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yellow_panel_simple.xml
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="yellow_panel_simple_a">
<TaskSequence>
<Script code="is_in_home:=false"/>
<Script code="is_pick_first:=true"/>
<Script code="is_pick_second:=true"/>
<Script code="is_failed_picking:=false"/>
<ForceSuccess>
<Sequence>
<Sequence _onFailure="is_pick_first=false">
<RetryUntilSuccessful num_attempts="8">
<Fallback>
<Move goal="0.27;-0.9;90"
ignore_obstacles="false"
linear_velocity="1.8"
frame_id="map"
angular_velocity="1.0"
mode="7"
linear_acceleration="1.5"
angular_acceleration="1.8"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<SubTree ID="gentle_attack"
goal="0.27;-0.8;90"
linear_acceleration="1.5"
linear_velocity="1.8"
type="3"/>
<SubTree ID="gentle_attack"
type="3"
linear_velocity="1.2"
linear_acceleration="1.0"
goal="0.27;-0.64;90"/>
</Sequence>
<SubTree ID="try_pick_up_weed_front"
_autoremap="true"/>
</Sequence>
</ForceSuccess>
<ForceSuccess>
<Sequence>
<Fallback>
<Sequence>
<Sequence _onFailure="is_pick_second=false">
<RetryUntilSuccessful num_attempts="15">
<Fallback>
<Move name="MoveWeed#2"
goal="-135"
ignore_obstacles="false"
linear_velocity="1.5"
frame_id="map"
angular_velocity="3.5"
mode="1"
linear_acceleration="1.0"
angular_acceleration="3.5"/>
<Sleep msec="700"/>
</Fallback>
</RetryUntilSuccessful>
<SubTree ID="gentle_attack"
type="3"
linear_velocity="1.8"
linear_acceleration="1.5"
goal="-0.31;-1.0;-90"
_autoremap="false"/>
<SubTree ID="gentle_attack_back"
name="gentle_attack#22"
type="3"
linear_velocity="1.8"
linear_acceleration="1.5"
goal="-0.25;-0.75;-90"
_autoremap="false"/>
<SubTree ID="gentle_attack_back"
name="gentle_attack#32"
type="3"
linear_velocity="1.2"
linear_acceleration="1.0"
goal="-0.25;-0.64;-90"/>
</Sequence>
<SubTree ID="try_pick_up_weed_back"
_autoremap="true"/>
</Sequence>
<JointPosition instance="m14"
max_effort="0"
max_velocity="220"
position="280"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Fallback>
</Sequence>
</ForceSuccess>
<ForceSuccess>
<Sequence>
<Fallback>
<SubTree ID="wait_safe"
goal="-0.52;0.0;90"
linear_acceleration="0.6"
linear_velocity="0.7"
type="7"
_onFailure="is_failed_picking=true"
_autoremap="true"/>
<RetryUntilSuccessful num_attempts="10">
<Fallback>
<Navigate behavior_tree=""
goal="-0.50;0.7;0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Fallback>
<Fallback _skipIf="is_failed_picking==true">
<SubTree ID="wait_safe"
goal="-0.71;1.05;90"
linear_acceleration="0.6"
linear_velocity="0.7"
type="6"
_autoremap="true"/>
<RetryUntilSuccessful num_attempts="10">
<Fallback>
<Navigate behavior_tree=""
goal="-0.50;0.7;0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Fallback>
<RetryUntilSuccessful num_attempts="10">
<Fallback>
<Move goal="-0.71;0.55;-90"
ignore_obstacles="false"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="2"
linear_acceleration="0.8"
angular_acceleration="1.8"/>
<Sequence>
<Sleep msec="700"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<RetryUntilSuccessful num_attempts="10">
<Fallback>
<Move goal="-0.73;0.75;-90"
ignore_obstacles="false"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="2"
linear_acceleration="0.8"
angular_acceleration="1.8"/>
<Sequence>
<Sleep msec="700"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<ForceSuccess>
<Sequence>
<ForceSuccess name="ForceSuccess#1"
_skipIf="is_pick_second==false">
<Fallback>
<SubTree ID="try_put_plenter_back_yellow_a"
_autoremap="true"/>
<Sequence>
<JointPosition instance="m12"
max_effort="0"
max_velocity="150"
position="75"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="180"
position="142"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m14"
max_effort="0"
max_velocity="220"
position="280"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
</Fallback>
</ForceSuccess>
<ForceSuccess name="ForceSuccess#2"
_skipIf="is_pick_first==false">
<SubTree ID="try_pick_up_pots_with_fork_yellow_a"
_autoremap="true"/>
</ForceSuccess>
</Sequence>
</ForceSuccess>
</Sequence>
</ForceSuccess>
<ForceSuccess>
<Sequence>
<SubTree ID="go_home_yellow_a"
_onSuccess="is_in_home=true"
_autoremap="true"/>
<Sleep msec="12000"/>
</Sequence>
</ForceSuccess>
</TaskSequence>
</BehaviorTree>
<BehaviorTree ID="yellow_panel_simple_m">
<TaskSequence>
<Script code="is_in_home:=false"/>
<Script code="is_pick_first:=true"/>
<Script code="is_pick_second:=true"/>
<ForceSuccess>
<RetryUntilSuccessful num_attempts="6">
<Fallback>
<Move goal="0.805; 0.55;-90"
