def create(self):
# x:260 y:496, x:32 y:439
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:65 y:30
OperatableStateMachine.add(
'hsr_SpeechRecognition',
hsr_SpeechRecognition(topic="julius"),
transitions={'recognition': 'hsr_SpcofTraining'},
autonomy={'recognition': Autonomy.Off},
remapping={'recognition': 'recognition'})
# x:472 y:346
OperatableStateMachine.add('hsr_SpcofMove',
hsr_SpcofMove(),
transitions={
'move': 'tts2',
'failed': 'hsr_SpcofMove'
},
autonomy={
'move': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'move_name': 'recognition',
'move_text': 'move_text',
'move_pose': 'move_pose',
'arrive_text': 'arrive_text'
})
# x:630 y:463
OperatableStateMachine.add('hsr_MoveBase',
hsr_MoveBase(),
transitions={
'succeeded': 'tts3',
'failed': 'hsr_MoveBase'
},
autonomy={
'succeeded': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'request': 'move_pose'})
# x:498 y:122
OperatableStateMachine.add(
'tts1',
hsr_TtsInputKey(),
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'spcof_text'})
# x:634 y:376
OperatableStateMachine.add(
'tts2',
hsr_TtsInputKey(),
transitions={'completed': 'hsr_MoveBase'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'move_text'})
# x:631 y:560
OperatableStateMachine.add(
'tts3',
hsr_TtsInputKey(),
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'arrive_text'})
# x:483 y:27
OperatableStateMachine.add('hsr_SpcofTraining',
hsr_SpcofTraining(),
transitions={'completed': 'tts1'},
autonomy={'completed': Autonomy.Off},
remapping={
'request': 'recognition',
'spcof_text': 'spcof_text'
})
return _state_machine
def create(self):
# x:1111 y:187, x:1077 y:300
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:365
_sm_follow_me_0 = OperatableStateMachine(outcomes=['completed'], input_keys=['tts_text', 'follow_me'])
with _sm_follow_me_0:
# x:43 y:153
OperatableStateMachine.add('hsr_FollowMe',
hsr_FollowMe(),
transitions={'continue': 'tts_Followme'},
autonomy={'continue': Autonomy.Off},
remapping={'request': 'follow_me'})
# x:204 y:150
OperatableStateMachine.add('tts_Followme',
hsr_TtsInputKey(),
transitions={'completed': 'completed'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'tts_text'})
# x:575 y:100, x:568 y:39
_sm_taketheobject_1 = OperatableStateMachine(outcomes=['continue', 'failed'])
with _sm_taketheobject_1:
# x:209 y:40
OperatableStateMachine.add('tts_AllRight',
hsr_TtsInputParameter(text="All right.", language="en", delay=2),
transitions={'completed': 'CloseTheHand'},
autonomy={'completed': Autonomy.Off})
# x:385 y:38
OperatableStateMachine.add('CloseTheHand',
hsr_GrippingObject(grasp_force=0.7, mode=True),
transitions={'continue': 'continue', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'grasp_success': 'grasp_success'})
# x:1077 y:108
_sm_goto_2 = OperatableStateMachine(outcomes=['completed'], input_keys=['move'])
with _sm_goto_2:
# x:43 y:31
OperatableStateMachine.add('SpcoMoveEntrance',
hsr_SpcofMove(),
transitions={'move': 'tts_GoTo', 'failed': 'SpcoMoveEntrance'},
autonomy={'move': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'move_name': 'move', 'move_text': 'move_text', 'move_pose': 'move_pose', 'arrive_text': 'arrive_text'})
# x:221 y:31
OperatableStateMachine.add('tts_GoTo',
hsr_TtsInputKey(),
transitions={'completed': 'Move'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'move_text'})
# x:406 y:29
OperatableStateMachine.add('Move',
hsr_MoveBase(),
transitions={'succeeded': 'tts_Arrived', 'failed': 'Limit_checker'},
autonomy={'succeeded': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'request': 'move_pose'})
# x:232 y:161
OperatableStateMachine.add('tts_FailedMove',
hsr_TtsInputParameter(text="I failed to make the planning. I will try again.", language="en", delay=2),
transitions={'completed': 'SpcoMoveEntrance'},
autonomy={'completed': Autonomy.Off})
# x:615 y:28
OperatableStateMachine.add('tts_Arrived',
hsr_TtsInputKey(),
transitions={'completed': 'completed'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'arrive_text'})
# x:480 y:168
OperatableStateMachine.add('Limit_checker',
hsr_try_limit(),
transitions={'give_up': 'tts_GiveupMove', 'try_again': 'tts_FailedMove'},
autonomy={'give_up': Autonomy.Off, 'try_again': Autonomy.Off})
# x:634 y:164
OperatableStateMachine.add('tts_GiveupMove',
hsr_TtsInputParameter(text="Sorry. I gave up.", language="en", delay=2),
transitions={'completed': 'completed'},
autonomy={'completed': Autonomy.Off})
# x:30 y:365
_sm_learnspatialconcept_3 = OperatableStateMachine(outcomes=['completed'], input_keys=['training'])
with _sm_learnspatialconcept_3:
# x:180 y:40
OperatableStateMachine.add('hsr_SpcofTraining',
hsr_SpcofTraining(),
transitions={'completed': 'tts_Spco_Result'},
autonomy={'completed': Autonomy.Off},
remapping={'request': 'training', 'spcof_text': 'spcof_text'})
# x:30 y:42
OperatableStateMachine.add('tts_Spco_Result',
hsr_TtsInputKey(),
transitions={'completed': 'completed'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'spcof_text'})
# x:373 y:54
_sm_start_4 = OperatableStateMachine(outcomes=['completed'])
with _sm_start_4:
