def create(self):
# x:476 y:530
_state_machine = OperatableStateMachine(outcomes=['finished'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:215 y:156
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:394 y:262
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:206 y:372
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:47 y:153
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:413 y:159
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:415 y:370
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:39 y:371
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:29 y:274
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:123 y:357, x:288 y:339
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.Pose_Init = "IdlePose"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:42 y:58
OperatableStateMachine.add(
'Hi',
SaraSay(sentence="Hi, my name is Sara and I will start",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'setHead'},
autonomy={'done': Autonomy.Off})
# x:77 y:210
OperatableStateMachine.add('SetArm',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'finished',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'Pose_Init'})
# x:72 y:130
OperatableStateMachine.add('setHead',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'SetArm'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:976 y:64, x:973 y:289
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:42 y:72
OperatableStateMachine.add('INIT HEAD',
SaraSetHeadAngle(pitch=0.4, yaw=0),
transitions={'done': 'repos'},
autonomy={'done': Autonomy.Off})
# x:205 y:72
OperatableStateMachine.add('repos',
RunTrajectory(file="repos", duration=0),
transitions={'done': 'opengrip'},
autonomy={'done': Autonomy.Off})
# x:506 y:86
OperatableStateMachine.add(
'opengrip',
SetGripperState(width=0.1, effort=0),
transitions={
'object': 'finished',
'no_object': 'finished'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
return _state_machine
def create(self):
# x:254 y:640, x:565 y:232, x:530 y:448
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed', 'critical_fail'], input_keys=['Action'])
_state_machine.userdata.Action = ["Count", "bottle", "behavior/Count/CountedObject"]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:41 y:32
OperatableStateMachine.add('get name',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'Say_Start'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'Action', 'output_value': 'className'})
# x:22 y:213
OperatableStateMachine.add('Action_count',
self.use_behavior(sara_flexbe_behaviors__Action_countSM, 'Action_count'),
transitions={'done': 'get paramname', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'className': 'className', 'Count': 'Count'})
# x:14 y:462
OperatableStateMachine.add('concat',
FlexibleCalculationState(calculation=lambda x: "I counted "+str(x[0])+" "+str(x[1])+".", input_keys=["Count", "className"]),
transitions={'done': 'Say_Count'},
autonomy={'done': Autonomy.Off},
remapping={'Count': 'Count', 'className': 'className', 'output_value': 'sentence'})
# x:28 y:388
OperatableStateMachine.add('store param',
SetRosParamKey(),
transitions={'done': 'concat'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'Count', 'ParamName': 'ParamName'})
# x:45 y:290
OperatableStateMachine.add('get paramname',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'store param'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'Action', 'output_value': 'ParamName'})
# x:17 y:633
OperatableStateMachine.add('set head back',
SaraSetHeadAngle(pitch=-0.3, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:36 y:120
OperatableStateMachine.add('Say_Start',
SaraSay(sentence=lambda x: "I'm starting to count the "+str(x)+"s.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Action_count'},
autonomy={'done': Autonomy.Off})
# x:27 y:546
OperatableStateMachine.add('Say_Count',
SaraSay(sentence=lambda x: x, input_keys=[], emotion=0, block=True),
transitions={'done': 'set head back'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:860 y:152, x:755 y:568
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['pose'])
_state_machine.userdata.pose = "crowd"
_state_machine.userdata.name = "destination"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:130 y:365
_sm_look_around_0 = OperatableStateMachine(outcomes=['failed'])
with _sm_look_around_0:
# x:78 y:40
OperatableStateMachine.add('set pitch',
SetKey(Value=0.9),
transitions={'done': 'get angle'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'pitch'})
# x:348 y:210
OperatableStateMachine.add('set head',
SaraSetHeadAngleKey(),
transitions={'done': 'get angle'},
autonomy={'done': Autonomy.Off},
remapping={
'yaw': 'yaw',
'pitch': 'pitch'
})
# x:204 y:248
OperatableStateMachine.add(
'limit yaw',
CalculationState(calculation=lambda x: max(min(x, 1), -1)),
transitions={'done': 'set head'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'yaw',
'output_value': 'yaw'
})
# x:191 y:126
OperatableStateMachine.add('get angle',
GetClosestObstacle(topic="/scan",
maximumDistance=2),
transitions={'done': 'limit yaw'},
autonomy={'done': Autonomy.Off},
remapping={'Angle': 'yaw'})
# x:30 y:365, x:130 y:365
_sm_move_1 = OperatableStateMachine(outcomes=['arrived', 'failed'],
input_keys=['pose'])
with _sm_move_1:
# x:95 y:122
OperatableStateMachine.add('move',
SaraMoveBase(reference="map"),
transitions={
'arrived': 'arrived',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'pose'})
# x:259 y:573, x:491 y:362, x:491 y:453
_sm_manage_name_2 = OperatableStateMachine(
outcomes=['done', 'too much', 'not found'],
input_keys=['pose'],
output_keys=['pose', 'name'])
with _sm_manage_name_2:
# x:39 y:48
OperatableStateMachine.add(
'check if Pose',
CheckConditionState(predicate=lambda x: type(x) is type([])),
transitions={
'true': 'getname',
'false': 'check if string'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'pose'})
# x:257 y:264
OperatableStateMachine.add(
'getcontainers',
CalculationState(calculation=lambda x: x[1:]),
transitions={'done': 'get wonderland entity'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'pose',
'output_value': 'containers'
})
# x:232 y:354
OperatableStateMachine.add('get wonderland entity',
WonderlandGetEntityVerbal(),
transitions={
'one': 'get waypoint',
'multiple': 'too much',
'none': 'not found',
'error': 'not found'
},
autonomy={
'one': Autonomy.Off,
'multiple': Autonomy.Off,
'none': Autonomy.Off,
'error': Autonomy.Off
},
remapping={
'name': 'name',
'containers': 'containers',
'entities': 'entities',
'firstEntity': 'firstEntity'
})
# x:238 y:442
OperatableStateMachine.add('get waypoint',
GetAttribute(attributes=["waypoint"]),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'firstEntity',
'waypoint': 'pose'
})
# x:256 y:166
OperatableStateMachine.add(
'getname',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'getcontainers'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'pose',
'output_value': 'name'
})
# x:42 y:180
OperatableStateMachine.add(
'check if string',
CheckConditionState(predicate=lambda x: type(x) is type("")),
transitions={
'true': 'remap to name',
'false': 'done'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'pose'})
# x:40 y:251
OperatableStateMachine.add(
'remap to name',
CalculationState(calculation=lambda x: x),
transitions={'done': 'set containers empty'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'pose',
'output_value': 'name'
})
# x:30 y:326
OperatableStateMachine.add(
'set containers empty',
SetKey(Value=[]),
transitions={'done': 'get wonderland entity'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'containers'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365
_sm_move_concurent_3 = ConcurrencyContainer(
outcomes=['arrived', 'failed'],
input_keys=['pose'],
conditions=[('arrived', [('Move', 'arrived')]),
('failed', [('Move', 'failed')]),
('failed', [('Look around', 'failed')])])
with _sm_move_concurent_3:
# x:30 y:40
OperatableStateMachine.add('Move',
_sm_move_1,
transitions={
'arrived': 'arrived',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'pose'})
# x:268 y:74
OperatableStateMachine.add('Look around',
_sm_look_around_0,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
with _state_machine:
# x:54 y:27
OperatableStateMachine.add('SetCount',
SetKey(Value=2),
transitions={'done': 'manage name'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Count'})
# x:258 y:250
OperatableStateMachine.add('stuck',
SaraSay(sentence="I'm getting stuck.",
input_keys=[],
emotion=2,
block=True),
transitions={'done': 'Count--'},
autonomy={'done': Autonomy.Off})
# x:49 y:251
OperatableStateMachine.add('try again',
SaraSay(sentence="But I'm still going.",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'Move concurent'},
autonomy={'done': Autonomy.Off})
# x:360 y:508
OperatableStateMachine.add(
'sorry',
SaraSay(sentence="Well. It seem's I can't go there.",
input_keys=[],
emotion=2,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:672 y:147
OperatableStateMachine.add('set blink',
SetExpression(emotion=6, brightness=-1),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:252 y:146
OperatableStateMachine.add('Move concurent',
_sm_move_concurent_3,
transitions={
'arrived': 'reset head',
'failed': 'stuck'
},
autonomy={
'arrived': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'pose'})
# x:254 y:353
OperatableStateMachine.add(
'Count--',
CalculationState(calculation=lambda x: x - 1),
transitions={'done': 'check count'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Count',
'output_value': 'Count'
})
# x:37 y:351
OperatableStateMachine.add(
'check count',
CheckConditionState(predicate=lambda x: x >= 0),
transitions={
'true': 'try again',
'false': 'sorry'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'Count'})
# x:497 y:149
OperatableStateMachine.add('reset head',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'set blink'},
autonomy={'done': Autonomy.Off})
# x:269 y:21
OperatableStateMachine.add('manage name',
_sm_manage_name_2,
transitions={
'done': 'set head',
'too much': 'say too much',
'not found': 'say not known'
},
autonomy={
'done': Autonomy.Inherit,
'too much': Autonomy.Inherit,
'not found': Autonomy.Inherit
},
remapping={
'pose': 'pose',
'name': 'name'
})
# x:46 y:147
OperatableStateMachine.add('set head',
SaraSetHeadAngle(pitch=0.8, yaw=0),
transitions={'done': 'Move concurent'},
autonomy={'done': Autonomy.Off})
# x:477 y:333
OperatableStateMachine.add(
'say too much',
SaraSay(
sentence=lambda x: "There is more than one " + x[0] + ".",
input_keys=["poseName"],
emotion=3,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'poseName': 'name'})
# x:445 y:418
OperatableStateMachine.add(
'say not known',
SaraSay(sentence=lambda x: "I don't know where the " + x[0] +
" is.",
input_keys=["poseName"],
emotion=0,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'poseName': 'name'})
return _state_machine
def create(self):
# x:102 y:572, x:889 y:107
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.Pose1 = "PostGripPose"
_state_machine.userdata.Pose2 = "IdlePose"
_state_machine.userdata.actionList = [["Find", "bottle"], ["move", "kitchen"]]
_state_machine.userdata.titre = "test"
_state_machine.userdata.relative = False
_state_machine.userdata.pitch = -0.8
_state_machine.userdata.Action1 = ["move", "counter"]
_state_machine.userdata.Action2 = ["move", "table"]
_state_machine.userdata.pose = "Dining room"
_state_machine.userdata.say1 = "say one"
_state_machine.userdata.say2 = "say two"
_state_machine.userdata.index = -1
_state_machine.userdata.name = "person"
_state_machine.userdata.name2 = "apple"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:28 y:104
OperatableStateMachine.add('set_2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off})
# x:190 y:78
OperatableStateMachine.add('calc',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'gen'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity_list', 'output_value': 'entity'})
# x:351 y:116
OperatableStateMachine.add('gen',
GenPointedPoints(step=0.3, qty=5),
transitions={'done': 'loop', 'not_pointing': 'say 1', 'failed': 'say2'},
autonomy={'done': Autonomy.Off, 'not_pointing': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'entity': 'entity', 'positionList': 'positionList'})
# x:218 y:246
OperatableStateMachine.add('loop',
ForLoop(repeat=5),
transitions={'do': 'flex calc', 'end': 'say 5'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:493 y:35
OperatableStateMachine.add('say 1',
SaraSay(sentence="Point at something", input_keys=[], emotion=0, block=True),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off})
# x:533 y:125
OperatableStateMachine.add('say2',
SaraSay(sentence="Failed to generate points", input_keys=[], emotion=0, block=True),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off})
# x:377 y:255
OperatableStateMachine.add('flex calc',
FlexibleCalculationState(calculation=lambda x: x[0][x[1]], input_keys=["positionList","index"]),
transitions={'done': 'look'},
autonomy={'done': Autonomy.Off},
remapping={'positionList': 'positionList', 'index': 'index', 'output_value': 'point'})
# x:554 y:251
OperatableStateMachine.add('look',
LookAtPos(),
transitions={'failed': 'say 3', 'done': 'list entities'},
autonomy={'failed': Autonomy.Off, 'done': Autonomy.Off},
remapping={'pos': 'point'})
# x:403 y:354
OperatableStateMachine.add('say 3',
SaraSay(sentence="I can not look at this point", input_keys=[], emotion=0, block=True),
transitions={'done': 'loop'},
autonomy={'done': Autonomy.Off})
# x:116 y:405
OperatableStateMachine.add('say 5',
SaraSay(sentence="I didn't see anything", input_keys=[], emotion=0, block=True),
transitions={'done': 'set'},
autonomy={'done': Autonomy.Off})
# x:150 y:493
OperatableStateMachine.add('set',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:30 y:40
OperatableStateMachine.add('list',
list_entities_by_name(frontality_level=0.5, distance_max=10),
transitions={'found': 'calc', 'none_found': 'list'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'})
# x:698 y:310
OperatableStateMachine.add('list entities',
list_entities_near_point(radius=2.0),
transitions={'found': 'say 4', 'none_found': 'wait'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name2', 'position': 'point', 'entity_list': 'found_entity_list', 'number': 'number'})
# x:714 y:407
OperatableStateMachine.add('say 4',
SaraSay(sentence="I see something.", input_keys=[], emotion=0, block=True),
transitions={'done': 'set'},
autonomy={'done': Autonomy.Off})
# x:569 y:346
OperatableStateMachine.add('wait',
WaitState(wait_time=3),
transitions={'done': 'loop'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:93 y:313, x:514 y:143
_state_machine = OperatableStateMachine(outcomes=['found', 'not_found'], input_keys=['className', 'personID'], output_keys=['personEntity'])
_state_machine.userdata.className = "person"
_state_machine.userdata.personID = 0
_state_machine.userdata.personEntity = ""
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:707 y:760
_sm_rotation_0 = OperatableStateMachine(outcomes=['end'], output_keys=['personEntity'])
with _sm_rotation_0:
# x:51 y:38
OperatableStateMachine.add('Set 180 degres',
SetKey(Value=3.1416),
transitions={'done': 'set cpt to 0'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:613 y:470
OperatableStateMachine.add('action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM, 'Container/Rotation/action_turn'),
transitions={'finished': 'check is cpt is 1', 'failed': 'check is cpt is 1'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'rotation': 'rotation'})
# x:421 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:265 y:56
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:630 y:56
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:250 y:177
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:618 y:304
OperatableStateMachine.add('Look Left 2',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:612 y:138
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:635 y:214
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'Look Left 2'},
autonomy={'done': Autonomy.Off})
# x:636 y:394
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:59 y:128
OperatableStateMachine.add('set cpt to 0',
SetKey(Value=0),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'cpt'})
# x:400 y:499
OperatableStateMachine.add('check is cpt is 1',
CheckConditionState(predicate=lambda x: x==1),
transitions={'true': 'set entity to unknown', 'false': 'set cpt to 1'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'cpt'})
# x:414 y:210
OperatableStateMachine.add('set cpt to 1',
SetKey(Value=1),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'cpt'})
# x:605 y:659
OperatableStateMachine.add('set entity to unknown',
SetKey(Value="unknown"),
transitions={'done': 'end'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'personEntity'})
# x:683 y:188
_sm_find_entity_1 = OperatableStateMachine(outcomes=['found'], input_keys=['personID'], output_keys=['personEntity'])
with _sm_find_entity_1:
# x:226 y:188
OperatableStateMachine.add('get person',
GetEntityByID(),
transitions={'found': 'found', 'not_found': 'WaitState'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'ID': 'personID', 'Entity': 'personEntity'})
# x:194 y:40
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'get person'},
autonomy={'done': Autonomy.Off})
# x:372 y:27, x:392 y:217, x:400 y:139, x:330 y:458
_sm_container_2 = ConcurrencyContainer(outcomes=['found', 'not_found'], input_keys=['className', 'personID'], output_keys=['personEntity'], conditions=[
('not_found', [('Rotation', 'end')]),
('found', [('Find Entity', 'found')])
])
with _sm_container_2:
# x:131 y:44
OperatableStateMachine.add('Find Entity',
_sm_find_entity_1,
transitions={'found': 'found'},
autonomy={'found': Autonomy.Inherit},
remapping={'personID': 'personID', 'personEntity': 'personEntity'})
# x:135 y:199
OperatableStateMachine.add('Rotation',
_sm_rotation_0,
transitions={'end': 'not_found'},
autonomy={'end': Autonomy.Inherit},
remapping={'personEntity': 'personEntity'})
with _state_machine:
# x:67 y:42
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'Container'},
autonomy={'done': Autonomy.Off})
# x:278 y:138
OperatableStateMachine.add('Look Center Not Found',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'not_found'},
autonomy={'done': Autonomy.Off})
# x:63 y:126
OperatableStateMachine.add('Container',
_sm_container_2,
transitions={'found': 'WaitState', 'not_found': 'Look Center Not Found'},
autonomy={'found': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'className': 'className', 'personID': 'personID', 'personEntity': 'personEntity'})
# x:67 y:222
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:860 y:786, x:837 y:171, x:828 y:43
_state_machine = OperatableStateMachine(
outcomes=['found', 'failed', 'not_found'],
input_keys=['question'],
output_keys=['entityFound'])
_state_machine.userdata.question = ""
_state_machine.userdata.entityFound = ""
_state_machine.userdata.personKey = "person"
_state_machine.userdata.index = -1
_state_machine.userdata.rotation180degres = -3.14
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:458, x:130 y:458
_sm_keep_looking_at_person_0 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['personID'])
with _sm_keep_looking_at_person_0:
# x:79 y:77
OperatableStateMachine.add('keep looking',
KeepLookingAt(),
transitions={'failed': 'keep looking'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'personID'})
# x:30 y:458, x:130 y:458
_sm_ask_1 = OperatableStateMachine(outcomes=['finished', 'failed'],
input_keys=['question'],
output_keys=['answer'])
with _sm_ask_1:
# x:57 y:66
OperatableStateMachine.add('wait',
WaitState(wait_time=3),
transitions={'done': 'Action_Ask'},
autonomy={'done': Autonomy.Off})
# x:46 y:155
OperatableStateMachine.add(
'Action_Ask',
self.use_behavior(
sara_flexbe_behaviors__Action_AskSM,
'ask while looking at person/ask/Action_Ask'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'question': 'question',
'answer': 'answer'
})
# x:871 y:712, x:874 y:127
_sm_get_real_id_2 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['entity', 'personKey', 'FIFO'],
output_keys=['personID'])
with _sm_get_real_id_2:
# x:47 y:32
OperatableStateMachine.add(
'get posittion face or entity',
CalculationState(calculation=lambda x: x.face.boundingBox.
Center if x.face.id != '' else x.position),
transitions={'done': 'get direction to point'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity',
'output_value': 'pointToLook'
})
# x:27 y:351
OperatableStateMachine.add('look at point',
SaraSetHeadAngleKey(),
transitions={'done': 'wait 1'},
autonomy={'done': Autonomy.Off},
remapping={
'yaw': 'yaw',
'pitch': 'pitch'
})
# x:40 y:423
OperatableStateMachine.add(
'wait 1',
WaitState(wait_time=1),
transitions={'done': 'list entity in front'},
autonomy={'done': Autonomy.Off})
# x:24 y:491
OperatableStateMachine.add(
'list entity in front',
list_entities_by_name(frontality_level=0.5, distance_max=3),
transitions={
'found':
'fitler the entity list to remove id already checked',
'none_found': 'set key'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'personKey',
'entity_list': 'entity_list',
'number': 'number'
})
# x:42 y:632
OperatableStateMachine.add(
'calcul first entity ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'say real id'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'filteredEntityList',
'output_value': 'personID'
})
# x:518 y:578
OperatableStateMachine.add(
'say real id',
SaraSay(sentence=lambda x: "The real ID is " + str(x[0]) + ".",
input_keys=["personID"],
emotion=0,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'personID': 'personID'})
# x:539 y:164
OperatableStateMachine.add('set key',
SetKey(Value=0),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'personID'})
# x:34 y:234
OperatableStateMachine.add('pitch to 0.1 if no face',
FlexibleCalculationState(
calculation=lambda x: x[0]
if x[1].face.id != '' else 0.1,
input_keys=["pitch", "entity"]),
transitions={'done': 'look at point'},
autonomy={'done': Autonomy.Off},
remapping={
'pitch': 'pitch',
'entity': 'entity',
'output_value': 'pitch'
})
# x:37 y:149
OperatableStateMachine.add('get direction to point',
Get_direction_to_point(
frame_origin="base_link",
frame_reference="head_link"),
transitions={
'done': 'pitch to 0.1 if no face',
'fail': 'set key'
},
autonomy={
'done': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'targetPoint': 'pointToLook',
'yaw': 'yaw',
'pitch': 'pitch'
})
# x:29 y:560
OperatableStateMachine.add(
'fitler the entity list to remove id already checked',
FilterKey(filter_function=lambda x: x[0].ID not in x[1],
input_keys=["input_list", "FIFO"]),
transitions={
'not_empty': 'calcul first entity ID',
'empty': 'set key'
},
autonomy={
'not_empty': Autonomy.Off,
'empty': Autonomy.Off
},
remapping={
'input_list': 'entity_list',
'FIFO': 'FIFO',
'output_list': 'filteredEntityList'
})
# x:30 y:458, x:710 y:24
_sm_tourne_tete_et_base_3 = OperatableStateMachine(
outcomes=['done', 'failed'],
input_keys=['index', 'rotation180degres'])
with _sm_tourne_tete_et_base_3:
# x:57 y:27
OperatableStateMachine.add(
'decide',
DecisionState(outcomes=["_0", "_1", "_2", "_3", "_4"],
conditions=lambda x: "_" + str(x)),
transitions={
'_0': 'look center',
'_1': 'look center_2',
'_2': 'look center_3',
'_3': 'action_turn',
'_4': 'look center_5'
},
autonomy={
'_0': Autonomy.Off,
'_1': Autonomy.Off,
'_2': Autonomy.Off,
'_3': Autonomy.Off,
'_4': Autonomy.Off
},
remapping={'input_value': 'index'})
# x:186 y:236
OperatableStateMachine.add('look right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'wait right'},
autonomy={'done': Autonomy.Off})
# x:208 y:307
OperatableStateMachine.add('wait right',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:322 y:109
OperatableStateMachine.add('look center_3',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center_3'},
autonomy={'done': Autonomy.Off})
# x:325 y:174
OperatableStateMachine.add('wait center_3',
WaitState(wait_time=3),
transitions={'done': 'look right_2'},
autonomy={'done': Autonomy.Off})
# x:318 y:240
OperatableStateMachine.add('look right_2',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'wait right_2'},
autonomy={'done': Autonomy.Off})
# x:345 y:310
OperatableStateMachine.add('wait right_2',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:489 y:178
OperatableStateMachine.add('look left_2_2',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'waitleft_2_2'},
autonomy={'done': Autonomy.Off})
# x:506 y:247
OperatableStateMachine.add('waitleft_2_2',
WaitState(wait_time=3),
transitions={'done': 'look center_4'},
autonomy={'done': Autonomy.Off})
# x:501 y:319
OperatableStateMachine.add('look center_4',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center_4'},
autonomy={'done': Autonomy.Off})
# x:520 y:407
OperatableStateMachine.add('wait center_4',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:476 y:109
OperatableStateMachine.add(
'action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM,
'tourne tete et base/action_turn'),
transitions={
'finished': 'look left_2_2',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation180degres'})
# x:199 y:108
OperatableStateMachine.add('look center_2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center_2'},
autonomy={'done': Autonomy.Off})
# x:51 y:113
OperatableStateMachine.add('look center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center'},
autonomy={'done': Autonomy.Off})
# x:56 y:174
OperatableStateMachine.add('wait center',
WaitState(wait_time=4),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:206 y:173
OperatableStateMachine.add('wait center_2',
WaitState(wait_time=2),
transitions={'done': 'look right'},
autonomy={'done': Autonomy.Off})
# x:730 y:110
OperatableStateMachine.add('look center_5',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait center_5'},
autonomy={'done': Autonomy.Off})
# x:741 y:193
OperatableStateMachine.add('wait center_5',
WaitState(wait_time=3),
transitions={'done': 'look right_5'},
autonomy={'done': Autonomy.Off})
# x:733 y:296
OperatableStateMachine.add('look right_5',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'wait right_5'},
autonomy={'done': Autonomy.Off})
# x:731 y:422
OperatableStateMachine.add('wait right_5',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:449 y:45, x:454 y:135, x:447 y:195, x:446 y:252, x:430 y:458, x:530 y:458
_sm_ask_while_looking_at_person_4 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['personID', 'question'],
output_keys=['answer'],
conditions=[('finished', [('ask', 'finished')]),
('failed', [('ask', 'failed')]),
('finished', [('keep looking at person', 'finished')]),
('failed', [('keep looking at person', 'failed')])])
with _sm_ask_while_looking_at_person_4:
# x:97 y:55
OperatableStateMachine.add('ask',
_sm_ask_1,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'question': 'question',
'answer': 'answer'
})
# x:65 y:197
OperatableStateMachine.add('keep looking at person',
_sm_keep_looking_at_person_0,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'personID': 'personID'})
with _state_machine:
# x:30 y:115
OperatableStateMachine.add(
'Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM,
'Init_Sequence'),
transitions={
'finished': 'create fifo',
'failed': 'create fifo'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:164 y:62
OperatableStateMachine.add('for loop',
ForLoopWithInput(repeat=4),
transitions={
'do': 'tourne tete et base',
'end': 'not_found'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'index_in': 'index',
'index_out': 'index'
})
# x:260 y:557
OperatableStateMachine.add('ask while looking at person',
_sm_ask_while_looking_at_person_4,
transitions={
'finished': 'answer contains yes',
'failed': 'add id'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'personID': 'personID',
'question': 'question',
'answer': 'answer'
})
# x:289 y:480
OperatableStateMachine.add(
'get personID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'ask while looking at person'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'personEntity',
'output_value': 'personID'
})
# x:270 y:643
OperatableStateMachine.add(
'answer contains yes',
RegexTester(
regex=".*((yes)|(Yes)|(yep)|(sure)|(of course)).*"),
transitions={
'true': 'say ty',
'false': 'add id'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'answer',
'result': 'result'
})
# x:173 y:260
OperatableStateMachine.add('look center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'for loop'},
autonomy={'done': Autonomy.Off})
# x:372 y:89
OperatableStateMachine.add('tourne tete et base',
_sm_tourne_tete_et_base_3,
transitions={
'done': 'get list of person',
'failed': 'not_found'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'index': 'index',
'rotation180degres':
'rotation180degres'
})
# x:263 y:322
OperatableStateMachine.add(
'fitler the entity list to remove id already checked',
FilterKey(filter_function=lambda x: x[0].ID not in x[1],
input_keys=["input_list", "FIFO"]),
transitions={
'not_empty': 'get first entity',
'empty': 'look center'
},
autonomy={
'not_empty': Autonomy.Off,
'empty': Autonomy.Off
},
remapping={
'input_list': 'entityList',
'FIFO': 'FIFO',
'output_list': 'filteredEntityList'
})
# x:268 y:388
OperatableStateMachine.add(
'get first entity',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'get real id'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'filteredEntityList',
'output_value': 'personEntity'
})
# x:296 y:168
OperatableStateMachine.add(
'get list of person',
list_entities_by_name(frontality_level=0.5, distance_max=3),
transitions={
'found':
'fitler the entity list to remove id already checked',
'none_found': 'for loop'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'personKey',
'entity_list': 'entityList',
'number': 'numberOfEntity'
})
# x:111 y:533
OperatableStateMachine.add(
'add id',
FIFO_Add(),
transitions={'done': 'say keep looking'},
autonomy={'done': Autonomy.Off},
remapping={
'Entry': 'personID',
'FIFO': 'FIFO'
})
# x:609 y:651
OperatableStateMachine.add('say ty',
SaraSay(sentence="Thank you.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off})
# x:113 y:386
OperatableStateMachine.add('say keep looking',
SaraSay(sentence="Ok, never mind.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'for loop'},
autonomy={'done': Autonomy.Off})
# x:472 y:438
OperatableStateMachine.add('get real id',
_sm_get_real_id_2,
transitions={
'finished':
'ask while looking at person',
'failed': 'get personID'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'entity': 'personEntity',
'personKey': 'personKey',
'FIFO': 'FIFO',
'personID': 'personID'
})
# x:35 y:53
OperatableStateMachine.add('create fifo',
FIFO_New(),
transitions={'done': 'for loop'},
autonomy={'done': Autonomy.Off},
remapping={'FIFO': 'FIFO'})
return _state_machine
def create(self):
# x:682 y:306, x:452 y:252
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['pos'])
_state_machine.userdata.pos = {"x": 0.8, "y": -0.2, "z": 1}
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458, x:530 y:458, x:630 y:458, x:59 y:533, x:830 y:458
_sm_group_0 = ConcurrencyContainer(
outcomes=['threshold', 'watchdog', 'fail'],
conditions=[('threshold', [('read', 'threshold')]),
('watchdog', [('read', 'watchdog')]),
('fail', [('read', 'fail')]),
('threshold', [('read yaw', 'threshold')]),
('fail', [('read yaw', 'fail')]),
('watchdog', [('read yaw', 'watchdog')])])
with _sm_group_0:
# x:86 y:125
OperatableStateMachine.add('read',
ReadTorque(
watchdog=1,
Joint="right_elbow_pitch_joint",
Threshold=0.7,
min_time=0.4),
transitions={
'threshold': 'threshold',
'watchdog': 'watchdog',
'fail': 'fail'
},
autonomy={
'threshold': Autonomy.Off,
'watchdog': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'torque': 'torque'})
# x:252 y:135
OperatableStateMachine.add('read yaw',
ReadTorque(
watchdog=1,
Joint="right_elbow_pitch_joint",
Threshold=0.5,
min_time=0.4),
transitions={
'threshold': 'threshold',
'watchdog': 'watchdog',
'fail': 'fail'
},
autonomy={
'threshold': Autonomy.Off,
'watchdog': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'torque': 'torque'})
# x:30 y:458
_sm_read_torque_1 = OperatableStateMachine(outcomes=['done'])
with _sm_read_torque_1:
# x:142 y:61
OperatableStateMachine.add('log',
LogState(text="going down",
severity=Logger.REPORT_HINT),
transitions={'done': 'Group'},
autonomy={'done': Autonomy.Off})
# x:131 y:164
OperatableStateMachine.add('Group',
_sm_group_0,
transitions={
'threshold': 'done',
'watchdog': 'log',
'fail': 'done'
},
autonomy={
'threshold': Autonomy.Inherit,
'watchdog': Autonomy.Inherit,
'fail': Autonomy.Inherit
})
# x:30 y:458
_sm_go_down_2 = OperatableStateMachine(outcomes=['done'],
input_keys=['GripPose'])
with _sm_go_down_2:
# x:126 y:194
OperatableStateMachine.add('movePlace',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'done',
'failed': 'done'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'GripPose'})
# x:30 y:324, x:130 y:324
_sm_retreate_arm_3 = OperatableStateMachine(
outcomes=['failed', 'done'],
input_keys=['approach_pose', 'PreGripPose'])
with _sm_retreate_arm_3:
# x:30 y:40
OperatableStateMachine.add('ReturnApproachPose',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'ReturnPreGrip',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'approach_pose'})
# x:202 y:41
OperatableStateMachine.add('ReturnPreGrip',
MoveitMove(move=True,
waitForExecution=False,
group="RightArm",
watchdog=15),
transitions={
'done': 'done',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'PreGripPose'})
# x:30 y:324, x:130 y:324
_sm_releasing_4 = OperatableStateMachine(
outcomes=['object', 'no_object'])
with _sm_releasing_4:
# x:30 y:40
OperatableStateMachine.add('say touchdown',
SaraSay(sentence="Touchdown!",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'open gripper'},
