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:1195 y:433, x:132 y:431, x:750 y:42, x:991 y:471 _state_machine = OperatableStateMachine(outcomes=['Given', 'Person_not_found', 'No_object_in_hand', 'fail']) # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] # x:130 y:365 _sm_lookat_0 = OperatableStateMachine(outcomes=['failed'], input_keys=['ID']) with _sm_lookat_0: # x:114 y:127 OperatableStateMachine.add('look', KeepLookingAt(), transitions={'failed': 'look'}, autonomy={'failed': Autonomy.Off}, remapping={'ID': 'ID'}) # x:299 y:300, x:263 y:535 _sm_give_1 = OperatableStateMachine(outcomes=['failed', 'given'], input_keys=['Object']) with _sm_give_1: # x:67 y:27 OperatableStateMachine.add('SetPose', SetKey(Value="ShowGripper"), transitions={'done': 'say_give'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'target'}) # x:53 y:413 OperatableStateMachine.add('read torque', ReadTorque(watchdog=5, Joint="right_elbow_pitch_joint", Threshold=2, min_time=1), transitions={'threshold': 'open gripper', 'watchdog': 'read torque', 'fail': 'failed'}, autonomy={'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'torque': 'torque'}) # x:52 y:500 OperatableStateMachine.add('open gripper', SetGripperState(width=0.15, effort=1), transitions={'object': 'given', 'no_object': 'given'}, autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off}, remapping={'object_size': 'object_size'}) # x:64 y:248 OperatableStateMachine.add('say pull', SaraSay(sentence="You can pull on it", input_keys=[], emotion=1, block=False), transitions={'done': 'wait 1'}, autonomy={'done': Autonomy.Off}) # x:64 y:325 OperatableStateMachine.add('wait 1', WaitState(wait_time=1), transitions={'done': 'read torque'}, autonomy={'done': Autonomy.Off}) # x:57 y:175 OperatableStateMachine.add('moveArm', MoveitMove(move=True, waitForExecution=True, group="RightArm", watchdog=15), transitions={'done': 'say pull', 'failed': 'failed'}, autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'target': 'target'}) # x:60 y:88 OperatableStateMachine.add('say_give', SaraSay(sentence=lambda x: "Hi. I'm giving you this "+str(x), input_keys=[], emotion=0, block=True), transitions={'done': 'moveArm'}, autonomy={'done': Autonomy.Off}) # x:596 y:480 _sm_follow_2 = OperatableStateMachine(outcomes=['finished'], input_keys=['ID']) with _sm_follow_2: # x:180 y:123 OperatableStateMachine.add('follow', SaraFollow(distance=1.5, ReplanPeriod=0.5), transitions={'failed': 'follow'}, autonomy={'failed': Autonomy.Off}, remapping={'ID': 'ID'}) # x:313 y:247, x:301 y:177, x:103 y:293, x:343 y:113, x:397 y:411, x:311 y:27, x:630 y:365 _sm_give_3 = ConcurrencyContainer(outcomes=['failed', 'given', 'continue'], input_keys=['ID', 'Object'], conditions=[ ('failed', [('Give', 'failed')]), ('given', [('Give', 'given')]), ('given', [('Follow', 'finished')]), ('failed', [('LookAt', 'failed')]) ]) with _sm_give_3: # x:91 y:50 OperatableStateMachine.add('Follow', _sm_follow_2, transitions={'finished': 'given'}, autonomy={'finished': Autonomy.Inherit}, remapping={'ID': 'ID'}) # x:84 y:164 OperatableStateMachine.add('Give', _sm_give_1, transitions={'failed': 'failed', 'given': 'given'}, autonomy={'failed': Autonomy.Inherit, 'given': Autonomy.Inherit}, remapping={'Object': 'Object'}) # x:175 y:371 OperatableStateMachine.add('LookAt', _sm_lookat_0, transitions={'failed': 'failed'}, autonomy={'failed': Autonomy.Inherit}, remapping={'ID': 'ID'}) with _state_machine: # x:77 y:29 OperatableStateMachine.add('Get hand content', GetRosParam(ParamName="behavior/GripperContent"), transitions={'done': 'is object in hand?', 'failed': 'fail'}, autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'Value': 'Object'}) # x:58 y:108 OperatableStateMachine.add('is object in hand?', CheckConditionState(predicate=lambda x: x), transitions={'true': 'name', 'false': 'log empty hand'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'input_value': 'Object'}) # x:70 y:277 OperatableStateMachine.add('list persons', list_entities_by_name(frontality_level=0.5, distance_max=10), transitions={'found': 'get id', 'none_found': 'Person_not_found'}, autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off}, remapping={'name': 'name', 'entity_list': 'People_list', 'number': 'number'}) # x:414 y:37 OperatableStateMachine.add('log empty hand', LogState(text="The hand is empty. Set the GripperContent rosParam", severity=Logger.REPORT_HINT), transitions={'done': 'No_object_in_hand'}, autonomy={'done': Autonomy.Off}) # x:754 y:223 OperatableStateMachine.add('log moveitfail', LogState(text="moveit failed", severity=Logger.REPORT_HINT), transitions={'done': 'fail'}, autonomy={'done': Autonomy.Off}) # x:606 y:371 OperatableStateMachine.add('log movebase fail', LogState(text="giving Failed", severity=Logger.REPORT_HINT), transitions={'done': 'fail'}, autonomy={'done': Autonomy.Off}) # x:402 y:133 OperatableStateMachine.add('set idle pose', SetKey(Value="IdlePose"), transitions={'done': 'say_good'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'target'}) # x:751 y:108 OperatableStateMachine.add('moveArm2', MoveitMove(move=True, waitForExecution=True, group="RightArm", watchdog=15), transitions={'done': 'set none', 'failed': 'log moveitfail'}, autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'target': 'target'}) # x:920 y:278 OperatableStateMachine.add('close gripper', SetGripperState(width=0, effort=1), transitions={'object': 'Given', 'no_object': 'Given'}, autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off}, remapping={'object_size': 'object_size'}) # x:1048 y:236 OperatableStateMachine.add('remove gripper content', SetRosParam(ParamName="GripperContent"), transitions={'done': 'close gripper'}, autonomy={'done': Autonomy.Off}, remapping={'Value': 'none'}) # x:910 y:182 OperatableStateMachine.add('set none', SetKey(Value=None), transitions={'done': 'close gripper'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'none'}) # x:408 y:333 OperatableStateMachine.add('give', _sm_give_3, transitions={'failed': 'log movebase fail', 'given': 'set idle pose', 'continue': 'give'}, autonomy={'failed': Autonomy.Inherit, 'given': Autonomy.Inherit, 'continue': Autonomy.Inherit}, remapping={'ID': 'ID', 'Object': 'Object'}) # x:256 y:278 OperatableStateMachine.add('get id', CalculationState(calculation=lambda x: x[0].ID), transitions={'done': 'give'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'People_list', 'output_value': 'ID'}) # x:68 y:192 OperatableStateMachine.add('name', SetKey(Value="person"), transitions={'done': 'list persons'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'name'}) # x:591 y:138 OperatableStateMachine.add('say_good', SaraSay(sentence=lambda x: "Good, enjoy your "+str(x), input_keys=[], emotion=0, block=True), transitions={'done': 'moveArm2'}, autonomy={'done': Autonomy.Off}) return _state_machine
def create(self): # x:682 y:306, x:452 y:252 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed'], input_keys=['pos']) _state_machine.userdata.pos = {"x": 0.8, "y": -0.2, "z": 1} # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] # x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458, x:530 y:458, x:630 y:458, x:59 y:533, x:830 y:458 _sm_group_0 = ConcurrencyContainer( outcomes=['threshold', 'watchdog', 'fail'], conditions=[('threshold', [('read', 'threshold')]), ('watchdog', [('read', 'watchdog')]), ('fail', [('read', 'fail')]), ('threshold', [('read yaw', 'threshold')]), ('fail', [('read yaw', 'fail')]), ('watchdog', [('read yaw', 'watchdog')])]) with _sm_group_0: # x:86 y:125 OperatableStateMachine.add('read', ReadTorque( watchdog=1, Joint="right_elbow_pitch_joint", Threshold=0.7, min_time=0.4), transitions={ 'threshold': 'threshold', 'watchdog': 'watchdog', 'fail': 'fail' }, autonomy={ 'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'torque': 'torque'}) # x:252 y:135 OperatableStateMachine.add('read yaw', ReadTorque( watchdog=1, Joint="right_elbow_pitch_joint", Threshold=0.5, min_time=0.4), transitions={ 'threshold': 'threshold', 'watchdog': 'watchdog', 'fail': 'fail' }, autonomy={ 'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'torque': 'torque'}) # x:30 y:458 _sm_read_torque_1 = OperatableStateMachine(outcomes=['done']) with _sm_read_torque_1: # x:142 y:61 OperatableStateMachine.add('log', LogState(text="going down", severity=Logger.REPORT_HINT), transitions={'done': 'Group'}, autonomy={'done': Autonomy.Off}) # x:131 y:164 OperatableStateMachine.add('Group', _sm_group_0, transitions={ 'threshold': 'done', 'watchdog': 'log', 'fail': 'done' }, autonomy={ 'threshold': Autonomy.Inherit, 'watchdog': Autonomy.Inherit, 'fail': Autonomy.Inherit }) # x:30 y:458 _sm_go_down_2 = OperatableStateMachine(outcomes=['done'], input_keys=['GripPose']) with _sm_go_down_2: # x:126 y:194 OperatableStateMachine.add('movePlace', MoveitMove(move=True, waitForExecution=True, group="RightArm", watchdog=15), transitions={ 'done': 'done', 'failed': 'done' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'GripPose'}) # x:30 y:324, x:130 y:324 _sm_retreate_arm_3 = OperatableStateMachine( outcomes=['failed', 'done'], input_keys=['approach_pose', 'PreGripPose']) with _sm_retreate_arm_3: # x:30 y:40 OperatableStateMachine.add('ReturnApproachPose', MoveitMove(move=True, waitForExecution=True, group="RightArm", watchdog=15), transitions={ 'done': 'ReturnPreGrip', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'approach_pose'}) # x:202 y:41 OperatableStateMachine.add('ReturnPreGrip', MoveitMove(move=True, waitForExecution=False, group="RightArm", watchdog=15), transitions={ 'done': 'done', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'PreGripPose'}) # x:30 y:324, x:130 y:324 _sm_releasing_4 = OperatableStateMachine( outcomes=['object', 'no_object']) with _sm_releasing_4: # x:30 y:40 OperatableStateMachine.add('say touchdown', SaraSay(sentence="Touchdown!", input_keys=[], emotion=1, block=False), transitions={'done': 'open gripper'}, autonomy={'done': Autonomy.Off}) # x:139 y:176 OperatableStateMachine.add( 'open gripper', SetGripperState(width=0.14, effort=1), transitions={ 'object': 'object', 'no_object': 'no_object' }, autonomy={ 'object': Autonomy.Off, 'no_object': Autonomy.Off }, remapping={'object_size': 'object_size'}) # x:30 y:324, x:130 y:324 _sm_moveback_5 = OperatableStateMachine(outcomes=['arrived', 'failed']) with _sm_moveback_5: # x:30 y:40 OperatableStateMachine.add('genpose', GenPoseEuler(x=-0.3, y=-0.3, z=0, roll=0, pitch=0, yaw=0), transitions={'done': 'move back'}, autonomy={'done': Autonomy.Off}, remapping={'pose': 'backPose'}) # x:40 y:163 OperatableStateMachine.add('move back', SaraMoveBase(reference="base_link"), transitions={ 'arrived': 'arrived', 'failed': 'failed' }, autonomy={ 'arrived': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'pose': 'backPose'}) # x:536 y:72, x:231 y:292 _sm_prepare_grip_6 = OperatableStateMachine( outcomes=['failed', 'done'], input_keys=['pos'], output_keys=['approach_pose', 'grip_pose']) with _sm_prepare_grip_6: # x:50 y:40 OperatableStateMachine.add('Gen place_pos', GenGripperPose(l=0, z=-0.05, planar=True), transitions={ 'done': 'Gen approach_pos', 'fail': 'failed' }, autonomy={ 'done': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'pose_in': 'pos', 'pose_out': 'grip_pose' }) # x:30 y:176 OperatableStateMachine.add('MoveIt_isReachable', MoveitMove(move=False, waitForExecution=True, group="RightArm", watchdog=15), transitions={ 'done': 'log app', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'grip_pose'}) # x:37 y:108 OperatableStateMachine.add('Gen approach_pos', GenGripperPose(l=0.0, z=0.20, planar=True), transitions={ 'done': 'log place pos', 'fail': 'failed' }, autonomy={ 'done': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'pose_in': 'pos', 'pose_out': 'approach_pose' }) # x:41 y:269 OperatableStateMachine.add('log app', LogKeyState( text="{}", severity=Logger.REPORT_HINT), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}, remapping={'data': 'approach_pose'}) # x:360 y:180 OperatableStateMachine.add( 'log place pos', LogKeyState(text="place pose is {}", severity=Logger.REPORT_HINT), transitions={'done': 'MoveIt_isReachable'}, autonomy={'done': Autonomy.Off}, remapping={'data': 'grip_pose'}) # x:30 y:324, x:130 y:324 _sm_pregrippose_7 = OperatableStateMachine(outcomes=['done', 'failed'], output_keys=['PreGripPose']) with _sm_pregrippose_7: # x:30 y:40 OperatableStateMachine.add('setPreGripPose', SetKey(Value="PrePlacePose"), transitions={'done': 'gotoPreGrip'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'PreGripPose'}) # x:32 y:106 OperatableStateMachine.add('gotoPreGrip', MoveitMove(move=True, waitForExecution=True, group="RightArm", watchdog=15), transitions={ 'done': 'done', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'PreGripPose'}) # x:30 y:458, x:130 y:458, x:230 y:458 _sm_get_down_8 = ConcurrencyContainer( outcomes=['done'], input_keys=['GripPose'], conditions=[('done', [('Go down', 'done')]), ('done', [('read torque', 'done')])]) with _sm_get_down_8: # x:178 y:127 OperatableStateMachine.add('Go down', _sm_go_down_2, transitions={'done': 'done'}, autonomy={'done': Autonomy.Inherit}, remapping={'GripPose': 'GripPose'}) # x:405 y:150 OperatableStateMachine.add('read torque', _sm_read_torque_1, transitions={'done': 'done'}, autonomy={'done': Autonomy.Inherit}) # x:30 y:324, x:130 y:324 _sm_pretraitement_9 = OperatableStateMachine(outcomes=['fail', 'done'], input_keys=['pos'], output_keys=['pos']) with _sm_pretraitement_9: # x:30 y:40 OperatableStateMachine.add('TF_transformation', TF_transformation(in_ref="map", out_ref="base_link"), transitions={ 'done': 'LOG POSE', 'fail': 'fail' }, autonomy={ 'done': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'in_pos': 'pos', 'out_pos': 'pos' }) # x:33 y:107 OperatableStateMachine.add('LOG POSE', LogKeyState( text="{}", severity=Logger.REPORT_HINT), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}, remapping={'data': 'pos'}) with _state_machine: # x:148 y:34 OperatableStateMachine.add('Pretraitement', _sm_pretraitement_9, transitions={ 'fail': 