text: #!/usr/bin/env python
  ###########################################################
  #               WARNING: Generated code!                  #
  #              **************************                 #
  # Manual changes may get lost if file is generated again. #
  # Only code inside the [MANUAL] tags will be kept.        #
  ###########################################################
  
  import roslib; roslib.load_manifest('vigir_behavior_stand_up_behavior')
  from flexbe_core import Behavior, Autonomy, OperatableStateMachine, Logger
  from vigir_flexbe_states.motion_service_state import MotionServiceState
  # Additional imports can be added inside the following tags
  # [MANUAL_IMPORT]
  
  # [/MANUAL_IMPORT]
  
  
  '''
  Created on Mon May 11 2015
  @author: Dorothea Koert
  '''
  class StandUpBehaviorSM(Behavior):
  	'''
  	
  	'''
  
  
  	def __init__(self):
  		super(StandUpBehaviorSM, self).__init__()
  		self.name = 'Stand Up Behavior'
  
  		# parameters of this behavior
  
  		# references to used behaviors
  
  		# Additional initialization code can be added inside the following tags
  		# [MANUAL_INIT]
  		
  		# [/MANUAL_INIT]
  
  		# Behavior comments:
  
  
  
  	def create(self):
  		motion_key_1 = stand_up_front_100
  		motion_key_2 = stand_up_front_200
  		# x:533 y:194, x:130 y:322
  		_state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
  
  		# Additional creation code can be added inside the following tags
  		# [MANUAL_CREATE]
  		
  		# [/MANUAL_CREATE]
  
  
  		with _state_machine:
  			# x:30 y:40
  			OperatableStateMachine.add('Execute_First_Part',
  										MotionServiceState(motion_key=motion_key_1, time_factor=1),
  										transitions={'done': 'Execute_Second_Part', 'failed': 'failed'},
  										autonomy={'done': Autonomy.High, 'failed': Autonomy.Low})
  
  			# x:203 y:125
  			OperatableStateMachine.add('Execute_Second_Part',
  										MotionServiceState(motion_key=motion_key_2, time_factor=1),
  										transitions={'done': 'finished', 'failed': 'failed'},
  										autonomy={'done': Autonomy.High, 'failed': Autonomy.Low})
  
  
  		return _state_machine
  
  
  	# Private functions can be added inside the following tags
  	# [MANUAL_FUNC]
  	
  	# [/MANUAL_FUNC]
  