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You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree replans the global path periodically at 1 Hz.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
</RateController>
<FollowPath path="{path}" controller_id="FollowPath"/>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree replans the global path after every 1m.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<DistanceController distance="1.0">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
</DistanceController>
<FollowPath path="{path}" controller_id="FollowPath"/>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="root_sequence">
<Go_point name="Go_point" goal="{destination}"/>
<Go_object name="Go_object" target="{object}"/>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<SequenceStar name="root_sequence">
<Go_point name="Go_point" goal="{destination}"/>
<Sequence name="root_sequence">
<Turn name="Turn"/>
<Go_object name="Go_object" target="{object}"/>
</Sequence>
</SequenceStar>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree first computes a path using the global planner (ComputePathToPose).
Then, it runs two sub-branches in parallel. The first sub-branch is a FollowPath
operation (the local planner). In parallel, there is a rate controlled execution of
FollowPath (the global planner). Each time a new path is computed, the path update
is sent to the local planner. The right branch, which is the rate controlled
ComputePathToPose, always returns RUNNING. Because the Parallel node uses a
threshold of 1, whenever the FollowPath returns SUCCESS or FAILURE, the parallel
node will return this result.
The goal (input to the global planner) and the resulting path (output of the global
planner and input to the local planner) are passed on the blackboard.
The rate at which the ComputePathToPose operation is invoked can be controlled with
the hz parameter to the RateController node.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence name="root">
<RateController hz="1.0">
<Fallback>
<GoalReached/>
<ComputePathToPose goal="${goal}"/>
</Fallback>
</RateController>
<FollowPath path="${path}"/>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="BehaviorTree">
<!--------------------------------------->
<BehaviorTree ID="BehaviorTree">
<Root>
<Fallback name="FB1">
<Sequence name="S1">
<Fallback name="FB2">
<Sequence name="S7">
<Condition ID="Room_known"/>
<Fallback name="FB10">
<Condition ID="Robot_in_room"/>
<Action ID="Go_to_room"/>
</Fallback>
</Sequence>
<Action ID="FollowHuman"/>
</Fallback>
<Sequence name="S2">
<Fallback name="FB3">
<Condition ID="Bottle_found"/>
<Action ID="Find_bottle"/>
</Fallback>
<Fallback name="FB4">
<Condition ID="Bottle_grasped"/>
<Fallback name="FB5">
<Sequence name="S3">
<Fallback name="FB7">
<Sequence name="S6">
<Condition ID="Inv_pose_computed"/>
<Condition ID="Inv_pose_valid"/>
</Sequence>
<Action ID="Compute_inv_pose"/>
</Fallback>
<Sequence name="S4">
<Fallback name="FB8">
<Condition ID="Robot_at_inv_pose"/>
<Sequence name="S8">
<Action ID="Keep_arms_for_grasp"/>
<Action ID="Go_to_inv_pose"/>
</Sequence>
</Fallback>
<Sequence name="S5">
<Fallback name="FB9">
<Condition ID="Bottle_located"/>
<Action ID="Locate_bottle"/>
</Fallback>
<Action ID="Grasp_bottle"/>
</Sequence>
</Sequence>
</Sequence>
<Fallback name="FB6">
<Action ID="Set_inv_pose_not_valid"/>
<Action ID="Keep_running"/>
</Fallback>
</Fallback>
</Fallback>
</Sequence>
</Sequence>
<Action ID="Ask_for_help"/>
</Fallback>
</Root>
</BehaviorTree>
<!--------------------------------------->
<TreeNodesModel>
<Action ID="Ask_for_help"/>
<Condition ID="Bottle_found"/>
<Condition ID="Bottle_grasped"/>
<Condition ID="Bottle_located"/>
<Action ID="Compute_inv_pose"/>
<Action ID="Find_bottle"/>
<Action ID="FollowHuman"/>
<Action ID="Go_to_inv_pose"/>
<Action ID="Go_to_room"/>
<Action ID="Grasp_bottle"/>
<Condition ID="Inv_pose_computed"/>
<Condition ID="Inv_pose_valid"/>
<Action ID="Keep_arms_for_grasp"/>
<Action ID="Keep_running"/>
<Action ID="Locate_bottle"/>
<Condition ID="Robot_at_inv_pose"/>
<Condition ID="Robot_in_room"/>
<Condition ID="Room_known"/>
<Action ID="Set_inv_pose_not_valid"/>
</TreeNodesModel>
<!--------------------------------------->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="BehaviorTree">
<!--------------------------------------->
<BehaviorTree ID="BehaviorTree">
<Root>
<Fallback name="FB1">
<Sequence name="S1">
<Fallback name="FB2">
<Sequence name="S6">
<Condition ID="Room_known"/>
<Action ID="Go_to_room"/>
</Sequence>
<Action ID="Follow_human"/>
</Fallback>
<Sequence name="S2">
<Action ID="Find_bottle"/>
<Sequence name="S3">
<Action ID="Fetch_bottle"/>
<Sequence name="S4">
<Action ID="Find_glass"/>
<Sequence name="S5">
<Action ID="Fetch_glass"/>
<Action ID="Pour_drink"/>
</Sequence>
</Sequence>
</Sequence>
</Sequence>
</Sequence>
<Action ID="Ask_for_help"/>
</Fallback>
</Root>
</BehaviorTree>
<!--------------------------------------->
<TreeNodesModel>
<Action ID="Ask_for_help"/>
<Action ID="Fetch_bottle"/>
<Action ID="Fetch_glass"/>
<Action ID="Find_bottle"/>
<Action ID="Find_glass"/>
<Action ID="Follow_human"/>
<Action ID="Go_to_kitchen"/>
<Action ID="Go_to_room"/>
<Action ID="Pour_drink"/>
<Condition ID="Room_known"/>
</TreeNodesModel>
<!--------------------------------------->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<ReactiveSequence name="root">
<AIP_isHolding goal="0; 0; 1.3; 0.3; 0; 0; 0; 0; 1; 1;"/> <!-- State value; state index; x_obj_loc; y_obj_loc; object index -->
<AIP_isAt goal="0; 2; 0.3; -1.3; 0.0; 0.0; 0.0; -0.707; 0.707"/> <!-- State value; state index; x, y, z, quaternion xyzw -->
<AIP_isPlacedAt goal="0; 4; 0.3; -1.3; 0; 0; 0; -0.707; 0.707; 1;"/> <!-- State value; state index; x_obj_loc; y_obj_loc; object index -->
</ReactiveSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Repeat num_cycles="-1">
<Sequence name="Pursue Goals">
<Fallback name="No Item to pick">
<Inverter name="Not">
<Condition ID="SeeItem" name="See an Item"/>
</Inverter>
<Action ID="Pick" name="Pick it up"/>