# x:30 y:43
OperatableStateMachine.add('hsr_MoveNeutral',
hsr_MoveNeutral(),
transitions={'continue': 'completed'},
autonomy={'continue': Autonomy.Off})
with _state_machine:
# x:60 y:42
OperatableStateMachine.add('Start',
_sm_start_4,
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Inherit})
# x:442 y:223
OperatableStateMachine.add('LearnSpatialConcept',
_sm_learnspatialconcept_3,
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Inherit},
remapping={'training': 'training'})
# x:464 y:310
OperatableStateMachine.add('GoTo',
_sm_goto_2,
transitions={'completed': 'tts_next_command'},
autonomy={'completed': Autonomy.Inherit},
remapping={'move': 'move'})
# x:885 y:279
OperatableStateMachine.add('tts_FinishDemonstration',
hsr_TtsInputParameter(text="本日はオープンキャンパスにご来場いただきありがとうございました。ぜひ立命館に来てくださいね！", language="ja", delay=0),
transitions={'completed': 'finished'},
autonomy={'completed': Autonomy.Off})
# x:228 y:173
OperatableStateMachine.add('tts_next_command',
hsr_TtsInputParameter(text="Please give me the next command", language="en", delay=2),
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Off})
# x:746 y:176
OperatableStateMachine.add('hsr_CourseDemo',
hsr_CourseDemo(),
transitions={'follow_me': 'Follow Me', 'retry_recognition': 'tts_RetryRecognition', 'data': 'tts_RetryRecognition', 'learn': 'LearnSpatialConcept', 'goto': 'GoTo', 'finish': 'tts_FinishDemonstration', 'start_position': 'tts_RetryRecognition', 'take_this': 'TakeTheObject'},
autonomy={'follow_me': Autonomy.Off, 'retry_recognition': Autonomy.Off, 'data': Autonomy.Off, 'learn': Autonomy.Off, 'goto': Autonomy.Off, 'finish': Autonomy.Off, 'start_position': Autonomy.Off, 'take_this': Autonomy.Off},
remapping={'recognition': 'recognition', 'follow_me': 'follow_me', 'training': 'training', 'tts_text': 'tts_text', 'move': 'move'})
# x:55 y:167
OperatableStateMachine.add('hsr_SpeechRecognition',
hsr_SpeechRecognition(topic="/julius/speech2text/en"),
transitions={'recognition': 'hsr_CourseDemo'},
autonomy={'recognition': Autonomy.Off},
remapping={'recognition': 'recognition'})
# x:237 y:417
OperatableStateMachine.add('hsr_MoveNeutralAgain',
hsr_MoveNeutral(),
transitions={'continue': 'hsr_SpeechRecognition'},
autonomy={'continue': Autonomy.Off})
# x:463 y:415
OperatableStateMachine.add('TakeTheObject',
_sm_taketheobject_1,
transitions={'continue': 'hsr_MoveNeutralAgain', 'failed': 'hsr_SpeechRecognition'},
autonomy={'continue': Autonomy.Inherit, 'failed': Autonomy.Inherit})
# x:446 y:106
OperatableStateMachine.add('tts_RetryRecognition',
hsr_TtsInputParameter(text="Could you speak again?", language="en", delay=2),
transitions={'completed': 'tts_next_command'},
autonomy={'completed': Autonomy.Off})
# x:503 y:3
OperatableStateMachine.add('Follow Me',
_sm_follow_me_0,
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Inherit},
remapping={'tts_text': 'tts_text', 'follow_me': 'follow_me'})
return _state_machine
def create(self):
# x:1258 y:287, x:1255 y:399
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:54 y:72
OperatableStateMachine.add(
'hsr_JointPose_FindObject',
hsr_JointPose(arm_lift_joint=0.0,
arm_flex_joint=0.0,
arm_roll_joint=0.0,
wrist_flex_joint=-3.14 / 2,
wrist_roll_joint=0.0,
head_pan_joint=-1.3,
head_tilt_joint=-0.8),
transitions={'continue': 'hsr_SpeechRecognition'},
autonomy={'continue': Autonomy.Off})
# x:1046 y:79
OperatableStateMachine.add(
'hsr_ViewMarkerArray_1',
hsr_ViewMarkerArray(),
transitions={'continue': 'hsr_ImageCapture'},
autonomy={'continue': Autonomy.Off},
remapping={'object_points': 'greeeedy'})
# x:272 y:163
OperatableStateMachine.add('hsr_SetObjectState_1',
hsr_SetObjectState(),
transitions={
'completed':
'hsr_CountingAddReset_1',
'failed': 'hsr_SetObjectState_1'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'object_name': 'tidy_order',
'object_pose': 'tidy_pose'
})
# x:1046 y:332
OperatableStateMachine.add(
'hsr_SpaCoTyInstruction',
hsr_SpaCoTyInstruction(save_folder="sim_st1"),
transitions={
'datadata': 'finished',
'training': 'finished',
'tidy_baseline_nearly': 'hsr_MakeFile_Near',
'tidy_baseline_randomly': 'hsr_MakeFile_Random',
'tidy_greedy': 'hsr_MakeFile_Greedy',
'failed': 'failed',
'end': 'finished'
},
autonomy={
'datadata': Autonomy.Off,
'training': Autonomy.Off,
'tidy_baseline_nearly': Autonomy.Off,
'tidy_baseline_randomly': Autonomy.Off,
'tidy_greedy': Autonomy.Off,
'failed': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'sentence': 'sentence',
'move_name': 'move_name',
'save_folder': 'save_folder'
})
# x:914 y:483
OperatableStateMachine.add(
'hsr_GetObjectState_2',
hsr_GetObjectState(yolo_yaml="yolov3-isb-tidy.json"),
transitions={
'completed': 'hsr_ViewMarkerArray_2',
'failed': 'hsr_GetObjectState_2'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'load_file': 'load_file',
'object_states': 'neaaaar',
'object_states_init': 'init_neaaar'
})
# x:1055 y:644
OperatableStateMachine.add(
'hsr_GetObjectState_3',
hsr_GetObjectState(yolo_yaml="yolov3-isb-tidy.json"),
transitions={
'completed': 'hsr_ViewMarkerArray_3',
'failed': 'hsr_GetObjectState_3'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'load_file': 'load_file',