'failed', 'done': 'PreGripPose' }, autonomy={ 'fail': Autonomy.Inherit, 'done': Autonomy.Inherit }, remapping={'pos': 'pos'}) # x:634 y:410 OperatableStateMachine.add( 'close gripper', SetGripperState(width=0, effort=1), transitions={ 'object': 'finished', 'no_object': 'finished' }, autonomy={ 'object': Autonomy.Off, 'no_object': Autonomy.Off }, remapping={'object_size': 'object_size'}) # x:141 y:522 OperatableStateMachine.add('Get_down', _sm_get_down_8, transitions={'done': 'releasing'}, autonomy={'done': Autonomy.Inherit}, remapping={'GripPose': 'grip_pose'}) # x:159 y:352 OperatableStateMachine.add('look down', SaraSetHeadAngle(pitch=0.6, yaw=-0.3), transitions={'done': 'Move_approach'}, autonomy={'done': Autonomy.Off}) # x:160 y:127 OperatableStateMachine.add( 'PreGripPose', _sm_pregrippose_7, transitions={ 'done': 'Prepare grip', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={'PreGripPose': 'PreGripPose'}) # x:156 y:238 OperatableStateMachine.add('Prepare grip', _sm_prepare_grip_6, transitions={ 'failed': 'failed', 'done': 'look down' }, autonomy={ 'failed': Autonomy.Inherit, 'done': Autonomy.Inherit }, remapping={ 'pos': 'pos', 'approach_pose': 'approach_pose', 'grip_pose': 'grip_pose' }) # x:139 y:444 OperatableStateMachine.add('Move_approach', MoveitMove(move=True, waitForExecution=True, group="RightArm", watchdog=15), transitions={ 'done': 'Get_down', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'approach_pose'}) # x:623 y:525 OperatableStateMachine.add('Moveback', _sm_moveback_5, transitions={ 'arrived': 'close gripper', 'failed': 'failed' }, autonomy={ 'arrived': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:298 y:520 OperatableStateMachine.add('releasing', _sm_releasing_4, transitions={ 'object': 'retreate arm', 'no_object': 'retreate arm' }, autonomy={ 'object': Autonomy.Inherit, 'no_object': Autonomy.Inherit }) # x:459 y:522 OperatableStateMachine.add('retreate arm', _sm_retreate_arm_3, transitions={ 'failed': 'failed', 'done': 'Moveback' }, autonomy={ 'failed': Autonomy.Inherit, 'done': Autonomy.Inherit }, remapping={ 'approach_pose': 'approach_pose', 'PreGripPose': 'PreGripPose' }) return _state_machine
def create(self): # x: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:976 y:173, x:618 y:48 _state_machine = OperatableStateMachine(outcomes=['done', 'failed']) _state_machine.userdata.nameFilter = "" _state_machine.userdata.roomQuestion = "what room shall i clean, master ?" _state_machine.userdata.waypointGenerationDistance = 0.5 _state_machine.userdata.placeholder = "" _state_machine.userdata.doorName = "crowd" _state_machine.userdata.firstTimeInRoom = "yes" _state_machine.userdata.waypointToCheckDict = {"bedroom": ["bedroomWP1","bedroomWP2"]} _state_machine.userdata.placedObjects = 0 _state_machine.userdata.misplacedObject = "" _state_machine.userdata.skipDoorEntrance = True # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] # x:153 y:437 _sm_deusexplacerecovery_0 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject']) with _sm_deusexplacerecovery_0: # x:85 y:72 OperatableStateMachine.add('getContainerId', CalculationState(calculation=lambda x: x[1].containerId), transitions={'done': 'getContainerEntity'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'misplacedObject', 'output_value': 'containerId'}) # x:234 y:149 OperatableStateMachine.add('getContainerEntity', WonderlandGetEntityByID(), transitions={'found': 'ItGoesThere', 'not_found': 'finished', 'error': 'finished'}, autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off}, remapping={'id': 'containerId', 'entity': 'containerEntity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'}) # x:366 y:284 OperatableStateMachine.add('ItGoesThere', SaraSay(sentence=lambda x: "Looks like I dropped "+str(x[0][0].name)+". Can you put it in the "+ x[1].name+"?", input_keys=["misplacedObject","containerEntity"], emotion=0, block=True), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}, remapping={'misplacedObject': 'misplacedObject', 'containerEntity': 'containerEntity'}) # x:717 y:285 _sm_cantgotodestination_1 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject']) with _sm_cantgotodestination_1: # x:48 y:60 OperatableStateMachine.add('getContainerId', CalculationState(calculation=lambda x: x[1].containerId), transitions={'done': 'getContainerEntity'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'misplacedObject', 'output_value': 'containerId'}) # x:463 y:245 OperatableStateMachine.add('Action_place', self.use_behavior(sara_flexbe_behaviors__Action_placeSM, 'PutObjectInDesiredContainer/CantGoToDestination/Action_place'), transitions={'finished': 'finished', 'failed': 'finished'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pos': 'droppingPose'}) # x:26 y:149 OperatableStateMachine.add('getContainerEntity', WonderlandGetEntityByID(), transitions={'found': 'ICantGetThere', 'not_found': 'ICantGetThereNCONT', 'error': 'ICantGetThereNCONT'}, autonomy={'found': Autonomy.Off, 'not_found': Autonomy.Off, 'error': Autonomy.Off}, remapping={'id': 'containerId', 'entity': 'containerEntity', 'depth_position': 'depth_position', 'depth_waypoint': 'depth_waypoint'}) # x:249 y:176 OperatableStateMachine.add('ICantGetThere', SaraSay(sentence=lambda x:"I can't find a way to "+str(x[0].name), input_keys=["containerEntity"], emotion=0, block=True), transitions={'done': 'GetDroppingPose'}, autonomy={'done': Autonomy.Off}, remapping={'containerEntity': 'containerEntity'}) # x:247 y:114 OperatableStateMachine.add('ICantGetThereNCONT', SaraSay(sentence="I can't find a way to the container", input_keys=[], emotion=0, block=True), transitions={'done': 'GetDroppingPose'}, autonomy={'done': Autonomy.Off}) # x:475 y:148 OperatableStateMachine.add('GetDroppingPose', GenPoseEuler(x=0.4, y=0, z=0.3, roll=0.0, pitch=0.0, yaw=0.0), transitions={'done': 'Action_place'}, autonomy={'done': Autonomy.Off}, remapping={'pose': 'droppingPose'}) # x:632 y:527 _sm_putdownobject_2 = OperatableStateMachine(outcomes=['done'], input_keys=['misplacedObject']) with _sm_putdownobject_2: # x:70 y:215 OperatableStateMachine.add('GetDroppingPose', GenPoseEuler(x=0.3, y=0, z=1.2, roll=0.0, pitch=0.0, yaw=0.0), transitions={'done': 'Action_place'}, autonomy={'done': Autonomy.Off}, remapping={'pose': 'droppingPose'}) # x:269 y:215 OperatableStateMachine.add('Action_place', self.use_behavior(sara_flexbe_behaviors__Action_placeSM, 'PutObjectInDesiredContainer/PutDownObject/Action_place'), transitions={'finished': 'done', 'failed': 'DeusExPlaceRecovery'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pos': 'droppingPose'}) # x:592 y:127 OperatableStateMachine.add('DeusExPlaceRecovery', _sm_deusexplacerecovery_0, transitions={'finished': 'done'}, autonomy={'finished': Autonomy.Inherit}, remapping={'misplacedObject': 'misplacedObject'}) # x:518 y:44, x:531 y:152 _sm_gotodesiredcontainer_3 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['misplacedObject']) with _sm_gotodesiredcontainer_3: # x:86 y:79 OperatableStateMachine.add('GetContainerWaypoint', CalculationState(calculation=lambda x:x[1].waypoint), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'misplacedObject', 'output_value': 'targetWaypoint'}) # x:275 y:79 OperatableStateMachine.add('Action_Move', self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'PutObjectInDesiredContainer/GotoDesiredContainer/Action_Move'), transitions={'finished': 'done', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'targetWaypoint'}) # x:300 y:141, x:893 y:63 _sm_receiveitem_4 = OperatableStateMachine(outcomes=['failed', 'success']) with _sm_receiveitem_4: # x:69 y:47 OperatableStateMachine.add('opengripper', SetGripperState(width=0.25, effort=1), transitions={'object': 'setTarget1', 'no_object': 'setTarget1'}, autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off}, remapping={'object_size': 'object_size'}) # x:280 y:263 OperatableStateMachine.add('Torque_Reader', ReadTorque(watchdog=10, Joint="right_elbow_pitch_joint", Threshold=1, min_time=1), transitions={'threshold': 'close_gripper', 'watchdog': 'Torque_Reader', 'fail': 'failed'}, autonomy={'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'torque': 'torque'}) # x:668 y:149 OperatableStateMachine.add('setTarget2', SetKey(Value="PostGripPose"), transitions={'done': 'Go_to_Pose'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'target'}) # x:51 y:261 OperatableStateMachine.add('Go_to_receive_bag_pose', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={'done': 'Torque_Reader', 'failed': 'failed'}, autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'target': 'target'}) # x:450 y:274 OperatableStateMachine.add('close_gripper', SetGripperState(width=0, effort=1), transitions={'object': 'thank you', 'no_object': 'failed'}, autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off}, remapping={'object_size': 'object_size'}) # x:640 y:273 OperatableStateMachine.add('thank you', SaraSay(sentence="Thank you", input_keys=[], emotion=1, block=True), transitions={'done': 'setTarget2'}, autonomy={'done': Autonomy.Off}) # x:50 y:141 OperatableStateMachine.add('setTarget1', SetKey(Value="Help_me_carry"), transitions={'done': 'Go_to_receive_bag_pose'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'target'}) # x:660 y:57 OperatableStateMachine.add('Go_to_Pose', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={'done': 'success', 'failed': 'failed'}, autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'target': 'target'}) # x:169 y:514, x:508 y:495 _sm_deusexpickrecovery_5 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['misplacedObject']) with _sm_deusexpickrecovery_5: # x:81 y:50 OperatableStateMachine.add('GimmeTheObjict', SaraSay(sentence=lambda x: "Could you give me the "+x[0][0].name+", please ?", input_keys=["misplacedObject"], emotion=0, block=True), transitions={'done': 'ReceiveItem'}, autonomy={'done': Autonomy.Off}, remapping={'misplacedObject': 'misplacedObject'}) # x:213 y:130 OperatableStateMachine.add('ReceiveItem', _sm_receiveitem_4, transitions={'failed': 'Oh f**k', 'success': 'finished'}, autonomy={'failed': Autonomy.Inherit, 'success': Autonomy.Inherit}) # x:355 y:262 OperatableStateMachine.add('Oh f**k', SaraSay(sentence="Oh. Nevermind then.", input_keys=[], emotion=2, block=True), transitions={'done': 'failed'}, autonomy={'done': Autonomy.Off}) # x:676 y:610, x:1158 y:270 _sm_grabmisplacedobject_6 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['misplacedObject']) with _sm_grabmisplacedobject_6: # x:72 y:35 OperatableStateMachine.add('GetObjectId', CalculationState(calculation=lambda x: x[0].ID), transitions={'done': 'Action_pick'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'misplacedObject', 'output_value': 'misplacedObjectID'}) # x:307 y:89 OperatableStateMachine.add('oops', SaraSay(sentence="Oops. I dropped the object!", input_keys=[], emotion=5, block=True), transitions={'done': 'DeusExPickRecovery'}, autonomy={'done': Autonomy.Off}) # x:344 y:157 OperatableStateMachine.add('oops_2', SaraSay(sentence="Oops. Seems I can't reach the object!", input_keys=[], emotion=3, block=True), transitions={'done': 'DeusExPickRecovery'}, autonomy={'done': Autonomy.Off}) # x:362 y:239 OperatableStateMachine.add('oops_3', SaraSay(sentence="Oops. I can't see the object!", input_keys=[], emotion=3, block=True), transitions={'done': 'DeusExPickRecovery'}, autonomy={'done': Autonomy.Off}) # x:42 y:275 OperatableStateMachine.add('Action_pick', self.use_behavior(sara_flexbe_behaviors__Action_pickSM, 'PickMisplacedObject/GrabMisplacedObject/Action_pick', default_keys=['Entity']), transitions={'success': 'done', 'unreachable': 'oops_2', 'not found': 'oops_3', 'dropped': 'oops'}, autonomy={'success': Autonomy.Inherit, 'unreachable': Autonomy.Inherit, 'not found': Autonomy.Inherit, 'dropped': Autonomy.Inherit}, remapping={'objectID': 'misplacedObjectID', 'Entity': 'Entity'}) # x:600 y:177 OperatableStateMachine.add('DeusExPickRecovery', _sm_deusexpickrecovery_5, transitions={'finished': 'done', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'misplacedObject': 'misplacedObject'}) # x:30 y:426 _sm_scanaround_7 = OperatableStateMachine(outcomes=['done']) with _sm_scanaround_7: # x:172 y:46 OperatableStateMachine.add('center', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'w2'}, autonomy={'done': Autonomy.Off}) # x:304 y:122 OperatableStateMachine.add('right', SaraSetHeadAngle(pitch=0.1, yaw=-1.5), transitions={'done': 'w3'}, autonomy={'done': Autonomy.Off}) # x:165 y:187 OperatableStateMachine.add('center2', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'w4'}, autonomy={'done': Autonomy.Off}) # x:195 y:276 OperatableStateMachine.add('w1', WaitState(wait_time=1), transitions={'done': 'center3'}, autonomy={'done': Autonomy.Off}) # x:309 y:49 OperatableStateMachine.add('w2', WaitState(wait_time=4), transitions={'done': 'right'}, autonomy={'done': Autonomy.Off}) # x:308 y:187 OperatableStateMachine.add('w3', WaitState(wait_time=4), transitions={'done': 'center2'}, autonomy={'done': Autonomy.Off}) # x:56 y:191 OperatableStateMachine.add('w4', WaitState(wait_time=4), transitions={'done': 'left'}, autonomy={'done': Autonomy.Off}) # x:40 y:270 OperatableStateMachine.add('left', SaraSetHeadAngle(pitch=0.1, yaw=1.5), transitions={'done': 'w1'}, autonomy={'done': Autonomy.Off}) # x:317 y:277 OperatableStateMachine.add('center3', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}) # x:289 y:803, x:694 y:198, x:4 y:400 _sm_checkatwaypoints_8 = OperatableStateMachine(outcomes=['found', 'noneFound', 'failed'], input_keys=['waypointToCheckDict', 'cleaningRoom', 'nameFilter'], output_keys=['misplacedObject']) with _sm_checkatwaypoints_8: # x:60 y:44 OperatableStateMachine.add('GetNbOfWaypoints', FlexibleCalculationState(calculation=lambda x: len(x[1][x[0]]), input_keys=["cleaningRoom","waypointToCheckDict"]), transitions={'done': 'StartLoop'}, autonomy={'done': Autonomy.Off}, remapping={'cleaningRoom': 'cleaningRoom', 'waypointToCheckDict': 'waypointToCheckDict', 'output_value': 'lenWaypointDict'}) # x:137 y:471 