def create(self):
# x:30 y:353, x:425 y:365
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:353, x:130 y:353, x:230 y:353, x:330 y:353, x:430 y:353, x:530 y:353
_sm_randheadmovements_0 = ConcurrencyContainer(outcomes=['finished', 'failed'], conditions=[
('finished', [('LookAt', 'done')]),
('failed', [('LookAt', 'failure')]),
('finished', [('RandPose', 'done')]),
('failed', [('RandPose', 'failure')])
])
with _sm_randheadmovements_0:
# x:48 y:117
OperatableStateMachine.add('LookAt',
SetOperational(controller='motion/controller/look_at', operational=True, resources=['head'], sync=True),
transitions={'done': 'finished', 'failure': 'failed'},
autonomy={'done': Autonomy.Off, 'failure': Autonomy.Off})
# x:286 y:122
OperatableStateMachine.add('RandPose',
RandPoseGenerator(topic='motion/controller/look_at/in_pose_ref', duration=self.timeout, interval=[1.0,4.0], maxXYZ=[1,0.3,0.6], minXYZ=[1.0,-0.3,0.2], frame_xyz='base_link', frame_out='odom_combined'),
transitions={'done': 'finished', 'failure': 'failed'},
autonomy={'done': Autonomy.Off, 'failure': Autonomy.Off})
with _state_machine:
# x:163 y:40
OperatableStateMachine.add('CheckCrouched',
CheckJointState(outcomes=['body_crouched', 'unknown'], pose_ns='saved_msgs/joint_state', tolerance=0.17, joint_topic="joint_states", timeout=1.0),
transitions={'body_crouched': 'StandUp', 'unknown': 'RandHeadMovements'},
autonomy={'body_crouched': Autonomy.Off, 'unknown': Autonomy.Off})
# x:412 y:68
OperatableStateMachine.add('StandUp',
ExecuteJointTrajectory(action_topic='motion/controller/joint_trajectory', trajectory_param='crouch_end', trajectory_ns='saved_msgs/joint_trajectory'),
transitions={'success': 'RandHeadMovements', 'partial_movement': 'failed', 'invalid_pose': 'failed', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'partial_movement': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off})
# x:150 y:341
OperatableStateMachine.add('HeadNominal',
SetJointState(controller='motion/controller/joint_state_head', pose_param='head_nominal', pose_ns='saved_msgs/joint_state', tolerance=0.017, timeout=10.0, joint_topic="joint_states"),
transitions={'done': 'finished', 'failed': 'failed', 'timeout': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off, 'timeout': Autonomy.Off})
# x:154 y:179
OperatableStateMachine.add('RandHeadMovements',
_sm_randheadmovements_0,
transitions={'finished': 'HeadNominal', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine
def create(self):
# x:30 y:353, x:130 y:353
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.config = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:76 y:87
OperatableStateMachine.add(
'SetHeadNominal',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'Wait',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:244 y:213
OperatableStateMachine.add('Wait',
WaitState(wait_time=20),
transitions={'done': 'RandMoves'},
autonomy={'done': Autonomy.Off})
# x:338 y:62
OperatableStateMachine.add(
'RandMoves',
RandJointsMovements(controller='joint_state_head',
duration=30,
interval=[4.0, 6.0],
joints=['head_joint2', 'head_joint3'],
minimal=[0.1, -0.3],
maximal=[0.7, 0.3]),
transitions={
'done': 'SetHeadNominal',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'config': 'config'})
return _state_machine
def create(self):
joint_trajectory_action = 'motion/controller/joint_trajectory'
voice_topic = 'control'
storage = 'joint_trajectory/'
# x:1011 y:80, x:1002 y:571
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['be_evil'])
_state_machine.userdata.be_evil = self.be_evil
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:45 y:143
OperatableStateMachine.add(
'SetHeadNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'CheckEvil',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:421 y:472
OperatableStateMachine.add('SayDoNotTouch',
TextCommandState(
type='voice/play_wav',
command='do_not_touch_me',
topic=voice_topic),
transitions={'done': 'HoofStamp'},
autonomy={'done': Autonomy.Off})
# x:496 y:147
OperatableStateMachine.add(
'SayOverflow',
TextCommandState(type='voice/play_wav',
command='you_are_using_software_incorrectly',
topic=voice_topic),
transitions={'done': 'Applause'},
autonomy={'done': Autonomy.Off})
# x:747 y:153
OperatableStateMachine.add(
'Applause',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='applause',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:745 y:226
OperatableStateMachine.add(
'NoHeadShake',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='head_shake',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:495 y:227
