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:1070 y:493, x:687 y:155
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.MoveToPeople = ["move", "crowd"]
_state_machine.userdata.CupboardName = "cupboard"
_state_machine.userdata.MoveToTable = ["move", "table"]
_state_machine.userdata.PickObject = ["pick", "bottle"]
_state_machine.userdata.PlaceObject = ["place", "table"]
_state_machine.userdata.rotation = 1.5
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365
_sm_salute_people_0 = OperatableStateMachine(outcomes=['done'])
with _sm_salute_people_0:
# x:105 y:52
OperatableStateMachine.add('wave',
RunTrajectory(file="Wave", duration=0),
transitions={'done': 'hi'},
autonomy={'done': Autonomy.Off})
# x:95 y:152
OperatableStateMachine.add(
'hi',
SaraSay(sentence="Hi i will show you how great i am.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'w1'},
autonomy={'done': Autonomy.Off})
# x:107 y:335
OperatableStateMachine.add(
'say pick',
SaraSay(
sentence=
"I will take the bottle from this cupboard and place it on the table.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:116 y:243
OperatableStateMachine.add('w1',
WaitState(wait_time=1),
transitions={'done': 'say pick'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:70 y:37
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(
Init_SequenceSM, 'Init_Sequence'),
transitions={
'finished': 'Action_MovePeople',
'failed': 'Action_MovePeople'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:975 y:587
OperatableStateMachine.add(
'bye',
SaraSay(sentence=
"I am done for the day. Thank you for visiting me!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Init_Sequence'},
autonomy={'done': Autonomy.Off})
# x:48 y:551
OperatableStateMachine.add('ActionWrapper_Pick',
self.use_behavior(
ActionWrapper_PickSM,
'ActionWrapper_Pick'),
transitions={
'finished': 'Action_MoveTable',
'failed': 'try',
'critical_fail': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'PickObject'})
# x:58 y:343
OperatableStateMachine.add('Action_OpenCupboard',
self.use_behavior(
Action_OpenCupboardSM,
'Action_OpenCupboard'),
transitions={
'finished': 'say looking',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'name': 'CupboardName'})
# x:60 y:653
OperatableStateMachine.add(
'try',
SaraSay(sentence="I will try again",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'Action_OpenCupboard'},
autonomy={'done': Autonomy.Off})
# x:70 y:152
OperatableStateMachine.add('Action_MovePeople',
self.use_behavior(
ActionWrapper_MoveSM,
'Action_MovePeople'),
transitions={
'finished': 'Salute people',
'failed': 'Action_MovePeople',
'critical_fail': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'MoveToPeople'})
# x:621 y:485
OperatableStateMachine.add('ActionWrapper_Place',
self.use_behavior(
ActionWrapper_PlaceSM,
'ActionWrapper_Place'),
transitions={
'finished': 'wave',
'failed': 'failed',
'critical_fail': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'PlaceObject'})
# x:75 y:247
OperatableStateMachine.add(
'Salute people',
_sm_salute_people_0,
transitions={'done': 'Action_OpenCupboard'},
autonomy={'done': Autonomy.Inherit})
# x:772 y:588
OperatableStateMachine.add('action_turn',
self.use_behavior(
action_turnSM, 'action_turn'),
transitions={
'finished': 'bye',
'failed': 'bye'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'rotation': 'rotation'})
# x:349 y:485
OperatableStateMachine.add('Action_MoveTable',
self.use_behavior(
ActionWrapper_MoveSM,
'Action_MoveTable'),
transitions={
'finished': 'ActionWrapper_Place',
'failed': 'Action_MoveTable',
'critical_fail': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit,
'critical_fail': Autonomy.Inherit
},
remapping={'Action': 'MoveToTable'})
# x:70 y:445
OperatableStateMachine.add(
'say looking',
SaraSay(sentence="I'm now looking for the bottle.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'ActionWrapper_Pick'},
autonomy={'done': Autonomy.Off})
# x:833 y:462
OperatableStateMachine.add('wave',
RunTrajectory(file="Wave", duration=0),
transitions={'done': 'action_turn'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:1103 y:529, x:321 y:227
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.Pose_Init = "IdlePose"
_state_machine.userdata.Closed_Gripper_Width = 1
_state_machine.userdata.Open_Gripper_Width = 255
_state_machine.userdata.ID = 0
_state_machine.userdata.PoseStart = "PoseStart"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365
_sm_look_in_the_eyes_0 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_in_the_eyes_0:
# x:189 y:48
OperatableStateMachine.add('wait 3',