</Fallback>
<Fallback name="No Item in gripper">
<Inverter name="Not">
<Condition ID="HoldingItem" name="Holding an Item"/>
</Inverter>
<Action ID="Place" name="Place it"/>
</Fallback>
</Sequence>
</Repeat>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="Init">
<Action ID="Print" message="Initialize"/>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="AlwaysRunning"/>
<Action ID="GetItemPose"/>
<Condition ID="HoldingItem"/>
<SubTree ID="Init"/>
<Action ID="Pick"/>
<Action ID="Place"/>
<Action ID="Print">
<input_port name="message"/>
</Action>
<Condition ID="SeeItem"/>
<Action ID="Trigger">
<input_port name="service_name"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action ID="go1"/>
<AlwaysFailure/>
<Action ID="go2"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="go1"/>
<Action ID="go2"/>
<Action ID="go3"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action ID="go1"/>
<AlwaysSuccess/>
<Action ID="go2"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="go1"/>
<Action ID="go2"/>
<Action ID="go3"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action ID="go1"/>
<Action ID="go2"/>
<Fallback>
<Action ID="go3"/>
<Action ID="go4"/>
<Action ID="go5"/>
<Sequence>
<Action ID="go6"/>
<Action ID="go7"/>
</Sequence>
</Fallback>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="alwaysTrue"/>
<Action ID="dumpRun"/>
<Action ID="go1"/>
<Action ID="go2"/>
<Action ID="go3"/>
<Action ID="go4"/>
<Action ID="go5"/>
<Action ID="go6"/>
<Action ID="go7"/>
<Action ID="goClosestR"/>
<Action ID="guardAiMovement"/>
<Action ID="isFull"/>
<Action ID="mineResource"/>
<Action ID="waitFrames">
<input_port name="_in_0"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree replans the global path periodically at 1 Hz.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
</RateController>
<FollowPath path="{path}" controller_id="FollowPath"/>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
Prerrequisitos
- el objeto est찼 en el brazo
- sabemos donde va el objeto
va a clean up
-->
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="place">
<GetPickObject name="get_pose_from_object" object_id="{object_id}"/> <!-- TODO: leer grafo y averiguar objeto con su tipo-->
<GetPlacingPose name="get_placing_pose" object="{object_id}" ob_pose="{pose}"/> <!-- TODO: lee el world model y decide donde va el objeto -->
<!--<ApproachObject name="approach_object" object_pose="{pose}"/-->
<Move name="move" goal="{pose}"/>
<PlaceSimple name="place" goal="{pose}"/> <!-- from gb_manipulation -->
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="MainTree">
<!-- ////////// -->
<BehaviorTree ID="DoorClosed">
<Sequence name="door_closed_sequence">
<Inverter>
<Condition ID="IsDoorOpen"/>
</Inverter>
<RetryUntilSuccesful num_attempts="4">
<Action ID="OpenDoor"/>
</RetryUntilSuccesful>
<Action ID="PassThroughDoor"/>
<Action ID="CloseDoor"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="MainTree">
<Fallback name="root_Fallback">
<Sequence name="door_open_sequence">
<Condition ID="IsDoorOpen"/>
<Action ID="PassThroughDoor"/>
</Sequence>
<SubTree ID="DoorClosed"/>
<Action ID="PassThroughWindow"/>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="CloseDoor"/>
<SubTree ID="DoorClosed"/>
<Condition ID="IsDoorOpen"/>
<Action ID="OpenDoor"/>
<Action ID="PassThroughDoor"/>
<Action ID="PassThroughWindow"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<RetryUntilSuccesful num_attempts="3" name="">
<SequenceStar name="">
<ReactiveSequence name="SEQ1">
<CheckBattery name="check_battery"/>
<SequenceStar name="">
<MyAsyncAction name="action_A_SEQ1"/>
<MyAsyncAction name="action_B_SEQ1"/>
</SequenceStar>
</ReactiveSequence>
<ReactiveSequence name="SEQ2">
<CheckBattery name="check_battery"/>
<SequenceStar name="">
<MyAsyncAction name="action_A_SEQ2"/>
<MyAsyncAction name="action_B_SEQ2"/>
</SequenceStar>
</ReactiveSequence>
</SequenceStar>
</RetryUntilSuccesful>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. |
<!--
This Behavior Tree replans the global path periodically at 1 Hz and it also has
recovery actions.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
</RecoveryNode>
</RateController>
<RecoveryNode number_of_retries="1" name="FollowPath">
<FollowPath path="{path}" controller_id="FollowPath"/>
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
</RecoveryNode>
</PipelineSequence>
<ReactiveFallback name="RecoveryFallback">
<GoalUpdated/>
<SequenceStar name="RecoveryActions">
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
<Spin spin_dist="1.57"/>
<Wait wait_duration="5"/>
</SequenceStar>
</ReactiveFallback>
</RecoveryNode>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<!-- =================================== -->
<BehaviorTree ID="Combat">
<SequenceStar>
<Condition ID="IsInCombat"/>
<Action ID="AbortJob"/>
<ForceSuccess>
<SequenceStar>
<Action ID="GetTarget"/>
<Action ID="Move"/>
<Sequence>
<Condition ID="TargetAdjacent"/>
<Action ID="AttackTarget"/>
</Sequence>
</SequenceStar>
</ForceSuccess>
<Condition ID="IsInCombat"/>
</SequenceStar>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="GetUniform">
<SequenceStar name="GetUniform">
<Action ID="CheckUniform"/>
<Fallback>
<Action ID="Move"/>
<Action ID="UniformCleanUp"/>
</Fallback>
<Action ID="EquipUniform"/>
</SequenceStar>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="Hunger">
<SequenceStar>
<Condition ID="IsHungry"/>
<Sequence>
<SequenceStar name="Hunger">
<Action ID="FindFood"/>
<Action ID="Move"/>
<Action ID="PickUpItem"/>
<ForceSuccess>
<SequenceStar>
<Action ID="FindDining"/>
<Action ID="Move"/>
</SequenceStar>
</ForceSuccess>
<Action ID="Eat"/>
</SequenceStar>
<Condition ID="IsFull"/>
</Sequence>
</SequenceStar>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="JobButcherAnimal">
<BB_Precondition expected="ButcherAnimal" key="JobType">
<Fallback>
<SequenceStar>
<Action ID="InitAnimalJob"/>
<Action ID="Move"/>
<Action ID="GrabAnimal"/>
<Action ID="GetItemDropPosition"/>
<Action ID="Move"/>
<Action ID="FinalMoveAnimal"/>
<Action ID="ButcherAnimal"/>
