['grasp_preference', 'pregrasp_pose'])
with _sm_go_to_pregrasp_3:
# 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:372 y:343, x:567 y:184
_sm_unlock_door_4 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['handle_template_id', 'hand_side', 'none'])
with _sm_unlock_door_4:
# x:75 y:64
OperatableStateMachine.add('Turn_Handle',
_sm_turn_handle_1,
transitions={
'finished': 'Decide_Push_Turn',
'failed': 'Unlock_Door_Manually'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'handle_template_id':
'handle_template_id',
'hand_side': 'hand_side',
'none': 'none'
})
# x:328 y:178
OperatableStateMachine.add(
'Unlock_Door_Manually',
OperatorDecisionState(
outcomes=["ready", "abort"],
hint='Let the operator open the door manually.',
suggestion=None),
transitions={
'ready': 'finished',
'abort': 'failed'
},
autonomy={
'ready': Autonomy.Full,
'abort': Autonomy.Full
})
# x:69 y:336
OperatableStateMachine.add(
'Decide_Push_Turn',
OperatorDecisionState(
outcomes=['push', 'turn', 'skip'],
hint='Ask operator whether to push more or turn again.',
suggestion='skip'),
transitions={
'push': 'Push_Door',
'turn': 'Turn_Handle',
'skip': 'finished'
},
autonomy={
'push': Autonomy.High,
'turn': Autonomy.High,
'skip': Autonomy.Full
})
# x:72 y:485
OperatableStateMachine.add('Push_Door',
_sm_push_door_0,
transitions={
'finished': 'Decide_Push_Turn',
'failed': 'Push_Door'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'handle_template_id':
'handle_template_id',
'hand_side': 'hand_side',
'none': 'none'
})
# x:820 y:178
_sm_traverse_door_5 = OperatableStateMachine(
outcomes=['finished'], input_keys=['strafe_distance'])
with _sm_traverse_door_5:
# x:59 y:67
OperatableStateMachine.add(
'Plan_Strafing',
FootstepPlanRelativeState(direction=strafe_direction),
transitions={
'planned': 'Confirm_Plan',
'failed': 'Request_Adjustment'
},
autonomy={
'planned': Autonomy.Low,
'failed': Autonomy.High
},
remapping={
'distance': 'strafe_distance',
'plan_header': 'plan_header'
})
# x:64 y:228
OperatableStateMachine.add(
'Request_Adjustment',
LogState(
text='Ask the operator to align the robot with the door.',
severity=Logger.REPORT_HINT),
transitions={'done': 'Plan_Strafing'},
autonomy={'done': Autonomy.Full})
# x:583 y:65
OperatableStateMachine.add(
'Strafe_through_Door',
ExecuteStepPlanActionState(),
transitions={
'finished': 'Notify_Strafe_End',
'failed': 'Request_Adjustment'
},
autonomy={
'finished': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'plan_header': 'plan_header'})
# x:318 y:66
OperatableStateMachine.add(
'Confirm_Plan',
OperatorDecisionState(
outcomes=['ready', 'adjust'],
hint='Check if the robot is perpendicular to the door.',
suggestion=None),
transitions={
'ready': 'Strafe_through_Door',
'adjust': 'Request_Adjustment'
},
autonomy={
'ready': Autonomy.Full,
'adjust': Autonomy.Low
})
# x:603 y:173
OperatableStateMachine.add(
'Notify_Strafe_End',
LogState(text='End of strafing. Switching to MANIPULATE next!',
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
# x:484 y:37, x:383 y:171
_sm_open_door_6 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'none', 'hand_side', 'grasp_preference', 'handle_template_id'
])
with _sm_open_door_6:
# x:69 y:28
OperatableStateMachine.add(
'Look_Down',
TiltHeadState(desired_tilt=TiltHeadState.DOWN_45),
transitions={
'done': 'Turn_Torso',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
})
# x:643 y:451
OperatableStateMachine.add('Unlock_Door',
_sm_unlock_door_4,
transitions={
'finished': 'Ask_for_Retry',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'handle_template_id':
'handle_template_id',
'hand_side': 'hand_side',
'none': 'none'
})
# x:636 y:248
OperatableStateMachine.add(
'Ask_for_Retry',
OperatorDecisionState(outcomes=["done", "retry"],
hint="Now release handle?",
suggestion="done"),
transitions={
'done': 'Decide_Push_or_Not',
'retry': 'Optional_Template_Adjustment'
},
autonomy={
'done': Autonomy.High,
'retry': Autonomy.Full
})
# x:51 y:134
OperatableStateMachine.add(
'Turn_Torso',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.TURN_TORSO_FULL,
vel_scaling=0.2,
ignore_collisions=True,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Optional_Template_Adjustment',
'failed': 'Turn_Torso'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'hand_side'})
# x:625 y:34
OperatableStateMachine.add(
'Push_Door_with_Arm',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.DOOR_OPEN_POSE_SIDE,
vel_scaling=0.3,
ignore_collisions=True,
link_paddings={},
is_cartesian=True),
transitions={
'done': 'finished',
'failed': 'Push_Door_with_Arm'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'hand_side'})
# x:44 y:246
OperatableStateMachine.add(
'Optional_Template_Adjustment',
LogState(
text=
'Ask the operator to adjust the template, if necessary.',
severity=Logger.REPORT_HINT),
transitions={'done': 'Confirm_Closed_Fingers'},
autonomy={'done': Autonomy.High})
# x:59 y:451
OperatableStateMachine.add('Go_to_Pregrasp',
_sm_go_to_pregrasp_3,
transitions={
'finished': 'Go_to_Grasp',
'failed': 'Ask_for_Retry'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'hand_side': 'hand_side',
'grasp_preference':
'grasp_preference',
'template_id': 'handle_template_id',
'pregrasp_pose': 'pregrasp_pose'
})
# x:348 y:451
OperatableStateMachine.add('Go_to_Grasp',
_sm_go_to_grasp_2,
transitions={
'finished': 'Unlock_Door',
'failed': 'failed',
'again': 'Go_to_Pregrasp'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'again': Autonomy.Inherit
},
remapping={
'hand_side': 'hand_side',
'grasp_preference':
'grasp_preference',
'template_id': 'handle_template_id'
})
# x:54 y:352
OperatableStateMachine.add(
'Confirm_Closed_Fingers',
LogState(text='Check that the fingers are closed!',
severity=Logger.REPORT_HINT),
transitions={'done': 'Go_to_Pregrasp'},
autonomy={'done': Autonomy.High})
# x:637 y:137
OperatableStateMachine.add(
'Decide_Push_or_Not',
OperatorDecisionState(
outcomes=['push', 'skip'],
hint='Check whether the door is already open.',
suggestion=None),
transitions={
'push': 'Push_Door_with_Arm',
'skip': 'finished'
},
autonomy={
'push': Autonomy.High,
'skip': Autonomy.High
})
with _state_machine:
# x:73 y:310
OperatableStateMachine.add(
'Get_Door_Template_ID',
InputState(request=InputState.SELECTED_OBJECT_ID,
message="Provide the ID of the DOOR."),
transitions={
'received': 'Start_in_STAND',
'aborted': 'failed',
'no_connection': 'failed',
'data_error': 'failed'
},
autonomy={
'received': Autonomy.Off,
'aborted': Autonomy.Low,
'no_connection': Autonomy.Low,
'data_error': Autonomy.Low
},
remapping={'data': 'template_id'})
# x:730 y:362
OperatableStateMachine.add(
'Go_To_Stand_Manipulate',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND_MANIPULATE),
transitions={
'changed': 'Tilt_Head_Straight',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:72 y:21
OperatableStateMachine.add(
'Walk_to_Template',
self.use_behavior(WalktoTemplateSM, 'Walk_to_Template'),
transitions={
'finished': 'Go_to_MANIPULATE',
'failed': 'failed',
'aborted': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'aborted': Autonomy.Inherit
},
remapping={
'grasp_preference': 'stand_pose_preference',
'hand_side': 'hand_side',
'template_id': 'template_id'
})
# x:303 y:25
OperatableStateMachine.add(
'Go_to_MANIPULATE',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Open_or_Traverse',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:761 y:24
OperatableStateMachine.add('Open_Door',
_sm_open_door_6,
transitions={
'finished': 'Move_Arms_Sides',
'failed': 'Open_Door_Manually'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'none': 'none',
'hand_side': 'hand_side',
'grasp_preference':
'grasp_preference',
'handle_template_id': 'template_id'
})
# x:758 y:591
OperatableStateMachine.add(
'Traverse_Door',
_sm_traverse_door_5,
transitions={'finished': 'Go_back_to_MANIPULATE'},
autonomy={'finished': Autonomy.Inherit},
remapping={'strafe_distance': 'strafe_distance'})
# x:996 y:78
OperatableStateMachine.add(
'Open_Door_Manually',
LogState(text='Have the operator open the door manually!',
severity=Logger.REPORT_HINT),
transitions={'done': 'Move_Arms_Sides'},
autonomy={'done': Autonomy.Full})
# x:762 y:479
OperatableStateMachine.add(
'Tilt_Head_Straight',
TiltHeadState(desired_tilt=TiltHeadState.STRAIGHT),
transitions={
'done': 'Traverse_Door',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
})
# x:739 y:156
OperatableStateMachine.add(
'Move_Arms_Sides',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.BOTH_ARMS_SIDES,
vel_scaling=0.2,
ignore_collisions=False,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Center_Torso',
'failed': 'Move_Arms_Sides'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'both_arms'})
# x:432 y:600
OperatableStateMachine.add(
'Go_back_to_MANIPULATE',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Move_to_Stand_Pose',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:167 y:601
OperatableStateMachine.add(
'Move_to_Stand_Pose',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.STAND_POSE,
vel_scaling=0.3,
ignore_collisions=False,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'End_in_STAND',
'failed': 'Move_to_Stand_Pose'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'both_arms'})
# x:160 y:468
OperatableStateMachine.add(
'End_in_STAND',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'finished',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:741 y:266
OperatableStateMachine.add(
'Center_Torso',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.
TURN_TORSO_CENTER_POSE,
vel_scaling=0.1,
ignore_collisions=True,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Go_To_Stand_Manipulate',
'failed': 'Center_Torso'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'side': 'both_arms'})
# x:63 y:179
OperatableStateMachine.add(
'Start_in_STAND',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'Walk_to_Template',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:555 y:27
OperatableStateMachine.add(
'Open_or_Traverse',
OperatorDecisionState(
outcomes=['open', 'traverse'],
hint='If this is after a reset, the door will be open.',
suggestion='open'),
transitions={
'open': 'Open_Door',
'traverse': 'Move_Arms_Sides'
},
autonomy={
'open': Autonomy.Low,
'traverse': Autonomy.High
})
return _state_machine
def create(self):
joint_names_right = [
"r_arm_shz", "r_arm_shx", "r_arm_ely", "r_arm_elx", "r_arm_wry",
"r_arm_wrx"
]
joint_names_left = [
"l_arm_shz", "l_arm_shx", "l_arm_ely", "l_arm_elx", "l_arm_wry",
"l_arm_wrx"
]
# x:1092 y:395, x:898 y:121
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.target_joint_config = []
_state_machine.userdata.joint_config_index = 0
_state_machine.userdata.basic_joint_config_right = [] # calculated
_state_machine.userdata.basic_joint_config_left = [] # calculated
_state_machine.userdata.predefined_traj_left = self._traj_left_1
_state_machine.userdata.predefined_times_left = self._times_left_1
_state_machine.userdata.predefined_traj_right = self._traj_right_1
_state_machine.userdata.predefined_times_right = self._times_right_1
_state_machine.userdata.bagfile = ""
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
logs_folder = os.path.expanduser('~/startup_logs/')
if not os.path.exists(logs_folder):
os.makedirs(logs_folder)
_state_machine.userdata.bagfile = '~/startup_logs/startup_logs_' + time.strftime(
"%Y-%m-%d-%H:%M") + '.bag'
self._joint_limits = self._joint_limits_rob if self.real_robot else self._joint_limits_sim
# standard config
basic_joint_config_left = [0] * 6
for i in range(6):
joint_range = self._joint_limits[i][1] - self._joint_limits[i][0]
basic_joint_config_left[
5 - i] = self._joint_limits[i][0] + joint_range * 0.5
basic_joint_config_right = [0] * 6
for i in range(6):
joint_range = self._joint_limits[i +
6][1] - self._joint_limits[i +
6][0]
basic_joint_config_right[
5 - i] = self._joint_limits[i + 6][0] + joint_range * 0.5
_state_machine.userdata.basic_joint_config_left = basic_joint_config_left
_state_machine.userdata.basic_joint_config_right = basic_joint_config_right
# left
self._joint_configs_left = []
for i in range(6):
joint_config_up = list(
_state_machine.userdata.basic_joint_config_left)
joint_config_down = list(
_state_machine.userdata.basic_joint_config_left)
joint_range = self._joint_limits[i][1] - self._joint_limits[i][0]
joint_config_up[5 -
i] = self._joint_limits[i][0] + joint_range * 0.9
joint_config_down[5 -
i] = self._joint_limits[i][0] + joint_range * 0.1
self._joint_configs_left.append(joint_config_up)
self._joint_configs_left.append(joint_config_down)
# right
self._joint_configs_right = []
for i in range(6):
joint_config_up = list(
_state_machine.userdata.basic_joint_config_left)
joint_config_down = list(
_state_machine.userdata.basic_joint_config_left)
joint_range = self._joint_limits[i +
6][1] - self._joint_limits[i +
6][0]
joint_config_up[5 -
i] = self._joint_limits[i +
6][0] + joint_range * 0.9
joint_config_down[5 -
i] = self._joint_limits[i +
6][0] + joint_range * 0.1
self._joint_configs_right.append(joint_config_up)
self._joint_configs_right.append(joint_config_down)
# [/MANUAL_CREATE]
# x:604 y:158, x:428 y:80
_sm_execute_predefined_trajectories_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'predefined_traj_left', 'predefined_times_left',
'predefined_traj_right', 'predefined_times_right'
])
with _sm_execute_predefined_trajectories_0:
# x:52 y:73
OperatableStateMachine.add(
'Execute_Trajectory_Right',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_RIGHT_ARM,
joint_names=joint_names_right),
transitions={
'done': 'Execute_Trajectory_Left',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.High
},
remapping={
'joint_positions': 'predefined_traj_right',
'time': 'predefined_times_right'
})
# x:374 y:151
OperatableStateMachine.add(
'Execute_Trajectory_Left',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_LEFT_ARM,
joint_names=joint_names_left),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'joint_positions': 'predefined_traj_left',
'time': 'predefined_times_left'
})
with _state_machine:
# x:47 y:63
OperatableStateMachine.add(
'Check_Control_Mode_Stand',
CheckCurrentControlModeState(
target_mode=CheckCurrentControlModeState.STAND,
wait=False),
transitions={
'correct': 'Start_Logging',
'incorrect': 'Set_Control_Mode_To_Stand'
},
autonomy={
'correct': Autonomy.Low,
'incorrect': Autonomy.Low
},
remapping={'control_mode': 'control_mode'})
# x:69 y:165
OperatableStateMachine.add(
'Start_Logging',
StartRecordLogsState(topics_to_record=self.topics_to_record),
transitions={'logging': 'Set_Control_Mode_To_Manipulate'},
autonomy={'logging': Autonomy.Off},
remapping={
'bagfile_name': 'bagfile',
'rosbag_process': 'rosbag_process'
})
# x:36 y:269
OperatableStateMachine.add(
'Set_Control_Mode_To_Manipulate',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Execute_Predefined_Trajectories',
'failed': 'Stop_Logging_When_Failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:579 y:390
OperatableStateMachine.add(
'Stop_Logging',
StopRecordLogsState(),
transitions={'stopped': 'Back_To_Stand_When_Finished'},
autonomy={'stopped': Autonomy.High},
remapping={'rosbag_process': 'rosbag_process'})
# x:308 y:114
OperatableStateMachine.add(
'Set_Control_Mode_To_Stand',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'Start_Logging',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:28 y:384
OperatableStateMachine.add('Execute_Predefined_Trajectories',
_sm_execute_predefined_trajectories_0,
transitions={
'finished':
'Praying Mantis Calibration',
'failed': 'Stop_Logging_When_Failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'predefined_traj_left':
'predefined_traj_left',
'predefined_times_left':
'predefined_times_left',
'predefined_traj_right':
'predefined_traj_right',
'predefined_times_right':
'predefined_times_right'
})
# x:328 y:269
OperatableStateMachine.add(
'Stop_Logging_When_Failed',
StopRecordLogsState(),
transitions={'stopped': 'Back_To_Stand_When_Failed'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process'})
# x:654 y:269
OperatableStateMachine.add(
'Back_To_Stand_When_Failed',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'failed',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.Off
})
# x:819 y:387
OperatableStateMachine.add(
'Back_To_Stand_When_Finished',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'finished',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.Off
})
# x:319 y:383
OperatableStateMachine.add('Praying Mantis Calibration',
self.use_behavior(
PrayingMantisCalibrationSM,
'Praying Mantis Calibration'),
transitions={
'finished': 'Stop_Logging',
'failed': 'Stop_Logging_When_Failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
return _state_machine
def create(self):
warn_threshold = 0.1 # for joint offsets
bag_folder_out = "~/ft_calib/ft_logs"
initial_mode = "stand"
motion_mode = "manipulate"
transitiontime = 0.5
settlingtime = 0.5
txtfile_name_left_arm = "~/ft_calib/input/SI_E047_FT_Calib_Arms_l_arm.txt"
txtfile_name_right_arm = "~/ft_calib/input/SI_E047_FT_Calib_Arms_r_arm.txt"
calibration_chain = ["right_arm"]
static_calibration_data = {}
