From 1e12d84ed446f73b011b7f6a0a3aa1b1a5e11853 Mon Sep 17 00:00:00 2001
From: Bastian Hofmann <bastian.hofmann@xitaso.com>
Date: Fri, 31 Mar 2023 12:46:53 +0000
Subject: [PATCH] Changes to trees

---
 src/btree_trees/trees/actorTreeCoex.xml  | 74 ++++++------------------
 src/btree_trees/trees/actorTreeColab.xml |  4 +-
 src/btree_trees/trees/actorTreeCoop.xml  |  4 +-
 src/btree_trees/trees/robotTreeCoex.xml  | 51 +---------------
 src/btree_trees/trees/robotTreeColab.xml |  4 +-
 src/btree_trees/trees/robotTreeCoop.xml  | 38 ++++++------
 6 files changed, 44 insertions(+), 131 deletions(-)

diff --git a/src/btree_trees/trees/actorTreeCoex.xml b/src/btree_trees/trees/actorTreeCoex.xml
index f212e31..75abb4e 100644
--- a/src/btree_trees/trees/actorTreeCoex.xml
+++ b/src/btree_trees/trees/actorTreeCoex.xml
@@ -1,60 +1,20 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
-    <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
-        <Sequence>
-            <Control ID="WeightedRandom" weights="100,5,2">
-                <Action ID="GenerateXYPose" area="{safeArea}" pose="{actorTarget}"/>
-                <Action ID="GenerateXYPose" area="{warningArea}" pose="{actorTarget}"/>
+<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="walk" target="{actorTarget}"/>
+                <Action ID="ActorAnimation" animation="standing_extend_arm"/>
+                <Action ID="ActorAnimation" animation="standing_retract_arm"/>
+            </Sequence>
+            <Sequence>
                 <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
-            </Control>
-            <Action ID="ActorMovement" animation="walk" target="{actorTarget}"/>
-        </Sequence>
-    </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="MoveActorToTarget">
-            <input_port name="current">Current actor position</input_port>
-            <input_port name="target">Target to move actor to</input_port>
-        </Action>
-        <Action ID="PositionToPose">
-            <input_port name="offset">offset as a Point</input_port>
-            <input_port name="orientation">rotation of resulting pose as Quaternion</input_port>
-            <input_port name="output">generated new pose</input_port>
-            <input_port name="position">initial position as Position2D</input_port>
-        </Action>
-        <Action ID="SetRobotVelocity">
-            <input_port name="velocity">Target velocity of robot</input_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>
-        <Control ID="WeightedRandom">
-            <input_port name="weights">Weights for the children, separated by semicolon.</input_port>
+                <Action ID="ActorMovement" animation="walk" target="{actorTarget}"/>
+            </Sequence>
         </Control>
-    </TreeNodesModel>
-    <!-- ////////// -->
-</root>
-
+    </BehaviorTree>
+</root>
\ No newline at end of file
diff --git a/src/btree_trees/trees/actorTreeColab.xml b/src/btree_trees/trees/actorTreeColab.xml
index 4224afa..5eb0411 100644
--- a/src/btree_trees/trees/actorTreeColab.xml
+++ b/src/btree_trees/trees/actorTreeColab.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
+<root main_tree_to_execute="actorTree">
     <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
+    <BehaviorTree ID="actorTree">
         <Fallback>
             <ReactiveSequence>
                 <Inverter>
diff --git a/src/btree_trees/trees/actorTreeCoop.xml b/src/btree_trees/trees/actorTreeCoop.xml
index 4224afa..5eb0411 100644
--- a/src/btree_trees/trees/actorTreeCoop.xml
+++ b/src/btree_trees/trees/actorTreeCoop.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
+<root main_tree_to_execute="actorTree">
     <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
+    <BehaviorTree ID="actorTree">
         <Fallback>
             <ReactiveSequence>
                 <Inverter>
diff --git a/src/btree_trees/trees/robotTreeCoex.xml b/src/btree_trees/trees/robotTreeCoex.xml
index 223259e..7c1319e 100644
--- a/src/btree_trees/trees/robotTreeCoex.xml
+++ b/src/btree_trees/trees/robotTreeCoex.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
-    <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
+<root main_tree_to_execute="robotTree">
+    <BehaviorTree ID="robotTree">
         <ReactiveSequence>
             <Inverter>
                 <Condition ID="InAreaTest" area="{unsafeArea}" pose="{actorPos}"/>
@@ -23,48 +22,4 @@
             </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>
-
+</root>
\ No newline at end of file
diff --git a/src/btree_trees/trees/robotTreeColab.xml b/src/btree_trees/trees/robotTreeColab.xml
index 2330a04..0a30d8d 100644
--- a/src/btree_trees/trees/robotTreeColab.xml
+++ b/src/btree_trees/trees/robotTreeColab.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
+<root main_tree_to_execute="robotTree">
     <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
+    <BehaviorTree ID="robotTree">
         <ReactiveSequence>
             <Inverter>
                 <Condition ID="InAreaTest" area="{unsafeArea}" pose="{actorPos}"/>
diff --git a/src/btree_trees/trees/robotTreeCoop.xml b/src/btree_trees/trees/robotTreeCoop.xml
index 8fd14e0..37c944a 100644
--- a/src/btree_trees/trees/robotTreeCoop.xml
+++ b/src/btree_trees/trees/robotTreeCoop.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
+<root main_tree_to_execute="robotTree">
     <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
+    <BehaviorTree ID="robotTree">
         <ReactiveSequence>
             <Inverter>
                 <Condition ID="InAreaTest" area="{unsafeArea}" pose="{actorPos}"/>
@@ -11,25 +11,23 @@
                 <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}"/>
-                    <Control ID="WeightedRandom" weights="90,10">
-                        <Sequence>
-                            <Action ID="GenerateXYPose" area="{dropoff}" pose="{target}"/>
-                            <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
-                        </Sequence>
-                        <Sequence>
-                            <Action ID="GenerateXYPose" area="{positiveYTable}" pose="{target}"/>
-                            <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
-                        </Sequence>
-                    </Control>
-                    <Action ID="RobotMove" target="{target}"/>
+            <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}"/>
+                <Control ID="WeightedRandom" weights="90,10">
+                    <Sequence>
+                        <Action ID="OffsetPose" input="-0.68,0,1.215" offset="0,0,0" orientation="0,-0.707,0,0.707" output="{target}"/>
+                        <Action ID="RobotMove" target="{target}"/>
+                    </Sequence>
+                    <Sequence>
+                        <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="SetCalledTo" state="true"/>
+                    </Sequence>
                 </Control>
-                <Action ID="SetCalledTo" state="true"/>
-            </Fallback>
+            </Control>
         </ReactiveSequence>
     </BehaviorTree>
     <!-- ////////// -->