WaitState(wait_time=3),
transitions={'done': 'say ready'},
autonomy={'done': Autonomy.Off})
# x:171 y:288
OperatableStateMachine.add('reset head',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:164 y:163
OperatableStateMachine.add(
'say ready',
SaraSay(
sentence=
"Good, I see you want this bag. But, could you hand it to me please?",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'reset head'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_look_at_it_1 = OperatableStateMachine(outcomes=['fail'],
input_keys=['position'])
with _sm_look_at_it_1:
# x:126 y:99
OperatableStateMachine.add('look',
LookAtPos(),
transitions={
'failed': 'look',
'done': 'look'
},
autonomy={
'failed': Autonomy.Off,
'done': Autonomy.Off
},
remapping={'pos': 'position'})
# x:30 y:365
_sm_point_at_it_2 = OperatableStateMachine(outcomes=['finished'],
input_keys=['position'])
with _sm_point_at_it_2:
# x:112 y:202
OperatableStateMachine.add(
'Action_point_at',
self.use_behavior(
Action_point_atSM,
'recevoir sac/Recevoir sac/look at bag/designate bag/point at it/Action_point_at'
),
transitions={
'finished': 'Action_point_at',
'failed': 'Action_point_at'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'targetPoint': 'position'})
# x:30 y:365
_sm_move_to_it_3 = OperatableStateMachine(outcomes=['arrived'],
input_keys=['position'])
with _sm_move_to_it_3:
# x:204 y:52
OperatableStateMachine.add('set distance',
SetKey(Value=1),
transitions={'done': 'get pose'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:211 y:185
OperatableStateMachine.add('get pose',
Get_Reacheable_Waypoint(),
transitions={'done': 'move to bag'},
autonomy={'done': Autonomy.Off},
remapping={
'pose_in': 'position',
'distance': 'distance',
'pose_out': 'pose'
})
# x:188 y:279
OperatableStateMachine.add('move to bag',
SaraMoveBase(reference="map"),
transitions={
'arrived': 'arrived',
'failed': 'arrived'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'pose'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
_sm_designate_bag_4 = ConcurrencyContainer(
outcomes=['finished'],
input_keys=['position'],
conditions=[('finished', [('look at it', 'fail')]),
('finished', [('point at it', 'finished')]),
('finished', [('move to it', 'arrived')])])
with _sm_designate_bag_4:
# x:499 y:118
OperatableStateMachine.add('move to it',
_sm_move_to_it_3,
transitions={'arrived': 'finished'},
autonomy={'arrived': Autonomy.Inherit},
remapping={'position': 'position'})
# x:239 y:126
OperatableStateMachine.add('point at it',
_sm_point_at_it_2,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'position': 'position'})
# x:45 y:121
OperatableStateMachine.add('look at it',
_sm_look_at_it_1,
transitions={'fail': 'finished'},
autonomy={'fail': Autonomy.Inherit},
remapping={'position': 'position'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365
_sm_receive_it_5 = ConcurrencyContainer(
outcomes=['finished', 'failed'],
input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'],
conditions=[('finished', [('Action_Receive_Bag', 'finished'),
('look in the eyes', 'finished')]),
('failed', [('Action_Receive_Bag', 'failed')])])
with _sm_receive_it_5:
# x:30 y:149
OperatableStateMachine.add(
'Action_Receive_Bag',
self.use_behavior(
Action_Receive_BagSM,
'recevoir sac/Recevoir sac/receive it/Action_Receive_Bag'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width': 'Closed_Gripper_Width',
'Open_Gripper_Width': 'Open_Gripper_Width',
'Closed_Gripper_Width': 'Closed_Gripper_Width'
})
# x:259 y:150
OperatableStateMachine.add('look in the eyes',
_sm_look_in_the_eyes_0,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit})
# x:30 y:322
_sm_look_at_bag_6 = OperatableStateMachine(outcomes=['finished'])
with _sm_look_at_bag_6:
# x:35 y:70
OperatableStateMachine.add('setName',
SetKey(Value="person"),
transitions={'done': 'say 1'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'personName'})
# x:233 y:109
OperatableStateMachine.add(
'say 1',
SaraSay(sentence="Please, point at the bag you want.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'list'},
autonomy={'done': Autonomy.Off})
# x:28 y:193
OperatableStateMachine.add('list',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'calc',
'none_found': 'list'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'personName',
'entity_list': 'entity_list',
'number': 'number'
})
# x:230 y:363
OperatableStateMachine.add(
'get bag position from pointing',
GetPointedPositionOnPlane(planeHeight=0.2),
transitions={
'done': 'designate bag',
'not_pointing': 'say 1',
'pointing_up': 'say 1',
'failed': 'list'
},
autonomy={
'done': Autonomy.Off,