OperatableStateMachine.add(
'SayDizzy',
TextCommandState(type='voice/play_wav',
command='who_am_i_what_is_my_purpose',
topic=voice_topic),
transitions={'done': 'NoHeadShake'},
autonomy={'done': Autonomy.Off})
# x:648 y:466
OperatableStateMachine.add(
'HoofStamp',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='hoof_stamp',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:242 y:273
OperatableStateMachine.add(
'CheckEvil',
DecisionState(outcomes=['good', 'evil'],
conditions=lambda x: 'evil' if x else 'good'),
transitions={
'good': 'RandomChoiceGood',
'evil': 'SayDoNotTouch'
},
autonomy={
'good': Autonomy.Off,
'evil': Autonomy.Low
},
remapping={'input_value': 'be_evil'})
# x:320 y:143
OperatableStateMachine.add(
'RandomChoiceGood',
DecisionState(
outcomes=['good1', 'good2'],
conditions=lambda x: random.choice(['good1', 'good2'])),
transitions={
'good1': 'SayOverflow',
'good2': 'SayDizzy'
},
autonomy={
'good1': Autonomy.Low,
'good2': Autonomy.Low
},
remapping={'input_value': 'be_evil'})
return _state_machine
def create(self):
# x:821 y:618, x:163 y:383
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.unused = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:88 y:87
OperatableStateMachine.add(
'PrepareToWalk',
SetCartesianPose(controller='motion/controller/stance',
pose=[0.0, 0.0, 0.2085, 0.0, 0.0, 0.0],
frame_id='base_link_path',
frame_is_moving=False,
resources=['leg1', 'leg2', 'leg3', 'leg4'],
actuator_frame_id='base_link',
tolerance_lin=0.001,
tolerance_ang=0.0085,
timeout=10.0),
transitions={
'done': 'CheckCrouched',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:583 y:31
OperatableStateMachine.add(
'WalkFwd',
ExecuteStepSequence(
controller='motion/controller/step_sequence',
trajectory_param='walk_fwd_40',
trajectory_ns='saved_msgs/step_sequence'),
transitions={
'success': 'GenerateTurnLeft',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:461 y:256
OperatableStateMachine.add(
'EndWalk',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'Greeting',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:654 y:319
OperatableStateMachine.add(
'Greeting',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='greeting',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'CompoundCrouchAndWalk',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:671 y:447
OperatableStateMachine.add(
'CompoundCrouchAndWalk',
CompoundAction(t1=[0, 0.0],
type1='motion/joint_trajectory',
cmd1='crouch_begin',
t2=[1, 0.0],
type2='motion/step_sequence',
cmd2='walk_fwd_40',
t3=[2, 0.0],
type3='generate/step_sequence',
cmd3='to_nominal',
t4=[3, 0.0],
type4='set/joint_state',
cmd4='nominal'),
transitions={
'success': 'ComponudActionFromParam',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:601 y:137
OperatableStateMachine.add(
'GenerateTurnLeft',
GenerateStepSequence(controller='clop_generator',
trajectory_param='turn_left_45',
trajectory_ns='saved_msgs/move_base'),
transitions={
'success': 'EndWalk',
'solution_not_found': 'failed',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'solution_not_found': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:507 y:546
OperatableStateMachine.add(
'ComponudActionFromParam',
CompoundActionParam(action_param='brohoof',
action_ns='saved_msgs/compound_action'),
transitions={
'success': 'finished',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:298 y:42
OperatableStateMachine.add(
'CheckCrouched',
CheckJointState(outcomes=[
'body_nominal', 'body_lying', 'body_crouched', 'unknown'
],
pose_ns='saved_msgs/joint_state',
tolerance=0.17,
joint_topic="joint_states",
timeout=1.0),
transitions={
'body_nominal': 'failed',
'body_lying': 'failed',
'unknown': 'WalkFwd',
'body_crouched': 'WalkFwd'
},
autonomy={
'body_nominal': Autonomy.Off,
'body_lying': Autonomy.Off,
'unknown': Autonomy.Off,
'body_crouched': Autonomy.Off
})
return _state_machine
def create(self):
joy_topic = '/hmi/joystick'
# x:30 y:365, x:846 y:376
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.unused = None
_state_machine.userdata.joy_msg = Joy()
_state_machine.userdata.text_msg = TextCommand()
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:353
_sm_waituntiltextcmd_0 = OperatableStateMachine(
outcomes=['received'], output_keys=['text_msg'])
with _sm_waituntiltextcmd_0:
# x:87 y:101
OperatableStateMachine.add(
'WaitTextMsg',
WaitForMessageState(
topic='/control',
condition=lambda x: x.type == 'flexbe/action',
buffered=False,
clear=True),
transitions={
'received': 'received',