# x:783 y:13, x:649 y:73
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.parameter_keys_dict = None
_state_machine.userdata.calibration_chain_user = calibration_chain
_state_machine.userdata.txtfile_name_left_arm_user = txtfile_name_left_arm
_state_machine.userdata.txtfile_name_right_arm_user = txtfile_name_right_arm
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
bag_folder_out = os.path.expanduser(bag_folder_out)
if not os.path.exists(bag_folder_out):
os.makedirs(bag_folder_out)
# Create STAND posture trajectory
_state_machine.userdata.stand_posture = AtlasFunctions.gen_stand_posture_trajectory(
)
# [/MANUAL_CREATE]
# x:861 y:31, x:1047 y:103
_sm_starting_point_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['experiment_name', 'trajectories'])
with _sm_starting_point_0:
# x:49 y:42
OperatableStateMachine.add(
'Gen_Starting_Name',
CalculationState(calculation=lambda en: en + "_starting"),
transitions={'done': 'Gen_Starting_Bagfile_Name'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'experiment_name',
'output_value': 'starting_name'
})
# x:42 y:231
OperatableStateMachine.add(
'Record_Starting_Point',
StartRecordLogsState(topics_to_record=self.topics_to_record),
transitions={'logging': 'Wait_for_Rosbag_Record'},
autonomy={'logging': Autonomy.Off},
remapping={
'bagfile_name': 'output_bagfile_starting',
'rosbag_process': 'rosbag_process_starting'
})
# x:38 y:330
OperatableStateMachine.add(
'Wait_for_Rosbag_Record',
WaitState(wait_time=1.0),
transitions={'done': 'Extract_Left_Arm_Part'},
autonomy={'done': Autonomy.Off})
# x:29 y:133
OperatableStateMachine.add(
'Gen_Starting_Bagfile_Name',
CalculationState(calculation=lambda en: os.path.join(
bag_folder_out, en) + ".bag"),
transitions={'done': 'Record_Starting_Point'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'starting_name',
'output_value': 'output_bagfile_starting'
})
# x:536 y:47
OperatableStateMachine.add(
'Stop_Recording_Starting_Point',
StopRecordLogsState(),
transitions={'stopped': 'finished'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process_starting'})
# x:228 y:757
OperatableStateMachine.add(
'Plan_to_Starting_Point_Left_Arm',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={
'done': 'Plan_to_Starting_Point_Right_Arm',
'failed': 'Report_Starting_Point_Failure'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={
'desired_goal': 'trajectories_left_arm',
'plan_to_goal': 'plan_to_goal_left_arm'
})
# x:236 y:655
OperatableStateMachine.add(
'Plan_to_Starting_Point_Right_Arm',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={
'done': 'Plan_to_Starting_Point_Left_Leg',
'failed': 'Report_Starting_Point_Failure'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={
'desired_goal': 'trajectories_right_arm',
'plan_to_goal': 'plan_to_goal_right_arm'
})
# x:272 y:47
OperatableStateMachine.add(
'Go_to_Starting_Point',
ExecuteTrajectoryWholeBodyState(controllers=[]),
transitions={
'done': 'Stop_Recording_Starting_Point',
'failed': 'Report_Starting_Point_Failure'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'trajectories': 'trajectories_all'})
# x:536 y:169
OperatableStateMachine.add(
'Report_Starting_Point_Failure',
LogState(text="Failed to plan or go to starting point!",
severity=Logger.REPORT_WARN),
transitions={'done': 'Stop_Recording_When_Failed'},
autonomy={'done': Autonomy.Full})
# x:34 y:424
OperatableStateMachine.add(
'Extract_Left_Arm_Part',
CalculationState(
calculation=lambda t: {'left_arm': t['left_arm']}
if 'left_arm' in t else None),
transitions={'done': 'Extract_Right_Arm_Part'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'trajectories',
'output_value': 'trajectories_left_arm'
})
# x:21 y:507
OperatableStateMachine.add(
'Extract_Right_Arm_Part',
CalculationState(
calculation=lambda t: {'right_arm': t['right_arm']}
if 'right_arm' in t else None),
transitions={'done': 'Extract_Left_Leg_Part'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'trajectories',
'output_value': 'trajectories_right_arm'
})
# x:293 y:146
OperatableStateMachine.add(
'Combine_Plans',
FlexibleCalculationState(calculation=self.combine_plans,
input_keys=[
'left_arm', 'right_arm',
'left_leg', 'right_leg', 'torso'
]),
transitions={'done': 'Go_to_Starting_Point'},
autonomy={'done': Autonomy.Low},
remapping={
'left_arm': 'plan_to_goal_left_arm',
'right_arm': 'plan_to_goal_right_arm',
'left_leg': 'plan_to_goal_left_leg',
'right_leg': 'plan_to_goal_right_leg',
'torso': 'plan_to_goal_torso',
'output_value': 'trajectories_all'
})
# x:789 y:167
OperatableStateMachine.add(
'Stop_Recording_When_Failed',
StopRecordLogsState(),
transitions={'stopped': 'failed'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process_starting'})
# x:24 y:601
OperatableStateMachine.add(
'Extract_Left_Leg_Part',
CalculationState(
calculation=lambda t: {'left_leg': t['left_leg']}
if 'left_leg' in t else None),
transitions={'done': 'Extract_Right_Leg_Part'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'trajectories',
'output_value': 'trajectories_left_leg'
})
# x:22 y:665
OperatableStateMachine.add(
'Extract_Right_Leg_Part',
CalculationState(
calculation=lambda t: {'right_leg': t['right_leg']}
if 'right_leg' in t else None),
transitions={'done': 'Extract_Torso_Part'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'trajectories',
'output_value': 'trajectories_right_leg'
})
# x:33 y:765
OperatableStateMachine.add(
'Extract_Torso_Part',
CalculationState(calculation=lambda t: {'torso': t['torso']}
if 'torso' in t else None),
transitions={'done': 'Plan_to_Starting_Point_Left_Arm'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'trajectories',
'output_value': 'trajectories_torso'
})
# x:227 y:410
OperatableStateMachine.add(
'Plan_to_Starting_Point_Right_Leg',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={
'done': 'Plan_to_Starting_Point_Torso',
'failed': 'Report_Starting_Point_Failure'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={
'desired_goal': 'trajectories_right_leg',
'plan_to_goal': 'plan_to_goal_right_leg'
})
# x:237 y:531
OperatableStateMachine.add(
'Plan_to_Starting_Point_Left_Leg',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={
'done': 'Plan_to_Starting_Point_Right_Leg',
'failed': 'Report_Starting_Point_Failure'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={
'desired_goal': 'trajectories_left_leg',
'plan_to_goal': 'plan_to_goal_left_leg'
})
# x:241 y:296
OperatableStateMachine.add(
'Plan_to_Starting_Point_Torso',
MoveItMoveGroupPlanState(vel_scaling=0.1),
transitions={
'done': 'Combine_Plans',
'failed': 'Report_Starting_Point_Failure'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={
'desired_goal': 'trajectories_torso',
'plan_to_goal': 'plan_to_goal_torso'
})
# x:1090 y:55, x:340 y:59
_sm_execute_individual_trajectory_1 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['output_bagfile', 'trajectories', 'experiment_name'])
with _sm_execute_individual_trajectory_1:
# x:124 y:257
OperatableStateMachine.add(
'Start_Video_Logging',
VideoLoggingState(command=VideoLoggingState.START,
no_video=False,
no_bags=True),
transitions={'done': 'Starting_Point'},
autonomy={'done': Autonomy.Off},
remapping={
'experiment_name': 'experiment_name',
'description': 'experiment_name'
})
# x:484 y:106
OperatableStateMachine.add(
'Stop_Recording_After_Failure',
StopRecordLogsState(),
transitions={'stopped': 'Stop_Video_Logging_After_Failure'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process'})
# x:727 y:188
OperatableStateMachine.add('Wait_for_Settling',
WaitState(wait_time=1.0),
transitions={'done': 'Stop_Recording'},
autonomy={'done': Autonomy.Off})
# x:482 y:188
OperatableStateMachine.add(
'Execute_Trajs_from_Bagfile',
ExecuteTrajectoryWholeBodyState(controllers=[]),
transitions={
'done': 'Wait_for_Settling',
'failed': 'Stop_Recording_After_Failure'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Low
},
remapping={'trajectories': 'trajectories'})
# x:903 y:97
OperatableStateMachine.add(
'Stop_Video_Logging',
VideoLoggingState(command=VideoLoggingState.STOP,
no_video=False,
no_bags=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'experiment_name': 'experiment_name',
'description': 'experiment_name'
})
# x:472 y:26
OperatableStateMachine.add(
'Stop_Video_Logging_After_Failure',
VideoLoggingState(command=VideoLoggingState.STOP,
no_video=False,
no_bags=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={
'experiment_name': 'experiment_name',
'description': 'experiment_name'
})
# x:285 y:378
OperatableStateMachine.add('Starting_Point',
_sm_starting_point_0,
transitions={
'finished':
'Record_SysID_Test',
'failed':
'Stop_Video_Logging_After_Failure'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'experiment_name':
'experiment_name',
'trajectories': 'trajectories'
})
# x:904 y:187
OperatableStateMachine.add(
'Stop_Recording',
StopRecordLogsState(),
transitions={'stopped': 'Stop_Video_Logging'},
autonomy={'stopped': Autonomy.Low},
remapping={'rosbag_process': 'rosbag_process'})
# x:494 y:292
OperatableStateMachine.add(
'Wait_For_Rosbag_Record',
WaitState(wait_time=1.0),
transitions={'done': 'Execute_Trajs_from_Bagfile'},
autonomy={'done': Autonomy.Low})
# x:507 y:384
OperatableStateMachine.add(
'Record_SysID_Test',
StartRecordLogsState(topics_to_record=self.topics_to_record),
transitions={'logging': 'Wait_For_Rosbag_Record'},
autonomy={'logging': Autonomy.Off},
remapping={
'bagfile_name': 'output_bagfile',
'rosbag_process': 'rosbag_process'
})
# x:1267 y:273, x:406 y:121
_sm_perform_calibration_2 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['output_bagfile', 'experiment_name', 'trajectories'],
output_keys=['trajectories_command'])
with _sm_perform_calibration_2:
# x:136 y:171
OperatableStateMachine.add(
'Go_to_Intermediate_Mode',
ChangeControlModeActionState(target_mode=motion_mode),
transitions={
'changed': 'Execute_Individual_Trajectory',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.Low
})
# x:514 y:314
OperatableStateMachine.add(
'Intermediate_Mode_before_exit',
ChangeControlModeActionState(target_mode=motion_mode),
transitions={
'changed': 'Initial_Mode_before_exit',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:995 y:274
OperatableStateMachine.add(
'Initial_Mode_before_exit',
ChangeControlModeActionState(target_mode=initial_mode),
transitions={
'changed': 'finished',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:222 y:296
OperatableStateMachine.add('Execute_Individual_Trajectory',
_sm_execute_individual_trajectory_1,
transitions={
'finished':
'Intermediate_Mode_before_exit',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'output_bagfile': 'output_bagfile',
'trajectories': 'trajectories',
'experiment_name': 'experiment_name'
})
# x:221 y:562, x:709 y:85
_sm_update_calibration_3 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'output_bagfile', 'trajectories', 'calibration_chain_key_local'
])
with _sm_update_calibration_3:
# x:111 y:94
OperatableStateMachine.add(
'Calculate_Calibration',
CalculateForceTorqueCalibration(
calibration_chain=calibration_chain,
settlingtime=settlingtime,
static_calibration_data=static_calibration_data),
transitions={
'done': 'Ask_Perform_Update',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'bag_filename': 'output_bagfile',
'trajectories_command': 'trajectories',
'ft_calib_data': 'ft_calib_data'
})
# x:420 y:515
OperatableStateMachine.add(
'Calibration_Successful',
LogState(text="Successfully updated calibration offsets.",
severity=Logger.REPORT_INFO),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:774 y:277
OperatableStateMachine.add(
'Calibration_Failed',
LogState(text="Failed to apply calibration offsets!",
severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:122 y:202
OperatableStateMachine.add(
'Ask_Perform_Update',
OperatorDecisionState(
outcomes=['update', 'no_update'],
hint=
"Do you want to apply the calculated offsets for calibration?",
suggestion=None),
transitions={
'update': 'Generate_Keys_Dict',
'no_update': 'finished'
},
autonomy={
'update': Autonomy.Full,
'no_update': Autonomy.Full
})
# x:207 y:308
OperatableStateMachine.add(
'Generate_Keys_Dict',
FlexibleCalculationState(
calculation=self.create_parameter_keys_dict,
input_keys=["input"]),
transitions={'done': 'Update_Dynamic_Reconfigure'},
autonomy={'done': Autonomy.Off},
remapping={
'input': 'calibration_chain_key_local',
'output_value': 'parameter_keys_dict'
})
# x:408 y:303
OperatableStateMachine.add(
'Update_Dynamic_Reconfigure',
UpdateDynamicParameterImpedanceControllerState(
controller_chain=calibration_chain),
transitions={
'updated': 'Calibration_Successful',
'failed': 'Calibration_Failed'
},
autonomy={
'updated': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'parameter_keys': 'parameter_keys_dict',
'parameter_values': 'ft_calib_data'
})
with _state_machine:
# x:160 y:20
OperatableStateMachine.add(
'Execution_Starting',
LogState(
text=
"Execution has started. Please confirm transition to first state.",
severity=Logger.REPORT_HINT),
transitions={'done': 'Gen_Experiment_Name'},
autonomy={'done': Autonomy.Full})
# x:685 y:431
OperatableStateMachine.add('Update_Calibration',
_sm_update_calibration_3,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'output_bagfile':
'output_bagfile',
'trajectories':
'trajectories_command',
'calibration_chain_key_local':
'calibration_chain_user'
})
# x:99 y:533
OperatableStateMachine.add(
'Decision_Perform_Experiment',
OperatorDecisionState(
outcomes=["record_data", "use_existing"],
hint=
"Use existing measurement data bag file or record a new one?",
suggestion=None),
transitions={
'record_data': 'Perform_Calibration',
'use_existing': 'Update_Calibration'
},
autonomy={
'record_data': Autonomy.Low,
'use_existing': Autonomy.Low
})
# x:130 y:185
OperatableStateMachine.add(
'Gen_Experiment_Name',
FlexibleCalculationState(calculation=lambda i: 'FTCalib',
input_keys=[]),
transitions={'done': 'Gen_Output_Bagfile_Name'},
autonomy={'done': Autonomy.Off},
remapping={'output_value': 'experiment_name'})
# x:134 y:267
OperatableStateMachine.add(
'Gen_Output_Bagfile_Name',
CalculationState(calculation=lambda en: os.path.join(
bag_folder_out, en) + ".bag"),
transitions={'done': 'Generate_Textfiles_Dict'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'experiment_name',
'output_value': 'output_bagfile'
})
# x:443 y:252
OperatableStateMachine.add('Perform_Calibration',
_sm_perform_calibration_2,
transitions={
'finished': 'Update_Calibration',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'output_bagfile':
'output_bagfile',
'experiment_name':
'experiment_name',
'trajectories':
'trajectories_command',
'trajectories_command':
'trajectories_command'
})
# x:70 y:421
OperatableStateMachine.add('Load_Traj_From_Txt',
GenerateTrajectoryFromTxtfileState(
chains=calibration_chain,
transitiontime=transitiontime,
settlingtime=settlingtime),
transitions={
'done':
'Decision_Perform_Experiment',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'txtfilepaths': 'txtfiles_dict',
'trajectories':
'trajectories_command'
})
# x:92 y:350
OperatableStateMachine.add(
'Generate_Textfiles_Dict',
FlexibleCalculationState(calculation=self.create_txtfiles_dict,
input_keys=[
"calibration_chain",
"txtfile_left_arm",
"txtfile_right_arm"
]),
transitions={'done': 'Load_Traj_From_Txt'},
autonomy={'done': Autonomy.Off},
remapping={
'calibration_chain': 'calibration_chain_user',
'txtfile_left_arm': 'txtfile_name_left_arm_user',
'txtfile_right_arm': 'txtfile_name_right_arm_user',
'output_value': 'txtfiles_dict'
})
return _state_machine
def create(self):
arm_controller = ExecuteTrajectoryMsgState.CONTROLLER_LEFT_ARM if self.hand_side == 'left' else ExecuteTrajectoryMsgState.CONTROLLER_RIGHT_ARM
cut_angle = 380 # degrees
insert_distance = 0.05 # meters (used for retract)
push_distance = 0.08 # meters (for pushing cut piece)
# x:950 y:178, x:402 y:195
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.hand_side = self.hand_side
_state_machine.userdata.grasp_preference = 0
_state_machine.userdata.tool_template_id = 0
_state_machine.userdata.none = None
_state_machine.userdata.center = 'same'
_state_machine.userdata.tool_side = 'left'
_state_machine.userdata.wall_side = 'right'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
self._cut_angle = float(cut_angle)
self._insert_distance = float(abs(insert_distance))
self._push_distance = float(abs(push_distance))
# [/MANUAL_CREATE]
# x:603 y:35, x:95 y:265
_sm_preparation_0 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['none'], output_keys=['template_id'])
with _sm_preparation_0:
# x:327 y:29
OperatableStateMachine.add('Request_Template_ID',
InputState(request=InputState.SELECTED_OBJECT_ID, message="Provide the ID of the CUTTING TOOL template."),
transitions={'received': 'finished', 'aborted': 'failed', 'no_connection': 'Log_No_Connection', 'data_error': 'Log_Data_Error'},
autonomy={'received': Autonomy.Off, 'aborted': Autonomy.High, 'no_connection': Autonomy.Low, 'data_error': Autonomy.Low},
remapping={'data': 'template_id'})
# x:329 y:189
OperatableStateMachine.add('Log_No_Connection',
LogState(text="Have no connection to OCS!", severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:446 y:256