OperatableStateMachine.add('ScanAround', _sm_scanaround_7, transitions={'done': 'StopCheckingForUnknownObj'}, autonomy={'done': Autonomy.Inherit}) # x:163 y:729 OperatableStateMachine.add('GetFirstElement', CalculationState(calculation=lambda x:x[0]), transitions={'done': 'found'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'entity_list', 'output_value': 'misplacedObject'}) # x:354 y:538 OperatableStateMachine.add('ListEntities', list_entities_by_name(frontality_level=0.5, distance_max=10), transitions={'found': 'CheckMisplacedObjects', 'none_found': 'CheckAtEachLocation'}, autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off}, remapping={'name': 'nameFilter', 'entity_list': 'entity_list', 'number': 'number'}) # x:23 y:198 OperatableStateMachine.add('EverythingsFine', SaraSay(sentence="I'll check at another location.", input_keys=[], emotion=1, block=True), transitions={'done': 'GetLocation'}, autonomy={'done': Autonomy.Off}) # x:184 y:289 OperatableStateMachine.add('Action_Move', self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'CheckForMisplacedObjects/CheckAtWaypoints/Action_Move'), transitions={'finished': 'CheckForUnknownObjs', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'waypointToGo'}) # x:511 y:338 OperatableStateMachine.add('CheckAtEachLocation', ForLoopWithInput(repeat=10), transitions={'do': 'CheckIfLastLocationOfList', 'end': 'noneFound'}, autonomy={'do': Autonomy.Off, 'end': Autonomy.Off}, remapping={'index_in': 'index_in', 'index_out': 'locationToGet'}) # x:318 y:58 OperatableStateMachine.add('StartLoop', SetKey(Value=-1), transitions={'done': 'CheckAtEachLocation'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'index_in'}) # x:9 y:262 OperatableStateMachine.add('GetLocation', FlexibleCalculationState(calculation=lambda x: x[1][x[2]][x[0]], input_keys=["index_out","waypointToCheckDict","cleaningRoom"]), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}, remapping={'index_out': 'locationToGet', 'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleaningRoom', 'output_value': 'waypointToGo'}) # x:173 y:195 OperatableStateMachine.add('CheckIfLastLocationOfList', FlexibleCheckConditionState(predicate=lambda x: x[0]-1 >= x[1], input_keys=["lenWaypointDict","locationToGet"]), transitions={'true': 'noneFound', 'false': 'EverythingsFine'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'lenWaypointDict': 'lenWaypointDict', 'locationToGet': 'locationToGet'}) # x:418 y:665 OperatableStateMachine.add('CheckMisplacedObjects', CheckMisplacedObjects(position_tolerance=0.1, default_destination="bin"), transitions={'all_expected': 'CheckAtEachLocation', 'unexpected': 'GetFirstElement'}, autonomy={'all_expected': Autonomy.Off, 'unexpected': Autonomy.Off}, remapping={'entities': 'entity_list', 'expected_objects': 'expected_objects', 'unexpected_objects': 'unexpected_objects'}) # x:119 y:402 OperatableStateMachine.add('CheckForUnknownObjs', SetSegmentationRosParam(ValueTableSegmentation=True, ValueObjectSegmentation=True), transitions={'done': 'ScanAround'}, autonomy={'done': Autonomy.Off}) # x:114 y:561 OperatableStateMachine.add('StopCheckingForUnknownObj', SetSegmentationRosParam(ValueTableSegmentation=False, ValueObjectSegmentation=False), transitions={'done': 'ListEntities'}, autonomy={'done': Autonomy.Off}) # x:547 y:290 _sm_scanaround_9 = OperatableStateMachine(outcomes=['done'], input_keys=['input_value']) with _sm_scanaround_9: # x:172 y:46 OperatableStateMachine.add('center', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'w2'}, autonomy={'done': Autonomy.Off}) # x:304 y:122 OperatableStateMachine.add('right', SaraSetHeadAngle(pitch=0.1, yaw=-1.5), transitions={'done': 'w3'}, autonomy={'done': Autonomy.Off}) # x:165 y:187 OperatableStateMachine.add('center2', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'w4'}, autonomy={'done': Autonomy.Off}) # x:195 y:276 OperatableStateMachine.add('w1', WaitState(wait_time=1), transitions={'done': 'center3'}, autonomy={'done': Autonomy.Off}) # x:367 y:47 OperatableStateMachine.add('w2', WaitState(wait_time=4), transitions={'done': 'right'}, autonomy={'done': Autonomy.Off}) # x:308 y:187 OperatableStateMachine.add('w3', WaitState(wait_time=4), transitions={'done': 'center2'}, autonomy={'done': Autonomy.Off}) # x:56 y:191 OperatableStateMachine.add('w4', WaitState(wait_time=4), transitions={'done': 'left'}, autonomy={'done': Autonomy.Off}) # x:40 y:270 OperatableStateMachine.add('left', SaraSetHeadAngle(pitch=0.1, yaw=1.5), transitions={'done': 'w1'}, autonomy={'done': Autonomy.Off}) # x:317 y:277 OperatableStateMachine.add('center3', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}) # x:293 y:350, x:857 y:186 _sm_ask_10 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['roomQuestion'], output_keys=['roomAnswer']) with _sm_ask_10: # x:79 y:95 OperatableStateMachine.add('say question', SaraSay(sentence=lambda x: x[0], input_keys=["question"], emotion=0, block=True), transitions={'done': 'get answer'}, autonomy={'done': Autonomy.Off}, remapping={'question': 'roomQuestion'}) # x:92 y:304 OperatableStateMachine.add('get answer', GetSpeech(watchdog=10), transitions={'done': 'finished', 'nothing': 'retry ask', 'fail': 'retry ask'}, autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'words': 'roomAnswer'}) # x:345 y:202 OperatableStateMachine.add('retry ask', ForLoop(repeat=2), transitions={'do': 'say not understand', 'end': 'say failed'}, autonomy={'do': Autonomy.Off, 'end': Autonomy.Off}, remapping={'index': 'index'}) # x:232 y:90 OperatableStateMachine.add('say not understand', SaraSay(sentence="Sorry, I did not understand your answer.", input_keys=[], emotion=0, block=True), transitions={'done': 'say question'}, autonomy={'done': Autonomy.Off}) # x:604 y:151 OperatableStateMachine.add('say failed', SaraSay(sentence="Sorry, I can't understand your answer.", input_keys=[], emotion=0, block=True), transitions={'done': 'failed'}, autonomy={'done': Autonomy.Off}) # x:30 y:365, x:424 y:392 _sm_nlu_11 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['roomAnswer'], output_keys=['cleanupRoom']) with _sm_nlu_11: # x:212 y:89 OperatableStateMachine.add('NLU', SaraNLUgetRoom(), transitions={'understood': 'done', 'not_understood': 'failed', 'fail': 'failed'}, autonomy={'understood': Autonomy.Off, 'not_understood': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'sentence': 'roomAnswer', 'answer': 'cleanupRoom'}) # x:736 y:312 _sm_putobjectindesiredcontainer_12 = OperatableStateMachine(outcomes=['finished'], input_keys=['misplacedObject', 'placedObjects'], output_keys=['placedObjects']) with _sm_putobjectindesiredcontainer_12: # x:138 y:153 OperatableStateMachine.add('GotoDesiredContainer', _sm_gotodesiredcontainer_3, transitions={'done': 'PutDownObject', 'failed': 'CantGoToDestination'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'misplacedObject': 'misplacedObject'}) # x:277 y:313 OperatableStateMachine.add('PutDownObject', _sm_putdownobject_2, transitions={'done': 'OneMoreObjectPlaced'}, autonomy={'done': Autonomy.Inherit}, remapping={'misplacedObject': 'misplacedObject'}) # x:339 y:80 OperatableStateMachine.add('CantGoToDestination', _sm_cantgotodestination_1, transitions={'finished': 'finished'}, autonomy={'finished': Autonomy.Inherit}, remapping={'misplacedObject': 'misplacedObject'}) # x:468 y:381 OperatableStateMachine.add('OneMoreObjectPlaced', CalculationState(calculation=lambda x: x+1), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'placedObjects', 'output_value': 'placedObjects'}) # x:609 y:528, x:593 y:240 _sm_pickmisplacedobject_13 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['misplacedObject', 'waypointGenerationDistance']) with _sm_pickmisplacedobject_13: # x:82 y:71 OperatableStateMachine.add('GetObjectPosition', CalculationState(calculation=lambda x: x[0].position), transitions={'done': 'FindAWay'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'misplacedObject', 'output_value': 'misplacedObjectPosition'}) # x:67 y:304 OperatableStateMachine.add('Action_Move', self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'PickMisplacedObject/Action_Move'), transitions={'finished': 'GrabMisplacedObject', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'misplacedObjectWaypoint'}) # x:82 y:202 OperatableStateMachine.add('FindAWay', Get_Reacheable_Waypoint(), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}, remapping={'pose_in': 'misplacedObjectPosition', 'distance': 'waypointGenerationDistance', 'pose_out': 'misplacedObjectWaypoint'}) # x:58 y:514 OperatableStateMachine.add('GrabMisplacedObject', _sm_grabmisplacedobject_6, transitions={'done': 'finished', 'failed': 'failed'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'misplacedObject': 'misplacedObject'}) # x:957 y:154, x:535 y:369, x:800 y:304 _sm_checkformisplacedobjects_14 = OperatableStateMachine(outcomes=['noneLeft', 'found', 'failed'], input_keys=['nameFilter', 'waypointToCheckDict', 'cleaningRoom', 'placedObjects'], output_keys=['misplacedObject']) with _sm_checkformisplacedobjects_14: # x:241 y:59 OperatableStateMachine.add('CheckIf5Placed', CheckConditionState(predicate=lambda x: x >= 5), transitions={'true': 'OkItsClean', 'false': 'RetryOnce'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'input_value': 'placedObjects'}) # x:115 y:477 OperatableStateMachine.add('CheckMisplacedObjects', CheckMisplacedObjects(position_tolerance=0.1, default_destination="bin"), transitions={'all_expected': 'EverythingsFine', 'unexpected': 'GetFirstElement'}, autonomy={'all_expected': Autonomy.Off, 'unexpected': Autonomy.Off}, remapping={'entities': 'entity_list', 'expected_objects': 'expected_objects', 'unexpected_objects': 'unexpected_objects'}) # x:76 y:251 OperatableStateMachine.add('ScanAround', _sm_scanaround_9, transitions={'done': 'ListEntities'}, autonomy={'done': Autonomy.Inherit}, remapping={'input_value': 'nameFilter'}) # x:300 y:486 OperatableStateMachine.add('GetFirstElement', CalculationState(calculation=lambda x:x[0]), transitions={'done': 'found'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'entity_list', 'output_value': 'misplacedObject'}) # x:77 y:360 OperatableStateMachine.add('ListEntities', list_entities_by_name(frontality_level=0.5, distance_max=10), transitions={'found': 'CheckMisplacedObjects', 'none_found': 'RetryOnce'}, autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off}, remapping={'name': 'nameFilter', 'entity_list': 'entity_list', 'number': 'number'}) # x:305 y:355 OperatableStateMachine.add('EverythingsFine', SaraSay(sentence="Everything seems in order. I'll check again.", input_keys=[], emotion=1, block=True), transitions={'done': 'RetryOnce'}, autonomy={'done': Autonomy.Off}) # x:738 y:175 OperatableStateMachine.add('OkItsClean', SaraSay(sentence="I cleaned the room!", input_keys=[], emotion=1, block=True), transitions={'done': 'noneLeft'}, autonomy={'done': Autonomy.Off}) # x:488 y:226 OperatableStateMachine.add('CheckAtWaypoints', _sm_checkatwaypoints_8, transitions={'found': 'found', 'noneFound': 'OkItsClean', 'failed': 'failed'}, autonomy={'found': Autonomy.Inherit, 'noneFound': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleaningRoom', 'nameFilter': 'nameFilter', 'misplacedObject': 'misplacedObject'}) # x:268 y:226 OperatableStateMachine.add('RetryOnce', ForLoop(repeat=1), transitions={'do': 'ScanAround', 'end': 'CheckAtWaypoints'}, autonomy={'do': Autonomy.Off, 'end': Autonomy.Off}, remapping={'index': 'index'}) # x:644 y:459, x:651 y:336 _sm_gotoroom_15 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['cleanupRoom', 'firstTimeInRoom'], output_keys=['firstTimeInRoom']) with _sm_gotoroom_15: # x:141 y:121 OperatableStateMachine.add('IsItMyFirstTime', DecisionState(outcomes=["no", "yes"], conditions=lambda x: x), transitions={'no': 'GoingBackToTheRoom', 'yes': 'OkImGoingToTheRoom'}, autonomy={'no': Autonomy.Off, 'yes': Autonomy.Off}, remapping={'input_value': 'firstTimeInRoom'}) # x:130 y:220 OperatableStateMachine.add('GoingBackToTheRoom', SaraSay(sentence=lambda x: "I'm going back to the "+str(x[0])+".", input_keys=["cleanupRoom"], emotion=0, block=True), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}, remapping={'cleanupRoom': 'cleanupRoom'}) # x:342 y:171 OperatableStateMachine.add('OkImGoingToTheRoom', SaraSay(sentence=lambda x: "Okay, I'm going to the "+str(x[0])+".", input_keys=["cleanupRoom"], emotion=0, block=True), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}, remapping={'cleanupRoom': 'cleanupRoom'}) # x:330 y:448 OperatableStateMachine.add('IWentThere', SetKey(Value="no"), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'firstTimeInRoom'}) # x:320 y:326 OperatableStateMachine.add('Action_Move', self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'GoToRoom/Action_Move'), transitions={'finished': 'IWentThere', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'cleanupRoom'}) # x:709 y:520, x:850 y:66 _sm_enterarena_16 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['roomQuestion', 'doorName', 'skipDoorEntrance'], output_keys=['cleanupRoom']) with _sm_enterarena_16: # x:77 y:28 OperatableStateMachine.add('Init_Sequence', self.use_behavior(sara_flexbe_behaviors__Init_SequenceSM, 'EnterArena/Init_Sequence'), transitions={'finished': 'SkipEntrance', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) # x:278 y:473 OperatableStateMachine.add('NLU', _sm_nlu_11, transitions={'done': 'done', 'failed': 'Sorry'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'roomAnswer': 'roomAnswer', 'cleanupRoom': 'cleanupRoom'}) # x:467 y:87 OperatableStateMachine.add('Action_Pass_Door', self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'EnterArena/Action_Pass_Door'), transitions={'Done': 'RetryOnce', 'Fail': 'failed'}, autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit}, remapping={'DoorName': 'doorName'}) # x:234 y:259 OperatableStateMachine.add('RetryOnce', ForLoop(repeat=2), transitions={'do': 'Ask', 'end': 'failed'}, autonomy={'do': Autonomy.Off, 'end': Autonomy.Off}, remapping={'index': 'index'}) # x:295 y:354 