def __init__(self, robot):
StateMachine.__init__(self, outcomes=['succeeded', 'failed'])
source_entity_designator = EdEntityDesignator(robot, id=source_entity)
navigation_area_designator1 = VariableDesignator('in_front_of')
navigation_area_designator2 = VariableDesignator('in_back_of')
with self:
StateMachine.add("NAVIGATE_TO_INSPECT",
NavigateToSymbolic(robot, {source_entity_designator: navigation_area_designator1},
source_entity_designator),
transitions={'arrived': 'SIMPLE_GRASP',
'unreachable': 'NAVIGATE_TO_INSPECT2',
'goal_not_defined': 'NAVIGATE_TO_INSPECT2'})
StateMachine.add('SIMPLE_GRASP', FindAndGrab(robot),
transitions={'succeeded': 'succeeded',
'failed': 'NAVIGATE_TO_INSPECT2'})
StateMachine.add("NAVIGATE_TO_INSPECT2",
NavigateToSymbolic(robot, {source_entity_designator: navigation_area_designator2},
source_entity_designator),
transitions={'arrived': 'SIMPLE_GRASP2',
'unreachable': 'failed',
'goal_not_defined': 'failed'})
StateMachine.add('SIMPLE_GRASP2', FindAndGrab(robot),
transitions={'succeeded': 'succeeded',
'failed': 'failed'})
def __init__(self, robot, item):
StateMachine.__init__(self, outcomes=['found', 'not_found'])
source_entity_designator = EdEntityDesignator(robot, id=source_entity)
# description_designator = VariableDesignator({
# 'type': 'cup'
# })
area_name_designator = VariableDesignator('on_top_of')
navigation_area_designator1 = VariableDesignator('in_back_of')
navigation_area_designator2 = VariableDesignator('in_front_of')
with self:
StateMachine.add('FIND', CustomFind(robot, source_entity_designator, area_name_designator,
navigation_area_designator1, item),
transitions={'found': 'found',
'not_found': 'FIND2'})
StateMachine.add('FIND2', CustomFind(robot, source_entity_designator, area_name_designator,
navigation_area_designator2, item),
transitions={'found': 'found',
'not_found': 'FIND3'})
StateMachine.add('FIND3', CustomFind(robot, source_entity_designator, area_name_designator,
navigation_area_designator1, item),
transitions={'found': 'found',
'not_found': 'FIND4'})
StateMachine.add('FIND4', CustomFind(robot, source_entity_designator, area_name_designator,
navigation_area_designator2, item),
transitions={'found': 'found',
'not_found': 'not_found'})
def __init__(self, robot):
StateMachine.__init__(self, outcomes=['succeeded', 'failed'])
dishwasher = EdEntityDesignator(robot=robot, id=dishwasher_id)
with self:
StateMachine.add("NAVIGATE_BACK_TO_DISHWASHER",
NavigateToSymbolic(robot, {dishwasher: dishwasher_navigate_area}, dishwasher),
transitions={'arrived': 'CUSTOM_PLACE',
'unreachable': 'SAY_DISHWASHER_NOT_REACHABLE',
'goal_not_defined': 'SAY_DISHWASHER_NOT_REACHABLE'})
StateMachine.add('SAY_DISHWASHER_NOT_REACHABLE', Say(robot, [
"I cannot reach the dishwasher, let me try again in a couple of seconds! Hopefully this will go right this time."],
block=True),
transitions={'spoken': 'NAVIGATE_BACK_TO_DISHWASHER2'})
StateMachine.add("NAVIGATE_BACK_TO_DISHWASHER2",
NavigateToSymbolic(robot, {dishwasher: dishwasher_navigate_area}, dishwasher),
transitions={'arrived': 'CUSTOM_PLACE',
'unreachable': 'failed',
'goal_not_defined': 'failed'})
StateMachine.add('CUSTOM_PLACE', CustomPlace(robot),
transitions={'succeeded': 'succeeded',
'failed': 'failed'})
def __init__(self, robot, cupboard_id, cupboard_navigation_area,
required_items):
StateMachine.__init__(self,
outcomes=["succeeded", "failed"],
output_keys=["item_picked"])
cupboard = EdEntityDesignator(robot=robot, id=cupboard_id)
with self:
StateMachine.add(
"NAVIGATE_TO_CUPBOARD",
NavigateToSymbolic(robot, {cupboard: cupboard_navigation_area},
cupboard),
transitions={
'arrived': 'PICK_ITEM_FROM_CUPBOARD',
'unreachable': 'failed',
'goal_not_defined': 'failed'
})
StateMachine.add("PICK_ITEM_FROM_CUPBOARD",
PickItemFromCupboardDrawer(
robot, cupboard_id, required_items),
transitions={
'succeeded': 'succeeded',
'failed': 'failed'
})
def __init__(self,
robot,
table_id,
table_navigation_area,
table_close_navigation_area,
placement_height=0.7):
StateMachine.__init__(self,
outcomes=["succeeded", "failed"],
input_keys=["item_picked"])
table = EdEntityDesignator(robot=robot, id=table_id)
with self:
# StateMachine.add("NAVIGATE_TO_TABLE",
# NavigateToSymbolic(robot, {table: table_navigation_area}, table),
# transitions={'arrived': 'NAVIGATE_TO_TABLE_CLOSE',
# 'unreachable': 'failed',
# 'goal_not_defined': 'failed'})
StateMachine.add(
"NAVIGATE_TO_TABLE_CLOSE",
NavigateToSymbolic(robot, {table: table_close_navigation_area},
table),
transitions={
'arrived': 'PLACE_ITEM_ON_TABLE',
'unreachable': 'SAY_PICK_AWAY_THE_CHAIR',
'goal_not_defined': 'failed'
})
StateMachine.add("FORCE_DRIVE",
ForceDrive(robot, -0.1, 0, 0, 5.0),
transitions={'done': 'SAY_PICK_AWAY_THE_CHAIR'})
StateMachine.add(
"SAY_PICK_AWAY_THE_CHAIR",
Say(
robot,
"Please pick away the chair, I cannot get close enough to the {}"
.format(table_id)),
transitions={'spoken': 'WAIT_FOR_PICK_AWAY_CHAIR'})
StateMachine.add('WAIT_FOR_PICK_AWAY_CHAIR',
WaitTime(robot, 5),
transitions={
'waited': 'SAY_THANKS',
'preempted': 'failed'
})
StateMachine.add('SAY_THANKS',
Say(robot, "Thank you darling"),
transitions={'spoken': 'NAVIGATE_TO_TABLE_CLOSE'})
StateMachine.add("PLACE_ITEM_ON_TABLE",
PlaceItemOnTable(robot, table_id,
placement_height),
transitions={
'succeeded': 'succeeded',
'failed': 'failed'
})
def __init__(self, robot, order_type):
smach.StateMachine.__init__(self, outcomes=["succeeded", "failed"])