<Action ID="FinishJob"/>
</SequenceStar>
<Action ID="AbortJob"/>
</Fallback>
</BB_Precondition>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="JobDyeAnimal">
<BB_Precondition expected="DyeAnimal" key="JobType">
<Fallback>
<SequenceStar>
<Action ID="InitJob"/>
<Action ID="ClaimItems"/>
<SubTree ID="MoveAllItemsToJob"/>
<Action ID="InitAnimalJob"/>
<Action ID="Move"/>
<Action ID="GrabAnimal"/>
<Action ID="GetItemDropPosition"/>
<Action ID="Move"/>
<Action ID="FinalMoveAnimal"/>
<Action ID="DyeAnimal"/>
<Action ID="FinishJob"/>
</SequenceStar>
<Action ID="AbortJob"/>
</Fallback>
</BB_Precondition>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="JobHarvestAnimal">
<BB_Precondition expected="HarvestAnimal" key="JobType">
<Fallback>
<SequenceStar>
<Action ID="InitAnimalJob"/>
<Action ID="Move"/>
<Action ID="GrabAnimal"/>
<Action ID="HarvestAnimal"/>
<Action ID="ReleaseAnimal"/>
<Action ID="FinishJob"/>
</SequenceStar>
<Action ID="AbortJob"/>
</Fallback>
</BB_Precondition>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="JobHaulMultiple">
<BB_Precondition expected="HauleMultipleItems" key="JobType">
<Fallback>
<SequenceStar>
<Action ID="InitJob"/>
<Action ID="FindTool"/>
<Action ID="Move"/>
<Action ID="EquipTool"/>
<Inverter>
<Sequence>
<Inverter>
<Condition ID="AllPickedUp"/>
</Inverter>
<Sequence>
<Action ID="Move"/>
<Action ID="PickUpItem"/>
</Sequence>
<Action ID="ReturnAlwaysRunning"/>
</Sequence>
</Inverter>
<Condition ID="AllPickedUp"/>
<Action ID="GetItemDropPosition"/>
<Action ID="Move"/>
<Action ID="DropAllItems"/>
<Action ID="FinishJob"/>
</SequenceStar>
<Action ID="AbortJob"/>
</Fallback>
</BB_Precondition>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="JobLeadAnimalToPasture">
<BB_Precondition expected="LeadAnimalToPasture" key="JobType">
<Fallback>
<SequenceStar>
<Action ID="InitAnimalJob"/>
<Action ID="Move"/>
<Action ID="GrabAnimal"/>
<Action ID="GetItemDropPosition"/>
<Action ID="Move"/>
<Action ID="FinalMoveAnimal"/>
<Action ID="ReleaseAnimal"/>
<Action ID="FinishJob"/>
</SequenceStar>
<Action ID="AbortJob"/>
</Fallback>
</BB_Precondition>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="JobStandard">
<Fallback>
<SequenceStar name="StandardJobs">
<Action ID="InitJob"/>
<Action ID="ClaimItems"/>
<Action ID="FindTool"/>
<Action ID="Move"/>
<Action ID="EquipTool"/>
<SubTree ID="MoveAllItemsToJob"/>
<Action ID="GetWorkPosition"/>
<Action ID="Move"/>
<Action ID="Work"/>
<Action ID="FinishJob"/>
</SequenceStar>
<Action ID="AbortJob"/>
</Fallback>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="JobTameAnimal">
<BB_Precondition expected="TameAnimal" key="JobType">
<Fallback>
<SequenceStar>
<Action ID="InitAnimalJob"/>
<Action ID="Move"/>
<Action ID="TameAnimal"/>
<Action ID="GrabAnimal"/>
<Action ID="GetItemDropPosition"/>
<Action ID="Move"/>
<Action ID="FinalMoveAnimal"/>
<Action ID="ReleaseAnimal"/>
<Action ID="FinishJob"/>
</SequenceStar>
<Action ID="AbortJob"/>
</Fallback>
</BB_Precondition>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="Jobs">
<SequenceStar>
<Action ID="GetJob"/>
<FallbackStar>
<SubTree ID="JobButcherAnimal"/>
<SubTree ID="JobDyeAnimal"/>
<SubTree ID="JobLeadAnimalToPasture"/>
<SubTree ID="JobHarvestAnimal"/>
<SubTree ID="JobTameAnimal"/>
<SubTree ID="JobHaulMultiple"/>
<SubTree ID="JobStandard"/>
</FallbackStar>
</SequenceStar>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="MainTree">
<SubTree ID="Jobs"/>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="MoveAllItemsToJob">
<Sequence>
<Inverter>
<Sequence>
<Inverter>
<Condition ID="AllItemsInPlaceForJob"/>
</Inverter>
<SequenceStar>
<Action ID="Move"/>
<Action ID="PickUpItem"/>
<Action ID="GetItemDropPosition"/>
<Action ID="Move"/>
<Action ID="DropItem"/>
</SequenceStar>
<Action ID="ReturnAlwaysRunning"/>
</Sequence>
</Inverter>
<Condition ID="AllItemsInPlaceForJob"/>
</Sequence>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="OldMoveAllItemsToJob">
<FallbackStar>
<Condition ID="AllItemsInPlaceForJob"/>
<RetryUntilSuccesful num_attempts="20">
<Sequence>
<SequenceStar>
<Action ID="Move"/>
<Action ID="PickUpItem"/>
<Fallback>
<Action ID="GetItemDropPosition"/>
<Action ID="DropItem"/>
</Fallback>
<Fallback>
<Action ID="Move"/>
<Action ID="DropItem"/>
</Fallback>
<Action ID="DropItem"/>
</SequenceStar>
<Condition ID="AllItemsInPlaceForJob"/>
</Sequence>
</RetryUntilSuccesful>
<ForceFailure>
<Action ID="AbortJob"/>
</ForceFailure>
</FallbackStar>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="Sleepy">
<SequenceStar name="Sleep">
<Condition ID="IsSleepy"/>
<ForceSuccess>
<SequenceStar>
<Action ID="FindBed"/>
<Action ID="Move"/>
</SequenceStar>
</ForceSuccess>
<Action ID="Sleep"/>
</SequenceStar>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="Thirst">
<SequenceStar>
<Condition ID="IsThirsty"/>
<Sequence>
<SequenceStar name="Thirst">
<Action ID="FindDrink"/>
<Action ID="Move"/>
<Action ID="PickUpItem"/>
<ForceSuccess>
<SequenceStar>
<Action ID="FindDining"/>
<Action ID="Move"/>
</SequenceStar>
</ForceSuccess>
<Action ID="Drink"/>
</SequenceStar>
<Condition ID="IsDrinkFull"/>
</Sequence>
</SequenceStar>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="Trainer">
<SequenceStar name="Trainer">
<Condition ID="IsTrainer"/>
<Action ID="FindTrainerPosition"/>
<Action ID="Move"/>
<Action ID="SuperviseTraining"/>
</SequenceStar>
</BehaviorTree>
<!-- =================================== -->
<BehaviorTree ID="Training">
<SequenceStar name="Training">
<Condition ID="IsTrainingTime"/>
<Action ID="FindTrainingGround"/>
<Action ID="Move"/>
<Action ID="Train"/>
</SequenceStar>
</BehaviorTree>
<!-- =================================== -->
<TreeNodesModel>
<Action ID="AbortJob"/>
<Condition ID="AllItemsInPlaceForJob"/>
<Condition ID="AllPickedUp"/>
<Action ID="AttackTarget"/>
<Action ID="ButcherAnimal"/>
<Action ID="CheckUniform"/>
<Action ID="ClaimItems"/>
<SubTree ID="Combat"/>
<Action ID="Drink"/>
<Action ID="DropAllItems"/>
<Action ID="DropItem"/>
<Action ID="DyeAnimal"/>
<Action ID="Eat"/>
<Action ID="EquipTool"/>