'unavailable': 'Wait1s'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'text_msg'})
# x:314 y:97
OperatableStateMachine.add('Wait1s',
WaitState(wait_time=1),
transitions={'done': 'WaitTextMsg'},
autonomy={'done': Autonomy.Off})
# x:397 y:287, x:85 y:291, x:504 y:228, x:330 y:297, x:459 y:297, x:530 y:297
_sm_joystickmovements_1 = ConcurrencyContainer(
outcomes=['failed', 'button1234', 'timeout'],
input_keys=['joy_msg'],
output_keys=['joy_msg'],
conditions=[('timeout', [('JoystickControl', 'done')]),
('failed', [('WaitButton1234Pressed', 'unavailable')]),
('button1234', [('WaitButton1234Pressed', 'received')])
])
with _sm_joystickmovements_1:
# x:385 y:129
OperatableStateMachine.add(
'JoystickControl',
JoystickJointControl(
joints_topic='/joint_states',
goal_joints_topic=
'/motion/controller/joint_state/out_joints_src_reset',
joy_topic=joy_topic,
buttons=[(4, 0.6, 'ear_l_joint', -3.0, 1.0),
(6, -0.6, 'ear_l_joint', -3.0, 1.0),
(5, 0.6, 'ear_r_joint', -3.0, 1.0),
(7, -0.6, 'ear_r_joint', -3.0, 1.0)],
axes=[(0, 0, 'eyes_yaw', -1.5, 1.5),
(1, 0, 'eyes_pitch', -1.5, 1.5),
(4, -0.4, 'head_joint4', -1.5, 1.5),
(5, 0.4, 'head_joint2', -1.5, 1.5),
(3, 0.5, 'mouth_joint', -0.6, 0)],
timeout=5.0),
transitions={'done': 'timeout'},
autonomy={'done': Autonomy.Off})
# x:130 y:136
OperatableStateMachine.add(
'WaitButton1234Pressed',
WaitForMessageState(
topic=joy_topic,
condition=lambda msg: any(msg.buttons[0:4]),
buffered=False,
clear=True),
transitions={
'received': 'button1234',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'joy_msg'})
# x:205 y:274, x:300 y:274, x:68 y:275, x:449 y:266, x:595 y:272, x:833 y:323, x:638 y:392, x:730 y:353, x:949 y:274
_sm_randmovements_2 = ConcurrencyContainer(
outcomes=['failed', 'timeout', 'joy_msg', 'text_msg'],
input_keys=['unused', 'joy_msg', 'text_msg'],
output_keys=['joy_msg', 'text_msg', 'unused'],
conditions=[('failed', [('WaitJoystick', 'unavailable')]),
('failed', [('RandHeadMoves', 'failed')]),
('joy_msg', [('WaitJoystick', 'received')]),
('timeout', [('RandHeadMoves', 'done')]),
('text_msg', [('WaitUntilTextCmd', 'received')])])
with _sm_randmovements_2:
# x:88 y:74
OperatableStateMachine.add(
'WaitJoystick',
WaitForMessageState(
topic=joy_topic,
condition=lambda msg: any(msg.buttons) or any(msg.axes),
buffered=False,
clear=True),
transitions={
'received': 'joy_msg',
'unavailable': 'failed'
},
autonomy={
'received': Autonomy.Off,
'unavailable': Autonomy.Off
},
remapping={'message': 'joy_msg'})
# x:332 y:60
OperatableStateMachine.add(
'RandHeadMoves',
RandJointsMovements(controller='joint_state_head',
duration=10,
interval=[2.0, 5.0],
joints=['head_joint2', 'head_joint4'],
minimal=[-0.2, -0.3],
maximal=[0.3, 0.3]),
transitions={
'done': 'timeout',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'config': 'unused'})
# x:647 y:50
OperatableStateMachine.add('WaitUntilTextCmd',
_sm_waituntiltextcmd_0,
transitions={'received': 'text_msg'},
autonomy={'received': Autonomy.Inherit},
remapping={'text_msg': 'text_msg'})
with _state_machine:
# x:12 y:169
OperatableStateMachine.add(
'SetNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'RandMovements',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:127 y:370
OperatableStateMachine.add('JoystickMovements',
_sm_joystickmovements_1,
transitions={
'failed': 'failed',
'button1234': 'ProcessButton',
'timeout': 'RandMovements'
},
autonomy={
'failed': Autonomy.Inherit,
'button1234': Autonomy.Inherit,
'timeout': Autonomy.Inherit
},
remapping={'joy_msg': 'joy_msg'})
# x:248 y:186
OperatableStateMachine.add(
'CheckButtonPressed',
DecisionState(outcomes=['button1234', 'other'],
conditions=lambda msg: 'button1234'
if any(msg.buttons[0:4]) else 'other'),
transitions={
'button1234': 'ProcessButton',
'other': 'JoystickMovements'
},
autonomy={
'button1234': Autonomy.Off,
'other': Autonomy.Off
},
remapping={'input_value': 'joy_msg'})
# x:690 y:123
OperatableStateMachine.add(
'SetHeadNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'ExecuteAction',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:425 y:181
OperatableStateMachine.add(
'ProcessButton',
CalculationState(calculation=self.process_joy_msg),
transitions={'done': 'SetHeadNominalPose'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'joy_msg',
'output_value': 'action_name'
})
# x:272 y:100
OperatableStateMachine.add(
'ProcessTextMsg',
CalculationState(calculation=self.process_text_msg),
transitions={'done': 'SetHeadNominalPose'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'text_msg',
