<?xml version="1.0"?>
<root main_tree_to_execute="robotTree">
    <!-- ////////// -->
    <BehaviorTree ID="robotTree">
        <ReactiveSequence>
            <Inverter>
                <Condition ID="InAreaTest" area="{unsafeArea}" pose="{actorPos}"/>
            </Inverter>
            <IfThenElse>
                <Condition ID="InAreaTest" area="{warningArea}" pose="{actorPos}"/>
                <Action ID="SetRobotVelocity" velocity="0.1"/>
                <Action ID="SetRobotVelocity" velocity="1"/>
            </IfThenElse>
            <Fallback>
                <Control ID="InterruptableSequence">
                        <Action ID="GenerateXYPose" area="{negativeYTable}" pose="{target}"/>
                        <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
                        <Action ID="RobotMove" target="{target}"/>
                        <Action ID="RandomFailure" failureChance="0.15"/>
                        <Action ID="GenerateXYPose" area="{positiveYTable}" pose="{target}"/>
                        <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
                        <Action ID="RobotMove" target="{target}"/>
                        <Action ID="RandomFailure" failureChance="0.05"/>
                </Control>
                <Action ID="SetCalledTo" state="true"/>
            </Fallback>
        </ReactiveSequence>
    </BehaviorTree>
    <!-- ////////// -->
    <TreeNodesModel>
        <Action ID="ActorAnimation">
            <input_port name="animation">Name of animation to play</input_port>
        </Action>
        <Action ID="ActorMovement">
            <input_port name="animation">Name of animation to play</input_port>
            <input_port name="target">Pose to move to</input_port>
        </Action>
        <Condition ID="IsCalled"/>
        <Action ID="SetCalledTo">
            <input_port name="state">state to set called to</input_port>
        </Action>
        <Action ID="GenerateXYPose">
            <input_port name="area">Area to generate pose in</input_port>
            <output_port name="pose">Generated pose in area</output_port>
        </Action>
        <Condition ID="InAreaTest">
            <input_port name="area">Bounds to check in</input_port>
            <input_port name="pose">Position of object</input_port>
        </Condition>
        <Action ID="OffsetPose">
            <input_port name="input">initial position as Pose</input_port>
            <input_port name="offset">offset as a Point</input_port>
            <input_port name="orientation">rotation of resulting pose as Quaternion</input_port>
            <output_port name="output">generated new pose</output_port>
        </Action>
        <Action ID="RandomFailure">
            <input_port name="failureChance">Chance to fail from 0 to 1</input_port>
        </Action>
        <Action ID="RobotMove">
            <input_port name="target">Target pose of robot.</input_port>
        </Action>
        <Action ID="SetRobotVelocity">
            <input_port name="velocity">Target velocity of robot</input_port>
        </Action>
        <Control ID="WeightedRandom">
            <input_port name="weights">Weights for the children, separated by semicolon.</input_port>
        </Control>
        <Control ID="InterruptableSequence">
        </Control>
    </TreeNodesModel>
    <!-- ////////// -->
</root>