OperatableStateMachine.add('Log_Data_Error',
LogState(text="Received wrong data format!", severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:730 y:464, x:504 y:59
_sm_push_inwards_1 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'none'])
with _sm_push_inwards_1:
# x:96 y:53
OperatableStateMachine.add('Get_Insert_Affordance',
GetTemplateAffordanceState(identifier='insert'),
transitions={'done': 'Set_Insert_Distance', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High, 'not_available': Autonomy.High},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'affordance': 'affordance'})
# x:101 y:293
OperatableStateMachine.add('Plan_Insert_Affordance',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Insert_Affordance', 'incomplete': 'Execute_Insert_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'incomplete': Autonomy.High, 'failed': Autonomy.High},
remapping={'affordance': 'affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:448 y:293
OperatableStateMachine.add('Execute_Insert_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Decide_Continue_Pushing', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:449 y:455
OperatableStateMachine.add('Decide_Continue_Pushing',
OperatorDecisionState(outcomes=['push_more', 'done'], hint='The drill bit must penetrate the wall completely.', suggestion='done'),
transitions={'push_more': 'Plan_Insert_Affordance', 'done': 'finished'},
autonomy={'push_more': Autonomy.Full, 'done': Autonomy.Full})
# x:107 y:167
OperatableStateMachine.add('Set_Insert_Distance',
CalculationState(calculation=self.set_push_distance),
transitions={'done': 'Plan_Insert_Affordance'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'affordance', 'output_value': 'affordance'})
# x:30 y:365, x:130 y:365
_sm_complete_cut_2 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_complete_cut_2:
# x:101 y:144
OperatableStateMachine.add('Placeholder',
LogState(text='Complete the cut by moving up or down', severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
# x:917 y:149, x:462 y:284
_sm_push_cut_piece_3 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'none'])
with _sm_push_cut_piece_3:
# x:85 y:53
OperatableStateMachine.add('Get_Wall_Template_Pose',
GetTemplatePoseState(),
transitions={'done': 'Convert_to_List_of_Poses', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'template_id': 'template_id', 'template_pose': 'template_pose'})
# x:67 y:386
OperatableStateMachine.add('Plan_to_Wall_Center',
PlanEndeffectorCartesianWaypointsState(ignore_collisions=False, include_torso=False, keep_endeffector_orientation=True, allow_incomplete_plans=True, vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'planned': 'Go_to_Wall_Center', 'incomplete': 'Go_to_Wall_Center', 'failed': 'failed'},
autonomy={'planned': Autonomy.Low, 'incomplete': Autonomy.High, 'failed': Autonomy.High},
remapping={'waypoints': 'waypoints', 'hand': 'hand_side', 'frame_id': 'frame_id', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:84 y:160
OperatableStateMachine.add('Convert_to_List_of_Poses',
CalculationState(calculation=lambda pose: [pose.pose]),
transitions={'done': 'Prepare_Plan_Frame_Wrist'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'template_pose', 'output_value': 'waypoints'})
# x:86 y:523
OperatableStateMachine.add('Go_to_Wall_Center',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Push_Inwards', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:83 y:268
OperatableStateMachine.add('Prepare_Plan_Frame_Wrist',
CalculationState(calculation=lambda pose: pose.header.frame_id),
transitions={'done': 'Plan_to_Wall_Center'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'template_pose', 'output_value': 'frame_id'})
# x:591 y:515
OperatableStateMachine.add('Push_Inwards',
_sm_push_inwards_1,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id', 'none': 'none'})
# x:709 y:397, x:504 y:96
_sm_insert_drill_bit_in_wall_4 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'none'])
with _sm_insert_drill_bit_in_wall_4:
# x:96 y:90
OperatableStateMachine.add('Get_Insert_Affordance',
GetTemplateAffordanceState(identifier='insert'),
transitions={'done': 'Plan_Insert_Affordance', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High, 'not_available': Autonomy.High},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'affordance': 'affordance'})
# x:102 y:248
OperatableStateMachine.add('Plan_Insert_Affordance',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Insert_Affordance', 'incomplete': 'Execute_Insert_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'incomplete': Autonomy.High, 'failed': Autonomy.High},
remapping={'affordance': 'affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:448 y:247
OperatableStateMachine.add('Execute_Insert_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Decide_Continue_Insertion', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:449 y:388
OperatableStateMachine.add('Decide_Continue_Insertion',
OperatorDecisionState(outcomes=['insert_more', 'done'], hint='The drill bit must penetrate the wall completely.', suggestion='done'),
transitions={'insert_more': 'Plan_Insert_Affordance', 'done': 'finished'},
autonomy={'insert_more': Autonomy.Full, 'done': Autonomy.Full})
# x:806 y:460, x:350 y:132
_sm_retract_drill_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'none'])
with _sm_retract_drill_5:
# x:33 y:61
OperatableStateMachine.add('Get_Insert_Affordance',
GetTemplateAffordanceState(identifier='insert'),
transitions={'done': 'Set_Retract_Distance', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High, 'not_available': Autonomy.High},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'affordance': 'affordance'})
# x:36 y:335
OperatableStateMachine.add('Plan_Retract_Affordance',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Retract_Affordance', 'incomplete': 'Execute_Retract_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'incomplete': Autonomy.High, 'failed': Autonomy.High},
remapping={'affordance': 'affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:532 y:336
OperatableStateMachine.add('Execute_Retract_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Decide_Continue_Extraction', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:41 y:199
OperatableStateMachine.add('Set_Retract_Distance',
CalculationState(calculation=self.set_retract_distance),
transitions={'done': 'Plan_Retract_Affordance'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'affordance', 'output_value': 'affordance'})
# x:533 y:450
OperatableStateMachine.add('Decide_Continue_Extraction',
OperatorDecisionState(outcomes=['extract_more', 'done'], hint='The drill must exit completely.', suggestion='done'),
transitions={'extract_more': 'Plan_Retract_Affordance', 'done': 'finished'},
autonomy={'extract_more': Autonomy.Full, 'done': Autonomy.Full})
# x:953 y:206, x:366 y:223
_sm_cut_circle_in_wall_6 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'drill_usability'])
with _sm_cut_circle_in_wall_6:
# x:59 y:56
OperatableStateMachine.add('Get_Cut_Circle_Affordance',
GetTemplateAffordanceState(identifier='cut_circle'),
transitions={'done': 'Set_Cut_Circle_Angle', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High, 'not_available': Autonomy.High},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'affordance': 'affordance'})
# x:540 y:57
OperatableStateMachine.add('Plan_Cut_Circle_Affordance',
PlanAffordanceState(vel_scaling=0.03, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Execute_Cut_Circle_Affordance', 'incomplete': 'Execute_Cut_Circle_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'incomplete': Autonomy.High, 'failed': Autonomy.High},
remapping={'affordance': 'affordance', 'hand': 'hand_side', 'reference_point': 'drill_usability', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:533 y:340
OperatableStateMachine.add('Execute_Cut_Circle_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Decide_Done_Cutting', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:317 y:57
OperatableStateMachine.add('Set_Cut_Circle_Angle',
CalculationState(calculation=self.set_cut_circle_angle),
transitions={'done': 'Plan_Cut_Circle_Affordance'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'affordance', 'output_value': 'affordance'})
# x:698 y:199
OperatableStateMachine.add('Decide_Done_Cutting',
OperatorDecisionState(outcomes=['cut_more', 'done'], hint='Keep going until a full circle has been cut.', suggestion='cut_more'),
transitions={'cut_more': 'Plan_Cut_Circle_Affordance', 'done': 'finished'},
autonomy={'cut_more': Autonomy.High, 'done': Autonomy.High})
# x:860 y:82, x:360 y:283
_sm_hand_in_front_of_wall_7 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'preference'])
with _sm_hand_in_front_of_wall_7:
# x:55 y:77
OperatableStateMachine.add('Get_Wall_Pregrasp_Pose',
GetTemplatePregraspState(),
transitions={'done': 'Plan_to_Wall_Pregrasp', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High, 'not_available': Autonomy.High},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'preference': 'preference', 'pre_grasp': 'pre_grasp'})
# x:579 y:77
OperatableStateMachine.add('Go_to_Wall_Pregrasp',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:316 y:79
OperatableStateMachine.add('Plan_to_Wall_Pregrasp',
PlanEndeffectorPoseState(ignore_collisions=False, include_torso=False, allowed_collisions=[], planner_id="RRTConnectkConfigDefault"),
transitions={'planned': 'Go_to_Wall_Pregrasp', 'failed': 'failed'},
autonomy={'planned': Autonomy.Low, 'failed': Autonomy.High},
remapping={'target_pose': 'pre_grasp', 'hand': 'hand_side', 'joint_trajectory': 'joint_trajectory'})
# x:788 y:612, x:67 y:501
_sm_walk_to_and_pickup_tool_8 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'grasp_preference', 'template_id', 'none', 'tool_side'], output_keys=['drill_usability'])
with _sm_walk_to_and_pickup_tool_8:
# x:44 y:72
OperatableStateMachine.add('Preparation',
_sm_preparation_0,
transitions={'finished': 'Ask_Perform_Walking', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'none': 'none', 'template_id': 'template_id'})
# 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': 'Set_Manipulate'},
autonomy={'walk': Autonomy.High, 'stand': Autonomy.Full})
# x:531 y:22
OperatableStateMachine.add('Walk to Template',
self.use_behavior(WalktoTemplateSM, 'Walk_to_and_Pickup_Tool/Walk to Template'),
transitions={'finished': 'Set_Manipulate', '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:769 y:82
OperatableStateMachine.add('Walk_Manually',
LogState(text="Guide the robot to the template manually.", severity=Logger.REPORT_HINT),
transitions={'done': 'Set_Manipulate'},
autonomy={'done': Autonomy.Full})
# x:541 y:412
OperatableStateMachine.add('Pickup Object',
self.use_behavior(PickupObjectSM, 'Walk_to_and_Pickup_Tool/Pickup Object'),
transitions={'finished': 'Optional_Template_Alignment', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id'})
# x:546 y:323
OperatableStateMachine.add('Head_Look_Down',
TiltHeadState(desired_tilt=TiltHeadState.DOWN_30),
transitions={'done': 'Pickup Object', 'failed': 'Head_Look_Down'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full})
# x:518 y:144
OperatableStateMachine.add('Set_Manipulate',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'Turn_Torso', 'failed': 'failed'},
autonomy={'changed': Autonomy.Off, 'failed': Autonomy.Full})
# x:528 y:235
OperatableStateMachine.add('Turn_Torso',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.TURN_TORSO_FULL, vel_scaling=0.2, ignore_collisions=True, link_paddings={}, is_cartesian=False),
transitions={'done': 'Head_Look_Down', 'failed': 'Turn_Torso'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'side': 'tool_side'})
# x:532 y:603
OperatableStateMachine.add('Get_Drill_bit_Usability',
GetTemplateUsabilityState(usability_name='bit', usability_id=100),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High},
remapping={'template_id': 'template_id', 'usability_pose': 'drill_usability'})
# x:519 y:513
OperatableStateMachine.add('Optional_Template_Alignment',
LogState(text='Request attached template alignment', severity=Logger.REPORT_HINT),
transitions={'done': 'Get_Drill_bit_Usability'},
autonomy={'done': Autonomy.High})
# x:458 y:49, x:460 y:203
_sm_optionally_walk_to_wall_9 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['wall_template_id', 'grasp_preference', 'hand_side', 'center'])
with _sm_optionally_walk_to_wall_9:
# x:67 y:43
OperatableStateMachine.add('Decide_Walking',
OperatorDecisionState(outcomes=['walk', 'stay'], hint='Decide whether to walk to the wall or just stay here.', suggestion='stay'),
transitions={'walk': 'Retract_Arms', 'stay': 'finished'},
autonomy={'walk': Autonomy.Full, 'stay': Autonomy.High})
# x:642 y:338
OperatableStateMachine.add('Go_to_STAND_MANIPULATE',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.STAND_MANIPULATE),
transitions={'changed': 'Walk_to_the_Wall', 'failed': 'failed'},
autonomy={'changed': Autonomy.Off, 'failed': Autonomy.Full})
# x:658 y:43
OperatableStateMachine.add('Walk_to_the_Wall',
self.use_behavior(WalktoTemplateSM, 'Optionally_Walk_to_Wall/Walk_to_the_Wall'),
transitions={'finished': 'finished', 'failed': 'failed', 'aborted': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'aborted': Autonomy.Inherit},
remapping={'grasp_preference': 'grasp_preference', 'hand_side': 'hand_side', 'template_id': 'wall_template_id'})
# x:61 y:195
OperatableStateMachine.add('Retract_Arms',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.BOTH_ARMS_SIDES, vel_scaling=0.1, ignore_collisions=False, link_paddings={}, is_cartesian=False),
transitions={'done': 'Center_Torso', 'failed': 'Retract_Arms'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'side': 'center'})
# x:62 y:333
OperatableStateMachine.add('Center_Torso',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.TURN_TORSO_CENTER_POSE, vel_scaling=0.2, ignore_collisions=True, link_paddings={}, is_cartesian=False),
transitions={'done': 'Go_to_STAND_MANIPULATE', 'failed': 'Center_Torso'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'side': 'center'})
# x:176 y:449, x:303 y:229
_sm_cut_circle_in_wall_10 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'preference', 'none', 'drill_usability'])
with _sm_cut_circle_in_wall_10:
# x:90 y:54
OperatableStateMachine.add('Hand_in_front_of_Wall',
_sm_hand_in_front_of_wall_7,
transitions={'finished': 'Insert_Drill_bit_in_Wall', 'failed': 'Retry_Cutting'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'preference': 'preference'})
# x:774 y:56
OperatableStateMachine.add('Cut_Circle_in_Wall',
_sm_cut_circle_in_wall_6,
transitions={'finished': 'Retract_Drill', 'failed': 'Retry_Cutting'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id', 'drill_usability': 'drill_usability'})
# x:791 y:213
OperatableStateMachine.add('Retract_Drill',
_sm_retract_drill_5,
transitions={'finished': 'Complete_Cut', 'failed': 'Retry_Cutting'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id', 'none': 'none'})
# x:458 y:224
OperatableStateMachine.add('Retry_Cutting',
OperatorDecisionState(outcomes=['fail', 'pregrasp', 'insert', 'cut'], hint='Decide if and how to retry', suggestion=None),
transitions={'fail': 'failed', 'pregrasp': 'Hand_in_front_of_Wall', 'insert': 'Insert_Drill_bit_in_Wall', 'cut': 'Cut_Circle_in_Wall'},
autonomy={'fail': Autonomy.Full, 'pregrasp': Autonomy.High, 'insert': Autonomy.High, 'cut': Autonomy.High})
# x:445 y:56
OperatableStateMachine.add('Insert_Drill_bit_in_Wall',
_sm_insert_drill_bit_in_wall_4,
transitions={'finished': 'Cut_Circle_in_Wall', 'failed': 'Retry_Cutting'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id', 'none': 'none'})
# x:457 y:436
OperatableStateMachine.add('Push_Cut_Piece',
_sm_push_cut_piece_3,
transitions={'finished': 'finished', 'failed': 'Retry_Cutting'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'none': 'none'})
# x:788 y:437
OperatableStateMachine.add('Complete_Cut',
_sm_complete_cut_2,
transitions={'finished': 'Push_Cut_Piece', 'failed': 'Retry_Cutting'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:651 y:83, x:392 y:405
_sm_request_wall_template_11 = OperatableStateMachine(outcomes=['finished', 'failed'], output_keys=['template_id'])
with _sm_request_wall_template_11:
# x:80 y:80
OperatableStateMachine.add('Head_Look_Straight',
TiltHeadState(desired_tilt=TiltHeadState.STRAIGHT),
transitions={'done': 'Request_Template_ID', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.High})
# x:341 y:81
OperatableStateMachine.add('Request_Template_ID',
InputState(request=InputState.SELECTED_OBJECT_ID, message="Provide the ID of the WALL template."),
transitions={'received': 'finished', 'aborted': 'failed', 'no_connection': 'Log_No_Connection', 'data_error': 'Log_Data_Error'},
autonomy={'received': Autonomy.Off, 'aborted': Autonomy.High, 'no_connection': Autonomy.Low, 'data_error': Autonomy.Low},
remapping={'data': 'template_id'})
# x:606 y:198
OperatableStateMachine.add('Log_No_Connection',
LogState(text="Have no connection to OCS!", severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Low})