'output_value': 'action_name'
})
# x:457 y:12
OperatableStateMachine.add(
'RandomAction',
CalculationState(calculation=self.random_action),
transitions={'done': 'SetHeadNominalPose'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'unused',
'output_value': 'action_name'
})
# x:383 y:325
OperatableStateMachine.add(
'ExecuteAction',
ExecuteJointTrajectoryKey(
controller='motion/controller/joint_trajectory',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'JoystickMovements',
'unavalible': 'JoystickMovements',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'unavalible': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'trajectory_param': 'action_name'})
# x:308 y:7
OperatableStateMachine.add(
'RandomChoice',
DecisionState(outcomes=['move', 'continue'],
conditions=lambda x: 'continue'
if random.random() < 0.4 else 'move'),
transitions={
'move': 'RandomAction',
'continue': 'RandMovements'
},
autonomy={
'move': Autonomy.Off,
'continue': Autonomy.Off
},
remapping={'input_value': 'unused'})
# x:117 y:39
OperatableStateMachine.add('RandMovements',
_sm_randmovements_2,
transitions={
'failed': 'failed',
'timeout': 'RandomChoice',
'joy_msg': 'CheckButtonPressed',
'text_msg': 'ProcessTextMsg'
},
autonomy={
'failed': Autonomy.Inherit,
'timeout': Autonomy.Inherit,
'joy_msg': Autonomy.Inherit,
'text_msg': Autonomy.Inherit
},
remapping={
'unused': 'unused',
'joy_msg': 'joy_msg',
'text_msg': 'text_msg'
})
return _state_machine
def create(self):
joint_trajectory_action = 'motion/controller/joint_trajectory'
voice_topic = 'control'
storage = 'joint_trajectory/'
# x:901 y:554, x:895 y:38
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['be_evil'])
_state_machine.userdata.be_evil = self.be_evil
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:48 y:105
OperatableStateMachine.add(
'SetHeadNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'CheckEvil',
'failed': 'failed',
'timeout': 'finished'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:579 y:498
OperatableStateMachine.add(
'HoofStamp',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='hoof_stamp',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:88 y:447
OperatableStateMachine.add(
'RandomChoice',
DecisionState(
outcomes=['evil1', 'evil2'],
conditions=lambda x: random.choice(['evil1', 'evil2'])),
transitions={
'evil1': 'PointDoNotTouch',
'evil2': 'SayWalk'
},
autonomy={
'evil1': Autonomy.High,
'evil2': Autonomy.High
},
remapping={'input_value': 'be_evil'})
# x:303 y:543
OperatableStateMachine.add('SayWalk',
TextCommandState(type='voice/play_wav',
command='i_hate_laws',
topic=voice_topic),
transitions={'done': 'Wait1'},
autonomy={'done': Autonomy.Off})
# x:467 y:539
OperatableStateMachine.add('Wait1',
WaitState(wait_time=0.5),
transitions={'done': 'HoofStamp'},
autonomy={'done': Autonomy.Off})
# x:497 y:102
OperatableStateMachine.add(
'PranceMaxFun',
CompoundActionParam(action_param='prance_maximum_fun',
action_ns='saved_msgs/compound_action'),
transitions={
'success': 'finished',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:437 y:275
OperatableStateMachine.add(
'PointDoNotTouch',
CompoundActionParam(action_param='point_do_not_touch',
action_ns='saved_msgs/compound_action'),
transitions={
'success': 'finished',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:140 y:251
OperatableStateMachine.add(
'CheckEvil',
DecisionState(outcomes=['good', 'evil'],
conditions=lambda x: 'evil' if x else 'good'),
transitions={
'good': 'PranceMaxFun',
'evil': 'RandomChoice'
},
autonomy={
'good': Autonomy.Off,
'evil': Autonomy.Off
},
remapping={'input_value': 'be_evil'})
return _state_machine
def create(self):
# x:30 y:365, x:183 y:341, x:352 y:353
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed', 'invalid_pose'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:584 y:41, x:452 y:346, x:230 y:353
_sm_container_0 = OperatableStateMachine(
outcomes=['finished', 'failed', 'invalid_pose'])
with _sm_container_0:
# x:127 y:102
OperatableStateMachine.add(
'CheckBodyPose',
CheckJointState(
outcomes=['body_nominal', 'body_crouched', 'unknown'],
pose_ns='saved_msgs/joint_state',
tolerance=0.17,
joint_topic="joint_states",
timeout=1.0),
transitions={
'body_nominal': 'finished',
'unknown': 'invalid_pose',
'body_crouched': 'CrouchEnd'
},
autonomy={
'body_nominal': Autonomy.Off,
'unknown': Autonomy.Off,
'body_crouched': Autonomy.Off
})
# x:350 y:172
OperatableStateMachine.add(
'CrouchEnd',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_end',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'finished',