autonomy={'done': Autonomy.Off})
# x:139 y:176
OperatableStateMachine.add(
'open gripper',
SetGripperState(width=0.14, effort=1),
transitions={
'object': 'object',
'no_object': 'no_object'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:30 y:324, x:130 y:324
_sm_moveback_5 = OperatableStateMachine(outcomes=['arrived', 'failed'])
with _sm_moveback_5:
# x:30 y:40
OperatableStateMachine.add('genpose',
GenPoseEuler(x=-0.3,
y=-0.3,
z=0,
roll=0,
pitch=0,
yaw=0),
transitions={'done': 'move back'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'backPose'})
# x:40 y:163
OperatableStateMachine.add('move back',
SaraMoveBase(reference="base_link"),
transitions={
'arrived': 'arrived',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'backPose'})
# x:536 y:72, x:231 y:292
_sm_prepare_grip_6 = OperatableStateMachine(
outcomes=['failed', 'done'],
input_keys=['pos'],
output_keys=['approach_pose', 'grip_pose'])
with _sm_prepare_grip_6:
# x:50 y:40
OperatableStateMachine.add('Gen place_pos',
GenGripperPose(l=0,
z=-0.05,
planar=True),
transitions={
'done': 'Gen approach_pos',
'fail': 'failed'
},
autonomy={
'done': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'pose_in': 'pos',
'pose_out': 'grip_pose'
})
# x:30 y:176
OperatableStateMachine.add('MoveIt_isReachable',
MoveitMove(move=False,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'log app',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'grip_pose'})
# x:37 y:108
OperatableStateMachine.add('Gen approach_pos',
GenGripperPose(l=0.0,
z=0.20,
planar=True),
transitions={
'done': 'log place pos',
'fail': 'failed'
},
autonomy={
'done': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'pose_in': 'pos',
'pose_out': 'approach_pose'
})
# x:41 y:269
OperatableStateMachine.add('log app',
LogKeyState(
text="{}",
severity=Logger.REPORT_HINT),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'approach_pose'})
# x:360 y:180
OperatableStateMachine.add(
'log place pos',
LogKeyState(text="place pose is {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'MoveIt_isReachable'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'grip_pose'})
# x:30 y:324, x:130 y:324
_sm_pregrippose_7 = OperatableStateMachine(outcomes=['done', 'failed'],
output_keys=['PreGripPose'])
with _sm_pregrippose_7:
# x:30 y:40
OperatableStateMachine.add('setPreGripPose',
SetKey(Value="PrePlacePose"),
transitions={'done': 'gotoPreGrip'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'PreGripPose'})
# x:32 y:106
OperatableStateMachine.add('gotoPreGrip',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'done',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'PreGripPose'})
# x:30 y:458, x:130 y:458, x:230 y:458
_sm_get_down_8 = ConcurrencyContainer(
outcomes=['done'],
input_keys=['GripPose'],
conditions=[('done', [('Go down', 'done')]),
('done', [('read torque', 'done')])])
with _sm_get_down_8:
# x:178 y:127
OperatableStateMachine.add('Go down',
_sm_go_down_2,
transitions={'done': 'done'},
autonomy={'done': Autonomy.Inherit},
remapping={'GripPose': 'GripPose'})
# x:405 y:150
OperatableStateMachine.add('read torque',
_sm_read_torque_1,
transitions={'done': 'done'},
autonomy={'done': Autonomy.Inherit})
# x:30 y:324, x:130 y:324
_sm_pretraitement_9 = OperatableStateMachine(outcomes=['fail', 'done'],
input_keys=['pos'],
output_keys=['pos'])
with _sm_pretraitement_9:
# x:30 y:40
OperatableStateMachine.add('TF_transformation',
TF_transformation(in_ref="map",
out_ref="base_link"),
transitions={
'done': 'LOG POSE',
'fail': 'fail'
},
autonomy={
'done': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'in_pos': 'pos',
'out_pos': 'pos'
})
# x:33 y:107
OperatableStateMachine.add('LOG POSE',
LogKeyState(
text="{}",
severity=Logger.REPORT_HINT),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'pos'})
with _state_machine:
# x:148 y:34
OperatableStateMachine.add('Pretraitement',
_sm_pretraitement_9,
transitions={
'fail': 'failed',
'done': 'PreGripPose'
},
autonomy={
'fail': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={'pos': 'pos'})
# x:634 y:410
OperatableStateMachine.add(
'close gripper',
SetGripperState(width=0, effort=1),
transitions={
'object': 'finished',
'no_object': 'finished'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:141 y:522
OperatableStateMachine.add('Get_down',
_sm_get_down_8,
transitions={'done': 'releasing'},
autonomy={'done': Autonomy.Inherit},
remapping={'GripPose': 'grip_pose'})
# x:159 y:352
OperatableStateMachine.add('look down',
SaraSetHeadAngle(pitch=0.6, yaw=-0.3),
transitions={'done': 'Move_approach'},
autonomy={'done': Autonomy.Off})
# x:160 y:127
OperatableStateMachine.add(
'PreGripPose',
_sm_pregrippose_7,
transitions={
'done': 'Prepare grip',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'PreGripPose': 'PreGripPose'})
# x:156 y:238
OperatableStateMachine.add('Prepare grip',
_sm_prepare_grip_6,
transitions={
'failed': 'failed',
'done': 'look down'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'pos': 'pos',
'approach_pose': 'approach_pose',
'grip_pose': 'grip_pose'
})
# x:139 y:444
OperatableStateMachine.add('Move_approach',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'Get_down',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'approach_pose'})
# x:623 y:525
OperatableStateMachine.add('Moveback',
_sm_moveback_5,
transitions={
'arrived': 'close gripper',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:298 y:520
OperatableStateMachine.add('releasing',
_sm_releasing_4,
transitions={
'object': 'retreate arm',
'no_object': 'retreate arm'
},
autonomy={
'object': Autonomy.Inherit,
'no_object': Autonomy.Inherit
})
# x:459 y:522
OperatableStateMachine.add('retreate arm',
_sm_retreate_arm_3,
transitions={
'failed': 'failed',
'done': 'Moveback'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'approach_pose': 'approach_pose',
'PreGripPose': 'PreGripPose'
})
return _state_machine
def create(self):
# x:72 y:443, x:514 y:143
_state_machine = OperatableStateMachine(outcomes=['done', 'pas_done'], input_keys=['className'], output_keys=['entity'])
_state_machine.userdata.className = "person"
_state_machine.userdata.entity = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:706 y:647
_sm_rotation_0 = OperatableStateMachine(outcomes=['end'])
with _sm_rotation_0:
# x:51 y:38
OperatableStateMachine.add('Set 180 degres',
SetKey(Value=3.1416),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:613 y:470
OperatableStateMachine.add('action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM, 'Container/Rotation/action_turn'),
transitions={'finished': 'Look Right', 'failed': 'Look Right'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'rotation': 'rotation'})
# x:421 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:265 y:56
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:630 y:56
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:250 y:177
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:618 y:304
OperatableStateMachine.add('Look Left 2',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:612 y:138
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:635 y:214
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'Look Left 2'},
autonomy={'done': Autonomy.Off})
# x:636 y:394
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:683 y:188
_sm_find_entity_1 = OperatableStateMachine(outcomes=['found'], input_keys=['className'], output_keys=['entity'])
with _sm_find_entity_1:
# x:181 y:178
OperatableStateMachine.add('find_entity',
list_entities_by_name(frontality_level=0.5, distance_max=4),
transitions={'found': 'Get Entity', 'none_found': 'find_entity'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'className', 'entity_list': 'entity_list', 'number': 'number'})
# x:454 y:178
OperatableStateMachine.add('Get Entity',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity_list', 'output_value': 'entity'})
# x:194 y:40
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'find_entity'},
autonomy={'done': Autonomy.Off})
# x:372 y:27, x:370 y:220, x:368 y:100, x:330 y:458
_sm_container_2 = ConcurrencyContainer(outcomes=['found', 'not_found'], input_keys=['className'], output_keys=['entity'], conditions=[
('not_found', [('Rotation', 'end')]),
('found', [('Find Entity', 'found')])
])
with _sm_container_2:
# x:131 y:44
OperatableStateMachine.add('Find Entity',
_sm_find_entity_1,
transitions={'found': 'found'},
autonomy={'found': Autonomy.Inherit},
remapping={'className': 'className', 'entity': 'entity'})
# x:129 y:197
OperatableStateMachine.add('Rotation',
_sm_rotation_0,
transitions={'end': 'not_found'},
autonomy={'end': Autonomy.Inherit})
with _state_machine:
# x:67 y:42
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'Container'},
autonomy={'done': Autonomy.Off})
# x:278 y:138
OperatableStateMachine.add('Look Center Not Found',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'pas_done'},
autonomy={'done': Autonomy.Off})
# x:58 y:326
OperatableStateMachine.add('Log Entity',
LogKeyState(text="Found entity: {}", severity=Logger.REPORT_HINT),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'entity'})
# x:63 y:126
OperatableStateMachine.add('Container',
_sm_container_2,
transitions={'found': 'WaitState', 'not_found': 'Look Center Not Found'},
autonomy={'found': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'className': 'className', 'entity': 'entity'})
# x:67 y:222
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'Log Entity'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:832 y:260, x:728 y:256
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['ID'])
_state_machine.userdata.ID = 0
_state_machine.userdata.Closed_Gripper_Width = 1
_state_machine.userdata.Open_Gripper_Width = 255
_state_machine.userdata.Relative = False
_state_machine.userdata.Pose_Init = "IdlePose"
_state_machine.userdata.dropPose = "DropBagPose"
_state_machine.userdata.EntryDoor = "door1/enter"
_state_machine.userdata.ExitDoor = "door1/exit"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:700 y:231, x:418 y:463
_sm_ecoute_getpose_0 = OperatableStateMachine(outcomes=['arrete', 'fail'])
with _sm_ecoute_getpose_0:
# x:53 y:35
OperatableStateMachine.add('Ecoute',
GetSpeech(watchdog=5),
transitions={'done': 'stop', 'nothing': 'Ecoute', 'fail': 'fail'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'words'})
# x:373 y:215
OperatableStateMachine.add('stop',
RegexTester(regex=".*stop.*"),
transitions={'true': 'arrete', 'false': 'Ecoute'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'text': 'words', 'result': 'result'})
# x:350 y:105, x:261 y:311
_sm_get_operator_id_1 = OperatableStateMachine(outcomes=['not_found', 'done'], output_keys=['ID'])
with _sm_get_operator_id_1:
# x:42 y:30
OperatableStateMachine.add('nom',
SetKey(Value="person"),
transitions={'done': 'FindId'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:37 y:347
OperatableStateMachine.add('setID',
SetRosParam(ParamName="OperatorID"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ID'})
# x:30 y:112
OperatableStateMachine.add('FindId',
list_entities_by_name(frontality_level=0.5, distance_max=10),
transitions={'found': 'GetID', 'none_found': 'not_found'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'Entities_list', 'number': 'number'})
# x:38 y:238
OperatableStateMachine.add('GetID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'setID'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'Entities_list', 'output_value': 'ID'})
# x:346 y:367, x:610 y:472, x:230 y:365, x:628 y:425, x:619 y:318, x:54 y:367
_sm_follow_2 = ConcurrencyContainer(outcomes=['done', 'failed', 'not_found'], input_keys=['ID', 'distance'], output_keys=['Position'], conditions=[
('not_found', [('Action_follow', 'failed')]),
('done', [('Ecoute_getPose', 'arrete')]),
('failed', [('Ecoute_getPose', 'fail')])
])
with _sm_follow_2:
# x:107 y:103
OperatableStateMachine.add('Action_follow',
self.use_behavior(sara_flexbe_behaviors__Action_followSM, 'Getting ID Operator and follow /Follow/Action_follow'),
transitions={'failed': 'not_found'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:294 y:146
OperatableStateMachine.add('Ecoute_getPose',
_sm_ecoute_getpose_0,
transitions={'arrete': 'done', 'fail': 'failed'},
autonomy={'arrete': Autonomy.Inherit, 'fail': Autonomy.Inherit})
# x:57 y:371, x:419 y:55
_sm_waiting_for_operator_3 = OperatableStateMachine(outcomes=['done', 'failed'])
with _sm_waiting_for_operator_3:
# x:57 y:67
OperatableStateMachine.add('getSpeech',
GetSpeech(watchdog=15),
transitions={'done': 'UnderstandingOpe', 'nothing': 'failed', 'fail': 'failed'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'words'})
# x:53 y:249
OperatableStateMachine.add('start',
SaraSay(sentence="I will follow you. Tell me when to stop.", input_keys=[], emotion=1, block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:203 y:180
OperatableStateMachine.add('UnderstandingOpe',
RegexTester(regex=".*follow.*"),
transitions={'true': 'start', 'false': 'failed'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'text': 'words', 'result': 'result'})
# x:130 y:365
_sm_look_at_4 = OperatableStateMachine(outcomes=['failed'])
with _sm_look_at_4:
# x:105 y:160
OperatableStateMachine.add('LookAtClosest',
self.use_behavior(sara_flexbe_behaviors__LookAtClosestSM, 'Recevoir sac/Look at/LookAtClosest'),
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:280 y:296, x:248 y:549
_sm_receive_bag_5 = OperatableStateMachine(outcomes=['failed', 'done'], input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'])
with _sm_receive_bag_5:
# x:42 y:326
OperatableStateMachine.add('PutBAg',
SaraSay(sentence="Please put the grocery bag in my hand", input_keys=[], emotion=1, block=False),
transitions={'done': 'Action_Receive_Bag'},
autonomy={'done': Autonomy.Off})
# x:18 y:427
OperatableStateMachine.add('Action_Receive_Bag',
self.use_behavior(sara_flexbe_behaviors__Action_Receive_BagSM, 'Recevoir sac/Receive bag/Action_Receive_Bag'),
transitions={'finished': 'bringit', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width', 'Closed_Gripper_Width': 'Closed_Gripper_Width'})
# x:66 y:125
OperatableStateMachine.add('getspeech2',
GetSpeech(watchdog=5),
transitions={'done': 'takebag', 'nothing': 'getspeech2', 'fail': 'failed'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'words'})
# x:64 y:218
OperatableStateMachine.add('takebag',
RegexTester(regex=".*((take)|(bag)|(ready)).*"),
transitions={'true': 'PutBAg', 'false': 'getspeech2'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'text': 'words', 'result': 'result'})
# x:42 y:531
OperatableStateMachine.add('bringit',
SaraSay(sentence="I will bring it inside", input_keys=[], emotion=1, block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:77 y:40
OperatableStateMachine.add('sac',
SaraSay(sentence="Ok. Tell me, when you are ready", input_keys=[], emotion=1, block=True),
transitions={'done': 'getspeech2'},
autonomy={'done': Autonomy.Off})
# x:147 y:579
_sm_look_at_closest_6 = OperatableStateMachine(outcomes=['failed'], output_keys=['Entity'])
with _sm_look_at_closest_6:
# x:40 y:39
OperatableStateMachine.add('set person',
SetKey(Value="person"),
transitions={'done': 'head angle'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Person'})
# x:36 y:119
OperatableStateMachine.add('head angle',
SaraSetHeadAngle(pitch=-0.3, yaw=0),
transitions={'done': 'get persons'},
autonomy={'done': Autonomy.Off})
# x:271 y:149
OperatableStateMachine.add('get persons',
list_entities_by_name(frontality_level=0.5, distance_max=2),
transitions={'found': 'set person', 'none_found': 'get persons'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'Person', 'entity_list': 'entity_list', 'number': 'number'})
# x:30 y:365
_sm_get_op_7 = OperatableStateMachine(outcomes=['true'])
with _sm_get_op_7:
# x:76 y:40
OperatableStateMachine.add('Say Joke',
SaraSay(sentence="Can someone come help me, I only have one arm.", input_keys=[], emotion=1, block=True),
transitions={'done': 'ecouteNewPerson'},
autonomy={'done': Autonomy.Off})
# x:208 y:255
OperatableStateMachine.add('listen',
RegexTester(regex=".*((i)|(come)|(help)).*"),
transitions={'true': 'true', 'false': 'ecouteNewPerson'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'text': 'words', 'result': 'result'})
# x:32 y:106
OperatableStateMachine.add('ecouteNewPerson',
GetSpeech(watchdog=5),
transitions={'done': 'listen', 'nothing': 'ecouteNewPerson', 'fail': 'ecouteNewPerson'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'words'})
# x:65 y:357, x:130 y:365, x:230 y:365
_sm_get_ope_8 = ConcurrencyContainer(outcomes=['true'], output_keys=['Entity'], conditions=[
('true', [('get op', 'true')]),
('true', [('look at closest', 'failed')])
])
with _sm_get_ope_8:
# x:37 y:35
OperatableStateMachine.add('get op',
_sm_get_op_7,
transitions={'true': 'true'},
autonomy={'true': Autonomy.Inherit})
# x:238 y:109
OperatableStateMachine.add('look at closest',
_sm_look_at_closest_6,
transitions={'failed': 'true'},
autonomy={'failed': Autonomy.Inherit},
remapping={'Entity': 'Entity'})
# x:37 y:417, x:236 y:263
_sm_init_sara_9 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['Pose_Init'], output_keys=['Origin'])
with _sm_init_sara_9:
# x:30 y:40
OperatableStateMachine.add('get_pose',
Get_Robot_Pose(),
transitions={'done': 'SETHEAD'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'Origin'})
# x:24 y:259
OperatableStateMachine.add('Init Arm',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'done', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'Pose_Init'})
# x:23 y:183
OperatableStateMachine.add('SETHEAD',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'Init Arm'},
autonomy={'done': Autonomy.Off})
# x:92 y:291, x:242 y:133
_sm_exitarena_10 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['ExitDoor'])
with _sm_exitarena_10:
# x:38 y:119
OperatableStateMachine.add('Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'ExitArena/Action_Pass_Door'),
transitions={'Done': 'finished', 'Fail': 'failed'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'ExitDoor'})
# x:353 y:529, x:369 y:296
_sm_enter_arena_11 = OperatableStateMachine(outcomes=['done', 'fail'], input_keys=['EntryDoor'])
with _sm_enter_arena_11:
# x:132 y:147
OperatableStateMachine.add('Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'Enter arena/Action_Pass_Door'),
transitions={'Done': 'say start', 'Fail': 'fail'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'EntryDoor'})
# x:124 y:501
OperatableStateMachine.add('say help',
SaraSay(sentence="Hi, i will help you carry some bags. LEt me know when you need me", input_keys=[], emotion=1, block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:146 y:256
OperatableStateMachine.add('say start',
SaraSay(sentence="", input_keys=[], emotion=1, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:121 y:375
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Enter arena/Action_Move'),
transitions={'finished': 'say help', 'failed': 'fail'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'EntryDoor'})
# x:372 y:428, x:389 y:477
_sm_getting_id_operator_and_follow__12 = OperatableStateMachine(outcomes=['failed', 'done'], output_keys=['Position'])
with _sm_getting_id_operator_and_follow__12:
# x:70 y:115
OperatableStateMachine.add('Waiting for operator',
_sm_waiting_for_operator_3,
transitions={'done': 'Get operator ID', 'failed': 'Waiting for operator'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:71 y:504
OperatableStateMachine.add('get pose',
Get_Robot_Pose(),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'Position'})
# x:69 y:415
OperatableStateMachine.add('Follow',
_sm_follow_2,
transitions={'done': 'get pose', 'failed': 'failed', 'not_found': 'initial'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'ID': 'ID', 'distance': 'distance', 'Position': 'Position'})
# x:60 y:222
OperatableStateMachine.add('Get operator ID',
_sm_get_operator_id_1,
transitions={'not_found': 'Get operator ID', 'done': 'set follow distance'},
autonomy={'not_found': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:60 y:324
OperatableStateMachine.add('set follow distance',
SetKey(Value="0.5"),
transitions={'done': 'Follow'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:286 y:327
OperatableStateMachine.add('initial',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'Get operator ID'},
autonomy={'done': Autonomy.Off})
# x:247 y:123, x:282 y:200, x:230 y:365
_sm_drop_le_sac_13 = OperatableStateMachine(outcomes=['failed', 'no_object', 'done'], input_keys=['Idle', 'dropPose'])
with _sm_drop_le_sac_13:
# x:22 y:114
OperatableStateMachine.add('dropbag',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'Open', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'dropPose'})
# x:5 y:344
OperatableStateMachine.add('close',
SetGripperState(width=0, effort=1),
transitions={'object': 'returnIdl', 'no_object': 'returnIdl'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:19 y:268
OperatableStateMachine.add('wait',
WaitState(wait_time=2),
transitions={'done': 'close'},
autonomy={'done': Autonomy.Off})
# x:8 y:433
OperatableStateMachine.add('returnIdl',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'done', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'Idle'})
# x:10 y:190
OperatableStateMachine.add('Open',
SetGripperState(width=0.1, effort=1),
transitions={'object': 'wait', 'no_object': 'no_object'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:555 y:54, x:568 y:190
_sm_retour_maison_14 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['PoseOrigin', 'Relative'])
with _sm_retour_maison_14:
# x:54 y:63
OperatableStateMachine.add('keydistance',
SetKey(Value=0),
transitions={'done': 'adapt the end pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:258 y:51
OperatableStateMachine.add('Arrived',
SaraSay(sentence="I have food, people. I will drop the bags on the floor.", input_keys=[], emotion=1, block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:43 y:141
OperatableStateMachine.add('adapt the end pose',
Get_Reacheable_Waypoint(),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'PoseOrigin', 'distance': 'distance', 'pose_out': 'pose_out'})
# x:236 y:182
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Retour maison/Action_Move'),
transitions={'finished': 'Arrived', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'pose_out'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365
_sm_recevoir_sac_15 = ConcurrencyContainer(outcomes=['failed', 'done'], input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'], conditions=[
('failed', [('Receive bag', 'failed')]),
('done', [('Receive bag', 'done')]),
('failed', [('Look at', 'failed')])
])
with _sm_recevoir_sac_15:
# x:84 y:156
OperatableStateMachine.add('Receive bag',
_sm_receive_bag_5,
transitions={'failed': 'failed', 'done': 'done'},
autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width'})
# x:262 y:154
OperatableStateMachine.add('Look at',
_sm_look_at_4,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:728 y:533, x:722 y:468
_sm_getnewperson_16 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['Position'])
with _sm_getnewperson_16:
# x:52 y:77
OperatableStateMachine.add('Get ope',
_sm_get_ope_8,
transitions={'true': 'set name'},
autonomy={'true': Autonomy.Inherit},
remapping={'Entity': 'Entity'})
# x:46 y:508
OperatableStateMachine.add('SET HEAD',
SaraSetHeadAngle(pitch=-0.2, yaw=0),
transitions={'done': 'Action_Guide2'},
autonomy={'done': Autonomy.Off})
# x:39 y:297
OperatableStateMachine.add('list',
list_entities_by_name(frontality_level=0.5, distance_max=2),
transitions={'found': 'get closest ID', 'none_found': 'list'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'})
# x:70 y:194
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:151 y:413
OperatableStateMachine.add('get closest ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'SET HEAD'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity_list', 'output_value': 'ID'})
# x:293 y:534
OperatableStateMachine.add('Action_Guide2',
self.use_behavior(sara_flexbe_behaviors__Action_Guide2SM, 'GetNewPerson/Action_Guide2'),
transitions={'finished': 'done', 'failed': 'failed', 'critical_fail': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'critical_fail': Autonomy.Inherit},
remapping={'Position': 'Position', 'ID': 'ID'})
# x:57 y:399
OperatableStateMachine.add('set 0',
SetKey(Value=0),
transitions={'done': 'SET HEAD'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'ID'})
with _state_machine:
# x:188 y:35
OperatableStateMachine.add('say ready',
SaraSay(sentence="I'm ready for the help me carry scenario. I will follow when you ask me.", input_keys=[], emotion=1, block=True),
transitions={'done': 'INIT SARA'},
autonomy={'done': Autonomy.Off})
# x:827 y:439
OperatableStateMachine.add('finish',
SaraSay(sentence="I am done for the day", input_keys=[], emotion=2, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:53 y:641
OperatableStateMachine.add('GetNewPerson',
_sm_getnewperson_16,
transitions={'done': 'say leave', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'Position': 'Position'})
# x:48 y:349
OperatableStateMachine.add('Recevoir sac',
_sm_recevoir_sac_15,
transitions={'failed': 'failed', 'done': 'Retour maison'},
autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width'})
# x:36 y:448
OperatableStateMachine.add('Retour maison',
_sm_retour_maison_14,
transitions={'done': 'drop le sac', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'PoseOrigin': 'Origin', 'Relative': 'Relative'})
# x:49 y:556
OperatableStateMachine.add('drop le sac',
_sm_drop_le_sac_13,
transitions={'failed': 'failed', 'no_object': 'failed', 'done': 'GetNewPerson'},
autonomy={'failed': Autonomy.Inherit, 'no_object': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'Idle': 'Pose_Init', 'dropPose': 'dropPose'})
# x:150 y:260
OperatableStateMachine.add('Getting ID Operator and follow ',
_sm_getting_id_operator_and_follow__12,
transitions={'failed': 'failed', 'done': 'Recevoir sac'},
autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit},
remapping={'Position': 'Position'})
# x:148 y:177
OperatableStateMachine.add('Enter arena',
_sm_enter_arena_11,
transitions={'done': 'Getting ID Operator and follow ', 'fail': 'failed'},
autonomy={'done': Autonomy.Inherit, 'fail': Autonomy.Inherit},
remapping={'EntryDoor': 'EntryDoor'})
# x:498 y:617
OperatableStateMachine.add('ExitArena',
_sm_exitarena_10,
transitions={'finished': 'finish', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'ExitDoor': 'ExitDoor'})
# x:389 y:14
OperatableStateMachine.add('ContinueButton',
ContinueButton(),
transitions={'true': 'say ready', 'false': 'say ready'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off})
# x:329 y:645
OperatableStateMachine.add('say leave',
SaraSay(sentence="I will leave now. Goodbye", input_keys=[], emotion=1, block=True),
transitions={'done': 'ExitArena'},
autonomy={'done': Autonomy.Off})
# x:319 y:101
OperatableStateMachine.add('wait1',
WaitState(wait_time=5),
transitions={'done': 'say ready'},
autonomy={'done': Autonomy.Off})
# x:35 y:78
OperatableStateMachine.add('INIT SARA',
_sm_init_sara_9,
transitions={'done': 'Getting ID Operator and follow ', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'Pose_Init': 'Pose_Init', 'Origin': 'Origin'})
return _state_machine
def create(self):
# x:272 y:55
_state_machine = OperatableStateMachine(outcomes=['failed'], input_keys=['ID'])
_state_machine.userdata.ID = 1
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:470 y:563
_sm_delai_0 = OperatableStateMachine(outcomes=['finished'])
with _sm_delai_0:
# x:167 y:26
OperatableStateMachine.add('say lost',
SaraSay(sentence="Sorry, I lost you.", input_keys=[], emotion=0, block=False),
transitions={'done': 'delay'},
autonomy={'done': Autonomy.Off})
# x:167 y:190
OperatableStateMachine.add('say wait',
SaraSay(sentence=" Please wait for me!", input_keys=[], emotion=0, block=False),
transitions={'done': 'delay2'},
autonomy={'done': Autonomy.Off})
# x:161 y:362
OperatableStateMachine.add('say face 2',
SaraSay(sentence="Make sure to let me see your face, please.", input_keys=[], emotion=0, block=False),
transitions={'done': 'delay3'},
autonomy={'done': Autonomy.Off})
# x:173 y:278
OperatableStateMachine.add('delay2',
WaitState(wait_time=3),
transitions={'done': 'say face 2'},
autonomy={'done': Autonomy.Off})
# x:169 y:448
OperatableStateMachine.add('delay3',
WaitState(wait_time=4),
transitions={'done': 'say get closer'},
autonomy={'done': Autonomy.Off})
# x:176 y:108
OperatableStateMachine.add('delay',
WaitState(wait_time=3),
transitions={'done': 'say wait'},
autonomy={'done': Autonomy.Off})
# x:142 y:547
OperatableStateMachine.add('say get closer',
SaraSay(sentence="I need you to get closer please.", input_keys=[], emotion=0, block=False),
transitions={'done': 'delais4'},
autonomy={'done': Autonomy.Off})
# x:315 y:543
OperatableStateMachine.add('delais4',
WaitState(wait_time=5),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_turn_head_1 = OperatableStateMachine(outcomes=['fail'])
with _sm_turn_head_1:
# x:54 y:55
OperatableStateMachine.add('turn r',
SaraSetHeadAngle(pitch=-0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:749 y:183
OperatableStateMachine.add('wait1',
WaitState(wait_time=5),
transitions={'done': 'turn right'},
autonomy={'done': Autonomy.Off})
# x:727 y:309
OperatableStateMachine.add('turn right',
SaraSetHeadAngle(pitch=-0.1, yaw=-1.5),
transitions={'done': 'wait2'},
autonomy={'done': Autonomy.Off})
# x:582 y:311
OperatableStateMachine.add('wait2',
WaitState(wait_time=5),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:246 y:54
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'turn left'},
autonomy={'done': Autonomy.Off})
# x:383 y:57
OperatableStateMachine.add('turn left',
SaraSetHeadAngle(pitch=-0.1, yaw=1.5),
transitions={'done': 'wait3'},
autonomy={'done': Autonomy.Off})
# x:728 y:69
OperatableStateMachine.add('center1',
SaraSetHeadAngle(pitch=-0.1, yaw=0),
transitions={'done': 'wait1'},
autonomy={'done': Autonomy.Off})
# x:576 y:63
OperatableStateMachine.add('wait3',
WaitState(wait_time=5),
transitions={'done': 'center1'},
autonomy={'done': Autonomy.Off})
# x:389 y:308
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=-0.1, yaw=0),
transitions={'done': 'wait4'},
autonomy={'done': Autonomy.Off})
# x:409 y:177
OperatableStateMachine.add('wait4',
WaitState(wait_time=5),
transitions={'done': 'turn left'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_search_2 = OperatableStateMachine(outcomes=['found'], input_keys=['ID'])
with _sm_search_2:
# x:91 y:163
OperatableStateMachine.add('get en',
GetEntityByID(),
transitions={'found': 'found', 'not_found': 'get en'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'ID': 'ID', 'Entity': 'Entity'})
# x:30 y:365, x:530 y:244, x:230 y:365, x:330 y:365, x:430 y:365
_sm_find_back_3 = ConcurrencyContainer(outcomes=['back', 'not_found'], input_keys=['ID'], conditions=[
('back', [('search', 'found')]),
('back', [('Turn head', 'fail')]),
('not_found', [('Delai', 'finished')])
])
with _sm_find_back_3:
# x:145 y:108
OperatableStateMachine.add('search',
_sm_search_2,
transitions={'found': 'back'},
autonomy={'found': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:469 y:136
OperatableStateMachine.add('Turn head',
_sm_turn_head_1,
transitions={'fail': 'back'},
autonomy={'fail': Autonomy.Inherit})
# x:281 y:192
OperatableStateMachine.add('Delai',
_sm_delai_0,
transitions={'finished': 'not_found'},
autonomy={'finished': Autonomy.Inherit})
# x:30 y:458
_sm_look_at_4 = OperatableStateMachine(outcomes=['fail'], input_keys=['ID'])
with _sm_look_at_4:
# x:231 y:115
OperatableStateMachine.add('look',
KeepLookingAt(),
transitions={'failed': 'Find back'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:78 y:199
OperatableStateMachine.add('Found you',
SaraSay(sentence="Here you are!", input_keys=[], emotion=1, block=False),
transitions={'done': 'look'},
autonomy={'done': Autonomy.Off})
# x:248 y:264
OperatableStateMachine.add('Find back',
_sm_find_back_3,
transitions={'back': 'Found you', 'not_found': 'fail'},
autonomy={'back': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:30 y:365
_sm_follow_5 = OperatableStateMachine(outcomes=['failed'], input_keys=['ID'])
with _sm_follow_5:
# x:65 y:167
OperatableStateMachine.add('follow',
SaraFollow(distance=1.5, ReplanPeriod=3),
transitions={'failed': 'follow'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:368 y:271, x:423 y:158, x:230 y:458
_sm_follow_6 = ConcurrencyContainer(outcomes=['not_found'], input_keys=['ID'], conditions=[
('not_found', [('Look at', 'fail')]),
('not_found', [('Follow', 'failed')])
])
with _sm_follow_6:
# x:185 y:134
OperatableStateMachine.add('Follow',
_sm_follow_5,
transitions={'failed': 'not_found'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:123 y:236
OperatableStateMachine.add('Look at',
_sm_look_at_4,
transitions={'fail': 'not_found'},
autonomy={'fail': Autonomy.Inherit},
remapping={'ID': 'ID'})
with _state_machine:
# x:74 y:38
OperatableStateMachine.add('Follow',
_sm_follow_6,
transitions={'not_found': 'failed'},
autonomy={'not_found': Autonomy.Inherit},
remapping={'ID': 'ID'})
return _state_machine
def create(self):
# x:825 y:465, x:801 y:48
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:458, x:130 y:458
_sm_torque_control_0 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_torque_control_0:
# x:126 y:51
OperatableStateMachine.add('w2',
WaitState(wait_time=5),
transitions={'done': 'check torque'},
autonomy={'done': Autonomy.Off})
# x:120 y:195
OperatableStateMachine.add('check torque',
ReadTorque(
watchdog=20,
Joint="right_shoulder_pitch_joint",
Threshold=2.5,
min_time=0.5),
transitions={
'threshold': 'finished',
'watchdog': 'check torque',
'fail': 'check torque'
},
autonomy={
'threshold': Autonomy.Off,