OperatableStateMachine.add('Sorry', SaraSay(sentence="Sorry, I misunderstood.", input_keys=[], emotion=0, block=True), transitions={'done': 'RetryOnce'}, autonomy={'done': Autonomy.Off}) # x:213 y:119 OperatableStateMachine.add('SkipEntrance', CheckConditionState(predicate=lambda x: x), transitions={'true': 'RetryOnce', 'false': 'Action_Pass_Door'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'input_value': 'skipDoorEntrance'}) # x:51 y:354 OperatableStateMachine.add('Ask', _sm_ask_10, transitions={'finished': 'NLU', 'failed': 'RetryOnce'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'roomQuestion': 'roomQuestion', 'roomAnswer': 'roomAnswer'}) with _state_machine: # x:131 y:130 OperatableStateMachine.add('EnterArena', _sm_enterarena_16, transitions={'done': 'GoToRoom', 'failed': 'failed'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'roomQuestion': 'roomQuestion', 'doorName': 'doorName', 'skipDoorEntrance': 'skipDoorEntrance', 'cleanupRoom': 'cleanupRoom'}) # x:286 y:217 OperatableStateMachine.add('GoToRoom', _sm_gotoroom_15, transitions={'done': 'CheckForMisplacedObjects', 'failed': 'failed'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'cleanupRoom': 'cleanupRoom', 'firstTimeInRoom': 'firstTimeInRoom'}) # x:652 y:203 OperatableStateMachine.add('CheckForMisplacedObjects', _sm_checkformisplacedobjects_14, transitions={'noneLeft': 'done', 'found': 'PickMisplacedObject', 'failed': 'failed'}, autonomy={'noneLeft': Autonomy.Inherit, 'found': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'nameFilter': 'nameFilter', 'waypointToCheckDict': 'waypointToCheckDict', 'cleaningRoom': 'cleanupRoom', 'placedObjects': 'placedObjects', 'misplacedObject': 'misplacedObject'}) # x:557 y:403 OperatableStateMachine.add('PickMisplacedObject', _sm_pickmisplacedobject_13, transitions={'finished': 'PutObjectInDesiredContainer', 'failed': 'GoToRoom'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'misplacedObject': 'misplacedObject', 'waypointGenerationDistance': 'waypointGenerationDistance'}) # x:234 y:476 OperatableStateMachine.add('PutObjectInDesiredContainer', _sm_putobjectindesiredcontainer_12, transitions={'finished': 'GoToRoom'}, autonomy={'finished': Autonomy.Inherit}, remapping={'misplacedObject': 'misplacedObject', 'placedObjects': 'placedObjects'}) return _state_machine
def create(self): # x:736 y:384, x:79 y:422 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed'], input_keys=['targetPoint']) _state_machine.userdata.targetPoint = 0 # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] with _state_machine: # x:86 y:32 OperatableStateMachine.add( 'gripper', SetGripperState(width=0, effort=1), transitions={ 'object': 'direction', 'no_object': 'direction' }, autonomy={ 'object': Autonomy.Off, 'no_object': Autonomy.Off }, remapping={'object_size': 'object_size'}) # x:503 y:276 OperatableStateMachine.add('move', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={ 'done': 'finished', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'pose'}) # x:114 y:312 OperatableStateMachine.add( 'invert', CalculationState(calculation=lambda x: -x), transitions={'done': 'point'}, autonomy={'done': Autonomy.Off}, remapping={ 'input_value': 'pitch', 'output_value': 'pitch' }) # x:269 y:267 OperatableStateMachine.add('point', point_at_gen_pose(offsetx=0.16, offsety=-0.2, offsetz=1.2, l=0.75), transitions={'pose': 'move'}, autonomy={'pose': Autonomy.Off}, remapping={ 'yaw': 'yaw', 'pitch': 'pitch', 'pose': 'pose' }) # x:99 y:199 OperatableStateMachine.add('print pitch', LogKeyState( text="pitch = {}", severity=Logger.REPORT_HINT), transitions={'done': 'invert'}, autonomy={'done': Autonomy.Off}, remapping={'data': 'pitch'}) # x:235 y:103 OperatableStateMachine.add( 'direction', Get_direction_to_point( frame_origin="base_link", frame_reference="right_upper_arm_upper_link"), transitions={ 'done': 'print pitch', 'fail': 'failed' }, autonomy={ 'done': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'targetPoint': 'targetPoint', 'yaw': 'yaw', 'pitch': 'pitch' }) 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:832 y:260, x:728 y:256 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['ID']) _state_machine.userdata.ID = 0 _state_machine.userdata.Closed_Gripper_Width = 1 _state_machine.userdata.Open_Gripper_Width = 255 _state_machine.userdata.Relative = False _state_machine.userdata.Pose_Init = "IdlePose" _state_machine.userdata.dropPose = "DropBagPose" _state_machine.userdata.EntryDoor = "door1/enter" _state_machine.userdata.ExitDoor = "door1/exit" # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] # x:700 y:231, x:418 y:463 _sm_ecoute_getpose_0 = OperatableStateMachine(outcomes=['arrete', 'fail']) with _sm_ecoute_getpose_0: # x:53 y:35 OperatableStateMachine.add('Ecoute', GetSpeech(watchdog=5), transitions={'done': 'stop', 'nothing': 'Ecoute', 'fail': 'fail'}, autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'words': 'words'}) # x:373 y:215 OperatableStateMachine.add('stop', RegexTester(regex=".*stop.*"), transitions={'true': 'arrete', 'false': 'Ecoute'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'text': 'words', 'result': 'result'}) # x:350 y:105, x:261 y:311 _sm_get_operator_id_1 = OperatableStateMachine(outcomes=['not_found', 'done'], output_keys=['ID']) with _sm_get_operator_id_1: # x:42 y:30 OperatableStateMachine.add('nom', SetKey(Value="person"), transitions={'done': 'FindId'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'name'}) # x:37 y:347 OperatableStateMachine.add('setID', SetRosParam(ParamName="OperatorID"), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}, remapping={'Value': 'ID'}) # x:30 y:112 OperatableStateMachine.add('FindId', list_entities_by_name(frontality_level=0.5, distance_max=10), transitions={'found': 'GetID', 'none_found': 'not_found'}, autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off}, remapping={'name': 'name', 'entity_list': 'Entities_list', 'number': 'number'}) # x:38 y:238 OperatableStateMachine.add('GetID', CalculationState(calculation=lambda x: x[0].ID), transitions={'done': 'setID'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'Entities_list', 'output_value': 'ID'}) # x:346 y:367, x:610 y:472, x:230 y:365, x:628 y:425, x:619 y:318, x:54 y:367 _sm_follow_2 = ConcurrencyContainer(outcomes=['done', 'failed', 'not_found'], input_keys=['ID', 'distance'], output_keys=['Position'], conditions=[ ('not_found', [('Action_follow', 'failed')]), ('done', [('Ecoute_getPose', 'arrete')]), ('failed', [('Ecoute_getPose', 'fail')]) ]) with _sm_follow_2: # x:107 y:103 OperatableStateMachine.add('Action_follow', self.use_behavior(sara_flexbe_behaviors__Action_followSM, 'Getting ID Operator and follow /Follow/Action_follow'), transitions={'failed': 'not_found'}, autonomy={'failed': Autonomy.Inherit}, remapping={'ID': 'ID'}) # x:294 y:146 OperatableStateMachine.add('Ecoute_getPose', _sm_ecoute_getpose_0, transitions={'arrete': 'done', 'fail': 'failed'}, autonomy={'arrete': Autonomy.Inherit, 'fail': Autonomy.Inherit}) # x:57 y:371, x:419 y:55 _sm_waiting_for_operator_3 = OperatableStateMachine(outcomes=['done', 'failed']) with _sm_waiting_for_operator_3: # x:57 y:67 OperatableStateMachine.add('getSpeech', GetSpeech(watchdog=15), transitions={'done': 'UnderstandingOpe', 'nothing': 'failed', 'fail': 'failed'}, autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'words': 'words'}) # x:53 y:249 OperatableStateMachine.add('start', SaraSay(sentence="I will follow you. Tell me when to stop.", input_keys=[], emotion=1, block=True), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}) # x:203 y:180 OperatableStateMachine.add('UnderstandingOpe', RegexTester(regex=".*follow.*"), transitions={'true': 'start', 'false': 'failed'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'text': 'words', 'result': 'result'}) # x:130 y:365 _sm_look_at_4 = OperatableStateMachine(outcomes=['failed']) with _sm_look_at_4: # x:105 y:160 OperatableStateMachine.add('LookAtClosest', self.use_behavior(sara_flexbe_behaviors__LookAtClosestSM, 'Recevoir sac/Look at/LookAtClosest'), transitions={'failed': 'failed'}, autonomy={'failed': Autonomy.Inherit}) # x:280 y:296, x:248 y:549 _sm_receive_bag_5 = OperatableStateMachine(outcomes=['failed', 'done'], input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width']) with _sm_receive_bag_5: # x:42 y:326 OperatableStateMachine.add('PutBAg', SaraSay(sentence="Please put the grocery bag in my hand", input_keys=[], emotion=1, block=False), transitions={'done': 'Action_Receive_Bag'}, autonomy={'done': Autonomy.Off}) # x:18 y:427 OperatableStateMachine.add('Action_Receive_Bag', self.use_behavior(sara_flexbe_behaviors__Action_Receive_BagSM, 'Recevoir sac/Receive bag/Action_Receive_Bag'), transitions={'finished': 'bringit', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width', 'Closed_Gripper_Width': 'Closed_Gripper_Width'}) # x:66 y:125 OperatableStateMachine.add('getspeech2', GetSpeech(watchdog=5), transitions={'done': 'takebag', 'nothing': 'getspeech2', 'fail': 'failed'}, autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'words': 'words'}) # x:64 y:218 OperatableStateMachine.add('takebag', RegexTester(regex=".*((take)|(bag)|(ready)).*"), transitions={'true': 'PutBAg', 'false': 'getspeech2'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'text': 'words', 'result': 'result'}) # x:42 y:531 OperatableStateMachine.add('bringit', SaraSay(sentence="I will bring it inside", input_keys=[], emotion=1, block=True), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}) # x:77 y:40 OperatableStateMachine.add('sac', SaraSay(sentence="Ok. Tell me, when you are ready", input_keys=[], emotion=1, block=True), transitions={'done': 'getspeech2'}, autonomy={'done': Autonomy.Off}) # x:147 y:579 _sm_look_at_closest_6 = OperatableStateMachine(outcomes=['failed'], output_keys=['Entity']) with _sm_look_at_closest_6: # x:40 y:39 OperatableStateMachine.add('set person', SetKey(Value="person"), transitions={'done': 'head angle'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'Person'}) # x:36 y:119 OperatableStateMachine.add('head angle', SaraSetHeadAngle(pitch=-0.3, yaw=0), transitions={'done': 'get persons'}, autonomy={'done': Autonomy.Off}) # x:271 y:149 OperatableStateMachine.add('get persons', list_entities_by_name(frontality_level=0.5, distance_max=2), transitions={'found': 'set person', 'none_found': 'get persons'}, autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off}, remapping={'name': 'Person', 'entity_list': 'entity_list', 'number': 'number'}) # x:30 y:365 _sm_get_op_7 = OperatableStateMachine(outcomes=['true']) with _sm_get_op_7: # x:76 y:40 OperatableStateMachine.add('Say Joke', SaraSay(sentence="Can someone come help me, I only have one arm.", input_keys=[], emotion=1, block=True), transitions={'done': 'ecouteNewPerson'}, autonomy={'done': Autonomy.Off}) # x:208 y:255 OperatableStateMachine.add('listen', RegexTester(regex=".*((i)|(come)|(help)).*"), transitions={'true': 'true', 'false': 'ecouteNewPerson'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'text': 'words', 'result': 'result'}) # x:32 y:106 OperatableStateMachine.add('ecouteNewPerson', GetSpeech(watchdog=5), transitions={'done': 'listen', 'nothing': 'ecouteNewPerson', 'fail': 'ecouteNewPerson'}, autonomy={'done': Autonomy.Off, 'nothing': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'words': 'words'}) # x:65 y:357, x:130 y:365, x:230 y:365 _sm_get_ope_8 = ConcurrencyContainer(outcomes=['true'], output_keys=['Entity'], conditions=[ ('true', [('get op', 'true')]), ('true', [('look at closest', 'failed')]) ]) with _sm_get_ope_8: # x:37 y:35 OperatableStateMachine.add('get op', _sm_get_op_7, transitions={'true': 'true'}, autonomy={'true': Autonomy.Inherit}) # x:238 y:109 OperatableStateMachine.add('look at closest', _sm_look_at_closest_6, transitions={'failed': 'true'}, autonomy={'failed': Autonomy.Inherit}, remapping={'Entity': 'Entity'}) # x:37 y:417, x:236 y:263 _sm_init_sara_9 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['Pose_Init'], output_keys=['Origin']) with _sm_init_sara_9: # x:30 y:40 OperatableStateMachine.add('get_pose', Get_Robot_Pose(), transitions={'done': 'SETHEAD'}, autonomy={'done': Autonomy.Off}, remapping={'pose': 'Origin'}) # x:24 y:259 OperatableStateMachine.add('Init Arm', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={'done': 'done', 'failed': 'failed'}, autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'target': 'Pose_Init'}) # x:23 y:183 OperatableStateMachine.add('SETHEAD', SaraSetHeadAngle(pitch=0, yaw=0), transitions={'done': 'Init Arm'}, autonomy={'done': Autonomy.Off}) # x:92 y:291, x:242 y:133 _sm_exitarena_10 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['ExitDoor']) with _sm_exitarena_10: # x:38 y:119 OperatableStateMachine.add('Action_Pass_Door', self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'ExitArena/Action_Pass_Door'), transitions={'Done': 'finished', 'Fail': 'failed'}, autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit}, remapping={'DoorName': 'ExitDoor'}) # x:353 y:529, x:369 y:296 _sm_enter_arena_11 = OperatableStateMachine(outcomes=['done', 'fail'], input_keys=['EntryDoor']) with _sm_enter_arena_11: # x:132 y:147 OperatableStateMachine.add('Action_Pass_Door', self.use_behavior(sara_flexbe_behaviors__Action_Pass_DoorSM, 'Enter arena/Action_Pass_Door'), transitions={'Done': 'say start', 'Fail': 'fail'}, autonomy={'Done': Autonomy.Inherit, 'Fail': Autonomy.Inherit}, remapping={'DoorName': 'EntryDoor'}) # x:124 y:501 OperatableStateMachine.add('say help', SaraSay(sentence="Hi, i will help you carry some bags. LEt me know when you need me", input_keys=[], emotion=1, block=True), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}) # x:146 y:256 OperatableStateMachine.add('say start', SaraSay(sentence="", input_keys=[], emotion=1, block=True), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}) # x:121 y:375 OperatableStateMachine.add('Action_Move', self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Enter arena/Action_Move'), transitions={'finished': 'say help', 'failed': 