beverage_dest_desig = EdEntityDesignator(robot) #.id is overwritten by instruct_barman
with self:
@smach.cb_interface(outcomes=['spoken'])
def instruct_barman(userdata=None):
try:
order = ORDERS[order_type]
beverage_dest_desig.id = order['location']
robot.speech.speak("Barman, please put a {name} in my basket for table {location}".format(**order))
except KeyError:
rospy.logerr("No beverage in ORDERS")
return 'spoken'
smach.StateMachine.add( 'INSTRUCT_BARMAN',
smach.CBState(instruct_barman),
transitions={'spoken' :'AWAIT_PUT_ORDER_CONFIRMATION'})
smach.StateMachine.add( 'AWAIT_PUT_ORDER_CONFIRMATION',
states.WaitTime(robot, 8),
transitions={ 'waited' :'GOTO_ORDER_DESTINATION_1',
'preempted' :'failed'})
smach.StateMachine.add( 'GOTO_ORDER_DESTINATION_1', states.NavigateToWaypoint(robot, beverage_dest_desig, radius = WAYPOINT_RADIUS),
transitions={ 'arrived' :'SAY_TAKE_ORDER',
'unreachable' :'GOTO_ORDER_DESTINATION_2',
'goal_not_defined' :'GOTO_ORDER_DESTINATION_2'})
smach.StateMachine.add( 'GOTO_ORDER_DESTINATION_2', states.NavigateToWaypoint(robot, beverage_dest_desig, radius = WAYPOINT_RADIUS),
transitions={ 'arrived' :'SAY_TAKE_ORDER',
'unreachable' :'failed',
'goal_not_defined' :'failed'})
@smach.cb_interface(outcomes=['spoken'])
def instruct_guest(userdata=None):
try:
order = ORDERS[order_type]
robot.speech.speak("Dear guest at table {location}, you can get your {name} from my basket.".format(**order))
except KeyError:
rospy.logerr("No beverage in ORDERS")
return 'spoken'
smach.StateMachine.add( 'SAY_TAKE_ORDER',
smach.CBState(instruct_guest),
transitions={'spoken' :'AWAIT_TAKE_ORDER_CONFIRMATION'})
smach.StateMachine.add( 'AWAIT_TAKE_ORDER_CONFIRMATION',
states.WaitTime(robot, 5),
transitions={ 'waited' :'SAY_ENJOY_ORDER',
'preempted' :'failed'})
smach.StateMachine.add( 'SAY_ENJOY_ORDER',
states.Say(robot, ["Enjoy your {}".format(order_type)], block=False),
transitions={ 'spoken' :'succeeded'})
def __init__(self, robot):
smach.StateMachine.__init__(
self, outcomes=['container_success', 'container_failed'])
with self:
smach.StateMachine.add('SAY_STARTING_TEST',
states.Say(
robot,
"Starting people recognition test",
block=False),
transitions={'spoken': 'NAV_TO_WAYPOINT'})
smach.StateMachine.add(
'NAV_TO_WAYPOINT',
states.NavigateToWaypoint(
robot,
EdEntityDesignator(robot,
id=challenge_knowledge.wp_test_nav)),
transitions={
'arrived': 'LOOK_AT_OPERATOR',
'unreachable': 'SAY_FAILED_WAYPOINT',
'goal_not_defined': 'SAY_FAILED_WAYPOINT'
})
smach.StateMachine.add('SAY_FAILED_WAYPOINT',
states.Say(robot,
"Failed reaching the waypoint.",
block=True),
transitions={'spoken': 'LOOK_AT_OPERATOR'})
smach.StateMachine.add('LOOK_AT_OPERATOR',
states_interaction.LookAtPersonInFront(
robot, lookDown=False),
transitions={
'succeeded': 'RECOGNIZE_PEOPLE',
'failed': 'RECOGNIZE_PEOPLE'
})
smach.StateMachine.add('RECOGNIZE_PEOPLE',
test_states.RecognizePeople(robot),
transitions={
'succeeded': 'container_success',
'failed': 'SAY_NO_PEOPLE',
'no_people': 'SAY_NO_PEOPLE'
})
smach.StateMachine.add('SAY_NO_PEOPLE',
states.Say(
robot,
"I don see anyone in front of me.",
block=False),
transitions={'spoken': 'LOOK_AT_OPERATOR'})
def __init__(self, robot, cupboard_id, cupboard_navigation_area):
StateMachine.__init__(self, outcomes=["succeeded", "failed"])
cupboard = EdEntityDesignator(robot=robot, id=cupboard_id)
with self:
StateMachine.add("NAVIGATE_TO_CUPBOARD",
NavigateToSymbolic(robot, {cupboard: cupboard_navigation_area}, cupboard),
transitions={'arrived': 'CLOSE_CUPBOARD',
'unreachable': 'failed',
'goal_not_defined': 'failed'})
StateMachine.add("CLOSE_CUPBOARD", CloseCupboard(robot, cupboard_id),
transitions={'succeeded': 'succeeded',
'failed': 'failed'})
def __init__(self, robot, dishwasher_id, dishwasher_navigate_area):
StateMachine.__init__(self, outcomes=["succeeded", "failed"])
dishwasher = EdEntityDesignator(robot=robot, id=dishwasher_id)
with self:
StateMachine.add("NAVIGATE_TO_DISHWASHER",
NavigateToSymbolic(robot, {dishwasher: dishwasher_navigate_area}, dishwasher),
transitions={'arrived': 'OPEN_DISHWASHER',
'unreachable': 'failed',
'goal_not_defined': 'failed'})
StateMachine.add("OPEN_DISHWASHER",
OpenDishwasher(robot, dishwasher_id),
transitions={'succeeded': 'succeeded',
'failed': 'failed'})
def __init__(self, robot, rack_id, rack_navigation_area):
StateMachine.__init__(self, outcomes=["succeeded", "failed"])
rack = EdEntityDesignator(robot=robot, id=rack_id)
with self:
StateMachine.add("NAVIGATE_TO_RACK",
NavigateToSymbolic(robot,
{rack: rack_navigation_area},
rack),
transitions={
'arrived': 'GRAB_RACK',
'unreachable': 'failed',
'goal_not_defined': 'failed'
})
StateMachine.add("GRAB_RACK",
GrabRack(robot, rack_id),
transitions={'done': 'succeeded'})
def setup_statemachine(robot):
sm = smach.StateMachine(outcomes=['Done', 'Aborted'])
des = EdEntityDesignator(robot=robot, id='left_planks')
arm_des = UnoccupiedArmDesignator(robot.arms, robot.leftArm)
with sm:
# Start challenge via StartChallengeRobust, skipped atm
smach.StateMachine.add("INSPECT_AND_GRAB",
InspectAndGrab(robot,
supporting_entity_designator=des,
arm_designator=arm_des),
transitions={
"succeeded": "Done",
"inspect_failed": "Aborted",
"grasp_failed": "Aborted"
})
return sm
def __init__(self, robot, personNameDesLocal):
@smach.cb_interface(outcomes=['spoken'])
def saySearchingOperatorCB(userdata=None):
printOk("saySearchingOperatorCB")
robot.speech.speak("I am searching for " +
personNameDesLocal.resolve() + "!",
block=False)