'watchdog': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'torque': 'torque'})
# x:30 y:458, x:130 y:458
_sm_trajectory_down_1 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_trajectory_down_1:
# x:68 y:158
OperatableStateMachine.add('run down',
RunTrajectory(file="poubelle_app",
duration=16),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458, x:530 y:458
_sm_container_2 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
conditions=[('failed', [('test', 'done')]),
('finished', [('tor', 'threshold')]),
('failed', [('tor', 'watchdog')]),
('failed', [('tor', 'fail')])])
with _sm_container_2:
# x:67 y:108
OperatableStateMachine.add('test',
RunTrajectory(file="poubelle_valide",
duration=7),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:327 y:130
OperatableStateMachine.add('tor',
ReadTorque(
watchdog=7,
Joint="right_elbow_yaw_joint",
Threshold=1.6,
min_time=1),
transitions={
'threshold': 'finished',
'watchdog': 'failed',
'fail': 'failed'
},
autonomy={
'threshold': Autonomy.Off,
'watchdog': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'torque': 'torque'})
# x:30 y:365, x:130 y:365
_sm_trajectory_to_transport_pose_3 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_trajectory_to_transport_pose_3:
# x:30 y:40
OperatableStateMachine.add('trajectory to transport pose',
RunTrajectory(file="poubelle_transport",
duration=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:479 y:236, x:469 y:51, x:462 y:111, x:471 y:160, x:430 y:365, x:530 y:365
_sm_trajectory_down_with_torque_limit_4 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
conditions=[('finished', [('torque control', 'finished')]),
('finished', [('trajectory down', 'finished')]),
('failed', [('trajectory down', 'failed')]),
('failed', [('torque control', 'failed')])])
with _sm_trajectory_down_with_torque_limit_4:
# x:109 y:63
OperatableStateMachine.add('trajectory down',
_sm_trajectory_down_1,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:102 y:211
OperatableStateMachine.add('torque control',
_sm_torque_control_0,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:30 y:458, x:130 y:458
_sm_has_bag_in_gripper_5 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_has_bag_in_gripper_5:
# x:191 y:132
OperatableStateMachine.add('Container',
_sm_container_2,
transitions={
'finished': 'ok',
'failed': 'bad'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:18 y:266
OperatableStateMachine.add('ok',
SaraSay(sentence="Yay! I got it!",
input_keys=[],
emotion=6,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:238 y:279
OperatableStateMachine.add('bad',
SaraSay(sentence="Woops! I missed!",
input_keys=[],
emotion=3,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:30 y:458, x:130 y:458
_sm_trajectory_up_6 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_trajectory_up_6:
# x:71 y:122
OperatableStateMachine.add('trajectory up',
RunTrajectory(file="poubelle_eloigne",
duration=10),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:30 y:458, x:130 y:458
_sm_close_gripper_7 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_close_gripper_7:
# x:79 y:177
OperatableStateMachine.add(
'close gripper',
SetGripperState(width=0, effort=1),
transitions={
'object': 'finished',
'no_object': 'retry close'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:272 y:237
OperatableStateMachine.add('retry close',
ForLoop(repeat=1),
transitions={
'do': 'close gripper',
'end': 'failed'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
with _state_machine:
# x:89 y:35
OperatableStateMachine.add('head down',
SaraSetHeadAngle(pitch=0.8, yaw=0),
transitions={'done': 'open gripper'},
autonomy={'done': Autonomy.Off})
# x:484 y:164
OperatableStateMachine.add('close gripper',
_sm_close_gripper_7,
transitions={
'finished': 'trajectory up',
'failed': 'trajectory up'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:473 y:300
OperatableStateMachine.add('trajectory up',
_sm_trajectory_up_6,
transitions={
'finished': 'wait a little bit',
'failed': 'wait a little bit'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:232 y:434
OperatableStateMachine.add('has bag in gripper',
_sm_has_bag_in_gripper_5,
transitions={
'finished':
'trajectory to transport pose',
'failed': 'open gripper'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:467 y:33
OperatableStateMachine.add('trajectory down with torque limit',
_sm_trajectory_down_with_torque_limit_4,
transitions={
'finished': 'close gripper',
'failed': 'head down'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:283 y:83
OperatableStateMachine.add(
'open gripper',
SetGripperState(width=0.12, effort=0),
transitions={
'object': 'trajectory down with torque limit',
'no_object': 'trajectory down with torque limit'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:557 y:454
OperatableStateMachine.add('trajectory to transport pose',
_sm_trajectory_to_transport_pose_3,
transitions={
'finished': 'finished',
'failed': 'finished'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:356 y:357
OperatableStateMachine.add(
'wait a little bit',
WaitState(wait_time=1),
transitions={'done': 'has bag in gripper'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:902 y:757, x:882 y:161
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:1232 y:907, x:1267 y:613, x:1271 y:566
_sm_find_table_and_place_0 = OperatableStateMachine(outcomes=['finished', 'failed', 'no_table'])
with _sm_find_table_and_place_0:
# x:877 y:673
OperatableStateMachine.add('run traj',
RunTrajectory(file="receive_object", duration=0),
transitions={'done': 'say release'},
autonomy={'done': Autonomy.Off})
# x:532 y:572
OperatableStateMachine.add('Action_find_2',
self.use_behavior(Action_findSM, 'take objects and bring the order to customer/find table and place/Action_find_2'),
transitions={'done': 'get table position', 'failed': 'say do not find table'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'className': 'tableKey', 'entity': 'tableEntity'})
# x:576 y:514
OperatableStateMachine.add('set tableKey',
SetKey(Value="table"),
transitions={'done': 'Action_find_2'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'tableKey'})
# x:538 y:638
OperatableStateMachine.add('get table position',
CalculationState(calculation=lambda x: x.position),
transitions={'done': 'Action_place'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'tableEntity', 'output_value': 'pose'})
# x:736 y:677
OperatableStateMachine.add('say do not find table',
SaraSay(sentence="I can not find the table. Please be ready to grab the object.", input_keys=[], emotion=0, block=True),
transitions={'done': 'run traj'},
autonomy={'done': Autonomy.Off})
# x:41 y:231
OperatableStateMachine.add('find a table and a free spot',
GetPositionToPlaceOnTable(),
transitions={'done': 'Action_place', 'not_found': 'look down_left'},
autonomy={'done': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'distanceFromEdge': 'distanceFromEdge', 'position': 'pose'})
# x:291 y:805
OperatableStateMachine.add('Action_place',
self.use_behavior(Action_placeSM, 'take objects and bring the order to customer/find table and place/Action_place'),
transitions={'finished': 'finished', 'failed': 'say do not find table'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pos': 'pose'})
# x:50 y:102
OperatableStateMachine.add('look down',
SaraSetHeadAngle(pitch=0, yaw=0.7),
transitions={'done': 'wait'},
autonomy={'done': Autonomy.Off})
# x:214 y:378
OperatableStateMachine.add('find a table and a free spot_2',
GetPositionToPlaceOnTable(),
transitions={'done': 'Action_place', 'not_found': 'look down_right'},
autonomy={'done': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'distanceFromEdge': 'distanceFromEdge', 'position': 'pose'})
# x:240 y:232
OperatableStateMachine.add('look down_left',
SaraSetHeadAngle(pitch=0.7, yaw=0.6),
transitions={'done': 'wait_2'},
autonomy={'done': Autonomy.Off})
# x:387 y:513
OperatableStateMachine.add('find a table and a free spot_2_2',
GetPositionToPlaceOnTable(),
transitions={'done': 'Action_place', 'not_found': 'set tableKey'},
autonomy={'done': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'distanceFromEdge': 'distanceFromEdge', 'position': 'pose'})
# x:402 y:378
OperatableStateMachine.add('look down_right',
SaraSetHeadAngle(pitch=-0.7, yaw=0.6),
transitions={'done': 'wait_3'},
autonomy={'done': Autonomy.Off})
# x:66 y:169
OperatableStateMachine.add('wait',
WaitState(wait_time=3),
transitions={'done': 'find a table and a free spot'},
autonomy={'done': Autonomy.Off})
# x:242 y:294
OperatableStateMachine.add('wait_2',
WaitState(wait_time=3),
transitions={'done': 'find a table and a free spot_2'},
autonomy={'done': Autonomy.Off})
# x:411 y:444
OperatableStateMachine.add('wait_3',
WaitState(wait_time=3),
transitions={'done': 'find a table and a free spot_2_2'},
autonomy={'done': Autonomy.Off})
# x:1000 y:670
OperatableStateMachine.add('say release',
SaraSay(sentence="Here is your order. I will open my gripper in 3, 2, 1, now.", input_keys=[], emotion=0, block=True),
transitions={'done': 'open gripper'},
autonomy={'done': Autonomy.Off})
# x:1122 y:666
OperatableStateMachine.add('open gripper',
SetGripperState(width=0.1, effort=1),
transitions={'object': 'say good day', 'no_object': 'say good day'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:1170 y:771
OperatableStateMachine.add('say good day',
SaraSay(sentence="Thank you. Have a good day.", input_keys=[], emotion=6, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:62 y:29
OperatableStateMachine.add('set distance',
SetKey(Value=0.3),
transitions={'done': 'look down'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distanceFromEdge'})
# x:30 y:458, x:130 y:458
_sm_keep_looking_1 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['personID'])
with _sm_keep_looking_1:
# x:30 y:40
OperatableStateMachine.add('keep',
KeepLookingAt(),
transitions={'failed': 'keep'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'personID'})
# x:30 y:458, x:130 y:458
_sm_ask_2 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['question'], output_keys=['answer'])
with _sm_ask_2:
# x:30 y:40
OperatableStateMachine.add('Action_Ask',
self.use_behavior(Action_AskSM, 'ask and save order/ask AND look person/ask/Action_Ask'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'question': 'question', 'answer': 'answer'})
# x:30 y:458, x:130 y:458
_sm_confirm_order_3 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['orderList'])
with _sm_confirm_order_3:
# x:114 y:67
OperatableStateMachine.add('produce question',
CalculationState(calculation=lambda x: "Did you order :" + str(x[0].data)),
transitions={'done': 'Action_Ask'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'orderList', 'output_value': 'question'})
# x:423 y:171
OperatableStateMachine.add('Action_Ask',
self.use_behavior(Action_AskSM, 'ask and save order/confirm order/Action_Ask'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'question': 'question', 'answer': 'answer'})
# x:348 y:66, x:351 y:97, x:339 y:159, x:336 y:195, x:518 y:89, x:515 y:175
_sm_ask_and_look_person_4 = ConcurrencyContainer(outcomes=['finished', 'failed'], input_keys=['personID', 'question'], output_keys=['answer'], conditions=[
('finished', [('ask', 'finished')]),
('failed', [('ask', 'failed')]),
('finished', [('keep looking', 'finished')]),
('failed', [('keep looking', 'failed')])
])
with _sm_ask_and_look_person_4:
# x:30 y:40
OperatableStateMachine.add('ask',
_sm_ask_2,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'question': 'question', 'answer': 'answer'})
# x:30 y:138
OperatableStateMachine.add('keep looking',
_sm_keep_looking_1,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'personID': 'personID'})
# x:30 y:458
_sm_look_around_2_5 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_around_2_5:
# x:215 y:156
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:394 y:262
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:206 y:372
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:38 y:596
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:413 y:159
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:415 y:370
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:39 y:371
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:25 y:482
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:30 y:458
_sm_look_around_6 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_around_6:
# x:215 y:156
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:394 y:262
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:206 y:372
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:38 y:596
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:413 y:159
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:415 y:370
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:39 y:371
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:25 y:482
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:30 y:458, x:130 y:458
_sm_turn_around_7 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_turn_around_7:
# x:80 y:26
OperatableStateMachine.add('look around',
_sm_look_around_6,
transitions={'finished': 'pose with 180 rotation'},
autonomy={'finished': Autonomy.Inherit})
# x:66 y:286
OperatableStateMachine.add('rotation',
SaraMoveBase(reference="base_link"),
transitions={'arrived': 'look around_2', 'failed': 'failed'},
autonomy={'arrived': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'pose': 'pose'})
# x:56 y:388
OperatableStateMachine.add('look around_2',
_sm_look_around_2_5,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit})
# x:63 y:133
OperatableStateMachine.add('pose with 180 rotation',
GenPoseEuler(x=0, y=0, z=0, roll=0, pitch=0, yaw=3.14),
transitions={'done': 'rotation'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'pose'})
# x:30 y:458
_sm_get_waving_people_8 = OperatableStateMachine(outcomes=['finished'], output_keys=['waving_person'])
with _sm_get_waving_people_8:
# x:47 y:45
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list people'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:40 y:236
OperatableStateMachine.add('filter waving',
FilterKey(filter_function=lambda x: x[0].pose.right_arm_up or x[0].pose.left_arm_up, input_keys=["input_list"]),
transitions={'not_empty': 'get first', 'empty': 'list people'},
autonomy={'not_empty': Autonomy.Off, 'empty': Autonomy.Off},
remapping={'input_list': 'entity_list', 'output_list': 'waving_peoples'})
# x:53 y:326
OperatableStateMachine.add('get first',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'waving_peoples', 'output_value': 'waving_person'})
# x:40 y:133
OperatableStateMachine.add('list people',
list_entities_by_name(frontality_level=0.5, distance_max=5),
transitions={'found': 'filter waving', 'none_found': 'list people'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'})
# x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458
_sm_look_for_waving_people_9 = ConcurrencyContainer(outcomes=['finished', 'failed'], output_keys=['waving_person'], conditions=[
('failed', [('turn around', 'failed')]),
('failed', [('turn around', 'finished')]),
('finished', [('get waving people', 'finished')])
])
with _sm_look_for_waving_people_9:
# x:268 y:118
OperatableStateMachine.add('get waving people',
_sm_get_waving_people_8,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'waving_person': 'waving_person'})
# x:60 y:126
OperatableStateMachine.add('turn around',
_sm_turn_around_7,
transitions={'finished': 'failed', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:441 y:583, x:93 y:568
_sm_repeate_if_first_commande_10 = OperatableStateMachine(outcomes=['finished', 'repeate'], input_keys=['commandNumber'], output_keys=['commandNumber'])
with _sm_repeate_if_first_commande_10:
# x:242 y:97
OperatableStateMachine.add('if first command',
CheckConditionState(predicate=lambda x: x == 1),
transitions={'true': 'set second command', 'false': 'finished'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'commandNumber'})
# x:73 y:329
OperatableStateMachine.add('set second command',
SetKey(Value=2),
transitions={'done': 'repeate'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'commandNumber'})
# x:1053 y:687, x:1068 y:149
_sm_take_objects_and_bring_the_order_to_customer_11 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['barPosition', 'orderList', 'robotPositionToCustomer'])
with _sm_take_objects_and_bring_the_order_to_customer_11:
# x:73 y:26
OperatableStateMachine.add('set indexkey',
SetKey(Value=0),
transitions={'done': 'one element by one element from the list'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'indexKey'})
# x:591 y:684
OperatableStateMachine.add('increment indexKey',
CalculationState(calculation=lambda x: x+1),
transitions={'done': 'check if end of the list'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'indexKey', 'output_value': 'indexKey'})
# x:796 y:679
OperatableStateMachine.add('check if end of the list',
FlexibleCheckConditionState(predicate=lambda x: len(x[0]) <= x[1], input_keys=["orderList", "indexKey"]),
transitions={'true': 'finished', 'false': 'Action_Move_2'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'orderList': 'orderList', 'indexKey': 'indexKey'})
# x:31 y:243
OperatableStateMachine.add('Action_find',
self.use_behavior(Action_findSM, 'take objects and bring the order to customer/Action_find'),
transitions={'done': 'get entity ID', 'failed': 'say cannot find'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'className': 'item', 'entity': 'entity'})
# x:76 y:183
OperatableStateMachine.add('say search and grip',
SaraSay(sentence=lambda x: "I am now searching for the "+x[0]+".", input_keys=["item"], emotion=0, block=True),
transitions={'done': 'Action_find'},
autonomy={'done': Autonomy.Off},
remapping={'item': 'item'})
# x:258 y:261
OperatableStateMachine.add('say cannot find',
SaraSay(sentence="I cannot find the item.", input_keys=[], emotion=0, block=True),
transitions={'done': 'place arm'},
autonomy={'done': Autonomy.Off})
# x:63 y:393
OperatableStateMachine.add('Action_pick',
self.use_behavior(Action_pickSM, 'take objects and bring the order to customer/Action_pick'),
transitions={'success': 'say go to the customer', 'unreachable': 'say cannot pick', 'not found': 'say cannot pick', 'dropped': 'say cannot pick'},
autonomy={'success': Autonomy.Inherit, 'unreachable': Autonomy.Inherit, 'not found': Autonomy.Inherit, 'dropped': Autonomy.Inherit},
remapping={'objectID': 'entityID'})
# x:61 y:548
OperatableStateMachine.add('Action_Move',
self.use_behavior(Action_MoveSM, 'take objects and bring the order to customer/Action_Move'),
transitions={'finished': 'find table and place', 'failed': 'say cant get back to customer'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'robotPositionToCustomer'})
# x:83 y:326
OperatableStateMachine.add('get entity ID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'Action_pick'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity', 'output_value': 'entityID'})
# x:568 y:407
OperatableStateMachine.add('say put in the gripper',
SaraSay(sentence=lambda x: "Please, put the "+x[0]+" in my gripper. I will close it in 3, 2, 1, now.", input_keys=["item"], emotion=0, block=True),
transitions={'done': 'close gripper'},
autonomy={'done': Autonomy.Off},
remapping={'item': 'item'})
# x:243 y:387
OperatableStateMachine.add('say cannot pick',
SaraSay(sentence="I can not pick the item.", input_keys=[], emotion=0, block=True),
transitions={'done': 'place arm'},
autonomy={'done': Autonomy.Off})
# x:388 y:502
OperatableStateMachine.add('say thank you',
SaraSay(sentence="Thank you.", input_keys=[], emotion=0, block=True),
transitions={'done': 'place arm 2'},
autonomy={'done': Autonomy.Off})
# x:72 y:465
OperatableStateMachine.add('say go to the customer',
SaraSay(sentence="I will serve it to the customer.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:522 y:505
OperatableStateMachine.add('close gripper',
SetGripperState(width=0, effort=1),
transitions={'object': 'say thank you', 'no_object': 'open gripper'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:357 y:569
OperatableStateMachine.add('say cant get back to customer',
SaraSay(sentence="I am not able to go back to the customer.", input_keys=[], emotion=0, block=True),
transitions={'done': 'increment indexKey'},
autonomy={'done': Autonomy.Off})
# x:541 y:317
OperatableStateMachine.add('open gripper',
SetGripperState(width=0.10, effort=1),
transitions={'object': 'say put in the gripper', 'no_object': 'say put in the gripper'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:63 y:110
OperatableStateMachine.add('one element by one element from the list',
FlexibleCalculationState(calculation=lambda x: x[0][x[1]].data, input_keys=["orderList", "indexKey"]),
transitions={'done': 'say search and grip'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList', 'indexKey': 'indexKey', 'output_value': 'item'})
# x:376 y:324
OperatableStateMachine.add('place arm',
RunTrajectory(file="receive_object", duration=0),
transitions={'done': 'open gripper'},
autonomy={'done': Autonomy.Off})
# x:638 y:184
OperatableStateMachine.add('Action_Move_2',
self.use_behavior(Action_MoveSM, 'take objects and bring the order to customer/Action_Move_2'),
transitions={'finished': 'increment indexKey', 'failed': 'say cannot go back to bar'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'barPosition'})
# x:817 y:178
OperatableStateMachine.add('say cannot go back to bar',
SaraSay(sentence="I am not able to go back to the barman. I will try a new command.", input_keys=[], emotion=0, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:85 y:740
OperatableStateMachine.add('find table and place',
_sm_find_table_and_place_0,
transitions={'finished': 'retour repos', 'failed': 'retour repos', 'no_table': 'retour repos'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'no_table': Autonomy.Inherit})
# x:248 y:505
OperatableStateMachine.add('place arm 2',
RunTrajectory(file="transport", duration=0),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:362 y:679
OperatableStateMachine.add('retour repos',
RunTrajectory(file="repos", duration=0),
transitions={'done': 'increment indexKey'},
autonomy={'done': Autonomy.Off})
# x:242 y:352, x:1086 y:243
_sm_get_the_order_12 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['orderList'])
with _sm_get_the_order_12:
# x:68 y:39
OperatableStateMachine.add('length 1',
CheckConditionState(predicate=lambda x: len(x) == 1),
transitions={'true': 'say order', 'false': 'length 2'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'orderList'})
# x:236 y:41
OperatableStateMachine.add('length 2',
CheckConditionState(predicate=lambda x: len(x) ==2),
transitions={'true': 'say order_2', 'false': 'say order_3'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'orderList'})
# x:228 y:111
OperatableStateMachine.add('say order_2',
SaraSay(sentence=lambda x: "For this order, I would like to have one "+x[0][0].data+" and one "+x[0][1].data+", please.", input_keys=["orderList"], emotion=0, block=True),
transitions={'done': 'wait 5'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList'})
# x:374 y:109
OperatableStateMachine.add('say order_3',
SaraSay(sentence=lambda x: "For this order, I would like to have one "+x[0][0].data+", one "+x[0][1].data+" and one "+x[0][2].data+", please.", input_keys=["orderList"], emotion=0, block=True),
transitions={'done': 'wait 5'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList'})
# x:67 y:117
OperatableStateMachine.add('say order',
SaraSay(sentence=lambda x: "For this order, I would like to have one "+x[0][0].data+", please.", input_keys=["orderList"], emotion=0, block=True),
transitions={'done': 'wait 5'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList'})
# x:224 y:256
OperatableStateMachine.add('wait 5',
WaitState(wait_time=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:216 y:528, x:572 y:238
_sm_go_to_the_barman_13 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['barPosition', 'barmanID'])
with _sm_go_to_the_barman_13:
# x:30 y:102
OperatableStateMachine.add('Action_Move',
self.use_behavior(Action_MoveSM, 'go to the barman/Action_Move'),
transitions={'finished': 'if barman id is 0', 'failed': 'say cannot'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'barPosition'})
# x:365 y:99
OperatableStateMachine.add('say cannot',
SaraSay(sentence="I can not reach my destination. I will take another order. If you have one, please raise your hand.", input_keys=[], emotion=0, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:30 y:320
OperatableStateMachine.add('Action_findPersonByID',
self.use_behavior(Action_findPersonByIDSM, 'go to the barman/Action_findPersonByID',
default_keys=['className']),
transitions={'found': 'finished', 'not_found': 'finished'},
autonomy={'found': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'personID': 'barmanID', 'personEntity': 'personEntity'})
# x:115 y:230
OperatableStateMachine.add('if barman id is 0',
CheckConditionState(predicate=lambda x: x == 0),
transitions={'true': 'finished', 'false': 'Action_findPersonByID'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'barmanID'})
# x:898 y:561, x:871 y:123
_sm_ask_and_save_order_14 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['customerID'], output_keys=['orderList'])
with _sm_ask_and_save_order_14:
# x:70 y:112
OperatableStateMachine.add('say ready',
SaraSay(sentence="Hello.", input_keys=[], emotion=0, block=True),
transitions={'done': 'set question'},
autonomy={'done': Autonomy.Off})
# x:69 y:187
OperatableStateMachine.add('set question',
SetKey(Value="What do you want to order?"),
transitions={'done': 'ask AND look person'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'question'})
# x:411 y:138
OperatableStateMachine.add('say cannot',
SaraSay(sentence="I am not able to understand your order. I will take another order.", input_keys=[], emotion=0, block=True),
transitions={'done': 'set question'},
autonomy={'done': Autonomy.Off})
# x:59 y:272
OperatableStateMachine.add('ask AND look person',
_sm_ask_and_look_person_4,
transitions={'finished': 'nlu restaurant', 'failed': 'say cannot'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'personID': 'customerID', 'question': 'question', 'answer': 'answer'})
# x:411 y:453
OperatableStateMachine.add('nlu restaurant',
SaraNLUrestaurant(),
transitions={'understood': 'confirm order', 'fail': 'say cannot'},
autonomy={'understood': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'sentence': 'answer', 'orderList': 'orderList'})
# x:657 y:417
OperatableStateMachine.add('confirm order',
_sm_confirm_order_3,
transitions={'finished': 'say bring', 'failed': 'set question'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'orderList': 'orderList'})
# x:852 y:402
OperatableStateMachine.add('say bring',
SaraSay(sentence=lambda x: "understood. I will bring you the "+str(x[0][0].data), input_keys=["orderList"], emotion=0, block=False),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'orderList': 'orderList'})
# x:677 y:318, x:735 y:160
_sm_move_to_table_and_save_position_15 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['customerPosition'], output_keys=['robotPositionToCustomer'])
with _sm_move_to_table_and_save_position_15:
# x:69 y:24
OperatableStateMachine.add('set distance to person',
SetKey(Value=0.7),
transitions={'done': 'compute robot pose to customer'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distanceToPerson'})
# x:344 y:115
OperatableStateMachine.add('say cannot',
SaraSay(sentence="I can not reach my destination. I will take another order. If you have one, please raise your hand.", input_keys=[], emotion=0, block=True),
transitions={'done': 'save pose to not get flexbe problems'},
autonomy={'done': Autonomy.Off})
# x:497 y:129
OperatableStateMachine.add('save pose to not get flexbe problems',
Get_Robot_Pose(),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'pose'})
# x:47 y:98
OperatableStateMachine.add('compute robot pose to customer',
Get_Reacheable_Waypoint(),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'customerPosition', 'distance': 'distanceToPerson', 'pose_out': 'robotPositionToCustomer'})
# x:78 y:199
OperatableStateMachine.add('Action_Move',
self.use_behavior(Action_MoveSM, 'move to table and save position/Action_Move'),
transitions={'finished': 'finished', 'failed': 'say cannot'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'robotPositionToCustomer'})
# x:112 y:525, x:363 y:46
_sm_detect_people_waving_16 = OperatableStateMachine(outcomes=['finished', 'failed'], output_keys=['customerPosition', 'customerID'])
with _sm_detect_people_waving_16:
# x:84 y:25
OperatableStateMachine.add('say looking',
SaraSay(sentence="I am now looking for customers. If you want to order something, please raise your hand.", input_keys=[], emotion=0, block=False),
transitions={'done': 'Look for waving people'},
autonomy={'done': Autonomy.Off})
# x:73 y:375
OperatableStateMachine.add('reachable position_2',
Get_Reacheable_Waypoint(),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'customerPosition', 'distance': 'distance', 'pose_out': 'customerPosition'})
# x:71 y:291
OperatableStateMachine.add('set distance to customer_2',
SetKey(Value=0.5),
transitions={'done': 'reachable position_2'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:94 y:216
OperatableStateMachine.add('get attributes',
GetAttribute(attributes=["ID", "position"]),
transitions={'done': 'set distance to customer_2'},
autonomy={'done': Autonomy.Off},
remapping={'object': 'waving_person', 'ID': 'customerID', 'position': 'customerPosition'})
# x:63 y:120
OperatableStateMachine.add('Look for waving people',
_sm_look_for_waving_people_9,
transitions={'finished': 'get attributes', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'waving_person': 'waving_person'})
# x:874 y:499, x:747 y:100
_sm_save_bar_position_and_initiation_17 = OperatableStateMachine(outcomes=['finished', 'failed'], output_keys=['barPosition', 'commandNumber', 'barmanID'])
with _sm_save_bar_position_and_initiation_17:
# x:66 y:96
OperatableStateMachine.add('set question barman',
SetKey(Value="Are you the bartender?"),
transitions={'done': 'Action_FindPersonByQuestion'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'questionBarman'})
# x:488 y:85
OperatableStateMachine.add('say failed to find the barman',
SaraSay(sentence="I am not able to find the barman. I will get the order and come back here to get the items.", input_keys=[], emotion=0, block=True),
transitions={'done': 'barman ID to 0'},
autonomy={'done': Autonomy.Off})
# x:83 y:406
OperatableStateMachine.add('save barman ID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'get current pose'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'personFound', 'output_value': 'barmanID'})
# x:512 y:183
OperatableStateMachine.add('barman ID to 0',
SetKey(Value=0),
transitions={'done': 'get current pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'barmanID'})
# x:488 y:391
OperatableStateMachine.add('get current pose',
Get_Robot_Pose(),
transitions={'done': 'set first command'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'barPosition'})
# x:55 y:214
OperatableStateMachine.add('Action_FindPersonByQuestion',
self.use_behavior(Action_FindPersonByQuestionSM, 'save bar position and initiation/Action_FindPersonByQuestion'),
transitions={'found': 'save barman ID', 'failed': 'say failed to find the barman', 'not_found': 'say failed to find the barman'},
autonomy={'found': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'not_found': Autonomy.Inherit},
remapping={'question': 'questionBarman', 'entityFound': 'personFound'})
# x:489 y:478
OperatableStateMachine.add('set first command',
SetKey(Value=1),
transitions={'done': 'say instructions'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'commandNumber'})
# x:689 y:477
OperatableStateMachine.add('say instructions',
SaraSay(sentence="Good! I wil now start to serve people.", input_keys=[], emotion=0, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('save bar position and initiation',
_sm_save_bar_position_and_initiation_17,
transitions={'finished': 'detect people waving', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'barPosition': 'barPosition', 'commandNumber': 'commandNumber', 'barmanID': 'barmanID'})
# x:131 y:141
OperatableStateMachine.add('detect people waving',
_sm_detect_people_waving_16,
transitions={'finished': 'move to table and save position', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'customerPosition': 'customerPosition', 'customerID': 'customerID'})
# x:233 y:250
OperatableStateMachine.add('move to table and save position',
_sm_move_to_table_and_save_position_15,
transitions={'finished': 'ask and save order', 'failed': 'detect people waving'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'customerPosition': 'customerPosition', 'robotPositionToCustomer': 'robotPositionToCustomer'})
# x:286 y:337
OperatableStateMachine.add('ask and save order',
_sm_ask_and_save_order_14,
transitions={'finished': 'go to the barman', 'failed': 'detect people waving'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'customerID': 'customerID', 'orderList': 'orderList'})
# x:264 y:434
OperatableStateMachine.add('go to the barman',
_sm_go_to_the_barman_13,
transitions={'finished': 'get the order', 'failed': 'detect people waving'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'barPosition': 'barPosition', 'barmanID': 'barmanID'})
# x:278 y:526
OperatableStateMachine.add('get the order',
_sm_get_the_order_12,
transitions={'finished': 'take objects and bring the order to customer', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'orderList': 'orderList'})
# x:260 y:626
OperatableStateMachine.add('take objects and bring the order to customer',