# x:445 y:192
OperatableStateMachine.add('Log_Data_Error',
LogState(text="Received wrong data format!", severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Low})
with _state_machine:
# x:72 y:28
OperatableStateMachine.add('Notify_Execution_Started',
LogState(text='Execution has started. Consider making modifications if this is a re-run.', severity=Logger.REPORT_HINT),
transitions={'done': 'Walk_to_and_Pickup_Tool'},
autonomy={'done': Autonomy.Full})
# x:890 y:59
OperatableStateMachine.add('Notify_Behavior_Exit',
LogState(text='The behavior will now exit. Last chance to intervene!', severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
# x:65 y:452
OperatableStateMachine.add('Request_Wall_Template',
_sm_request_wall_template_11,
transitions={'finished': 'Set_Manipulate', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'wall_template_id'})
# x:634 y:55
OperatableStateMachine.add('Cut_Circle_in_Wall',
_sm_cut_circle_in_wall_10,
transitions={'finished': 'Notify_Behavior_Exit', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'wall_template_id', 'hand_side': 'hand_side', 'preference': 'grasp_preference', 'none': 'none', 'drill_usability': 'drill_usability'})
# x:621 y:322
OperatableStateMachine.add('Set_Manipulate',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'Turn_Torso', 'failed': 'failed'},
autonomy={'changed': Autonomy.Off, 'failed': Autonomy.Full})
# x:621 y:455
OperatableStateMachine.add('Optionally_Walk_to_Wall',
_sm_optionally_walk_to_wall_9,
transitions={'finished': 'Set_Manipulate', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'wall_template_id': 'wall_template_id', 'grasp_preference': 'grasp_preference', 'hand_side': 'hand_side', 'center': 'center'})
# x:63 y:184
OperatableStateMachine.add('Walk_to_and_Pickup_Tool',
_sm_walk_to_and_pickup_tool_8,
transitions={'finished': 'Request_Wall_Template', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'grasp_preference': 'grasp_preference', 'template_id': 'tool_template_id', 'none': 'none', 'tool_side': 'tool_side', 'drill_usability': 'drill_usability'})
# x:630 y:197
OperatableStateMachine.add('Turn_Torso',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.TURN_TORSO_SLIGHTLY, vel_scaling=0.2, ignore_collisions=True, link_paddings={}, is_cartesian=False),
transitions={'done': 'Cut_Circle_in_Wall', 'failed': 'Turn_Torso'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'side': 'wall_side'})
return _state_machine
def create(self):
joint_names_left = [
"l_arm_shz", "l_arm_shx", "l_arm_ely", "l_arm_elx", "l_arm_wry",
"l_arm_wrx"
]
joint_names_right = [
"r_arm_shz", "r_arm_shx", "r_arm_ely", "r_arm_elx", "r_arm_wry",
"r_arm_wrx"
]
wait_time = 3.0
bagfolder = "" # calculated
gains_list = {
'pid_gains': ['p', 'i', 'd'],
'bdi_gains': ['k_qd_p', 'ff_qd_d'],
'vigir_gains': ['ff_bang', 'ff_effort', 'ff_friction']
}
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.joints_left_up = [] # calculated
_state_machine.userdata.joints_right_up = [] # calculated
_state_machine.userdata.joint_index = 0
_state_machine.userdata.zero_time = [0.02]
_state_machine.userdata.joint_positions_up = [] # calculated
_state_machine.userdata.joint_positions_down = [] # calculated
_state_machine.userdata.joint_index = 0
_state_machine.userdata.none = None
_state_machine.userdata.init_time = [3.0]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# 'Basic' configuration for SIMULATION
#_state_machine.userdata.joints_left_up = [0.00, 0.18, 1.57, 1.18, 0.00, 0.57]
#_state_machine.userdata.joints_right_up = [0.00, -0.18, 1.57, -1.18, 0.00, -0.57]
logs_folder = os.path.expanduser('~/joint_control_tests/')
if not os.path.exists(logs_folder):
os.makedirs(logs_folder)
bagfolder = os.path.join(logs_folder,
"run_" + time.strftime("%Y-%m-%d-%H_%M"))
os.makedirs(bagfolder)
self._joint_limits = self._joint_limits_rob if self.real_robot else self._joint_limits_sim
# standard config
joints_left_up = [0] * 6
for i in range(6):
joint_range = self._joint_limits[i][1] - self._joint_limits[i][0]
joints_left_up[5 -
i] = self._joint_limits[i][0] + joint_range * 0.5
joints_right_up = [0] * 6
for i in range(6):
joint_range = self._joint_limits[i +
6][1] - self._joint_limits[i +
6][0]
joints_right_up[5 -
i] = self._joint_limits[i +
6][0] + joint_range * 0.5
_state_machine.userdata.joints_left_up = joints_left_up
_state_machine.userdata.joints_right_up = joints_right_up
rospy.loginfo('Average left joint positions: ' +
' '.join(map(str, joints_left_up)))
rospy.loginfo('Average right joint positions: ' +
' '.join(map(str, joints_right_up)))
# left
for i in range(6):
joint_config_up = list(_state_machine.userdata.joints_left_up)
joint_config_down = list(_state_machine.userdata.joints_left_up)
joint_range = self._joint_limits[i][1] - self._joint_limits[i][0]
joint_config_up[5 - i] = self._joint_limits[i][
0] + joint_range * self.joint_upper_bounds
joint_config_down[5 - i] = self._joint_limits[i][
0] + joint_range * self.joint_lower_bounds
self._joint_configs_up.append([joint_config_up])
self._joint_configs_down.append([joint_config_down])
rospy.loginfo('Left Joint Config Up: ' +
' '.join(map(str, joint_config_up)))
rospy.loginfo('Left Joint Config Dn: ' +
' '.join(map(str, joint_config_down)))
# right
for i in range(6):
joint_config_up = list(_state_machine.userdata.joints_right_up)
joint_config_down = list(_state_machine.userdata.joints_right_up)
joint_range = self._joint_limits[i +
6][1] - self._joint_limits[i +
6][0]
joint_config_up[5 - i] = self._joint_limits[
i + 6][0] + joint_range * self.joint_upper_bounds
joint_config_down[5 - i] = self._joint_limits[
i + 6][0] + joint_range * self.joint_lower_bounds
self._joint_configs_up.append([joint_config_up])
self._joint_configs_down.append([joint_config_down])
rospy.loginfo('Right Joint Config Up: ' +
' '.join(map(str, joint_config_up)))
rospy.loginfo('Right Joint Config Dn: ' +
' '.join(map(str, joint_config_down)))
# [/MANUAL_CREATE]
# x:30 y:365, x:130 y:365
_sm_move_joint_down_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'joint_index', 'joint_positions_down', 'zero_time',
'joints_right_up', 'joints_left_up', 'init_time'
])
with _sm_move_joint_down_0:
# x:71 y:145
OperatableStateMachine.add(
'Move_Left_Arm_Back',
MoveitMoveGroupState(planning_group="l_arm_group",
joint_names=joint_names_left),
transitions={
'reached': 'Move_Right_Arm_Back',
'failed': 'failed'
},
autonomy={
'reached': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'target_joint_config': 'joints_left_up'})
# x:639 y:69
OperatableStateMachine.add(
'Move_Left_Joint_Down',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_LEFT_ARM,
joint_names=joint_names_left),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_down',
'time': 'init_time'
})
# x:631 y:200
OperatableStateMachine.add(
'Move_Right_Joint_Down',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_RIGHT_ARM,
joint_names=joint_names_right),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.High,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_down',
'time': 'init_time'
})
# x:201 y:54
OperatableStateMachine.add(
'Move_Right_Arm_Back',
MoveitMoveGroupState(planning_group="r_arm_group",
joint_names=joint_names_right),
transitions={
'reached': 'Decide_Left_Or_Right',
'failed': 'failed'
},
autonomy={
'reached': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'target_joint_config': 'joints_right_up'})
# x:429 y:62
OperatableStateMachine.add(
'Decide_Left_Or_Right',
DecisionState(outcomes=["left", "right"],
conditions=lambda it: "left"
if it < 6 else "right"),
transitions={
'left': 'Move_Left_Joint_Down',
'right': 'Move_Right_Joint_Down'
},
autonomy={
'left': Autonomy.High,
'right': Autonomy.High
},
remapping={'input_value': 'joint_index'})
# x:30 y:365, x:130 y:365
_sm_perform_gain_test_right_1 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'joint_positions_up', 'joint_positions_down', 'zero_time'
])
with _sm_perform_gain_test_right_1:
# x:84 y:39
OperatableStateMachine.add('Initial_Wait',
WaitState(wait_time=wait_time),
transitions={'done': 'Perform_Step_Up'},
autonomy={'done': Autonomy.Off})
# x:80 y:218
OperatableStateMachine.add(
'Wait_Up',
WaitState(wait_time=wait_time),
transitions={'done': 'Perform_Step_Down'},
autonomy={'done': Autonomy.Off})
# x:44 y:331
OperatableStateMachine.add(
'Perform_Step_Down',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_RIGHT_ARM,
joint_names=joint_names_right),
transitions={
'done': 'Wait_Down',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_down',
'time': 'zero_time'
})
# x:73 y:440
OperatableStateMachine.add(
'Wait_Down',
WaitState(wait_time=wait_time),
transitions={'done': 'Perforn_Step_Up_2'},
autonomy={'done': Autonomy.Off})
# x:414 y:401
OperatableStateMachine.add(
'Perforn_Step_Up_2',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_RIGHT_ARM,
joint_names=joint_names_right),
transitions={
'done': 'Wait_Up_2',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_up',
'time': 'zero_time'
})
# x:442 y:291
OperatableStateMachine.add(
'Wait_Up_2',
WaitState(wait_time=wait_time),
transitions={'done': 'Perform_Step_Down_2'},
autonomy={'done': Autonomy.Off})
# x:416 y:167
OperatableStateMachine.add(
'Perform_Step_Down_2',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_RIGHT_ARM,
joint_names=joint_names_right),
transitions={
'done': 'Wait_Down_2',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_down',
'time': 'zero_time'
})
# x:449 y:62
OperatableStateMachine.add('Wait_Down_2',
WaitState(wait_time=wait_time),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:48 y:113
OperatableStateMachine.add(
'Perform_Step_Up',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_RIGHT_ARM,
joint_names=joint_names_right),
transitions={
'done': 'Wait_Up',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_up',
'time': 'zero_time'
})
# x:30 y:365, x:130 y:365
_sm_perform_gain_test_left_2 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'joint_positions_up', 'joint_positions_down', 'zero_time'
])
with _sm_perform_gain_test_left_2:
# x:84 y:39
OperatableStateMachine.add(
'Initial_Wait',
WaitState(wait_time=wait_time),
transitions={'done': 'Perform_Step_Up_1'},
autonomy={'done': Autonomy.Off})
# x:87 y:232
OperatableStateMachine.add(
'Wait_Up_1',
WaitState(wait_time=wait_time),
transitions={'done': 'Perform_Step_Down_1'},
autonomy={'done': Autonomy.Off})
# x:50 y:321
OperatableStateMachine.add(
'Perform_Step_Down_1',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_LEFT_ARM,
joint_names=joint_names_left),
transitions={
'done': 'Wait_Down_1',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_down',
'time': 'zero_time'
})
# x:77 y:415
OperatableStateMachine.add(
'Wait_Down_1',
WaitState(wait_time=wait_time),
transitions={'done': 'Perforn_Step_Up_2'},
autonomy={'done': Autonomy.Off})
# x:51 y:131
OperatableStateMachine.add(
'Perform_Step_Up_1',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_LEFT_ARM,
joint_names=joint_names_left),
transitions={
'done': 'Wait_Up_1',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_up',
'time': 'zero_time'
})
# x:414 y:401
OperatableStateMachine.add(
'Perforn_Step_Up_2',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_LEFT_ARM,
joint_names=joint_names_left),
transitions={
'done': 'Wait_Up_2',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_up',
'time': 'zero_time'
})
# x:442 y:291
OperatableStateMachine.add(
'Wait_Up_2',
WaitState(wait_time=wait_time),
transitions={'done': 'Perform_Step_Down_2'},
autonomy={'done': Autonomy.Off})
# x:416 y:167
OperatableStateMachine.add(
'Perform_Step_Down_2',
ExecuteTrajectoryState(
controller=ExecuteTrajectoryState.CONTROLLER_LEFT_ARM,
joint_names=joint_names_left),
transitions={
'done': 'Wait_Down_2',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'joint_positions': 'joint_positions_down',
'time': 'zero_time'
})
# x:449 y:62
OperatableStateMachine.add('Wait_Down_2',
WaitState(wait_time=wait_time),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:30 y:365, x:130 y:365
_sm_test_individual_joint_3 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'joint_positions_up', 'joint_positions_down', 'joint_index',
'traj_controller', 'none', 'zero_time', 'joints_right_up',
'joints_left_up', 'init_time'
])
with _sm_test_individual_joint_3:
# x:45 y:60
OperatableStateMachine.add(
'Initialize_Iteration',
CalculationState(calculation=lambda x: 0),
transitions={'done': 'Move_Joint_Down'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'none',
'output_value': 'iteration'
})
# x:520 y:555
OperatableStateMachine.add('Perform_Gain_Test_Left',
_sm_perform_gain_test_left_2,
transitions={
'finished': 'Stop_Gain_Logs',
'failed': 'Stop_Gain_Logs'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'joint_positions_up':
'joint_positions_up',
'joint_positions_down':
'joint_positions_down',
'zero_time': 'zero_time'
})
# x:176 y:388
OperatableStateMachine.add(
'Decide_If_Tests_To_Go',
DecisionState(outcomes=["done", "continue"],
conditions=lambda it: "done"
if it == 5 else "continue"),
transitions={
'done': 'Reset_Joint_Gains',
'continue': 'Calculate_Next_Gain_Value'
},
autonomy={
'done': Autonomy.Off,
'continue': Autonomy.Off
},
remapping={'input_value': 'iteration'})
# x:144 y:298
OperatableStateMachine.add(
'Calculate_Next_Gain_Value',
FlexibleCalculationState(
calculation=self.calculate_gains,
input_keys=["iteration", "nominal_gain"]),
transitions={'done': 'Set_Joint_Gain'},
autonomy={'done': Autonomy.Off},
remapping={
'iteration': 'iteration',
'nominal_gain': 'nominal_gains',
'output_value': 'altered_gains'
})
# x:395 y:268
OperatableStateMachine.add(
'Set_Joint_Gain',
UpdateDynamicParameterState(param=gains_list),
transitions={
'updated': 'Set_Logfile_Name',
'failed': 'failed'
},
autonomy={
'updated': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'traj_controller': 'traj_controller',
'parameter_value': 'altered_gains'
})
# x:190 y:193
OperatableStateMachine.add(
'Get_Joint_Gains',
ReadDynamicParameterState(param=gains_list),
transitions={
'read': 'Calculate_Next_Gain_Value',
'failed': 'failed'
},
autonomy={
'read': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'traj_controller': 'traj_controller',
'parameter_value': 'nominal_gains'
})
# x:158 y:505
OperatableStateMachine.add(
'Increment_Iteration_Counter',
CalculationState(calculation=lambda it: it + 1),
transitions={'done': 'Decide_If_Tests_To_Go'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'iteration',
'output_value': 'iteration'
})
# x:798 y:435
OperatableStateMachine.add(
'Decide_Left_Or_Right',
DecisionState(outcomes=["left", "right"],
conditions=lambda it: "left"
if it < 6 else "right"),
transitions={
'left': 'Perform_Gain_Test_Left',
'right': 'Perform_Gain_Test_Right'
},
autonomy={
'left': Autonomy.High,
'right': Autonomy.High
},
remapping={'input_value': 'joint_index'})
# x:811 y:624
OperatableStateMachine.add('Perform_Gain_Test_Right',
_sm_perform_gain_test_right_1,
transitions={
'finished': 'Stop_Gain_Logs',
'failed': 'Stop_Gain_Logs'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'joint_positions_up':
'joint_positions_up',
'joint_positions_down':
'joint_positions_down',
'zero_time': 'zero_time'
})
# x:545 y:458
OperatableStateMachine.add(
'Start_Gain_Logs',
StartRecordLogsState(topics_to_record=self.topics_to_record),
transitions={'logging': 'Decide_Left_Or_Right'},
autonomy={'logging': Autonomy.Off},
remapping={
'bagfile_name': 'bagfile_name',
'rosbag_process': 'rosbag_process'
})
# x:184 y:616
OperatableStateMachine.add(
'Stop_Gain_Logs',
StopRecordLogsState(),
transitions={'stopped': 'Increment_Iteration_Counter'},
autonomy={'stopped': Autonomy.Off},
remapping={'rosbag_process': 'rosbag_process'})
# x:576 y:346
OperatableStateMachine.add(
'Set_Logfile_Name',
FlexibleCalculationState(
calculation=lambda i: bagfolder + self._traj_controllers[i[
1]][1] + "_k_p_" + str(i[0][0]) + ".bag",
input_keys=["gain_percentage", "joint_index"]),
transitions={'done': 'Start_Gain_Logs'},
autonomy={'done': Autonomy.Off},
remapping={
'gain_percentage': 'altered_gains',
'joint_index': 'joint_index',
'output_value': 'bagfile_name'
})
# x:210 y:53
OperatableStateMachine.add('Move_Joint_Down',
_sm_move_joint_down_0,
transitions={
'finished': 'Get_Joint_Gains',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'joint_index': 'joint_index',
'joint_positions_down':
'joint_positions_down',
'zero_time': 'zero_time',
'joints_right_up':
'joints_right_up',
'joints_left_up': 'joints_left_up',
'init_time': 'init_time'
})
# x:365 y:430
OperatableStateMachine.add(
'Reset_Joint_Gains',
UpdateDynamicParameterState(param=gains_list),
transitions={
'updated': 'finished',
'failed': 'failed'
},
autonomy={
'updated': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'traj_controller': 'traj_controller',
'parameter_value': 'nominal_gains'
})
# x:30 y:365, x:130 y:365
_sm_test_joint_controls_4 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'joint_index', 'none', 'zero_time', 'joints_right_up',
'joints_left_up', 'init_time'
])
with _sm_test_joint_controls_4:
# x:47 y:121
OperatableStateMachine.add(
'Decide_Joints_To_Go',