return 'spoken'
smach.StateMachine.__init__(
self, outcomes=['container_success', 'container_failed'])
with self:
smach.StateMachine.add(
'NAV_TO_WAYPOINT',
states.NavigateToWaypoint(
robot,
EdEntityDesignator(robot,
id=challenge_knowledge.wp_test_nav)),
transitions={
'arrived': 'SAY_SEARCHING_OPERATOR',
'unreachable': 'SAY_FAILED_WAYPOINT',
'goal_not_defined': 'SAY_FAILED_WAYPOINT'
})
smach.StateMachine.add(
'SAY_FAILED_WAYPOINT',
states.Say(robot, "Failed reaching the waypoint.", block=True),
transitions={'spoken': 'SAY_SEARCHING_OPERATOR'})
smach.StateMachine.add('SAY_SEARCHING_OPERATOR',
smach.CBState(saySearchingOperatorCB),
transitions={'spoken': 'SAY_UNFINSHED'})
smach.StateMachine.add('SAY_UNFINSHED',
states.Say(robot,
"This part is not finished yet.",
block=False),
transitions={'spoken': 'container_success'})
def __init__(self, robot, location_des):
"""
Visit all selected locations from the list, and handle the found objects
:param location_des: is a designator resolving to a dictionary with fields ... TODO
"""
smach.StateMachine.__init__(self, outcomes=['done'])
segment_areas = ValueByKeyDesignator(location_des,
"segment_areas", [str],
name='segment_areas')
segment_area = VariableDesignator(resolve_type=str,
name='segment_area')
navigation_area_des = ValueByKeyDesignator(location_des,
key='navigation_area',
resolve_type=str,
name='navigation_area')
location_id_des = ValueByKeyDesignator(location_des,
key='name',
resolve_type=str,
name='location_id')
room_des = EdEntityDesignator(robot,
id_designator=ValueByKeyDesignator(
location_des,
key="room",
resolve_type=str))
# Set up the designators for this machine
e_classifications_des = VariableDesignator(
[],
resolve_type=[ClassificationResult],
name='e_classifications_des')
e_des = EdEntityDesignator(robot,
id_designator=location_id_des,
name='e_des')
with self:
smach.StateMachine.add('ITERATE_NEXT_AREA',
IterateDesignator(segment_areas,
segment_area.writeable),
transitions={
"next": 'INSPECT',
"stop_iteration": "done"
})
# Segment the area and handle segmented objects for the specified navigation area
# for i, segment_area in enumerate(segment_areas):
smach.StateMachine.add(
'INSPECT',
NavigateToSymbolic(robot, {e_des: navigation_area_des}, e_des),
transitions={
'arrived': 'SEGMENT_SAY',
'unreachable': "SAY_UNREACHABLE",
'goal_not_defined': "SAY_UNREACHABLE"
})
smach.StateMachine.add("SEGMENT_SAY",
Say(robot,
"Looking {area} the {entity}",
area=segment_area,
entity=location_id_des,
block=False),
transitions={"spoken": "RISE"})
smach.StateMachine.add('RISE',
RiseForInspect(robot, e_des, segment_area),
transitions={
'succeeded': 'SEGMENT',
'failed': 'SEGMENT'
})
smach.StateMachine.add(
'SEGMENT',
SegmentObjects(robot, e_classifications_des.writeable, e_des,
segment_area),
transitions={'done': "HANDLE_DETECTED_ENTITIES"})
smach.StateMachine.add("SAY_UNREACHABLE",
Say(robot,
"I failed to inspect the {furn}",
furn=location_id_des,
block=True),
transitions={"spoken": "done"})
smach.StateMachine.add("HANDLE_DETECTED_ENTITIES",
HandleDetectedEntities(
robot, e_classifications_des,
location_id_des, segment_area,
room_des),
transitions={"done": "ITERATE_NEXT_AREA"})
else:
smach.StateMachine.add('NAVIGATE_TO_INSPECT',
NavigateToObserve(robot,
entityDes,
radius=1.0),
transitions={
'unreachable': 'failed',
'goal_not_defined': 'failed',
'arrived': 'SEGMENT'
})
smach.StateMachine.add('SEGMENT',
SegmentObjects(robot,
objectIDsDes.writeable,
entityDes, searchArea),
transitions={'done': 'done'})
if __name__ == "__main__":
from robot_skills.amigo import Amigo
from robot_smach_states.util.designators import EdEntityDesignator
rospy.init_node('state_machine')
robot = Amigo()
sm = Inspect(robot=robot,
entityDes=EdEntityDesignator(robot=robot, id="closet"))
print sm.execute()
smach.StateMachine.add('CHECK',
CheckEmpty(robot, seen_entities_des,
entity_des, volume,
volume_threshold),
transitions={
'empty': 'empty',
'partially_occupied':
'partially_occupied',
'occupied': 'occupied'
})
if __name__ == "__main__":
from robot_skills import get_robot_from_argv
from robot_smach_states.util.designators import EdEntityDesignator
from robocup_knowledge import knowledge_loader
common = knowledge_loader.load_knowledge("common")
rospy.init_node('inspect_test')
robot = get_robot_from_argv(index=1)
sm = Inspect(robot=robot,
entityDes=EdEntityDesignator(robot=robot,
id="display_cabinet"),
navigation_area="in_front_of")
print(sm.execute())
def __init__(self,
robot,
item_to_place,
place_pose,
arm,
place_volume=None,
update_supporting_entity=False):
"""
Drive the robot to be close to the designated place_pose and move the designated arm to place the designated
item there
:param robot: Robot to execute state with
:param item_to_place: Designator that resolves to the entity to place. e.g EntityByIdDesignator
:param place_pose: The place pose can be one of three things:
1: Designator that resolves to the pose to place at. E.g. an EmptySpotDesignator
2: EdEntityDesignator resolving to an object on which the robot should place something
3: A string identifying an object on which the robot should place something
:param arm: Designator -> arm to place with, so Arm that holds entity_to_place, e.g. via
ArmHoldingEntityDesignator
:param place_volume (optional) string identifying the volume where to place the object, e.g., 'on_top_of',
'shelf3'
:param update_supporting_entity (optional) bool to indicate whether the supporting entity should be updated.
