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try_pick_up_weed.xml
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="try_pick_up_random_weed">
<Sequence>
<SubTree ID="drop_fork_down"
_autoremap="true"/>
<SubTree ID="gentle_attack"
type="7"
linear_velocity="0.7"
linear_acceleration="0.6"
goal="-0.52;0.10;70"
_autoremap="true"/>
<JointPosition instance="m3"
max_effort="0"
max_velocity="220"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<SubTree ID="gentle_attack"
type="3"
linear_velocity="0.4"
linear_acceleration="0.3"
goal="0;1.20;90"
_autoremap="true"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.12"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m3"
max_effort="0"
max_velocity="220"
position="216"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.12"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="try_pick_up_random_weed_yellow">
<Sequence>
<SubTree ID="drop_fork_down"
_autoremap="true"/>
<SubTree ID="gentle_attack"
type="7"
linear_velocity="0.7"
linear_acceleration="0.6"
goal="-0.53;-0.10;-70"
_autoremap="true"/>
<JointPosition instance="m3"
max_effort="0"
max_velocity="220"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<SubTree ID="gentle_attack"
type="3"
linear_velocity="0.4"
linear_acceleration="0.3"
goal="0;-1.17;-90"
_autoremap="true"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.12"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m3"
max_effort="0"
max_velocity="220"
position="216"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.12"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="try_pick_up_three_front">
<Sequence>
<JointPosition instance="m3"
max_effort="0"
max_velocity="180"
position="202"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<RetryUntilSuccessful num_attempts="8">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="-0.07"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sleep msec="500"/>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m3"
max_effort="0"
max_velocity="170"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="try_pick_up_weed_back">
<Sequence>
<Script code="put_back_1:=true"/>
<JointPosition instance="m12"
max_effort="0"
max_velocity="180"
position="172"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<RetryUntilSuccessful num_attempts="5">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="0.07"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sleep msec="500"/>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m12"
max_effort="0"
max_velocity="150"
position="75"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Fallback>
<Parallel failure_count="1"
success_count="-1"
_onFailure="put_back_1=false">
<JointPosition instance="m14"
max_effort="0"
max_velocity="180"
position="0"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<RetryUntilSuccessful num_attempts="5">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="-0.25"
error="{error}"
linear_velocity="0.2"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sequence>
<Sleep msec="300"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Parallel>
<JointPosition instance="m11"
max_effort="0"
max_velocity="180"
position="232"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Fallback>
<JointPosition instance="m11"
max_effort="0"
max_velocity="180"
position="232"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="try_pick_up_weed_front">
<Sequence>
<JointPosition instance="m3"
max_effort="0"
max_velocity="180"
position="205"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<RetryUntilSuccessful num_attempts="6">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="-0.07"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sleep msec="500"/>
</Fallback>
</RetryUntilSuccessful>
<Fallback>
<Parallel failure_count="1"
success_count="-1">
<JointPosition instance="m3"
max_effort="0"
max_velocity="170"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<RetryUntilSuccessful num_attempts="2">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="0.25"
error="{error}"
linear_velocity="0.2"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sequence>
<Sleep msec="700"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Parallel>
<JointPosition instance="m3"
max_effort="0"
max_velocity="170"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Fallback>
<JointPosition instance="m2"
max_effort="0"
max_velocity="150"
position="137"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="JointPosition"
editable="true">
<input_port name="instance"/>
<input_port name="max_effort"
default="0"/>
<input_port name="max_velocity"
default="180"/>
<input_port name="position"/>
<input_port name="tolerance"
default="10"/>
<output_port name="feedback_effort"
default="{feedback_effort}"/>
<output_port name="feedback_position"
default="{feedback_position}"/>
<output_port name="result"
default="{result}"/>
</Action>
<Action ID="Translate"
editable="true">
<input_port name="frame_id"
default="base_link"/>
<input_port name="ignore_obstacles"
default="false"/>
<input_port name="x"/>
<input_port name="error"
default="{error}"/>
<input_port name="linear_velocity"
default="0.5"/>
<input_port name="linear_acceleration"
default="0.8"/>
<input_port name="enable_sensors"
default="false"/>
</Action>
</TreeNodesModel>
</root>