try_pickup_weed.xml

<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
  <BehaviorTree ID="try_pickup_weed">
    <Sequence>
      <SubTree ID="try_move_weed"
               color="{color}"
               table="{table}"/>
      <JointPosition instance="m1"
                     max_effort="0"
                     max_velocity="180"
                     position="250"
                     tolerance="10"
                     feedback_effort="{feedback_effort}"
                     feedback_position="{feedback_position}"
                     result="{result}"/>
      <JointPosition instance="m4"
                     max_effort="0"
                     max_velocity="180"
                     position="0"
                     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>
  </TreeNodesModel>

</root>