'object_states': 'randommmm',
'object_states_init': 'init_randommm'
})
# x:723 y:482
OperatableStateMachine.add(
'hsr_ViewMarkerArray_2',
hsr_ViewMarkerArray(),
transitions={
'continue': 'hsr_SelectTidyObjectandPosefromDatasetUltra'
},
autonomy={'continue': Autonomy.Off},
remapping={'object_points': 'neaaaar'})
# x:805 y:644
OperatableStateMachine.add(
'hsr_ViewMarkerArray_3',
hsr_ViewMarkerArray(),
transitions={
'continue': 'hsr_SelectTidyObjectandPoseRandomlyUltra'
},
autonomy={'continue': Autonomy.Off},
remapping={'object_points': 'randommmm'})
# x:254 y:478
OperatableStateMachine.add('hsr_SetObjectState_2',
hsr_SetObjectState(),
transitions={
'completed':
'hsr_CountingAddReset_2',
'failed': 'hsr_SetObjectState_2'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'object_name': 'tidy_name_db',
'object_pose': 'tidy_pose_db'
})
# x:316 y:642
OperatableStateMachine.add('hsr_SetObjectState_3',
hsr_SetObjectState(),
transitions={
'completed':
'hsr_CountingAddReset_3',
'failed': 'hsr_SetObjectState_3'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'object_name': 'tidy_name_random',
'object_pose': 'tidy_pose_random'
})
# x:1051 y:157
OperatableStateMachine.add(
'hsr_GetObjectState_1',
hsr_GetObjectState(yolo_yaml="yolov3-isb-tidy.json"),
transitions={
'completed': 'hsr_ViewMarkerArray_1',
'failed': 'hsr_GetObjectState_1'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'load_file': 'load_file',
'object_states': 'greeeedy',
'object_states_init': 'init_greeedy'
})
# x:510 y:643
OperatableStateMachine.add(
'hsr_SelectTidyObjectandPoseRandomlyUltra',
hsr_SelectTidyObjectandPoseRandomlyUltra(),
transitions={'completed': 'hsr_SetObjectState_3'},
autonomy={'completed': Autonomy.Off},
remapping={
'load_file': 'load_file',
'detect_objects': 'randommmm',
'tidy_name_random': 'tidy_name_random',
'tidy_pose_random': 'tidy_pose_random'
})
# x:424 y:481
OperatableStateMachine.add(
'hsr_SelectTidyObjectandPosefromDatasetUltra',
hsr_SelectTidyObjectandPosefromDatasetUltra(),
transitions={'completed': 'hsr_SetObjectState_2'},
autonomy={'completed': Autonomy.Off},
remapping={
'load_file': 'load_file',
'detect_objects': 'neaaaar',
'tidy_name_db': 'tidy_name_db',
'tidy_pose_db': 'tidy_pose_db'
})
# x:523 y:163
OperatableStateMachine.add('hsr_Switcher',
hsr_Switcher(),
transitions={
'true_load': 'hsr_SetObjectState_1',
'false_load': 'hsr_SetObjectState_1'
},
autonomy={
'true_load': Autonomy.Off,
'false_load': Autonomy.Off
},
remapping={'switch': 'name2place'})
# x:258 y:83
OperatableStateMachine.add('hsr_SpaCoTyUpdateTidyPose',
hsr_SpaCoTyUpdateTidyPose(),
transitions={
'completed': 'hsr_SetObjectState_1',
'failed':
'hsr_SpaCoTyUpdateTidyPose'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'object_name': 'tidy_order',
'tidy_pose_bef': 'tidy_pose',
'tidy_pose_aft': 'tidy_pose'
})
# x:579 y:329
OperatableStateMachine.add(
'hsr_OutputNum',
hsr_OutputNum(num=0),
transitions={'end': 'hsr_SpaCoTyInstruction'},
autonomy={'end': Autonomy.Off},
remapping={'count_num': 'init_num'})
# x:707 y:247
OperatableStateMachine.add('hsr_CountingAddReset_1',
hsr_CountingAddReset(max_count=10),
transitions={
'repetition':
'hsr_GetObjectState_1',
'end':
'hsr_ResetObjectStateRandomly_1'
},
autonomy={
'repetition': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'start_num': 'init_num',
'count_num': 'count_num'
})
# x:583 y:401
OperatableStateMachine.add('hsr_CountingAddReset_2',
hsr_CountingAddReset(max_count=10),
transitions={
'repetition':
'hsr_GetObjectState_2',
'end':
'hsr_ResetObjectStateRandomly_2'
},
autonomy={
'repetition': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'start_num': 'init_num',
'count_num': 'count_num'
})
# x:308 y:553
OperatableStateMachine.add('hsr_CountingAddReset_3',
hsr_CountingAddReset(max_count=10),
transitions={
'repetition':
'hsr_GetObjectState_3',
'end':
'hsr_ResetObjectStateRandomly_3'
},
autonomy={
'repetition': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'start_num': 'init_num',
'count_num': 'count_num'
})
# x:44 y:642
OperatableStateMachine.add(
'hsr_ResetObjectStateRandomly_3',
hsr_ResetObjectStateRandomly(),
transitions={
'completed': 'hsr_SpeechRecognition',
'failed': 'hsr_ResetObjectStateRandomly_3'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'object_states': 'init_randommm'})
# x:211 y:399
OperatableStateMachine.add(
'hsr_ResetObjectStateRandomly_2',
hsr_ResetObjectStateRandomly(),
transitions={
'completed': 'hsr_SpeechRecognition',
'failed': 'hsr_ResetObjectStateRandomly_2'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'object_states': 'init_neaaar'})
# x:256 y:244
OperatableStateMachine.add(
'hsr_ResetObjectStateRandomly_1',
hsr_ResetObjectStateRandomly(),
transitions={
'completed': 'hsr_SpeechRecognition',
'failed': 'hsr_ResetObjectStateRandomly_1'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'object_states': 'init_greeedy'})
# x:58 y:326
OperatableStateMachine.add(
'hsr_SpeechRecognition',
hsr_SpeechRecognition(topic="julius/speech2text/en"),
transitions={'recognition': 'hsr_OutputNum'},