ignore_obstacles="true"
linear_velocity="1.0"
frame_id="map"
angular_velocity="1.8"
mode="7"
linear_acceleration="1.0"
angular_acceleration="0.1"/>
<ForceFailure>
<Sleep msec="500"/>
</ForceFailure>
</Fallback>
</RetryUntilSuccessful>
</ForceSuccess>
<ScoreboardTask points="15"
task="SOLAR_PANELS"/>
<ForceSuccess>
<Sequence>
<Sequence _onFailure="is_pick_first=false">
<RetryUntilSuccessful num_attempts="10">
<Fallback>
<Move goal="-45"
ignore_obstacles="false"
linear_velocity="1.5"
frame_id="map"
angular_velocity="4.5"
mode="1"
linear_acceleration="1.3"
angular_acceleration="4.5"/>
<Sleep msec="500"/>
</Fallback>
</RetryUntilSuccessful>
<Parallel failure_count="1"
success_count="-1">
<SubTree ID="drop_fork_down"
_autoremap="true"/>
<RetryUntilSuccessful num_attempts="8">
<Fallback>
<Move goal="0.25;0.9;-90"
ignore_obstacles="false"
linear_velocity="1.8"
frame_id="map"
angular_velocity="1.0"
mode="3"
linear_acceleration="1.5"
angular_acceleration="1.8"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Parallel>
<SubTree ID="gentle_attack"
goal="0.25;0.8;-90"
linear_acceleration="1.5"
linear_velocity="1.8"
type="3"/>
<SubTree ID="gentle_attack"
type="3"
linear_velocity="1.2"
linear_acceleration="1.0"
goal="0.25;0.64;-90"/>
</Sequence>
<SubTree ID="try_pick_up_weed_front"
_autoremap="true"/>
</Sequence>
</ForceSuccess>
<ForceSuccess>
<Sequence>
<ForceSuccess name="ForceSuccess#0">
<Fallback>
<Sequence>
<Sequence _onFailure="is_pick_second=false">
<RetryUntilSuccessful num_attempts="5">
<Fallback>
<Move name="MoveWeed#2"
goal="-45"
ignore_obstacles="false"
linear_velocity="1.5"
frame_id="map"
angular_velocity="3.5"
mode="1"
linear_acceleration="1.0"
angular_acceleration="3.5"/>
<Sleep msec="500"/>
</Fallback>
</RetryUntilSuccessful>
<SubTree ID="gentle_attack"
type="3"
linear_velocity="1.8"
linear_acceleration="1.5"
goal="-0.30;1.0;90"/>
<SubTree ID="gentle_attack_back"
name="gentle_attack#22"
type="3"
linear_velocity="1.8"
linear_acceleration="1.5"
goal="-0.25;0.75;90"
_autoremap="true"/>
<SubTree ID="gentle_attack_back"
name="gentle_attack#32"
type="3"
linear_velocity="1.2"
linear_acceleration="1.0"
goal="-0.25;0.64;90"/>
</Sequence>
<SubTree ID="try_pick_up_weed_back"
_autoremap="true"/>
</Sequence>
<JointPosition instance="m14"
max_effort="0"
max_velocity="220"
position="280"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Fallback>
</ForceSuccess>
<ForceSuccess name="ForceSuccess#1"
_skipIf="is_pick_second==false">
<Fallback>
<SubTree ID="try_put_plenter_back_yellow"
_onFailure="is_pick_second==false"
_autoremap="true"/>
<Sequence>
<JointPosition instance="m12"
max_effort="0"
max_velocity="150"
position="75"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="180"
position="142"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m14"
max_effort="0"
max_velocity="220"
position="280"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
</Fallback>
</ForceSuccess>
<ForceSuccess name="ForceSuccess#2"
_skipIf="is_pick_first==false">
<SubTree ID="try_pick_up_pots_with_fork_yellow"
_autoremap="true"/>
</ForceSuccess>
</Sequence>
</ForceSuccess>
<ForceSuccess>
<Sequence>
<Fallback>
<SubTree ID="try_pick_up_random_weed_yellow"
_onSuccess="is_in_home=true"
_autoremap="true"/>
<RetryUntilSuccessful num_attempts="3"
_onSuccess="is_in_home=true">
<Fallback>
<Navigate behavior_tree=""
goal="-0.48;1.05;0"/>
<Sequence>
<Sleep msec="600"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Fallback>
<Sleep msec="12000"/>
<SubTree ID="go_home"
_skipIf="is_in_home==true"
_onSuccess="is_in_home=true"
_autoremap="true"/>
<Sleep msec="12000"/>
</Sequence>
</ForceSuccess>
</TaskSequence>
</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="Move"
editable="true">
<input_port name="goal"/>
<inout_port name="ignore_obstacles"
default="false"/>
<input_port name="linear_velocity"
default="0.5"/>
<input_port name="frame_id"
default="map"/>
<input_port name="angular_velocity"
default="1.0"/>
<input_port name="mode"
default="7"/>
<input_port name="linear_acceleration"
default="0.8"/>
<input_port name="angular_acceleration"
default="1.8"/>
</Action>
<Action ID="Navigate"
editable="true">
<input_port name="behavior_tree"/>
<input_port name="goal"/>
</Action>
<Action ID="ScoreboardTask"
editable="true">
<input_port name="points"
default="0">points scored, can be negative</input_port>
<input_port name="task"
default="store_sample_to_work_shed">unique task name</input_port>
</Action>
<Control ID="TaskSequence"
editable="true"/>
</TreeNodesModel>
</root>