'not_pointing': Autonomy.Off,
'pointing_up': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'entity': 'entity',
'position': 'position'
})
# x:34 y:362
OperatableStateMachine.add(
'calc',
CalculationState(calculation=lambda x: x[0]),
transitions={'done': 'get bag position from pointing'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'entity'
})
# x:241 y:554
OperatableStateMachine.add('designate bag',
_sm_designate_bag_4,
transitions={'finished': 'finished'},
autonomy={'finished': Autonomy.Inherit},
remapping={'position': 'position'})
# x:30 y:365, x:182 y:454
_sm_recevoir_sac_7 = OperatableStateMachine(
outcomes=['failed', 'done'],
input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'])
with _sm_recevoir_sac_7:
# x:66 y:44
OperatableStateMachine.add('look at bag',
_sm_look_at_bag_6,
transitions={'finished': 'close'},
autonomy={'finished': Autonomy.Inherit})
# x:41 y:267
OperatableStateMachine.add('receive it',
_sm_receive_it_5,
transitions={
'finished': 'sayCAr',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width':
'Closed_Gripper_Width',
'Open_Gripper_Width':
'Open_Gripper_Width'
})
# x:81 y:157
OperatableStateMachine.add(
'close',
SetGripperState(width=0, effort=0),
transitions={
'object': 'receive it',
'no_object': 'receive it'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:139 y:334
OperatableStateMachine.add(
'sayCAr',
SaraSay(sentence="PLease tell me when we get to the car.",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:30 y:365
_sm_listen_8 = OperatableStateMachine(outcomes=['done'])
with _sm_listen_8:
# x:50 y:76
OperatableStateMachine.add(
'SayFollow',
SaraSay(
sentence=
"I will follow you to the car now. Tell me when we get to the car.",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'LIsten'},
autonomy={'done': Autonomy.Off})
# x:161 y:148
OperatableStateMachine.add('LIsten',
GetSpeech(watchdog=10),
transitions={
'done': 'Listen2',
'nothing': 'LIsten',
'fail': 'LIsten'
},
autonomy={
'done': Autonomy.Off,
'nothing': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'words': 'words'})
# x:201 y:256
OperatableStateMachine.add(
'Listen2',
RegexTester(regex=".*((car)|(here it is)|(now)).*"),
transitions={
'true': 'done',
'false': 'Listen2'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={
'text': 'words',
'result': 'result'
})
# x:520 y:327
_sm_follow_9 = OperatableStateMachine(outcomes=['failed'],
input_keys=['ID'])
with _sm_follow_9:
# x:128 y:127
OperatableStateMachine.add(
'Action_follow',
self.use_behavior(Action_followSM,
'Follow and listen/follow/Action_follow'),
transitions={'failed': 'set name'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:288 y:346
OperatableStateMachine.add('list people',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'get first ID',
'none_found': 'failed'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'entity_list',
'number': 'number'
})
# x:109 y:334
OperatableStateMachine.add(
'get first ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'Action_follow'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'entity_list',
'output_value': 'ID'
})
# x:349 y:116
OperatableStateMachine.add('set name',
SetKey(Value="person"),
transitions={'done': 'list people'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365
_sm_recevoir_sac_10 = ConcurrencyContainer(
outcomes=['failed', 'done'],
input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'],
conditions=[('failed', [('Recevoir sac', 'failed')]),
('done', [('Recevoir sac', 'done')]),
('done', [('LookAtClosest', 'failed')])])
with _sm_recevoir_sac_10:
# x:30 y:40
OperatableStateMachine.add('Recevoir sac',
_sm_recevoir_sac_7,
transitions={
'failed': 'failed',
'done': 'done'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width':
'Closed_Gripper_Width',
'Open_Gripper_Width':
'Open_Gripper_Width'
})
# x:234 y:114
OperatableStateMachine.add('LookAtClosest',
self.use_behavior(
LookAtClosestSM,
'recevoir sac/LookAtClosest'),
transitions={'failed': 'done'},
autonomy={'failed': Autonomy.Inherit})
# x:390 y:296, x:111 y:269, x:230 y:365, x:542 y:339, x:465 y:331, x:530 y:380
_sm_follow_and_listen_11 = ConcurrencyContainer(
outcomes=['done', 'failed'],
input_keys=['ID'],
conditions=[('done', [('Listen', 'done')]),
('failed', [('follow', 'failed')]),
('done', [('continue', 'true')]),
('done', [('continue', 'false')])])
with _sm_follow_and_listen_11:
# x:132 y:90
OperatableStateMachine.add('follow',
_sm_follow_9,
transitions={'failed': 'failed'},
autonomy={'failed': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:356 y:105