autonomy={'recognition': Autonomy.Off},
remapping={'recognition': 'sentence'})
# x:921 y:403
OperatableStateMachine.add(
'hsr_MakeFile_Near',
hsr_MakeFile(save_file="sim_near_ultra"),
transitions={'completed': 'hsr_GetObjectState_2'},
autonomy={'completed': Autonomy.Off},
remapping={'load_file': 'load_file'})
# x:1051 y:553
OperatableStateMachine.add(
'hsr_MakeFile_Random',
hsr_MakeFile(save_file="sim_random_ultra"),
transitions={'completed': 'hsr_GetObjectState_3'},
autonomy={'completed': Autonomy.Off},
remapping={'load_file': 'load_file'})
# x:1054 y:235
OperatableStateMachine.add(
'hsr_MakeFile_Greedy',
hsr_MakeFile(save_file="plus_sim_greedy_ultra"),
transitions={'completed': 'hsr_GetObjectState_1'},
autonomy={'completed': Autonomy.Off},
remapping={'load_file': 'load_file'})
# x:900 y:79
OperatableStateMachine.add(
'hsr_ImageCapture',
hsr_ImageCapture(
rgb_topic="/hsrb/head_rgbd_sensor/rgb/image_rect_color",
depth_topic=
"/hsrb/head_rgbd_sensor/depth_registered/image_rect_raw",
camera_info_topic="/hsrb/head_rgbd_sensor/rgb/camera_info"
),
transitions={
'completed': 'hsr_GraspingPointDetectIsbPlus',
'failed': 'hsr_CaptureTime'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'rgb_image': 'rgb_image',
'depth_image': 'depth_image',
'camera_info': 'camera_info'
})
# x:902 y:15
OperatableStateMachine.add('hsr_CaptureTime',
hsr_Counting(max_count=2),
transitions={
'repetition': 'hsr_CaptureTime',
'end': 'hsr_ImageCapture'
},
autonomy={
'repetition': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'count_num': 'capture_num'})
# x:689 y:13
OperatableStateMachine.add('hsr_DetectErrorIgnoreOnce',
hsr_Counting(max_count=2),
transitions={
'repetition':
'hsr_DetectErrorIgnoreOnce',
'end':
'hsr_GraspingPointDetectIsbPlus'
},
autonomy={
'repetition': Autonomy.Off,
'end': Autonomy.Off
},
remapping={'count_num': '_num'})
# x:679 y:83
OperatableStateMachine.add(
'hsr_GraspingPointDetectIsbPlus',
hsr_GraspingPointDetectIsbPlus(
output_topic="/bounding_box_2d_monitor",
resnet_model="resnet50",
save=True),
transitions={
'completed': 'hsr_SpaCoTyPlanningPlus',
'failed': 'hsr_GraspingPointDetectIsbPlus',
'yolo_failed': 'hsr_DetectErrorIgnoreOnce'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off,
'yolo_failed': Autonomy.Off
},
remapping={
'rgb_image': 'rgb_image',
'depth_image': 'depth_image',
'camera_info': 'camera_info',
'grasping_point': 'grasping_point',
'grasping_point_feature': 'grasping_point_feature'
})
# x:496 y:83
OperatableStateMachine.add(
'hsr_SpaCoTyPlanningPlus',
hsr_SpaCoTyPlanningPlus(),
transitions={'completed': 'hsr_Switcher'},
autonomy={'completed': Autonomy.Off},
remapping={
'load_file': 'load_file',
'detect_objects': 'greeeedy',
'detect_objects_feature': 'grasping_point_feature',
'tidy_pose': 'tidy_pose',
'tidy_order': 'tidy_order',
'name2place': 'name2place'
})
return _state_machine
def create(self):
# x:30 y:365, x:130 y:365
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:412 y:45
OperatableStateMachine.add(
'hsr_SpeechRecognition',
hsr_SpeechRecognition(topic="/julius/speech2text/en"),
transitions={'recognition': 'hsr_SpcofInstruction'},
autonomy={'recognition': Autonomy.Off},
remapping={'recognition': 'recognition'})
# x:148 y:287
OperatableStateMachine.add(
'hsr_SpcofTraining',
hsr_SpcofTraining(),
transitions={'completed': 'hsr_training'},
autonomy={'completed': Autonomy.Off},
remapping={
'request': 'output',
'spcof_text': 'spcof_text'
})
# x:414 y:291
OperatableStateMachine.add('hsr_SpcofInstruction',
hsr_SpcofInstruction(),
transitions={
'training': 'hsr_SpcofTraining',
'move': 'hsr_SpcofMove'
},
autonomy={
'training': Autonomy.Off,
'move': Autonomy.Off
},
remapping={
'input': 'recognition',
'output': 'output'
})
# x:710 y:289
OperatableStateMachine.add('hsr_SpcofMove',
hsr_SpcofMove(),
transitions={
'move': 'tts_move',
'failed': 'tts_cannot_move_2'
},
autonomy={
'move': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'move_name': 'output',
'move_text': 'move_text',
'move_pose': 'move_pose',
'arrive_text': 'arrive_text'
})
# x:174 y:167
OperatableStateMachine.add(
'hsr_training',
hsr_TtsInputKey(),
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'spcof_text'})
# x:821 y:198
OperatableStateMachine.add(
'tts_move',
hsr_TtsInputKey(),
transitions={'completed': 'hsr_MoveBase'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'move_text'})
# x:826 y:85
OperatableStateMachine.add('hsr_MoveBase',
hsr_MoveBase(),
transitions={
'succeeded': 'tts_arrive',
'failed': 'tts_cannot_move_1'
},
autonomy={
'succeeded': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'request': 'move_pose'})
# x:630 y:17
OperatableStateMachine.add(
'tts_arrive',
hsr_TtsInputKey(),
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'arrive_text'})
# x:633 y:192
OperatableStateMachine.add(
'tts_cannot_move_2',
hsr_TtsInputKey(),
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'move_text'})
# x:626 y:101
OperatableStateMachine.add(
'tts_cannot_move_1',
hsr_TtsInputParameter(text="I cannot move there.",
language="en"),
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Off})
