<?xml version="1.0"?>
<root main_tree_to_execute="actorTree">
    <BehaviorTree ID="actorTree">
        <Control ID="WeightedRandom" weights="95,5">
            <Sequence>
                <Control ID="WeightedRandom" weights="95,5">
                    <Action ID="GenerateXYPose" area="{safeArea}" pose="{actorTarget}"/>
                    <Action ID="GenerateXYPose" area="{warningArea}" pose="{actorTarget}"/>
                </Control>
                <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
                <Action ID="ActorAnimation" animation_name="standing_extend_arm"/>
                <Action ID="ActorAnimation" animation_name="standing_retract_arm"/>
            </Sequence>
            <Sequence>
                <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
                <Action ID="ActorMovement" animation_name="walk" target="{actorTarget}"/>
            </Sequence>
        </Control>
    </BehaviorTree>
</root>