<Action ID="EquipUniform"/>
<Action ID="FinalMoveAnimal"/>
<Action ID="FindBed"/>
<Action ID="FindDining"/>
<Action ID="FindDrink"/>
<Action ID="FindFood"/>
<Action ID="FindTool"/>
<Action ID="FindTrainerPosition"/>
<Action ID="FindTrainingGround"/>
<Action ID="FinishJob"/>
<Action ID="GetItemDropPosition"/>
<Action ID="GetJob"/>
<Action ID="GetTarget"/>
<SubTree ID="GetUniform"/>
<Action ID="GetWorkPosition"/>
<Action ID="GrabAnimal"/>
<Action ID="HarvestAnimal"/>
<SubTree ID="Hunger"/>
<Action ID="InitAnimalJob"/>
<Action ID="InitButcherJob"/>
<Action ID="InitJob"/>
<Condition ID="IsButcherJob"/>
<Condition ID="IsDrinkFull"/>
<Condition ID="IsFull"/>
<Condition ID="IsHungry"/>
<Condition ID="IsInCombat"/>
<Condition ID="IsSleepy"/>
<Condition ID="IsThirsty"/>
<Condition ID="IsTrainer"/>
<Condition ID="IsTrainingTime"/>
<Condition ID="IsVeryHungry"/>
<Condition ID="IsVeryThirsty"/>
<SubTree ID="JobButcherAnimal"/>
<SubTree ID="JobDyeAnimal"/>
<SubTree ID="JobHarvestAnimal"/>
<SubTree ID="JobHaulMultiple"/>
<SubTree ID="JobLeadAnimalToPasture"/>
<SubTree ID="JobStandard"/>
<SubTree ID="JobTameAnimal"/>
<SubTree ID="Jobs"/>
<Action ID="Move"/>
<SubTree ID="MoveAllItemsToJob"/>
<SubTree ID="OldMoveAllItemsToJob"/>
<Action ID="PickUpItem"/>
<Action ID="RandomMove"/>
<Action ID="ReleaseAnimal"/>
<Action ID="ReturnAlwaysRunning"/>
<Action ID="Sleep"/>
<SubTree ID="Sleepy"/>
<Action ID="SuperviseTraining"/>
<Action ID="TameAnimal"/>
<Condition ID="TargetAdjacent"/>
<SubTree ID="Thirst"/>
<Action ID="Train"/>
<SubTree ID="Trainer"/>
<SubTree ID="Training"/>
<Action ID="UniformCleanUp"/>
<Action ID="Work"/>
</TreeNodesModel>
<!-- =================================== -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Repeat num_cycles="3">
<Sequence>
<SetBlackboard output_key="Goal_a" value="-0.579;-1.341;0.0;1.0" />
<SetBlackboard output_key="Goal_b" value="5.214;-1.533;0.0;1.0" />
<Sequence>
<SubTree ID="MoveRobot" target="Goal_a" />
<SnapshotClient/>
<SubTree ID="MoveRobot" target="Goal_b" />
<SnapshotClient/>
</Sequence>
</Sequence>
</Repeat>
</BehaviorTree>
<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<Nav2Client goal="{target}" />
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree replans the global path periodically at 1 Hz.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
</RateController>
<FollowPath path="{path}" controller_id="FollowPath"/>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Repeat num_cycles="100">
<Sequence>
<!-- The goal value="position-x;position-y;orientaion-z;orientation-w" -->
<SetBlackboard output_key="Goal_a" value="0.4;0.4;0.0;1.0" />
<SetBlackboard output_key="Goal_b" value="0.4;-0.4;0.0;1.0" />
<SetBlackboard output_key="Goal_c" value="-0.4;-0.4;0.0;1.0" />
<Sequence>
<SubTree ID="MoveRobot" target="Goal_a" />
<SubTree ID="MoveRobot" target="Goal_b" />
<SubTree ID="MoveRobot" target="Goal_c" />
</Sequence>
</Sequence>
</Repeat>
</BehaviorTree>
<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<Nav2Client goal="{target}" />
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree replans the global path after every 1m.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<DistanceController distance="1.0">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
</DistanceController>
<FollowPath path="{path}" controller_id="FollowPath"/>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence name="main_sequence">
<NavigateVehicle/>
<Sequence name="main_manipulator_sequence">
<Fallback name="find_object">
<Sequence name="search_frame1">
<Sequence name="search1">
<PlanManipulatorPath plan_to_frame="search1"/>
<MoveManipulator path="{manipulator_path}"/>
</Sequence>
<ObjectSearch/>
</Sequence>
<Sequence name="search_frame2">
<Sequence name="search2">
<PlanManipulatorPath plan_to_frame="search2"/>
<MoveManipulator path="{manipulator_path}"/>
</Sequence>
<ObjectSearch/>
</Sequence>
<Sequence name="search_frame3">
<Sequence name="search3">
<PlanManipulatorPath plan_to_frame="search3"/>
<MoveManipulator path="{manipulator_path}"/>
</Sequence>
<ObjectSearch/>
</Sequence>
</Fallback>
<Sequence name="handle_object">
<Fallback name="handle_not_able_to_close">
<Sequence name="pick_object">
<Sequence name="main_move_to_object">
<PlanManipulatorPath plan_to_frame="object" object_pose="{pose}"/>
<MoveManipulator path="{manipulator_path}"/>
</Sequence>
<MoveGripper action="close"/>
</Sequence>
<ForceFailure name="force_failure1">
<Sequence name="movetodrive">
<PlanManipulatorPath plan_to_frame="driveposition"/>
<MoveManipulator path="{manipulator_path}"/>
</Sequence>
</ForceFailure>
</Fallback>
<Sequence name="leave_object">
<Fallback name="find_empty_frame">
<Fallback name="check_empty_frame">
<EmptyFrame check_frame="carryarea1" empty_frame="{empty_frame}"/>
<EmptyFrame check_frame="carryarea2"/>
<EmptyFrame check_frame="carryarea3"/>
</Fallback>
<ForceFailure name="force_failure2">
<MoveGripper action="open"/>
</ForceFailure>
</Fallback>
<Sequence name="emptyframe">
<PlanManipulatorPath plan_to_frame="{empty_frame}"/>
<MoveManipulator path="{manipulator_path}"/>
</Sequence>
<MoveGripper action="open"/>
<Sequence name="drive">
<PlanManipulatorPath plan_to_frame="driveposition"/>
<MoveManipulator path="{manipulator_path}"/>
</Sequence>
</Sequence>
</Sequence>
</Sequence>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action ID="MoveBack"/>
<Action ID="GoToTable"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="lookAtTheTray"/>
<Action ID="DetectHandles"/>
<Action ID="PickTray"/>
<Action ID="LookUp"/>
<Action ID="PlaceTray"/>
<Action ID="MoveBack"/>
<Action ID="GoToTable"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<!-- =================================== -->
<BehaviorTree ID="MainTree">
<Fallback>
<SequenceStar name="Main">
<Action ID="GetTarget"/>
<Action ID="Move"/>
<Sequence>
<Condition ID="TargetAdjacent"/>
<Action ID="AttackTarget"/>
</Sequence>
</SequenceStar>
<Action ID="RandomMove"/>
</Fallback>
</BehaviorTree>
<!-- =================================== -->
<TreeNodesModel>
<Action ID="AttackTarget"/>