return _state_machine
def create(self):
# x:1242 y:251, x:1219 y:335
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:70 y:29
OperatableStateMachine.add(
'hsr_JointPose_FindObject',
hsr_JointPose(arm_lift_joint=0.0,
arm_flex_joint=0.0,
arm_roll_joint=-3.14 / 2,
wrist_flex_joint=-3.14 / 2,
wrist_roll_joint=0.0,
head_pan_joint=-1.3,
head_tilt_joint=-0.8),
transitions={'continue': 'hsr_SpeechRecognition'},
autonomy={'continue': Autonomy.Off})
# x:949 y:83
OperatableStateMachine.add(
'hsr_ViewMarkerArray_1',
hsr_ViewMarkerArray(),
transitions={'continue': 'hsr_SpaCoTyPlanning'},
autonomy={'continue': Autonomy.Off},
remapping={'object_points': 'greeeedy'})
# x:285 y:75
OperatableStateMachine.add('hsr_SetObjectState_1',
hsr_SetObjectState(),
transitions={
'completed':
'hsr_CountingAddReset_1',
'failed': 'hsr_SetObjectState_1'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'object_name': 'tidy_order',
'object_pose': 'tidy_pose'
})
# x:1047 y:240
OperatableStateMachine.add(
'hsr_SpaCoTyInstruction',
hsr_SpaCoTyInstruction(save_folder="sim_st1"),
transitions={
'datadata': 'finished',
'training': 'finished',
'tidy_baseline_nearly': 'hsr_MakeFile_Near',
'tidy_baseline_randomly': 'hsr_MakeFile_Random',
'tidy_greedy': 'hsr_MakeFile_Greedy',
'failed': 'failed',
'end': 'finished'
},
autonomy={
'datadata': Autonomy.Off,
'training': Autonomy.Off,
'tidy_baseline_nearly': Autonomy.Off,
'tidy_baseline_randomly': Autonomy.Off,
'tidy_greedy': Autonomy.Off,
'failed': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'sentence': 'sentence',
'move_name': 'move_name',
'save_folder': 'save_folder'
})
# x:914 y:409
OperatableStateMachine.add(
'hsr_GetObjectState_2',
hsr_GetObjectState(yolo_yaml="yolov3-isb-tidy.json"),
transitions={
'completed': 'hsr_ViewMarkerArray_2',
'failed': 'hsr_GetObjectState_2'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'load_file': 'load_file',
'object_states': 'neaaaar',
'object_states_init': 'init_neaaar'
})
# x:999 y:616
OperatableStateMachine.add(
'hsr_GetObjectState_3',
hsr_GetObjectState(yolo_yaml="yolov3-isb-tidy.json"),
transitions={
'completed': 'hsr_ViewMarkerArray_3',
'failed': 'hsr_GetObjectState_3'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'load_file': 'load_file',
'object_states': 'randommmm',
'object_states_init': 'init_randommm'
})
# x:723 y:407
OperatableStateMachine.add(
'hsr_ViewMarkerArray_2',
hsr_ViewMarkerArray(),
transitions={
'continue': 'hsr_SelectTidyObjectandPosefromDatasetUltra'
},
autonomy={'continue': Autonomy.Off},
remapping={'object_points': 'neaaaar'})
# x:739 y:615
OperatableStateMachine.add(
'hsr_ViewMarkerArray_3',
hsr_ViewMarkerArray(),
transitions={
'continue': 'hsr_SelectTidyObjectandPoseRandomlyUltra'
},
autonomy={'continue': Autonomy.Off},
remapping={'object_points': 'randommmm'})
# x:251 y:400
OperatableStateMachine.add('hsr_SetObjectState_2',
hsr_SetObjectState(),
transitions={
'completed':
'hsr_CountingAddReset_2',
'failed': 'hsr_SetObjectState_2'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'object_name': 'tidy_name_db',
'object_pose': 'tidy_pose_db'
})
# x:265 y:612
OperatableStateMachine.add('hsr_SetObjectState_3',
hsr_SetObjectState(),
transitions={
'completed':
'hsr_CountingAddReset_3',
'failed': 'hsr_SetObjectState_3'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'object_name': 'tidy_name_random',
'object_pose': 'tidy_pose_random'
})
# x:953 y:152
OperatableStateMachine.add(
'hsr_GetObjectState_1',
hsr_GetObjectState(yolo_yaml="yolov3-isb-tidy.json"),
transitions={
'completed': 'hsr_ViewMarkerArray_1',
'failed': 'hsr_GetObjectState_1'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'load_file': 'load_file',
'object_states': 'greeeedy',
'object_states_init': 'init_greeedy'
})
# x:441 y:614
OperatableStateMachine.add(
'hsr_SelectTidyObjectandPoseRandomlyUltra',
hsr_SelectTidyObjectandPoseRandomlyUltra(),
transitions={'completed': 'hsr_SetObjectState_3'},
autonomy={'completed': Autonomy.Off},
remapping={
'load_file': 'load_file',
'detect_objects': 'randommmm',
'tidy_name_random': 'tidy_name_random',
'tidy_pose_random': 'tidy_pose_random'
})
# x:421 y:405
OperatableStateMachine.add(
'hsr_SelectTidyObjectandPosefromDatasetUltra',
hsr_SelectTidyObjectandPosefromDatasetUltra(),
transitions={'completed': 'hsr_SetObjectState_2'},
autonomy={'completed': Autonomy.Off},
remapping={
'load_file': 'load_file',
'detect_objects': 'neaaaar',
'tidy_name_db': 'tidy_name_db',
'tidy_pose_db': 'tidy_pose_db'
})
# x:659 y:82
OperatableStateMachine.add('hsr_Switcher',
hsr_Switcher(),
transitions={
'true_load':
'hsr_SpaCoTyUpdateTidyPose',
'false_load': 'hsr_SetObjectState_1'
},
autonomy={
'true_load': Autonomy.Off,
'false_load': Autonomy.Off
},
remapping={'switch': 'name2place'})
# x:464 y:80
OperatableStateMachine.add('hsr_SpaCoTyUpdateTidyPose',
hsr_SpaCoTyUpdateTidyPose(),
transitions={
'completed': 'hsr_SetObjectState_1',
'failed':
'hsr_SpaCoTyUpdateTidyPose'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'object_name': 'tidy_order',
'tidy_pose_bef': 'tidy_pose',
'tidy_pose_aft': 'tidy_pose'
})