This can only be used if the supporting entity is supplied, case 2 or 3 mentioned under item_to_place
"""
smach.StateMachine.__init__(self, outcomes=['done', 'failed'])
# Check types or designator resolve types
assert (item_to_place.resolve_type == Entity
or type(item_to_place) == Entity)
assert (arm.resolve_type == PublicArm or type(arm) == PublicArm)
#assert(place_volume.resolve_type == str or (type(place_volume) == str))
# parse place volume
if place_volume is not None:
if isinstance(place_volume, str):
place_area = place_volume
elif place_volume.resolve_type == str:
place_area = place_volume.resolve()
else:
raise AssertionError("Cannot place in {}".format(place_volume))
# Case 3
if isinstance(place_pose, str):
furniture_designator = EdEntityDesignator(robot=robot,
id=place_pose)
place_designator = EmptySpotDesignator(
robot=robot,
place_location_designator=furniture_designator,
area=place_area)
# Case 1
elif place_pose.resolve_type == FrameStamped or type(
place_pose) == FrameStamped:
furniture_designator = None
place_designator = place_pose
# Case 2
elif place_pose.resolve_type == Entity:
furniture_designator = place_pose
place_designator = EmptySpotDesignator(
robot=robot,
place_location_designator=furniture_designator,
area=place_area)
else:
raise AssertionError("Cannot place on {}".format(place_pose))
locking_place_designator = LockingDesignator(place_designator)
with self:
if furniture_designator is not None:
smach.StateMachine.add('INSPECT',
Inspect(robot,
furniture_designator,
navigation_area="in_front_of"),
transitions={
'done': 'PREPARE_PLACE',
'failed': 'failed'
})
smach.StateMachine.add('PREPARE_PLACE',
PreparePlace(robot, arm),
transitions={
'succeeded': 'LOCK_DESIGNATOR',
'failed': 'failed'
})
smach.StateMachine.add('LOCK_DESIGNATOR',
LockDesignator(locking_place_designator),
transitions={'locked': 'NAVIGATE_TO_PLACE'})
smach.StateMachine.add('NAVIGATE_TO_PLACE',
NavigateToPlace(robot,
locking_place_designator,
arm),
transitions={
'unreachable': 'failed',
'goal_not_defined': 'failed',
'arrived': 'PUT'
})
smach.StateMachine.add('PUT',
Put(robot, item_to_place,
locking_place_designator, arm),
transitions={
'succeeded': 'done',
'failed': 'failed'
})
})
smach.StateMachine.add('PUT',
Put(robot, item_to_place,
locking_place_designator, arm),
transitions={
'succeeded': 'done',
'failed': 'failed'
})
if __name__ == "__main__":
from robot_skills import get_robot_from_argv
from robot_smach_states.util.designators import EdEntityDesignator, ArmDesignator
rospy.init_node('state_machine')
robot = get_robot_from_argv(index=1)
robot.ed.update_entity(id="bla")
place_entity = EdEntityDesignator(robot, id="bla")
arm = ArmDesignator(robot, {})
sm = Place(robot=robot,
item_to_place=place_entity,
place_pose='dinner_table',
arm=arm,
place_volume='on_top_of')
print(sm.execute())
def setup_statemachine(robot):
sm = smach.StateMachine(outcomes=['Done', 'Aborted'])
with sm:
# Start challenge via StartChallengeRobust
smach.StateMachine.add("START_CHALLENGE_ROBUST",
states.StartChallengeRobust(
robot,
challenge_knowledge.starting_point,
use_entry_points=True),
transitions={
"Done": "SAY_GOTO_TARGET2",
"Aborted": "SAY_GOTO_TARGET2",
"Failed": "SAY_GOTO_TARGET2"
})
smach.StateMachine.add(
'SAY_GOTO_TARGET1',
states.Say(robot, [
"I will go to target 1 now", "I will now go to target 1",
"Lets go to target 1", "Going to target 1"
],
block=False),
transitions={'spoken': 'GOTO_TARGET1'})
######################################################################################################################################################
#
# TARGET 1
#
######################################################################################################################################################
smach.StateMachine.add('GOTO_TARGET1',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.target1),
challenge_knowledge.target1_radius1),
transitions={
'arrived': 'SAY_TARGET1_REACHED',
'unreachable': 'RESET_ED_TARGET1',
'goal_not_defined': 'RESET_ED_TARGET1'
})
smach.StateMachine.add(
'SAY_TARGET1_REACHED',
states.Say(robot, [
"Reached target 1", "I have arrived at target 1",
"I am now at target 1"
],
block=True),
transitions={'spoken': 'SAY_GOTO_TARGET3'})
smach.StateMachine.add('RESET_ED_TARGET1',
states.ResetED(robot),
transitions={'done': 'GOTO_TARGET1_BACKUP'})
smach.StateMachine.add('GOTO_TARGET1_BACKUP',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.target1),
challenge_knowledge.target1_radius2),
transitions={
'arrived': 'SAY_TARGET1_REACHED',
'unreachable': 'TIMEOUT1',
'goal_not_defined': 'TIMEOUT1'
})
smach.StateMachine.add('TIMEOUT1',
checkTimeOut(
robot,
challenge_knowledge.time_out_seconds),
transitions={
'not_yet': 'GOTO_TARGET1',
'time_out': 'SAY_TARGET1_FAILED'
})