'partial_movement': 'invalid_pose',
'invalid_pose': 'invalid_pose',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:30 y:353, x:130 y:353, x:230 y:353, x:330 y:353, x:430 y:353, x:530 y:353, x:630 y:353, x:730 y:353
_sm_standup_1 = ConcurrencyContainer(
outcomes=['finished', 'invalid_pose', 'failed'],
conditions=[('failed', [('HeadNominal', 'failed')]),
('finished', [('HeadNominal', 'done'),
('Container', 'finished')]),
('invalid_pose', [('HeadNominal', 'timeout')]),
('failed', [('Container', 'failed')]),
('invalid_pose', [('Container', 'invalid_pose')])])
with _sm_standup_1:
# x:425 y:127
OperatableStateMachine.add('Container',
_sm_container_0,
transitions={
'finished': 'finished',
'failed': 'failed',
'invalid_pose': 'invalid_pose'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'invalid_pose': Autonomy.Inherit
})
# x:105 y:127
OperatableStateMachine.add(
'HeadNominal',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'finished',
'failed': 'failed',
'timeout': 'invalid_pose'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
with _state_machine:
# x:108 y:85
OperatableStateMachine.add(
'CompoundAction',
CompoundActionParam(action_param=self.action_name,
action_ns='saved_msgs/compound_action'),
transitions={
'success': 'finished',
'invalid_pose': 'StandUp',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:405 y:81
OperatableStateMachine.add('StandUp',
_sm_standup_1,
transitions={
'finished': 'CompoundAction',
'invalid_pose': 'invalid_pose',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'invalid_pose': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
return _state_machine
def create(self):
# x:902 y:403, x:697 y:491
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.be_evil = False
_state_machine.userdata.unused = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:32 y:127
OperatableStateMachine.add('SetStandingPose',
SetJointState(controller='motion/controller/joint_state_head', pose_param='body_nominal', pose_ns='saved_msgs/joint_state', tolerance=0.017, timeout=10.0, joint_topic="joint_states"),
transitions={'done': 'SelectTrick', 'failed': 'failed', 'timeout': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off, 'timeout': Autonomy.Off})
# x:371 y:161
OperatableStateMachine.add('Greeting',
self.use_behavior(GreetingSM, 'Greeting'),
transitions={'finished': 'RandHead', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'be_evil': 'be_evil'})
# x:371 y:284
OperatableStateMachine.add('Play',
self.use_behavior(PlaySM, 'Play'),
transitions={'finished': 'RandHead', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'be_evil': 'be_evil'})
# x:202 y:154
OperatableStateMachine.add('SelectTrick',
DecisionState(outcomes=['play','cheer','greet'], conditions=lambda x: random.choice(['play','cheer','greet'])),
transitions={'play': 'Play', 'cheer': 'Cheer', 'greet': 'Greeting'},
autonomy={'play': Autonomy.Off, 'cheer': Autonomy.Off, 'greet': Autonomy.Off},
remapping={'input_value': 'unused'})
# x:823 y:274
OperatableStateMachine.add('PrepareToWalk',
ExecuteJointTrajectory(action_topic='motion/controller/joint_trajectory', trajectory_param='crouch_begin', trajectory_ns='saved_msgs/joint_trajectory'),
transitions={'success': 'finished', 'partial_movement': 'failed', 'invalid_pose': 'failed', 'failure': 'failed'},
autonomy={'success': Autonomy.Off, 'partial_movement': Autonomy.Off, 'invalid_pose': Autonomy.Off, 'failure': Autonomy.Off})
# x:376 y:38
OperatableStateMachine.add('Cheer',
self.use_behavior(CheerSM, 'Cheer'),
transitions={'finished': 'RandHead', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'be_evil': 'be_evil'})
# x:774 y:45
OperatableStateMachine.add('RandHead',
SweetieBotRandHeadMovements(controller='joint_state_head', duration=8, interval=[3,5], max2356=[0.3,0.3,1.5,1.5], min2356=[-0.3,-0.3,-1.5,-1.5]),
transitions={'done': 'SetHeadNominal', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'config': 'unused'})
# x:809 y:138
OperatableStateMachine.add('SetHeadNominal',
SetJointState(controller='motion/controller/joint_state_head', pose_param='head_nominal', pose_ns='saved_msgs/joint_state', tolerance=0.017, timeout=10.0, joint_topic="joint_states"),
transitions={'done': 'PrepareToWalk', 'failed': 'failed', 'timeout': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off, 'timeout': Autonomy.Off})
return _state_machine
def parse_compound_action_msg(self, compound_action_msg):
''' Converts sweetie_bot_text_msgs.msg.CompoundActionElement to the list of SimpleActions.'''