DecisionState(
outcomes=["done", "continue"],
conditions=lambda idx: "done"
if idx == len(self._joint_configs_down) else "continue"),
transitions={
'done': 'finished',
'continue': 'Select_Next_Joint_Up'
},
autonomy={
'done': Autonomy.High,
'continue': Autonomy.Low
},
remapping={'input_value': 'joint_index'})
# x:257 y:290
OperatableStateMachine.add(
'Select_Next_Joint_Up',
CalculationState(
calculation=lambda idx: self._joint_configs_up[idx]),
transitions={'done': 'Select_Next_Joint_Down'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joint_index',
'output_value': 'joint_positions_up'
})
# x:571 y:68
OperatableStateMachine.add('Test_Individual_Joint',
_sm_test_individual_joint_3,
transitions={
'finished': 'Increment_Joint_Index',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'joint_positions_up':
'joint_positions_up',
'joint_positions_down':
'joint_positions_down',
'joint_index': 'joint_index',
'traj_controller':
'traj_controller',
'none': 'none',
'zero_time': 'zero_time',
'joints_right_up':
'joints_right_up',
'joints_left_up': 'joints_left_up',
'init_time': 'init_time'
})
# x:529 y:324
OperatableStateMachine.add(
'Select_Next_Joint_Down',
CalculationState(
calculation=lambda idx: self._joint_configs_down[idx]),
transitions={'done': 'Set_Trajectory_Controller'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joint_index',
'output_value': 'joint_positions_down'
})
# x:222 y:51
OperatableStateMachine.add(
'Increment_Joint_Index',
CalculationState(calculation=lambda it: it + 1),
transitions={'done': 'Decide_Joints_To_Go'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joint_index',
'output_value': 'joint_index'
})
# x:559 y:189
OperatableStateMachine.add(
'Set_Trajectory_Controller',
CalculationState(
calculation=lambda idx: self._traj_controllers[idx]),
transitions={'done': 'Test_Individual_Joint'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joint_index',
'output_value': 'traj_controller'
})
with _state_machine:
# x:112 y:38
OperatableStateMachine.add(
'Check_Initial_Stand',
CheckCurrentControlModeState(
target_mode=CheckCurrentControlModeState.STAND,
wait=False),
transitions={
'correct': 'Switch_To_Manipulate',
'incorrect': 'Set_Initial_Stand'
},
autonomy={
'correct': Autonomy.Low,
'incorrect': Autonomy.Low
},
remapping={'control_mode': 'control_mode'})
# x:336 y:123
OperatableStateMachine.add(
'Set_Initial_Stand',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'Switch_To_Manipulate',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:60 y:235
OperatableStateMachine.add(
'Switch_To_Manipulate',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Bring_Left_Arm_Up',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.High
})
# x:105 y:428
OperatableStateMachine.add(
'Bring_Left_Arm_Up',
MoveitMoveGroupState(planning_group="l_arm_group",
joint_names=joint_names_left),
transitions={
'reached': 'Bring_Right_Arm_Up',
'failed': 'failed'
},
autonomy={
'reached': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'target_joint_config': 'joints_left_up'})
# x:323 y:482
OperatableStateMachine.add(
'Bring_Right_Arm_Up',
MoveitMoveGroupState(planning_group="r_arm_group",
joint_names=joint_names_right),
transitions={
'reached': 'Test_Joint_Controls',
'failed': 'failed'
},
autonomy={
'reached': Autonomy.High,
'failed': Autonomy.High
},
remapping={'target_joint_config': 'joints_right_up'})
# x:620 y:465
OperatableStateMachine.add('Test_Joint_Controls',
_sm_test_joint_controls_4,
transitions={
'finished': 'Change_Back_To_Stand',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'joint_index': 'joint_index',
'none': 'none',
'zero_time': 'zero_time',
'joints_right_up':
'joints_right_up',
'joints_left_up': 'joints_left_up',
'init_time': 'init_time'
})
# x:831 y:349
OperatableStateMachine.add(
'Change_Back_To_Stand',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'finished',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.Off
})
return _state_machine
def create(self):
# x:833 y:90, x:583 y:490
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:37 y:78
OperatableStateMachine.add(
'Ask_If_Wide_Stance',
OperatorDecisionState(outcomes=['wide_stance', 'just_stand'],
hint="Do you want to go to wide stance?",
suggestion='wide_stance'),
transitions={
'wide_stance': 'Plan_To_Wide_Stance',
'just_stand': 'Set_Manipulate'
},
autonomy={
'wide_stance': Autonomy.Low,
'just_stand': Autonomy.Full
})
# x:274 y:278
OperatableStateMachine.add(
'Go_To_Wide_Stance',
ExecuteStepPlanActionState(),
transitions={
'finished': 'Wait_For_Stand',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'footstep_plan': 'plan_wide_stance'})
# x:19 y:278
OperatableStateMachine.add(
'Plan_To_Wide_Stance',
FootstepPlanWideStanceState(),
transitions={
'planned': 'Go_To_Wide_Stance',
'failed': 'failed'
},
autonomy={
'planned': Autonomy.Low,
'failed': Autonomy.Low
},
remapping={'footstep_plan': 'plan_wide_stance'})
# x:566 y:78
OperatableStateMachine.add(
'Set_Manipulate',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'finished',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.Low
})
# x:266 y:178
OperatableStateMachine.add(
'Wait_For_Stand',
CheckCurrentControlModeState(
target_mode=CheckCurrentControlModeState.STAND, wait=True),
transitions={
'correct': 'Set_Manipulate',
'incorrect': 'failed'
},
autonomy={
'correct': Autonomy.Low,
'incorrect': Autonomy.Full
},
remapping={'control_mode': 'control_mode'})
return _state_machine
def create(self):
arm_controller = ExecuteTrajectoryMsgState.CONTROLLER_LEFT_ARM if self.hand_side == 'left' else ExecuteTrajectoryMsgState.CONTROLLER_RIGHT_ARM
no_valve_collision = True
turn_amount = 400 # degrees (empirical)
keep_orientation = True # for poking stick
# x:1227 y:469, x:290 y:544
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.default_preference = 0
_state_machine.userdata.hand_side = self.hand_side
_state_machine.userdata.step_back_distance = 0.30 # meters
_state_machine.userdata.none = None
_state_machine.userdata.template_id = 0 # adjust before re-runs!
_state_machine.userdata.torso_center = 'same'
_state_machine.userdata.stick_reference = None # hardcoded
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
self._turn_amount = turn_amount
self._keep_orientation = keep_orientation
# Use the poking stick as the reference point for circular affordance
stick_reference_point = PoseStamped()
stick_reference_point.header.frame_id = 'l_hand'
stick_reference_point.pose.position.y = -0.095
stick_reference_point.pose.orientation.w = 1.0
_state_machine.userdata.stick_reference = stick_reference_point
# [/MANUAL_CREATE]
# x:841 y:312, x:634 y:50
_sm_go_to_grasp_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['template_id', 'hand_side', 'preference'])
with _sm_go_to_grasp_0:
# x:36 y:46
OperatableStateMachine.add('Get_Grasp',
GetTemplateGraspState(),
transitions={
'done': 'Extract_Frame_Id',
'failed': 'failed',
'not_available': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Low,
'not_available': Autonomy.Low
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'preference': 'preference',
'grasp': 'grasp'
})
# x:248 y:134
OperatableStateMachine.add(
'Plan_To_Grasp',
PlanEndeffectorCartesianWaypointsState(
ignore_collisions=no_valve_collision,
include_torso=False,
keep_endeffector_orientation=True,
allow_incomplete_plans=True,
vel_scaling=0.1,
planner_id="RRTConnectkConfigDefault"),
transitions={
'planned': 'Move_To_Grasp',
'incomplete': 'Move_To_Grasp',
'failed': 'Replan_if_Incomplete'
},
autonomy={
'planned': Autonomy.Low,
'incomplete': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'waypoints': 'waypoints',
'hand': 'hand_side',
'frame_id': 'frame_id',
'joint_trajectory': 'joint_trajectory',
'plan_fraction': 'plan_fraction'
})
# x:42 y:266
OperatableStateMachine.add(
'Create_Pose_List',
CalculationState(calculation=lambda x: [x.pose]),
transitions={'done': 'Plan_To_Grasp'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'grasp',
'output_value': 'waypoints'
})
# x:576 y:135
OperatableStateMachine.add(
'Move_To_Grasp',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'Replan_if_Incomplete',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:274 y:307
OperatableStateMachine.add(
'Notify_Incomplete_Plan',
LogState(text='Incomplete Plan! Re-planning...',
severity=Logger.REPORT_HINT),
transitions={'done': 'Plan_To_Grasp'},
autonomy={'done': Autonomy.Off})
# x:585 y:307
OperatableStateMachine.add(
'Replan_if_Incomplete',
DecisionState(outcomes=['replan', 'continue'],
conditions=lambda x: 'replan'
if x < 0.9 else 'continue'),
transitions={
'replan': 'Notify_Incomplete_Plan',
'continue': 'finished'
},
autonomy={
'replan': Autonomy.Low,
'continue': Autonomy.High
},
remapping={'input_value': 'plan_fraction'})
# x:42 y:167
OperatableStateMachine.add(
'Extract_Frame_Id',
CalculationState(calculation=lambda x: x.header.frame_id),
transitions={'done': 'Create_Pose_List'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'grasp',
'output_value': 'frame_id'
})
# x:174 y:319, x:443 y:229
_sm_extract_hand_1 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['hand_side', 'template_id', 'none'])
with _sm_extract_hand_1:
# x:101 y:81
OperatableStateMachine.add(
'Get_Extract_Affordance',
GetTemplateAffordanceState(identifier='extract'),
transitions={
'done': 'Plan_Extract_Affordance',
'failed': 'failed',
'not_available': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High,
'not_available': Autonomy.High
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'affordance': 'extract_affordance'
})
# x:394 y:82
OperatableStateMachine.add(
'Plan_Extract_Affordance',
PlanAffordanceState(vel_scaling=0.1,
planner_id="RRTConnectkConfigDefault"),
transitions={
'done': 'Execute_Extract_Affordance',
'incomplete': 'Execute_Extract_Affordance',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'incomplete': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'affordance': 'extract_affordance',
'hand': 'hand_side',
'reference_point': 'none',
'joint_trajectory': 'joint_trajectory',
'plan_fraction': 'plan_fraction'
})
# x:627 y:224
OperatableStateMachine.add(
'Execute_Extract_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'Decide_Extract_More',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:394 y:313
OperatableStateMachine.add(
'Decide_Extract_More',
OperatorDecisionState(
outcomes=['extract_more', 'skip'],
hint='Extract more if the fingers are not out yet.',
suggestion='skip'),
transitions={
'extract_more': 'Get_Extract_Affordance',
'skip': 'finished'
},
autonomy={
'extract_more': Autonomy.High,
'skip': Autonomy.Low
})
# x:744 y:263
_sm_insert_hand_2 = OperatableStateMachine(
outcomes=['finished'],
input_keys=['hand_side', 'template_id', 'none'])
with _sm_insert_hand_2:
# x:84 y:72
OperatableStateMachine.add(
'Get_Insert_Affordance',
GetTemplateAffordanceState(identifier='insert'),
transitions={
'done': 'Plan_Insert_Affordance',
'failed': 'Decide_Insert_More',
'not_available': 'Decide_Insert_More'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High,
'not_available': Autonomy.High
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'affordance': 'insert_affordance'
})
# x:342 y:73
OperatableStateMachine.add(
'Plan_Insert_Affordance',
PlanAffordanceState(vel_scaling=0.1,
planner_id="RRTConnectkConfigDefault"),
transitions={
'done': 'Execute_Insert_Affordance',
'incomplete': 'Execute_Insert_Affordance',
'failed': 'Decide_Insert_More'
},
autonomy={
'done': Autonomy.Low,
'incomplete': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'affordance': 'insert_affordance',
'hand': 'hand_side',
'reference_point': 'none',
'joint_trajectory': 'joint_trajectory',
'plan_fraction': 'plan_fraction'
})
# x:665 y:73
OperatableStateMachine.add(
'Execute_Insert_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'Decide_Insert_More',
'failed': 'Decide_Insert_More'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:345 y:257
OperatableStateMachine.add(
'Decide_Insert_More',
OperatorDecisionState(
outcomes=['insert_more', 'skip'],
hint='Insert more if the fingers are not inside the valve.',
suggestion='skip'),
transitions={
'insert_more': 'Get_Insert_Affordance',
'skip': 'finished'
},
autonomy={
'insert_more': Autonomy.High,
'skip': Autonomy.Low
})
# x:610 y:263
_sm_adjust_wrist_3 = OperatableStateMachine(
outcomes=['finished'],
input_keys=['template_id', 'hand_side', 'none'])
with _sm_adjust_wrist_3:
# x:84 y:72
OperatableStateMachine.add(
'Get_Close_Affordance',
GetTemplateAffordanceState(identifier='close'),
transitions={
'done': 'Plan_Close_Affordance',
'failed': 'Adjust_Hand_Rotation',
'not_available': 'Adjust_Hand_Rotation'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High,
'not_available': Autonomy.High
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'affordance': 'close_affordance'
})
# x:342 y:73
OperatableStateMachine.add(
'Plan_Close_Affordance',
PlanAffordanceState(vel_scaling=0.1,
planner_id="RRTConnectkConfigDefault"),
transitions={
'done': 'Execute_Close_Affordance',
'incomplete': 'Execute_Close_Affordance',
'failed': 'Adjust_Hand_Rotation'
},
autonomy={
'done': Autonomy.Low,
'incomplete': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'affordance': 'close_affordance',
'hand': 'hand_side',
'reference_point': 'none',
'joint_trajectory': 'joint_trajectory',
'plan_fraction': 'plan_fraction'
})
# x:665 y:73
OperatableStateMachine.add(
'Execute_Close_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'Adjust_Hand_Rotation',
'failed': 'Adjust_Hand_Rotation'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:345 y:257
OperatableStateMachine.add(
'Adjust_Hand_Rotation',
OperatorDecisionState(
outcomes=['done'],
hint="Adjust wry2 rotation (near opposing joint limit)",
suggestion=None),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Full})
# x:605 y:445, x:389 y:143
_sm_turn_valve_4 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['stick_reference', 'template_id', 'hand_side'])
with _sm_turn_valve_4:
# x:109 y:56
OperatableStateMachine.add(
'Get_Turning_Affordance',
GetTemplateAffordanceState(identifier='open'),
transitions={
'done': 'Set_Rotation',
'failed': 'failed',
'not_available': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High,
'not_available': Autonomy.High
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'affordance': 'turning_affordance'
})
# x:111 y:292
OperatableStateMachine.add(
'Plan_Turning_Affordance',
PlanAffordanceState(vel_scaling=0.1,
planner_id="RRTConnectkConfigDefault"),
transitions={
'done': 'Execute_Turning_Affordance',
'incomplete': 'Execute_Turning_Affordance',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'incomplete': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'affordance': 'turning_affordance',
'hand': 'hand_side',
'reference_point': 'stick_reference',
'joint_trajectory': 'joint_trajectory',
'plan_fraction': 'plan_fraction'
})
# x:127 y:173
OperatableStateMachine.add(
'Set_Rotation',
CalculationState(calculation=self.reduce_rotation_angle),
transitions={'done': 'Plan_Turning_Affordance'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'turning_affordance',
'output_value': 'turning_affordance'
})
# x:526 y:292
OperatableStateMachine.add(
'Execute_Turning_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'Decide_Keep_Turning',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:324 y:437
OperatableStateMachine.add(
'Decide_Keep_Turning',
OperatorDecisionState(
outcomes=['done', 'turn_more'],
hint='Check whether the valve is turned enough',
suggestion='done'),
transitions={
'done': 'finished',
'turn_more': 'Plan_Turning_Affordance'
},
autonomy={
'done': Autonomy.High,
'turn_more': Autonomy.High
})
# x:175 y:378, x:413 y:156
_sm_face_valve_5 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['hand_side'])
with _sm_face_valve_5:
# x:126 y:29
OperatableStateMachine.add(
'Go_to_MANIPULATE',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Tilt_Head_Down',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:148 y:262
OperatableStateMachine.add(
'Tilt_Head_Down',
TiltHeadState(desired_tilt=TiltHeadState.DOWN_45),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
})
# x:660 y:473, x:418 y:191
_sm_retract_arms_6 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['hand_side', 'torso_center'])
with _sm_retract_arms_6:
# x:112 y:28
OperatableStateMachine.add(
'Set_MANIPULATE',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Move_to_Stand_Posture',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:118 y:360
OperatableStateMachine.add(
'Move_to_Stand_Posture',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.SINGLE_ARM_STAND,
vel_scaling=0.2,
ignore_collisions=False,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Center_Torso',
'failed': 'Move_to_Stand_Posture'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'side': 'hand_side'})
# x:359 y:464
OperatableStateMachine.add(
'Set_STAND',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'finished',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:118 y:464
OperatableStateMachine.add(
'Center_Torso',
MoveitPredefinedPoseState(
target_pose=MoveitPredefinedPoseState.
