30 lines
1.4 KiB
XML
30 lines
1.4 KiB
XML
<?xml version="1.0"?>
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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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</Inverter>
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<IfThenElse>
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<Condition ID="InAreaTest" area="{warningArea}" pose="{actorPos}"/>
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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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<Action ID="RandomFailure" failure_chance="0.15"/>
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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="RandomFailure" failure_chance="0.05"/>
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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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</root>
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