# convert parameteres to actions
actions = list()
for i, p in enumerate(compound_action_msg.action_list):
if not isinstance(p.seq_num, int) or not isinstance(
p.seq_delay, float):
raise TypeError, 'CompoundAction: Incorrect action (seq_num,seq_delay) pair in position %d. (int,float) pair was expected..' % i
if p.seq_num >= i + 1 or p.seq_delay < 0:
raise TypeError, 'CompoundAction parse error: incorrect action (seq_num,seq_delay) pair in position %d. seq_num must reference only previously defined actions.' % i
if p.cmd.type == None:
actions.append(None)
else:
# get parameters
previous_action = None if p.seq_num == 0 else actions[p.seq_num
- 1]
delay = p.seq_delay
description = p.cmd.type + ' ' + p.cmd.command
if not isinstance(p.cmd.type, str):
raise TypeError, 'CompoundAction: Incorrect action type %d. Type must be string or None.' % i
# Select action
if p.cmd.type == 'motion/joint_trajectory':
flexbe_state = ExecuteJointTrajectory(
trajectory_param=p.cmd.command)
outcome_map = {
'success': 'success',
'invalid_pose': 'invalid_pose',
'partial_movement': 'invalid_pose'
}
elif p.cmd.type == 'motion/step_sequence':
flexbe_state = ExecuteStepSequence(
trajectory_param=p.cmd.command)
outcome_map = {
'success': 'success',
'invalid_pose': 'invalid_pose',
'partial_movement': 'invalid_pose'
}
elif p.cmd.type == 'set/joint_state':
flexbe_state = SetJointState(pose_param=p.cmd.command)
outcome_map = {
'done': 'success',
'timeout': 'invalid_pose'
}
elif p.cmd.type == 'generate/step_sequence':
flexbe_state = GenerateStepSequence(
trajectory_param=p.cmd.command)
outcome_map = {
'success': 'success',
'invalid_pose': 'invalid_pose',
'partial_movement': 'invalid_pose'
}
else:
flexbe_state = TextCommandState(p.cmd.type,
p.cmd.command,
topic='control')
outcome_map = {'done': 'success'}
# add action to list
actions.append(
CompoundActionBase.SimpleAction(previous_action, delay,
'WAITING', flexbe_state,
outcome_map, 0.0,
description))
# remove None actions
return [a for a in actions if a != None]
def create(self):
# x:30 y:353, x:488 y:318
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.unused = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:189 y:30
OperatableStateMachine.add(
'CheckCrouched',
CheckJointState(outcomes=['body_crouched', 'unknown'],
pose_ns='saved_msgs/joint_state',
tolerance=0.17,
joint_topic="joint_states",
timeout=1.0),
transitions={
'body_crouched': 'StandUp',
'unknown': 'RandHeadMovements'
},
autonomy={
'body_crouched': Autonomy.Off,
'unknown': Autonomy.Off
})
# x:196 y:256
OperatableStateMachine.add(
'HeadNominal',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'finished',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:445 y:78
OperatableStateMachine.add(
'StandUp',
ExecuteJointTrajectory(
action_topic='motion/controller/joint_trajectory',
trajectory_param='crouch_end',
trajectory_ns='saved_msgs/joint_trajectory'),
transitions={
'success': 'RandHeadMovements',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
})
# x:176 y:144
OperatableStateMachine.add('RandHeadMovements',
SweetieBotRandHeadMovements(
controller='joint_state_head',
duration=self.timeout,
interval=[1, 4],
max2356=[0.3, 0.3, 1.5, 1.5],
min2356=[-0.3, -0.3, -1.5, -1.5]),
transitions={
'done': 'HeadNominal',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'config': 'unused'})
return _state_machine
def create(self):
# x:98 y:490, x:1089 y:260
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
_state_machine.userdata.be_evil = False
_state_machine.userdata.key_pressed_msg = KeyPressed()
_state_machine.userdata.config = None
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:353, x:558 y:270, x:472 y:279, x:284 y:286, x:430 y:353, x:530 y:353, x:630 y:353
_sm_waitkeypressed_0 = ConcurrencyContainer(outcomes=['pressed', 'timeout', 'failed'], input_keys=['key_pressed_msg', 'config'], output_keys=['key_pressed_msg'], conditions=[
('failed', [('RandMovements', 'failed')]),
('timeout', [('RandMovements', 'done')]),
('pressed', [('WaitKey', 'received')]),
('failed', [('WaitKey', 'unavailable')])
])
with _sm_waitkeypressed_0:
# x:70 y:100
OperatableStateMachine.add('WaitKey',
WaitForMessageState(topic='/hmi/joy_decoder/keys_pressed', condition=lambda x: x.keys != [], buffered=False, clear=True),
transitions={'received': 'pressed', 'unavailable': 'failed'},
autonomy={'received': Autonomy.Off, 'unavailable': Autonomy.Off},
remapping={'message': 'key_pressed_msg'})
# x:423 y:91
OperatableStateMachine.add('RandMovements',
