Changes to trees
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Bastian Hofmann
parent
b558f8d401
commit
1e12d84ed4
@ -1,60 +1,20 @@
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<?xml version="1.0"?>
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<root main_tree_to_execute="BehaviorTree">
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<!-- ////////// -->
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<BehaviorTree ID="BehaviorTree">
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<root main_tree_to_execute="actorTree">
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<BehaviorTree ID="actorTree">
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<Control ID="WeightedRandom" weights="95,5">
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<Sequence>
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<Control ID="WeightedRandom" weights="100,5,2">
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<Control ID="WeightedRandom" weights="95,5">
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<Action ID="GenerateXYPose" area="{safeArea}" pose="{actorTarget}"/>
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<Action ID="GenerateXYPose" area="{warningArea}" pose="{actorTarget}"/>
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<Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
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</Control>
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<Action ID="ActorMovement" animation="walk" target="{actorTarget}"/>
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<Action ID="ActorAnimation" animation="standing_extend_arm"/>
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<Action ID="ActorAnimation" animation="standing_retract_arm"/>
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</Sequence>
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<Sequence>
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<Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
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<Action ID="ActorMovement" animation="walk" target="{actorTarget}"/>
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</Sequence>
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</BehaviorTree>
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<!-- ////////// -->
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<TreeNodesModel>
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<Action ID="ActorAnimation">
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<input_port name="animation">Name of animation to play</input_port>
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</Action>
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<Action ID="ActorMovement">
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<input_port name="animation">Name of animation to play</input_port>
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<input_port name="target">Pose to move to</input_port>
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</Action>
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<Condition ID="IsCalled"/>
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<Action ID="SetCalledTo">
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<input_port name="state">state to set called to</input_port>
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</Action>
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<Action ID="GenerateXYPose">
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<input_port name="area">Area to generate pose in</input_port>
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<output_port name="pose">Generated pose in area</output_port>
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</Action>
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<Condition ID="InAreaTest">
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<input_port name="area">Bounds to check in</input_port>
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<input_port name="pose">Position of object</input_port>
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</Condition>
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<Action ID="MoveActorToTarget">
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<input_port name="current">Current actor position</input_port>
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<input_port name="target">Target to move actor to</input_port>
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</Action>
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<Action ID="PositionToPose">
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<input_port name="offset">offset as a Point</input_port>
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<input_port name="orientation">rotation of resulting pose as Quaternion</input_port>
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<input_port name="output">generated new pose</input_port>
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<input_port name="position">initial position as Position2D</input_port>
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</Action>
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<Action ID="SetRobotVelocity">
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<input_port name="velocity">Target velocity of robot</input_port>
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</Action>
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<Action ID="RandomFailure">
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<input_port name="failureChance">Chance to fail from 0 to 1</input_port>
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</Action>
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<Action ID="RobotMove">
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<input_port name="target">Target pose of robot.</input_port>
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</Action>
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<Control ID="WeightedRandom">
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<input_port name="weights">Weights for the children, separated by semicolon.</input_port>
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</Control>
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</TreeNodesModel>
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<!-- ////////// -->
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</BehaviorTree>
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</root>
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@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<root main_tree_to_execute="BehaviorTree">
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<root main_tree_to_execute="actorTree">
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<!-- ////////// -->
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<BehaviorTree ID="BehaviorTree">
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<BehaviorTree ID="actorTree">
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<Fallback>
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<ReactiveSequence>
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<Inverter>
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@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<root main_tree_to_execute="BehaviorTree">
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<root main_tree_to_execute="actorTree">
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<!-- ////////// -->
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<BehaviorTree ID="BehaviorTree">
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<BehaviorTree ID="actorTree">
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<Fallback>
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<ReactiveSequence>
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<Inverter>
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@ -1,7 +1,6 @@
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<?xml version="1.0"?>
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<root main_tree_to_execute="BehaviorTree">
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<!-- ////////// -->
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<BehaviorTree ID="BehaviorTree">
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<root main_tree_to_execute="robotTree">
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<BehaviorTree ID="robotTree">
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<ReactiveSequence>
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<Inverter>