OperatableStateMachine.add('Listen',
_sm_listen_8,
transitions={'done': 'done'},
autonomy={'done': Autonomy.Inherit})
# x:485 y:162
OperatableStateMachine.add('continue',
ContinueButton(),
transitions={
'true': 'done',
'false': 'done'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:76 y:535
_sm_getidope_12 = OperatableStateMachine(outcomes=['done'],
output_keys=['ID'])
with _sm_getidope_12:
# x:55 y:63
OperatableStateMachine.add('Person',
SetKey(Value="person"),
transitions={'done': 'GEtId'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'name'})
# x:43 y:180
OperatableStateMachine.add('GEtId',
list_entities_by_name(
frontality_level=0.5,
distance_max=10),
transitions={
'found': 'ID',
'none_found': 'GEtId'
},
autonomy={
'found': Autonomy.Off,
'none_found': Autonomy.Off
},
remapping={
'name': 'name',
'entity_list': 'Entities_list',
'number': 'number'
})
# x:52 y:290
OperatableStateMachine.add(
'ID',
CalculationState(calculation=lambda x: x[0].ID),
transitions={'done': 'setID'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'Entities_list',
'output_value': 'ID'
})
# x:37 y:399
OperatableStateMachine.add(
'setID',
SetRosParam(ParamName="behavior/Operator/Id"),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off},
remapping={'Value': 'ID'})
with _state_machine:
# x:38 y:33
OperatableStateMachine.add('continue',
ContinueButton(),
transitions={
'true': 'GEtPose',
'false': 'GEtPose'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
})
# x:35 y:351
OperatableStateMachine.add(
'ImHere',
SaraSay(sentence="I am ready to carry your luggage!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'recevoir sac'},
autonomy={'done': Autonomy.Off})
# x:28 y:539
OperatableStateMachine.add(
'GetIDOpe',
_sm_getidope_12,
transitions={'done': 'Follow and listen'},
autonomy={'done': Autonomy.Inherit},
remapping={'ID': 'ID'})
# x:220 y:536
OperatableStateMachine.add('Follow and listen',
_sm_follow_and_listen_11,
transitions={
'done': 'Action_Give_Back_Bag',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'ID': 'ID'})
# x:411 y:525
OperatableStateMachine.add('Action_Give_Back_Bag',
self.use_behavior(
Action_Give_Back_BagSM,
'Action_Give_Back_Bag'),
transitions={
'finished': 'GoBackHome',
'failed': 'Action_Give_Back_Bag'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:16 y:206
OperatableStateMachine.add('Init_Sequence',
self.use_behavior(
Init_SequenceSM, 'Init_Sequence'),
transitions={
'finished': 'move head up',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:634 y:522
OperatableStateMachine.add(
'GoBackHome',
SaraSay(sentence="I will go back home now. Have a good day!",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'setarm'},
autonomy={'done': Autonomy.Off})
# x:922 y:519
OperatableStateMachine.add('Action_Move',
self.use_behavior(
Action_MoveSM, 'Action_Move'),
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'Origin'})
# x:35 y:281
OperatableStateMachine.add('move head up',
SaraSetHeadAngle(pitch=0.1, yaw=0),
transitions={'done': 'ImHere'},
autonomy={'done': Autonomy.Off})
# x:35 y:427
OperatableStateMachine.add('recevoir sac',
_sm_recevoir_sac_10,
transitions={
'failed': 'failed',
'done': 'GetIDOpe'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'Closed_Gripper_Width':
'Closed_Gripper_Width',
'Open_Gripper_Width':
'Open_Gripper_Width'
})
# x:770 y:526
OperatableStateMachine.add('setarm',
RunTrajectory(file="sac_transport",
duration=0),
transitions={'done': 'Action_Move'},
autonomy={'done': Autonomy.Off})
# x:24 y:134
OperatableStateMachine.add('GEtPose',
Get_Robot_Pose(),
transitions={'done': 'Init_Sequence'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'Origin'})
return _state_machine
def create(self):
# x:867 y:64, x:469 y:60
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'],
input_keys=[
'Closed_Gripper_Width', 'Open_Gripper_Width',
'Closed_Gripper_Width'
])
_state_machine.userdata.Closed_Gripper_Width = 1
_state_machine.userdata.Open_Gripper_Width = 255
_state_machine.userdata.effort = 50
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:101 y:292
OperatableStateMachine.add('place arm',
RunTrajectory(file="receive_bag",
duration=6),
transitions={'done': 'opengripper'},
autonomy={'done': Autonomy.Off})
# x:468 y:286
OperatableStateMachine.add(
'close_gripper',
SetGripperState(width=0, effort=1),
transitions={
'object': 'thank you',
'no_object': 'thank you'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:638 y:216
OperatableStateMachine.add('thank you',
SaraSay(sentence="Thank you",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'place back arm'},