# Should we mention that we failed???
smach.StateMachine.add(
'SAY_TARGET1_FAILED',
states.Say(robot, [
"I am not able to reach target 1", "I cannot reach target 1",
"Target 1 is unreachable"
],
block=True),
transitions={'spoken': 'SAY_GOTO_TARGET3'})
######################################################################################################################################################
#
# TARGET 2
#
######################################################################################################################################################
smach.StateMachine.add(
'SAY_GOTO_TARGET2',
states.Say(robot, [
"I will go to target 2 now", "I will now go to target 2",
"Lets go to target 2", "Going to target 2"
],
block=False),
transitions={'spoken': 'GOTO_TARGET2_PRE'})
smach.StateMachine.add(
'GOTO_TARGET2_PRE',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(robot,
id=challenge_knowledge.target2_pre),
challenge_knowledge.target2_pre_radius1,
EntityByIdDesignator(robot, id=challenge_knowledge.target2)),
transitions={
'arrived': 'GOTO_TARGET2',
'unreachable': 'TIMEOUT2',
'goal_not_defined': 'TIMEOUT2'
})
smach.StateMachine.add('GOTO_TARGET2',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.target2),
challenge_knowledge.target2_radius1),
transitions={
'arrived': 'SAY_TARGET2_REACHED',
'unreachable': 'DETERMINE_OBJECT',
'goal_not_defined': 'DETERMINE_OBJECT'
})
smach.StateMachine.add(
'DETERMINE_OBJECT',
DetermineObject(robot, challenge_knowledge.target2,
challenge_knowledge.target2_obstacle_radius),
transitions={
'done': 'GOTO_TARGET2_AGAIN',
'timeout': 'GOTO_TARGET2_AGAIN'
})
smach.StateMachine.add('GOTO_TARGET2_AGAIN',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.target2),
challenge_knowledge.target2_radius1),
transitions={
'arrived': 'SAY_TARGET2_REACHED',
'unreachable': 'RESET_ED_TARGET2',
'goal_not_defined': 'RESET_ED_TARGET2'
})
smach.StateMachine.add(
'SAY_TARGET2_REACHED',
states.Say(robot, [
"Reached target 2", "I have arrived at target 2",
"I am now at target 2"
],
block=True),
transitions={'spoken': 'SAY_GOTO_TARGET1'})
smach.StateMachine.add('RESET_ED_TARGET2',
states.ResetED(robot),
transitions={'done': 'GOTO_TARGET2_BACKUP'})
smach.StateMachine.add('GOTO_TARGET2_BACKUP',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.target2),
challenge_knowledge.target2_radius2),
transitions={
'arrived': 'SAY_TARGET2_REACHED',
'unreachable': 'TIMEOUT2',
'goal_not_defined': 'TIMEOUT2'
})
smach.StateMachine.add('TIMEOUT2',
checkTimeOut(
robot,
challenge_knowledge.time_out_seconds),
transitions={
'not_yet': 'GOTO_TARGET2_PRE',
'time_out': 'SAY_TARGET2_FAILED'
})
smach.StateMachine.add(
'SAY_TARGET2_FAILED',
states.Say(robot, [
"I am unable to reach target 2", "I cannot reach target 2",
"Target 2 is unreachable"
],
block=True),
transitions={'spoken': 'SAY_GOTO_TARGET1'})
######################################################################################################################################################
#
# TARGET 3
#
######################################################################################################################################################
smach.StateMachine.add(
'SAY_GOTO_TARGET3',
states.Say(robot, [
"I will go to target 3 now", "I will now go to target 3",
"Lets go to target 3", "Going to target 3"
],
block=False),
transitions={'spoken': 'GOTO_TARGET3'})
smach.StateMachine.add('GOTO_TARGET3',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.target3),
challenge_knowledge.target3_radius1),
transitions={
'arrived': 'SAY_TARGET3_REACHED',
'unreachable': 'RESET_ED_TARGET3',
'goal_not_defined': 'RESET_ED_TARGET3'
})
smach.StateMachine.add(
'SAY_TARGET3_REACHED',
states.Say(robot, [
"Reached target 3", "I have arrived at target 3",
"I am now at target 3"
],
block=True),
transitions={'spoken': 'TURN'})
smach.StateMachine.add('RESET_ED_TARGET3',
states.ResetED(robot),
transitions={'done': 'GOTO_TARGET3_BACKUP'})
smach.StateMachine.add('GOTO_TARGET3_BACKUP',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.target3),
challenge_knowledge.target3_radius2),
transitions={
'arrived': 'SAY_TARGET3_REACHED',
'unreachable': 'TIMEOUT3',
'goal_not_defined': 'TIMEOUT3'
})
smach.StateMachine.add('TIMEOUT3',
checkTimeOut(
robot,
challenge_knowledge.time_out_seconds),
transitions={
'not_yet': 'GOTO_TARGET3',
'time_out': 'SAY_TARGET3_FAILED'
})