<Action ID="GetTarget"/>
<Condition ID="IsDay"/>
<Condition ID="IsFemale"/>
<Condition ID="IsHungry"/>
<Condition ID="IsMale"/>
<Condition ID="IsNight"/>
<Action ID="Move"/>
<Action ID="RandomMove"/>
<Action ID="Sleep"/>
<Condition ID="TargetAdjacent"/>
</TreeNodesModel>
<!-- =================================== -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Repeat num_cycles="10">
<Sequence>
<Delay delay_msec="1000">
<PoseDetectionControlAction enable="true" />
</Delay>
<TrackAction mode="Track" rate="3" detect_voice="0" turn_base="0" />
<!-- Spin a bit to get localized in the case the initial pose was just set -->
<RobotSpin angle="-180" velocity="0.4" />
<RobotSpin angle="180" velocity="0.4" />
<RobotFindInitAction game_file="robot_find.json" object_type="shapes" random_order="0" needs_init="{needs_init}" robot_pose="{robot_pose}" />
<!--
<ForceSuccess>
<Sequence>
<BlackboardCheckInt value_A="{needs_init}" value_B="0" return_on_mismatch="FAILURE">
<Sequence>
<TextToSpeechActionClient msg="Do you want to setup the game?" />
<SpeechToTextActionClient text="{said}" />
<TextCompareAction text="{said}" ck_for=".*(yes|yeah|okay|ok|sure|yep).*" />
<SetBlackboard output_key="needs_init" value="1" />
</Sequence>
</BlackboardCheckInt>
</Sequence>
</ForceSuccess>
-->
<Fallback>
<BlackboardCheckInt value_A="{needs_init}" value_B="1" return_on_mismatch="FAILURE">
<Sequence>
<TrackAction mode="Track" rate="3" detect_voice="0" turn_base="1" />
<TextToSpeechActionClient msg="Game setup. I will ask you to stand at each of the locations. Put both hands on your hips when you arrive at each location to continue." />
<ForceSuccess>
<Sequence>
<TextToSpeechActionClient msg="Please send in the middle of the game. After the robot aligns to you, put both hands on your hips." />
<RetryUntilSuccesful num_attempts="20">
<Delay delay_msec="2000">
<HumanPoseDetect expected_pose_left="OnHip" expected_pose_right="OnHip" pose_lr_check="both" detected_person="{detected_person}" pose_left_speech="{pose_left_speech}" pose_right_speech="{pose_right_speech}" />
</Delay>
</RetryUntilSuccesful>
<TrackAction mode="Track" rate="3" detect_voice="0" turn_base="0" />
</Sequence>
</ForceSuccess>
<ForceSuccess>
<KeepRunningUntilFailure>
<Sequence>
<RobotFindNextStepAction item_name="{item_name}" />
<TextToSpeechActionClient msg="Please stand on " msg2="{item_name}" />
<RetryUntilSuccesful num_attempts="20">
<Delay delay_msec="2000">
<Sequence>
<HumanPoseDetect expected_pose_left="OnHip" expected_pose_right="OnHip" pose_lr_check="both" detected_person="{detected_person}" pose_left_speech="{pose_left_speech}" pose_right_speech="{pose_right_speech}" />
<ObjectLocationStatusAction x="{x}" y="{y}" />
<RobotFindSetPositionAction x="{x}" y="{y}" />
</Sequence>
</Delay>
</RetryUntilSuccesful>
</Sequence>
</KeepRunningUntilFailure>
</ForceSuccess>
<TextToSpeechActionClient msg="Finished setting up" />
<TrackAction mode="Track" rate="3" detect_voice="0" turn_base="0" />
</Sequence>
</BlackboardCheckInt>
<Sequence>
<Nav2Client goal="{robot_pose}" />
<TextToSpeechActionClient msg="Let's play the game!" />
<TrackAction mode="Track" rate="3" detect_voice="0" turn_base="0" />
<ForceSuccess>
<KeepRunningUntilFailure>
<Sequence>
<RobotFindNextStepAction item_name="{item_name}" />
<TextToSpeechActionClient msg="Please stand on " msg2="{item_name}" />
<RetryUntilSuccesful num_attempts="200">
<Delay delay_msec="1000">
<Sequence>
<ObjectLocationStatusAction x="{x}" y="{y}" />
<RobotFindCheckStepAction x="{x}" y="{y}" />
<TextToSpeechActionClient msg="Good job" />
</Sequence>
</Delay>
</RetryUntilSuccesful>
</Sequence>
</KeepRunningUntilFailure>
</ForceSuccess>
<TextToSpeechActionClient msg="Finished playing the game" />
<TrackAction mode="Track" rate="3" detect_voice="0" turn_base="0" />
</Sequence>
</Fallback>
</Sequence>
</Repeat>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="MainTree">
<!-- ////////// -->
<BehaviorTree ID="MainTree">
<Repeat num_cycles="99">
<Fallback name="get_answer">
<Sequence>
<Delay delay_msec="3000">
<Action ID="TextToSpeechActionClient" msg="What's your name?"/>
</Delay>
<Action ID="SpeechToTextActionClient" text="{said}"/>
<Action ID="TextToSpeechActionClient" msg="You said"/>
<Action ID="TextToSpeechActionClient" msg="{said}"/>
</Sequence>
<Action ID="TextToSpeechActionClient" msg="I'm sorry, but I didn't hear a response"/>
</Fallback>
</Repeat>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="SpeechToTextActionClient">
<output_port name="text" type="std::string"/>
</Action>
<Action ID="TextToSpeechActionClient">
<input_port name="msg" type="std::string"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<Repeat num_cycles="1">
<Fallback name="get_answer">
<Sequence>
<TextToSpeechActionClient msg="Hi there" />
<Delay delay_msec="500">
<SmileAction level="3" duration_ms="2000"/>
</Delay>
<Delay delay_msec="2000">
<TextToSpeechActionClient msg="What's your name?" />
</Delay>
<SpeechToTextActionClient text="{said}" />
<TextToSpeechActionClient msg="You said" />
<TextToSpeechActionClient msg="{said}" />
</Sequence>
<ForceFailure>
<HeadTiltAction angle="45" dwell_ms="1500" />
</ForceFailure>
<TextToSpeechActionClient msg="I'm sorry, but I didn't you" />
</Fallback>
</Repeat>
<TextToSpeechActionClient msg="Goodbye" />
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<Delay delay_msec="4000">
<TrackAction mode="Scan" rate="3" />
</Delay>
<Delay delay_msec="10000">
<TrackAction mode="Off" rate="3" />
</Delay>
<Delay delay_msec="4000">
<TrackAction mode="Track" rate="3" />
</Delay>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="root_sequence">
<CheckBattery name="check_battery" />
<OpenGripper name="open_gripper" />
<ApproachObject name="actino_test"/>
<CloseGripper name="close_gripper" />
</Sequence>
</BehaviorTree>
</root> |
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree first goes into a branch where it will check to see if the robot's initial
pose is given. If the initial pose is not given it trys to automatically localize the robot.