# x:581 y:238
OperatableStateMachine.add(
'hsr_OutputNum',
hsr_OutputNum(num=0),
transitions={'end': 'hsr_SpaCoTyInstruction'},
autonomy={'end': Autonomy.Off},
remapping={'count_num': 'init_num'})
# x:584 y:160
OperatableStateMachine.add('hsr_CountingAddReset_1',
hsr_CountingAddReset(max_count=10),
transitions={
'repetition':
'hsr_GetObjectState_1',
'end':
'hsr_ResetObjectStateRandomly_1'
},
autonomy={
'repetition': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'start_num': 'init_num',
'count_num': 'count_num'
})
# x:581 y:311
OperatableStateMachine.add('hsr_CountingAddReset_2',
hsr_CountingAddReset(max_count=10),
transitions={
'repetition':
'hsr_GetObjectState_2',
'end':
'hsr_ResetObjectStateRandomly_2'
},
autonomy={
'repetition': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'start_num': 'init_num',
'count_num': 'count_num'
})
# x:465 y:506
OperatableStateMachine.add('hsr_CountingAddReset_3',
hsr_CountingAddReset(max_count=10),
transitions={
'repetition':
'hsr_GetObjectState_3',
'end':
'hsr_ResetObjectStateRandomly_3'
},
autonomy={
'repetition': Autonomy.Off,
'end': Autonomy.Off
},
remapping={
'start_num': 'init_num',
'count_num': 'count_num'
})
# x:26 y:609
OperatableStateMachine.add(
'hsr_ResetObjectStateRandomly_3',
hsr_ResetObjectStateRandomly(),
transitions={
'completed': 'hsr_SpeechRecognition',
'failed': 'hsr_ResetObjectStateRandomly_3'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'object_states': 'init_randommm'})
# x:221 y:314
OperatableStateMachine.add(
'hsr_ResetObjectStateRandomly_2',
hsr_ResetObjectStateRandomly(),
transitions={
'completed': 'hsr_SpeechRecognition',
'failed': 'hsr_ResetObjectStateRandomly_2'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'object_states': 'init_neaaar'})
# x:254 y:158
OperatableStateMachine.add(
'hsr_ResetObjectStateRandomly_1',
hsr_ResetObjectStateRandomly(),
transitions={
'completed': 'hsr_SpeechRecognition',
'failed': 'hsr_ResetObjectStateRandomly_1'
},
autonomy={
'completed': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={'object_states': 'init_greeedy'})
# x:71 y:239
OperatableStateMachine.add(
'hsr_SpeechRecognition',
hsr_SpeechRecognition(topic="julius/speech2text/en"),
transitions={'recognition': 'hsr_OutputNum'},
autonomy={'recognition': Autonomy.Off},
remapping={'recognition': 'sentence'})
# x:934 y:317
OperatableStateMachine.add(
'hsr_MakeFile_Near',
hsr_MakeFile(save_file="sim_near_ultra"),
transitions={'completed': 'hsr_GetObjectState_2'},
autonomy={'completed': Autonomy.Off},
remapping={'load_file': 'load_file'})
# x:995 y:512
OperatableStateMachine.add(
'hsr_MakeFile_Random',
hsr_MakeFile(save_file="sim_random_ultra"),
transitions={'completed': 'hsr_GetObjectState_3'},
autonomy={'completed': Autonomy.Off},
remapping={'load_file': 'load_file'})
# x:1096 y:151
OperatableStateMachine.add(
'hsr_MakeFile_Greedy',
hsr_MakeFile(save_file="sim_greedy_ultra"),
transitions={'completed': 'hsr_GetObjectState_1'},
autonomy={'completed': Autonomy.Off},
remapping={'load_file': 'load_file'})
# x:794 y:82
OperatableStateMachine.add(
'hsr_SpaCoTyPlanning',
hsr_SpaCoTyPlanning(),
transitions={'completed': 'hsr_Switcher'},
autonomy={'completed': Autonomy.Off},
remapping={
'load_file': 'load_file',
'detect_objects': 'greeeedy',
'tidy_pose': 'tidy_pose',
'tidy_order': 'tidy_order',
'name2place': 'name2place'
})
return _state_machine
def create(self):
# x:686 y:318, x:620 y:319
_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
# x:30 y:514, x:130 y:514, x:230 y:514, x:330 y:514
_sm_grasp_phase_0 = OperatableStateMachine(outcomes=['succeeded', 'failed', 'planning_failed', 'control_failed'], input_keys=['move_pose', 'xtion_point', 'object', 'failed_objects'], output_keys=['selected_object_name', 'selected_object_status'])
with _sm_grasp_phase_0:
# x:57 y:44
OperatableStateMachine.add('hsr_MoveBase_grasp',
hsr_MoveBase(),
transitions={'succeeded': 'hsr_JointPose_xtion', 'failed': 'hsr_MoveBase_grasp'},
autonomy={'succeeded': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'request': 'move_pose'})
# x:397 y:44
OperatableStateMachine.add('hsr_XtionPoint_grasp',
hsr_XtionPoint(ref_frame_id="map"),
transitions={'finish': 'hsr_ImageCapture'},
autonomy={'finish': Autonomy.Off},
remapping={'xtion_point': 'xtion_point'})
# x:776 y:42
OperatableStateMachine.add('hsr_ImageCapture',
hsr_ImageCapture(rgb_topic="/hsrb/head_rgbd_sensor/rgb/image_rect_color", depth_topic="/hsrb/head_rgbd_sensor/depth_registered/image_rect_raw", camera_info_topic="/hsrb/head_rgbd_sensor/rgb/camera_info"),
transitions={'completed': 'hsr_BoundingBox2D', 'failed': 'hsr_ImageCapture'},
autonomy={'completed': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'rgb_image': 'rgb_image', 'depth_image': 'depth_image', 'camera_info': 'camera_info'})
# x:935 y:41
OperatableStateMachine.add('hsr_BoundingBox2D',
hsr_BoundingBox2D(output_topic="/bounding_box_2d_monitor"),
transitions={'completed': 'hsr_GraspingPointDetect', 'failed': 'hsr_BoundingBox2D'},