# Should we mention that we failed???
smach.StateMachine.add(
'SAY_TARGET3_FAILED',
states.Say(robot, [
"I am unable to reach target 3", "I cannot reach target 3",
"Target 3 is unreachable"
],
block=True),
transitions={'spoken': 'TURN'})
######################################################################################################################################################
#
# Follow waiter
#
######################################################################################################################################################
smach.StateMachine.add('TURN',
Turn(robot, challenge_knowledge.rotation),
transitions={'turned': 'SAY_STAND_IN_FRONT'})
smach.StateMachine.add(
'SAY_STAND_IN_FRONT',
states.Say(robot,
"Please stand in front of me!",
block=True,
look_at_standing_person=True),
transitions={'spoken': 'FOLLOW_WITH_DOOR_CHECK'})
# TODO: Fix concurrence
door_id_designator = VariableDesignator(
challenge_knowledge.target_door_1)
open_door_wp1_des = VariableDesignator(resolve_type=str)
open_door_wp2_des = VariableDesignator(resolve_type=str)
cc = smach.Concurrence(
['stopped', 'no_operator', 'lost_operator'],
default_outcome='no_operator',
child_termination_cb=lambda so: True,
outcome_map={
'stopped': {
'FOLLOW_OPERATOR': 'stopped'
},
# 'stopped': {'FOLLOW_OPERATOR': 'stopped', 'DETERMINE_DOOR': 'door_found'},
'no_operator': {
'FOLLOW_OPERATOR': 'no_operator'
},
# 'no_operator': {'FOLLOW_OPERATOR': 'no_operator', 'DETERMINE_DOOR': 'door_found'},
# 'lost_operator': {'FOLLOW_OPERATOR': 'lost_operator', 'DETERMINE_DOOR': 'preempted'},
'lost_operator': {
'FOLLOW_OPERATOR': 'lost_operator'
}
})
with cc:
smach.Concurrence.add('FOLLOW_OPERATOR',
states.FollowOperator(robot, replan=True))
smach.Concurrence.add('DETERMINE_DOOR',
DetermineDoor(robot, door_id_designator))
smach.StateMachine.add('FOLLOW_WITH_DOOR_CHECK',
cc,
transitions={
'no_operator': 'FOLLOW_WITH_DOOR_CHECK',
'stopped': 'SAY_SHOULD_I_RETURN',
'lost_operator': 'SAY_SHOULD_I_RETURN'
})
# smach.StateMachine.add( 'FOLLOW_OPERATOR', states.FollowOperator(robot, replan=True), transitions={ 'no_operator':'SAY_SHOULD_I_RETURN', 'stopped' : 'SAY_SHOULD_I_RETURN', 'lost_operator' : 'SAY_SHOULD_I_RETURN'})
smach.StateMachine.add('SAY_SHOULD_I_RETURN',
states.Say(robot,
"Should I return to target 3?",
look_at_standing_person=True),
transitions={'spoken': 'HEAR_SHOULD_I_RETURN'})
smach.StateMachine.add('HEAR_SHOULD_I_RETURN',
states.HearOptions(robot, ["yes", "no"]),
transitions={
'no_result': 'SAY_STAND_IN_FRONT',
"yes": "SELECT_WAYPOINTS",
"no": "SAY_STAND_IN_FRONT"
})
smach.StateMachine.add('SELECT_WAYPOINTS',
SelectWaypoints(door_id_designator,
open_door_wp1_des,
open_door_wp2_des),
transitions={'done': 'SAY_GOBACK_ARENA'})
######################################################################################################################################################
#
# RETURN TO ARENA DOOR
#
######################################################################################################################################################
smach.StateMachine.add(
'SAY_GOBACK_ARENA',
states.Say(robot, [
"I will go back to the arena", "I will return to the arena",
"Lets return to the arena", "Going back to the arena",
"Returning to the arena"
],
block=False),
transitions={'spoken': 'GOTO_ARENA_DOOR'})
smach.StateMachine.add(
'GOTO_ARENA_DOOR',
states.NavigateToWaypoint(
robot,
EdEntityDesignator(robot, id_designator=door_id_designator),
challenge_knowledge.target_door_radius),
transitions={
'arrived': 'ARENA_DOOR_REACHED',
'unreachable': 'RESET_ED_ARENA_DOOR',
'goal_not_defined': 'RESET_ED_ARENA_DOOR'
})
smach.StateMachine.add('ARENA_DOOR_REACHED',
states.Say(robot, [
"I am at the door of the arena",
"I have arrived at the door of the arena",
"I am now at the door of the arena"
],
block=True),
transitions={'spoken': 'SAY_OPEN_DOOR'})
smach.StateMachine.add('RESET_ED_ARENA_DOOR',
states.ResetED(robot),
transitions={'done': 'GOTO_ARENA_DOOR_BACKUP'})
smach.StateMachine.add(
'GOTO_ARENA_DOOR_BACKUP',
states.NavigateToWaypoint(
robot,
EdEntityDesignator(robot, id_designator=door_id_designator),
challenge_knowledge.target_door_radius),
transitions={
'arrived': 'ARENA_DOOR_REACHED',
'unreachable': 'TIMEOUT_ARENA_DOOR',
'goal_not_defined': 'TIMEOUT_ARENA_DOOR'
})
smach.StateMachine.add('TIMEOUT_ARENA_DOOR',
checkTimeOut(
robot,
challenge_knowledge.time_out_seconds_door),
transitions={
'not_yet': 'GOTO_ARENA_DOOR',
'time_out': 'SAY_GOTO_ARENA_DOOR_FAILED'
})
smach.StateMachine.add('SAY_GOTO_ARENA_DOOR_FAILED',
states.Say(robot, [
"I am unable to reach the arena door",
"I cannot reach the arena door",
"The arena door is unreachable"
],
block=True),
transitions={'spoken': 'Done'})
######################################################################################################################################################
#
# Opening Door
#
######################################################################################################################################################
smach.StateMachine.add(
'OPEN_DOOR',
states.OpenDoorByPushing(
robot,
EdEntityDesignator(robot, id_designator=open_door_wp1_des),
EdEntityDesignator(robot, id_designator=open_door_wp2_des)),
transitions={
'succeeded': 'SAY_RETURN_TARGET3',
'failed': 'TIMEOUT_ARENA_DOOR_OPENING'
})
smach.StateMachine.add(
'SAY_OPEN_DOOR',
states.Say(robot, [
"I am going to open the door",
"Going to open the door of the arena", "Door, open sesame"
],
block=True),
transitions={'spoken': 'OPEN_DOOR'})
smach.StateMachine.add(
'SAY_OPEN_DOOR_AGAIN',
states.Say(robot, [
"I failed to open the door. I will try it again",
"Let me try again to open the door"
],
block=True),
transitions={'spoken': 'OPEN_DOOR'})
smach.StateMachine.add('TIMEOUT_ARENA_DOOR_OPENING',
checkTimeOut(
robot,
challenge_knowledge.time_out_seconds),
transitions={
'not_yet': 'SAY_OPEN_DOOR_AGAIN',
'time_out': 'SAY_OPEN_DOOR_FAILED'
})
smach.StateMachine.add(
'SAY_OPEN_DOOR_FAILED',
states.Say(robot, [
"I was not able to open the door. I am done with this challange",
"I was not able to open the door. I am done with this challange"
],
block=True),
transitions={'spoken': 'Done'})
######################################################################################################################################################
#
# RETURN TO TARGET 3
#
######################################################################################################################################################
smach.StateMachine.add(
'SAY_RETURN_TARGET3',
states.Say(robot, [
"I will go back to target 3 now", "I will return to target 3",
"Lets go to target 3 again", "Going to target 3, again"
],
block=False),
transitions={'spoken': 'RETURN_TARGET3'})
smach.StateMachine.add(
'RETURN_TARGET3',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(robot, id=challenge_knowledge.target4),
challenge_knowledge.target4_radius1),
transitions={
'arrived': 'SAY_TARGET3_RETURN_REACHED',
'unreachable': 'RESET_ED_RETURN_TARGET3',
'goal_not_defined': 'RESET_ED_RETURN_TARGET3'
})
smach.StateMachine.add(
'SAY_TARGET3_RETURN_REACHED',
states.Say(robot, [
"Reached target 3 again", "I have arrived at target 3 again",
"I am now at target 3 again"
],
block=True),
transitions={'spoken': 'SAY_GOTO_EXIT'})
smach.StateMachine.add(
'RESET_ED_RETURN_TARGET3',
states.ResetED(robot),
transitions={'done': 'GOTO_RETURN_TARGET3_BACKUP'})
smach.StateMachine.add('GOTO_RETURN_TARGET3_BACKUP',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.target4),
challenge_knowledge.target4_radius2),
transitions={
'arrived': 'SAY_TARGET3_RETURN_REACHED',
'unreachable': 'TIMEOUT3_RETURN',
'goal_not_defined': 'TIMEOUT3_RETURN'
})
smach.StateMachine.add('TIMEOUT3_RETURN',
checkTimeOut(
robot,
challenge_knowledge.time_out_seconds),
transitions={
'not_yet': 'RETURN_TARGET3',
'time_out': 'SAY_RETURN_TARGET3_FAILED'
})