After finding the initial pose it will continue with the recovery and navigation branch. The
AutoLocalization branch is based on 'AutoLocalization.xml' and the navigation branch is based on
`parallel_w_recovery.xml`.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence name="root">
<FallbackStar name="AutoLocalization">
<initialPoseReceived/>
<SequenceStar name="doSelfLocalization">
<RetryUntilSuccesful num_attempts="5" name="retry_client_request">
<globalLocalizationServiceRequest/>
</RetryUntilSuccesful>
<RetryUntilSuccesful num_attempts="10" name="retry_localization">
<Sequence>
<Fallback>
<IsLocalized/>
<SequenceStar>
<Spin/>
<BackUp/>
<Spin/>
</SequenceStar>
</Fallback>
<IsLocalized/>
</Sequence>
</RetryUntilSuccesful>
</SequenceStar>
</FallbackStar>
<FallbackStar name="check_motion">
<Inverter name="is_not_stuck">
<IsStuck/>
</Inverter>
<SequenceStar name="stuck_recovery">
<Stop/>
<BackUp/>
<Spin/>
</SequenceStar>
</FallbackStar>
<SequenceStar name="navigate">
<ComputePathToPose endpoints="${endpoints}" path="${path}"/>
<ParallelNode threshold="1">
<FollowPath path="${path}"/>
<Sequence>
<RateController hz="2">
<ComputePathToPose endpoints="${endpoints}" path="${path}"/>
</RateController>
<UpdatePath/>
</Sequence>
</ParallelNode>
</SequenceStar>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="root_sequence">
<Search name="search"/>
</Sequence>
</BehaviorTree>
</root> |
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. |
<!--
This Behavior Tree processes each of the given waypoints with NavigateToPose and wait if NavigateToPose is failed.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<ReactiveFallback name="FollowWaypoints">
<AllGoalsAchieved goal_achieved="{goal_achieved}"/>
<KeepRunningUntilFailure>
<ReactiveSequence>
<GetNextGoal goals="{goals}" goal="{goal}" goal_achieved="{goal_achieved}"/>
<RecoveryNode number_of_retries="1">
<NavigateToPose goal="{goal}"/>
<Wait wait_duration="5"/>
</RecoveryNode>
<SetBlackboard output_key="goal_achieved" value="true"/>
</ReactiveSequence>
</KeepRunningUntilFailure>
</ReactiveFallback>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Fallback>
<ReactiveSequence>
<Condition ID="PullOver_Request"/>
<Condition ID="PullOver_Ready"/>
<Action ID="PullOver_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="PullOut_Request"/>
<Condition ID="PullOut_Ready"/>
<Action ID="PullOut_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="LaneChange_Request"/>
<Fallback>
<Condition ID="LaneChange_Ready"/>
<Condition ID="ForceLaneChange_ForceApproval"/>
</Fallback>
<Action ID="LaneChange_Plan" output="{output}"/>
</ReactiveSequence>
<Action ID="LaneFollowing_Plan" output="{output}"/>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="a">
<ReactiveFallback>
<Condition ID="LaneChange_CheckApproval"/>
<KeepRunningUntilFailure>
<Action ID="LaneChange_PlanCandidate" output="{output}"/>
</KeepRunningUntilFailure>
</ReactiveFallback>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="b">
<ReactiveFallback>
<Condition ID="Avoidance_CheckApproval"/>
<KeepRunningUntilFailure>
<Action ID="Avoidance_PlanCandidate" output="{output}"/>
</KeepRunningUntilFailure>
</ReactiveFallback>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Condition ID="Avoidance_CheckApproval"/>
<Action ID="Avoidance_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Action ID="Avoidance_PlanCandidate">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="Avoidance_Ready"/>
<Condition ID="Avoidance_Request"/>
<Condition ID="ExternalApproval"/>
<Condition ID="ForceApproval"/>
<Condition ID="ForceLaneChange_ForceApproval"/>
<Condition ID="LaneChange_CheckApproval"/>
<Action ID="LaneChange_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Action ID="LaneChange_PlanCandidate">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="LaneChange_Ready"/>
<Condition ID="LaneChange_Request"/>
<Action ID="LaneFollowing_Plan">
<output_port name="output" type="boost::optional<autoware_planning_msgs::PathWithLaneId_<std::allocator<void> > >">desc</output_port>
</Action>
<Action ID="LaneFollowing_PlanCandidate">
<output_port name="output_candidate" type="boost::optional<autoware_planning_msgs::PathWithLaneId_<std::allocator<void> > >">desc</output_port>
</Action>
<Condition ID="LaneFollowing_Ready"/>
<Condition ID="LaneFollowing_Request"/>
<Action ID="PullOut_Plan">
<output_port name="output"/>
</Action>
<Condition ID="PullOut_Ready"/>
<Condition ID="PullOut_Request"/>
<Action ID="PullOver_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="PullOver_Ready"/>
<Condition ID="PullOver_Request"/>
<Condition ID="SideShift_CheckApproval"/>
<Action ID="SideShift_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Action ID="SideShift_PlanCandidate">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="SideShift_Ready"/>
<Condition ID="SideShift_Request"/>
<SubTree ID="SubTree"/>
<SubTree ID="a"/>
<SubTree ID="b"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Fallback>
<Repeat num_cycles="3">
<ReactiveSequence>
<CheckBattery wait_tick="300" />
<Sequence>
<MoveBase goal="-3.1;-0.2;0.0"/>
<MoveBase goal="0.7;1.1;0.0"/>
<MoveBase goal="-3;-2;0.0"/>
<MoveBase goal="1.0;-2;0.0"/>
</Sequence>
</ReactiveSequence>
</Repeat>
<Sequence>
<MoveBase goal="1.0;-1;0.0"/>>
</Sequence>
</Fallback>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. |
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="root_sequence">
<MoveBase goal="-1;2;0" />
<MoveBase goal="-3;1;0" />
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree replans the global path periodically at 1 Hz and it also has
recovery actions.
-->
<!-- <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="6">
<Sequence name="NavigateWithReplanning">
<RateController hz="1.0">
<Fallback>
<GoalReached/>
<ComputePathToPose goal="${goal}" path="${path}"/>
</Fallback>
</RateController>
<FollowPath path="${path}"/>
</Sequence>
<SequenceStar name="RecoveryActions">
<ClearEntireCostmap service_name="/local_costmap/clear_entirely_local_costmap"/>
<ClearEntireCostmap service_name="/global_costmap/clear_entirely_global_costmap"/>
<Spin/>
</SequenceStar>
</RecoveryNode>
</BehaviorTree>
</root> -->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="6">
<Sequence name="NavigateWithReplanning">
<RateController hz="1.0">
<Fallback>
<GoalReached/>
<ComputePathToPose goal="${goal}" path="${path}"/>
<ClearEntireCostmap service_name="/global_costmap/clear_entirely_global_costmap"/>
</Fallback>
</RateController>
<FollowPath path="${path}"/>
</Sequence>
<SequenceStar name="RecoveryActions">
<ClearEntireCostmap service_name="/local_costmap/clear_entirely_local_costmap"/>
<ClearEntireCostmap service_name="/global_costmap/clear_entirely_global_costmap"/>
</SequenceStar>
</RecoveryNode>
</BehaviorTree>
</root>
<!-- <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
</RecoveryNode>
</RateController>
<RecoveryNode number_of_retries="1" name="FollowPath">
<FollowPath path="{path}" controller_id="FollowPath"/>
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
