<?xml version="1.0"?>
<root main_tree_to_execute="actorTree">
    <!-- ////////// -->
    <BehaviorTree ID="actorTree">
        <Fallback>
            <ReactiveSequence>
                <Inverter>
                    <Condition ID="IsCalled"/>
                </Inverter>

                <Sequence>
                    <Control ID="WeightedRandom" weights="100,5,2">
                        <Action ID="GenerateXYPose" area="{safeArea}" pose="{actorTarget}"/>
                        <Action ID="GenerateXYPose" area="{warningArea}" pose="{actorTarget}"/>
                        <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
                    </Control>
                    <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
                </Sequence>
            </ReactiveSequence>
            <Sequence>
                <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
                <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
                <Action ID="SetCalledTo" state="false"/>
            </Sequence>
        </Fallback>
    </BehaviorTree>
</root>