autonomy={'completed': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'rgb_image': 'rgb_image', 'depth_image': 'depth_image', 'camera_info': 'camera_info', 'detection': 'detection', 'grasping_point': 'grasping_point'})
# x:1107 y:40
OperatableStateMachine.add('hsr_GraspingPointDetect',
hsr_GraspingPointDetect(output_topic="/bounding_box_2d_monitor"),
transitions={'completed': 'hsr_Tf2', 'failed': 'hsr_GraspingPointDetect'},
autonomy={'completed': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'rgb_image': 'rgb_image', 'depth_image': 'depth_image', 'camera_info': 'camera_info', 'detection': 'detection', 'grasping_point': 'grasping_point'})
# x:1289 y:40
OperatableStateMachine.add('hsr_Tf2',
hsr_Tf2(before="head_rgbd_sensor_rgb_frame", after="map"),
transitions={'continue': 'hsr_PoseDecision', 'failed': 'hsr_Tf2'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'before_pose': 'grasping_point', 'after_pose': 'after_pose'})
# x:1261 y:139
OperatableStateMachine.add('hsr_PoseDecision',
hsr_PoseDecision(offset=None),
transitions={'continue': 'hsr_ViewMarker', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'target_poses': 'after_pose', 'category': 'object', 'failed_objects': 'failed_objects', 'selected_pose_approach': 'selected_pose_approach', 'selected_pose_grasp': 'selected_pose_grasp', 'selected_object_name': 'selected_object_name', 'selected_object_status': 'selected_object_status'})
# x:931 y:140
OperatableStateMachine.add('hsr_OpenHand_grasp',
hsr_GrippingObject(grasp_force=0.7, mode=False),
transitions={'continue': 'hsr_JointPose_OpenHand', 'failed': 'hsr_OpenHand_grasp'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'grasp_success': 'grasp_success'})
# x:514 y:140
OperatableStateMachine.add('hsr_MoveitToPoseGoalAction_grasp',
hsr_MoveitToPoseGoalAction(move_group='whole_body', action_topic='/move_group'),
transitions={'reached': 'hsr_CloseHand', 'planning_failed': 'planning_failed', 'control_failed': 'control_failed'},
autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off},
remapping={'pose_goal': 'selected_pose_grasp', 'move_status': 'selected_object_status'})
# x:318 y:142
OperatableStateMachine.add('hsr_CloseHand',
hsr_GrippingObject(grasp_force=0.7, mode=True),
transitions={'continue': 'hsr_MoveBase_grasp_back', 'failed': 'failed'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'grasp_success': 'selected_object_status'})
# x:243 y:43
OperatableStateMachine.add('hsr_JointPose_xtion',
hsr_JointPose(arm_lift_joint=0.4, arm_flex_joint=-2.619, arm_roll_joint=0.0, wrist_flex_joint=-3.14/2, wrist_roll_joint=0.0, head_pan_joint=0.0, head_tilt_joint=0.0),
transitions={'continue': 'hsr_XtionPoint_grasp'},
autonomy={'continue': Autonomy.Off})
# x:743 y:140
OperatableStateMachine.add('hsr_JointPose_OpenHand',
hsr_JointPose(arm_lift_joint=0.4, arm_flex_joint=-3.14/4, arm_roll_joint=0.0, wrist_flex_joint=-3.14/4, wrist_roll_joint=0.0, head_pan_joint=0.0, head_tilt_joint=0.0),
transitions={'continue': 'hsr_MoveitToPoseGoalAction_grasp'},
autonomy={'continue': Autonomy.Off})
# x:1110 y:139
OperatableStateMachine.add('hsr_ViewMarker',
hsr_ViewMarker(),
transitions={'continue': 'hsr_OpenHand_grasp', 'failed': 'hsr_ViewMarker'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'view_pose': 'selected_pose_grasp'})
# x:30 y:144
OperatableStateMachine.add('hsr_MoveBase_grasp_back',
hsr_MoveBase(),
transitions={'succeeded': 'succeeded', 'failed': 'failed'},
autonomy={'succeeded': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'request': 'move_pose'})
# x:30 y:514, x:130 y:514, x:230 y:514
_sm_put_phase_1 = OperatableStateMachine(outcomes=['control_failed', 'succeeded', 'failed'], input_keys=['move_pose', 'xtion_point', 'arm_pose'], output_keys=['selected_object_name'])
with _sm_put_phase_1:
# x:30 y:152
OperatableStateMachine.add('hsr_MoveBase_put',
hsr_MoveBase(),
transitions={'succeeded': 'hsr_XtionPoint_put', 'failed': 'hsr_MoveBase_put'},
autonomy={'succeeded': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'request': 'move_pose'})
# x:233 y:151
OperatableStateMachine.add('hsr_XtionPoint_put',
hsr_XtionPoint(ref_frame_id="map"),
transitions={'finish': 'hsr_MoveitToPoseGoalAction_put'},
autonomy={'finish': Autonomy.Off},
remapping={'xtion_point': 'xtion_point'})
# x:445 y:40
OperatableStateMachine.add('hsr_MoveitToPoseGoalAction_put',
hsr_MoveitToPoseGoalAction(move_group='whole_body', action_topic='/move_group'),
transitions={'reached': 'hsr_OpenHand_put', 'planning_failed': 'hsr_MoveitToPoseGoalAction_put', 'control_failed': 'control_failed'},
autonomy={'reached': Autonomy.Off, 'planning_failed': Autonomy.Off, 'control_failed': Autonomy.Off},
remapping={'pose_goal': 'arm_pose', 'move_status': 'selected_object_name'})
# x:233 y:43
OperatableStateMachine.add('hsr_OpenHand_put',
hsr_GrippingObject(grasp_force=0.7, mode=False),
transitions={'continue': 'hsr_MoveBase_put_back', 'failed': 'hsr_OpenHand_put'},
autonomy={'continue': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'grasp_success': 'grasp_success'})
# x:30 y:43
OperatableStateMachine.add('hsr_MoveBase_put_back',
hsr_MoveBase(),
transitions={'succeeded': 'succeeded', 'failed': 'failed'},