_sm_take_objects_and_bring_the_order_to_customer_11,
transitions={'finished': 'repeate if first commande', 'failed': 'repeate if first commande'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'barPosition': 'barPosition', 'orderList': 'orderList', 'robotPositionToCustomer': 'robotPositionToCustomer'})
# x:118 y:735
OperatableStateMachine.add('repeate if first commande',
_sm_repeate_if_first_commande_10,
transitions={'finished': 'say finish', 'repeate': 'detect people waving'},
autonomy={'finished': Autonomy.Inherit, 'repeate': Autonomy.Inherit},
remapping={'commandNumber': 'commandNumber'})
# x:431 y:743
OperatableStateMachine.add('say finish',
SaraSay(sentence="I reach the end of my scenario. I will go back to the bar.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:616 y:735
OperatableStateMachine.add('Action_Move',
self.use_behavior(Action_MoveSM, 'Action_Move'),
transitions={'finished': 'finished', 'failed': 'finished'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'barPosition'})
return _state_machine
def create(self):
# x:1083 y:361, x:1016 y:460, x:1004 y:649
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed', 'critical_fail'], input_keys=['Action'])
_state_machine.userdata.Action = ["FindPerson","philippe"]
_state_machine.userdata.rotation = -1.57
_state_machine.userdata.className = "person"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:458
_sm_look_at_0 = OperatableStateMachine(outcomes=['finished'], input_keys=['entity'])
with _sm_look_at_0:
# x:142 y:112
OperatableStateMachine.add('get ID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'look'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity', 'output_value': 'ID'})
# x:106 y:262
OperatableStateMachine.add('look',
KeepLookingAt(),
transitions={'failed': 'look'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:297 y:737, x:531 y:481, x:378 y:120, x:739 y:299
_sm_ask_confirmation_1 = OperatableStateMachine(outcomes=['yes', 'no', 'error', 'noname'], input_keys=['name'])
with _sm_ask_confirmation_1:
# x:473 y:44
OperatableStateMachine.add('check if ask name',
CheckConditionState(predicate=lambda x: x[1] != ""),
transitions={'true': 'Repeat the question', 'false': 'wait 2'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'name'})
# x:35 y:303
OperatableStateMachine.add('Get Yes or No',
GetSpeech(watchdog=5),
transitions={'done': 'Repeat', 'nothing': 'Sara_Not_Understand', 'fail': 'Sara_Not_Understand'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'words'})
# x:34 y:486
OperatableStateMachine.add('Check Yes',
CheckConditionState(predicate=lambda x: "yes" in x),
transitions={'true': 'yes', 'false': 'Check No'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'words'})
# x:281 y:476
OperatableStateMachine.add('Check No',
CheckConditionState(predicate=lambda x: "no" in x),
transitions={'true': 'no', 'false': 'Sara_Not_Understand'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'words'})
# x:55 y:390
OperatableStateMachine.add('Repeat',
LogKeyState(text="I heard: {}", severity=Logger.REPORT_HINT),
transitions={'done': 'Check Yes'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'words'})
# x:529 y:253
OperatableStateMachine.add('say hi',
SaraSay(sentence="Hi there", input_keys=[], emotion=1, block=True),
transitions={'done': 'noname'},
autonomy={'done': Autonomy.Off})
# x:534 y:159
OperatableStateMachine.add('wait 2',
WaitState(wait_time=2),
transitions={'done': 'say hi'},
autonomy={'done': Autonomy.Off})
# x:37 y:95
OperatableStateMachine.add('Repeat the question',
ForLoop(repeat=5),
transitions={'do': 'Ask_Person', 'end': 'error'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:31 y:193
OperatableStateMachine.add('Ask_Person',
SaraSay(sentence=lambda x: "Are you " + x + "?", input_keys=[], emotion=0, block=True),
transitions={'done': 'Get Yes or No'},
autonomy={'done': Autonomy.Off})
# x:264 y:269
OperatableStateMachine.add('Sara_Not_Understand',
SaraSay(sentence=lambda x: "I did not understand.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Repeat the question'},
autonomy={'done': Autonomy.Off})
# x:305 y:322, x:301 y:53
_sm_if_need_the_one_2 = OperatableStateMachine(outcomes=['done', 'no_param'], input_keys=['Action'], output_keys=['person', 'name'])
with _sm_if_need_the_one_2:
# x:30 y:40
OperatableStateMachine.add('cond',
CheckConditionState(predicate=lambda x: x[1] != None and x[1] != ''),
transitions={'true': 'ReadParameters', 'false': 'no_param'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'Action'})
# x:95 y:129
OperatableStateMachine.add('ReadParameters',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'Say_Find_Objects'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'Action', 'output_value': 'name'})
# x:122 y:297
OperatableStateMachine.add('set person',
SetKey(Value="person"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'person'})
# x:97 y:213
OperatableStateMachine.add('Say_Find_Objects',
SaraSay(sentence=lambda x: "I'm now looking for " + x, input_keys=[], emotion=0, block=True),
transitions={'done': 'set person'},
autonomy={'done': Autonomy.Off})
# x:499 y:233, x:499 y:138, x:508 y:57, x:467 y:328, x:430 y:458, x:530 y:458, x:630 y:458, x:470 y:369, x:840 y:558
_sm_confirm_and_look_at_3 = ConcurrencyContainer(outcomes=['yes', 'no', 'error', 'noname'], input_keys=['name', 'entity'], conditions=[
('yes', [('Ask Confirmation', 'yes')]),
('no', [('Ask Confirmation', 'no')]),
('error', [('Ask Confirmation', 'error')]),
('noname', [('Ask Confirmation', 'noname')]),
('error', [('look at', 'finished')])
])
with _sm_confirm_and_look_at_3:
# x:176 y:40
OperatableStateMachine.add('Ask Confirmation',
_sm_ask_confirmation_1,
transitions={'yes': 'yes', 'no': 'no', 'error': 'error', 'noname': 'noname'},
autonomy={'yes': Autonomy.Inherit, 'no': Autonomy.Inherit, 'error': Autonomy.Inherit, 'noname': Autonomy.Inherit},
remapping={'name': 'name'})
# x:30 y:122
OperatableStateMachine.add('look at',
_sm_look_at_0,
transitions={'finished': 'error'},
autonomy={'finished': Autonomy.Inherit},
remapping={'entity': 'entity'})
with _state_machine:
# x:62 y:38
OperatableStateMachine.add('Action_findPerson',
self.use_behavior(Action_findPersonSM, 'Action_findPerson'),
transitions={'done': 'If need the one', 'pas_done': 'reset Head'},
autonomy={'done': Autonomy.Inherit, 'pas_done': Autonomy.Inherit},
remapping={'className': 'className', 'entity': 'entity'})
# x:512 y:255
OperatableStateMachine.add('Do not find person',
SaraSay(sentence="I did not find a person.", input_keys=[], emotion=1, block=True),
transitions={'done': 'cause2'},
autonomy={'done': Autonomy.Off})
# x:200 y:536
OperatableStateMachine.add('Retry',
ForLoop(repeat=1),
transitions={'do': 'Try again', 'end': 'reset Head'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:73 y:456
OperatableStateMachine.add('Try again',
SaraSay(sentence="Oh, I will try again.", input_keys=[], emotion=1, block=True),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:63 y:310
OperatableStateMachine.add('action_turn',
self.use_behavior(action_turnSM, 'action_turn'),
transitions={'finished': 'Action_findPerson', 'failed': 'reset Head'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'rotation': 'rotation'})
# x:145 y:194
OperatableStateMachine.add('reset Head',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'Do not find person'},
autonomy={'done': Autonomy.Off})
# x:997 y:258
OperatableStateMachine.add('set param',
SetRosParam(ParamName="/behavior/FoundPerson/Id"),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ID'})
# x:970 y:88
OperatableStateMachine.add('get ID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'set param'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity', 'output_value': 'ID'})
# x:531 y:38
OperatableStateMachine.add('confirm and look at',
_sm_confirm_and_look_at_3,
transitions={'yes': 'Say_found', 'no': 'Retry', 'error': 'reset Head', 'noname': 'get ID'},
autonomy={'yes': Autonomy.Inherit, 'no': Autonomy.Inherit, 'error': Autonomy.Inherit, 'noname': Autonomy.Inherit},
remapping={'name': 'name', 'entity': 'entity'})
# x:662 y:325
OperatableStateMachine.add('cause2',
SetKey(Value="I did not find any person."),
transitions={'done': 'setrosparamfailure'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:820 y:377
OperatableStateMachine.add('setrosparamfailure',
SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'Key'})
# x:782 y:169
OperatableStateMachine.add('say found person',
SaraSay(sentence="I found a person.", input_keys=[], emotion=1, block=True),
transitions={'done': 'get ID'},
autonomy={'done': Autonomy.Off})
# x:417 y:167
OperatableStateMachine.add('say hello',
SaraSay(sentence="Hello.", input_keys=[], emotion=1, block=True),
transitions={'done': 'confirm and look at'},
autonomy={'done': Autonomy.Off})
# x:278 y:47
OperatableStateMachine.add('If need the one',
_sm_if_need_the_one_2,
transitions={'done': 'say hello', 'no_param': 'say found person'},
autonomy={'done': Autonomy.Inherit, 'no_param': Autonomy.Inherit},
remapping={'Action': 'Action', 'person': 'person', 'name': 'name'})
# x:724 y:101
OperatableStateMachine.add('Say_found',
SaraSay(sentence=lambda x: "I have found " + x + "!", input_keys=[], emotion=0, block=True),
transitions={'done': 'get ID'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:84 y:465, x:727 y:360
_state_machine = OperatableStateMachine(outcomes=['done', 'failed'],
input_keys=['className'],
output_keys=['entity'])
_state_machine.userdata.className = "bottle"
_state_machine.userdata.entity = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365
_sm_look_at_0 = OperatableStateMachine(outcomes=['end'],
input_keys=['ID'])
with _sm_look_at_0:
# x:75 y:135
OperatableStateMachine.add('look at',
KeepLookingAt(),
transitions={'failed': 'look at'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:798 y:597
_sm_rotation360_1 = OperatableStateMachine(outcomes=['end'])
with _sm_rotation360_1:
# x:42 y:34
OperatableStateMachine.add('Set 180 degres',
SetKey(Value=3.1416),
transitions={'done': 'rotate center'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:610 y:293
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=0.5, yaw=1),
transitions={'done': 'Rotate Right'},
autonomy={'done': Autonomy.Off})
# x:406 y:58
OperatableStateMachine.add('Rotate Left',
WaitState(wait_time=5),
transitions={'done': 'rotate center'},
autonomy={'done': Autonomy.Off})
# x:410 y:313
OperatableStateMachine.add('Rotate Right',
WaitState(wait_time=5),
transitions={'done': 'look center 2'},
autonomy={'done': Autonomy.Off})
# x:209 y:50
OperatableStateMachine.add('Look Left',
SaraSetHeadAngle(pitch=0.5, yaw=-1),
transitions={'done': 'Rotate Left'},
autonomy={'done': Autonomy.Off})
# x:216 y:186
OperatableStateMachine.add('Rotate Left 2',
WaitState(wait_time=5),
transitions={'done': 'Look Left'},
autonomy={'done': Autonomy.Off})
# x:630 y:170
OperatableStateMachine.add('wait 5',
WaitState(wait_time=5),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:603 y:47
OperatableStateMachine.add('rotate center',
SaraSetHeadAngle(pitch=0.5, yaw=0),
transitions={'done': 'wait 5'},
autonomy={'done': Autonomy.Off})
# x:208 y:308
OperatableStateMachine.add('look center 2',
SaraSetHeadAngle(pitch=0.5, yaw=0),
transitions={'done': 'Rotate Left 2'},
autonomy={'done': Autonomy.Off})
# x:683 y:188
_sm_find_entity_2 = OperatableStateMachine(outcomes=['found'],
input_keys=['className'],
output_keys=['entity'])
with _sm_find_entity_2:
# x:181 y:178
OperatableStateMachine.add('find_entity',
list_entities_by_name(
frontality_level=0.5,
distance_max=2),
transitions={
'found': 'Get Entity',
'none_found': 'find_entity'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'className',
'entity_list': 'entity_list',
'number': 'number'
})
# x:454 y:178
OperatableStateMachine.add(
'Get Entity',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'entity'
})
# x:371 y:306, x:130 y:365, x:230 y:365
_sm_look_for_2_sec_3 = ConcurrencyContainer(
outcomes=['done'],
input_keys=['ID'],
conditions=[('done', [('WaitState 2', 'done')]),
('done', [('Look at', 'end')])])
with _sm_look_for_2_sec_3:
# x:84 y:166
OperatableStateMachine.add('Look at',
_sm_look_at_0,
transitions={'end': 'done'},
autonomy={'end': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:345 y:187
OperatableStateMachine.add('WaitState 2',
WaitState(wait_time=3),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:372 y:27, x:370 y:220, x:368 y:100, x:352 y:305, x:460 y:465
_sm_find_entity_while_turning360_4 = ConcurrencyContainer(
outcomes=['found', 'not_found'],
input_keys=['className'],
output_keys=['entity'],
conditions=[('not_found', [('Rotation360', 'end')]),
('found', [('Find Entity', 'found')]),
('not_found', [('wait', 'done')])])
with _sm_find_entity_while_turning360_4:
# x:131 y:44
OperatableStateMachine.add('Find Entity',
_sm_find_entity_2,
transitions={'found': 'found'},
autonomy={'found': Autonomy.Inherit},
remapping={
'className': 'className',
'entity': 'entity'
})
# x:129 y:197
OperatableStateMachine.add('Rotation360',
_sm_rotation360_1,
transitions={'end': 'not_found'},
autonomy={'end': Autonomy.Inherit})
# x:149 y:306
OperatableStateMachine.add('wait',
WaitState(wait_time=30),
transitions={'done': 'not_found'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:55 y:41
OperatableStateMachine.add(
'Look Front Center',
SaraSetHeadAngle(pitch=0.7, yaw=0),
transitions={'done': 'Find Entity WHILE Turning360'},
autonomy={'done': Autonomy.Off})
# x:345 y:156
OperatableStateMachine.add('Look Center Not Found',
SaraSetHeadAngle(pitch=0.7, yaw=0),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:59 y:376
OperatableStateMachine.add('Log Entity',
LogKeyState(
text="Found entity: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'entity'})
# x:26 y:121
OperatableStateMachine.add('Find Entity WHILE Turning360',
_sm_find_entity_while_turning360_4,
transitions={
'found': 'get ID',
'not_found': 'Look Center Not Found'
},
autonomy={
'found': Autonomy.Inherit,
'not_found': Autonomy.Inherit
},
remapping={
'className': 'className',
'entity': 'entity'
})
# x:45 y:290
OperatableStateMachine.add('look for 2 sec',
_sm_look_for_2_sec_3,
transitions={'done': 'Log Entity'},
autonomy={'done': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:62 y:211
OperatableStateMachine.add(
'get ID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'look for 2 sec'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity',
'output_value': 'ID'
})
return _state_machine
def create(self):
# x:666 y:331, x:502 y:199, x:797 y:103
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed', 'critical_fail'], input_keys=['Position', 'ID'])
_state_machine.userdata.relative = False
_state_machine.userdata.Position = 0
_state_machine.userdata.ID = 0
_state_machine.userdata.className = "person"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:379 y:221
_sm_wait_to_compte_0 = OperatableStateMachine(outcomes=['finished'])
with _sm_wait_to_compte_0:
# x:77 y:195
OperatableStateMachine.add('one more wait',
WaitState(wait_time=60),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:535 y:314
_sm_turn_around_1 = OperatableStateMachine(outcomes=['failed'])
with _sm_turn_around_1:
# x:47 y:45
OperatableStateMachine.add('set orientation',
SetKey(Value=1.57),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:42 y:213
OperatableStateMachine.add('move head',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'waitwait'},
autonomy={'done': Autonomy.Off})
# x:53 y:294
OperatableStateMachine.add('waitwait',
WaitState(wait_time=10),
transitions={'done': 'action_turn_2'},
autonomy={'done': Autonomy.Off})
# x:33 y:122
OperatableStateMachine.add('action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM, 'Try to reach/check person behind/move head and base/turn around/action_turn'),
transitions={'finished': 'move head', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'rotation': 'rotation'})
# x:31 y:434
OperatableStateMachine.add('action_turn_2',
self.use_behavior(sara_flexbe_behaviors__action_turnSM, 'Try to reach/check person behind/move head and base/turn around/action_turn_2'),
transitions={'finished': 'head left right', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'rotation': 'rotation'})
# x:35 y:595
OperatableStateMachine.add('head left right',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'wait turn head'},
autonomy={'done': Autonomy.Off})
# x:308 y:537
OperatableStateMachine.add('wait turn head',
WaitState(wait_time=10),
transitions={'done': 'head right left'},
autonomy={'done': Autonomy.Off})
# x:495 y:604
OperatableStateMachine.add('head right left',
SaraSetHeadAngle(pitch=0, yaw=-1.57),
transitions={'done': 'wait wait wait'},
autonomy={'done': Autonomy.Off})
# x:262 y:652
OperatableStateMachine.add('wait wait wait',
WaitState(wait_time=10),
transitions={'done': 'head left right'},
autonomy={'done': Autonomy.Off})
# x:845 y:395
_sm_find_human_2 = OperatableStateMachine(outcomes=['finished'], input_keys=['ID'])
with _sm_find_human_2:
# x:143 y:40
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:361 y:53
OperatableStateMachine.add('list',
list_entities_by_name(frontality_level=0.5, distance_max=3),
transitions={'found': 'finished', 'none_found': 'list'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'})
# x:549 y:135, x:555 y:269, x:230 y:458
_sm_move_head_and_base_3 = ConcurrencyContainer(outcomes=['failed'], conditions=[
('failed', [('turn around', 'failed')]),
('failed', [('wait to compte', 'finished')])
])
with _sm_move_head_and_base_3:
# x:268 y:77
OperatableStateMachine.add('turn around',
_sm_turn_around_1,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:263 y:246
OperatableStateMachine.add('wait to compte',
_sm_wait_to_compte_0,
transitions={'finished': 'failed'},
autonomy={'finished': Autonomy.Inherit})
# x:493 y:206
_sm_container_4 = OperatableStateMachine(outcomes=['check'])
with _sm_container_4:
# x:230 y:160
OperatableStateMachine.add('wait long',
WaitState(wait_time=40),
transitions={'done': 'check'},
autonomy={'done': Autonomy.Off})
# x:30 y:458, x:706 y:447
_sm_navigate_to_the_point_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['pose'])
with _sm_navigate_to_the_point_5:
# x:174 y:122
OperatableStateMachine.add('set relative',
SetKey(Value=False),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'relative'})
# x:347 y:191
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Try to reach/Container/navigate to the point/Action_Move'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'pose', 'relative': 'relative'})
# x:728 y:335, x:792 y:103, x:738 y:249, x:724 y:448
_sm_check_person_behind_6 = ConcurrencyContainer(outcomes=['finished', 'failed'], input_keys=['ID'], conditions=[
('failed', [('move head and base', 'failed')]),
('finished', [('find human', 'finished')])
])
with _sm_check_person_behind_6:
# x:250 y:72
OperatableStateMachine.add('move head and base',
_sm_move_head_and_base_3,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:261 y:238
OperatableStateMachine.add('find human',
_sm_find_human_2,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:635 y:61, x:634 y:159, x:597 y:300, x:330 y:458, x:430 y:458, x:530 y:458
_sm_container_7 = ConcurrencyContainer(outcomes=['finished', 'failed', 'check'], input_keys=['waypoint'], conditions=[
('check', [('Container', 'check')]),
('finished', [('navigate to the point', 'finished')]),
('failed', [('navigate to the point', 'failed')])
])
with _sm_container_7:
# x:315 y:51
OperatableStateMachine.add('navigate to the point',
_sm_navigate_to_the_point_5,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'waypoint'})
# x:322 y:257
OperatableStateMachine.add('Container',
_sm_container_4,
transitions={'check': 'check'},
autonomy={'check': Autonomy.Inherit})
# x:30 y:458
_sm_groupwait_8 = OperatableStateMachine(outcomes=['end'])
with _sm_groupwait_8:
# x:30 y:40
OperatableStateMachine.add('waitwait',
WaitState(wait_time=20),
transitions={'done': 'end'},
autonomy={'done': Autonomy.Off})
# x:534 y:319
_sm_move_head_and_base_at_the_end_9 = OperatableStateMachine(outcomes=['failed'])
with _sm_move_head_and_base_at_the_end_9:
# x:52 y:31
OperatableStateMachine.add('setkeyorientation',
SetKey(Value=1.5),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:51 y:114
OperatableStateMachine.add('action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM, 'operator is still there/Move head and base end /move head and base at the end/action_turn'),
transitions={'finished': 'turn right head', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'rotation': 'rotation'})
# x:48 y:272
OperatableStateMachine.add('wait while head turn',
WaitState(wait_time=4),
transitions={'done': 'action_turn_2'},
autonomy={'done': Autonomy.Off})
# x:47 y:199
OperatableStateMachine.add('turn right head',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'wait while head turn'},
autonomy={'done': Autonomy.Off})
# x:45 y:348
OperatableStateMachine.add('action_turn_2',
self.use_behavior(sara_flexbe_behaviors__action_turnSM, 'operator is still there/Move head and base end /move head and base at the end/action_turn_2'),
transitions={'finished': 'left to rigth', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'rotation': 'rotation'})
# x:43 y:592
OperatableStateMachine.add('left to rigth',
SaraSetHeadAngle(pitch=0, yaw=-1.57),
transitions={'done': 'waitwait1'},
autonomy={'done': Autonomy.Off})
# x:420 y:602
OperatableStateMachine.add('right to left',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'waitwait2'},
autonomy={'done': Autonomy.Off})
# x:266 y:541
OperatableStateMachine.add('waitwait1',
WaitState(wait_time=8),
transitions={'done': 'right to left'},
autonomy={'done': Autonomy.Off})
# x:236 y:674
OperatableStateMachine.add('waitwait2',
WaitState(wait_time=8),
transitions={'done': 'left to rigth'},
autonomy={'done': Autonomy.Off})
# x:231 y:538
_sm_find_a_human_10 = OperatableStateMachine(outcomes=['finished'], input_keys=['ID'])
with _sm_find_a_human_10:
# x:168 y:102
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:275 y:203
OperatableStateMachine.add('list',
list_entities_by_name(frontality_level=0.5, distance_max=3),
transitions={'found': 'finished', 'none_found': 'list'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'})
# x:415 y:99, x:318 y:246, x:442 y:295
_sm_move_head_and_base_end__11 = ConcurrencyContainer(outcomes=['failed'], conditions=[
('failed', [('move head and base at the end', 'failed')]),
('failed', [('Groupwait', 'end')])
])
with _sm_move_head_and_base_end__11:
# x:132 y:57
OperatableStateMachine.add('move head and base at the end',
_sm_move_head_and_base_at_the_end_9,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:121 y:218
OperatableStateMachine.add('Groupwait',
_sm_groupwait_8,
transitions={'end': 'failed'},
autonomy={'end': Autonomy.Inherit})
# x:323 y:632, x:638 y:631
_sm_try_to_reach_12 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['waypoint', 'relative', 'ID'])
with _sm_try_to_reach_12:
# x:186 y:130
OperatableStateMachine.add('Container',
_sm_container_7,
transitions={'finished': 'Say_Reached', 'failed': 'say_not_reached', 'check': 'say check'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'check': Autonomy.Inherit},
remapping={'waypoint': 'waypoint'})
# x:581 y:163
OperatableStateMachine.add('check person behind',
_sm_check_person_behind_6,
transitions={'finished': 'say found', 'failed': 'say lost'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:706 y:484
OperatableStateMachine.add('say lost',
SaraSay(sentence="Oh no! I lost my operator!", input_keys=[], emotion=1, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:445 y:69
OperatableStateMachine.add('say check',
SaraSay(sentence="I check if my operator is still there", input_keys=[], emotion=1, block=True),
transitions={'done': 'check person behind'},
autonomy={'done': Autonomy.Off})
# x:443 y:187
OperatableStateMachine.add('say found',
SaraSay(sentence="Great. You are still there.", input_keys=[], emotion=1, block=True),
transitions={'done': 'Container'},
autonomy={'done': Autonomy.Off})
# x:520 y:409
OperatableStateMachine.add('say_not_reached',
SaraSay(sentence=lambda x: "I have not reach the destination", input_keys=[], emotion=0, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:139 y:339
OperatableStateMachine.add('Say_Reached',
SaraSay(sentence=lambda x: "I have reach the destination", input_keys=[], emotion=0, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:626 y:228, x:607 y:71, x:230 y:458, x:330 y:458
_sm_operator_is_still_there_13 = ConcurrencyContainer(outcomes=['finished', 'failed'], input_keys=['ID'], conditions=[
('finished', [('find a human', 'finished')]),
('failed', [('Move head and base end ', 'failed')])
])
with _sm_operator_is_still_there_13:
# x:207 y:54
OperatableStateMachine.add('Move head and base end ',
_sm_move_head_and_base_end__11,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:222 y:190
OperatableStateMachine.add('find a human',
_sm_find_a_human_10,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
with _state_machine:
# x:52 y:98
OperatableStateMachine.add('GetPerson',
GetEntityByID(),
transitions={'found': 'sayfollowme', 'not_found': 'Action_findPerson'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off},
remapping={'ID': 'ID', 'Entity': 'Entity'})
# x:29 y:416
OperatableStateMachine.add('operator is still there',
_sm_operator_is_still_there_13,
transitions={'finished': 'head to middle', 'failed': 'say lost operator'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:290 y:324
OperatableStateMachine.add('say lost operator',
SaraSay(sentence="I have reach my goal but I lost the person I was guiding.", input_keys=[], emotion=1, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:43 y:214
OperatableStateMachine.add('sayfollowme',
SaraSay(sentence="Follow me please.", input_keys=[], emotion=1, block=True),
transitions={'done': 'Try to reach'},
autonomy={'done': Autonomy.Off})
# x:413 y:441
OperatableStateMachine.add('head to middle',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:39 y:330
OperatableStateMachine.add('Try to reach',
_sm_try_to_reach_12,
transitions={'finished': 'operator is still there', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'waypoint': 'Position', 'relative': 'relative', 'ID': 'ID'})
# x:443 y:95
OperatableStateMachine.add('Cant Find Person',
SaraSay(sentence="I can't find a person.", input_keys=[], emotion=1, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:201 y:57
OperatableStateMachine.add('Action_findPerson',
self.use_behavior(sara_flexbe_behaviors__Action_findPersonSM, 'Action_findPerson'),
transitions={'done': 'sayfollowme', 'pas_done': 'Cant Find Person'},
autonomy={'done': Autonomy.Inherit, 'pas_done': Autonomy.Inherit},
remapping={'className': 'className', 'entity': 'Entity'})
return _state_machine
def create(self):
# x:738 y:371, x:736 y:220
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.bin1Waypoint = "trash bin 2"
_state_machine.userdata.bin2Waypoint = "trash bin"
_state_machine.userdata.bin1Height = "1"
_state_machine.userdata.bin2Height = "1"
_state_machine.userdata.dropzone1Waypoint = "drop_zone1"
_state_machine.userdata.dropzone2Waypoint = "drop_zone2"
_state_machine.userdata.DoorName = "door_1_entry"
_state_machine.userdata.exit_door = "door_2_exit"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:810 y:644, x:808 y:125
_sm_go_to_drop_the_bag_0 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['dropzoneWaypoint', 'exit_door'])
with _sm_go_to_drop_the_bag_0:
# x:84 y:36
OperatableStateMachine.add('say drop',
SaraSay(sentence="I will go and drop this bag in the drop zone.", input_keys=[], emotion=0, block=False),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:66 y:598
OperatableStateMachine.add('open the gripper',
SetGripperState(width=0.1, effort=1),
transitions={'object': 'go to pose transport', 'no_object': 'go to pose transport'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:341 y:469
OperatableStateMachine.add('say cant go to drop zone',
SaraSay(sentence="I am not able to go to the drop zone. I will put the bag here and go to the second bin.", input_keys=[], emotion=0, block=True),
transitions={'done': 'run depose sac'},
autonomy={'done': Autonomy.Off})
# x:74 y:490
OperatableStateMachine.add('run depose sac',
RunTrajectory(file="poubelle_depose", duration=10),
transitions={'done': 'open the gripper'},
autonomy={'done': Autonomy.Off})
# x:69 y:726
OperatableStateMachine.add('go to pose transport',
RunTrajectory(file="transport", duration=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:76 y:386
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'First bin/go to drop the bag/Action_Move'),
transitions={'finished': 'run depose sac', 'failed': 'say cant go to drop zone'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'dropzoneWaypoint'})
# x:570 y:519, x:575 y:330
_sm_find_the_bin_1 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_find_the_bin_1:
# x:89 y:62
OperatableStateMachine.add('place arm',
RunTrajectory(file="poubelle_init", duration=0),
transitions={'done': 'leve la tete'},
autonomy={'done': Autonomy.Off})
# x:270 y:378
OperatableStateMachine.add('get waypoint',
Get_Reacheable_Waypoint(),
transitions={'done': 'move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'detectedBin', 'distance': 'distanceToBin', 'pose_out': 'poseToBin'})
# x:296 y:284
OperatableStateMachine.add('set distance to bin',
SetKey(Value=0.5),
transitions={'done': 'get waypoint'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distanceToBin'})
# x:278 y:201
OperatableStateMachine.add('pose form lidar to map',
TF_transformation(in_ref="front_hokuyo_link", out_ref="map"),
transitions={'done': 'set distance to bin', 'fail': 'failed'},
autonomy={'done': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'in_pos': 'detectedObstacle', 'out_pos': 'detectedBin'})
# x:80 y:514
OperatableStateMachine.add('redo ajustements de la position',
ForLoop(repeat=2),
transitions={'do': 'find closest obstacle point', 'end': 'finished'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:87 y:129
OperatableStateMachine.add('find closest obstacle point',
GetClosestObstacle(topic="/scan", maximumDistance=2),
transitions={'done': 'pose form lidar to map'},
autonomy={'done': Autonomy.Off},
remapping={'Angle': 'Angle', 'distance': 'distance', 'position': 'detectedObstacle'})
# x:288 y:77
OperatableStateMachine.add('leve la tete',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'find closest obstacle point'},
autonomy={'done': Autonomy.Off})
# x:287 y:464
OperatableStateMachine.add('move',
SaraMoveBase(reference="map"),
transitions={'arrived': 'redo ajustements de la position', 'failed': 'failed'},
autonomy={'arrived': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'pose': 'poseToBin'})
# x:573 y:546, x:622 y:92
_sm_go_to_bin_2 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['bin1Waypoint'])
with _sm_go_to_bin_2:
# x:86 y:104
OperatableStateMachine.add('bras sur le cote',
RunTrajectory(file="poubelle_transport", duration=0),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:254 y:199
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'First bin/go to bin/Action_Move'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'bin1Waypoint'})
# x:600 y:617, x:666 y:442
_sm_find_the_bin_3 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_find_the_bin_3:
# x:89 y:62
OperatableStateMachine.add('place arm',
RunTrajectory(file="poubelle_init", duration=0),
transitions={'done': 'leve la tete'},
autonomy={'done': Autonomy.Off})
# x:268 y:410
OperatableStateMachine.add('get waypoint',
Get_Reacheable_Waypoint(),
transitions={'done': 'move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'detectedBin', 'distance': 'distanceToBin', 'pose_out': 'poseToBin'})
# x:293 y:326
OperatableStateMachine.add('set distance to bin',
SetKey(Value=0.5),
transitions={'done': 'get waypoint'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distanceToBin'})
# x:278 y:238
OperatableStateMachine.add('pose form lidar to map',
TF_transformation(in_ref="front_hokuyo_link", out_ref="map"),
transitions={'done': 'set distance to bin', 'fail': 'failed'},
autonomy={'done': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'in_pos': 'detectedObstacle', 'out_pos': 'detectedBin'})
# x:80 y:598
OperatableStateMachine.add('redo ajustements de la position',
ForLoop(repeat=2),
transitions={'do': 'find closest obstacle point', 'end': 'finished'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:89 y:168
OperatableStateMachine.add('find closest obstacle point',
GetClosestObstacle(topic="/scan", maximumDistance=2),
transitions={'done': 'pose form lidar to map'},
autonomy={'done': Autonomy.Off},
remapping={'Angle': 'Angle', 'distance': 'distance', 'position': 'detectedObstacle'})
# x:288 y:104
OperatableStateMachine.add('leve la tete',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'find closest obstacle point'},
autonomy={'done': Autonomy.Off})
# x:285 y:504
OperatableStateMachine.add('move',
SaraMoveBase(reference="map"),
transitions={'arrived': 'redo ajustements de la position', 'failed': 'failed'},
autonomy={'arrived': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'pose': 'poseToBin'})
# x:30 y:365, x:130 y:365
_sm_go_to_bin_4 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['bin2Waypoint'])
with _sm_go_to_bin_4:
# x:59 y:100
OperatableStateMachine.add('bras sur le cote',
RunTrajectory(file="poubelle_transport", duration=0),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:254 y:199
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'second bin/go to bin/Action_Move'),
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'bin2Waypoint'})
# x:418 y:580, x:694 y:339
_sm_go_to_drop_the_bag_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['dropzoneWaypoint', 'exit_door'])