</RecoveryNode>
</PipelineSequence>
<ReactiveFallback name="RecoveryFallback">
<GoalUpdated/>
<SequenceStar name="RecoveryActions">
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
<Wait wait_duration="5"/>
</SequenceStar>
</ReactiveFallback>
</RecoveryNode>
</BehaviorTree>
</root> --> |
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Fallback>
<Sequence>
<Action ID="GetFloat64" number="number" topic="/numbers"/>
<Fallback>
<Sequence>
<Condition A="{number}" B="5" Condition=">=" ID="CompareDouble"/>
<Action ID="DebugAction" string="Number is bigger or equal to 5"/>
</Sequence>
<Action ID="DebugAction" string="Less than 5"/>
</Fallback>
</Sequence>
<Action ID="DebugAction" string="Give me a number!"/>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="ArmCartesian">
<input_port name="action_name"/>
<input_port name="frame_id"/>
<input_port name="pose"/>
<input_port name="type"/>
</Action>
<Action ID="ArmRoutines">
<input_port name="gesture"/>
<input_port name="topic"/>
</Action>
<Action ID="Charge">
<input_port name="action"/>
<input_port name="action_name"/>
</Action>
<Action ID="CheckBattery">
<output_port name="battery_state" type="int"/>
<output_port name="percentage" type="double"/>
<input_port name="service_name" type="std::string"/>
</Action>
<Condition ID="CheckBool">
<input_port name="variable"/>
</Condition>
<Action ID="CheckCharging">
<output_port name="charging_state" type="int"/>
<input_port name="service_name" type="std::string"/>
</Action>
<Condition ID="CompareDouble">
<input_port name="A"/>
<input_port name="B"/>
<input_port name="Condition"/>
</Condition>
<Condition ID="CompareInt">
<input_port name="A"/>
<input_port name="B"/>
<input_port name="Condition"/>
</Condition>
<Action ID="DebugAction">
<input_port name="string" type="std::string"/>
</Action>
<Action ID="Destroy"/>
<Action ID="DetectFaces">
<output_port name="faceListOut"/>
<input_port name="face_topic"/>
</Action>
<Action ID="FaceCounter">
<input_port name="faceListIn"/>
<input_port name="number_faces"/>
</Action>
<Action ID="GazeAtTarget">
<input_port name="action_name"/>
<input_port name="fixation_pose"/>
<input_port name="frame_id"/>
</Action>
<Action ID="GetFloat64">
<output_port name="number" type="double"/>
<input_port name="topic" type="std::string"/>
</Action>
<Action ID="GetInt16">
<output_port name="number"/>
<input_port name="topic"/>
</Action>
<Action ID="GetPoseArray">
<output_port name="pose_array"/>
<input_port name="topic"/>
</Action>
<Action ID="GiveFeedback">
<input_port default="850" name="almost_thr"/>
<input_port name="correct_blocks"/>
<input_port name="incorrect_blocks"/>
<input_port default="0" name="personality"/>
<input_port name="score"/>
</Action>
<Action ID="MoveBase">
<input_port name="action_name"/>
<input_port name="frame_id"/>
<input_port name="goal_pose"/>
</Action>
<Action ID="MoveTorso">
<input_port name="angle"/>
<input_port name="topic"/>
</Action>
<Action ID="ResetVars"/>
<Action ID="SelectBlock">
<input_port name="block_list" type="social_cues::BlockList_<std::allocator<void> >"/>
<output_port name="block_pose" type="geometry_msgs::PoseStamped_<std::allocator<void> >"/>
<input_port name="position_in_list" type="std::string"/>
</Action>
<Action ID="SelectFieldFromPoseStamped">
<input_port name="field"/>
<output_port name="output_val"/>
<input_port name="pose_stamped"/>
</Action>
<Action ID="SelectPose">
<input_port name="pose_array"/>
<output_port name="pose_stamped"/>
<input_port name="position_in_list"/>
</Action>
<Action ID="SenseScore">
<output_port name="score"/>
<input_port name="score_topic"/>
</Action>
<Action ID="Speak">
<input_port name="action_name" type="std::string"/>
<input_port name="language" type="std::string"/>
<input_port name="utterance" type="std::string"/>
<input_port name="voice" type="std::string"/>
</Action>
<Action ID="WaitForXSeconds">
<input_port default="SUCCESS" name="result">Result after specified time: SUCCESS or FAILURE</input_port>
<input_port default="5" name="seconds">Time in seconds</input_port>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="root_sequence">
<CheckBattery name="check_battery"/>
<OpenGripper name="open_gripper"/>
<ApproachObject name="approach_object"/>
<CloseGripper name="close_gripper"/>
</Sequence>
</BehaviorTree>
<TreeNodesModel>
<Action ID="CheckBattery"/>
<Action ID="OpenGripper"/>
<Action ID="ApproachObject"/>
<Action ID="CloseGripper"/>
</TreeNodesModel>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Repeat num_cycles="{num_cycles}">
<Sequence>
<Fallback>
<Condition ID="LTLPreCheck" ltl_state_current="{ltl_state_current}" ltl_state_desired_sequence="{ltl_state_desired_sequence}" ltl_state_executed_sequence="{ltl_state_executed_sequence}"/>
<ForceFailure>
<Action ID="ReplanningRequestLevel2" ltl_state_current="{ltl_state_current}" ltl_state_executed_sequence="{ltl_state_executed_sequence}" replanning_request="{replanning_request}"/>
</ForceFailure>
</Fallback>
<ReactiveSequence>
<Fallback>
<Sequence>
<RetryUntilSuccesful num_attempts="3">
<Fallback>
<Condition ID="LocomotionStatusCheck" locomotion_status="{locomotion_status}"/>
<Sequence>
<Action ID="RecoveryStand" locomotion_status="{locomotion_status}"/>
<Delay delay_msec="2000">
<Action ID="LocomotionStart" locomotion_status="{locomotion_status}"/>
</Delay>
</Sequence>
</Fallback>
</RetryUntilSuccesful>
<Action ID="FakeDetectionLevel1" replanning_fake_input="{replanning_fake_input}"/>
</Sequence>
<ForceFailure>
<Action ID="ReplanningRequestLevel1" ltl_state_current="{ltl_state_current}" ltl_state_executed_sequence="{ltl_state_executed_sequence}" replanning_request="{replanning_request}"/>
</ForceFailure>
</Fallback>
<Fallback>
<Condition ID="ReactiveLTLStateCheck" ltl_state_current="{ltl_state_current}" ltl_state_desired_sequence="{ltl_state_desired_sequence}"/>
<ForceFailure>
<Action ID="ReplanningRequestLevel2" ltl_state_current="{ltl_state_current}" ltl_state_executed_sequence="{ltl_state_executed_sequence}" replanning_request="{replanning_request}"/>
</ForceFailure>
</Fallback>
<Fallback>
<Action ID="FakeDetectionLevel3" replanning_fake_input="{replanning_fake_input}"/>
<ForceFailure>
<Action ID="ReplanningRequestLevel3" ltl_state_current="{ltl_state_current}" ltl_state_executed_sequence="{ltl_state_executed_sequence}" replanning_request="{replanning_request}"/>
</ForceFailure>
</Fallback>
<Fallback>
<Switch6 case_1="move" case_2="stay" case_3="pick" case_4="drop" case_5="start_training" case_6="terminate_training" variable="{bt_action_type}">
<Action ID="MoveAction" bt_action_type="{bt_action_type}" current_action="{current_action}" goal_sent="{goal_sent}" move_base_finished="{move_base_finished}" move_base_idle="{move_base_idle}"/>
<Action ID="StayAction" bt_action_type="{bt_action_type}" current_action="{current_action}" ltl_state_current="{ltl_state_current}"/>
<Action ID="PickAction" bt_action_type="{bt_action_type}" current_action="{current_action}" ltl_state_current="{ltl_state_current}"/>
<Action ID="DropAction" bt_action_type="{bt_action_type}" current_action="{current_action}" ltl_state_current="{ltl_state_current}"/>