autonomy={'done': Autonomy.Off})
# x:653 y:81
OperatableStateMachine.add('place back arm',
RunTrajectory(file="sac_transport",
duration=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:263 y:293
OperatableStateMachine.add('Torque_Reader',
ReadTorque(
watchdog=5,
Joint="right_elbow_pitch_joint",
Threshold=0.5,
min_time=1),
transitions={
'threshold': 'close_gripper',
'watchdog': 'close_gripper',
'fail': 'failed'
},
autonomy={
'threshold': Autonomy.Off,
'watchdog': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'torque': 'torque'})
# x:196 y:148
OperatableStateMachine.add(
'opengripper',
SetGripperState(width=0.25, effort=1),
transitions={
'object': 'Torque_Reader',
'no_object': 'Torque_Reader'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
return _state_machine
def create(self):
# x:960 y:715, x:912 y:318, x:904 y:185, x:941 y:610
_state_machine = OperatableStateMachine(
outcomes=['success', 'unreachable', 'not found', 'dropped'],
input_keys=['objectID'])
_state_machine.userdata.objectID = 539
_state_machine.userdata.PreGripPose = "pre_grip_pose"
_state_machine.userdata.entity = 0
_state_machine.userdata.grasp_pose = 0
_state_machine.userdata.approach_pose = 0
# 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_look_at_it_for_3s_0 = ConcurrencyContainer(
outcomes=['done'],
input_keys=['ID'],
conditions=[('done', [('look', 'failed')]),
('done', [('wait', 'done')])])
with _sm_look_at_it_for_3s_0:
# x:30 y:54
OperatableStateMachine.add('look',
KeepLookingAt(),
transitions={'failed': 'done'},
autonomy={'failed': Autonomy.Off},
remapping={'ID': 'ID'})
# x:187 y:111
OperatableStateMachine.add('wait',
WaitState(wait_time=6),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:334 y:336, x:96 y:627
_sm_get_object_1 = OperatableStateMachine(
outcomes=['not_found', 'finished'],
input_keys=['objectID'],
output_keys=['entity'])
with _sm_get_object_1:
# x:67 y:27
OperatableStateMachine.add(
'start segmentation',
SetSegmentationRosParam(ValueTableSegmentation=True,
ValueObjectSegmentation=True),
transitions={'done': 'Look at it for 3s'},
autonomy={'done': Autonomy.Off})
# x:61 y:410
OperatableStateMachine.add(
'Say_See_It',
SaraSay(sentence=lambda x: "I see the " + x[0].name,
input_keys=["Entity"],
emotion=0,
block=True),
transitions={'done': 'pregrip'},
autonomy={'done': Autonomy.Off},
remapping={'Entity': 'entity'})
# x:72 y:322
OperatableStateMachine.add('getobject',
GetEntityByID(),
transitions={
'found': 'Say_See_It',
'not_found': 'not_found'
},
autonomy={
'found': Autonomy.Off,
'not_found': Autonomy.Off
},
remapping={
'ID': 'objectID',
'Entity': 'entity'
})
# x:62 y:224
OperatableStateMachine.add('stop segmentation',
SetSegmentationRosParam(
ValueTableSegmentation=False,
ValueObjectSegmentation=False),
transitions={'done': 'getobject'},
autonomy={'done': Autonomy.Off})
# x:70 y:122
OperatableStateMachine.add(
'Look at it for 3s',
_sm_look_at_it_for_3s_0,
transitions={'done': 'stop segmentation'},
autonomy={'done': Autonomy.Inherit},
remapping={'ID': 'objectID'})
# x:57 y:513
OperatableStateMachine.add('pregrip',
RunTrajectory(file="pre_grip_pose",
duration=5),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:153 y:506, x:350 y:396
_sm_get_closer_2 = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['entity'])
with _sm_get_closer_2:
# x:120 y:61
OperatableStateMachine.add('set distance',
SetKey(Value=0.6),
transitions={'done': 'get att'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'distance'})
# x:113 y:172
OperatableStateMachine.add('get att',
GetAttribute(attributes=["position"]),
transitions={'done': 'get waypoint'},
autonomy={'done': Autonomy.Off},
remapping={
'object': 'entity',
'position': 'position'
})
# x:116 y:390
OperatableStateMachine.add('move to waypoint',
SaraMoveBase(reference="map"),
transitions={
'arrived': 'finished',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'pose'})
# x:107 y:272
OperatableStateMachine.add(
'get waypoint',
Get_Reacheable_Waypoint(),
transitions={'done': 'move to waypoint'},
autonomy={'done': Autonomy.Off},
remapping={
'pose_in': 'position',
'distance': 'distance',
'pose_out': 'pose'
})
# x:280 y:183, x:92 y:289
_sm_get_on_it_3 = OperatableStateMachine(outcomes=['failed', 'done'],
input_keys=['grasp_pose'])
with _sm_get_on_it_3:
# x:76 y:26
OperatableStateMachine.add(
'open gripper',
SetGripperState(width=0.1, effort=0),
transitions={
'object': 'move forward',
'no_object': 'move forward'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:64 y:158
OperatableStateMachine.add('move forward',
MoveitMoveCartesian(