with _sm_go_to_drop_the_bag_5:
# x:65 y:215
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'second bin/go to drop the bag/Action_Move'),
transitions={'finished': 'run depose sac', 'failed': 'say cant go to drop zone'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'dropzoneWaypoint'})
# x:385 y:324
OperatableStateMachine.add('say cant go to drop zone',
SaraSay(sentence="I am not able to go to the drop zone. I will put the bag here.", input_keys=[], emotion=0, block=True),
transitions={'done': 'run depose sac'},
autonomy={'done': Autonomy.Off})
# x:76 y:340
OperatableStateMachine.add('run depose sac',
RunTrajectory(file="poubelle_depose", duration=10),
transitions={'done': 'open the gripper'},
autonomy={'done': Autonomy.Off})
# x:74 y:505
OperatableStateMachine.add('go to pose transport',
RunTrajectory(file="transport", duration=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:74 y:426
OperatableStateMachine.add('open the gripper',
SetGripperState(width=0.1, effort=1),
transitions={'object': 'go to pose transport', 'no_object': 'go to pose transport'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:704 y:599, x:717 y:53
_sm_first_bin_6 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['bin1Waypoint', 'bin1Height', 'dropzoneWaypoint', 'exit_door'])
with _sm_first_bin_6:
# x:57 y:26
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM, 'First bin/Init_Sequence'),
transitions={'finished': 'go to bin', 'failed': 'go to bin'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:257 y:329
OperatableStateMachine.add('Action_TakeBag',
self.use_behavior(sara_flexbe_behaviors__Action_TakeBagSM, 'First bin/Action_TakeBag'),
transitions={'finished': 'go to drop the bag', 'failed': 'Missed It once'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:275 y:35
OperatableStateMachine.add('go to bin',
_sm_go_to_bin_2,
transitions={'finished': 'find the bin', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'bin1Waypoint': 'bin1Waypoint'})
# x:286 y:164
OperatableStateMachine.add('find the bin',
_sm_find_the_bin_1,
transitions={'finished': 'Try twice', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:292 y:234
OperatableStateMachine.add('Try twice',
ForLoop(repeat=1),
transitions={'do': 'Action_TakeBag', 'end': 'failed'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:102 y:262
OperatableStateMachine.add('Missed It once',
SaraSay(sentence="I will try one more time.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Try twice'},
autonomy={'done': Autonomy.Off})
# x:267 y:432
OperatableStateMachine.add('go to drop the bag',
_sm_go_to_drop_the_bag_0,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'dropzoneWaypoint': 'dropzoneWaypoint', 'exit_door': 'exit_door'})
# x:946 y:467, x:907 y:75
_sm_second_bin_7 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['bin2Waypoint', 'bin2Height', 'dropzoneWaypoint', 'exit_door'])
with _sm_second_bin_7:
# x:57 y:26
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM, 'second bin/Init_Sequence'),
transitions={'finished': 'go to bin', 'failed': 'go to bin'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:267 y:432
OperatableStateMachine.add('go to drop the bag',
_sm_go_to_drop_the_bag_5,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'dropzoneWaypoint': 'dropzoneWaypoint', 'exit_door': 'exit_door'})
# x:257 y:346
OperatableStateMachine.add('Action_TakeBag',
self.use_behavior(sara_flexbe_behaviors__Action_TakeBagSM, 'second bin/Action_TakeBag'),
transitions={'finished': 'go to drop the bag', 'failed': 'Missed It once'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:275 y:35
OperatableStateMachine.add('go to bin',
_sm_go_to_bin_4,
transitions={'finished': 'find the bin', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'bin2Waypoint': 'bin2Waypoint'})
# x:286 y:164
OperatableStateMachine.add('find the bin',
_sm_find_the_bin_3,
transitions={'finished': 'Try twice', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:298 y:254
OperatableStateMachine.add('Try twice',
ForLoop(repeat=1),
transitions={'do': 'Action_TakeBag', 'end': 'failed'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:102 y:262
OperatableStateMachine.add('Missed It once',
SaraSay(sentence="I will try one more time.", input_keys=[], emotion=0, block=True),
transitions={'done': 'Try twice'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:15 y:242
OperatableStateMachine.add('button',
ContinueButton(),
transitions={'true': 'Action_Pass_Door', 'false': 'Action_Pass_Door'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off})
# x:485 y:201
OperatableStateMachine.add('try second bin',
SaraSay(sentence="I failed to take out the garbage from the first bin but I will try the second bin.", input_keys=[], emotion=0, block=True),
transitions={'done': 'second bin'},
autonomy={'done': Autonomy.Off})
# x:267 y:199
OperatableStateMachine.add('say take second bag',
SaraSay(sentence="Good! I will now get rid of the second bag.", input_keys=[], emotion=0, block=True),
transitions={'done': 'second bin'},
autonomy={'done': Autonomy.Off})
# x:267 y:376
OperatableStateMachine.add('second bin',
_sm_second_bin_7,
transitions={'finished': 'finished', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'bin2Waypoint': 'bin2Waypoint', 'bin2Height': 'bin2Height', 'dropzoneWaypoint': 'dropzone2Waypoint', 'exit_door': 'exit_door'})
# x:94 y:153
OperatableStateMachine.add('IllManageSomehow',
SaraSay(sentence="Hmmm. This is a hard door to pass...", input_keys=[], emotion=0, block=True),
transitions={'done': 'First bin'},
autonomy={'done': Autonomy.Off})
# x:277 y:63
OperatableStateMachine.add('First bin',
_sm_first_bin_6,
transitions={'finished': 'say take second bag', 'failed': 'try second bin'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'bin1Waypoint': 'bin1Waypoint', 'bin1Height': 'bin1Height', 'dropzoneWaypoint': 'dropzone1Waypoint', 'exit_door': 'exit_door'})
# x:65 y:53
OperatableStateMachine.add('Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'Action_Pass_Door'),
transitions={'Done': 'First bin', 'Fail': 'IllManageSomehow'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'DoorName'})
return _state_machine
def create(self):
# x:1103 y:529, x:321 y:227
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.Pose_Init = "IdlePose"
_state_machine.userdata.Closed_Gripper_Width = 1
_state_machine.userdata.Open_Gripper_Width = 255
_state_machine.userdata.ID = 0
_state_machine.userdata.PoseStart = "PoseStart"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365
_sm_look_in_the_eyes_0 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_in_the_eyes_0:
# x:189 y:48
OperatableStateMachine.add('wait 3',
WaitState(wait_time=3),
transitions={'done': 'say ready'},
autonomy={'done': Autonomy.Off})
# x:171 y:288
OperatableStateMachine.add('reset head',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:164 y:163
OperatableStateMachine.add(
'say ready',
SaraSay(
sentence=
"Good, I see you want this bag. But, could you hand it to me please?",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'reset head'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_look_at_it_1 = OperatableStateMachine(outcomes=['fail'],
input_keys=['position'])
with _sm_look_at_it_1:
# x:126 y:99
OperatableStateMachine.add('look',
LookAtPos(),
transitions={
'failed': 'look',
'done': 'look'
},
autonomy={
'failed': Autonomy.Off,
'done': Autonomy.Off
},
remapping={'pos': 'position'})
# x:30 y:365
_sm_point_at_it_2 = OperatableStateMachine(outcomes=['finished'],
input_keys=['position'])
with _sm_point_at_it_2:
# x:112 y:202
OperatableStateMachine.add(
'Action_point_at',
self.use_behavior(
Action_point_atSM,
'recevoir sac/Recevoir sac/look at bag/designate bag/point at it/Action_point_at'
),
transitions={
'finished': 'Action_point_at',
'failed': 'Action_point_at'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'targetPoint': 'position'})
# x:30 y:365
_sm_move_to_it_3 = OperatableStateMachine(outcomes=['arrived'],
input_keys=['position'])
with _sm_move_to_it_3:
# x:204 y:52
OperatableStateMachine.add('set distance',
SetKey(Value=1),
transitions={'done': 'get pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:211 y:185
OperatableStateMachine.add('get pose',
Get_Reacheable_Waypoint(),
transitions={'done': 'move to bag'},
autonomy={'done': Autonomy.Off},
remapping={
'pose_in': 'position',
'distance': 'distance',
'pose_out': 'pose'
})
# x:188 y:279
OperatableStateMachine.add('move to bag',
SaraMoveBase(reference="map"),
transitions={
'arrived': 'arrived',
'failed': 'arrived'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'pose'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
_sm_designate_bag_4 = ConcurrencyContainer(
outcomes=['finished'],
input_keys=['position'],
conditions=[('finished', [('look at it', 'fail')]),
('finished', [('point at it', 'finished')]),
('finished', [('move to it', 'arrived')])])
with _sm_designate_bag_4:
# x:499 y:118
OperatableStateMachine.add('move to it',
_sm_move_to_it_3,
transitions={'arrived': 'finished'},
autonomy={'arrived': Autonomy.Inherit},
remapping={'position': 'position'})
# x:239 y:126
OperatableStateMachine.add('point at it',
_sm_point_at_it_2,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'position': 'position'})
# x:45 y:121
OperatableStateMachine.add('look at it',
_sm_look_at_it_1,
transitions={'fail': 'finished'},
autonomy={'fail': Autonomy.Inherit},
remapping={'position': 'position'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
_sm_receive_it_5 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'],
conditions=[('finished', [('Action_Receive_Bag', 'finished'),
('look in the eyes', 'finished')]),
('failed', [('Action_Receive_Bag', 'failed')])])
with _sm_receive_it_5:
# x:30 y:149
OperatableStateMachine.add(
'Action_Receive_Bag',
self.use_behavior(
Action_Receive_BagSM,
'recevoir sac/Recevoir sac/receive it/Action_Receive_Bag'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width': 'Closed_Gripper_Width',
'Open_Gripper_Width': 'Open_Gripper_Width',
'Closed_Gripper_Width': 'Closed_Gripper_Width'
})
# x:259 y:150
OperatableStateMachine.add('look in the eyes',
_sm_look_in_the_eyes_0,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit})
# x:30 y:322
_sm_look_at_bag_6 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_at_bag_6:
# x:35 y:70
OperatableStateMachine.add('setName',
SetKey(Value="person"),
transitions={'done': 'say 1'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'personName'})
# x:233 y:109
OperatableStateMachine.add(
'say 1',
SaraSay(sentence="Please, point at the bag you want.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off})
# x:28 y:193
OperatableStateMachine.add('list',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'calc',
'none_found': 'list'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'personName',
'entity_list': 'entity_list',
'number': 'number'
})
# x:230 y:363
OperatableStateMachine.add(
'get bag position from pointing',
GetPointedPositionOnPlane(planeHeight=0.2),
transitions={
'done': 'designate bag',
'not_pointing': 'say 1',
'pointing_up': 'say 1',
'failed': 'list'
},
autonomy={
'done': Autonomy.Off,
'not_pointing': Autonomy.Off,
'pointing_up': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'entity': 'entity',
'position': 'position'
})
# x:34 y:362
OperatableStateMachine.add(
'calc',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'get bag position from pointing'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'entity'
})
# x:241 y:554
OperatableStateMachine.add('designate bag',
_sm_designate_bag_4,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'position': 'position'})
# x:30 y:365, x:182 y:454
_sm_recevoir_sac_7 = OperatableStateMachine(
outcomes=['failed', 'done'],
input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'])
with _sm_recevoir_sac_7:
# x:66 y:44
OperatableStateMachine.add('look at bag',
_sm_look_at_bag_6,
transitions={'finished': 'close'},
autonomy={'finished': Autonomy.Inherit})
# x:41 y:267
OperatableStateMachine.add('receive it',
_sm_receive_it_5,
transitions={
'finished': 'sayCAr',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width':
'Closed_Gripper_Width',
'Open_Gripper_Width':
'Open_Gripper_Width'
})
# x:81 y:157
OperatableStateMachine.add(
'close',
SetGripperState(width=0, effort=0),
transitions={
'object': 'receive it',
'no_object': 'receive it'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:139 y:334
OperatableStateMachine.add(
'sayCAr',
SaraSay(sentence="PLease tell me when we get to the car.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_listen_8 = OperatableStateMachine(outcomes=['done'])
with _sm_listen_8:
# x:50 y:76
OperatableStateMachine.add(
'SayFollow',
SaraSay(
sentence=
"I will follow you to the car now. Tell me when we get to the car.",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'LIsten'},
autonomy={'done': Autonomy.Off})
# x:161 y:148
OperatableStateMachine.add('LIsten',
GetSpeech(watchdog=10),
transitions={
'done': 'Listen2',
'nothing': 'LIsten',
'fail': 'LIsten'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'words'})
# x:201 y:256
OperatableStateMachine.add(
'Listen2',
RegexTester(regex=".*((car)|(here it is)|(now)).*"),
transitions={
'true': 'done',
'false': 'Listen2'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'words',
'result': 'result'
})
# x:520 y:327
_sm_follow_9 = OperatableStateMachine(outcomes=['failed'],
input_keys=['ID'])
with _sm_follow_9:
# x:128 y:127
OperatableStateMachine.add(
'Action_follow',
self.use_behavior(Action_followSM,
'Follow and listen/follow/Action_follow'),
transitions={'failed': 'set name'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:288 y:346
OperatableStateMachine.add('list people',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'get first ID',
'none_found': 'failed'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'entity_list',
'number': 'number'
})
# x:109 y:334
OperatableStateMachine.add(
'get first ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'Action_follow'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'ID'
})
# x:349 y:116
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list people'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365
_sm_recevoir_sac_10 = ConcurrencyContainer(
outcomes=['failed', 'done'],
input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'],
conditions=[('failed', [('Recevoir sac', 'failed')]),
('done', [('Recevoir sac', 'done')]),
('done', [('LookAtClosest', 'failed')])])
with _sm_recevoir_sac_10:
# x:30 y:40
OperatableStateMachine.add('Recevoir sac',
_sm_recevoir_sac_7,
transitions={
'failed': 'failed',
'done': 'done'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width':
'Closed_Gripper_Width',
'Open_Gripper_Width':
'Open_Gripper_Width'
})
# x:234 y:114
OperatableStateMachine.add('LookAtClosest',
self.use_behavior(
LookAtClosestSM,
'recevoir sac/LookAtClosest'),
transitions={'failed': 'done'},
autonomy={'failed': Autonomy.Inherit})
# x:390 y:296, x:111 y:269, x:230 y:365, x:542 y:339, x:465 y:331, x:530 y:380
_sm_follow_and_listen_11 = ConcurrencyContainer(
outcomes=['done', 'failed'],
input_keys=['ID'],
conditions=[('done', [('Listen', 'done')]),
('failed', [('follow', 'failed')]),
('done', [('continue', 'true')]),
('done', [('continue', 'false')])])
with _sm_follow_and_listen_11:
# x:132 y:90
OperatableStateMachine.add('follow',
_sm_follow_9,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:356 y:105
OperatableStateMachine.add('Listen',
_sm_listen_8,
transitions={'done': 'done'},
autonomy={'done': Autonomy.Inherit})
# x:485 y:162
OperatableStateMachine.add('continue',
ContinueButton(),
transitions={
'true': 'done',
'false': 'done'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:76 y:535
_sm_getidope_12 = OperatableStateMachine(outcomes=['done'],
output_keys=['ID'])
with _sm_getidope_12:
# x:55 y:63
OperatableStateMachine.add('Person',
SetKey(Value="person"),
transitions={'done': 'GEtId'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:43 y:180
OperatableStateMachine.add('GEtId',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'ID',
'none_found': 'GEtId'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'Entities_list',
'number': 'number'
})
# x:52 y:290
OperatableStateMachine.add(
'ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'setID'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Entities_list',
'output_value': 'ID'
})
# x:37 y:399
OperatableStateMachine.add(
'setID',
SetRosParam(ParamName="behavior/Operator/Id"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ID'})
with _state_machine:
# x:38 y:33
OperatableStateMachine.add('continue',
ContinueButton(),
transitions={
'true': 'GEtPose',
'false': 'GEtPose'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:35 y:351
OperatableStateMachine.add(
'ImHere',
SaraSay(sentence="I am ready to carry your luggage!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'recevoir sac'},
autonomy={'done': Autonomy.Off})
# x:28 y:539
OperatableStateMachine.add(
'GetIDOpe',
_sm_getidope_12,
transitions={'done': 'Follow and listen'},
autonomy={'done': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:220 y:536
OperatableStateMachine.add('Follow and listen',
_sm_follow_and_listen_11,
transitions={
'done': 'Action_Give_Back_Bag',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'ID': 'ID'})
# x:411 y:525
OperatableStateMachine.add('Action_Give_Back_Bag',
self.use_behavior(
Action_Give_Back_BagSM,
'Action_Give_Back_Bag'),
transitions={
'finished': 'GoBackHome',
'failed': 'Action_Give_Back_Bag'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:16 y:206
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(
Init_SequenceSM, 'Init_Sequence'),
transitions={
'finished': 'move head up',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:634 y:522
OperatableStateMachine.add(
'GoBackHome',
SaraSay(sentence="I will go back home now. Have a good day!",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'setarm'},
autonomy={'done': Autonomy.Off})
# x:922 y:519
OperatableStateMachine.add('Action_Move',
self.use_behavior(
Action_MoveSM, 'Action_Move'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'Origin'})
# x:35 y:281
OperatableStateMachine.add('move head up',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'ImHere'},
autonomy={'done': Autonomy.Off})
# x:35 y:427
OperatableStateMachine.add('recevoir sac',
_sm_recevoir_sac_10,
transitions={
'failed': 'failed',
'done': 'GetIDOpe'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width':
'Closed_Gripper_Width',
'Open_Gripper_Width':
'Open_Gripper_Width'
})
# x:770 y:526
OperatableStateMachine.add('setarm',
RunTrajectory(file="sac_transport",
duration=0),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:24 y:134
OperatableStateMachine.add('GEtPose',
Get_Robot_Pose(),
transitions={'done': 'Init_Sequence'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'Origin'})
return _state_machine
def create(self):
# x:283 y:267
_state_machine = OperatableStateMachine(outcomes=['Shutdown'])
_state_machine.userdata.Command = "no nothing"
_state_machine.userdata.End = False
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:887 y:420
_sm_sara_brain_0 = OperatableStateMachine(
outcomes=['error'],
input_keys=['HighFIFO', 'LowFIFO', 'MedFIFO', 'DoNow', 'End'])
with _sm_sara_brain_0:
# x:270 y:346
OperatableStateMachine.add(
'sara_command_manager',
self.use_behavior(
sara_command_managerSM,
'Sara parallel Runtime/Sara brain/sara_command_manager'),
transitions={
'finished': 'if stop',
'failed': 'set end'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'HighFIFO': 'HighFIFO',
'MedFIFO': 'MedFIFO',
'LowFIFO': 'LowFIFO',
'DoNow': 'DoNow'
})
# x:725 y:388
OperatableStateMachine.add(
'set end',
CalculationState(calculation=lambda x: True),
transitions={'done': 'error'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'End',
'output_value': 'End'
})
# x:516 y:448
OperatableStateMachine.add(
'if stop',
CheckConditionState(predicate=lambda x: x[0][0] == "Stop"),
transitions={
'true': 'set end',
'false': 'sara_command_manager'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'DoNow'})
# x:841 y:231
_sm_sara_action_executor_1 = OperatableStateMachine(
outcomes=['shutdown'],
input_keys=['HighFIFO', 'MedFIFO', 'LowFIFO', 'DoNow', 'End'])
with _sm_sara_action_executor_1:
# x:128 y:134
OperatableStateMachine.add(
'log',
LogState(text="Start action executor",
severity=Logger.REPORT_HINT),
transitions={'done': 'Sara action executor'},
autonomy={'done': Autonomy.Off})
# x:636 y:111
OperatableStateMachine.add(
'Critical failure',
LogState(text="Critical fail in action executer!",
severity=Logger.REPORT_HINT),
transitions={'done': 'shutdown'},
autonomy={'done': Autonomy.Off})
# x:366 y:149
OperatableStateMachine.add(
'Sara action executor',
self.use_behavior(
SaraactionexecutorSM,
'Sara parallel Runtime/Sara action executor/Sara action executor'
),
transitions={
'CriticalFail': 'Critical failure',
'Shutdown': 'shutdown'
},
autonomy={
'CriticalFail': Autonomy.Inherit,
'Shutdown': Autonomy.Inherit
},
remapping={
'HighFIFO': 'HighFIFO',
'MedFIFO': 'MedFIFO',
'LowFIFO': 'LowFIFO',
'End': 'End'
})
# x:30 y:365
_sm_sara_init_2 = OperatableStateMachine(outcomes=['done'])
with _sm_sara_init_2:
# x:30 y:40
OperatableStateMachine.add('set head',
SaraSetHeadAngle(angle=0.1),
transitions={'done': 'set face'},
autonomy={'done': Autonomy.Off})
# x:47 y:119
OperatableStateMachine.add('set arm',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm"),
transitions={
'done': 'hello',
'failed': 'hello'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'target'})
# x:242 y:288
OperatableStateMachine.add(
'hello',
SaraSay(
sentence=
"Good morning. I am Sara the robot. Please give me orders.",
emotion=1,
block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:239 y:21
OperatableStateMachine.add('set face',
SetExpression(emotion=0,
brightness=200),
transitions={'done': 'www'},
autonomy={'done': Autonomy.Off})
# x:339 y:116
OperatableStateMachine.add('on face',
SetExpression(emotion=1, brightness=-1),
transitions={'done': 'setTarget'},
autonomy={'done': Autonomy.Off})
# x:484 y:41
OperatableStateMachine.add('www',
WaitState(wait_time=2),
transitions={'done': 'on face'},
autonomy={'done': Autonomy.Off})
# x:197 y:113
OperatableStateMachine.add('setTarget',
SetKey(Value="IdlePose"),
transitions={'done': 'set arm'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:55 y:366
_sm_create_fifos_3 = OperatableStateMachine(
outcomes=['done'],
output_keys=['HighFIFO', 'MedFIFO', 'LowFIFO', 'DoNow'])
with _sm_create_fifos_3:
# x:33 y:40
OperatableStateMachine.add('Create HighFIFO',
FIFO_New(),
transitions={'done': 'Create MedFIFO'},
autonomy={'done': Autonomy.Off},
remapping={'FIFO': 'HighFIFO'})
# x:30 y:114
OperatableStateMachine.add('Create MedFIFO',
FIFO_New(),
transitions={'done': 'Create LowFIFO'},
autonomy={'done': Autonomy.Off},
remapping={'FIFO': 'MedFIFO'})
# x:30 y:189
OperatableStateMachine.add('Create LowFIFO',
FIFO_New(),
transitions={'done': 'Create DoNow'},
autonomy={'done': Autonomy.Off},
remapping={'FIFO': 'LowFIFO'})
# x:34 y:260
OperatableStateMachine.add('Create DoNow',
FIFO_New(),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'FIFO': 'DoNow'})
# x:30 y:322
_sm_sara_shutdown_4 = OperatableStateMachine(outcomes=['finished'])
with _sm_sara_shutdown_4:
# x:57 y:86
OperatableStateMachine.add('log',
LogState(text="shutdown",
severity=Logger.REPORT_HINT),
transitions={'done': 'say'},
autonomy={'done': Autonomy.Off})
# x:122 y:228
OperatableStateMachine.add(
'say',
SaraSay(sentence="I'm goint to shutdown for safety reasons",
emotion=1,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:336 y:314, x:315 y:433, x:276 y:271
_sm_sara_parallel_runtime_5 = ConcurrencyContainer(
outcomes=['Shutdown'],
input_keys=['HighFIFO', 'MedFIFO', 'LowFIFO', 'DoNow', 'End'],
conditions=[('Shutdown', [('Sara brain', 'error')]),
('Shutdown', [('Sara action executor', 'shutdown')])])
with _sm_sara_parallel_runtime_5:
# x:52 y:416
OperatableStateMachine.add('Sara action executor',
_sm_sara_action_executor_1,
transitions={'shutdown': 'Shutdown'},
autonomy={'shutdown': Autonomy.Inherit},
remapping={
'HighFIFO': 'HighFIFO',
'MedFIFO': 'MedFIFO',
'LowFIFO': 'LowFIFO',
'DoNow': 'DoNow',
'End': 'End'
})
# x:57 y:333
OperatableStateMachine.add('Sara brain',
_sm_sara_brain_0,
transitions={'error': 'Shutdown'},
autonomy={'error': Autonomy.Inherit},
remapping={
'HighFIFO': 'HighFIFO',
'LowFIFO': 'LowFIFO',
'MedFIFO': 'MedFIFO',
'DoNow': 'DoNow',
'End': 'End'
})
with _state_machine:
# x:43 y:60
OperatableStateMachine.add('log',
LogState(text="Start Sara",
severity=Logger.REPORT_HINT),
transitions={'done': 'low head'},
autonomy={'done': Autonomy.Off})
# x:306 y:365
OperatableStateMachine.add(
'Sara parallel Runtime',
_sm_sara_parallel_runtime_5,
transitions={'Shutdown': 'Sara shutdown'},
autonomy={'Shutdown': Autonomy.Inherit},
remapping={
'HighFIFO': 'HighFIFO',
'MedFIFO': 'MedFIFO',
'LowFIFO': 'LowFIFO',
'DoNow': 'DoNow',
'End': 'End'
})
# x:315 y:462
OperatableStateMachine.add('Sara shutdown',
_sm_sara_shutdown_4,
transitions={'finished': 'low head'},
autonomy={'finished': Autonomy.Inherit})
# x:328 y:284
OperatableStateMachine.add(
'Create_FIFOs',
_sm_create_fifos_3,
transitions={'done': 'Sara parallel Runtime'},
autonomy={'done': Autonomy.Inherit},
remapping={
'HighFIFO': 'HighFIFO',
'MedFIFO': 'MedFIFO',
'LowFIFO': 'LowFIFO',
'DoNow': 'DoNow'
})
# x:150 y:207
OperatableStateMachine.add('listen',
GetSpeech(watchdog=10),
transitions={
'done': 'check hello',
'nothing': 'listen',
'fail': 'Shutdown'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'words'})
# x:345 y:195
OperatableStateMachine.add('Sara init',
_sm_sara_init_2,
transitions={'done': 'Create_FIFOs'},
autonomy={'done': Autonomy.Inherit})
# x:355 y:96
OperatableStateMachine.add(
'check hello',
RegexTester(
regex=
".*((wake up)|(sarah?)|(shut up)|(hello)(robot)|(hi)|(morning)|(greet)).*"
),
transitions={
'true': 'Sara init',
'false': 'listen'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'words',
'result': 'result'
})
# x:15 y:220
OperatableStateMachine.add('close face',
SetExpression(emotion=0, brightness=20),
transitions={'done': 'listen'},
autonomy={'done': Autonomy.Off})
# x:102 y:115
OperatableStateMachine.add('low head',
SaraSetHeadAngle(angle=0.8),
transitions={'done': 'close face'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:660 y:509, x:880 y:203, x:715 y:440
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed', 'critical_fail'],
input_keys=['Action'])
_state_machine.userdata.Action = ["Pick", "bottle"]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
_sm_group_0 = ConcurrencyContainer(outcomes=['done'],
input_keys=['pose_out'],
conditions=[
('done', [('move', 'arrived')]),
('done', [('move', 'failed')]),
('done', [('3', 'done')])
])
with _sm_group_0:
# x:30 y:40
OperatableStateMachine.add('move',
SaraMoveBase(reference="map"),
transitions={
'arrived': 'done',
'failed': 'done'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'pose_out'})
# x:179 y:91
OperatableStateMachine.add('3',
WaitState(wait_time=2),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:40 y:700
_sm_get_closer_1 = OperatableStateMachine(outcomes=['done'],
input_keys=['Object'])
with _sm_get_closer_1:
# x:59 y:36
OperatableStateMachine.add('set targetpose',
SetKey(Value="PreGripPose"),
transitions={'done': 'say closer'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:88 y:374
OperatableStateMachine.add('set dist',
SetKey(Value=0.8),
transitions={'done': 'get close pos'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:26 y:448
OperatableStateMachine.add('get close pos',
Get_Reacheable_Waypoint(),
transitions={'done': 'Group'},
autonomy={'done': Autonomy.Off},
remapping={
'pose_in': 'Pos',
'distance': 'distance',
'pose_out': 'pose_out'
})
# x:47 y:213
OperatableStateMachine.add(
'get pos',
CalculationState(calculation=lambda x: x.position),
transitions={'done': 'move head'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Object',
'output_value': 'Pos'
})
# x:88 y:290
OperatableStateMachine.add('move head',
SaraSetHeadAngle(pitch=0.7, yaw=0),
transitions={'done': 'set dist'},
autonomy={'done': Autonomy.Off})
# x:201 y:156
OperatableStateMachine.add('move arm',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'get pos',
'failed': 'get pos'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'target'})
# x:60 y:106
OperatableStateMachine.add(
'say closer',
SaraSay(sentence="I need to get a bit closer.",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'move arm'},
autonomy={'done': Autonomy.Off})
# x:26 y:541
OperatableStateMachine.add('Group',
_sm_group_0,
transitions={'done': 'wait'},
autonomy={'done': Autonomy.Inherit},
remapping={'pose_out': 'pose_out'})
# x:33 y:625
OperatableStateMachine.add('wait',
WaitState(wait_time=2),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:59 y:308, x:447 y:59, x:384 y:162
_sm_check_form_2 = OperatableStateMachine(
outcomes=['done', 'fail_full', 'full_no_object'],
input_keys=['Action'])
with _sm_check_form_2:
# x:31 y:40
OperatableStateMachine.add(
'check if gripper full',
GetRosParam(ParamName="behavior/Gripper_Content"),
transitions={
'done': 'Say_Full',
'failed': 'cond'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'Value': 'ObjectInGripper'})
# x:30 y:121
OperatableStateMachine.add(
'cond',
CheckConditionState(predicate=lambda x: x[1] == ''),
transitions={
'true': 'not told',
'false': 'done'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'Action'})
# x:222 y:119
OperatableStateMachine.add(
'not told',
SaraSay(sentence="Hum! They didn't told me what to pick",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'full_no_object'},
autonomy={'done': Autonomy.Off})
# x:242 y:31
OperatableStateMachine.add(
'Say_Full',
SaraSay(sentence=lambda x: "Wait. There is already a " + x +
"in my gripper.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'fail_full'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:84 y:30
OperatableStateMachine.add('Check Form',
_sm_check_form_2,
transitions={
'done': 'get name',
'fail_full': 'cause1',
'full_no_object': 'cause2'
},
autonomy={
'done': Autonomy.Inherit,
'fail_full': Autonomy.Inherit,
'full_no_object': Autonomy.Inherit
},
remapping={'Action': 'Action'})
# x:28 y:452
OperatableStateMachine.add('Action_pick',
self.use_behavior(
Action_pickSM, 'Action_pick'),
transitions={
'success': 'Got_It',
'unreachable': 'for 1',
'not found': 'Say_lost',
'dropped': 'say missed'
},
autonomy={
'success': Autonomy.Inherit,
'unreachable': Autonomy.Inherit,
'not found': Autonomy.Inherit,
'dropped': Autonomy.Inherit
},
remapping={'objectID': 'ID'})
# x:261 y:239
OperatableStateMachine.add('Get closer',
_sm_get_closer_1,
transitions={'done': 'Action_find'},
autonomy={'done': Autonomy.Inherit},
remapping={'Object': 'Object'})
# x:275 y:333
OperatableStateMachine.add('for 1',
ForLoop(repeat=1),
transitions={
'do': 'Get closer',
'end': 'say giveup'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:416 y:264
OperatableStateMachine.add('say giveup',
SaraSay(sentence="I give up",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause4'},
autonomy={'done': Autonomy.Off})
# x:284 y:496
OperatableStateMachine.add('say missed',
SaraSay(sentence="Oops! I missed.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause4'},
autonomy={'done': Autonomy.Off})
# x:469 y:495
OperatableStateMachine.add(
'set param',
SetRosParam(ParamName="behavior/GripperContent"),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ObjectName'})
# x:82 y:115
OperatableStateMachine.add(
'get name',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'Action_find'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Action',
'output_value': 'ObjectName'
})
# x:511 y:20
OperatableStateMachine.add(
'cause1',
SetKey(Value="My gripper was already full."),
transitions={'done': 'setrosparam'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:512 y:81
OperatableStateMachine.add(
'cause2',
SetKey(Value="I didn't know what to pick."),
transitions={'done': 'setrosparam'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:511 y:143
OperatableStateMachine.add(
'cause3',
SetKey(Value="I didn't found the object."),
transitions={'done': 'setrosparam'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:690 y:197
OperatableStateMachine.add(
'setrosparam',
SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'Key'})
# x:605 y:312
OperatableStateMachine.add(
'cause4',
SetKey(Value="I was unable to pick the object."),
transitions={'done': 'setrosparam'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:30 y:188
OperatableStateMachine.add('Action_find',
self.use_behavior(
Action_findSM, 'Action_find'),
transitions={
'done': 'getID',
'failed': 'cause3'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'className': 'ObjectName',
'entity': 'Object'
})
# x:49 y:322
OperatableStateMachine.add(
'getID',
CalculationState(calculation=lambda x: x.ID),
transitions={'done': 'Action_pick'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Object',
'output_value': 'ID'
})
# x:284 y:422
OperatableStateMachine.add(
'Say_lost',
SaraSay(sentence=lambda x: "Hum! I lost sight of the " + x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'cause4'},
autonomy={'done': Autonomy.Off})
# x:281 y:572
OperatableStateMachine.add(
'Got_It',
SaraSay(sentence=lambda x: "I have the " + x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'set param'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:976 y:173, x:618 y:48
_state_machine = OperatableStateMachine(outcomes=['done', 'failed'])
_state_machine.userdata.nameFilter = ""
_state_machine.userdata.roomQuestion = "what room shall i clean, master ?"