# Should we mention that we failed???
smach.StateMachine.add(
'SAY_RETURN_TARGET3_FAILED',
states.Say(robot, [
"I am unable to reach target 3 again",
"I cannot reach target 3 again", "Target 3 is unreachable"
],
block=True),
transitions={'spoken': 'SAY_GOTO_EXIT'})
######################################################################################################################################################
#
# TARGET EXIT
#
######################################################################################################################################################
smach.StateMachine.add(
'SAY_GOTO_EXIT',
states.Say(robot, [
"I will move to the exit now. See you guys later!",
"I am done with this challenge. Going to the exit"
],
block=False),
transitions={'spoken': 'GO_TO_EXIT'})
# Amigo goes to the exit (waypoint stated in knowledge base)
smach.StateMachine.add('GO_TO_EXIT',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.exit1),
radius=0.6),
transitions={
'arrived': 'AT_END',
'unreachable': 'RESET_ED_EXIT',
'goal_not_defined': 'RESET_ED_EXIT'
})
smach.StateMachine.add('RESET_ED_EXIT',
states.ResetED(robot),
transitions={'done': 'GO_TO_EXIT_BACKUP'})
smach.StateMachine.add('GO_TO_EXIT_BACKUP',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.exit2),
radius=0.6),
transitions={
'arrived': 'AT_END',
'unreachable': 'RESET_ED_EXIT2',
'goal_not_defined': 'RESET_ED_EXIT2'
})
smach.StateMachine.add('RESET_ED_EXIT2',
states.ResetED(robot),
transitions={'done': 'GO_TO_EXIT_BACKUP2'})
smach.StateMachine.add('GO_TO_EXIT_BACKUP2',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.exit3),
radius=0.6),
transitions={
'arrived': 'GO_TO_EXIT_BACKUP3',
'unreachable': 'RESET_ED_EXIT3',
'goal_not_defined': 'RESET_ED_EXIT3'
})
smach.StateMachine.add('RESET_ED_EXIT3',
states.ResetED(robot),
transitions={'done': 'GO_TO_EXIT_BACKUP3'})
smach.StateMachine.add('GO_TO_EXIT_BACKUP3',
states.NavigateToWaypoint(
robot,
EntityByIdDesignator(
robot, id=challenge_knowledge.exit4),
radius=0.6),
transitions={
'arrived': 'AT_END',
'unreachable': 'AT_END',
'goal_not_defined': 'AT_END'
})
smach.StateMachine.add('AT_END',
states.Say(robot, "Goodbye"),
transitions={'spoken': 'Done'})
analyse_designators(sm, "navigation")
return sm
def __init__(self, robot, objectsIDsDesLocal):
smach.StateMachine.__init__(
self, outcomes=['container_success', 'container_failed'])
with self:
smach.StateMachine.add(
'SAY_STARTING_TEST',
states.Say(robot,
"Starting object pickup test test",
block=False),
transitions={'spoken': 'SAY_SEARCHING_OBJECTS'})
smach.StateMachine.add(
'SAY_SEARCHING_OBJECTS',
states.Say(
robot,
"I'm going to the dinning table to search for objects",
block=False),
transitions={'spoken': 'NAV_TO_TABLE'})
smach.StateMachine.add(
'NAV_TO_TABLE',
states.NavigateToSymbolic(
robot, {
EdEntityDesignator(robot,
id=challenge_knowledge.INSPECT_ROOM_ID):
"in"
},
EdEntityDesignator(
robot, id=challenge_knowledge.INSPECT_ENTITY_ID)),
transitions={
'arrived': 'SEGMENT_OBJECTS',
'unreachable': 'SAY_FAILED_NAV_TO_TABLE',
'goal_not_defined': 'SAY_FAILED_NAV_TO_TABLE'
})
smach.StateMachine.add(
'SAY_FAILED_NAV_TO_TABLE',
states.Say(
robot,
"I could not reach the table, but i will try to continue.",
block=True),
transitions={'spoken': 'SEGMENT_OBJECTS'})
smach.StateMachine.add(
"SEGMENT_OBJECTS",
states.SegmentObjects(
robot, objectsIDsDesLocal.writeable,
EdEntityDesignator(
robot, id=challenge_knowledge.INSPECT_ENTITY_ID),
"on_top_of"),
transitions={'done': 'PICKUP_OBJECT'})
smach.StateMachine.add('PICKUP_OBJECT',
test_states.PickUpRandomObj(
robot, objectsIDsDesLocal),
transitions={
'succeeded': 'SAY_I_HAVE_OBJ',
'failed': 'SAY_PICKUP_FAILED',
'no_objects': 'SAY_NO_OBJECTS'
})
smach.StateMachine.add('SAY_I_HAVE_OBJ',
states.Say(robot,
"I have the object!",
block=False),
transitions={'spoken': 'container_success'})
smach.StateMachine.add(
'SAY_PICKUP_FAILED',
states.Say(
robot,
"Something went wrong and i could not pick up the object!",
block=False),
transitions={'spoken': 'container_failed'})
smach.StateMachine.add('SAY_NO_OBJECTS',
states.Say(
robot,
"I don't see any objects to pick up!",
block=False),
transitions={'spoken': 'container_failed'})
with self:
if navigation_area:
smach.StateMachine.add('NAVIGATE_TO_INSPECT', NavigateToSymbolic(robot, {entityDes: navigation_area},
entityDes),
transitions={'unreachable': 'failed',
'goal_not_defined': 'failed',
'arrived': 'SEGMENT'})
else:
smach.StateMachine.add('NAVIGATE_TO_INSPECT', NavigateToObserve(robot, entityDes, radius=1.0),