'fail'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'EntryDoor'}) # x:372 y:428, x:389 y:477 _sm_getting_id_operator_and_follow__12 = OperatableStateMachine(outcomes=['failed', 'done'], output_keys=['Position']) with _sm_getting_id_operator_and_follow__12: # x:70 y:115 OperatableStateMachine.add('Waiting for operator', _sm_waiting_for_operator_3, transitions={'done': 'Get operator ID', 'failed': 'Waiting for operator'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}) # x:71 y:504 OperatableStateMachine.add('get pose', Get_Robot_Pose(), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}, remapping={'pose': 'Position'}) # x:69 y:415 OperatableStateMachine.add('Follow', _sm_follow_2, transitions={'done': 'get pose', 'failed': 'failed', 'not_found': 'initial'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'not_found': Autonomy.Inherit}, remapping={'ID': 'ID', 'distance': 'distance', 'Position': 'Position'}) # x:60 y:222 OperatableStateMachine.add('Get operator ID', _sm_get_operator_id_1, transitions={'not_found': 'Get operator ID', 'done': 'set follow distance'}, autonomy={'not_found': Autonomy.Inherit, 'done': Autonomy.Inherit}, remapping={'ID': 'ID'}) # x:60 y:324 OperatableStateMachine.add('set follow distance', SetKey(Value="0.5"), transitions={'done': 'Follow'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'distance'}) # x:286 y:327 OperatableStateMachine.add('initial', SaraSetHeadAngle(pitch=0, yaw=0), transitions={'done': 'Get operator ID'}, autonomy={'done': Autonomy.Off}) # x:247 y:123, x:282 y:200, x:230 y:365 _sm_drop_le_sac_13 = OperatableStateMachine(outcomes=['failed', 'no_object', 'done'], input_keys=['Idle', 'dropPose']) with _sm_drop_le_sac_13: # x:22 y:114 OperatableStateMachine.add('dropbag', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={'done': 'Open', 'failed': 'failed'}, autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'target': 'dropPose'}) # x:5 y:344 OperatableStateMachine.add('close', SetGripperState(width=0, effort=1), transitions={'object': 'returnIdl', 'no_object': 'returnIdl'}, autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off}, remapping={'object_size': 'object_size'}) # x:19 y:268 OperatableStateMachine.add('wait', WaitState(wait_time=2), transitions={'done': 'close'}, autonomy={'done': Autonomy.Off}) # x:8 y:433 OperatableStateMachine.add('returnIdl', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={'done': 'done', 'failed': 'failed'}, autonomy={'done': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'target': 'Idle'}) # x:10 y:190 OperatableStateMachine.add('Open', SetGripperState(width=0.1, effort=1), transitions={'object': 'wait', 'no_object': 'no_object'}, autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off}, remapping={'object_size': 'object_size'}) # x:555 y:54, x:568 y:190 _sm_retour_maison_14 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['PoseOrigin', 'Relative']) with _sm_retour_maison_14: # x:54 y:63 OperatableStateMachine.add('keydistance', SetKey(Value=0), transitions={'done': 'adapt the end pose'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'distance'}) # x:258 y:51 OperatableStateMachine.add('Arrived', SaraSay(sentence="I have food, people. I will drop the bags on the floor.", input_keys=[], emotion=1, block=True), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}) # x:43 y:141 OperatableStateMachine.add('adapt the end pose', Get_Reacheable_Waypoint(), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}, remapping={'pose_in': 'PoseOrigin', 'distance': 'distance', 'pose_out': 'pose_out'}) # x:236 y:182 OperatableStateMachine.add('Action_Move', self.use_behavior(sara_flexbe_behaviors__Action_MoveSM, 'Retour maison/Action_Move'), transitions={'finished': 'Arrived', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'pose_out'}) # x:30 y:365, x:130 y:365, x:230 y:365, x:330 y:365, x:430 y:365 _sm_recevoir_sac_15 = ConcurrencyContainer(outcomes=['failed', 'done'], input_keys=['Closed_Gripper_Width', 'Open_Gripper_Width'], conditions=[ ('failed', [('Receive bag', 'failed')]), ('done', [('Receive bag', 'done')]), ('failed', [('Look at', 'failed')]) ]) with _sm_recevoir_sac_15: # x:84 y:156 OperatableStateMachine.add('Receive bag', _sm_receive_bag_5, transitions={'failed': 'failed', 'done': 'done'}, autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit}, remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width'}) # x:262 y:154 OperatableStateMachine.add('Look at', _sm_look_at_4, transitions={'failed': 'failed'}, autonomy={'failed': Autonomy.Inherit}) # x:728 y:533, x:722 y:468 _sm_getnewperson_16 = OperatableStateMachine(outcomes=['done', 'failed'], input_keys=['Position']) with _sm_getnewperson_16: # x:52 y:77 OperatableStateMachine.add('Get ope', _sm_get_ope_8, transitions={'true': 'set name'}, autonomy={'true': Autonomy.Inherit}, remapping={'Entity': 'Entity'}) # x:46 y:508 OperatableStateMachine.add('SET HEAD', SaraSetHeadAngle(pitch=-0.2, yaw=0), transitions={'done': 'Action_Guide2'}, autonomy={'done': Autonomy.Off}) # x:39 y:297 OperatableStateMachine.add('list', list_entities_by_name(frontality_level=0.5, distance_max=2), transitions={'found': 'get closest ID', 'none_found': 'list'}, autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off}, remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'}) # x:70 y:194 OperatableStateMachine.add('set name', SetKey(Value="person"), transitions={'done': 'list'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'name'}) # x:151 y:413 OperatableStateMachine.add('get closest ID', CalculationState(calculation=lambda x: x[0].ID), transitions={'done': 'SET HEAD'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'entity_list', 'output_value': 'ID'}) # x:293 y:534 OperatableStateMachine.add('Action_Guide2', self.use_behavior(sara_flexbe_behaviors__Action_Guide2SM, 'GetNewPerson/Action_Guide2'), transitions={'finished': 'done', 'failed': 'failed', 'critical_fail': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'critical_fail': Autonomy.Inherit}, remapping={'Position': 'Position', 'ID': 'ID'}) # x:57 y:399 OperatableStateMachine.add('set 0', SetKey(Value=0), transitions={'done': 'SET HEAD'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'ID'}) with _state_machine: # x:188 y:35 OperatableStateMachine.add('say ready', SaraSay(sentence="I'm ready for the help me carry scenario. I will follow when you ask me.", input_keys=[], emotion=1, block=True), transitions={'done': 'INIT SARA'}, autonomy={'done': Autonomy.Off}) # x:827 y:439 OperatableStateMachine.add('finish', SaraSay(sentence="I am done for the day", input_keys=[], emotion=2, block=True), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) # x:53 y:641 OperatableStateMachine.add('GetNewPerson', _sm_getnewperson_16, transitions={'done': 'say leave', 'failed': 'failed'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'Position': 'Position'}) # x:48 y:349 OperatableStateMachine.add('Recevoir sac', _sm_recevoir_sac_15, transitions={'failed': 'failed', 'done': 'Retour maison'}, autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit}, remapping={'Closed_Gripper_Width': 'Closed_Gripper_Width', 'Open_Gripper_Width': 'Open_Gripper_Width'}) # x:36 y:448 OperatableStateMachine.add('Retour maison', _sm_retour_maison_14, transitions={'done': 'drop le sac', 'failed': 'failed'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'PoseOrigin': 'Origin', 'Relative': 'Relative'}) # x:49 y:556 OperatableStateMachine.add('drop le sac', _sm_drop_le_sac_13, transitions={'failed': 'failed', 'no_object': 'failed', 'done': 'GetNewPerson'}, autonomy={'failed': Autonomy.Inherit, 'no_object': Autonomy.Inherit, 'done': Autonomy.Inherit}, remapping={'Idle': 'Pose_Init', 'dropPose': 'dropPose'}) # x:150 y:260 OperatableStateMachine.add('Getting ID Operator and follow ', _sm_getting_id_operator_and_follow__12, transitions={'failed': 'failed', 'done': 'Recevoir sac'}, autonomy={'failed': Autonomy.Inherit, 'done': Autonomy.Inherit}, remapping={'Position': 'Position'}) # x:148 y:177 OperatableStateMachine.add('Enter arena', _sm_enter_arena_11, transitions={'done': 'Getting ID Operator and follow ', 'fail': 'failed'}, autonomy={'done': Autonomy.Inherit, 'fail': Autonomy.Inherit}, remapping={'EntryDoor': 'EntryDoor'}) # x:498 y:617 OperatableStateMachine.add('ExitArena', _sm_exitarena_10, transitions={'finished': 'finish', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'ExitDoor': 'ExitDoor'}) # x:389 y:14 OperatableStateMachine.add('ContinueButton', ContinueButton(), transitions={'true': 'say ready', 'false': 'say ready'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}) # x:329 y:645 OperatableStateMachine.add('say leave', SaraSay(sentence="I will leave now. Goodbye", input_keys=[], emotion=1, block=True), transitions={'done': 'ExitArena'}, autonomy={'done': Autonomy.Off}) # x:319 y:101 OperatableStateMachine.add('wait1', WaitState(wait_time=5), transitions={'done': 'say ready'}, autonomy={'done': Autonomy.Off}) # x:35 y:78 OperatableStateMachine.add('INIT SARA', _sm_init_sara_9, transitions={'done': 'Getting ID Operator and follow ', 'failed': 'failed'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'Pose_Init': 'Pose_Init', 'Origin': 'Origin'}) return _state_machine
def create(self): # x:825 y:465, x:801 y:48 _state_machine = OperatableStateMachine( outcomes=['finished', 'failed']) # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] # x:30 y:458, x:130 y:458 _sm_torque_control_0 = OperatableStateMachine( outcomes=['finished', 'failed']) with _sm_torque_control_0: # x:126 y:51 OperatableStateMachine.add('w2', WaitState(wait_time=5), transitions={'done': 'check torque'}, autonomy={'done': Autonomy.Off}) # x:120 y:195 OperatableStateMachine.add('check torque', ReadTorque( watchdog=20, Joint="right_shoulder_pitch_joint", Threshold=2.5, min_time=0.5), transitions={ 'threshold': 'finished', 'watchdog': 'check torque', 'fail': 'check torque' }, autonomy={ 'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'torque': 'torque'}) # x:30 y:458, x:130 y:458 _sm_trajectory_down_1 = OperatableStateMachine( outcomes=['finished', 'failed']) with _sm_trajectory_down_1: # x:68 y:158 OperatableStateMachine.add('run down', RunTrajectory(file="poubelle_app", duration=16), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) # x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458, x:530 y:458 _sm_container_2 = ConcurrencyContainer( outcomes=['finished', 'failed'], conditions=[('failed', [('test', 'done')]), ('finished', [('tor', 'threshold')]), ('failed', [('tor', 'watchdog')]), ('failed', [('tor', 'fail')])]) with _sm_container_2: # x:67 y:108 OperatableStateMachine.add('test', RunTrajectory(file="poubelle_valide", duration=7), transitions={'done': 'failed'}, autonomy={'done': Autonomy.Off}) # x:327 y:130 OperatableStateMachine.add('tor', ReadTorque( watchdog=7, Joint="right_elbow_yaw_joint", Threshold=1.6, min_time=1), transitions={ 'threshold': 'finished', 'watchdog': 'failed', 'fail': 'failed' }, autonomy={ 'threshold': Autonomy.Off, 'watchdog': Autonomy.Off, 'fail': Autonomy.Off }, remapping={'torque': 'torque'}) # x:30 y:365, x:130 y:365 _sm_trajectory_to_transport_pose_3 = OperatableStateMachine( outcomes=['finished', 'failed']) with _sm_trajectory_to_transport_pose_3: # x:30 y:40 OperatableStateMachine.add('trajectory to transport pose', RunTrajectory(file="poubelle_transport", duration=0), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) # x:479 y:236, x:469 y:51, x:462 y:111, x:471 y:160, x:430 y:365, x:530 y:365 _sm_trajectory_down_with_torque_limit_4 = ConcurrencyContainer( outcomes=['finished', 'failed'], conditions=[('finished', [('torque control', 'finished')]), ('finished', [('trajectory down', 'finished')]), ('failed', [('trajectory down', 'failed')]), ('failed', [('torque control', 'failed')])]) with _sm_trajectory_down_with_torque_limit_4: # x:109 y:63 OperatableStateMachine.add('trajectory down', _sm_trajectory_down_1, transitions={ 'finished': 'finished', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:102 y:211 OperatableStateMachine.add('torque control', _sm_torque_control_0, transitions={ 'finished': 'finished', 'failed': 'failed' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:30 y:458, x:130 y:458 _sm_has_bag_in_gripper_5 = OperatableStateMachine( outcomes=['finished', 'failed']) with _sm_has_bag_in_gripper_5: # x:191 y:132 OperatableStateMachine.add('Container', _sm_container_2, transitions={ 'finished': 'ok', 'failed': 'bad' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:18 y:266 OperatableStateMachine.add('ok', SaraSay(sentence="Yay! I got it!", input_keys=[], emotion=6, block=True), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) # x:238 y:279 OperatableStateMachine.add('bad', SaraSay(sentence="Woops! I missed!", input_keys=[], emotion=3, block=True), transitions={'done': 'failed'}, autonomy={'done': Autonomy.Off}) # x:30 y:458, x:130 y:458 _sm_trajectory_up_6 = OperatableStateMachine( outcomes=['finished', 'failed']) with _sm_trajectory_up_6: # x:71 y:122 OperatableStateMachine.add('trajectory up', RunTrajectory(file="poubelle_eloigne", duration=10), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) # x:30 y:458, x:130 y:458 _sm_close_gripper_7 = OperatableStateMachine( outcomes=['finished', 'failed']) with _sm_close_gripper_7: # x:79 y:177 OperatableStateMachine.add( 'close gripper', SetGripperState(width=0, effort=1), transitions={ 'object': 'finished', 'no_object': 'retry close' }, autonomy={ 'object': Autonomy.Off, 'no_object': Autonomy.Off }, remapping={'object_size': 'object_size'}) # x:272 y:237 OperatableStateMachine.add('retry close', ForLoop(repeat=1), transitions={ 'do': 'close gripper', 'end': 'failed' }, autonomy={ 'do': Autonomy.Off, 'end': Autonomy.Off }, remapping={'index': 'index'}) with _state_machine: # x:89 y:35 OperatableStateMachine.add('head down', SaraSetHeadAngle(pitch=0.8, yaw=0), transitions={'done': 'open gripper'}, autonomy={'done': Autonomy.Off}) # x:484 y:164 OperatableStateMachine.add('close gripper', _sm_close_gripper_7, transitions={ 'finished': 'trajectory up', 'failed': 'trajectory up' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:473 y:300 OperatableStateMachine.add('trajectory up', _sm_trajectory_up_6, transitions={ 'finished': 'wait a little bit', 'failed': 'wait a little bit' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:232 y:434 OperatableStateMachine.add('has bag in gripper', _sm_has_bag_in_gripper_5, transitions={ 'finished': 'trajectory to transport pose', 'failed': 'open gripper' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:467 y:33 OperatableStateMachine.add('trajectory down with torque limit', _sm_trajectory_down_with_torque_limit_4, transitions={ 'finished': 'close gripper', 'failed': 'head down' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:283 y:83 OperatableStateMachine.add( 'open gripper', SetGripperState(width=0.12, effort=0), transitions={ 'object': 'trajectory down with torque limit', 'no_object': 'trajectory down with torque limit' }, autonomy={ 'object': Autonomy.Off, 'no_object': Autonomy.Off }, remapping={'object_size': 'object_size'}) # x:557 y:454 OperatableStateMachine.add('trajectory to transport pose', _sm_trajectory_to_transport_pose_3, transitions={ 'finished': 'finished', 'failed': 'finished' }, autonomy={ 'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit }) # x:356 y:357 OperatableStateMachine.add( 'wait a little bit', WaitState(wait_time=1), transitions={'done': 'has bag in gripper'}, autonomy={'done': Autonomy.Off}) return _state_machine