_state_machine.userdata.waypointGenerationDistance = 0.5
_state_machine.userdata.placeholder = ""
_state_machine.userdata.doorName = "crowd"
_state_machine.userdata.firstTimeInRoom = "yes"
_state_machine.userdata.waypointToCheckDict = {"bedroom": ["bedroomWP1","bedroomWP2"]}
_state_machine.userdata.placedObjects = 0
_state_machine.userdata.misplacedObject = ""
_state_machine.userdata.skipDoorEntrance = True
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:153 y:437
_sm_deusexplacerecovery_0 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject'])
with _sm_deusexplacerecovery_0:
# x:85 y:72
OperatableStateMachine.add('getContainerId',
CalculationState(calculation=lambda x: x[1].containerId),
transitions={'done': 'getContainerEntity'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'containerId'})
# x:234 y:149
OperatableStateMachine.add('getContainerEntity',
WonderlandGetEntityByID(),
transitions={'found': 'ItGoesThere', 'not_found': 'finished', 'error': 'finished'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off},
remapping={'id': 'containerId', 'entity': 'containerEntity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'})
# x:366 y:284
OperatableStateMachine.add('ItGoesThere',
SaraSay(sentence=lambda x: "Looks like I dropped "+str(x[0][0].name)+". Can you put it in the "+ x[1].name+"?", input_keys=["misplacedObject","containerEntity"], emotion=0, block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'misplacedObject': 'misplacedObject', 'containerEntity': 'containerEntity'})
# x:717 y:285
_sm_cantgotodestination_1 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject'])
with _sm_cantgotodestination_1:
# x:48 y:60
OperatableStateMachine.add('getContainerId',
CalculationState(calculation=lambda x: x[1].containerId),
transitions={'done': 'getContainerEntity'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'containerId'})
# x:463 y:245
OperatableStateMachine.add('Action_place',
self.use_behavior(sara_flexbe_behaviors__Action_placeSM, 'PutObjectInDesiredContainer/CantGoToDestination/Action_place'),
transitions={'finished': 'finished', 'failed': 'finished'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pos': 'droppingPose'})
# x:26 y:149
OperatableStateMachine.add('getContainerEntity',
WonderlandGetEntityByID(),
transitions={'found': 'ICantGetThere', 'not_found': 'ICantGetThereNCONT', 'error': 'ICantGetThereNCONT'},
autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off},
remapping={'id': 'containerId', 'entity': 'containerEntity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'})
# x:249 y:176
OperatableStateMachine.add('ICantGetThere',
SaraSay(sentence=lambda x:"I can't find a way to "+str(x[0].name), input_keys=["containerEntity"], emotion=0, block=True),
transitions={'done': 'GetDroppingPose'},
autonomy={'done': Autonomy.Off},
remapping={'containerEntity': 'containerEntity'})
# x:247 y:114
OperatableStateMachine.add('ICantGetThereNCONT',
SaraSay(sentence="I can't find a way to the container", input_keys=[], emotion=0, block=True),
transitions={'done': 'GetDroppingPose'},
autonomy={'done': Autonomy.Off})
# x:475 y:148
OperatableStateMachine.add('GetDroppingPose',
GenPoseEuler(x=0.4, y=0, z=0.3, roll=0.0, pitch=0.0, yaw=0.0),
transitions={'done': 'Action_place'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'droppingPose'})
# x:632 y:527
_sm_putdownobject_2 = OperatableStateMachine(outcomes=['done'], input_keys=['misplacedObject'])
with _sm_putdownobject_2:
# x:70 y:215
OperatableStateMachine.add('GetDroppingPose',
GenPoseEuler(x=0.3, y=0, z=1.2, roll=0.0, pitch=0.0, yaw=0.0),
transitions={'done': 'Action_place'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'droppingPose'})
# x:269 y:215
OperatableStateMachine.add('Action_place',
self.use_behavior(sara_flexbe_behaviors__Action_placeSM, 'PutObjectInDesiredContainer/PutDownObject/Action_place'),
transitions={'finished': 'done', 'failed': 'DeusExPlaceRecovery'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pos': 'droppingPose'})
# x:592 y:127
OperatableStateMachine.add('DeusExPlaceRecovery',
_sm_deusexplacerecovery_0,
transitions={'finished': 'done'},
autonomy={'finished': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:518 y:44, x:531 y:152
_sm_gotodesiredcontainer_3 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['misplacedObject'])
with _sm_gotodesiredcontainer_3:
# x:86 y:79
OperatableStateMachine.add('GetContainerWaypoint',
CalculationState(calculation=lambda x:x[1].waypoint),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'targetWaypoint'})
# x:275 y:79
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'PutObjectInDesiredContainer/GotoDesiredContainer/Action_Move'),
transitions={'finished': 'done', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'targetWaypoint'})
# x:300 y:141, x:893 y:63
_sm_receiveitem_4 = OperatableStateMachine(outcomes=['failed', 'success'])
with _sm_receiveitem_4:
# x:69 y:47
OperatableStateMachine.add('opengripper',
SetGripperState(width=0.25, effort=1),
transitions={'object': 'setTarget1', 'no_object': 'setTarget1'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:280 y:263
OperatableStateMachine.add('Torque_Reader',
ReadTorque(watchdog=10, Joint="right_elbow_pitch_joint", Threshold=1, min_time=1),
transitions={'threshold': 'close_gripper', 'watchdog': 'Torque_Reader', 'fail': 'failed'},
autonomy={'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'torque': 'torque'})
# x:668 y:149
OperatableStateMachine.add('setTarget2',
SetKey(Value="PostGripPose"),
transitions={'done': 'Go_to_Pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:51 y:261
OperatableStateMachine.add('Go_to_receive_bag_pose',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'Torque_Reader', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'target'})
# x:450 y:274
OperatableStateMachine.add('close_gripper',
SetGripperState(width=0, effort=1),
transitions={'object': 'thank you', 'no_object': 'failed'},
autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off},
remapping={'object_size': 'object_size'})
# x:640 y:273
OperatableStateMachine.add('thank you',
SaraSay(sentence="Thank you", input_keys=[], emotion=1, block=True),
transitions={'done': 'setTarget2'},
autonomy={'done': Autonomy.Off})
# x:50 y:141
OperatableStateMachine.add('setTarget1',
SetKey(Value="Help_me_carry"),
transitions={'done': 'Go_to_receive_bag_pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:660 y:57
OperatableStateMachine.add('Go_to_Pose',
MoveitMove(move=True, waitForExecution=True, group="RightArm"),
transitions={'done': 'success', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target': 'target'})
# x:169 y:514, x:508 y:495
_sm_deusexpickrecovery_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['misplacedObject'])
with _sm_deusexpickrecovery_5:
# x:81 y:50
OperatableStateMachine.add('GimmeTheObjict',
SaraSay(sentence=lambda x: "Could you give me the "+x[0][0].name+", please ?", input_keys=["misplacedObject"], emotion=0, block=True),
transitions={'done': 'ReceiveItem'},
autonomy={'done': Autonomy.Off},
remapping={'misplacedObject': 'misplacedObject'})
# x:213 y:130
OperatableStateMachine.add('ReceiveItem',
_sm_receiveitem_4,
transitions={'failed': 'Oh f**k', 'success': 'finished'},
autonomy={'failed': Autonomy.Inherit, 'success': Autonomy.Inherit})
# x:355 y:262
OperatableStateMachine.add('Oh f**k',
SaraSay(sentence="Oh. Nevermind then.", input_keys=[], emotion=2, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:676 y:610, x:1158 y:270
_sm_grabmisplacedobject_6 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['misplacedObject'])
with _sm_grabmisplacedobject_6:
# x:72 y:35
OperatableStateMachine.add('GetObjectId',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'Action_pick'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'misplacedObjectID'})
# x:307 y:89
OperatableStateMachine.add('oops',
SaraSay(sentence="Oops. I dropped the object!", input_keys=[], emotion=5, block=True),
transitions={'done': 'DeusExPickRecovery'},
autonomy={'done': Autonomy.Off})
# x:344 y:157
OperatableStateMachine.add('oops_2',
SaraSay(sentence="Oops. Seems I can't reach the object!", input_keys=[], emotion=3, block=True),
transitions={'done': 'DeusExPickRecovery'},
autonomy={'done': Autonomy.Off})
# x:362 y:239
OperatableStateMachine.add('oops_3',
SaraSay(sentence="Oops. I can't see the object!", input_keys=[], emotion=3, block=True),
transitions={'done': 'DeusExPickRecovery'},
autonomy={'done': Autonomy.Off})
# x:42 y:275
OperatableStateMachine.add('Action_pick',
self.use_behavior(sara_flexbe_behaviors__Action_pickSM, 'PickMisplacedObject/GrabMisplacedObject/Action_pick', default_keys=['Entity']),
transitions={'success': 'done', 'unreachable': 'oops_2', 'not found': 'oops_3', 'dropped': 'oops'},
autonomy={'success': Autonomy.Inherit, 'unreachable': Autonomy.Inherit, 'not found': Autonomy.Inherit, 'dropped': Autonomy.Inherit},
remapping={'objectID': 'misplacedObjectID', 'Entity': 'Entity'})
# x:600 y:177
OperatableStateMachine.add('DeusExPickRecovery',
_sm_deusexpickrecovery_5,
transitions={'finished': 'done', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:30 y:426
_sm_scanaround_7 = OperatableStateMachine(outcomes=['done'])
with _sm_scanaround_7:
# x:172 y:46
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:304 y:122
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:165 y:187
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:195 y:276
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 'center3'},
autonomy={'done': Autonomy.Off})
# x:309 y:49
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:308 y:187
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:56 y:191
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:40 y:270
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:317 y:277
OperatableStateMachine.add('center3',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:289 y:803, x:694 y:198, x:4 y:400
_sm_checkatwaypoints_8 = OperatableStateMachine(outcomes=['found', 'noneFound', 'failed'], input_keys=['waypointToCheckDict', 'cleaningRoom', 'nameFilter'], output_keys=['misplacedObject'])
with _sm_checkatwaypoints_8:
# x:60 y:44
OperatableStateMachine.add('GetNbOfWaypoints',
FlexibleCalculationState(calculation=lambda x: len(x[1][x[0]]), input_keys=["cleaningRoom","waypointToCheckDict"]),
transitions={'done': 'StartLoop'},
autonomy={'done': Autonomy.Off},
remapping={'cleaningRoom': 'cleaningRoom', 'waypointToCheckDict': 'waypointToCheckDict', 'output_value': 'lenWaypointDict'})
# x:137 y:471
OperatableStateMachine.add('ScanAround',
_sm_scanaround_7,
transitions={'done': 'StopCheckingForUnknownObj'},
autonomy={'done': Autonomy.Inherit})
# x:163 y:729
OperatableStateMachine.add('GetFirstElement',
CalculationState(calculation=lambda x:x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity_list', 'output_value': 'misplacedObject'})
# x:354 y:538
OperatableStateMachine.add('ListEntities',
list_entities_by_name(frontality_level=0.5, distance_max=10),
transitions={'found': 'CheckMisplacedObjects', 'none_found': 'CheckAtEachLocation'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'nameFilter', 'entity_list': 'entity_list', 'number': 'number'})
# x:23 y:198
OperatableStateMachine.add('EverythingsFine',
SaraSay(sentence="I'll check at another location.", input_keys=[], emotion=1, block=True),
transitions={'done': 'GetLocation'},
autonomy={'done': Autonomy.Off})
# x:184 y:289
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'CheckForMisplacedObjects/CheckAtWaypoints/Action_Move'),
transitions={'finished': 'CheckForUnknownObjs', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'waypointToGo'})
# x:511 y:338
OperatableStateMachine.add('CheckAtEachLocation',
ForLoopWithInput(repeat=10),
transitions={'do': 'CheckIfLastLocationOfList', 'end': 'noneFound'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index_in': 'index_in', 'index_out': 'locationToGet'})
# x:318 y:58
OperatableStateMachine.add('StartLoop',
SetKey(Value=-1),
transitions={'done': 'CheckAtEachLocation'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'index_in'})
# x:9 y:262
OperatableStateMachine.add('GetLocation',
FlexibleCalculationState(calculation=lambda x: x[1][x[2]][x[0]], input_keys=["index_out","waypointToCheckDict","cleaningRoom"]),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'index_out': 'locationToGet', 'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleaningRoom', 'output_value': 'waypointToGo'})
# x:173 y:195
OperatableStateMachine.add('CheckIfLastLocationOfList',
FlexibleCheckConditionState(predicate=lambda x: x[0]-1 >= x[1], input_keys=["lenWaypointDict","locationToGet"]),
transitions={'true': 'noneFound', 'false': 'EverythingsFine'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'lenWaypointDict': 'lenWaypointDict', 'locationToGet': 'locationToGet'})
# x:418 y:665
OperatableStateMachine.add('CheckMisplacedObjects',
CheckMisplacedObjects(position_tolerance=0.1, default_destination="bin"),
transitions={'all_expected': 'CheckAtEachLocation', 'unexpected': 'GetFirstElement'},
autonomy={'all_expected': Autonomy.Off, 'unexpected': Autonomy.Off},
remapping={'entities': 'entity_list', 'expected_objects': 'expected_objects', 'unexpected_objects': 'unexpected_objects'})
# x:119 y:402
OperatableStateMachine.add('CheckForUnknownObjs',
SetSegmentationRosParam(ValueTableSegmentation=True, ValueObjectSegmentation=True),
transitions={'done': 'ScanAround'},
autonomy={'done': Autonomy.Off})
# x:114 y:561
OperatableStateMachine.add('StopCheckingForUnknownObj',
SetSegmentationRosParam(ValueTableSegmentation=False, ValueObjectSegmentation=False),
transitions={'done': 'ListEntities'},
autonomy={'done': Autonomy.Off})
# x:547 y:290
_sm_scanaround_9 = OperatableStateMachine(outcomes=['done'], input_keys=['input_value'])
with _sm_scanaround_9:
# x:172 y:46
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:304 y:122
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-1.5),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:165 y:187
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:195 y:276
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 'center3'},
autonomy={'done': Autonomy.Off})
# x:367 y:47
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:308 y:187
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:56 y:191
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:40 y:270
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=1.5),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:317 y:277
OperatableStateMachine.add('center3',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:293 y:350, x:857 y:186
_sm_ask_10 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['roomQuestion'], output_keys=['roomAnswer'])
with _sm_ask_10:
# x:79 y:95
OperatableStateMachine.add('say question',
SaraSay(sentence=lambda x: x[0], input_keys=["question"], emotion=0, block=True),
transitions={'done': 'get answer'},
autonomy={'done': Autonomy.Off},
remapping={'question': 'roomQuestion'})
# x:92 y:304
OperatableStateMachine.add('get answer',
GetSpeech(watchdog=10),
transitions={'done': 'finished', 'nothing': 'retry ask', 'fail': 'retry ask'},
autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'words': 'roomAnswer'})
# x:345 y:202
OperatableStateMachine.add('retry ask',
ForLoop(repeat=2),
transitions={'do': 'say not understand', 'end': 'say failed'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:232 y:90
OperatableStateMachine.add('say not understand',
SaraSay(sentence="Sorry, I did not understand your answer.", input_keys=[], emotion=0, block=True),
transitions={'done': 'say question'},
autonomy={'done': Autonomy.Off})
# x:604 y:151
OperatableStateMachine.add('say failed',
SaraSay(sentence="Sorry, I can't understand your answer.", input_keys=[], emotion=0, block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:30 y:365, x:424 y:392
_sm_nlu_11 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['roomAnswer'], output_keys=['cleanupRoom'])
with _sm_nlu_11:
# x:212 y:89
OperatableStateMachine.add('NLU',
SaraNLUgetRoom(),
transitions={'understood': 'done', 'not_understood': 'failed', 'fail': 'failed'},
autonomy={'understood': Autonomy.Off, 'not_understood': Autonomy.Off, 'fail': Autonomy.Off},
remapping={'sentence': 'roomAnswer', 'answer': 'cleanupRoom'})
# x:736 y:312
_sm_putobjectindesiredcontainer_12 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject', 'placedObjects'], output_keys=['placedObjects'])
with _sm_putobjectindesiredcontainer_12:
# x:138 y:153
OperatableStateMachine.add('GotoDesiredContainer',
_sm_gotodesiredcontainer_3,
transitions={'done': 'PutDownObject', 'failed': 'CantGoToDestination'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:277 y:313
OperatableStateMachine.add('PutDownObject',
_sm_putdownobject_2,
transitions={'done': 'OneMoreObjectPlaced'},
autonomy={'done': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:339 y:80
OperatableStateMachine.add('CantGoToDestination',
_sm_cantgotodestination_1,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:468 y:381
OperatableStateMachine.add('OneMoreObjectPlaced',
CalculationState(calculation=lambda x: x+1),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'placedObjects', 'output_value': 'placedObjects'})
# x:609 y:528, x:593 y:240
_sm_pickmisplacedobject_13 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['misplacedObject', 'waypointGenerationDistance'])
with _sm_pickmisplacedobject_13:
# x:82 y:71
OperatableStateMachine.add('GetObjectPosition',
CalculationState(calculation=lambda x: x[0].position),
transitions={'done': 'FindAWay'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'misplacedObject', 'output_value': 'misplacedObjectPosition'})
# x:67 y:304
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'PickMisplacedObject/Action_Move'),
transitions={'finished': 'GrabMisplacedObject', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'misplacedObjectWaypoint'})
# x:82 y:202
OperatableStateMachine.add('FindAWay',
Get_Reacheable_Waypoint(),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'pose_in': 'misplacedObjectPosition', 'distance': 'waypointGenerationDistance', 'pose_out': 'misplacedObjectWaypoint'})
# x:58 y:514
OperatableStateMachine.add('GrabMisplacedObject',
_sm_grabmisplacedobject_6,
transitions={'done': 'finished', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject'})
# x:957 y:154, x:535 y:369, x:800 y:304
_sm_checkformisplacedobjects_14 = OperatableStateMachine(outcomes=['noneLeft', 'found', 'failed'], input_keys=['nameFilter', 'waypointToCheckDict', 'cleaningRoom', 'placedObjects'], output_keys=['misplacedObject'])
with _sm_checkformisplacedobjects_14:
# x:241 y:59
OperatableStateMachine.add('CheckIf5Placed',
CheckConditionState(predicate=lambda x: x >= 5),
transitions={'true': 'OkItsClean', 'false': 'RetryOnce'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'placedObjects'})
# x:115 y:477
OperatableStateMachine.add('CheckMisplacedObjects',
CheckMisplacedObjects(position_tolerance=0.1, default_destination="bin"),
transitions={'all_expected': 'EverythingsFine', 'unexpected': 'GetFirstElement'},
autonomy={'all_expected': Autonomy.Off, 'unexpected': Autonomy.Off},
remapping={'entities': 'entity_list', 'expected_objects': 'expected_objects', 'unexpected_objects': 'unexpected_objects'})
# x:76 y:251
OperatableStateMachine.add('ScanAround',
_sm_scanaround_9,
transitions={'done': 'ListEntities'},
autonomy={'done': Autonomy.Inherit},
remapping={'input_value': 'nameFilter'})
# x:300 y:486
OperatableStateMachine.add('GetFirstElement',
CalculationState(calculation=lambda x:x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={'input_value': 'entity_list', 'output_value': 'misplacedObject'})
# x:77 y:360
OperatableStateMachine.add('ListEntities',
list_entities_by_name(frontality_level=0.5, distance_max=10),
transitions={'found': 'CheckMisplacedObjects', 'none_found': 'RetryOnce'},
autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off},
remapping={'name': 'nameFilter', 'entity_list': 'entity_list', 'number': 'number'})
# x:305 y:355
OperatableStateMachine.add('EverythingsFine',
SaraSay(sentence="Everything seems in order. I'll check again.", input_keys=[], emotion=1, block=True),
transitions={'done': 'RetryOnce'},
autonomy={'done': Autonomy.Off})
# x:738 y:175
OperatableStateMachine.add('OkItsClean',
SaraSay(sentence="I cleaned the room!", input_keys=[], emotion=1, block=True),
transitions={'done': 'noneLeft'},
autonomy={'done': Autonomy.Off})
# x:488 y:226
OperatableStateMachine.add('CheckAtWaypoints',
_sm_checkatwaypoints_8,
transitions={'found': 'found', 'noneFound': 'OkItsClean', 'failed': 'failed'},
autonomy={'found': Autonomy.Inherit, 'noneFound': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleaningRoom', 'nameFilter': 'nameFilter', 'misplacedObject': 'misplacedObject'})
# x:268 y:226
OperatableStateMachine.add('RetryOnce',
ForLoop(repeat=1),
transitions={'do': 'ScanAround', 'end': 'CheckAtWaypoints'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:644 y:459, x:651 y:336
_sm_gotoroom_15 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['cleanupRoom', 'firstTimeInRoom'], output_keys=['firstTimeInRoom'])
with _sm_gotoroom_15:
# x:141 y:121
OperatableStateMachine.add('IsItMyFirstTime',
DecisionState(outcomes=["no", "yes"], conditions=lambda x: x),
transitions={'no': 'GoingBackToTheRoom', 'yes': 'OkImGoingToTheRoom'},
autonomy={'no': Autonomy.Off, 'yes': Autonomy.Off},
remapping={'input_value': 'firstTimeInRoom'})
# x:130 y:220
OperatableStateMachine.add('GoingBackToTheRoom',
SaraSay(sentence=lambda x: "I'm going back to the "+str(x[0])+".", input_keys=["cleanupRoom"], emotion=0, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'cleanupRoom': 'cleanupRoom'})
# x:342 y:171
OperatableStateMachine.add('OkImGoingToTheRoom',
SaraSay(sentence=lambda x: "Okay, I'm going to the "+str(x[0])+".", input_keys=["cleanupRoom"], emotion=0, block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'cleanupRoom': 'cleanupRoom'})
# x:330 y:448
OperatableStateMachine.add('IWentThere',
SetKey(Value="no"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'firstTimeInRoom'})
# x:320 y:326
OperatableStateMachine.add('Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'GoToRoom/Action_Move'),
transitions={'finished': 'IWentThere', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'pose': 'cleanupRoom'})
# x:709 y:520, x:850 y:66
_sm_enterarena_16 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['roomQuestion', 'doorName', 'skipDoorEntrance'], output_keys=['cleanupRoom'])
with _sm_enterarena_16:
# x:77 y:28
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM, 'EnterArena/Init_Sequence'),
transitions={'finished': 'SkipEntrance', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:278 y:473
OperatableStateMachine.add('NLU',
_sm_nlu_11,
transitions={'done': 'done', 'failed': 'Sorry'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'roomAnswer': 'roomAnswer', 'cleanupRoom': 'cleanupRoom'})
# x:467 y:87
OperatableStateMachine.add('Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'EnterArena/Action_Pass_Door'),
transitions={'Done': 'RetryOnce', 'Fail': 'failed'},
autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit},
remapping={'DoorName': 'doorName'})
# x:234 y:259
OperatableStateMachine.add('RetryOnce',
ForLoop(repeat=2),
transitions={'do': 'Ask', 'end': 'failed'},
autonomy={'do': Autonomy.Off, 'end': Autonomy.Off},
remapping={'index': 'index'})
# x:295 y:354
OperatableStateMachine.add('Sorry',
SaraSay(sentence="Sorry, I misunderstood.", input_keys=[], emotion=0, block=True),
transitions={'done': 'RetryOnce'},
autonomy={'done': Autonomy.Off})
# x:213 y:119
OperatableStateMachine.add('SkipEntrance',
CheckConditionState(predicate=lambda x: x),
transitions={'true': 'RetryOnce', 'false': 'Action_Pass_Door'},
autonomy={'true': Autonomy.Off, 'false': Autonomy.Off},
remapping={'input_value': 'skipDoorEntrance'})
# x:51 y:354
OperatableStateMachine.add('Ask',
_sm_ask_10,
transitions={'finished': 'NLU', 'failed': 'RetryOnce'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'roomQuestion': 'roomQuestion', 'roomAnswer': 'roomAnswer'})
with _state_machine:
# x:131 y:130
OperatableStateMachine.add('EnterArena',
_sm_enterarena_16,
transitions={'done': 'GoToRoom', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'roomQuestion': 'roomQuestion', 'doorName': 'doorName', 'skipDoorEntrance': 'skipDoorEntrance', 'cleanupRoom': 'cleanupRoom'})
# x:286 y:217
OperatableStateMachine.add('GoToRoom',
_sm_gotoroom_15,
transitions={'done': 'CheckForMisplacedObjects', 'failed': 'failed'},
autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'cleanupRoom': 'cleanupRoom', 'firstTimeInRoom': 'firstTimeInRoom'})
# x:652 y:203
OperatableStateMachine.add('CheckForMisplacedObjects',
_sm_checkformisplacedobjects_14,
transitions={'noneLeft': 'done', 'found': 'PickMisplacedObject', 'failed': 'failed'},
autonomy={'noneLeft': Autonomy.Inherit, 'found': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'nameFilter': 'nameFilter', 'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleanupRoom', 'placedObjects': 'placedObjects', 'misplacedObject': 'misplacedObject'})
# x:557 y:403
OperatableStateMachine.add('PickMisplacedObject',
_sm_pickmisplacedobject_13,
transitions={'finished': 'PutObjectInDesiredContainer', 'failed': 'GoToRoom'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject', 'waypointGenerationDistance': 'waypointGenerationDistance'})
# x:234 y:476
OperatableStateMachine.add('PutObjectInDesiredContainer',
_sm_putobjectindesiredcontainer_12,
transitions={'finished': 'GoToRoom'},
autonomy={'finished': Autonomy.Inherit},
remapping={'misplacedObject': 'misplacedObject', 'placedObjects': 'placedObjects'})
return _state_machine
def create(self):
# x:712 y:612, x:820 y:97
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.name = "person"
_state_machine.userdata.distance = 1.05
_state_machine.userdata.taxi = "taxi"
_state_machine.userdata.umbrella = "umbrella"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365, x:130 y:365, x:230 y:365
_sm_get_closer_0 = ConcurrencyContainer(
outcomes=['finished'],
input_keys=['ID'],
conditions=[('finished', [('follow', 'failed')]),
('finished', [('wait 3', 'done')])])
with _sm_get_closer_0:
# x:46 y:131
OperatableStateMachine.add('follow',
SaraFollow(distance=1.15,
ReplanPeriod=0.5),
transitions={'failed': 'finished'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:223 y:134
OperatableStateMachine.add('wait 3',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:571 y:592
_sm_scan_1 = OperatableStateMachine(outcomes=['finished'])
with _sm_scan_1:
# x:42 y:66
OperatableStateMachine.add(
'Looking',
SaraSay(
sentence=
"I am trying to find who wants to leave. Please raise your hand.",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:394 y:262
OperatableStateMachine.add('right',
SaraSetHeadAngle(pitch=0.1, yaw=-0.3),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:206 y:372
OperatableStateMachine.add('center2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:34 y:589
OperatableStateMachine.add('w1',
WaitState(wait_time=3),
transitions={'done': 'center3'},
autonomy={'done': Autonomy.Off})
# x:413 y:159
OperatableStateMachine.add('w2',
WaitState(wait_time=3),
transitions={'done': 'right'},
autonomy={'done': Autonomy.Off})
# x:415 y:370
OperatableStateMachine.add('w3',
WaitState(wait_time=3),
transitions={'done': 'center2'},
autonomy={'done': Autonomy.Off})
# x:39 y:371
OperatableStateMachine.add('w4',
WaitState(wait_time=3),
transitions={'done': 'left'},
autonomy={'done': Autonomy.Off})
# x:16 y:475
OperatableStateMachine.add('left',
SaraSetHeadAngle(pitch=0.1, yaw=0.3),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:215 y:156
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:213 y:579
OperatableStateMachine.add('center3',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'wait'},
autonomy={'done': Autonomy.Off})
# x:393 y:576
OperatableStateMachine.add('wait',
WaitState(wait_time=4),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:32 y:494, x:627 y:411
_sm_filtregender_2 = OperatableStateMachine(
outcomes=['none_found', 'found person'],
input_keys=['name'],
output_keys=['pronoun', 'person'])
with _sm_filtregender_2:
# x:109 y:51
OperatableStateMachine.add('List',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'FiltreWave',
'none_found': 'none_found'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'entity_list',
'number': 'number'
})
# x:180 y:301
OperatableStateMachine.add(
'FiltreExitingwomen',
Filter(filter=lambda x: x.face.gender == "female"),
transitions={'done': 'no female?'},
autonomy={'done': Autonomy.Off},
remapping={
'input_list': 'persons',
'output_list': 'female'
})
# x:174 y:386
OperatableStateMachine.add(
'no female?',
CheckConditionState(predicate=lambda x: len(x) > 0),
transitions={
'true': 'set pronoun female',
'false': 'set pronoun male'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'female'})
# x:374 y:312
OperatableStateMachine.add(
'set pronoun female',
SetKey(Value="miss"),
transitions={'done': 'get first female'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'pronoun'})
# x:181 y:476
OperatableStateMachine.add('set pronoun male',
SetKey(Value=""),
transitions={'done': 'get first male'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'pronoun'})
# x:599 y:290
OperatableStateMachine.add(
'get first female',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found person'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'female',
'output_value': 'person'
})
# x:381 y:408
OperatableStateMachine.add(
'get first male',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found person'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'persons',
'output_value': 'person'
})
# x:151 y:135
OperatableStateMachine.add(
'FiltreWave',
Filter(filter=lambda x: x.pose.right_arm_up or x.pose.