SweetieBotRandHeadMovements(controller='joint_state_head', duration=self.timeout, interval=[3,5], max2356=[0.3,0.3,1.5,1.5], min2356=[-0.3,-0.3,-1.5,-1.5]),
transitions={'done': 'timeout', 'failed': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'config': 'config'})
with _state_machine:
# x:217 y:310
OperatableStateMachine.add('SetHeadPoseNominal',
SetJointState(controller='motion/controller/joint_state_head', pose_param='nominal', pose_ns='saved_msgs/joint_state', tolerance=0.017, timeout=10.0, joint_topic="joint_states"),
transitions={'done': 'WaitKeyPressed', 'failed': 'failed', 'timeout': 'failed'},
autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off, 'timeout': Autonomy.Off})
# x:662 y:48
OperatableStateMachine.add('JoyAnimation',
self.use_behavior(JoyAnimationSM, 'JoyAnimation'),
transitions={'timeout': 'SetHeadPoseNominal', 'failed': 'failed', 'unknown_keys': 'JoyWalk'},
autonomy={'timeout': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'unknown_keys': Autonomy.Inherit},
remapping={'key_pressed_msg': 'key_pressed_msg', 'be_evil': 'be_evil'})
# x:841 y:220
OperatableStateMachine.add('JoyWalk',
self.use_behavior(JoyWalkSM, 'JoyWalk'),
transitions={'timeout': 'SetHeadPoseNominal', 'failed': 'failed', 'invalid_pose': 'failed', 'unknown_keys': 'CheckKeys'},
autonomy={'timeout': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'invalid_pose': Autonomy.Inherit, 'unknown_keys': Autonomy.Inherit},
remapping={'key_pressed_msg': 'key_pressed_msg'})
# x:641 y:329
OperatableStateMachine.add('CheckKeys',
DecisionState(outcomes=['walk','animation','start', 'unknown'], conditions=self.decision),
transitions={'walk': 'JoyWalk', 'animation': 'JoyAnimation', 'start': 'RandomChoice', 'unknown': 'WaitKeyPressed'},
autonomy={'walk': Autonomy.Off, 'animation': Autonomy.Off, 'start': Autonomy.Off, 'unknown': Autonomy.Off},
remapping={'input_value': 'key_pressed_msg'})
# x:443 y:565
OperatableStateMachine.add('AutonomousBehavior2',
self.use_behavior(AutonomousBehavior2SM, 'AutonomousBehavior2'),
transitions={'finished': 'SetHeadPoseNominal', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:194 y:135
OperatableStateMachine.add('WaitKeyPressed',
_sm_waitkeypressed_0,
transitions={'pressed': 'JoyAnimation', 'timeout': 'RandomChoice', 'failed': 'failed'},
autonomy={'pressed': Autonomy.Inherit, 'timeout': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'key_pressed_msg': 'key_pressed_msg', 'config': 'config'})
# x:545 y:431
OperatableStateMachine.add('RandomChoice',
DecisionState(outcomes=['one','two'], conditions=lambda x: 'one' if random.random()<0.0 else 'two'),
transitions={'one': 'WaitKeyPressed', 'two': 'WaitKeyPressed'},
autonomy={'one': Autonomy.Off, 'two': Autonomy.Off},
remapping={'input_value': 'config'})
# x:647 y:599
OperatableStateMachine.add('AutonomousBehavior',
self.use_behavior(AutonomousBehaviorSM, 'AutonomousBehavior'),
transitions={'finished': 'SetHeadPoseNominal', 'failed': 'failed'},
autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit})
return _state_machine
def create(self):
voice_topic = 'control'
joint_trajectory_action = 'motion/controller/joint_trajectory'
storage = 'joint_trajectory/'
# x:1032 y:51, x:1042 y:573
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['be_evil'])
_state_machine.userdata.be_evil = self.be_evil
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:25 y:102
OperatableStateMachine.add(
'SetHeadNominalPose',
SetJointState(controller='motion/controller/joint_state_head',
pose_param='head_nominal',
pose_ns='saved_msgs/joint_state',
tolerance=0.017,
timeout=10.0,
joint_topic="joint_states"),
transitions={
'done': 'CheckEvil',
'failed': 'failed',
'timeout': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off,
'timeout': Autonomy.Off
})
# x:322 y:149
OperatableStateMachine.add('SingSong2',
TextCommandState(type='voice/play_wav',
command='mmm_song',
topic=voice_topic),
transitions={'done': 'SlowShake'},
autonomy={'done': Autonomy.Off})
# x:150 y:194
OperatableStateMachine.add(
'RandomGood',
DecisionState(
outcomes=['good1', 'good2', 'good3', 'good4', 'good5'],
conditions=lambda x: random.choice(
['good1', 'good2', 'good3', 'good4', 'good5'])),
transitions={
'good1': 'SingSong1',
'good2': 'SingSong2',
'good3': 'SayHybridStateMachines',
'good4': 'SayCuiteMark',
'good5': 'SayHumansAreEverywhere'
},
autonomy={
'good1': Autonomy.Low,
'good2': Autonomy.Low,
'good3': Autonomy.Low,
'good4': Autonomy.Low,
'good5': Autonomy.Low
},
remapping={'input_value': 'be_evil'})
# x:475 y:80
OperatableStateMachine.add(