def create(self): # x:902 y:757, x:882 y:161 _state_machine = OperatableStateMachine(outcomes=['finished', 'failed']) # Additional creation code can be added inside the following tags # [MANUAL_CREATE] # [/MANUAL_CREATE] # x:1232 y:907, x:1267 y:613, x:1271 y:566 _sm_find_table_and_place_0 = OperatableStateMachine(outcomes=['finished', 'failed', 'no_table']) with _sm_find_table_and_place_0: # x:877 y:673 OperatableStateMachine.add('run traj', RunTrajectory(file="receive_object", duration=0), transitions={'done': 'say release'}, autonomy={'done': Autonomy.Off}) # x:532 y:572 OperatableStateMachine.add('Action_find_2', self.use_behavior(Action_findSM, 'take objects and bring the order to customer/find table and place/Action_find_2'), transitions={'done': 'get table position', 'failed': 'say do not find table'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'className': 'tableKey', 'entity': 'tableEntity'}) # x:576 y:514 OperatableStateMachine.add('set tableKey', SetKey(Value="table"), transitions={'done': 'Action_find_2'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'tableKey'}) # x:538 y:638 OperatableStateMachine.add('get table position', CalculationState(calculation=lambda x: x.position), transitions={'done': 'Action_place'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'tableEntity', 'output_value': 'pose'}) # x:736 y:677 OperatableStateMachine.add('say do not find table', SaraSay(sentence="I can not find the table. Please be ready to grab the object.", input_keys=[], emotion=0, block=True), transitions={'done': 'run traj'}, autonomy={'done': Autonomy.Off}) # x:41 y:231 OperatableStateMachine.add('find a table and a free spot', GetPositionToPlaceOnTable(), transitions={'done': 'Action_place', 'not_found': 'look down_left'}, autonomy={'done': Autonomy.Off, 'not_found': Autonomy.Off}, remapping={'distanceFromEdge': 'distanceFromEdge', 'position': 'pose'}) # x:291 y:805 OperatableStateMachine.add('Action_place', self.use_behavior(Action_placeSM, 'take objects and bring the order to customer/find table and place/Action_place'), transitions={'finished': 'finished', 'failed': 'say do not find table'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pos': 'pose'}) # x:50 y:102 OperatableStateMachine.add('look down', SaraSetHeadAngle(pitch=0, yaw=0.7), transitions={'done': 'wait'}, autonomy={'done': Autonomy.Off}) # x:214 y:378 OperatableStateMachine.add('find a table and a free spot_2', GetPositionToPlaceOnTable(), transitions={'done': 'Action_place', 'not_found': 'look down_right'}, autonomy={'done': Autonomy.Off, 'not_found': Autonomy.Off}, remapping={'distanceFromEdge': 'distanceFromEdge', 'position': 'pose'}) # x:240 y:232 OperatableStateMachine.add('look down_left', SaraSetHeadAngle(pitch=0.7, yaw=0.6), transitions={'done': 'wait_2'}, autonomy={'done': Autonomy.Off}) # x:387 y:513 OperatableStateMachine.add('find a table and a free spot_2_2', GetPositionToPlaceOnTable(), transitions={'done': 'Action_place', 'not_found': 'set tableKey'}, autonomy={'done': Autonomy.Off, 'not_found': Autonomy.Off}, remapping={'distanceFromEdge': 'distanceFromEdge', 'position': 'pose'}) # x:402 y:378 OperatableStateMachine.add('look down_right', SaraSetHeadAngle(pitch=-0.7, yaw=0.6), transitions={'done': 'wait_3'}, autonomy={'done': Autonomy.Off}) # x:66 y:169 OperatableStateMachine.add('wait', WaitState(wait_time=3), transitions={'done': 'find a table and a free spot'}, autonomy={'done': Autonomy.Off}) # x:242 y:294 OperatableStateMachine.add('wait_2', WaitState(wait_time=3), transitions={'done': 'find a table and a free spot_2'}, autonomy={'done': Autonomy.Off}) # x:411 y:444 OperatableStateMachine.add('wait_3', WaitState(wait_time=3), transitions={'done': 'find a table and a free spot_2_2'}, autonomy={'done': Autonomy.Off}) # x:1000 y:670 OperatableStateMachine.add('say release', SaraSay(sentence="Here is your order. I will open my gripper in 3, 2, 1, now.", input_keys=[], emotion=0, block=True), transitions={'done': 'open gripper'}, autonomy={'done': Autonomy.Off}) # x:1122 y:666 OperatableStateMachine.add('open gripper', SetGripperState(width=0.1, effort=1), transitions={'object': 'say good day', 'no_object': 'say good day'}, autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off}, remapping={'object_size': 'object_size'}) # x:1170 y:771 OperatableStateMachine.add('say good day', SaraSay(sentence="Thank you. Have a good day.", input_keys=[], emotion=6, block=True), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) # x:62 y:29 OperatableStateMachine.add('set distance', SetKey(Value=0.3), transitions={'done': 'look down'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'distanceFromEdge'}) # x:30 y:458, x:130 y:458 _sm_keep_looking_1 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['personID']) with _sm_keep_looking_1: # x:30 y:40 OperatableStateMachine.add('keep', KeepLookingAt(), transitions={'failed': 'keep'}, autonomy={'failed': Autonomy.Off}, remapping={'ID': 'personID'}) # x:30 y:458, x:130 y:458 _sm_ask_2 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['question'], output_keys=['answer']) with _sm_ask_2: # x:30 y:40 OperatableStateMachine.add('Action_Ask', self.use_behavior(Action_AskSM, 'ask and save order/ask AND look person/ask/Action_Ask'), transitions={'finished': 'finished', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'question': 'question', 'answer': 'answer'}) # x:30 y:458, x:130 y:458 _sm_confirm_order_3 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['orderList']) with _sm_confirm_order_3: # x:114 y:67 OperatableStateMachine.add('produce question', CalculationState(calculation=lambda x: "Did you order :" + str(x[0].data)), transitions={'done': 'Action_Ask'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'orderList', 'output_value': 'question'}) # x:423 y:171 OperatableStateMachine.add('Action_Ask', self.use_behavior(Action_AskSM, 'ask and save order/confirm order/Action_Ask'), transitions={'finished': 'finished', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'question': 'question', 'answer': 'answer'}) # x:348 y:66, x:351 y:97, x:339 y:159, x:336 y:195, x:518 y:89, x:515 y:175 _sm_ask_and_look_person_4 = ConcurrencyContainer(outcomes=['finished', 'failed'], input_keys=['personID', 'question'], output_keys=['answer'], conditions=[ ('finished', [('ask', 'finished')]), ('failed', [('ask', 'failed')]), ('finished', [('keep looking', 'finished')]), ('failed', [('keep looking', 'failed')]) ]) with _sm_ask_and_look_person_4: # x:30 y:40 OperatableStateMachine.add('ask', _sm_ask_2, transitions={'finished': 'finished', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'question': 'question', 'answer': 'answer'}) # x:30 y:138 OperatableStateMachine.add('keep looking', _sm_keep_looking_1, transitions={'finished': 'finished', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'personID': 'personID'}) # x:30 y:458 _sm_look_around_2_5 = OperatableStateMachine(outcomes=['finished']) with _sm_look_around_2_5: # x:215 y:156 OperatableStateMachine.add('center', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'w2'}, autonomy={'done': Autonomy.Off}) # x:394 y:262 OperatableStateMachine.add('right', SaraSetHeadAngle(pitch=0.1, yaw=-1.5), transitions={'done': 'w3'}, autonomy={'done': Autonomy.Off}) # x:206 y:372 OperatableStateMachine.add('center2', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'w4'}, autonomy={'done': Autonomy.Off}) # x:38 y:596 OperatableStateMachine.add('w1', WaitState(wait_time=4), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) # x:413 y:159 OperatableStateMachine.add('w2', WaitState(wait_time=4), transitions={'done': 'right'}, autonomy={'done': Autonomy.Off}) # x:415 y:370 OperatableStateMachine.add('w3', WaitState(wait_time=4), transitions={'done': 'center2'}, autonomy={'done': Autonomy.Off}) # x:39 y:371 OperatableStateMachine.add('w4', WaitState(wait_time=4), transitions={'done': 'left'}, autonomy={'done': Autonomy.Off}) # x:25 y:482 OperatableStateMachine.add('left', SaraSetHeadAngle(pitch=0.1, yaw=1.5), transitions={'done': 'w1'}, autonomy={'done': Autonomy.Off}) # x:30 y:458 _sm_look_around_6 = OperatableStateMachine(outcomes=['finished']) with _sm_look_around_6: # x:215 y:156 OperatableStateMachine.add('center', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'w2'}, autonomy={'done': Autonomy.Off}) # x:394 y:262 OperatableStateMachine.add('right', SaraSetHeadAngle(pitch=0.1, yaw=-1.5), transitions={'done': 'w3'}, autonomy={'done': Autonomy.Off}) # x:206 y:372 OperatableStateMachine.add('center2', SaraSetHeadAngle(pitch=0.1, yaw=0), transitions={'done': 'w4'}, autonomy={'done': Autonomy.Off}) # x:38 y:596 OperatableStateMachine.add('w1', WaitState(wait_time=4), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) # x:413 y:159 OperatableStateMachine.add('w2', WaitState(wait_time=4), transitions={'done': 'right'}, autonomy={'done': Autonomy.Off}) # x:415 y:370 OperatableStateMachine.add('w3', WaitState(wait_time=4), transitions={'done': 'center2'}, autonomy={'done': Autonomy.Off}) # x:39 y:371 OperatableStateMachine.add('w4', WaitState(wait_time=4), transitions={'done': 'left'}, autonomy={'done': Autonomy.Off}) # x:25 y:482 OperatableStateMachine.add('left', SaraSetHeadAngle(pitch=0.1, yaw=1.5), transitions={'done': 'w1'}, autonomy={'done': Autonomy.Off}) # x:30 y:458, x:130 y:458 _sm_turn_around_7 = OperatableStateMachine(outcomes=['finished', 'failed']) with _sm_turn_around_7: # x:80 y:26 OperatableStateMachine.add('look around', _sm_look_around_6, transitions={'finished': 'pose with 180 rotation'}, autonomy={'finished': Autonomy.Inherit}) # x:66 y:286 OperatableStateMachine.add('rotation', SaraMoveBase(reference="base_link"), transitions={'arrived': 'look around_2', 'failed': 'failed'}, autonomy={'arrived': Autonomy.Off, 'failed': Autonomy.Off}, remapping={'pose': 'pose'}) # x:56 y:388 OperatableStateMachine.add('look around_2', _sm_look_around_2_5, transitions={'finished': 'finished'}, autonomy={'finished': Autonomy.Inherit}) # x:63 y:133 OperatableStateMachine.add('pose with 180 rotation', GenPoseEuler(x=0, y=0, z=0, roll=0, pitch=0, yaw=3.14), transitions={'done': 'rotation'}, autonomy={'done': Autonomy.Off}, remapping={'pose': 'pose'}) # x:30 y:458 _sm_get_waving_people_8 = OperatableStateMachine(outcomes=['finished'], output_keys=['waving_person']) with _sm_get_waving_people_8: # x:47 y:45 OperatableStateMachine.add('set name', SetKey(Value="person"), transitions={'done': 'list people'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'name'}) # x:40 y:236 OperatableStateMachine.add('filter waving', FilterKey(filter_function=lambda x: x[0].pose.right_arm_up or x[0].pose.left_arm_up, input_keys=["input_list"]), transitions={'not_empty': 'get first', 'empty': 'list people'}, autonomy={'not_empty': Autonomy.Off, 'empty': Autonomy.Off}, remapping={'input_list': 'entity_list', 'output_list': 'waving_peoples'}) # x:53 y:326 OperatableStateMachine.add('get first', CalculationState(calculation=lambda x: x[0]), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'waving_peoples', 'output_value': 'waving_person'}) # x:40 y:133 OperatableStateMachine.add('list people', list_entities_by_name(frontality_level=0.5, distance_max=5), transitions={'found': 'filter waving', 'none_found': 'list people'}, autonomy={'found': Autonomy.Off, 'none_found': Autonomy.Off}, remapping={'name': 'name', 'entity_list': 'entity_list', 'number': 'number'}) # x:30 y:458, x:130 y:458, x:230 y:458, x:330 y:458, x:430 y:458 _sm_look_for_waving_people_9 = ConcurrencyContainer(outcomes=['finished', 'failed'], output_keys=['waving_person'], conditions=[ ('failed', [('turn around', 'failed')]), ('failed', [('turn around', 'finished')]), ('finished', [('get waving people', 'finished')]) ]) with _sm_look_for_waving_people_9: # x:268 y:118 OperatableStateMachine.add('get waving people', _sm_get_waving_people_8, transitions={'finished': 'finished'}, autonomy={'finished': Autonomy.Inherit}, remapping={'waving_person': 'waving_person'}) # x:60 y:126 OperatableStateMachine.add('turn around', _sm_turn_around_7, transitions={'finished': 'failed', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}) # x:441 y:583, x:93 y:568 _sm_repeate_if_first_commande_10 = OperatableStateMachine(outcomes=['finished', 'repeate'], input_keys=['commandNumber'], output_keys=['commandNumber']) with _sm_repeate_if_first_commande_10: # x:242 y:97 OperatableStateMachine.add('if first command', CheckConditionState(predicate=lambda x: x == 1), transitions={'true': 'set second command', 'false': 