transitions={'unreachable': 'failed',
'goal_not_defined': 'failed',
'arrived': 'SEGMENT'})
smach.StateMachine.add('SEGMENT', SegmentObjects(robot, objectIDsDes.writeable, entityDes, searchArea,
threshold=threshold),
transitions={'done': 'done'})
if __name__ == "__main__":
from robot_skills.amigo import Amigo
from robot_smach_states.util.designators import EdEntityDesignator
rospy.init_node('state_machine')
robot = Amigo()
sm = Inspect(robot=robot, entityDes=EdEntityDesignator(robot=robot, id="closet"))
print sm.execute()
def __init__(self, robot, location_id, room_id, navigate_area,
segment_areas, known_types):
smach.StateMachine.__init__(self, outcomes=['done'])
# Set up the designators for this machine
e_classifications_des = VariableDesignator(
[],
resolve_type=[ClassificationResult],
name='e_classifications_des')
e_des = EdEntityDesignator(robot, id=location_id, name='e_des')
room_des = EntityByIdDesignator(robot, id=room_id, name='room_des')
with self:
# Loop over the areas that we have to segment and handle segmented objects for the specified navigation area
for i, segment_area in enumerate(segment_areas):
smach.StateMachine.add("RESET_ED_%d" % i,
robot_smach_states.ResetED(robot),
transitions={'done': 'NAVIGATE_%d' % i})
smach.StateMachine.add("NAVIGATE_%d" % i,
robot_smach_states.NavigateToSymbolic(
robot, {
e_des: navigate_area,
room_des: "in"
}, e_des),
transitions={
'arrived':
'SEGMENT_SAY_%d' % i,
'unreachable':
"SAY_UNREACHABLE_%d" % i,
'goal_not_defined':
"SAY_UNREACHABLE_%d" % i
})
smach.StateMachine.add(
"SEGMENT_SAY_%d" % i,
robot_smach_states.Say(
robot,
["Looking %s the %s" % (segment_area, location_id)],
block=False),
transitions={"spoken": "SEGMENT_%d" % i})
smach.StateMachine.add(
'SEGMENT_%d' % i,
robot_smach_states.SegmentObjects(
robot, e_classifications_des.writeable, e_des,
segment_area),
transitions={'done': "HANDLE_DETECTED_ENTITIES_%d" % i})
# Determine the next state, either it is the next iter or done
next_state = "RESET_ED_%d" % (
i + 1) if i + 1 < len(segment_areas) else "done"
smach.StateMachine.add(
"SAY_UNREACHABLE_%d" % i,
robot_smach_states.Say(
robot, ["I failed to inspect the %s" % location_id],
block=True),
transitions={"spoken": next_state})
smach.StateMachine.add("HANDLE_DETECTED_ENTITIES_%d" % i,
HandleDetectedEntities(
robot, e_classifications_des,
known_types, location_id,
segment_area),
transitions={"done": next_state})
def __init__(self, robot, source_location, source_navArea, target_location, target_navArea, target_placeArea="on_top_of", source_searchArea="on_top_of"):
"""
Let the given robot move to a location and remove all entities from that table one at a time
:param robot: Robot to use
:param source_location: Location which will be cleared
:param target_location: Location where the objects will be placed
:return:
"""
smach.StateMachine.__init__(self, outcomes=['done', 'failed'])
# Check types or designator resolve types
#check_type(source_location, Entity)
#check_type(target_location, Entity)
segmented_entities_designator = VariableDesignator([], resolve_type=[ClassificationResult])
selected_entity_designator = EntityByIdDesignator(robot, "TBD", name='selected_entity_designator', )
arm_des = UnoccupiedArmDesignator(robot, {}).lockable()
arm_des.lock()
place_position = states.util.designators.EmptySpotDesignator(robot, EdEntityDesignator(
robot, id=target_location.id),
area="on_top_of"
)
with self:
smach.StateMachine.add('INSPECT_SOURCE_ENTITY',
states.Inspect(robot, source_location, objectIDsDes=segmented_entities_designator,
searchArea=source_searchArea, navigation_area=source_navArea),
transitions={'done': 'DETERMINE_IF_CLEAR',
'failed': 'failed'}
)
#smach.StateMachine.add('DETERMINE_IF_CLEAR',
# isitclear(robot=robot,
# objectIDsDes=segmented_entities_designator),
# transitions={'clear': 'done',
# 'not_clear': 'failed'})
smach.StateMachine.add('DETERMINE_IF_CLEAR',
SelectEntity(robot, segmented_entities_designator, selected_entity_designator),
transitions={'no_entities_left': 'done',
'entity_selected': 'GRAB'}
)
smach.StateMachine.add('GRAB',
states.Grab(robot, selected_entity_designator, arm_des),
transitions={'done': 'INSPECT_TARGET',
'failed': 'failed'}
)
smach.StateMachine.add('INSPECT_TARGET',
states.Inspect(robot, target_location, searchArea=target_placeArea,
navigation_area=target_navArea),
transitions={'done': 'PLACE',
'failed': 'failed'}
)
smach.StateMachine.add('PLACE',
states.Place(robot, selected_entity_designator, place_position, arm_des),
transitions={'done': 'INSPECT_SOURCE_ENTITY',
'failed': 'failed'}
)