--- # Test State Machine
READ_HEXAPOD_CURRENT_POSE:
  template: ReadTransformState
  target_frame: ur10_1/base
  source_frame: hexapod_1/top
  transform_output: hexapod_current_pose
  succeeded: MOVE_ABOVE_HEXAPOD_1

MOVE_ABOVE_HEXAPOD_1:
  template: CartTranVelActionState
  robot: ur10_1
  pose_input: hexapod_current_pose
  position_offset_x: 0.0
  position_offset_y: 0.0
  position_offset_z: -0.20
  desired_velocity: 0.1
  succeeded: OPEN_TOOL_EXCHANGE_1

--- # Test State Machine
- READ_HEXAPOD_CURRENT_POSE:
    template: ReadTransformState
    target_frame: ur10_1/base
    source_frame: hexapod_1/top
    transform_output: hexapod_current_pose
    succeeded: MOVE_ABOVE_HEXAPOD_1

- MOVE_ABOVE_HEXAPOD_1:
    template: CartTrapVelActionState
    robot: ur10_1
    pose_input: hexapod_current_pose
    position_offset_x: 0.0
    position_offset_y: 0.0
    position_offset_z: -0.20
    rotation_offset_x: 0.0
    rotation_offset_y: 0.0
    rotation_offset_z: 0.0
    desired_velocity: 0.1
    succeeded: OPEN_TOOL_EXCHANGE_1

Add basic working prototype of SMACH/Jinja2 template-based code generation.
Add basic working prototype of SMACH/Jinja2 template-based code generation.