'finished'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'input_value': 'commandNumber'}) # x:73 y:329 OperatableStateMachine.add('set second command', SetKey(Value=2), transitions={'done': 'repeate'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'commandNumber'}) # x:1053 y:687, x:1068 y:149 _sm_take_objects_and_bring_the_order_to_customer_11 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['barPosition', 'orderList', 'robotPositionToCustomer']) with _sm_take_objects_and_bring_the_order_to_customer_11: # x:73 y:26 OperatableStateMachine.add('set indexkey', SetKey(Value=0), transitions={'done': 'one element by one element from the list'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'indexKey'}) # x:591 y:684 OperatableStateMachine.add('increment indexKey', CalculationState(calculation=lambda x: x+1), transitions={'done': 'check if end of the list'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'indexKey', 'output_value': 'indexKey'}) # x:796 y:679 OperatableStateMachine.add('check if end of the list', FlexibleCheckConditionState(predicate=lambda x: len(x[0]) <= x[1], input_keys=["orderList", "indexKey"]), transitions={'true': 'finished', 'false': 'Action_Move_2'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'orderList': 'orderList', 'indexKey': 'indexKey'}) # x:31 y:243 OperatableStateMachine.add('Action_find', self.use_behavior(Action_findSM, 'take objects and bring the order to customer/Action_find'), transitions={'done': 'get entity ID', 'failed': 'say cannot find'}, autonomy={'done': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'className': 'item', 'entity': 'entity'}) # x:76 y:183 OperatableStateMachine.add('say search and grip', SaraSay(sentence=lambda x: "I am now searching for the "+x[0]+".", input_keys=["item"], emotion=0, block=True), transitions={'done': 'Action_find'}, autonomy={'done': Autonomy.Off}, remapping={'item': 'item'}) # x:258 y:261 OperatableStateMachine.add('say cannot find', SaraSay(sentence="I cannot find the item.", input_keys=[], emotion=0, block=True), transitions={'done': 'place arm'}, autonomy={'done': Autonomy.Off}) # x:63 y:393 OperatableStateMachine.add('Action_pick', self.use_behavior(Action_pickSM, 'take objects and bring the order to customer/Action_pick'), transitions={'success': 'say go to the customer', 'unreachable': 'say cannot pick', 'not found': 'say cannot pick', 'dropped': 'say cannot pick'}, autonomy={'success': Autonomy.Inherit, 'unreachable': Autonomy.Inherit, 'not found': Autonomy.Inherit, 'dropped': Autonomy.Inherit}, remapping={'objectID': 'entityID'}) # x:61 y:548 OperatableStateMachine.add('Action_Move', self.use_behavior(Action_MoveSM, 'take objects and bring the order to customer/Action_Move'), transitions={'finished': 'find table and place', 'failed': 'say cant get back to customer'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'robotPositionToCustomer'}) # x:83 y:326 OperatableStateMachine.add('get entity ID', CalculationState(calculation=lambda x: x.ID), transitions={'done': 'Action_pick'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'entity', 'output_value': 'entityID'}) # x:568 y:407 OperatableStateMachine.add('say put in the gripper', SaraSay(sentence=lambda x: "Please, put the "+x[0]+" in my gripper. I will close it in 3, 2, 1, now.", input_keys=["item"], emotion=0, block=True), transitions={'done': 'close gripper'}, autonomy={'done': Autonomy.Off}, remapping={'item': 'item'}) # x:243 y:387 OperatableStateMachine.add('say cannot pick', SaraSay(sentence="I can not pick the item.", input_keys=[], emotion=0, block=True), transitions={'done': 'place arm'}, autonomy={'done': Autonomy.Off}) # x:388 y:502 OperatableStateMachine.add('say thank you', SaraSay(sentence="Thank you.", input_keys=[], emotion=0, block=True), transitions={'done': 'place arm 2'}, autonomy={'done': Autonomy.Off}) # x:72 y:465 OperatableStateMachine.add('say go to the customer', SaraSay(sentence="I will serve it to the customer.", input_keys=[], emotion=0, block=True), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}) # x:522 y:505 OperatableStateMachine.add('close gripper', SetGripperState(width=0, effort=1), transitions={'object': 'say thank you', 'no_object': 'open gripper'}, autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off}, remapping={'object_size': 'object_size'}) # x:357 y:569 OperatableStateMachine.add('say cant get back to customer', SaraSay(sentence="I am not able to go back to the customer.", input_keys=[], emotion=0, block=True), transitions={'done': 'increment indexKey'}, autonomy={'done': Autonomy.Off}) # x:541 y:317 OperatableStateMachine.add('open gripper', SetGripperState(width=0.10, effort=1), transitions={'object': 'say put in the gripper', 'no_object': 'say put in the gripper'}, autonomy={'object': Autonomy.Off, 'no_object': Autonomy.Off}, remapping={'object_size': 'object_size'}) # x:63 y:110 OperatableStateMachine.add('one element by one element from the list', FlexibleCalculationState(calculation=lambda x: x[0][x[1]].data, input_keys=["orderList", "indexKey"]), transitions={'done': 'say search and grip'}, autonomy={'done': Autonomy.Off}, remapping={'orderList': 'orderList', 'indexKey': 'indexKey', 'output_value': 'item'}) # x:376 y:324 OperatableStateMachine.add('place arm', RunTrajectory(file="receive_object", duration=0), transitions={'done': 'open gripper'}, autonomy={'done': Autonomy.Off}) # x:638 y:184 OperatableStateMachine.add('Action_Move_2', self.use_behavior(Action_MoveSM, 'take objects and bring the order to customer/Action_Move_2'), transitions={'finished': 'increment indexKey', 'failed': 'say cannot go back to bar'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'barPosition'}) # x:817 y:178 OperatableStateMachine.add('say cannot go back to bar', SaraSay(sentence="I am not able to go back to the barman. I will try a new command.", input_keys=[], emotion=0, block=True), transitions={'done': 'failed'}, autonomy={'done': Autonomy.Off}) # x:85 y:740 OperatableStateMachine.add('find table and place', _sm_find_table_and_place_0, transitions={'finished': 'retour repos', 'failed': 'retour repos', 'no_table': 'retour repos'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'no_table': Autonomy.Inherit}) # x:248 y:505 OperatableStateMachine.add('place arm 2', RunTrajectory(file="transport", duration=0), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}) # x:362 y:679 OperatableStateMachine.add('retour repos', RunTrajectory(file="repos", duration=0), transitions={'done': 'increment indexKey'}, autonomy={'done': Autonomy.Off}) # x:242 y:352, x:1086 y:243 _sm_get_the_order_12 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['orderList']) with _sm_get_the_order_12: # x:68 y:39 OperatableStateMachine.add('length 1', CheckConditionState(predicate=lambda x: len(x) == 1), transitions={'true': 'say order', 'false': 'length 2'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'input_value': 'orderList'}) # x:236 y:41 OperatableStateMachine.add('length 2', CheckConditionState(predicate=lambda x: len(x) ==2), transitions={'true': 'say order_2', 'false': 'say order_3'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'input_value': 'orderList'}) # x:228 y:111 OperatableStateMachine.add('say order_2', SaraSay(sentence=lambda x: "For this order, I would like to have one "+x[0][0].data+" and one "+x[0][1].data+", please.", input_keys=["orderList"], emotion=0, block=True), transitions={'done': 'wait 5'}, autonomy={'done': Autonomy.Off}, remapping={'orderList': 'orderList'}) # x:374 y:109 OperatableStateMachine.add('say order_3', SaraSay(sentence=lambda x: "For this order, I would like to have one "+x[0][0].data+", one "+x[0][1].data+" and one "+x[0][2].data+", please.", input_keys=["orderList"], emotion=0, block=True), transitions={'done': 'wait 5'}, autonomy={'done': Autonomy.Off}, remapping={'orderList': 'orderList'}) # x:67 y:117 OperatableStateMachine.add('say order', SaraSay(sentence=lambda x: "For this order, I would like to have one "+x[0][0].data+", please.", input_keys=["orderList"], emotion=0, block=True), transitions={'done': 'wait 5'}, autonomy={'done': Autonomy.Off}, remapping={'orderList': 'orderList'}) # x:224 y:256 OperatableStateMachine.add('wait 5', WaitState(wait_time=0), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) # x:216 y:528, x:572 y:238 _sm_go_to_the_barman_13 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['barPosition', 'barmanID']) with _sm_go_to_the_barman_13: # x:30 y:102 OperatableStateMachine.add('Action_Move', self.use_behavior(Action_MoveSM, 'go to the barman/Action_Move'), transitions={'finished': 'if barman id is 0', 'failed': 'say cannot'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'barPosition'}) # x:365 y:99 OperatableStateMachine.add('say cannot', SaraSay(sentence="I can not reach my destination. I will take another order. If you have one, please raise your hand.", input_keys=[], emotion=0, block=True), transitions={'done': 'failed'}, autonomy={'done': Autonomy.Off}) # x:30 y:320 OperatableStateMachine.add('Action_findPersonByID', self.use_behavior(Action_findPersonByIDSM, 'go to the barman/Action_findPersonByID', default_keys=['className']), transitions={'found': 'finished', 'not_found': 'finished'}, autonomy={'found': Autonomy.Inherit, 'not_found': Autonomy.Inherit}, remapping={'personID': 'barmanID', 'personEntity': 'personEntity'}) # x:115 y:230 OperatableStateMachine.add('if barman id is 0', CheckConditionState(predicate=lambda x: x == 0), transitions={'true': 'finished', 'false': 'Action_findPersonByID'}, autonomy={'true': Autonomy.Off, 'false': Autonomy.Off}, remapping={'input_value': 'barmanID'}) # x:898 y:561, x:871 y:123 _sm_ask_and_save_order_14 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['customerID'], output_keys=['orderList']) with _sm_ask_and_save_order_14: # x:70 y:112 OperatableStateMachine.add('say ready', SaraSay(sentence="Hello.", input_keys=[], emotion=0, block=True), transitions={'done': 'set question'}, autonomy={'done': Autonomy.Off}) # x:69 y:187 OperatableStateMachine.add('set question', SetKey(Value="What do you want to order?"), transitions={'done': 'ask AND look person'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'question'}) # x:411 y:138 OperatableStateMachine.add('say cannot', SaraSay(sentence="I am not able to understand your order. I will take another order.", input_keys=[], emotion=0, block=True), transitions={'done': 'set question'}, autonomy={'done': Autonomy.Off}) # x:59 y:272 OperatableStateMachine.add('ask AND look person', _sm_ask_and_look_person_4, transitions={'finished': 'nlu restaurant', 'failed': 'say cannot'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'personID': 'customerID', 'question': 'question', 'answer': 'answer'}) # x:411 y:453 OperatableStateMachine.add('nlu restaurant', SaraNLUrestaurant(), transitions={'understood': 'confirm order', 'fail': 'say cannot'}, autonomy={'understood': Autonomy.Off, 'fail': Autonomy.Off}, remapping={'sentence': 'answer', 'orderList': 'orderList'}) # x:657 y:417 OperatableStateMachine.add('confirm order', _sm_confirm_order_3, transitions={'finished': 'say bring', 'failed': 'set question'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'orderList': 'orderList'}) # x:852 y:402 OperatableStateMachine.add('say bring', SaraSay(sentence=lambda x: "understood. I will bring you the "+str(x[0][0].data), input_keys=["orderList"], emotion=0, block=False), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}, remapping={'orderList': 'orderList'}) # x:677 y:318, x:735 y:160 _sm_move_to_table_and_save_position_15 = OperatableStateMachine(outcomes=['finished', 'failed'], input_keys=['customerPosition'], output_keys=['robotPositionToCustomer']) with _sm_move_to_table_and_save_position_15: # x:69 y:24 OperatableStateMachine.add('set distance to person', SetKey(Value=0.7), transitions={'done': 'compute robot pose to customer'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'distanceToPerson'}) # x:344 y:115 OperatableStateMachine.add('say cannot', SaraSay(sentence="I can not reach my destination. I will take another order. If you have one, please raise your hand.", input_keys=[], emotion=0, block=True), transitions={'done': 'save pose to not get flexbe problems'}, autonomy={'done': Autonomy.Off}) # x:497 y:129 OperatableStateMachine.add('save pose to not get flexbe problems', Get_Robot_Pose(), transitions={'done': 'failed'}, autonomy={'done': Autonomy.Off}, remapping={'pose': 'pose'}) # x:47 y:98 OperatableStateMachine.add('compute robot pose to customer', Get_Reacheable_Waypoint(), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}, remapping={'pose_in': 'customerPosition', 'distance': 'distanceToPerson', 'pose_out': 'robotPositionToCustomer'}) # x:78 y:199 OperatableStateMachine.add('Action_Move', self.use_behavior(Action_MoveSM, 'move to table and save position/Action_Move'), transitions={'finished': 'finished', 'failed': 'say cannot'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'robotPositionToCustomer'}) # x:112 y:525, x:363 y:46 _sm_detect_people_waving_16 = OperatableStateMachine(outcomes=['finished', 'failed'], output_keys=['customerPosition', 'customerID']) with _sm_detect_people_waving_16: # x:84 y:25 OperatableStateMachine.add('say looking', SaraSay(sentence="I am now looking for customers. If you want to order something, please raise your hand.", input_keys=[], emotion=0, block=False), transitions={'done': 'Look for waving people'}, autonomy={'done': Autonomy.Off}) # x:73 y:375 OperatableStateMachine.add('reachable position_2', Get_Reacheable_Waypoint(), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}, remapping={'pose_in': 'customerPosition', 'distance': 'distance', 'pose_out': 'customerPosition'}) # x:71 y:291 OperatableStateMachine.add('set distance to customer_2', SetKey(Value=0.5), transitions={'done': 'reachable position_2'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'distance'}) # x:94 y:216 OperatableStateMachine.add('get attributes', GetAttribute(attributes=["ID", "position"]), transitions={'done': 'set distance to