new_contents: #----------------------------------------------------------------------------------------
  # BEGIN: READ_HEXAPOD_CURRENT_POSE
  # TEMPLATE: ReadTransformState
  #
  smach.StateMachine.add('READ_HEXAPOD_CURRENT_POSE', TFListenerState('ur10_1/base', 'hexapod_1/top', 'hexapod_current_pose'),
                                                                          transitions={'succeeded':'MOVE_ABOVE_HEXAPOD_1'},
                                                                          remapping={'hexapod_current_pose':'hexapod_current_pose'})
  # END: READ_HEXAPOD_CURRENT_POSE
  #----------------------------------------------------------------------------------------
  
  #----------------------------------------------------------------------------------------
  # BEGIN: MOVE_ABOVE_HEXAPOD_1
  # TEMPLATE: CartTrapVelActionState
  #
  sm_sub.userdata.MOVE_ABOVE_HEXAPOD_1_position_offset = np.asarray([0.0, 0.0, -0.2])
  sm_sub.userdata.MOVE_ABOVE_HEXAPOD_1_rotation_offset = np.asarray([0.0, 0.0, 0.0])
  sm_sub.userdata.MOVE_ABOVE_HEXAPOD_1_desired_velocity = 0.1
  
  smach.StateMachine.add('MOVE_ABOVE_HEXAPOD_1',
                         smach_ros.SimpleActionState('/ur10_1/cart_trap_vel_action_server', robot_module.msg.CartTrapVelAction,
                                                     goal_cb = cart_trap_vel_goal_cb,
                                                     input_keys=['cart_trap_vel_pose_input',
                                                                 'cart_trap_vel_position_offset_input',
                                                                 'cart_trap_vel_rotation_offset_input',
                                                                 'cart_trap_vel_desired_velocity_input']),
                         transitions={'succeeded':'OPEN_TOOL_EXCHANGE_1'},
                         remapping={'cart_trap_vel_pose_input':'hexapod_current_pose',
                                    'cart_trap_vel_position_offset_input':'MOVE_ABOVE_HEXAPOD_1_position_offset',
                                    'cart_trap_vel_rotation_offset_input':'MOVE_ABOVE_HEXAPOD_1_rotation_offset',
                                    'cart_trap_vel_desired_velocity_input':'MOVE_ABOVE_HEXAPOD_1_desired_velocity'})
  # END: MOVE_ABOVE_HEXAPOD_1
  #----------------------------------------------------------------------------------------
  
  
subject: Add basic working prototype of SMACH/Jinja2 template-based code generation.