TURN_TORSO_CENTER_POSE,
vel_scaling=0.2,
ignore_collisions=True,
link_paddings={},
is_cartesian=False),
transitions={
'done': 'Set_STAND',
'failed': 'Center_Torso'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'side': 'torso_center'})
# x:505 y:87
OperatableStateMachine.add('Open_Fingers',
FingerConfigurationState(
hand_type=self.hand_type,
configuration=0.0),
transitions={
'done': 'Close_Fingers',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'hand_side': 'hand_side'})
# x:505 y:185
OperatableStateMachine.add('Close_Fingers',
FingerConfigurationState(
hand_type=self.hand_type,
configuration=1.0),
transitions={
'done': 'Close_Fingers',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'hand_side': 'hand_side'})
# x:495 y:47, x:187 y:229
_sm_request_template_7 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['none'],
output_keys=['template_id'])
with _sm_request_template_7:
# x:155 y:42
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.Off,
'aborted': Autonomy.High,
'no_connection': Autonomy.Low,
'data_error': Autonomy.Low
},
remapping={'data': 'template_id'})
# x:279 y:119
OperatableStateMachine.add('Log_No_Connection',
LogState(
text="Have no connection to OCS!",
severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:530 y:133
OperatableStateMachine.add('Log_Data_Error',
LogState(
text="Received wrong data format!",
severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:335 y:193, x:335 y:112
_sm_step_back_8 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['distance'])
with _sm_step_back_8:
# x:41 y:63
OperatableStateMachine.add(
'Plan_Steps_Back',
FootstepPlanRelativeState(
direction=FootstepPlanRelativeState.DIRECTION_BACKWARD),
transitions={
'planned': 'Execute_Steps_Back',
'failed': 'failed'
},
autonomy={
'planned': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'distance': 'distance',
'plan_header': 'plan_header'
})
# x:39 y:190
OperatableStateMachine.add(
'Execute_Steps_Back',
ExecuteStepPlanActionState(),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'plan_header': 'plan_header'})
# x:1156 y:62, x:414 y:199
_sm_prepare_manipulation_9 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['template_id', 'grasp_preference', 'hand_side'])
with _sm_prepare_manipulation_9:
# x:41 y:61
OperatableStateMachine.add(
'Optional_Template_Adjustment',
LogState(text='Request template adjustment from the operators',
severity=Logger.REPORT_HINT),
transitions={'done': 'Get_Pregrasp'},
autonomy={'done': Autonomy.High})
# x:49 y:442
OperatableStateMachine.add(
'Plan_To_Pregrasp',
PlanEndeffectorPoseState(
ignore_collisions=False,
include_torso=False,
allowed_collisions=[],
planner_id="RRTConnectkConfigDefault"),
transitions={
'planned': 'Move_To_Pregrasp',
'failed': 'failed'
},
autonomy={
'planned': Autonomy.Low,
'failed': Autonomy.High
},
remapping={
'target_pose': 'pre_grasp',
'hand': 'hand_side',
'joint_trajectory': 'joint_trajectory'
})
# x:365 y:440
OperatableStateMachine.add(
'Move_To_Pregrasp',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'Request_Hand_Adjustment',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:678 y:54
OperatableStateMachine.add('Go_to_Grasp',
_sm_go_to_grasp_0,
transitions={
'finished':
'Request_Stick_Adjustment',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'preference': 'grasp_preference'
})
# x:49 y:192
OperatableStateMachine.add('Get_Pregrasp',
GetTemplatePregraspState(),
transitions={
'done': 'Plan_To_Pregrasp',
'failed': 'failed',
'not_available': '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': 'pre_grasp'
})
# x:656 y:441
OperatableStateMachine.add(
'Request_Hand_Adjustment',
LogState(text='Request adjustment of the hand',
severity=Logger.REPORT_HINT),
transitions={'done': 'Go_to_Grasp'},
autonomy={'done': Autonomy.High})
# x:902 y:57
OperatableStateMachine.add(
'Request_Stick_Adjustment',
LogState(text='Request adjustment of the poking stick',
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.High})
# x:118 y:674, x:383 y:310, x:455 y:159
_sm_manipulate_valve_10 = OperatableStateMachine(
outcomes=['finished', 'failed', 'pregrasp_again'],
input_keys=['template_id', 'hand_side', 'none'])
with _sm_manipulate_valve_10:
# x:92 y:25
OperatableStateMachine.add('Adjust_Wrist',
_sm_adjust_wrist_3,
transitions={'finished': 'Insert_Hand'},
autonomy={'finished': Autonomy.Inherit},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'none': 'none'
})
# x:739 y:128
OperatableStateMachine.add(
'Get_Turning_Affordance',
GetTemplateAffordanceState(identifier='open'),
transitions={
'done': 'Set_Rotation',
'failed': 'failed',
'not_available': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High,
'not_available': Autonomy.High
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'affordance': 'turning_affordance'
})
# x:85 y:535
OperatableStateMachine.add(
'Decide_Repeat',
OperatorDecisionState(
outcomes=['insert_again', 'continue'],
hint="Continue or adjust and rotate again",
suggestion='continue'),
transitions={
'insert_again': 'Adjust_Wrist',
'continue': 'finished'
},
autonomy={
'insert_again': Autonomy.High,
'continue': Autonomy.High
})
# x:744 y:304
OperatableStateMachine.add(
'Plan_Turning_Affordance',
PlanAffordanceState(vel_scaling=0.1,
planner_id="RRTConnectkConfigDefault"),
transitions={
'done': 'Execute_Turning_Affordance',
'incomplete': 'Execute_Turning_Affordance',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'incomplete': Autonomy.High,
'failed': Autonomy.High
},
remapping={
'affordance': 'turning_affordance',
'hand': 'hand_side',
'reference_point': 'none',
'joint_trajectory': 'joint_trajectory',
'plan_fraction': 'plan_fraction'
})
# x:324 y:25
OperatableStateMachine.add(
'Insert_Hand',
_sm_insert_hand_2,
transitions={'finished': 'Decide_Ready_or_Retry'},
autonomy={'finished': Autonomy.Inherit},
remapping={
'hand_side': 'hand_side',
'template_id': 'template_id',
'none': 'none'
})
# x:744 y:531
OperatableStateMachine.add('Extract_Hand',
_sm_extract_hand_1,
transitions={
'finished': 'Decide_Repeat',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'hand_side': 'hand_side',
'template_id': 'template_id',
'none': 'none'
})
# x:771 y:215
OperatableStateMachine.add(
'Set_Rotation',
CalculationState(calculation=self.reduce_rotation_angle),
transitions={'done': 'Plan_Turning_Affordance'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'turning_affordance',
'output_value': 'turning_affordance'
})
# x:736 y:406
OperatableStateMachine.add(
'Execute_Turning_Affordance',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'Decide_Keep_Turning',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:994 y:406
OperatableStateMachine.add(
'Decide_Keep_Turning',
OperatorDecisionState(outcomes=['retract', 'turn_more'],
hint='If OK, keep turning the valve!',
suggestion=None),
transitions={
'retract': 'Extract_Hand',
'turn_more': 'Plan_Turning_Affordance'
},
autonomy={
'retract': Autonomy.High,
'turn_more': Autonomy.High
})
# x:599 y:28
OperatableStateMachine.add(
'Decide_Ready_or_Retry',
OperatorDecisionState(
outcomes=['pregrasp_again', 'tempalte_ready'],
hint=
'Either adjust the template or (if something went wrong) go back to pregrasp.',
suggestion='template_ready'),
transitions={
'pregrasp_again': 'pregrasp_again',
'tempalte_ready': 'Get_Turning_Affordance'
},
autonomy={
'pregrasp_again': Autonomy.High,
'tempalte_ready': Autonomy.Low
})
with _state_machine:
# x:51 y:195
OperatableStateMachine.add(
'Notify_Execution_Started',
LogState(
text=
'Execution has started. Consider making modifications if this is a re-run.',
severity=Logger.REPORT_HINT),
transitions={'done': 'Request_Template'},
autonomy={'done': Autonomy.Full})
# x:823 y:330
OperatableStateMachine.add('Manipulate_Valve',
_sm_manipulate_valve_10,
transitions={
'finished': 'Retract_Arms',
'failed': 'Manipulate_Valve',
'pregrasp_again': 'Manipulate_Valve'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'pregrasp_again': Autonomy.Inherit
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'none': 'none'
})
# x:737 y:64
OperatableStateMachine.add('Prepare_Manipulation',
_sm_prepare_manipulation_9,
transitions={
'finished': 'Turn_Valve',
'failed': 'Turn_Valve_Manually'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'template_id': 'template_id',
'grasp_preference':
'default_preference',
'hand_side': 'hand_side'
})
# x:253 y:16
OperatableStateMachine.add('Decide_Walking',
OperatorDecisionState(
outcomes=['walk', 'skip'],
hint="Walk to the valve?",
suggestion='walk'),
transitions={
'walk': 'Walk to Template',
'skip': 'Face_Valve'
},
autonomy={
'walk': Autonomy.High,
'skip': Autonomy.Full
})
# x:1030 y:529
OperatableStateMachine.add(
'Step_Back',
_sm_step_back_8,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'distance': 'step_back_distance'})
# x:1019 y:408
OperatableStateMachine.add(
'Decide_Step_Back',
OperatorDecisionState(
outcomes=["stand", "step_back"],
hint="Should the robot step back from the valve?",
suggestion="step_back"),
transitions={
'stand': 'finished',
'step_back': 'Step_Back'
},
autonomy={
'stand': Autonomy.Full,
'step_back': Autonomy.High
})
# x:250 y:122
OperatableStateMachine.add(
'Walk to Template',
self.use_behavior(WalktoTemplateSM, 'Walk to Template'),
transitions={
'finished': 'Face_Valve',
'failed': 'failed',
'aborted': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'aborted': Autonomy.Inherit
},
remapping={
'grasp_preference': 'default_preference',
'hand_side': 'hand_side',
'template_id': 'template_id'
})
# x:53 y:79
OperatableStateMachine.add('Request_Template',
_sm_request_template_7,
transitions={
'finished': 'Decide_Walking',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'none': 'none',
'template_id': 'template_id'
})
# x:1023 y:203
OperatableStateMachine.add('Retract_Arms',
_sm_retract_arms_6,
transitions={
'finished': 'Decide_Step_Back',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'hand_side': 'hand_side',
'torso_center': 'torso_center'
})
# x:752 y:209
OperatableStateMachine.add(
'Turn_Valve_Manually',
LogState(text='Have the operator turn the valve manually.',
severity=Logger.REPORT_HINT),
transitions={'done': 'Retract_Arms'},
autonomy={'done': Autonomy.Full})
# x:504 y:63
OperatableStateMachine.add('Face_Valve',
_sm_face_valve_5,
transitions={
'finished': 'Prepare_Manipulation',
'failed': 'Turn_Valve_Manually'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'hand_side': 'hand_side'})
# x:1026 y:63
OperatableStateMachine.add('Turn_Valve',
_sm_turn_valve_4,
transitions={
'finished': 'Retract_Arms',
'failed': 'Turn_Valve_Manually'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'stick_reference':
'stick_reference',
'template_id': 'template_id',
'hand_side': 'hand_side'
})
return _state_machine
def create(self):
plug_in_affordance = "plug_in"
plug_out_affordance = "plug_out"
arm_controller = ExecuteTrajectoryMsgState.CONTROLLER_LEFT_ARM if self.hand_side == 'left' else ExecuteTrajectoryMsgState.CONTROLLER_RIGHT_ARM
# x:202 y:568, x:374 y:401
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.none = None
_state_machine.userdata.hand_side = self.hand_side
_state_machine.userdata.grasp_preference = 0
_state_machine.userdata.step_back_distance = 1.0 # meters
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:588 y:126, x:324 y:44
_sm_back_to_pregrasp_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['template_id', 'hand_side', 'grasp_preference'])
with _sm_back_to_pregrasp_0:
# x:30 y:40
OperatableStateMachine.add('Get_Pregrasp',
GetTemplatePregraspState(),
transitions={
'done': 'Extract_Frame_Id',
'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',
'preference': 'grasp_preference',
'pre_grasp': 'grasp_pose'
})
# x:242 y:292
OperatableStateMachine.add(
'Plan_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_To_Pregrasp_Pose',
'incomplete': 'Move_To_Pregrasp_Pose',
'failed': 'Get_Pregrasp'
},
autonomy={
'planned': Autonomy.Low,
'incomplete': Autonomy.High,
'failed': Autonomy.Full
},
remapping={
'waypoints': 'grasp_waypoints',
'hand': 'hand_side',
'frame_id': 'grasp_frame_id',
'joint_trajectory': 'joint_trajectory',
'plan_fraction': 'plan_fraction'
})
# x:568 y:295
OperatableStateMachine.add(
'Move_To_Pregrasp_Pose',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'finished',
'failed': 'Get_Pregrasp'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Full
},
remapping={'joint_trajectory': 'joint_trajectory'})
# 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:40 y:293
OperatableStateMachine.add(
'Convert_Waypoints',
CalculationState(calculation=lambda msg: [msg.pose]),
transitions={'done': 'Plan_To_Pregrasp'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'grasp_pose',
'output_value': 'grasp_waypoints'
})
# x:598 y:30, x:220 y:148, x:1035 y:174
_sm_go_to_grasp_1 = OperatableStateMachine(
outcomes=['finished', 'failed', 'again'],
input_keys=['hand_side', 'grasp_preference', 'template_id'],
output_keys=['grasp_preference'])
with _sm_go_to_grasp_1:
# x:33 y:49
OperatableStateMachine.add('Get_Grasp_Info',
GetTemplateGraspState(),
transitions={
'done': 'Extract_Frame_Id',
'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',
'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.High,
'incomplete': Autonomy.High,
'failed': Autonomy.Full
},
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.Low,
'failed': Autonomy.Full
},
remapping={'joint_trajectory': 'joint_trajectory'})
# 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:727 y:50
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:596 y:113, x:351 y:62
_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': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Full,
'not_available': Autonomy.Full
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'preference': 'grasp_preference',
'pre_grasp': 'pregrasp_pose'
})
# x:537 y:228
OperatableStateMachine.add(
'Move_To_Pregrasp_Pose',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={
'done': 'finished',
'failed': 'Decide_Which_Pregrasp'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Full
},
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.Full
},
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.Full
})
# x:30 y:365, x:130 y:365
_sm_perform_step_back_3 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['step_back_distance'])
with _sm_perform_step_back_3:
# 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:550 y:574, x:130 y:365
_sm_plug_in_cable_4 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'target_template_id', 'hand_side', 'grasp_preference',
'template_id', 'template_pose'
])
with _sm_plug_in_cable_4:
# x:82 y:59
OperatableStateMachine.add('Go_to_Pregrasp',
_sm_go_to_pregrasp_2,
transitions={
'finished': 'Go_to_Grasp',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'hand_side': 'hand_side',
'grasp_preference':
'grasp_preference',
'template_id': 'target_template_id',
'pregrasp_pose': 'pregrasp_pose'
})
# x:322 y:171
OperatableStateMachine.add('Go_to_Grasp',
_sm_go_to_grasp_1,
transitions={
'finished': 'Detach_Cable',
'failed': 'failed',
'again': 'Go_to_Pregrasp'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'again': Autonomy.Inherit
},
remapping={
'hand_side': 'hand_side',
'grasp_preference':
'grasp_preference',
'template_id': 'target_template_id'
})
# x:516 y:306
OperatableStateMachine.add('Open_Fingers',
FingerConfigurationState(
hand_type=self.hand_type,
configuration=0),
transitions={
'done': 'Back_To_Pregrasp',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Full
},
remapping={'hand_side': 'hand_side'})
# x:472 y:406
OperatableStateMachine.add('Back_To_Pregrasp',
_sm_back_to_pregrasp_0,
transitions={
'finished': 'Close_Fingers',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'grasp_preference':
'grasp_preference'
})
# x:314 y:524
OperatableStateMachine.add('Close_Fingers',
FingerConfigurationState(
hand_type=self.hand_type,
configuration=1),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Full
},
remapping={'hand_side': 'hand_side'})
# x:527 y:204
OperatableStateMachine.add('Detach_Cable',
DetachObjectState(),
transitions={
'done': 'Open_Fingers',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Full
},
remapping={
'template_id': 'template_id',
'template_pose': 'template_pose'
})
# x:30 y:365, x:115 y:197
_sm_take_cable_5 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['template_id', 'hand_side', 'none'])
with _sm_take_cable_5:
# x:81 y:54
OperatableStateMachine.add(
'Get_Plug_Out_Affordance',
GetTemplateAffordanceState(identifier=plug_out_affordance),
transitions={
'done': 'Plan_Plug_Out',
'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:348 y:73
OperatableStateMachine.add(
'Plan_Plug_Out',
PlanAffordanceState(vel_scaling=0.1,
planner_id="RRTConnectkConfigDefault"),
transitions={
'done': 'Execute_Plug_Out',
'incomplete': 'Execute_Plug_Out',
'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:322 y:255
OperatableStateMachine.add(
'Execute_Plug_Out',
ExecuteTrajectoryMsgState(controller=affordance_controller),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Full
},
remapping={'joint_trajectory': 'joint_trajectory'})
with _state_machine:
# x:73 y:78
OperatableStateMachine.add(
'Request_Cable_Template',
InputState(request=InputState.SELECTED_OBJECT_ID,
message="Place cable 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:330 y:172
OperatableStateMachine.add(
'Walk_To_Template',
self.use_behavior(WalktoTemplateSM, 'Walk_To_Template'),
transitions={
'finished': 'Set_Manipulate',
'failed': 'failed',
'aborted': 'Set_Manipulate'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'aborted': Autonomy.Inherit
},
remapping={
'grasp_preference': 'grasp_preference',
'hand_side': 'hand_side',
'template_id': '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:839 y:72
OperatableStateMachine.add('Grasp Object',
self.use_behavior(
GraspObjectSM, 'Grasp Object'),
transitions={
'finished': 'Attach_Cable',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'hand_side': 'hand_side',
'template_id': 'template_id'
})
# x:843 y:302
OperatableStateMachine.add('Take_Cable',
_sm_take_cable_5,
transitions={
'finished':
'Request_Target_Template',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'none': 'none'
})
# x:566 y:78
OperatableStateMachine.add(
'Set_Manipulate',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={