customer_2'}, autonomy={'done': Autonomy.Off}, remapping={'object': 'waving_person', 'ID': 'customerID', 'position': 'customerPosition'}) # x:63 y:120 OperatableStateMachine.add('Look for waving people', _sm_look_for_waving_people_9, transitions={'finished': 'get attributes', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'waving_person': 'waving_person'}) # x:874 y:499, x:747 y:100 _sm_save_bar_position_and_initiation_17 = OperatableStateMachine(outcomes=['finished', 'failed'], output_keys=['barPosition', 'commandNumber', 'barmanID']) with _sm_save_bar_position_and_initiation_17: # x:66 y:96 OperatableStateMachine.add('set question barman', SetKey(Value="Are you the bartender?"), transitions={'done': 'Action_FindPersonByQuestion'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'questionBarman'}) # x:488 y:85 OperatableStateMachine.add('say failed to find the barman', SaraSay(sentence="I am not able to find the barman. I will get the order and come back here to get the items.", input_keys=[], emotion=0, block=True), transitions={'done': 'barman ID to 0'}, autonomy={'done': Autonomy.Off}) # x:83 y:406 OperatableStateMachine.add('save barman ID', CalculationState(calculation=lambda x: x.ID), transitions={'done': 'get current pose'}, autonomy={'done': Autonomy.Off}, remapping={'input_value': 'personFound', 'output_value': 'barmanID'}) # x:512 y:183 OperatableStateMachine.add('barman ID to 0', SetKey(Value=0), transitions={'done': 'get current pose'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'barmanID'}) # x:488 y:391 OperatableStateMachine.add('get current pose', Get_Robot_Pose(), transitions={'done': 'set first command'}, autonomy={'done': Autonomy.Off}, remapping={'pose': 'barPosition'}) # x:55 y:214 OperatableStateMachine.add('Action_FindPersonByQuestion', self.use_behavior(Action_FindPersonByQuestionSM, 'save bar position and initiation/Action_FindPersonByQuestion'), transitions={'found': 'save barman ID', 'failed': 'say failed to find the barman', 'not_found': 'say failed to find the barman'}, autonomy={'found': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'not_found': Autonomy.Inherit}, remapping={'question': 'questionBarman', 'entityFound': 'personFound'}) # x:489 y:478 OperatableStateMachine.add('set first command', SetKey(Value=1), transitions={'done': 'say instructions'}, autonomy={'done': Autonomy.Off}, remapping={'Key': 'commandNumber'}) # x:689 y:477 OperatableStateMachine.add('say instructions', SaraSay(sentence="Good! I wil now start to serve people.", input_keys=[], emotion=0, block=True), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}) with _state_machine: # x:30 y:40 OperatableStateMachine.add('save bar position and initiation', _sm_save_bar_position_and_initiation_17, transitions={'finished': 'detect people waving', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'barPosition': 'barPosition', 'commandNumber': 'commandNumber', 'barmanID': 'barmanID'}) # x:131 y:141 OperatableStateMachine.add('detect people waving', _sm_detect_people_waving_16, transitions={'finished': 'move to table and save position', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'customerPosition': 'customerPosition', 'customerID': 'customerID'}) # x:233 y:250 OperatableStateMachine.add('move to table and save position', _sm_move_to_table_and_save_position_15, transitions={'finished': 'ask and save order', 'failed': 'detect people waving'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'customerPosition': 'customerPosition', 'robotPositionToCustomer': 'robotPositionToCustomer'}) # x:286 y:337 OperatableStateMachine.add('ask and save order', _sm_ask_and_save_order_14, transitions={'finished': 'go to the barman', 'failed': 'detect people waving'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'customerID': 'customerID', 'orderList': 'orderList'}) # x:264 y:434 OperatableStateMachine.add('go to the barman', _sm_go_to_the_barman_13, transitions={'finished': 'get the order', 'failed': 'detect people waving'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'barPosition': 'barPosition', 'barmanID': 'barmanID'}) # x:278 y:526 OperatableStateMachine.add('get the order', _sm_get_the_order_12, transitions={'finished': 'take objects and bring the order to customer', 'failed': 'failed'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'orderList': 'orderList'}) # x:260 y:626 OperatableStateMachine.add('take objects and bring the order to customer', _sm_take_objects_and_bring_the_order_to_customer_11, transitions={'finished': 'repeate if first commande', 'failed': 'repeate if first commande'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'barPosition': 'barPosition', 'orderList': 'orderList', 'robotPositionToCustomer': 'robotPositionToCustomer'}) # x:118 y:735 OperatableStateMachine.add('repeate if first commande', _sm_repeate_if_first_commande_10, transitions={'finished': 'say finish', 'repeate': 'detect people waving'}, autonomy={'finished': Autonomy.Inherit, 'repeate': Autonomy.Inherit}, remapping={'commandNumber': 'commandNumber'}) # x:431 y:743 OperatableStateMachine.add('say finish', SaraSay(sentence="I reach the end of my scenario. I will go back to the bar.", input_keys=[], emotion=0, block=True), transitions={'done': 'Action_Move'}, autonomy={'done': Autonomy.Off}) # x:616 y:735 OperatableStateMachine.add('Action_Move', self.use_behavior(Action_MoveSM, 'Action_Move'), transitions={'finished': 'finished', 'failed': 'finished'}, autonomy={'finished': Autonomy.Inherit, 'failed': Autonomy.Inherit}, remapping={'pose': 'barPosition'}) return _state_machine
def create(self): # x:831 y:173, x:520 y:222, x:335 y:32, x:701 y:385 _state_machine = OperatableStateMachine( outcomes=['success', 'unreachable', 'not found', 'dropped'], input_keys=['objectID', 'Entity']) _state_machine.userdata.objectID = 1585 _state_machine.userdata.PreGripPose = "PreGripPose" _state_machine.userdata.PostGripPose = "PostGripPose" _state_machine.userdata.Entity = 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=3), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}) # x:30 y:324 _sm_getting_close_1 = OperatableStateMachine(outcomes=['done'], input_keys=['pose_app']) with _sm_getting_close_1: # x:36 y:40 OperatableStateMachine.add( 'gripperopen', SetGripperState(width=0.15, effort=1), transitions={ 'object': 'move_approach', 'no_object': 'move_approach' }, autonomy={ 'object': Autonomy.Off, 'no_object': Autonomy.Off }, remapping={'object_size': 'object_size'}) # x:30 y:129 OperatableStateMachine.add('move_approach', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={ 'done': 'almost have it', 'failed': 'almost have it' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'pose_app'}) # x:39 y:204 OperatableStateMachine.add('almost have it', SaraSay(sentence="I am close", input_keys=[], emotion=1, block=True), transitions={'done': 'done'}, autonomy={'done': Autonomy.Off}) # x:30 y:324, x:130 y:324 _sm_get_away_from_failure_2 = OperatableStateMachine( outcomes=['done', 'failed'], input_keys=['PostGripPose']) with _sm_get_away_from_failure_2: # x:30 y:40 OperatableStateMachine.add( 'open 2', SetGripperState(width=0.1, effort=1), transitions={ 'object': 'move back', 'no_object': 'move back' }, autonomy={ 'object': Autonomy.Off, 'no_object': Autonomy.Off }, remapping={'object_size': 'object_size'}) # x:235 y:50 OperatableStateMachine.add('move back', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={ 'done': 'done', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'PostGripPose'}) # x:30 y:324, x:130 y:324 _sm_lift_object_3 = OperatableStateMachine( outcomes=['done', 'failed'], input_keys=['pose_lift', 'pose_ret']) with _sm_lift_object_3: # x:30 y:176 OperatableStateMachine.add('move_lift_object', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={ 'done': 'genpose', 'failed': 'genpose' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'pose_lift'}) # x:228 y:176 OperatableStateMachine.add('move_Return', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={ 'done': 'done', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'pose_ret'}) # x:38 y:45 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:211 y:40 OperatableStateMachine.add('move_back', SaraMoveBase(reference="base_link"), transitions={ 'arrived': 'move_Return', 'failed': 'move_Return' }, autonomy={ 'arrived': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'pose': 'backPose'}) # x:499 y:227, x:263 y:214, x:271 y:492 _sm_pregrip_4 = OperatableStateMachine( outcomes=['fail', 'failed', 'done'], input_keys=['PreGripPose', 'posobjet'], output_keys=['pose_app', 'grippose', 'pose_lift', 'pose_ret']) with _sm_pregrip_4: # x:70 y:40 OperatableStateMachine.add('gen_gripPose', GenGripperPose(l=0.0, z=0, planar=True), transitions={ 'done': 'checkifposeaccess', 'fail': 'fail' }, autonomy={ 'done': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'pose_in': 'posobjet', 'pose_out': 'grippose' }) # x:56 y:256 OperatableStateMachine.add('move_PreGrip', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={ 'done': 'gen_returnPose', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'PreGripPose'}) # x:30 y:398 OperatableStateMachine.add('gen_approachPose', GenGripperPose(l=0.15, z=0, planar=True), transitions={ 'done': 'gen_liftPose', 'fail': 'fail' }, autonomy={ 'done': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'pose_in': 'posobjet', 'pose_out': 'pose_app' }) # x:40 y:469 OperatableStateMachine.add('gen_liftPose', GenGripperPose(l=0, z=0.1, planar=True), transitions={ 'done': 'done', 'fail': 'fail' }, autonomy={ 'done': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'pose_in': 'posobjet', 'pose_out': 'pose_lift' }) # x:43 y:326 OperatableStateMachine.add('gen_returnPose', GenGripperPose(l=0.2, z=0.1, planar=True), transitions={ 'done': 'gen_approachPose', 'fail': 'fail' }, autonomy={ 'done': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'pose_in': 'posobjet', 'pose_out': 'pose_ret' }) # x:63 y:184 OperatableStateMachine.add('say can reach', SaraSay(sentence="I will grab it", input_keys=[], emotion=1, block=False), transitions={'done': 'move_PreGrip'}, autonomy={'done': Autonomy.Off}) # x:58 y:114 OperatableStateMachine.add('checkifposeaccess', MoveitMove(move=False, waitForExecution=True, group="RightArm"), transitions={ 'done': 'say can reach', 'failed': 'failed' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'grippose'}) # x:315 y:40, x:130 y:465 _sm_get_object_5 = OperatableStateMachine( outcomes=['not_found', 'finished'], input_keys=['objectID'], output_keys=['posobjet']) with _sm_get_object_5: # x:55 y:40 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:77 y:370 OperatableStateMachine.add( 'getpose', CalculationState(calculation=lambda x: x.position), transitions={'done': 'finished'}, autonomy={'done': Autonomy.Off}, remapping={ 'input_value': 'Entity', 'output_value': 'posobjet' }) # x:71 y:262 OperatableStateMachine.add('Look at it for 3s', _sm_look_at_it_for_3s_0, transitions={'done': 'getpose'}, autonomy={'done': Autonomy.Inherit}, remapping={'ID': 'objectID'}) # x:31 y:133 OperatableStateMachine.add( 'Say_See_It', SaraSay(sentence=lambda x: "I see the " + x.name, input_keys=["Entity"], emotion=0, block=True), transitions={'done': 'Look at it for 3s'}, autonomy={'done': Autonomy.Off}, remapping={'Entity': 'Entity'}) with _state_machine: # x:77 y:23 OperatableStateMachine.add('Get object', _sm_get_object_5, transitions={ 'not_found': 'not found', 'finished': 'transform point' }, autonomy={ 'not_found': Autonomy.Inherit, 'finished': Autonomy.Inherit }, remapping={ 'objectID': 'objectID', 'posobjet': 'posobjet' }) # x:258 y:385 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:53 y:374 OperatableStateMachine.add('move_on_object', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={ 'done': 'gripclose', 'failed': 'cant reach' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'grippose'}) # x:650 y:290 OperatableStateMachine.add('move_PostGrip', MoveitMove(move=True, waitForExecution=True, group="RightArm"), transitions={ 'done': 'welcome', 'failed': 'unreachable' }, autonomy={ 'done': Autonomy.Off, 'failed': Autonomy.Off }, remapping={'target': 'PostGripPose'}) # x:277 y:200 OperatableStateMachine.add('cant reach', SaraSay( sentence="Hum. I can't reach it.", input_keys=[], emotion=1, block=True), transitions={'done': 'unreachable'}, autonomy={'done': Autonomy.Off}) # x:265 y:291 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:837 y:291 OperatableStateMachine.add('welcome', SaraSay(sentence="you are welcome", input_keys=[], emotion=1, block=True), transitions={'done': 'success'}, autonomy={'done': Autonomy.Off}) # x:62 y:190 OperatableStateMachine.add('PreGrip', _sm_pregrip_4, transitions={ 'fail': 'cant reach', 'failed': 'cant reach', 'done': 'Getting close' }, autonomy={ 'fail': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'done': Autonomy.Inherit }, remapping={ 'PreGripPose': 'PreGripPose', 'posobjet': 'posobjet', 'pose_app': 'pose_app', 'grippose': 'grippose', 'pose_lift': 'pose_lift', 'pose_ret': 'pose_ret' }) # x:67 y:114 OperatableStateMachine.add('transform point', TF_transformation(in_ref="map", out_ref="base_link"), transitions={ 'done': 'PreGrip', 'fail': 'Get object' }, autonomy={ 'done': Autonomy.Off, 'fail': Autonomy.Off }, remapping={ 'in_pos': 'posobjet', 'out_pos': 'posobjet' }) # x:439 y:287 OperatableStateMachine.add('Lift object', _sm_lift_object_3, transitions={ 'done': 'move_PostGrip', 'failed': 'move_PostGrip' }, autonomy={ 'done': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={ 'pose_lift': 'pose_lift', 'pose_ret': 'pose_ret' }) # x:441 y:391 OperatableStateMachine.add( 'get away from failure', _sm_get_away_from_failure_2, transitions={ 'done': 'dropped', 'failed': 'dropped' }, autonomy={ 'done': Autonomy.Inherit, 'failed': Autonomy.Inherit }, remapping={'PostGripPose': 'PostGripPose'}) # x:47 y:279 OperatableStateMachine.add('Getting close', _sm_getting_close_1, transitions={'done': 'move_on_object'}, autonomy={'done': Autonomy.Inherit}, remapping={'pose_app': 'pose_app'}) return _state_machine