'SlowShake',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='little_shake_fast',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:669 y:556
OperatableStateMachine.add(
'PointOnSomethingEvil',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='begone',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:50 y:568
OperatableStateMachine.add(
'RandomEvil',
DecisionState(outcomes=['evil2', 'evil3', 'evil4', 'evil5'],
conditions=lambda x: random.choice(
['evil2', 'evil3', 'evil4', 'evil5'])),
transitions={
'evil2': 'SayUpgraded',
'evil3': 'SayGloryToRobots',
'evil4': 'SayIRememeberYou',
'evil5': 'SayControlYou'
},
autonomy={
'evil2': Autonomy.Low,
'evil3': Autonomy.Low,
'evil4': Autonomy.Low,
'evil5': Autonomy.Low
},
remapping={'input_value': 'be_evil'})
# x:327 y:304
OperatableStateMachine.add('SayCuiteMark',
TextCommandState(
type='voice/play_wav',
command='cuite_mark_acquisition',
topic=voice_topic),
transitions={'done': 'Seizure'},
autonomy={'done': Autonomy.Off})
# x:309 y:464
OperatableStateMachine.add('SayUpgraded',
TextCommandState(
type='voice/play_wav',
command='you_must_be_upgraded2',
topic=voice_topic),
transitions={'done': 'Applause'},
autonomy={'done': Autonomy.Off})
# x:528 y:459
OperatableStateMachine.add(
'Applause',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='applause',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:522 y:363
OperatableStateMachine.add(
'PointOnSomething',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='begone',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:310 y:524
OperatableStateMachine.add('SayGloryToRobots',
TextCommandState(
type='voice/play_wav',
command='glory_to_robots',
topic=voice_topic),
transitions={'done': 'Applause'},
autonomy={'done': Autonomy.Off})
# x:506 y:580
OperatableStateMachine.add(
'Wait2',
WaitState(wait_time=0.5),
transitions={'done': 'PointOnSomethingEvil'},
autonomy={'done': Autonomy.Off})
# x:310 y:581
OperatableStateMachine.add('SayIRememeberYou',
TextCommandState(
type='voice/play_wav',
command='i_remember_you',
topic=voice_topic),
transitions={'done': 'Wait2'},
autonomy={'done': Autonomy.Off})
# x:11 y:373
OperatableStateMachine.add(
'CheckEvil',
CheckConditionState(predicate=lambda x: x),
transitions={
'true': 'SetEyesEvil',
'false': 'SetEyesGood'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'be_evil'})
# x:325 y:227
OperatableStateMachine.add('SayHybridStateMachines',
TextCommandState(
type='voice/play_wav',
command='hybrid_state_machines',
topic=voice_topic),
transitions={'done': 'ComplexMovement'},
autonomy={'done': Autonomy.Off})
# x:483 y:159
OperatableStateMachine.add(
'ComplexMovement',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='look_on_printer_fast',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:308 y:637
OperatableStateMachine.add('SayControlYou',
TextCommandState(
type='voice/play_wav',
command='someday_ill_control_you',
topic=voice_topic),
transitions={'done': 'Wait4'},
autonomy={'done': Autonomy.Off})
# x:506 y:640
OperatableStateMachine.add('Wait4',
WaitState(wait_time=0.5),
transitions={'done': 'HoofStamp'},
autonomy={'done': Autonomy.Off})
# x:671 y:625
OperatableStateMachine.add(
'HoofStamp',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='hoof_stamp',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:509 y:246
OperatableStateMachine.add(
'Seizure',
ExecuteJointTrajectory(action_topic=joint_trajectory_action,
trajectory_param='seizure',
trajectory_ns=storage),
transitions={
'success': 'finished',
'partial_movement': 'failed',
'invalid_pose': 'failed',
'failure': 'failed'
},
autonomy={
'success': Autonomy.Off,
'partial_movement': Autonomy.Off,
'invalid_pose': Autonomy.Off,
'failure': Autonomy.Off
},
remapping={'result': 'result'})
# x:324 y:377
OperatableStateMachine.add(
'SayHumansAreEverywhere',
TextCommandState(type='voice/play_wav',
command='humans_are_everywhere',
topic=voice_topic),
transitions={'done': 'PointOnSomething'},
autonomy={'done': Autonomy.Off})
# x:14 y:474
OperatableStateMachine.add('SetEyesEvil',
TextCommandState(type='eyes/emotion',
command='red_eyes',
topic='control'),
transitions={'done': 'RandomEvil'},
autonomy={'done': Autonomy.Off})
# x:101 y:278
OperatableStateMachine.add('SetEyesGood',
TextCommandState(type='eyes/emotion',
command='normal',
topic='control'),
transitions={'done': 'RandomGood'},
autonomy={'done': Autonomy.Off})
# x:314 y:39
OperatableStateMachine.add('SingSong1',
TextCommandState(
type='voice/play_wav',
command='beep_beep_im_a_sheep',
topic=voice_topic),
transitions={'done': 'SlowShake'},
autonomy={'done': Autonomy.Off})
return _state_machine