'changed': 'Grasp Object',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.Full
})
# x:822 y:545
OperatableStateMachine.add('Plug_In_Cable',
_sm_plug_in_cable_4,
transitions={
'finished': 'Warn_Stand',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'target_template_id':
'target_template_id',
'hand_side': 'hand_side',
'grasp_preference':
'grasp_preference',
'template_id': 'template_id',
'template_pose': 'template_pose'
})
# x:826 y:185
OperatableStateMachine.add('Attach_Cable',
AttachObjectState(),
transitions={
'done': 'Take_Cable',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Low,
'failed': Autonomy.Full
},
remapping={
'template_id': 'template_id',
'hand_side': 'hand_side',
'template_pose': 'template_pose'
})
# x:811 y:400
OperatableStateMachine.add(
'Request_Target_Template',
InputState(request=InputState.SELECTED_OBJECT_ID,
message="Place target template"),
transitions={
'received': 'Plug_In_Cable',
'aborted': 'failed',
'no_connection': 'failed',
'data_error': 'failed'
},
autonomy={
'received': Autonomy.Low,
'aborted': Autonomy.High,
'no_connection': Autonomy.Full,
'data_error': Autonomy.Full
},
remapping={'data': 'target_template_id'})
# x:753 y:646
OperatableStateMachine.add(
'Warn_Stand',
LogState(text="Going to stand pose",
severity=Logger.REPORT_INFO),
transitions={'done': 'Go_To_Stand_Pose'},
autonomy={'done': Autonomy.High})
# x:581 y:573
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:446 y:653
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:100 y:661
OperatableStateMachine.add(
'Perform_Step_Back',
_sm_perform_step_back_3,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'step_back_distance': 'step_back_distance'})
# x:383 y:527
OperatableStateMachine.add(
'Set_Stand',
ChangeControlModeActionState(
target_mode=ChangeControlModeActionState.STAND),
transitions={
'changed': 'Decide_Step_Back',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Low,
'failed': Autonomy.Full
})
return _state_machine
def create(self):
arm_controller = ExecuteTrajectoryMsgState.CONTROLLER_LEFT_ARM if self.hand_side == 'left' else ExecuteTrajectoryMsgState.CONTROLLER_RIGHT_ARM
handle_down_affordance = 'turnCW' if self.hand_side == 'left' else 'turnCCW'
door_affordance = 'push'
handle_up_affordance = 'turnCCW' if self.hand_side == 'left' else 'turnCW'
turn_threshold = 0.6
# x:433 y:590, x:333 y:340
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.grasp_preference = 0
_state_machine.userdata.hand_side = self.hand_side
_state_machine.userdata.none = None
_state_machine.userdata.waypoint_distance = 1.5 # meters
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:733 y:390, x:333 y:40
_sm_hand_back_0 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'template_id', 'none'])
with _sm_hand_back_0:
# x:84 y:28
OperatableStateMachine.add('Init_Grasp_Preference',
CalculationState(calculation=lambda x: 0),
transitions={'done': 'Get_Grasp_Pose'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'none', 'output_value': 'grasp_preference'})
# x:380 y:128
OperatableStateMachine.add('Inform_Pregrasp_Failed',
LogState(text="No grasp choice left!", severity=Logger.REPORT_WARN),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:476 y:378
OperatableStateMachine.add('Move_To_Pregrasp_Pose',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'finished', 'failed': 'Increase_Preference_Index'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:73 y:428
OperatableStateMachine.add('Increase_Preference_Index',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'Get_Grasp_Pose'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'grasp_preference', 'output_value': 'grasp_preference'})
# x:191 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:344 y:189
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_To_Pregrasp_Pose', 'incomplete': 'Move_To_Pregrasp_Pose', 'failed': 'failed'},
autonomy={'planned': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
remapping={'waypoints': 'pregrasp_waypoints', 'hand': 'hand_side', 'frame_id': 'pregrasp_frame_id', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:196 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:50 y:124
OperatableStateMachine.add('Get_Grasp_Pose',
GetTemplateGraspState(),
transitions={'done': 'Extract_Frame_Id', 'failed': 'Inform_Pregrasp_Failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full, 'not_available': Autonomy.Full},
remapping={'template_id': 'template_id', 'hand_side': 'hand_side', 'preference': 'grasp_preference', 'grasp': 'pregrasp_pose'})
# x:1041 y:400, x:987 y:18
_sm_unlock_door_1 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['handle_template_id', 'hand_side', 'none', 'door_template_id'], output_keys=['turn_fraction'])
with _sm_unlock_door_1:
# x:64 y:28
OperatableStateMachine.add('Get_Handle_Affordance_Down',
GetTemplateAffordanceState(identifier=handle_down_affordance),
transitions={'done': 'Plan_Turn_Handle_Down', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full, 'not_available': Autonomy.Full},
remapping={'template_id': 'handle_template_id', 'hand_side': 'hand_side', 'affordance': 'handle_affordance'})
# x:992 y:178
OperatableStateMachine.add('Plan_Push_Door',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Push_Door', 'incomplete': 'Push_Door', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
remapping={'affordance': 'door_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:973 y:78
OperatableStateMachine.add('Get_Push_Affordance',
GetTemplateAffordanceState(identifier=door_affordance),
transitions={'done': 'Plan_Push_Door', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full, 'not_available': Autonomy.Full},
remapping={'template_id': 'door_template_id', 'hand_side': 'hand_side', 'affordance': 'door_affordance'})
# x:277 y:78
OperatableStateMachine.add('Plan_Turn_Handle_Down',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Store_Turn_Down', 'incomplete': 'Decide_Execute_Incomplete', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
remapping={'affordance': 'handle_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:676 y:78
OperatableStateMachine.add('Turn_Handle',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Get_Push_Affordance', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:976 y:278
OperatableStateMachine.add('Push_Door',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:71 y:263
OperatableStateMachine.add('Get_Handle_Affordance_Up',
GetTemplateAffordanceState(identifier=handle_up_affordance),
transitions={'done': 'Plan_Turn_Handle_Up', 'failed': 'failed', 'not_available': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full, 'not_available': Autonomy.Full},
remapping={'template_id': 'handle_template_id', 'hand_side': 'hand_side', 'affordance': 'handle_affordance'})
# x:284 y:270
OperatableStateMachine.add('Plan_Turn_Handle_Up',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Store_Turn_Up', 'incomplete': 'Store_Turn_Up', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
remapping={'affordance': 'handle_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:70 y:178
OperatableStateMachine.add('Decide_Execute_Incomplete',
DecisionState(outcomes=["up", "down"], conditions=lambda x: "up" if x > turn_threshold else "down"),
transitions={'up': 'Store_Turn_Down', 'down': 'Get_Handle_Affordance_Up'},
autonomy={'up': Autonomy.Low, 'down': Autonomy.Low},
remapping={'input_value': 'plan_fraction'})
# x:494 y:78
OperatableStateMachine.add('Store_Turn_Down',
CalculationState(calculation=lambda x: x),
transitions={'done': 'Turn_Handle'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'plan_fraction', 'output_value': 'turn_fraction'})
# x:501 y:178
OperatableStateMachine.add('Store_Turn_Up',
CalculationState(calculation=lambda x: -x),
transitions={'done': 'Turn_Handle'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'plan_fraction', 'output_value': 'turn_fraction'})
# x:783 y:490, x:133 y:390
_sm_release_handle_2 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'none', 'turn_fraction'])
with _sm_release_handle_2:
# x:33 y:120
OperatableStateMachine.add('Decide_Turn_Direction',
DecisionState(outcomes=["up", "down"], conditions=lambda x: "up" if x > 0 else "down"),
transitions={'up': 'Get_Handle_Affordance_Up', 'down': 'Get_Handle_Affordance_Down'},
autonomy={'up': Autonomy.Low, 'down': Autonomy.Low},
remapping={'input_value': 'turn_fraction'})
# x:744 y:372
OperatableStateMachine.add('Hand_Back',
_sm_hand_back_0,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id', 'none': 'none'})
# x:742 y:128
OperatableStateMachine.add('Plan_Turn_Handle',
PlanAffordanceState(vel_scaling=0.1, planner_id="RRTConnectkConfigDefault"),
transitions={'done': 'Turn_Handle', 'incomplete': 'Turn_Handle', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'incomplete': Autonomy.High, 'failed': Autonomy.Full},
remapping={'affordance': 'handle_affordance', 'hand': 'hand_side', 'reference_point': 'none', 'joint_trajectory': 'joint_trajectory', 'plan_fraction': 'plan_fraction'})
# x:926 y:128
OperatableStateMachine.add('Turn_Handle',
ExecuteTrajectoryMsgState(controller=arm_controller),
transitions={'done': 'Open_Fingers', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
# x:932 y:228
OperatableStateMachine.add('Open_Fingers',
FingerConfigurationState(hand_type=self.hand_type, configuration=0.0),
transitions={'done': 'Decide_Retract_Hand', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'hand_side': 'hand_side'})
# x:455 y:128
OperatableStateMachine.add('Reduce_Affordance_Displacement',
FlexibleCalculationState(calculation=self.scale_affordance, input_keys=["affordance", "fraction"]),
transitions={'done': 'Plan_Turn_Handle'},
autonomy={'done': Autonomy.Off},
remapping={'affordance': 'handle_affordance', 'fraction': 'turn_fraction', 'output_value': 'scaled_affordance'})
# x:214 y:178
OperatableStateMachine.add('Get_Handle_Affordance_Down',
GetTemplateAffordanceState(identifier=handle_down_affordance),
transitions={'done': 'Reduce_Affordance_Displacement', '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': 'handle_affordance'})
# x:221 y:78
OperatableStateMachine.add('Get_Handle_Affordance_Up',
GetTemplateAffordanceState(identifier=handle_up_affordance),
transitions={'done': 'Reduce_Affordance_Displacement', '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': 'handle_affordance'})
# x:936 y:378
OperatableStateMachine.add('Decide_Retract_Hand',
OperatorDecisionState(outcomes=['keep', 'back'], hint="Take hand back from handle?", suggestion='keep'),
transitions={'keep': 'finished', 'back': 'Hand_Back'},
autonomy={'keep': Autonomy.High, 'back': Autonomy.Full})
# x:124 y:577, x:483 y:290
_sm_traverse_door_3 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['waypoint_distance', 'none'])
with _sm_traverse_door_3:
# x:62 y:78
OperatableStateMachine.add('Generate_Traversing_Waypoint',
CalculationState(calculation=lambda d: PoseStamped(header=Header(frame_id="pelvis"), pose=Pose(position=Point(x=d), orientation=Quaternion(w=1)))),
transitions={'done': 'Convert_Waypoint_Frame'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'waypoint_distance', 'output_value': 'waypoint_pelvis'})
# x:68 y:170
OperatableStateMachine.add('Convert_Waypoint_Frame',
GetPoseInFrameState(target_frame='world'),
transitions={'done': 'Create_Step_Goal', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Full},
remapping={'pose_in': 'waypoint_pelvis', 'pose_out': 'waypoint_world'})
# x:77 y:358
OperatableStateMachine.add('Plan_Through_Door',
PlanFootstepsState(mode=PlanFootstepsState.MODE_STEP_NO_COLLISION),
transitions={'planned': 'Go_Through_Door', 'failed': 'Take_Arms_Side'},
autonomy={'planned': Autonomy.High, 'failed': Autonomy.Full},
remapping={'step_goal': 'step_goal', 'plan_header': 'plan_header'})
# x:70 y:450
OperatableStateMachine.add('Go_Through_Door',
ExecuteStepPlanActionState(),
transitions={'finished': 'finished', 'failed': 'Take_Arms_Side'},
autonomy={'finished': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'plan_header': 'plan_header'})
# x:77 y:256
OperatableStateMachine.add('Create_Step_Goal',
CreateStepGoalState(pose_is_pelvis=True),
transitions={'done': 'Plan_Through_Door', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'target_pose': 'waypoint_world', 'step_goal': 'step_goal'})
# x:286 y:333
OperatableStateMachine.add('Take_Arms_Side',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.BOTH_ARMS_SIDES, vel_scaling=0.1, ignore_collisions=False, link_paddings={}, is_cartesian=False),
transitions={'done': 'Plan_Through_Door', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'side': 'none'})
# x:348 y:609, x:119 y:410
_sm_open_door_4 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['none', 'handle_template_id', 'door_template_id', 'hand_side'])
with _sm_open_door_4:
# x:87 y:78
OperatableStateMachine.add('Set_Template_Frame',
CalculationState(calculation=lambda x: 'template_tf_' + str(x)),
transitions={'done': 'Look_At_Handle_Hand'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'door_template_id', 'output_value': 'template_frame'})
# x:364 y:95
OperatableStateMachine.add('Log_Try_To_Open',
LogState(text='Will now try to open', severity=Logger.REPORT_INFO),
transitions={'done': 'Unlock_Door'},
autonomy={'done': Autonomy.High})
# x:576 y:273
OperatableStateMachine.add('Release_Handle',
_sm_release_handle_2,
transitions={'finished': 'Ask_If_Push', 'failed': 'Log_Remove_Hand'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'template_id': 'handle_template_id', 'hand_side': 'hand_side', 'none': 'none', 'turn_fraction': 'turn_fraction'})
# x:777 y:277
OperatableStateMachine.add('Log_Remove_Hand',
LogState(text='Remove hand from handle', severity=Logger.REPORT_HINT),
transitions={'done': 'Ask_If_Push'},
autonomy={'done': Autonomy.Full})
# x:440 y:196
OperatableStateMachine.add('Unlock_Door',
_sm_unlock_door_1,
transitions={'finished': 'Ask_for_Retry', 'failed': 'Ask_for_Retry'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'handle_template_id': 'handle_template_id', 'hand_side': 'hand_side', 'none': 'none', 'door_template_id': 'door_template_id', 'turn_fraction': 'turn_fraction'})
# x:597 y:109
OperatableStateMachine.add('Ask_for_Retry',
OperatorDecisionState(outcomes=["release_handle", "retry"], hint="Now release handle?", suggestion="release_handle"),
transitions={'release_handle': 'Release_Handle', 'retry': 'Log_Try_To_Open'},
autonomy={'release_handle': Autonomy.High, 'retry': Autonomy.Full})
# x:587 y:367
OperatableStateMachine.add('Ask_If_Push',
OperatorDecisionState(outcomes=['push', 'grasp_again'], hint='Is the door slightly open?', suggestion='push'),
transitions={'push': 'Look_Straight', 'grasp_again': 'Grasp_Handle'},
autonomy={'push': Autonomy.High, 'grasp_again': Autonomy.Full})
# x:283 y:472
OperatableStateMachine.add('Push Door Open',
self.use_behavior(PushDoorOpenSM, 'Open_Door/Push Door Open'),
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit})
# x:296 y:370
OperatableStateMachine.add('Look_Straight',
LookAtTargetState(),
transitions={'done': 'Push Door Open'},
autonomy={'done': Autonomy.Off},
remapping={'frame': 'none'})
# x:89 y:272
OperatableStateMachine.add('Grasp_Handle',
self.use_behavior(GraspObjectSM, 'Open_Door/Grasp_Handle'),
transitions={'finished': 'Log_Try_To_Open', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'handle_template_id'})
# x:83 y:178
OperatableStateMachine.add('Look_At_Handle_Hand',
LookAtTargetState(),
transitions={'done': 'Grasp_Handle'},
autonomy={'done': Autonomy.Off},
remapping={'frame': 'template_frame'})
with _state_machine:
# x:82 y:28
OperatableStateMachine.add('Get_Door_Template_ID',
InputState(request=InputState.SELECTED_OBJECT_ID, message="Provide the ID of the DOOR template."),
transitions={'received': 'Manipulate_On', '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': 'door_template_id'})
# x:616 y:478
OperatableStateMachine.add('Go_To_Stand',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.STAND),
transitions={'changed': 'Traverse_Door', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Low})
# x:81 y:122
OperatableStateMachine.add('Walk_to_Template',
self.use_behavior(WalktoTemplateSM, 'Walk_to_Template'),
transitions={'finished': 'Manipulate_On', 'failed': 'failed', 'aborted': 'Manipulate_On'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'aborted': Autonomy.Inherit},
remapping={'grasp_preference': 'grasp_preference', 'hand_side': 'hand_side', 'template_id': 'door_template_id'})
# x:316 y:128
OperatableStateMachine.add('Manipulate_On',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'Align_Door_Log', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Full})
# x:644 y:122
OperatableStateMachine.add('Open_Door',
_sm_open_door_4,
transitions={'finished': 'Wait_For_Gather_Data', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'none': 'none', 'handle_template_id': 'door_template_id', 'door_template_id': 'door_template_id', 'hand_side': 'hand_side'})
# x:634 y:278
OperatableStateMachine.add('Wait_For_Gather_Data',
LogState(text='Gather data from inside', severity=Logger.REPORT_HINT),
transitions={'done': 'Go_To_Stand'},
autonomy={'done': Autonomy.Full})
# x:390 y:472
OperatableStateMachine.add('Traverse_Door',
_sm_traverse_door_3,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'waypoint_distance': 'waypoint_distance', 'none': 'none'})
# x:525 y:34
OperatableStateMachine.add('Align_Door_Log',
LogState(text="Adjust pose of the door template", severity=Logger.REPORT_HINT),
transitions={'done': 'Open_Door'},
autonomy={'done': Autonomy.Full})
return _state_machine
def create(self):
l_random = [-2.47557862791, -1.21674644795, -0.761510070214, -0.219080422969, -2.68076430953, 0.189685935246, -3.8825693651]
r_random = [1.10260663602, 2.67164332545, 3.1286914453, 1.52042152218, -1.94191336135, 0.805351035619, -3.64437671794]
# x:33 y:340, x:435 y:356
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.joint_values = [0] * 7
_state_machine.userdata.l_random = l_random
_state_machine.userdata.r_random = r_random
_state_machine.userdata.random = l_random if self.planning_group == "l_arm_group" else r_random
_state_machine.userdata.hand_side = 'left'
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:151 y:30