left_arm_up),
transitions={'done': 'if more than 0'},
autonomy={'done': Autonomy.Off},
remapping={
'input_list': 'entity_list',
'output_list': 'persons'
})
# x:157 y:217
OperatableStateMachine.add(
'if more than 0',
CheckConditionState(predicate=lambda x: len(x) > 0),
transitions={
'true': 'FiltreExitingwomen',
'false': 'none_found'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'persons'})
# x:772 y:208, x:360 y:516
_sm_confirm_3 = OperatableStateMachine(
outcomes=['false', 'done'], input_keys=['Person', 'pronoun'])
with _sm_confirm_3:
# x:66 y:83
OperatableStateMachine.add(
'Confirm',
SaraSay(sentence=lambda x: "would you like to leave, " + x[0] +
"?",
input_keys=["pronoun"],
emotion=0,
block=True),
transitions={'done': 'GetSpeech'},
autonomy={'done': Autonomy.Off},
remapping={'pronoun': 'pronoun'})
# x:82 y:504
OperatableStateMachine.add('GetID',
SetRosParam(ParamName="OpeID"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ID'})
# x:67 y:298
OperatableStateMachine.add('if yes',
RegexTester(regex=".*((yes)|(I do)).*"),
transitions={
'true': 'get id',
'false': 'test no'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'text',
'result': 'result'
})
# x:84 y:409
OperatableStateMachine.add('get id',
GetAttribute(attributes=["ID"]),
transitions={'done': 'GetID'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'Person',
'ID': 'ID'
})
# x:87 y:188
OperatableStateMachine.add('GetSpeech',
GetSpeech(watchdog=10),
transitions={
'done': 'if yes',
'nothing': 'sayno',
'fail': 'if yes'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'text'})
# x:259 y:193
OperatableStateMachine.add(
'sayno',
SaraSay(
sentence="Sorry, did you say that you wanted to leave?",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'getno'},
autonomy={'done': Autonomy.Off})
# x:439 y:179
OperatableStateMachine.add('getno',
GetSpeech(watchdog=10),
transitions={
'done': 'getNO',
'nothing': 'false',
'fail': 'false'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'text'})
# x:603 y:337
OperatableStateMachine.add('getNO',
RegexTester(regex=".*((yes)|(I do)).*"),
transitions={
'true': 'get id',
'false': 'false'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'text',
'result': 'result'
})
# x:246 y:298
OperatableStateMachine.add('test no',
RegexTester(regex=".*((no)|(not)).*"),
transitions={
'true': 'false',
'false': 'sayno'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'text',
'result': 'result'
})
# x:228 y:419
_sm_find_raising_arm_4 = OperatableStateMachine(
outcomes=['finished'], output_keys=['umbrella'])
with _sm_find_raising_arm_4:
# x:33 y:48
OperatableStateMachine.add('setperson',
SetKey(Value="person"),
transitions={'done': 'gettaxiperson'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'person'})
# x:183 y:120
OperatableStateMachine.add('gettaxiperson',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'taxi',
'none_found': 'gettaxiperson'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'person',
'entity_list': 'entity_list',
'number': 'number'
})
# x:408 y:270
OperatableStateMachine.add(
'if',
CheckConditionState(predicate=lambda x: len(x) > 0),
transitions={
'true': 'get first',
'false': 'gettaxiperson'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'output_list'})
# x:344 y:184
OperatableStateMachine.add(
'taxi',
Filter(filter=lambda x: x.pose.right_arm_up or x.pose.
left_arm_up),
transitions={'done': 'if'},
autonomy={'done': Autonomy.Off},
remapping={
'input_list': 'entity_list',
'output_list': 'output_list'
})
# x:405 y:359
OperatableStateMachine.add(
'get first',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'output_list',
'output_value': 'umbrella'
})
# x:30 y:365
_sm_rotation_5 = OperatableStateMachine(outcomes=['end'])
with _sm_rotation_5:
# x:51 y:38
OperatableStateMachine.add('Set 180 degres',
SetKey(Value=3.1416),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:613 y:470
OperatableStateMachine.add(
'action_turn',
self.use_behavior(
sara_flexbe_behaviors__action_turnSM,
'GetTaxi/Find umbrella/gettaxihuman/Rotation/action_turn'),
transitions={
'finished': 'Look Right',
'failed': 'Look Right'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:421 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=0, yaw=-1.5),
transitions={'done': 'w2'},
autonomy={'done': Autonomy.Off})
# x:265 y:56
OperatableStateMachine.add('w1',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:630 y:56
OperatableStateMachine.add('w2',
WaitState(wait_time=4),
transitions={'done': 'center'},
autonomy={'done': Autonomy.Off})
# x:250 y:177
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:618 y:304
OperatableStateMachine.add('Look Left 2',
SaraSetHeadAngle(pitch=0, yaw=1.5),
transitions={'done': 'w4'},
autonomy={'done': Autonomy.Off})
# x:612 y:138
OperatableStateMachine.add('center',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'w3'},
autonomy={'done': Autonomy.Off})
# x:635 y:214
OperatableStateMachine.add('w3',
WaitState(wait_time=4),
transitions={'done': 'Look Left 2'},
autonomy={'done': Autonomy.Off})
# x:636 y:394
OperatableStateMachine.add('w4',
WaitState(wait_time=4),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_find_entity_6 = OperatableStateMachine(outcomes=['found'],
input_keys=['className'],
output_keys=['entity'])
with _sm_find_entity_6:
# x:181 y:178
OperatableStateMachine.add('find_entity',
list_entities_by_name(
frontality_level=0.5,
distance_max=4),
transitions={
'found': 'Get Entity',
'none_found': 'find_entity'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'className',
'entity_list': 'entity_list',
'number': 'number'
})
# x:454 y:178
OperatableStateMachine.add(
'Get Entity',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'entity'
})
# x:194 y:40
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'find_entity'},
autonomy={'done': Autonomy.Off})
# x:34 y:496, x:130 y:365, x:475 y:291, x:330 y:365, x:430 y:365
_sm_gettaxihuman_7 = ConcurrencyContainer(
outcomes=['found', 'not_found'],
input_keys=['umbrella'],
output_keys=['umbrella'],
conditions=[('not_found', [('Rotation', 'end')]),
('found', [('Find Entity', 'found')]),
('found', [('FInd raising arm', 'finished')])])
with _sm_gettaxihuman_7:
# x:127 y:67
OperatableStateMachine.add('Find Entity',
_sm_find_entity_6,
transitions={'found': 'found'},
autonomy={'found': Autonomy.Inherit},
remapping={
'className': 'umbrella',
'entity': 'umbrella'
})
# x:129 y:180
OperatableStateMachine.add('Rotation',
_sm_rotation_5,
transitions={'end': 'not_found'},
autonomy={'end': Autonomy.Inherit})
# x:377 y:127
OperatableStateMachine.add('FInd raising arm',
_sm_find_raising_arm_4,
transitions={'finished': 'found'},
autonomy={'finished': Autonomy.Inherit},
remapping={'umbrella': 'umbrella'})
# x:73 y:441, x:586 y:51
_sm_find_umbrella_8 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['umbrella'],
output_keys=['umbrella'])
with _sm_find_umbrella_8:
# x:67 y:42
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'gettaxihuman'},
autonomy={'done': Autonomy.Off})
# x:278 y:138
OperatableStateMachine.add('Look Center Not Found',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:58 y:326
OperatableStateMachine.add('Log Entity',
LogKeyState(
text="Found entity: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'umbrella'})
# x:63 y:126
OperatableStateMachine.add('gettaxihuman',
_sm_gettaxihuman_7,
transitions={
'found': 'WaitState',
'not_found': 'Look Center Not Found'
},
autonomy={
'found': Autonomy.Inherit,
'not_found': Autonomy.Inherit
},
remapping={'umbrella': 'umbrella'})
# x:67 y:222
OperatableStateMachine.add('WaitState',
WaitState(wait_time=1),
transitions={'done': 'Log Entity'},
autonomy={'done': Autonomy.Off})
# x:83 y:284
_sm_lift_head_9 = OperatableStateMachine(outcomes=['finished'])
with _sm_lift_head_9:
# x:53 y:42
OperatableStateMachine.add('lift head',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'wait 2'},
autonomy={'done': Autonomy.Off})
# x:57 y:152
OperatableStateMachine.add('wait 2',
WaitState(wait_time=3),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_get_closer_10 = OperatableStateMachine(outcomes=['finished'],
input_keys=['person'])
with _sm_get_closer_10:
# x:151 y:63
OperatableStateMachine.add('get ID',
GetAttribute(attributes=["ID"]),
transitions={'done': 'Get closer'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'person',
'ID': 'ID'
})
# x:135 y:194
OperatableStateMachine.add('Get closer',
_sm_get_closer_0,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:607 y:98, x:558 y:330
_sm_get_gender_11 = OperatableStateMachine(
outcomes=['none_found', 'done'],
input_keys=['name', 'distance'],
output_keys=['person', 'pronoun'])
with _sm_get_gender_11:
# x:30 y:40
OperatableStateMachine.add('set head',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'Scan'},
autonomy={'done': Autonomy.Off})
# x:441 y:109
OperatableStateMachine.add('FiltreGender',
_sm_filtregender_2,
transitions={
'none_found': 'none_found',
'found person': 'done'
},
autonomy={
'none_found': Autonomy.Inherit,
'found person': Autonomy.Inherit
},
remapping={
'name': 'name',
'pronoun': 'pronoun',
'person': 'person'
})
# x:211 y:93
OperatableStateMachine.add(
'Scan',
_sm_scan_1,
transitions={'finished': 'FiltreGender'},
autonomy={'finished': Autonomy.Inherit})
# x:30 y:373, x:130 y:373
_sm_nevermind_12 = OperatableStateMachine(outcomes=['done', 'failed'],
input_keys=['poseOrigin'])
with _sm_nevermind_12:
# x:30 y:40
OperatableStateMachine.add('say ok',
SaraSay(sentence="I will try again",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:26 y:192
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'nevermind/Action_Move'),
transitions={
'finished': 'done',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'poseOrigin'})
# x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458
_sm_confirm_13 = ConcurrencyContainer(
outcomes=['false', 'done'],
input_keys=['person', 'pronoun'],
conditions=[('false', [('Confirm', 'false')]),
('done', [('Confirm', 'done')]),
('false', [('LookAtClosest', 'failed')])])
with _sm_confirm_13:
# x:95 y:163
OperatableStateMachine.add('Confirm',
_sm_confirm_3,
transitions={
'false': 'false',
'done': 'done'
},
autonomy={
'false': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'Person': 'person',
'pronoun': 'pronoun'
})
# x:309 y:162
OperatableStateMachine.add(
'LookAtClosest',
self.use_behavior(sara_flexbe_behaviors__LookAtClosestSM,
'confirm/LookAtClosest'),
transitions={'failed': 'false'},
autonomy={'failed': Autonomy.Inherit})
# x:65 y:581, x:688 y:449
_sm_gettaxi_14 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['distance', 'taxi', 'umbrella'])
with _sm_gettaxi_14:
# x:103 y:28
OperatableStateMachine.add(
'Action_Move_to taxi',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'GetTaxi/Action_Move_to taxi'),
transitions={
'finished': 'Lift head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'taxi'})
# x:220 y:546
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'GetTaxi/Action_Move'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'pose_out'})
# x:80 y:475
OperatableStateMachine.add('NotTooClose',
Get_Reacheable_Waypoint(),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={
'pose_in': 'position',
'distance': 'distance',
'pose_out': 'pose_out'
})
# x:81 y:400
OperatableStateMachine.add('GEtUmbrellaPosition',
GetAttribute(attributes=["position"]),
transitions={'done': 'NotTooClose'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'umbrella',
'position': 'position'
})
# x:108 y:131
OperatableStateMachine.add(
'Lift head',
_sm_lift_head_9,
transitions={'finished': 'Find umbrella'},
autonomy={'finished': Autonomy.Inherit})
# x:150 y:315
OperatableStateMachine.add(
'log',
LogKeyState(text="found umbrella: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'GEtUmbrellaPosition'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'umbrella'})
# x:267 y:312
OperatableStateMachine.add(
'say see taxy',
SaraSay(
sentence=
"I see the taxi. Over there. The person with the umbrella.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'log'},
autonomy={'done': Autonomy.Off})
# x:111 y:204
OperatableStateMachine.add('Find umbrella',
_sm_find_umbrella_8,
transitions={
'finished': 'say see taxy',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'umbrella': 'umbrella'})
with _state_machine:
# x:46 y:16
OperatableStateMachine.add('GetOrigin',
Get_Robot_Pose(),
transitions={'done': 'Init_Sequence'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'poseOrigin'})
# x:63 y:574
OperatableStateMachine.add('GetTaxi',
_sm_gettaxi_14,
transitions={
'finished': 'say succeed',
'failed': 'say fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'distance': 'distance',
'taxi': 'taxi',
'umbrella': 'umbrella'
})
# x:103 y:369
OperatableStateMachine.add('confirm',
_sm_confirm_13,
transitions={
'false': 'nevermind',
'done': 'say taxi'
},
autonomy={
'false': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'person': 'person',
'pronoun': 'pronoun'
})
# x:289 y:142
OperatableStateMachine.add(
'say nobody',
SaraSay(sentence="I don't see any raised hand.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'Get Gender'},
autonomy={'done': Autonomy.Off})
# x:571 y:104
OperatableStateMachine.add(
'say fail',
SaraSay(sentence="I failed this scenario. Sorry.",
input_keys=[],
emotion=3,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:245 y:595
OperatableStateMachine.add('say succeed',
SaraSay(
sentence="here is the taxy driver.",
input_keys=[],
emotion=5,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:103 y:483
OperatableStateMachine.add(
'say taxi',
SaraSay(sentence="Ok, follow me to the taxi then.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'GetTaxi'},
autonomy={'done': Autonomy.Off})
# x:49 y:101
OperatableStateMachine.add(
'Init_Sequence',
self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM,
'Init_Sequence'),
transitions={
'finished': 'Get Gender',
'failed': 'say fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:17 y:288
OperatableStateMachine.add('nevermind',
_sm_nevermind_12,
transitions={
'done': 'Get Gender',
'failed': 'say fail'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'poseOrigin': 'poseOrigin'})
# x:30 y:192
OperatableStateMachine.add('Get Gender',
_sm_get_gender_11,
transitions={
'none_found': 'say nobody',
'done': 'get closer'
},
autonomy={
'none_found': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'name': 'name',
'distance': 'distance',
'person': 'person',
'pronoun': 'pronoun'
})
# x:259 y:310
OperatableStateMachine.add('get closer',
_sm_get_closer_10,
transitions={'finished': 'confirm'},
autonomy={'finished': Autonomy.Inherit},
remapping={'person': 'person'})
return _state_machine
def create(self):
# x:391 y:586, x:438 y:304
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.StartPosition = "Operator"
_state_machine.userdata.PositionBras = "IdlePose"
_state_machine.userdata.title = "GPSR"
_state_machine.userdata.EntryName = "door1/enter"
_state_machine.userdata.ExitName = "door2/exit"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:135 y:542, x:527 y:395
_sm_validate_0 = OperatableStateMachine(outcomes=['done', 'bad'],
input_keys=['sentence'])
with _sm_validate_0:
# x:56 y:62
OperatableStateMachine.add(
'Say_Command',
SaraSay(
sentence=lambda x: "I heard. " + x + ". Is that correct?",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'get speech'},
autonomy={'done': Autonomy.Off})
# x:44 y:165
OperatableStateMachine.add('get speech',
GetSpeech(watchdog=10),
transitions={
'done': 'is yes',
'nothing': 'say repeate',
'fail': 'say repeate'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'words'})
# x:91 y:307
OperatableStateMachine.add(
'is yes',
CheckConditionState(predicate=lambda x: "yes" in x or "right"
in x or "sure" in x),
transitions={
'true': 'done',
'false': 'say repeate'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'words'})
# x:423 y:332
OperatableStateMachine.add(
'say repeate',
SaraSay(sentence="Please, repeat your command.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'bad'},
autonomy={'done': Autonomy.Off})
# x:30 y:324
_sm_look_at_op_1 = OperatableStateMachine(outcomes=['fail'])
with _sm_look_at_op_1:
# x:61 y:31
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list persons'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:44 y:110
OperatableStateMachine.add('list persons',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'get closest',
'none_found': 'list persons'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'entity_list',
'number': 'number'
})
# x:43 y:211
OperatableStateMachine.add(
'get closest',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'look at'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'ID'
})
# x:210 y:198
OperatableStateMachine.add('look at',
KeepLookingAt(),
transitions={'failed': 'list persons'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:307 y:35, x:335 y:491
_sm_get_commands_2 = OperatableStateMachine(
outcomes=['fail', 'understood'],
output_keys=['ActionForms', 'sentence'])
with _sm_get_commands_2:
# x:50 y:48
OperatableStateMachine.add(
'say ready',
SaraSay(sentence="I'm ready for your commands.",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'GetSpeech'},
autonomy={'done': Autonomy.Off})
# x:32 y:408
OperatableStateMachine.add('SaraNLUgpsr',
SaraNLUgpsr(),
transitions={
'understood': 'say understood',
'not_understood': 'say sorry',
'fail': 'say sorry'
},
autonomy={
'understood': Autonomy.Off,
'not_understood': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'sentence': 'sentence',
'ActionForms': 'ActionForms'
})
# x:597 y:223
OperatableStateMachine.add(
'say sorry',
SaraSay(
sentence="Sorry, I could not understand what you said.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'GetSpeech'},
autonomy={'done': Autonomy.Off})
# x:30 y:491
OperatableStateMachine.add('say understood',
SaraSay(sentence="Ok",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'understood'},
autonomy={'done': Autonomy.Off})
# x:44 y:131
OperatableStateMachine.add('GetSpeech',
GetSpeech(watchdog=5),
transitions={
'done': 'validate',
'nothing': 'GetSpeech',
'fail': 'fail'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'sentence'})
# x:29 y:259
OperatableStateMachine.add('validate',
_sm_validate_0,
transitions={
'done': 'SaraNLUgpsr',
'bad': 'GetSpeech'
},
autonomy={
'done': Autonomy.Inherit,
'bad': Autonomy.Inherit
},
remapping={'sentence': 'sentence'})
# x:122 y:413
_sm_end_3 = OperatableStateMachine(outcomes=['done'],
input_keys=['ExitName'])
with _sm_end_3:
# x:30 y:40
OperatableStateMachine.add(
'win',
SaraSay(sentence="Thank you. I'm going now.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Action_Pass_Door'},
autonomy={'done': Autonomy.Off})
# x:33 y:163
OperatableStateMachine.add(
'Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM,
'End/Action_Pass_Door'),
transitions={
'Done': 'say yay',
'Fail': 'done'
},
autonomy={
'Done': Autonomy.Inherit,
'Fail': Autonomy.Inherit
},
remapping={'DoorName': 'ExitName'})
# x:210 y:262
OperatableStateMachine.add(
'say yay',
SaraSay(sentence="I did it. I'm the best robot.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:320 y:82, x:322 y:143, x:265 y:407, x:306 y:225, x:430 y:324
_sm_interact_operator_4 = ConcurrencyContainer(
outcomes=['fail', 'understood'],
output_keys=['ActionForms', 'sentence'],
conditions=[('understood', [('Get Commands', 'understood')]),
('fail', [('Get Commands', 'fail')]),
('fail', [('look at op', 'fail')])])
with _sm_interact_operator_4:
# x:95 y:45
OperatableStateMachine.add('Get Commands',
_sm_get_commands_2,
transitions={
'fail': 'fail',
'understood': 'understood'
},
autonomy={
'fail': Autonomy.Inherit,
'understood': Autonomy.Inherit
},
remapping={
'ActionForms': 'ActionForms',
'sentence': 'sentence'
})
# x:99 y:198
OperatableStateMachine.add('look at op',
_sm_look_at_op_1,
transitions={'fail': 'fail'},
autonomy={'fail': Autonomy.Inherit})
# x:325 y:387, x:314 y:190
_sm_fail_state_5 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['StartPosition'])
with _sm_fail_state_5:
# x:36 y:29
OperatableStateMachine.add(
'say failed',
SaraSay(sentence="I failed. I'm going back to tell my master.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:42 y:301
OperatableStateMachine.add(
'get error',
GetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
transitions={
'done': 'Say_Error',
'failed': 'finished'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'Value': 'Error'})
# x:48 y:414
OperatableStateMachine.add(
'Say_Error',
SaraSay(sentence=lambda x: "Sorry, I failed because " + x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:25 y:172
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'Fail state/Action_Move'),
transitions={
'finished': 'get error',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'StartPosition'})
# x:588 y:141, x:590 y:545, x:642 y:410
_sm_do_the_actions_6 = OperatableStateMachine(
outcomes=['finished', 'failed', 'critical fail'],
input_keys=['ActionForms', 'OriginalPose'])
with _sm_do_the_actions_6:
# x:85 y:33
OperatableStateMachine.add('set i',
SetKey(Value=0),
transitions={'done': 'is form?'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'index'})
# x:48 y:339
OperatableStateMachine.add(
'GetForm',
FlexibleCalculationState(calculation=lambda x: x[0][x[1]],
input_keys=["ActionForms", "index"]),
transitions={'done': 'Action_Executor'},
autonomy={'done': Autonomy.Off},
remapping={
'ActionForms': 'ActionForms',
'index': 'index',
'output_value': 'ActionForm'
})
# x:57 y:131
OperatableStateMachine.add(
'is form?',
FlexibleCheckConditionState(
predicate=lambda x: x[1] < len(x[0]),
input_keys=["ActionForms", "index"]),
transitions={
'true': 'set setp',
'false': 'finished'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'ActionForms': 'ActionForms',
'index': 'index'
})
# x:204 y:237
OperatableStateMachine.add(
'++i',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'is form?'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'index',
'output_value': 'index'
})
# x:72 y:479
OperatableStateMachine.add(
'Action_Executor',
self.use_behavior(sara_flexbe_behaviors__Action_ExecutorSM,
'Do the actions/Action_Executor'),
transitions={
'finished': '++i',
'failed': 'failed',
'critical_fail': 'critical fail'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'ActionForm'})
# x:45 y:241
OperatableStateMachine.add('set setp',
StoryboardSetStepKey(),
transitions={'done': 'GetForm'},
autonomy={'done': Autonomy.Off},
remapping={'step': 'index'})
# x:424 y:175
_sm_initialisation_7 = OperatableStateMachine(
outcomes=['done'], input_keys=['PositionBras', 'EntryName'])
with _sm_initialisation_7:
# x:62 y:79
OperatableStateMachine.add(
'Action_Pass_Door',
self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM,
'Initialisation/Action_Pass_Door'),
transitions={
'Done': 'set step',
'Fail': 'done'
},
autonomy={
'Done': Autonomy.Inherit,
'Fail': Autonomy.Inherit
},
remapping={'DoorName': 'EntryName'})
# x:70 y:306
OperatableStateMachine.add('set story',
Set_Story(titre="GPSR", storyline=[]),
transitions={'done': 'bras en lair'},
autonomy={'done': Autonomy.Off})
# x:288 y:375
OperatableStateMachine.add(
'say start',
SaraSay(sentence="I'm ready to start the GPSR scenario.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:78 y:205
OperatableStateMachine.add('set step',
Set_a_step(step=0),
transitions={'done': 'set story'},
autonomy={'done': Autonomy.Off})
# x:101 y:395
OperatableStateMachine.add('bras en lair',
MoveitMove(move=True,
waitForExecution=False,
group="RightArm"),
transitions={
'done': 'say start',
'failed': 'say start'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'PositionBras'})
with _state_machine:
# x:33 y:103
OperatableStateMachine.add('Initialisation',
_sm_initialisation_7,
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Inherit},
remapping={
'PositionBras': 'PositionBras',
'EntryName': 'EntryName'
})
# x:767 y:196
OperatableStateMachine.add('Do the actions',
_sm_do_the_actions_6,
transitions={
'finished': 'say succseed',
'failed': 'Fail state',
'critical fail': 'critical'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical fail': Autonomy.Inherit
},
remapping={
'ActionForms': 'ActionForms',
'OriginalPose': 'OriginalPose'
})
# x:250 y:126
OperatableStateMachine.add(
'Fail state',
_sm_fail_state_5,
transitions={
'finished': 'lift head',
'failed': 'critical'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'StartPosition': 'StartPosition'})
# x:250 y:257
OperatableStateMachine.add(
'critical',
SaraSay(
sentence="Critical failure! I require medical assistance.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:52 y:468
OperatableStateMachine.add('for 3',
ForLoop(repeat=3),
transitions={
'do': 'GetOriginalPose',
'end': 'End'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:747 y:475
OperatableStateMachine.add('say succseed',
SaraSay(
sentence="I succeed my mission.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'for 3'},
autonomy={'done': Autonomy.Off})
# x:204 y:368
OperatableStateMachine.add('Interact operator',
_sm_interact_operator_4,
transitions={
'fail': 'critical',
'understood': 'set step'
},
autonomy={
'fail': Autonomy.Inherit,
'understood': Autonomy.Inherit
},
remapping={
'ActionForms': 'ActionForms',
'sentence': 'sentence'
})
# x:553 y:316
OperatableStateMachine.add('set story',
StoryboardSetStoryFromAction(),
transitions={'done': 'Do the actions'},
autonomy={'done': Autonomy.Off},
remapping={
'titre': 'title',
'actionList': 'ActionForms'
})
# x:404 y:377
OperatableStateMachine.add('set step',
Set_a_step(step=0),
transitions={'done': 'set story'},
autonomy={'done': Autonomy.Off})
# x:41 y:375
OperatableStateMachine.add(
'GetOriginalPose',
Get_Robot_Pose(),
transitions={'done': 'Interact operator'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'OriginalPose'})
# x:37 y:564
OperatableStateMachine.add('End',
_sm_end_3,
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Inherit},
remapping={'ExitName': 'ExitName'})
# x:30 y:288
OperatableStateMachine.add('lift head',
SaraSetHeadAngle(pitch=-0.3, yaw=0),
transitions={'done': 'GetOriginalPose'},
autonomy={'done': Autonomy.Off})
# x:48 y:23
OperatableStateMachine.add('ContinueButton',
ContinueButton(),
transitions={
'true': 'Initialisation',
'false': 'Initialisation'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:21 y:185
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(sara_flexbe_behaviors__Action_MoveSM,
'Action_Move'),
transitions={
'finished': 'lift head',
'failed': 'critical'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'StartPosition'})
return _state_machine
def create(self):
# x:1474 y:331, x:56 y:575
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.half_turn = 3.1416
_state_machine.userdata.person = "person"
_state_machine.userdata.operator_param = "behavior/Operaror/Id"
_state_machine.userdata.join = ["Move", "spr/initialpose"]
_state_machine.userdata.leave = ["Move", "door2/exit"]
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:1182 y:163
_sm_rotate_0 = OperatableStateMachine(outcomes=['finished'])
with _sm_rotate_0:
# x:103 y:61
OperatableStateMachine.add('Look Left',
SaraSetHeadAngle(pitch=-0.35, yaw=0.5),
transitions={'done': 'Rotate Left'},
autonomy={'done': Autonomy.Off})
# x:794 y:54
OperatableStateMachine.add('Look Right',
SaraSetHeadAngle(pitch=-0.35, yaw=-0.5),
transitions={'done': 'Rotate Right'},
autonomy={'done': Autonomy.Off})
# x:325 y:61
OperatableStateMachine.add('Rotate Left',
WaitState(wait_time=8),
transitions={'done': 'Look Center'},
autonomy={'done': Autonomy.Off})
# x:961 y:65
OperatableStateMachine.add('Rotate Right',
WaitState(wait_time=4),
transitions={'done': 'Look Center 2'},
autonomy={'done': Autonomy.Off})
# x:1115 y:62
OperatableStateMachine.add('Look Center 2',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:484 y:54
OperatableStateMachine.add('Look Center',
SaraSetHeadAngle(pitch=-0.35, yaw=0),
transitions={'done': 'Rotate Center'},
autonomy={'done': Autonomy.Off})
# x:657 y:49
OperatableStateMachine.add('Rotate Center',
WaitState(wait_time=4),
transitions={'done': 'Look Right'},
autonomy={'done': Autonomy.Off})
# x:30 y:458
_sm_follow_head_1 = OperatableStateMachine(outcomes=['end'],
input_keys=['person'])
with _sm_follow_head_1:
# x:214 y:48
OperatableStateMachine.add('list all entities',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'Get Nearest',
'none_found': 'list all entities'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'person',
'entity_list': 'entity_list',
'number': 'number'
})
# x:456 y:51
OperatableStateMachine.add(
'Get Nearest',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'look'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'ID'
})
# x:291 y:177
OperatableStateMachine.add(
'look',
KeepLookingAt(),
transitions={'failed': 'list all entities'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:12 y:125, x:1130 y:515
_sm_nlu_2 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_nlu_2:
# x:156 y:37
OperatableStateMachine.add(
'say ask',
SaraSay(sentence="You can ask me your questions.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Loop Questions'},
autonomy={'done': Autonomy.Off})
# x:1091 y:84
OperatableStateMachine.add('Listen',
GetSpeech(watchdog=10),
transitions={
'done': 'Engine',
'nothing': 'Listen',
'fail': 'Listen'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'sentence'})
# x:1324 y:110
OperatableStateMachine.add('Engine',
SaraNLUspr(),
transitions={
'understood': 'Say_Answer',
'not_understood': 'Listen',
'fail': 'Listen'
},
autonomy={
'understood': Autonomy.Off,
'not_understood': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'sentence': 'sentence',
'answer': 'answer'
})
# x:632 y:77
OperatableStateMachine.add(
'Select Story',
CalculationState(calculation=lambda x: x + 6),
transitions={'done': 'Set_a_step'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'index',
'output_value': 'story'
})
# x:874 y:78
OperatableStateMachine.add('Set_a_step',
Set_a_step(step=1),
transitions={'done': 'Listen'},
autonomy={'done': Autonomy.Off})
# x:398 y:81
OperatableStateMachine.add('Loop Questions',
ForLoop(repeat=5),
transitions={
'do': 'Select Story',
'end': 'loop step'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:439 y:252
OperatableStateMachine.add(
'Say Blind Game',
SaraSay(sentence="Let's play the blind game !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Loop Questions'},
autonomy={'done': Autonomy.Off})
# x:189 y:193
OperatableStateMachine.add('loop step',
ForLoop(repeat=1),
transitions={
'do': 'Say Blind Game',
'end': 'finished'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'index': 'index'})
# x:721 y:205
OperatableStateMachine.add('Say_Answer',
SaraSay(sentence=lambda x: str(x),