move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'done',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'targetPose': 'grasp_pose'})
# x:30 y:324, x:130 y:324
_sm_get_away_from_failure_4 = OperatableStateMachine(
outcomes=['done', 'failed'])
with _sm_get_away_from_failure_4:
# x:30 y:40
OperatableStateMachine.add(
'open 2',
SetGripperState(width=0.1, effort=1),
transitions={
'object': 'go back',
'no_object': 'go back'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:44 y:167
OperatableStateMachine.add('go back',
RunTrajectory(file="pre_grip_pose",
duration=0),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:68 y:579, x:349 y:211
_sm_lift_object_5 = OperatableStateMachine(
outcomes=['done', 'failed'],
input_keys=['approach_pose', 'up_pose'])
with _sm_lift_object_5:
# x:45 y:34
OperatableStateMachine.add('move up',
MoveitMoveCartesian(
move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'genpose',
'failed': 'genpose'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'targetPose': 'up_pose'})
# x:39 y:480
OperatableStateMachine.add('place arm',
RunTrajectory(file="transport",
duration=0),
transitions={'done': 'done'},
autonomy={'done': Autonomy.Off})
# x:40 y:144
OperatableStateMachine.add('genpose',
GenPoseEuler(x=-0.2,
y=0,
z=0,
roll=0,
pitch=0,
yaw=0),
transitions={'done': 'move_back'},
autonomy={'done': Autonomy.Off},
remapping={'pose': 'backPose'})
# x:42 y:382
OperatableStateMachine.add('move_back',
SaraMoveBase(reference="base_link"),
transitions={
'arrived': 'place arm',
'failed': 'place arm'
},
autonomy={
'arrived': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'pose': 'backPose'})
# x:263 y:214, x:271 y:492
_sm_validation_and_approach_6 = OperatableStateMachine(
outcomes=['failed', 'done'],
input_keys=['grasp_pose', 'approach_pose'])
with _sm_validation_and_approach_6:
# x:85 y:30
OperatableStateMachine.add('checkifposeaccess',
MoveitMove(move=False,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'say can reach',
'failed': 'sayapp'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'grasp_pose'})
# x:48 y:236
OperatableStateMachine.add('move approach',
MoveitMove(move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'done',
'failed': 'failed'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'target': 'approach_pose'})
# x:71 y:115
OperatableStateMachine.add('say can reach',
SaraSay(sentence="I will grab it",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'move approach'},
autonomy={'done': Autonomy.Off})
# x:342 y:93
OperatableStateMachine.add('sayapp',
SaraSay(sentence="unreachable",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:40 y:26
OperatableStateMachine.add('start loop',
SetKey(Value=0),
transitions={'done': 'Get object'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'i'})
# x:256 y:616
OperatableStateMachine.add(
'gripclose',
SetGripperState(width=0, effort=250),
transitions={
'object': 'say picked',
'no_object': 'get away from failure'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:255 y:507
OperatableStateMachine.add('cant reach',
SaraSay(
sentence="Hum! I can't reach it.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'for 2 try'},
autonomy={'done': Autonomy.Off})
# x:261 y:732
OperatableStateMachine.add('say picked',
SaraSay(sentence="I think I got it",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'Lift object'},
autonomy={'done': Autonomy.Off})
# x:751 y:715
OperatableStateMachine.add('welcome',
SaraSay(sentence="you are welcome",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'success'},
autonomy={'done': Autonomy.Off})
# x:9 y:403
OperatableStateMachine.add('validation and approach',
_sm_validation_and_approach_6,
transitions={
'failed': 'say plan',
'done': 'gen up pose'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={
'grasp_pose': 'grasp_pose',
'approach_pose': 'approach_pose'
})
# x:516 y:717
OperatableStateMachine.add('Lift object',
_sm_lift_object_5,
transitions={
'done': 'welcome',
'failed': 'welcome'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={
'approach_pose': 'approach_pose',
'up_pose': 'up_pose'
})
# x:480 y:609
OperatableStateMachine.add('get away from failure',
_sm_get_away_from_failure_4,
transitions={
'done': 'say missed',
'failed': 'say missed'
},
autonomy={
'done': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:25 y:311
OperatableStateMachine.add('get grasps',
GetGraspFromEntity(
approachDistance=0.2,
distanceScoringMultiplier=1,
orientationScoringMultiplier=2,
graspScoringMultiplier=1),
transitions={
'done': 'validation and approach',