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<Condition ID="InAreaTest" area="{unsafeArea}" pose="{actorPos}"/>
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@ -23,48 +22,4 @@
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</Fallback>
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</ReactiveSequence>
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</BehaviorTree>
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<!-- ////////// -->
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<TreeNodesModel>
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<Action ID="ActorAnimation">
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<input_port name="animation">Name of animation to play</input_port>
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</Action>
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<Action ID="ActorMovement">
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<input_port name="animation">Name of animation to play</input_port>
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<input_port name="target">Pose to move to</input_port>
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</Action>
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<Condition ID="IsCalled"/>
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<Action ID="SetCalledTo">
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<input_port name="state">state to set called to</input_port>
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</Action>
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<Action ID="GenerateXYPose">
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<input_port name="area">Area to generate pose in</input_port>
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<output_port name="pose">Generated pose in area</output_port>
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</Action>
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<Condition ID="InAreaTest">
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<input_port name="area">Bounds to check in</input_port>
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<input_port name="pose">Position of object</input_port>
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</Condition>
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<Action ID="OffsetPose">
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<input_port name="input">initial position as Pose</input_port>
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<input_port name="offset">offset as a Point</input_port>
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<input_port name="orientation">rotation of resulting pose as Quaternion</input_port>
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<output_port name="output">generated new pose</output_port>
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</Action>
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<Action ID="RandomFailure">
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<input_port name="failureChance">Chance to fail from 0 to 1</input_port>
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</Action>
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<Action ID="RobotMove">
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<input_port name="target">Target pose of robot.</input_port>
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</Action>
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<Action ID="SetRobotVelocity">
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<input_port name="velocity">Target velocity of robot</input_port>
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</Action>
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<Control ID="WeightedRandom">
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<input_port name="weights">Weights for the children, separated by semicolon.</input_port>
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</Control>
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<Control ID="InterruptableSequence">
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</Control>
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</TreeNodesModel>
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<!-- ////////// -->
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</root>
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@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<root main_tree_to_execute="BehaviorTree">
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<root main_tree_to_execute="robotTree">
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<!-- ////////// -->
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<BehaviorTree ID="BehaviorTree">
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<BehaviorTree ID="robotTree">
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<ReactiveSequence>
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<Inverter>
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<Condition ID="InAreaTest" area="{unsafeArea}" pose="{actorPos}"/>
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@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<root main_tree_to_execute="BehaviorTree">
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<root main_tree_to_execute="robotTree">
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<!-- ////////// -->
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<BehaviorTree ID="BehaviorTree">
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<BehaviorTree ID="robotTree">
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<ReactiveSequence>
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<Inverter>
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<Condition ID="InAreaTest" area="{unsafeArea}" pose="{actorPos}"/>
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@ -11,25 +11,23 @@
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<Action ID="SetRobotVelocity" velocity="0.1"/>
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<Action ID="SetRobotVelocity" velocity="1"/>
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</IfThenElse>
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<Fallback>
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<Control ID="InterruptableSequence">
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<Action ID="GenerateXYPose" area="{negativeYTable}" pose="{target}"/>
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<Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
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<Action ID="RobotMove" target="{target}"/>
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<Control ID="WeightedRandom" weights="90,10">
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<Sequence>
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<Action ID="GenerateXYPose" area="{dropoff}" pose="{target}"/>
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<Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
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<Action ID="OffsetPose" input="-0.68,0,1.215" offset="0,0,0" orientation="0,-0.707,0,0.707" output="{target}"/>
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<Action ID="RobotMove" target="{target}"/>
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</Sequence>
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<Sequence>
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<Action ID="GenerateXYPose" area="{positiveYTable}" pose="{target}"/>
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<Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
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<Action ID="RobotMove" target="{target}"/>
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<Action ID="SetCalledTo" state="true"/>
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</Sequence>
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</Control>
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<Action ID="RobotMove" target="{target}"/>
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</Control>
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<Action ID="SetCalledTo" state="true"/>
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</Fallback>
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</ReactiveSequence>
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</BehaviorTree>
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<!-- ////////// -->
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