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'Loop Questions'},
autonomy={'done': Autonomy.Off})
# x:817 y:123, x:130 y:458
_sm_analyse_crowd_3 = OperatableStateMachine(
outcomes=['finished', 'error'])
with _sm_analyse_crowd_3:
# x:87 y:97
OperatableStateMachine.add('clear database',
WonderlandClearPeoples(),
transitions={
'done': 'Rotate',
'error': 'error'
},
autonomy={
'done': Autonomy.Off,
'error': Autonomy.Off
})
# x:531 y:112
OperatableStateMachine.add('Add Update Persons',
WonderlandAddUpdatePeople(),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:311 y:97
OperatableStateMachine.add(
'Rotate',
_sm_rotate_0,
transitions={'finished': 'Add Update Persons'},
autonomy={'finished': Autonomy.Inherit})
# x:1203 y:11, x:1006 y:366
_sm_init_scenario_4 = OperatableStateMachine(
outcomes=['done', 'error'])
with _sm_init_scenario_4:
# x:30 y:42
OperatableStateMachine.add(
'Generate Vizbox Story',
Set_Story(titre="Speech and Person Recognition",
storyline=[
"Waiting Begining", "Join Game Room",
"Waiting Crowd Placement", "Analysing Crowd",
"Begin Game", "Find Operator", "Question 1",
"Question 2", "Question 3", "Question 4",
"Question 5", "Leave Arena"
]),
transitions={'done': 'Set Story Step'},
autonomy={'done': Autonomy.Off})
# x:559 y:44
OperatableStateMachine.add('WaitForBegining',
ContinueButton(),
transitions={
'true': 'Reset Persons',
'false': 'Reset Persons'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:807 y:61
OperatableStateMachine.add('Reset Persons',
WonderlandClearPeoples(),
transitions={
'done': 'done',
'error': 'error'
},
autonomy={
'done': Autonomy.Off,
'error': Autonomy.Off
})
# x:247 y:49
OperatableStateMachine.add('Set Story Step',
Set_a_step(step=0),
transitions={'done': 'setIDLE'},
autonomy={'done': Autonomy.Off})
# x:388 y:208
OperatableStateMachine.add('Reset Arm',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm"),
transitions={
'done': 'Reset Persons',
'failed': 'error'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'target'})
# x:427 y:40
OperatableStateMachine.add('setIDLE',
SetKey(Value="IdlePose"),
transitions={'done': 'Reset Arm'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'target'})
# x:30 y:458, x:230 y:458
_sm_join_area_5 = OperatableStateMachine(
outcomes=['failed', 'finished'], input_keys=['join'])
with _sm_join_area_5:
# x:95 y:40
OperatableStateMachine.add(
'Say Join Area',
SaraSay(sentence="I will join the playing room !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Join Arena'},
autonomy={'done': Autonomy.Off})
# x:92 y:134
OperatableStateMachine.add(
'Join Arena',
self.use_behavior(sara_flexbe_behaviors__ActionWrapper_MoveSM,
'Join Area/Join Arena'),
transitions={
'finished': 'finished',
'failed': 'failed',
'critical_fail': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'join'})
# x:489 y:56, x:604 y:278
_sm_waiting_and_turn_6 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['half_turn'])
with _sm_waiting_and_turn_6:
# x:50 y:51
OperatableStateMachine.add(
'Want Play',
SaraSay(sentence="Hum, I want to play riddles !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Wait 10s'},
autonomy={'done': Autonomy.Off})
# x:272 y:121
OperatableStateMachine.add(
'action_turn',
self.use_behavior(sara_flexbe_behaviors__action_turnSM,
'Waiting And Turn/action_turn'),
transitions={
'finished': 'finished',
'failed': 'Cant turn'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'half_turn'})
# x:437 y:240
OperatableStateMachine.add('Cant turn',
SaraSay(sentence="I can't turn !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:63 y:178
OperatableStateMachine.add(
'Wait 10s',
WaitState(wait_time=10),
transitions={'done': 'Look In Front Of'},
autonomy={'done': Autonomy.Off})
# x:61 y:260
OperatableStateMachine.add('Look In Front Of',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
# x:472 y:69, x:476 y:113, x:470 y:196, x:330 y:458, x:430 y:458
_sm_questions_7 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['person'],
conditions=[('finished', [('NLU', 'finished')]),
('failed', [('NLU', 'failed')]),
('finished', [('Follow Head', 'end')])])
with _sm_questions_7:
# x:85 y:58
OperatableStateMachine.add('NLU',
_sm_nlu_2,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:84 y:185
OperatableStateMachine.add('Follow Head',
_sm_follow_head_1,
transitions={'end': 'finished'},
autonomy={'end': Autonomy.Inherit},
remapping={'person': 'person'})
# x:283 y:294, x:60 y:571
_sm_find_operator_8 = OperatableStateMachine(
outcomes=['not_found', 'done'],
input_keys=['person', 'operator_param'])
with _sm_find_operator_8:
# x:51 y:40
OperatableStateMachine.add(
'Ask Player',
SaraSay(sentence="Who wan't to play with me ?",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Wait Operator'},
autonomy={'done': Autonomy.Off})
# x:39 y:297
OperatableStateMachine.add(
'Get operator id',
CalculationState(calculation=lambda x: x.entities[0].face.id),
transitions={'done': 'Set Operator Id'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'operator'
})
# x:33 y:384
OperatableStateMachine.add('Set Operator Id',
SetRosParamKey(),
transitions={'done': 'Operator Id'},
autonomy={'done': Autonomy.Off},
remapping={
'Value': 'operator_param',
'ParamName': 'operator'
})
# x:46 y:117
OperatableStateMachine.add('Wait Operator',
WaitState(wait_time=6),
transitions={'done': 'Find Operator'},
autonomy={'done': Autonomy.Off})
# x:35 y:495
OperatableStateMachine.add('Operator Id',
LogKeyState(
text="Operator find. Id: {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'operator'})
# x:30 y:205
OperatableStateMachine.add('Find Operator',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'Get operator id',
'none_found': 'Find Operator'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'person',
'entity_list': 'entity_list',
'number': 'number'
})
# x:703 y:198, x:88 y:199
_sm_tell_basic_stats_9 = OperatableStateMachine(
outcomes=['finished', 'failed'])
with _sm_tell_basic_stats_9:
# x:50 y:40
OperatableStateMachine.add('wait',
WaitState(wait_time=0),
transitions={'done': 'GetPeopleStats'},
autonomy={'done': Autonomy.Off})
# x:218 y:43
OperatableStateMachine.add('GetPeopleStats',
WonderlandGetPersonStat(),
transitions={
'done': 'GenerateSentence',
'none': 'Nobody',
'error': 'failed'
},
autonomy={
'done': Autonomy.Off,
'none': Autonomy.Off,
'error': Autonomy.Off
},
remapping={
'women': 'women',
'men': 'men',
'others': 'others'
})
# x:466 y:46
OperatableStateMachine.add('Nobody',
SaraSay(
sentence="There is nobody here !",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:162 y:243
OperatableStateMachine.add(
'GenerateSentence',
FlexibleCalculationState(calculation=lambda x: "There is " +
str(x[0] + x[1] + x[2]) + " persons.",
input_keys=['men', 'women',
'others']),
transitions={'done': 'Tell_Stats'},
autonomy={'done': Autonomy.Off},
remapping={
'men': 'men',
'women': 'women',
'others': 'others',
'output_value': 'sentence'
})
# x:151 y:345
OperatableStateMachine.add(
'Generate Sentence 2',
FlexibleCalculationState(
calculation=lambda x: "I recognize " + str(x[
1]) + " women and " + str(x[0]) + " men.",
input_keys=['men', 'women', 'others']),
transitions={'done': 'Tell_Stats 2'},
autonomy={'done': Autonomy.Off},
remapping={
'men': 'men',
'women': 'women',
'others': 'others',
'output_value': 'sentence'
})
# x:380 y:172
OperatableStateMachine.add(
'Tell_Stats',
SaraSay(sentence=lambda x: x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'Generate Sentence 2'},
autonomy={'done': Autonomy.Off})
# x:409 y:276
OperatableStateMachine.add('Tell_Stats 2',
SaraSay(sentence=lambda x: x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:30 y:40
OperatableStateMachine.add('continue',
ContinueButton(),
transitions={
'true': 'Init Scenario',
'false': 'Init Scenario'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:715 y:127
OperatableStateMachine.add('Tell basic stats',
_sm_tell_basic_stats_9,
transitions={
'finished': 'Set Find Operator',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:899 y:126
OperatableStateMachine.add('Find Operator',
_sm_find_operator_8,
transitions={
'not_found': 'Find Operator',
'done': 'Questions'
},
autonomy={
'not_found': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'person': 'person',
'operator_param': 'operator_param'
})
# x:1120 y:126
OperatableStateMachine.add('Questions',
_sm_questions_7,
transitions={
'finished': 'set head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'person': 'person'})
# x:343 y:49
OperatableStateMachine.add(
'Set Story Waiting',
Set_a_step(step=2),
transitions={'done': 'Waiting And Turn'},
autonomy={'done': Autonomy.Off})
# x:532 y:48
OperatableStateMachine.add('Set Analyse',
Set_a_step(step=3),
transitions={'done': 'Analyse Crowd'},
autonomy={'done': Autonomy.Off})
# x:696 y:47
OperatableStateMachine.add(
'Set Begin Game',
Set_a_step(step=4),
transitions={'done': 'Tell basic stats'},
autonomy={'done': Autonomy.Off})
# x:899 y:49
OperatableStateMachine.add('Set Find Operator',
Set_a_step(step=5),
transitions={'done': 'Find Operator'},
autonomy={'done': Autonomy.Off})
# x:332 y:127
OperatableStateMachine.add('Waiting And Turn',
_sm_waiting_and_turn_6,
transitions={
'finished': 'Set Analyse',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'half_turn': 'half_turn'})
# x:1333 y:232
OperatableStateMachine.add('Set Go Out',
Set_a_step(step=11),
transitions={'done': 'Say And Of Game'},
autonomy={'done': Autonomy.Off})
# x:1517 y:148
OperatableStateMachine.add(
'Leave Arena',
self.use_behavior(sara_flexbe_behaviors__ActionWrapper_MoveSM,
'Leave Arena'),
transitions={
'finished': 'finished',
'failed': 'finished',
'critical_fail': 'finished'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'leave'})
# x:176 y:42
OperatableStateMachine.add(
'Set Join',
Set_a_step(step=1),
transitions={'done': 'Set Story Waiting'},
autonomy={'done': Autonomy.Off})
# x:177 y:120
OperatableStateMachine.add('Join Area',
_sm_join_area_5,
transitions={
'failed': 'failed',
'finished': 'Set Story Waiting'
},
autonomy={
'failed': Autonomy.Inherit,
'finished': Autonomy.Inherit
},
remapping={'join': 'join'})
# x:1302 y:140
OperatableStateMachine.add(
'Say And Of Game',
SaraSay(
sentence=
"The game is finished. I will leave the arena. Thank you for playing with me.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Leave Arena'},
autonomy={'done': Autonomy.Off})
# x:1120 y:237
OperatableStateMachine.add('set head',
SaraSetHeadAngle(pitch=-0.2, yaw=0),
transitions={'done': 'Set Go Out'},
autonomy={'done': Autonomy.Off})
# x:34 y:130
OperatableStateMachine.add('Init Scenario',
_sm_init_scenario_4,
transitions={
'done': 'Set Join',
'error': 'failed'
},
autonomy={
'done': Autonomy.Inherit,
'error': Autonomy.Inherit
})
# x:517 y:124
OperatableStateMachine.add('Analyse Crowd',
_sm_analyse_crowd_3,
transitions={
'finished': 'Set Begin Game',
'error': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'error': Autonomy.Inherit
})
return _state_machine
def create(self):
# x:1023 y:473, x:791 y:291, x:797 y:103
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed', 'critical_fail'],
input_keys=['Action'])
_state_machine.userdata.Action = ["Guide", 'table', 'kitchen']
_state_machine.userdata.relative = False
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:458
_sm_groupwait_0 = OperatableStateMachine(outcomes=['end'])
with _sm_groupwait_0:
# x:30 y:40
OperatableStateMachine.add('waitwait',
WaitState(wait_time=20),
transitions={'done': 'end'},
autonomy={'done': Autonomy.Off})
# x:534 y:319
_sm_move_head_and_base_at_the_end_1 = OperatableStateMachine(
outcomes=['failed'])
with _sm_move_head_and_base_at_the_end_1:
# x:52 y:31
OperatableStateMachine.add('setkeyorientation',
SetKey(Value=1.5),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:51 y:114
OperatableStateMachine.add(
'action_turn',
self.use_behavior(
action_turnSM,
'operator is still there/Move head and base end /move head and base at the end/action_turn'
),
transitions={
'finished': 'turn right head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:48 y:272
OperatableStateMachine.add('wait while head turn',
WaitState(wait_time=4),
transitions={'done': 'action_turn_2'},
autonomy={'done': Autonomy.Off})
# x:47 y:199
OperatableStateMachine.add(
'turn right head',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'wait while head turn'},
autonomy={'done': Autonomy.Off})
# x:45 y:348
OperatableStateMachine.add(
'action_turn_2',
self.use_behavior(
action_turnSM,
'operator is still there/Move head and base end /move head and base at the end/action_turn_2'
),
transitions={
'finished': 'left to rigth',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:43 y:592
OperatableStateMachine.add('left to rigth',
SaraSetHeadAngle(pitch=0, yaw=-1.57),
transitions={'done': 'waitwait1'},
autonomy={'done': Autonomy.Off})
# x:420 y:602
OperatableStateMachine.add('right to left',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'waitwait2'},
autonomy={'done': Autonomy.Off})
# x:266 y:541
OperatableStateMachine.add('waitwait1',
WaitState(wait_time=8),
transitions={'done': 'right to left'},
autonomy={'done': Autonomy.Off})
# x:236 y:674
OperatableStateMachine.add('waitwait2',
WaitState(wait_time=8),
transitions={'done': 'left to rigth'},
autonomy={'done': Autonomy.Off})
# x:231 y:538
_sm_find_a_human_2 = OperatableStateMachine(outcomes=['finished'],
input_keys=['ID'])
with _sm_find_a_human_2:
# x:78 y:275
OperatableStateMachine.add('find the human',
GetEntityByID(),
transitions={
'found': 'finished',
'not_found': 'find the human'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ID': 'ID',
'Entity': 'Entity'
})
# x:415 y:99, x:318 y:246, x:442 y:295
_sm_move_head_and_base_end__3 = ConcurrencyContainer(
outcomes=['failed'],
conditions=[('failed', [('move head and base at the end', 'failed')
]), ('failed', [('Groupwait', 'end')])])
with _sm_move_head_and_base_end__3:
# x:132 y:57
OperatableStateMachine.add('move head and base at the end',
_sm_move_head_and_base_at_the_end_1,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:121 y:218
OperatableStateMachine.add('Groupwait',
_sm_groupwait_0,
transitions={'end': 'failed'},
autonomy={'end': Autonomy.Inherit})
# x:67 y:227
_sm_export_no_waypoint_4 = OperatableStateMachine(
outcomes=['done'], output_keys=['waipoint', 'area_name'])
with _sm_export_no_waypoint_4:
# x:30 y:40
OperatableStateMachine.add('noWaypoint',
SetKey(Value=None),
transitions={'done': 'NoName'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'waipoint'})
# x:43 y:129
OperatableStateMachine.add('NoName',
SetKey(Value=None),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'area_name'})
# x:30 y:458
_sm_export_waypoint_5 = OperatableStateMachine(
outcomes=['done'],
input_keys=['entity'],
output_keys=['waipoint', 'area_name'])
with _sm_export_waypoint_5:
# x:58 y:107
OperatableStateMachine.add(
'Extract Wayppoint',
CalculationState(calculation=lambda x: x.waypoint),
transitions={'done': 'Extract Name'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity',
'output_value': 'waipoint'
})
# x:67 y:257
OperatableStateMachine.add(
'Extract Name',
CalculationState(calculation=lambda x: x.name),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity',
'output_value': 'area_name'
})
# x:379 y:221
_sm_wait_to_compte_6 = OperatableStateMachine(outcomes=['finished'])
with _sm_wait_to_compte_6:
# x:77 y:195
OperatableStateMachine.add('one more wait',
WaitState(wait_time=60),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:535 y:314
_sm_turn_around_7 = OperatableStateMachine(outcomes=['failed'])
with _sm_turn_around_7:
# x:47 y:45
OperatableStateMachine.add('set orientation',
SetKey(Value=1.57),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'rotation'})
# x:42 y:213
OperatableStateMachine.add('move head',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'waitwait'},
autonomy={'done': Autonomy.Off})
# x:53 y:294
OperatableStateMachine.add('waitwait',
WaitState(wait_time=10),
transitions={'done': 'action_turn_2'},
autonomy={'done': Autonomy.Off})
# x:33 y:122
OperatableStateMachine.add(
'action_turn',
self.use_behavior(
action_turnSM,
'Try to reach/check person behind/move head and base/turn around/action_turn'
),
transitions={
'finished': 'move head',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:31 y:434
OperatableStateMachine.add(
'action_turn_2',
self.use_behavior(
action_turnSM,
'Try to reach/check person behind/move head and base/turn around/action_turn_2'
),
transitions={
'finished': 'head left right',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:35 y:595
OperatableStateMachine.add('head left right',
SaraSetHeadAngle(pitch=0, yaw=1.57),
transitions={'done': 'wait turn head'},
autonomy={'done': Autonomy.Off})
# x:308 y:537
OperatableStateMachine.add('wait turn head',
WaitState(wait_time=10),
transitions={'done': 'head right left'},
autonomy={'done': Autonomy.Off})
# x:495 y:604
OperatableStateMachine.add('head right left',
SaraSetHeadAngle(pitch=0, yaw=-1.57),
transitions={'done': 'wait wait wait'},
autonomy={'done': Autonomy.Off})
# x:271 y:711
OperatableStateMachine.add('wait wait wait',
WaitState(wait_time=10),
transitions={'done': 'head left right'},
autonomy={'done': Autonomy.Off})
# x:845 y:395
_sm_find_human_8 = OperatableStateMachine(outcomes=['finished'],
input_keys=['ID'])
with _sm_find_human_8:
# x:223 y:137
OperatableStateMachine.add('find person',
GetEntityByID(),
transitions={
'found': 'finished',
'not_found': 'find person'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ID': 'ID',
'Entity': 'Entity'
})
# x:549 y:135, x:555 y:269, x:230 y:458
_sm_move_head_and_base_9 = ConcurrencyContainer(
outcomes=['failed'],
conditions=[('failed', [('turn around', 'failed')]),
('failed', [('wait to compte', 'finished')])])
with _sm_move_head_and_base_9:
# x:268 y:77
OperatableStateMachine.add('turn around',
_sm_turn_around_7,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:263 y:246
OperatableStateMachine.add('wait to compte',
_sm_wait_to_compte_6,
transitions={'finished': 'failed'},
autonomy={'finished': Autonomy.Inherit})
# x:493 y:206
_sm_container_10 = OperatableStateMachine(outcomes=['check'])
with _sm_container_10:
# x:230 y:160
OperatableStateMachine.add('wait long',
WaitState(wait_time=40),
transitions={'done': 'check'},
autonomy={'done': Autonomy.Off})
# x:30 y:458, x:706 y:447
_sm_navigate_to_the_point_11 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['pose'])
with _sm_navigate_to_the_point_11:
# x:174 y:122
OperatableStateMachine.add('set relative',
SetKey(Value=False),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'relative'})
# x:347 y:191
OperatableStateMachine.add(
'Action_Move',
self.use_behavior(
Action_MoveSM,
'Try to reach/Container/navigate to the point/Action_Move'
),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'pose'})
# x:728 y:335, x:792 y:103, x:738 y:249, x:724 y:448
_sm_check_person_behind_12 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['ID'],
conditions=[('failed', [('move head and base', 'failed')]),
('finished', [('find human', 'finished')])])
with _sm_check_person_behind_12:
# x:250 y:72
OperatableStateMachine.add('move head and base',
_sm_move_head_and_base_9,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:261 y:238
OperatableStateMachine.add('find human',
_sm_find_human_8,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:635 y:61, x:634 y:159, x:597 y:300, x:330 y:458, x:430 y:458, x:530 y:458
_sm_container_13 = ConcurrencyContainer(
outcomes=['finished', 'failed', 'check'],
input_keys=['waypoint'],
conditions=[('check', [('Container', 'check')]),
('finished', [('navigate to the point', 'finished')]),
('failed', [('navigate to the point', 'failed')])])
with _sm_container_13:
# x:315 y:51
OperatableStateMachine.add('navigate to the point',
_sm_navigate_to_the_point_11,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'waypoint'})
# x:322 y:257
OperatableStateMachine.add('Container',
_sm_container_10,
transitions={'check': 'check'},
autonomy={'check': Autonomy.Inherit})
# x:98 y:451
_sm_get_area_containers_14 = OperatableStateMachine(
outcomes=['done'],
input_keys=['command'],
output_keys=['containers'])
with _sm_get_area_containers_14:
# x:46 y:31
OperatableStateMachine.add(
'Set Empty Array',
SetKey(Value=[]),
transitions={'done': 'Set initial index'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'containers'})
# x:50 y:110
OperatableStateMachine.add('Set initial index',
SetKey(Value=2),
transitions={'done': 'Set Loop Max'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'iLoop'})
# x:49 y:192
OperatableStateMachine.add(
'Set Loop Max',
CalculationState(calculation=lambda x: len(x)),
transitions={'done': 'Check Loop End'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'command',
'output_value': 'iLoopMax'
})
# x:514 y:278
OperatableStateMachine.add(
'Increment',
CalculationState(calculation=lambda x: x + 1),
transitions={'done': 'Print container array'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'iLoop',
'output_value': 'iLoop'
})
# x:271 y:154
OperatableStateMachine.add(
'Add Container to Array',
FlexibleCalculationState(
calculation=lambda x: x[2] + [x[0][x[1]]],
input_keys=['command', 'iLoop', 'containers']),
transitions={'done': 'Increment'},
autonomy={'done': Autonomy.Off},
remapping={
'command': 'command',
'iLoop': 'iLoop',
'containers': 'containers',
'output_value': 'containers'
})
# x:42 y:287
OperatableStateMachine.add('Check Loop End',
FlexibleCheckConditionState(
predicate=lambda x: x[0] < x[1],
input_keys=['iLoop', 'iLoopMax']),
transitions={
'true': 'Add Container to Array',
'false': 'done'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'iLoop': 'iLoop',
'iLoopMax': 'iLoopMax'
})
# x:279 y:401
OperatableStateMachine.add('Print container array',
LogKeyState(
text="Containers: \n {}",
severity=Logger.REPORT_HINT),
transitions={'done': 'Check Loop End'},
autonomy={'done': Autonomy.Off},
remapping={'data': 'containers'})
# x:626 y:228, x:607 y:71, x:230 y:458, x:330 y:458
_sm_operator_is_still_there_15 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['ID'],
conditions=[('finished', [('find a human', 'finished')]),
('failed', [('Move head and base end ', 'failed')])])
with _sm_operator_is_still_there_15:
# x:207 y:54
OperatableStateMachine.add('Move head and base end ',
_sm_move_head_and_base_end__3,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit})
# x:222 y:190
OperatableStateMachine.add('find a human',
_sm_find_a_human_2,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:1620 y:109, x:1648 y:375
_sm_try_to_find_area_16 = OperatableStateMachine(
outcomes=['found', 'not_found'],
input_keys=['area_to_search', 'containers'],
output_keys=['area_name', 'waypoint'])
with _sm_try_to_find_area_16:
# x:517 y:67
OperatableStateMachine.add(
'WonderlandUniqueEnity',
self.use_behavior(WonderlandUniqueEnitySM,
'Try to find area/WonderlandUniqueEnity'),
transitions={
'found': 'Export Waypoint',
'not_found': 'Export No Waypoint'
},
autonomy={
'found': Autonomy.Inherit,
'not_found': Autonomy.Inherit
},
remapping={
'name': 'area_to_search',
'containers': 'containers',
'entity': 'entity'
})
# x:966 y:71
OperatableStateMachine.add('Export Waypoint',
_sm_export_waypoint_5,
transitions={'done': 'say_going'},
autonomy={'done': Autonomy.Inherit},
remapping={
'entity': 'entity',
'waipoint': 'waypoint',
'area_name': 'area_name'
})
# x:1247 y:295
OperatableStateMachine.add('Export No Waypoint',
_sm_export_no_waypoint_4,
transitions={'done': 'not_found'},
autonomy={'done': Autonomy.Inherit},
remapping={
'waipoint': 'waypoint',
'area_name': 'area_name'
})
# x:1273 y:106
OperatableStateMachine.add(
'say_going',
SaraSay(sentence=lambda x: "I'm going to the " + x,
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'found'},
autonomy={'done': Autonomy.Off})
# x:323 y:632, x:638 y:631
_sm_try_to_reach_17 = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=['waypoint', 'relative', 'areaName', 'ID'])
with _sm_try_to_reach_17:
# x:252 y:161
OperatableStateMachine.add('Container',
_sm_container_13,
transitions={
'finished': 'say_reached',
'failed': 'Say_not_reached',
'check': 'say check'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'check': Autonomy.Inherit
},
remapping={'waypoint': 'waypoint'})
# x:581 y:163
OperatableStateMachine.add('check person behind',
_sm_check_person_behind_12,
transitions={
'finished': 'say found',
'failed': 'say lost'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'ID': 'ID'})
# x:706 y:484
OperatableStateMachine.add(
'say lost',
SaraSay(sentence="Oh no! I lost my operator!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:445 y:69
OperatableStateMachine.add(
'say check',
SaraSay(sentence="I check if my operator is still there",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'check person behind'},
autonomy={'done': Autonomy.Off})
# x:443 y:187
OperatableStateMachine.add(
'say found',
SaraSay(sentence="Great. You are still there.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Container'},
autonomy={'done': Autonomy.Off})
# x:463 y:398
OperatableStateMachine.add(
'Say_not_reached',
SaraSay(sentence=lambda x: "I have not reach the " + x + "!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:61 y:366
OperatableStateMachine.add(
'say_reached',
SaraSay(sentence=lambda x: "I have reach the " + x + "!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:871 y:59
_sm_decompose_command_18 = OperatableStateMachine(
outcomes=['done'],
input_keys=['command'],
output_keys=['containers', 'area'])
with _sm_decompose_command_18:
# x:163 y:34
OperatableStateMachine.add('Set State Command',
Set_a_step(step=0),
transitions={'done': 'Get area name'},
autonomy={'done': Autonomy.Off})
# x:387 y:58
OperatableStateMachine.add(
'Get area name',
CalculationState(calculation=lambda x: x[1]),
transitions={'done': 'Get area containers'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'command',
'output_value': 'area'
})
# x:597 y:94
OperatableStateMachine.add('Get area containers',
_sm_get_area_containers_14,
transitions={'done': 'done'},
autonomy={'done': Autonomy.Inherit},
remapping={
'command': 'command',
'containers': 'containers'
})
with _state_machine:
# x:54 y:24
OperatableStateMachine.add(
'Get Person Id',
GetRosParam(ParamName="behavior/FoundPerson/Id"),
transitions={
'done': 'GetPerson',
'failed': 'Cant Find Person'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'Value': 'ID'})
# x:19 y:152
OperatableStateMachine.add(
'Decompose Command',
_sm_decompose_command_18,
transitions={'done': 'Try to find area'},
autonomy={'done': Autonomy.Inherit},
remapping={
'command': 'Action',
'containers': 'containers',
'area': 'area'
})
# x:43 y:358
OperatableStateMachine.add('Try to reach',
_sm_try_to_reach_17,
transitions={
'finished':
'operator is still there',
'failed': 'cause2'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'waypoint': 'waypoint',
'relative': 'relative',
'areaName': 'area_name',
'ID': 'ID'
})
# x:360 y:109
OperatableStateMachine.add('Cant Find Person',
SaraSay(
sentence="I can't find a person.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause1'},
autonomy={'done': Autonomy.Off})
# x:52 y:82
OperatableStateMachine.add('GetPerson',
GetEntityByID(),
transitions={
'found': 'Decompose Command',
'not_found': 'Cant Find Person'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ID': 'ID',
'Entity': 'Entity'
})
# x:36 y:219
OperatableStateMachine.add('Try to find area',
_sm_try_to_find_area_16,
transitions={
'found': 'sayfollowme',
'not_found': 'Cant Find Person'
},
autonomy={
'found': Autonomy.Inherit,
'not_found': Autonomy.Inherit
},
remapping={
'area_to_search': 'area',
'containers': 'containers',
'area_name': 'area_name',
'waypoint': 'waypoint'
})
# x:27 y:438
OperatableStateMachine.add('operator is still there',
_sm_operator_is_still_there_15,
transitions={
'finished': 'getentitybyID',
'failed': 'say lost operator'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'ID': 'ID'})
# x:347 y:370
OperatableStateMachine.add(
'say lost operator',
SaraSay(
sentence=
"I have reach my goal but I lost the person I was guiding.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'cause3'},
autonomy={'done': Autonomy.Off})
# x:49 y:291
OperatableStateMachine.add('sayfollowme',
SaraSay(sentence="Follow me please.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Try to reach'},
autonomy={'done': Autonomy.Off})
# x:808 y:451
OperatableStateMachine.add('head to middle',
SaraSetHeadAngle(pitch=0, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:48 y:525
OperatableStateMachine.add('getentitybyID',
GetEntityByID(),
transitions={
'found': 'get entity to point',
'not_found': 'say_reach_the_entity'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ID': 'ID',
'Entity': 'Entity'
})
# x:249 y:562
OperatableStateMachine.add('get entity to point',
WonderlandGetEntityVerbal(),
transitions={
'one': 'find the point',
'multiple': 'say_reach_the_entity',
'none': 'say_reach_the_entity',
'error': 'say_reach_the_entity'
},
autonomy={
'one': Autonomy.Off,
'multiple': Autonomy.Off,
'none': Autonomy.Off,
'error': Autonomy.Off
},
remapping={
'name': 'area_name',
'containers': 'containers',
'entities': 'entities',
'firstEntity': 'firstEntity'
})
# x:708 y:529
OperatableStateMachine.add(
'Action_point_at',
self.use_behavior(Action_point_atSM, 'Action_point_at'),
transitions={
'finished': 'say_reach_the_entity',
'failed': 'say_reach_the_entity'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'targetPoint': 'targetPoint'})
# x:539 y:558
OperatableStateMachine.add(
'find the point',
CalculationState(calculation=lambda x: x.position),
transitions={'done': 'Action_point_at'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entities',
'output_value': 'targetPoint'
})
# x:547 y:121
OperatableStateMachine.add(
'cause1',
SetKey(Value="I didn't find any persone"),
transitions={'done': 'setrosparamfail'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:507 y:220
OperatableStateMachine.add(
'cause2',
SetKey(Value="I did not reach the area"),
transitions={'done': 'setrosparamfail'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:559 y:337
OperatableStateMachine.add(
'cause3',
SetKey(Value="I lost the person I was guiding."),
transitions={'done': 'setrosparamfail'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'Key'})
# x:656 y:250
OperatableStateMachine.add(
'setrosparamfail',
SetRosParam(ParamName="behavior/GPSR/CauseOfFailure"),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'Key'})
# x:523 y:462
OperatableStateMachine.add(
'say_reach_the_entity',
SaraSay(sentence=lambda x: "Here is the " + x,
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'head to middle'},
autonomy={'done': Autonomy.Off})
return _state_machine