'failed': 'say cant handle'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'Entity': 'entity',
'ApproachPose': 'approach_pose',
'GraspingPose': 'grasp_pose'
})
# x:738 y:602
OperatableStateMachine.add('say missed',
SaraSay(sentence="Oops! I missed.",
input_keys=[],
emotion=2,
block=True),
transitions={'done': 'dropped'},
autonomy={'done': Autonomy.Off})
# x:257 y:279
OperatableStateMachine.add(
'say cant handle',
SaraSay(sentence="I don't understand how to grab it.",
input_keys=[],
emotion=3,
block=True),
transitions={'done': 'for 2 try'},
autonomy={'done': Autonomy.Off})
# x:18 y:605
OperatableStateMachine.add('get on it',
_sm_get_on_it_3,
transitions={
'failed': 'cant reach',
'done': 'gripclose'
},
autonomy={
'failed': Autonomy.Inherit,
'done': Autonomy.Inherit
},
remapping={'grasp_pose': 'grasp_pose'})
# x:261 y:387
OperatableStateMachine.add('say plan',
SaraSay(sentence="Planing failed",
input_keys=[],
emotion=0,
block=True),
transitions={'done': 'for 2 try'},
autonomy={'done': Autonomy.Off})
# x:20 y:496
OperatableStateMachine.add('gen up pose',
GenGripperPose(l=0, z=0.1,
planar=False),
transitions={
'done': 'get on it',
'fail': 'cant reach'
},
autonomy={
'done': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={
'pose_in': 'grasp_pose',
'pose_out': 'up_pose'
})
# x:558 y:231
OperatableStateMachine.add('get closer',
_sm_get_closer_2,
transitions={
'finished': 'Get object',
'failed': 'unreachable'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'entity': 'entity'})
# x:553 y:390
OperatableStateMachine.add('for 2 try',
ForLoopWithInput(repeat=1),
transitions={
'do': 'get closer',
'end': 'unreachable'
},
autonomy={
'do': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'index_in': 'i',
'index_out': 'i'
})
# x:28 y:217
OperatableStateMachine.add('Get object',
_sm_get_object_1,
transitions={
'not_found': 'not found',
'finished': 'get grasps'
},
autonomy={
'not_found': Autonomy.Inherit,
'finished': Autonomy.Inherit
},
remapping={
'objectID': 'objectID',
'entity': 'entity'
})
return _state_machine
def create(self):
# x:463 y:361, x:402 y:174
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
_state_machine.userdata.effort = 0
_state_machine.userdata.Open_gripper = 255
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:53 y:30
OperatableStateMachine.add('place arm',
RunTrajectory(file="receive_bag",
duration=6),
transitions={'done': 'Open_gripper'},
autonomy={'done': Autonomy.Off})
# x:50 y:231
OperatableStateMachine.add('Say_to take_bag',
SaraSay(sentence="Here is your bag.",
input_keys=[],
emotion=1,
block=False),
transitions={'done': 'detectObject'},
autonomy={'done': Autonomy.Off})
# x:45 y:321
OperatableStateMachine.add('detectObject',
ReadTorque(
watchdog=10,
Joint="right_elbow_pitch_joint",
Threshold=0.5,
min_time=2),
transitions={
'threshold': 'Finished',
'watchdog': 'Finished',
'fail': 'Finished'
},
autonomy={
'threshold': Autonomy.Off,
'watchdog': Autonomy.Off,
'fail': Autonomy.Off
},
remapping={'torque': 'torque'})
# x:220 y:472
OperatableStateMachine.add(
'Close',
SetGripperState(width=0, effort=1),
transitions={
'object': 'place back bag',
'no_object': 'place back bag'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:47 y:466
OperatableStateMachine.add('Finished',
SaraSay(sentence="It was a pleasure",
input_keys=[],
emotion=0,
block=False),
transitions={'done': 'Close'},
autonomy={'done': Autonomy.Off})
# x:48 y:116
OperatableStateMachine.add(
'Open_gripper',
SetGripperState(width=0.1, effort=1),
transitions={
'object': 'Say_to take_bag',
'no_object': 'Say_to take_bag'
},
autonomy={
'object': Autonomy.Off,
'no_object': Autonomy.Off
},
remapping={'object_size': 'object_size'})
# x:420 y:470
OperatableStateMachine.add('place back bag',
RunTrajectory(file="repos", duration=0),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
return _state_machine
def create(self):
# x:732 y:366, x:29 y:248
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'], input_keys=['name'])
_state_machine.userdata.name = "cupboard"
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:781 y:57, x:292 y:451
_sm_openit_0 = OperatableStateMachine(outcomes=['finished', 'failed'])
with _sm_openit_0:
# x:252 y:38
OperatableStateMachine.add('init tryal',
SetKey(Value=3),
transitions={'done': 'movearm'},
autonomy={'done': Autonomy.Off},
remapping={'Key': 'try'})
# x:451 y:168
OperatableStateMachine.add('isOpened',
CupboardDoorDetector(timeout=30),
transitions={
'open': 'yay',
'closed': 'subtryal'
},
autonomy={
'open': Autonomy.Off,
'closed': Autonomy.Off
})
# x:464 y:305
OperatableStateMachine.add(
'subtryal',