autonomy={'succeeded': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'request': 'move_pose'})
with _state_machine:
# x:30 y:26
OperatableStateMachine.add('hsr_SpeechRecognition',
hsr_SpeechRecognition(topic="/test"),
transitions={'recognition': 'hsr_TidyUpDummy'},
autonomy={'recognition': Autonomy.Off},
remapping={'recognition': 'recognition'})
# x:37 y:237
OperatableStateMachine.add('hsr_TidyUpStage2',
hsr_TidyUpStage2(),
transitions={'retry': 'hsr_SpeechRecognition', 'grasp': 'grasp_phase', 'put': 'put_phase', 'kitchen': 'hsr_MoveBase_kitchen'},
autonomy={'retry': Autonomy.Off, 'grasp': Autonomy.Off, 'put': Autonomy.Off, 'kitchen': Autonomy.Off},
remapping={'recognition': 'recognition', 'grasp_object': 'selected_object_name', 'grasp_status': 'selected_object_status', 'move_pose': 'move_pose', 'xtion_point': 'xtion_point', 'arm_pose': 'arm_pose', 'object': 'object', 'failed_objects': 'failed_objects'})
# x:453 y:24
OperatableStateMachine.add('hsr_MoveBase_kitchen',
hsr_MoveBase(),
transitions={'succeeded': 'hsr_TtsInputParameter', 'failed': 'hsr_MoveBase_kitchen'},
autonomy={'succeeded': Autonomy.Off, 'failed': Autonomy.Off},
remapping={'request': 'move_pose'})
# x:241 y:25
OperatableStateMachine.add('hsr_TtsInputParameter',
hsr_TtsInputParameter(text="discard or tidy up?", language="en"),
transitions={'completed': 'hsr_SpeechRecognition'},
autonomy={'completed': Autonomy.Off})
# x:140 y:119
OperatableStateMachine.add('hsr_TidyUpDummy',
hsr_TidyUpDummy(),
transitions={'continue': 'hsr_TidyUpStage2'},
autonomy={'continue': Autonomy.Off},
remapping={'dummy1': 'selected_object_name', 'dummy2': 'selected_object_status'})
# x:336 y:425
OperatableStateMachine.add('put_phase',
_sm_put_phase_1,
transitions={'control_failed': 'failed', 'succeeded': 'hsr_TidyUpStage2', 'failed': 'hsr_TidyUpStage2'},
autonomy={'control_failed': Autonomy.Inherit, 'succeeded': Autonomy.Inherit, 'failed': Autonomy.Inherit},
remapping={'move_pose': 'move_pose', 'xtion_point': 'xtion_point', 'arm_pose': 'arm_pose', 'selected_object_name': 'selected_object_name'})
# x:333 y:189
OperatableStateMachine.add('grasp_phase',
_sm_grasp_phase_0,
transitions={'succeeded': 'hsr_TidyUpStage2', 'failed': 'hsr_TidyUpStage2', 'planning_failed': 'hsr_TidyUpStage2', 'control_failed': 'failed'},
autonomy={'succeeded': Autonomy.Inherit, 'failed': Autonomy.Inherit, 'planning_failed': Autonomy.Inherit, 'control_failed': Autonomy.Inherit},
remapping={'move_pose': 'move_pose', 'xtion_point': 'xtion_point', 'object': 'object', 'failed_objects': 'failed_objects', 'selected_object_name': 'selected_object_name', 'selected_object_status': 'selected_object_status'})
return _state_machine
def create(self):
# x:745 y:443, x:130 y:478
_state_machine = OperatableStateMachine(
outcomes=['finished', 'failed'])
# Additional creation code can be added inside the following tags
# [MANUAL_CREATE]
# [/MANUAL_CREATE]
with _state_machine:
# x:67 y:42
OperatableStateMachine.add(
'hsr_AskPlace',
hsr_AskPlace(),
transitions={'continue': 'tts_ask_place'},
autonomy={'continue': Autonomy.Off},
remapping={
'place_name': 'place_name',
'question': 'question',
'place_number': 'place_number'
})
# x:284 y:43
OperatableStateMachine.add(
'tts_ask_place',
hsr_TtsInputKey(),
transitions={'completed': 'hsr_SpeechRecognition3'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'question'})
# x:447 y:38
OperatableStateMachine.add(
'hsr_SpeechRecognition3',
hsr_SpeechRecognition(topic="/julius/speech2text/en"),
transitions={'recognition': 'hsr_YesNoAsk'},
autonomy={'recognition': Autonomy.Off},
remapping={'recognition': 'recognition'})
# x:283 y:158
OperatableStateMachine.add(
'hsr_YesNoAsk',
hsr_YesNoAsk(),
transitions={
'yes': 'hsr_ReadTask',
'no': 'hsr_AskPlace'
},
autonomy={
'yes': Autonomy.Off,
'no': Autonomy.Off
},
remapping={'recognition': 'recognition'})
# x:687 y:217
OperatableStateMachine.add(
'hsr_AskObject',
hsr_AskObject(),
transitions={'continue': 'tts_AskObject'},
autonomy={'continue': Autonomy.Off},
remapping={
'object_list': 'target_list',
'object_name': 'object_name',
'question': 'question'
})
# x:507 y:218
OperatableStateMachine.add('hsr_ReadTask',
hsr_ReadTask(),
transitions={
'continue': 'hsr_AskObject',
'failed': 'failed'
},
autonomy={
'continue': Autonomy.Off,
'failed': Autonomy.Off
},
remapping={
'place_num': 'place_number',
'target_list': 'target_list'
})
# x:836 y:212
OperatableStateMachine.add(
'tts_AskObject',
hsr_TtsInputKey(),
transitions={'completed': 'hsr_SpeechRecognition4'},
autonomy={'completed': Autonomy.Off},
remapping={'tts_text': 'question'})
# x:994 y:209
OperatableStateMachine.add(
'hsr_SpeechRecognition4',
hsr_SpeechRecognition(topic="/julius/speech2text/en"),
transitions={'recognition': 'hsr_YesNoAsk_2'},
autonomy={'recognition': Autonomy.Off},
remapping={'recognition': 'recognition'})
# x:700 y:327
OperatableStateMachine.add(
'hsr_YesNoAsk_2',
hsr_YesNoAsk(),
transitions={
'yes': 'finished',
'no': 'hsr_AskObject'
},
autonomy={
'yes': Autonomy.Off,
'no': Autonomy.Off
},
remapping={'recognition': 'recognition'})
return _state_machine