OperatableStateMachine.add('Set_Manipulate',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.MANIPULATE),
transitions={'changed': 'Go_To_Stand', 'failed': 'failed'},
autonomy={'changed': Autonomy.Off, 'failed': Autonomy.Off})
# x:65 y:513
OperatableStateMachine.add('Turn_Torso_Left_Pose',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.TURN_TORSO_LEFT_POSE, vel_scaling=0.3, ignore_collisions=True, link_paddings={}),
transitions={'done': 'Go_To_Open_Door_Pose', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'side': 'hand_side'})
# x:312 y:565
OperatableStateMachine.add('Go_To_Open_Door_Pose',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.DOOR_OPEN_POSE_STRAIGHT, vel_scaling=0.1, ignore_collisions=False, link_paddings={}),
transitions={'done': 'Back_To_Door_Ready_Pose', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'failed': Autonomy.Off},
remapping={'side': 'hand_side'})
# x:647 y:328
OperatableStateMachine.add('Go_To_Final_Stand',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.STAND_POSE, vel_scaling=0.3, ignore_collisions=False, link_paddings={}),
transitions={'done': 'Ask_If_Open', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'side': 'hand_side'})
# x:622 y:189
OperatableStateMachine.add('Ask_If_Open',
OperatorDecisionState(outcomes=['open','push_again'], hint='Is the door open?', suggestion='open'),
transitions={'open': 'finished', 'push_again': 'Log_Try_Push_Again'},
autonomy={'open': Autonomy.High, 'push_again': Autonomy.Full})
# x:355 y:189
OperatableStateMachine.add('Log_Try_Push_Again',
LogState(text='Move robot closer to door', severity=Logger.REPORT_HINT),
transitions={'done': 'Go_To_Door_Ready_Pose'},
autonomy={'done': Autonomy.Full})
# x:623 y:452
OperatableStateMachine.add('Turn_Torso_Center_Pose',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.TURN_TORSO_CENTER_POSE, vel_scaling=0.3, ignore_collisions=True, link_paddings={}),
transitions={'done': 'Go_To_Final_Stand', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'side': 'hand_side'})
# x:126 y:316
OperatableStateMachine.add('Go_To_Door_Ready_Pose',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.DOOR_READY_POSE, vel_scaling=0.3, ignore_collisions=False, link_paddings={}),
transitions={'done': 'Go_To_Open_Door_Pose', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'side': 'hand_side'})
# x:100 y:203
OperatableStateMachine.add('Go_To_Stand',
MoveitPredefinedPoseState(target_pose=MoveitPredefinedPoseState.STAND_POSE, vel_scaling=0.5, ignore_collisions=False, link_paddings={}),
transitions={'done': 'Go_To_Door_Ready_Pose', 'failed': 'failed'},
autonomy={'done': Autonomy.High, 'failed': Autonomy.Off},
remapping={'side': 'hand_side'})
# x:551 y:580
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': 'Go_To_Final_Stand', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'side': 'hand_side'})
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
# 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]
# [/MANUAL_CREATE]
# x:133 y:340, x:383 y:140
_sm_perform_step_back_0 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['step_back_distance'])
with _sm_perform_step_back_0:
# 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_1 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['hand_side', 'none'])
with _sm_release_trigger_1:
# 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:133 y:540, x:433 y:240
_sm_pull_trigger_2 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['template_id', 'hand_side', 'none'])
with _sm_pull_trigger_2:
# x:73 y:78
OperatableStateMachine.add('Get_Pull_Affordance',
GetTemplateAffordanceState(identifier=pull_affordance),
transitions={'done': 'Plan_Pull', '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:92 y:228
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:76 y:378
OperatableStateMachine.add('Execute_Pull',
ExecuteTrajectoryMsgState(controller=affordance_controller),
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Low, 'failed': Autonomy.Full},
remapping={'joint_trajectory': 'joint_trajectory'})
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:330 y:172
OperatableStateMachine.add('Walk_To_Template',
self.use_behavior(WalktoTemplateSM, 'Walk_To_Template'),
transitions={'finished': 'Set_Manipulate', 'failed': 'failed', 'aborted': 'Set_Manipulate'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'aborted': Autonomy.Inherit},
remapping={'grasp_preference': 'grasp_preference', 'hand_side': 'hand_side', 'template_id': '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:839 y:72
OperatableStateMachine.add('Grasp Object',
self.use_behavior(GraspObjectSM, 'Grasp Object'),
transitions={'finished': 'Pull_Trigger', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'template_id': 'template_id'})
# x:844 y:172
OperatableStateMachine.add('Pull_Trigger',
_sm_pull_trigger_2,
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:272
OperatableStateMachine.add('Release_Trigger',
_sm_release_trigger_1,
transitions={'finished': 'Warn_Stand', 'failed': 'Warn_Stand'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'hand_side': 'hand_side', 'none': 'none'})
# x:826 y:528
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': 'Grasp Object', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Full})
# x:858 y:428
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:816 y:628
OperatableStateMachine.add('Set_Stand',
ChangeControlModeActionState(target_mode=ChangeControlModeActionState.STAND),
transitions={'changed': 'Decide_Step_Back', 'failed': 'failed'},
autonomy={'changed': Autonomy.Low, 'failed': Autonomy.Full})
# x:587 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:327 y:672
OperatableStateMachine.add('Perform_Step_Back',
_sm_perform_step_back_0,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'step_back_distance': 'step_back_distance'})
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):
initial_mode = "stand"
motion_mode = "manipulate"
mantis_mode = "manipulate_limits"
percent_past_limits = 0.10 # before: 0.075
# x:788 y:72, x:474 y:133
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.target_limits = 'upper'
_state_machine.userdata.cycle_counter = 1
_state_machine.userdata.stand_posture = None # calculated
_state_machine.userdata.offsets = {
'left_arm': dict(),
'right_arm': dict()
}
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
self._percent_past_limits = percent_past_limits
# Create STAND posture trajectory
_state_machine.userdata.stand_posture = AtlasFunctions.gen_stand_posture_trajectory(
)
# [/MANUAL_CREATE]
# x:222 y:281, x:349 y:167
_sm_determine_offsets_0 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['cycle_counter', 'offsets'],
output_keys=['offsets'])
with _sm_determine_offsets_0:
# x:61 y:53
OperatableStateMachine.add(
'Get_Left_Joint_Positions',
CurrentJointPositionsState(planning_group="l_arm_group"),
transitions={
'retrieved': 'Determine_Closest_Limits_Left',
'failed': 'failed'
},
autonomy={
'retrieved': Autonomy.Off,
'failed': Autonomy.Low
},
remapping={'joint_positions': 'joint_positions'})
# x:319 y:54
OperatableStateMachine.add(
'Determine_Closest_Limits_Left',
CalculationState(calculation=self.get_closest_limits_left),
transitions={'done': 'Store_Offsets_Left'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joint_positions',
'output_value': 'joint_limits'
})
# x:598 y:162
OperatableStateMachine.add(
'Get_Right_Joint_Positions',
CurrentJointPositionsState(planning_group="r_arm_group"),
transitions={
'retrieved': 'Determine_Closest_Limits_Right',
'failed': 'failed'
},
autonomy={
'retrieved': Autonomy.Off,
'failed': Autonomy.Low
},
remapping={'joint_positions': 'joint_positions'})
# x:584 y:275
OperatableStateMachine.add(
'Determine_Closest_Limits_Right',
CalculationState(calculation=self.get_closest_limits_right),
transitions={'done': 'Store_Offsets_Right'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joint_positions',
'output_value': 'joint_limits'
})
# x:608 y:54
OperatableStateMachine.add(
'Store_Offsets_Left',
FlexibleCalculationState(
calculation=self.store_offsets_left,
input_keys=['limits', 'value', 'offsets', 'counter']),
transitions={'done': 'Get_Right_Joint_Positions'},
autonomy={'done': Autonomy.Off},
remapping={
'limits': 'joint_limits',
'value': 'joint_positions',
'offsets': 'offsets',
'counter': 'cycle_counter',
'output_value': 'offsets'
})
# x:340 y:274
OperatableStateMachine.add(
'Store_Offsets_Right',
FlexibleCalculationState(
calculation=self.store_offsets_right,
input_keys=['limits', 'value', 'offsets', 'counter']),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'limits': 'joint_limits',
'value': 'joint_positions',
'offsets': 'offsets',
'counter': 'cycle_counter',
'output_value': 'offsets'
})
# x:528 y:401, x:707 y:282
_sm_manipulate_limits_1 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['cycle_counter', 'offsets'],
output_keys=['offsets', 'traj_past_limits'])
with _sm_manipulate_limits_1:
# x:100 y:156
OperatableStateMachine.add(
'Prevent_Runtime_Failure',
CalculationState(calculation=lambda x: dict()),
transitions={'done': 'Go_to_MANIPULATE_LIMITS'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'cycle_counter',
'output_value': 'traj_past_limits'
})
# x:387 y:55
OperatableStateMachine.add(
'Wait_for_Control_Mode_change',
WaitState(wait_time=1.0),
transitions={'done': 'Get_Left_Joint_Positions'},
autonomy={'done': Autonomy.Low})
# x:895 y:279
OperatableStateMachine.add(
'Gen_Traj_from_90%_to_110%',
CalculationState(calculation=self.gen_traj_past_limits),
transitions={'done': 'Go_to_110%_Joint_Limits'},
autonomy={'done': Autonomy.Low},
remapping={
'input_value': 'current_joint_values',
'output_value': 'traj_past_limits'
})
# x:893 y:391
OperatableStateMachine.add(
'Go_to_110%_Joint_Limits',
ExecuteTrajectoryBothArmsState(controllers=[
'left_arm_traj_controller', 'right_arm_traj_controller'
]),
transitions={
'done': 'Determine_Offsets',
'failed': 'Determine_Offsets'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'trajectories': 'traj_past_limits'})
# x:651 y:385
OperatableStateMachine.add('Determine_Offsets',
_sm_determine_offsets_0,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'cycle_counter': 'cycle_counter',
'offsets': 'offsets'
})
# x:648 y:54
OperatableStateMachine.add(
'Get_Left_Joint_Positions',
CurrentJointPositionsState(planning_group="l_arm_group"),
transitions={
'retrieved': 'Get_Right_Joint_Positions',
'failed': 'failed'
},
autonomy={
'retrieved': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_positions': 'joint_positions_left'})
# x:904 y:53
OperatableStateMachine.add(
'Get_Right_Joint_Positions',
CurrentJointPositionsState(planning_group="r_arm_group"),
transitions={
'retrieved': 'Generate_Joint_Positions_Struct',
'failed': 'failed'
},
autonomy={
'retrieved': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'joint_positions': 'joint_positions_right'})
# x:886 y:168
OperatableStateMachine.add(
'Generate_Joint_Positions_Struct',
FlexibleCalculationState(calculation=lambda ik: {
'left_arm': ik[0],
'right_arm': ik[1]
},
input_keys=['left', 'right']),
transitions={'done': 'Gen_Traj_from_90%_to_110%'},
autonomy={'done': Autonomy.Off},
remapping={
'left': 'joint_positions_left',
'right': 'joint_positions_right',
'output_value': 'current_joint_values'
})
# x:92 y:55
OperatableStateMachine.add(
'Go_to_MANIPULATE_LIMITS',
ChangeControlModeActionState(target_mode=mantis_mode),
transitions={
'changed': 'Wait_for_Control_Mode_change',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:574 y:247, x:276 y:549
_sm_update_calibration_2 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['offsets'])
with _sm_update_calibration_2:
# x:46 y:44
OperatableStateMachine.add(
'Process_Offsets',
CalculationState(calculation=self.process_offsets),
transitions={'done': 'Print_Offset_Info'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'offsets',
'output_value': 'offsets'
})
# x:227 y:45
OperatableStateMachine.add(
'Print_Offset_Info',
CalculationState(calculation=self.print_offset_info),
transitions={'done': 'Publish_Offsets'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'offsets',
'output_value': 'none'
})
# x:390 y:158
OperatableStateMachine.add(
'Ask_Perform_Update',
OperatorDecisionState(
outcomes=['update', 'no_update'],
hint=
"Do you want to apply the calculated offsets for calibration?",
suggestion=None),
transitions={
'update': 'Convert_Offset_Data',
'no_update': 'finished'
},
autonomy={
'update': Autonomy.Full,
'no_update': Autonomy.Full
})
# x:232 y:337
OperatableStateMachine.add(
'Update_Calibration',
UpdateJointCalibrationState(
joint_names=self._joint_names['left_arm'][0:4] +
self._joint_names['right_arm'][0:4]),
transitions={
'updated': 'Calibration_Successful',
'failed': 'Calibration_Failed'
},
autonomy={
'updated': Autonomy.Low,
'failed': Autonomy.High
},
remapping={'joint_offsets': 'offset_list'})
# x:241 y:242
OperatableStateMachine.add(
'Convert_Offset_Data',
CalculationState(calculation=lambda o: o['left_arm']['avg'] +
o['right_arm']['avg']),
transitions={'done': 'Update_Calibration'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'offsets',
'output_value': 'offset_list'
})
# x:522 y:337
OperatableStateMachine.add(
'Calibration_Successful',
LogState(text="Successfully updated calibration offsets.",
severity=Logger.REPORT_INFO),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:246 y:445
OperatableStateMachine.add(
'Calibration_Failed',
LogState(text="Failed to apply calibration offsets!",
severity=Logger.REPORT_ERROR),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:399 y:44
OperatableStateMachine.add(
'Publish_Offsets',
CalculationState(calculation=self.publish_offsets),
transitions={'done': 'Ask_Perform_Update'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'offsets',
'output_value': 'none'
})
# x:978 y:197, x:394 y:80
_sm_perform_checks_3 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['cycle_counter', 'target_limits', 'offsets'],
output_keys=['cycle_counter', 'offsets'])
with _sm_perform_checks_3:
# x:105 y:74
OperatableStateMachine.add(
'Go_to_Intermediate_Mode',
ChangeControlModeActionState(target_mode=motion_mode),
transitions={
'changed': 'Gen_Traj_to_90%_Limits',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:653 y:274
OperatableStateMachine.add('Manipulate_Limits',
_sm_manipulate_limits_1,
transitions={
'finished':
'Gen_Traj_back_to_90%_Limits',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'cycle_counter': 'cycle_counter',
'offsets': 'offsets',
'traj_past_limits':
'traj_past_limits'
})
# x:903 y:78
OperatableStateMachine.add(
'Increment_Cycle_counter',
CalculationState(calculation=lambda counter: counter + 1),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'cycle_counter',
'output_value': 'cycle_counter'
})
# x:344 y:277
OperatableStateMachine.add(
'Move_to_90%_Joint_Limits',
MoveitStartingPointState(vel_scaling=0.3),
transitions={
'reached': 'Manipulate_Limits',
'failed': 'Move_to_90%_Joint_Limits'
},
autonomy={
'reached': Autonomy.Low,
'failed': Autonomy.Full
},
remapping={'trajectories': 'trajectories_90'})
# x:114 y:276
OperatableStateMachine.add(
'Gen_Traj_to_90%_Limits',
CalculationState(calculation=self.gen_traj_pre_limits),
transitions={'done': 'Move_to_90%_Joint_Limits'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'target_limits',
'output_value': 'trajectories_90'
})
# x:636 y:78
OperatableStateMachine.add(
'Go_back_to_90%_Joint_Limits',
ExecuteTrajectoryBothArmsState(controllers=[
'left_arm_traj_controller', 'right_arm_traj_controller'
]),
transitions={
'done': 'Increment_Cycle_counter',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.High
},
remapping={'trajectories': 'traj_back_to_90'})
# x:636 y:172
OperatableStateMachine.add(
'Gen_Traj_back_to_90%_Limits',
FlexibleCalculationState(
calculation=self.gen_traj_back_from_limits,
input_keys=['trajectories_90', 'traj_past_limits']),
transitions={'done': 'Go_back_to_90%_Joint_Limits'},
autonomy={'done': Autonomy.Off},
remapping={
'trajectories_90': 'trajectories_90',
'traj_past_limits': 'traj_past_limits',
'output_value': 'traj_back_to_90'
})
with _state_machine:
# x:110 y:52
OperatableStateMachine.add(
'Initial_Control_Mode',
ChangeControlModeActionState(target_mode=initial_mode),
transitions={
'changed': 'Perform_Checks',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.High,
'failed': Autonomy.High
})
# x:712 y:317
OperatableStateMachine.add(
'Initial_Mode_before_exit',
ChangeControlModeActionState(target_mode=initial_mode),
transitions={
'changed': 'Update_Calibration',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
# x:122 y:302
OperatableStateMachine.add('Perform_Checks',
_sm_perform_checks_3,
transitions={
'finished':
'Are_We_Done_Yet?',
'failed':
'Intermediate_Mode_before_exit'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'cycle_counter': 'cycle_counter',
'target_limits': 'target_limits',
'offsets': 'offsets'
})
# x:126 y:505
OperatableStateMachine.add(
'Are_We_Done_Yet?',
DecisionState(outcomes=["done", "more"],
conditions=lambda counter: "done"
if counter >= 2 else "more"),
transitions={
'done': 'Intermediate_Mode_before_exit',
'more': 'Setup_next_Cycle'
},
autonomy={
'done': Autonomy.Low,
'more': Autonomy.High
},
remapping={'input_value': 'cycle_counter'})
# x:15 y:404
OperatableStateMachine.add(
'Setup_next_Cycle',
CalculationState(calculation=lambda lim: 'lower'
if lim == 'upper' else 'upper'),
transitions={'done': 'Perform_Checks'},
autonomy={'done': Autonomy.Low},
remapping={
'input_value': 'target_limits',
'output_value': 'target_limits'
})
# x:725 y:186
OperatableStateMachine.add('Update_Calibration',
_sm_update_calibration_2,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'offsets': 'offsets'})
# x:726 y:427
OperatableStateMachine.add(
'Move_to_Stand_Posture',
MoveitStartingPointState(vel_scaling=0.3),
transitions={
'reached': 'Initial_Mode_before_exit',
'failed': 'Move_to_Stand_Posture'
},
autonomy={
'reached': Autonomy.Off,
'failed': Autonomy.Full
},
remapping={'trajectories': 'stand_posture'})
# x:412 y:427
OperatableStateMachine.add(
'Intermediate_Mode_before_exit',
ChangeControlModeActionState(target_mode=motion_mode),
transitions={
'changed': 'Move_to_Stand_Posture',
'failed': 'failed'
},
autonomy={
'changed': Autonomy.Off,
'failed': Autonomy.High
})
return _state_machine