Added outcome to cleanup

Author: P-ict0

challenge_cleanup/src/challenge_cleanup/self_cleanup.py

@@ -275,7 +275,9 @@ def __init__(self, robot, selected_entity_designator, room_des):
 
             smach.StateMachine.add("GRAB",
                                    Grab(robot, selected_entity_designator, arm_designator),
-                                   transitions={"done": "SAY_GRAB_SUCCESS", "failed": "ARM_RESET"})
+                                   transitions={"done": "SAY_GRAB_SUCCESS",
+                                                "failed": "ARM_RESET",
+                                                "object_not_grasped": "ARM_RESET"})
 
             smach.StateMachine.add("ARM_RESET", ArmToJointConfig(robot, arm_designator, "reset"),
                                    transitions={"succeeded": "SAY_GRAB_FAILED", "failed": "SAY_GRAB_FAILED"})

challenge_storing_groceries/src/challenge_storing_groceries/manipulate_machine.py

@@ -21,6 +21,7 @@ class DefaultGrabDesignator(ds.Designator):
     """ Designator to pick the closest item on top of the table to grab. This is used for testing
 
     """
+
     def __init__(self, robot, surface_designator, area_description):
         """ Constructor
 
@@ -119,7 +120,6 @@ def lock(userdata=None):
                                                 'failed': 'UNLOCK_ITEM_FAIL',
                                                 'object_not_grasped': 'UNLOCK_ITEM_FAIL'})
 
-
             @smach.cb_interface(outcomes=["unlocked"])
             def lock(userdata=None):
                 """ 'Locks' a locking designator """
@@ -140,6 +140,7 @@ def lock(userdata=None):
 class PlaceSingleItem(smach.State):
     """ Tries to place an object. A 'place' statemachine is constructed dynamically since this makes it easier to
      build a statemachine (have we succeeded in grasping the objects?)"""
+
     def __init__(self, robot, place_designator):
         """ Constructor