CalculationState(calculation=lambda x: x - 1),
transitions={'done': 'is ok'},
autonomy={'done': Autonomy.Off},
remapping={
'input_value': 'try',
'output_value': 'try'
})
# x:47 y:300
OperatableStateMachine.add(
'is ok',
CheckConditionState(predicate=lambda x: x > 0),
transitions={
'true': 'saytryagain',
'false': 'say cant'
},
autonomy={
'true': Autonomy.Off,
'false': Autonomy.Off
},
remapping={'input_value': 'try'})
# x:53 y:179
OperatableStateMachine.add('saytryagain',
SaraSay(sentence="Let's try again!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'movearm'},
autonomy={'done': Autonomy.Off})
# x:44 y:438
OperatableStateMachine.add('say cant',
SaraSay(sentence="I can't open it.",
input_keys=[],
emotion=2,
block=True),
transitions={'done': 'failed'},
autonomy={'done': Autonomy.Off})
# x:455 y:40
OperatableStateMachine.add('yay',
SaraSay(sentence="Yay, I did it!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'finished'},
autonomy={'done': Autonomy.Off})
# x:247 y:175
OperatableStateMachine.add('movearm',
RunTrajectory(file="OuvrePorte3",
duration=0),
transitions={'done': 'isOpened'},
autonomy={'done': Autonomy.Off})
with _state_machine:
# x:310 y:31
OperatableStateMachine.add('Action_Move',
self.use_behavior(
Action_MoveSM, 'Action_Move'),
transitions={
'finished': 'reach',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
},
remapping={'pose': 'name'})
# x:326 y:351
OperatableStateMachine.add(
'sayWillOpen',
SaraSay(sentence="The door is closed. I will open it.",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'OpenIt'},
autonomy={'done': Autonomy.Off})
# x:320 y:229
OperatableStateMachine.add('checkdoor',
CupboardDoorDetector(timeout=5),
transitions={
'open': 'finished',
'closed': 'sayWillOpen'
},
autonomy={
'open': Autonomy.Off,
'closed': Autonomy.Off
})
# x:338 y:126
OperatableStateMachine.add('reach',
SaraSay(
sentence="I reached the cupboard!",
input_keys=[],
emotion=1,
block=True),
transitions={'done': 'checkdoor'},
autonomy={'done': Autonomy.Off})
# x:320 y:485
OperatableStateMachine.add('OpenIt',
_sm_openit_0,
transitions={
'finished': 'finished',
'failed': 'failed'
},
autonomy={
'finished': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
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: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:92 y:127
OperatableStateMachine.add('place down',
MoveitMoveCartesian(
move=True,
waitForExecution=True,
group="RightArm",
watchdog=15),
transitions={
'done': 'done',
'failed': 'done'
},
autonomy={
'done': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'targetPose': 'GripPose'})
# x:30 y:324, x:130 y:324
_sm_releasing_3 = OperatableStateMachine(
outcomes=['object', 'no_object'])
with _sm_releasing_3:
# 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_4 = OperatableStateMachine(outcomes=['arrived', 'failed'])
with _sm_moveback_4:
# 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_5 = OperatableStateMachine(
outcomes=['failed', 'done'],
input_keys=['pos'],
output_keys=['approach_pose', 'grip_pose'])
with _sm_prepare_grip_5:
# 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:458, x:130 y:458, x:230 y:458
_sm_get_down_6 = ConcurrencyContainer(
outcomes=['done'],
input_keys=['GripPose'],
conditions=[('done', [('Go down', 'done')]),
('done', [('read torque', 'done')])])
with _sm_get_down_6:
# 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_7 = OperatableStateMachine(outcomes=['fail', 'done'],
input_keys=['pos'],
output_keys=['pos'])
with _sm_pretraitement_7:
# 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_7,
transitions={
'fail': 'failed',
'done': 'Pregrip'
},
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_6,
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:156 y:238
OperatableStateMachine.add('Prepare grip',
_sm_prepare_grip_5,
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_4,
transitions={
'arrived': 'close gripper',
'failed': 'failed'
},
autonomy={
'arrived': Autonomy.Inherit,
'failed': Autonomy.Inherit
})
# x:298 y:520
OperatableStateMachine.add('releasing',
_sm_releasing_3,
transitions={
'object': 'Pregrip_2',
'no_object': 'Pregrip_2'
},
autonomy={
'object': Autonomy.Inherit,
'no_object': Autonomy.Inherit
})
# x:159 y:139
OperatableStateMachine.add('Pregrip',
RunTrajectory(file="pre_grip_pose",
duration=6),
transitions={'done': 'Prepare grip'},
autonomy={'done': Autonomy.Off})
# x:440 y:537
OperatableStateMachine.add('Pregrip_2',
RunTrajectory(file="pre_grip_pose",
duration=0),
transitions={'done': 'Moveback'},
autonomy={'done': Autonomy.Off})
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