<Action ID="GuideAction" bt_action_type="{bt_action_type}" current_action="{current_action}" ltl_state_current="{ltl_state_current}"/>
<Action ID="BackNormalAction" bt_action_type="{bt_action_type}" current_action="{current_action}" ltl_state_current="{ltl_state_current}"/>
<AlwaysFailure/>
</Switch6>
<ForceFailure>
<Action ID="ReplanningRequestLevel3" ltl_state_current="{ltl_state_current}" ltl_state_executed_sequence="{ltl_state_executed_sequence}" replanning_request="{replanning_request}"/>
</ForceFailure>
</Fallback>
</ReactiveSequence>
<Action ID="UpdateLTL" action_sequence="{action_sequence}" action_sequence_executed="{action_sequence_executed}" bt_action_type="{bt_action_type}" current_action="{current_action}" ltl_state_desired_sequence="{ltl_state_desired_sequence}"/>
</Sequence>
</Repeat>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="BackNormalAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<inout_port name="ltl_state_current"/>
</Action>
<Action ID="DropAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<inout_port name="ltl_state_current"/>
</Action>
<Action ID="FakeDetectionLevel1">
<input_port name="replanning_fake_input"/>
</Action>
<Action ID="FakeDetectionLevel2">
<input_port name="replanning_fake_input"/>
</Action>
<Action ID="FakeDetectionLevel3">
<input_port name="replanning_fake_input"/>
</Action>
<Action ID="GuideAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<inout_port name="ltl_state_current"/>
</Action>
<Condition ID="LTLPreCheck">
<input_port name="ltl_state_current"/>
<input_port name="ltl_state_desired_sequence"/>
<inout_port name="ltl_state_executed_sequence"/>
</Condition>
<Action ID="LocomotionStart">
<input_port name="locomotion_status"/>
</Action>
<Condition ID="LocomotionStatusCheck">
<input_port name="locomotion_status"/>
</Condition>
<Action ID="MoveAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<output_port name="goal_sent"/>
<input_port name="move_base_finished"/>
<input_port name="move_base_idle"/>
</Action>
<Action ID="PickAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<inout_port name="ltl_state_current"/>
</Action>
<Condition ID="ReactiveLTLStateCheck">
<input_port name="ltl_state_current"/>
<input_port name="ltl_state_desired_sequence"/>
</Condition>
<Action ID="RecoveryStand">
<input_port name="locomotion_status"/>
</Action>
<Action ID="ReplanningRequestLevel1">
<input_port name="ltl_state_current"/>
<inout_port name="ltl_state_executed_sequence"/>
<inout_port name="replanning_request"/>
</Action>
<Action ID="ReplanningRequestLevel2">
<input_port name="ltl_state_current"/>
<inout_port name="ltl_state_executed_sequence"/>
<inout_port name="replanning_request"/>
</Action>
<Action ID="ReplanningRequestLevel3">
<input_port name="ltl_state_current"/>
<inout_port name="ltl_state_executed_sequence"/>
<inout_port name="replanning_request"/>
</Action>
<Action ID="StayAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<inout_port name="ltl_state_current"/>
</Action>
<Action ID="SynchronizedTransitionAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<inout_port name="ltl_state_current"/>
</Action>
<Action ID="UpdateLTL">
<inout_port name="action_sequence"/>
<inout_port name="action_sequence_executed"/>
<output_port name="bt_action_type"/>
<output_port name="current_action"/>
<inout_port name="ltl_state_desired_sequence"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="root_sequence">
<Condition ID="CheckBattery" name="check_battery"/>
<Action ID="OpenGripper" name="open_gripper"/>
<Action ID="ApproachObject" name="approach_object"/>
<Action ID="CloseGripper" name="close_gripper"/>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree replans the global path periodically at 1 Hz.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
</RateController>
<FollowPath path="{path}" controller_id="FollowPath"/>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "GuidedWalking" >
<BehaviorTree ID="GuidedWalking">
<Sequence>
<!--room1 = (2,2)-->
<BaseMovement x="2" y="2"/>
<!--arm_support_position = (200,200,0,0)-->
<ArmMovement x="200" y="200" z="0" gripper_position="0"/>
<StringParameterRequest title="Start walking to destination?"
msg="type [y] or [n]"
value="{confirm}"/>
<CheckBlackboard input="{confirm}" compare_to="y" />
<!--room2 = (5,5)-->
<BaseMovement x="5" y="5"/>
<StringParameterRequest title="Patient arrived?"
msg="type [y] or [n]"
value="{confirm}"/>
<CheckBlackboard input="{confirm}" compare_to="y" />
<!--arm_home_position = (0,0,0,0)-->
<ArmMovement x="0" y="0" z="0" gripper_position="0"/>
<!--waiting_area = (0,0)-->
<BaseMovement x="0" y="0"/>
</Sequence>
</BehaviorTree>
</root> |
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree follows a dynamic pose to a certain distance
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<Sequence>
<GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
<ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased"/>
</GoalUpdater>
<TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
</Sequence>
</RateController>
<KeepRunningUntilFailure>
<FollowPath path="{truncated_path}" controller_id="FollowPath"/>
</KeepRunningUntilFailure>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainSquare" >
<BehaviorTree ID="MainSquare">
<SequenceStar>
<ArmTakeoff altitude="1.5"/>
<SubTree ID="Square"/>
<Land/>
</SequenceStar>
</BehaviorTree>
<BehaviorTree ID="Square">
<SequenceStar>
<GoWaypoint name="Top Left" frame="1" x="4.0" y="0.0" z="-1.5" heading="0.0"/>
<GoWaypoint name="Top Right" frame="1" x="4.0" y="4.0" z="-3.0" heading="0.0"/>
<GoWaypoint name="Bottom Right" frame="1" x="0.0" y="4.0" z="-3.0" heading="0.0"/>
<GoWaypoint name="Bottom Left" frame="1" x="0.0" y="0.0" z="-1.5" heading="0.0"/>
</SequenceStar>
</BehaviorTree>
</root> |
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence name="Robot-Aubo Depalletizing Demo">
<Sequence name="set speed for robots">
<Action ID="ExecuteGroupSpeed" group_name="arm" name="set robot speed" service_name="robot/execute_group_speed" value="0.7"/>
</Sequence>
<Sequence name="add collisions for Robot">
<Action ID="ExecuteAddPlane" group_name="arm" name="Add groud to scene" plane_name="ground" plane_normal="0 0 1" plane_pose="0 0 0 0 0 0 1" service_name="robot/execute_add_plane"/>
<Action ID="ExecuteAddBox" auto_subfix="1" box_name="left_wall" box_pose="2.76 1.2 1.35 0 0 0 1" box_size="5.5 0.001 2.7" group_name="arm" is_absolute="1" name="Add left wall" service_name="robot/execute_add_box"/>
<Action ID="ExecuteAddBox" auto_subfix="1" box_name="right_wall" box_pose="2.76 -1.2 1.35 0 0 0 1" box_size="5.5 0.001 2.7" group_name="arm" is_absolute="1" name="Add right wall" service_name="robot/execute_add_box"/>
<Action ID="ExecuteAddBox" auto_subfix="1" box_name="top_wall" box_pose="2.5 0 2.7 0 0 0 1" box_size="5 2.4 0.001" group_name="arm" is_absolute="1" name="Add top wall" service_name="robot/execute_add_box"/>
<Action ID="ExecuteAddBox" auto_subfix="1" box_name="conveyor" box_pose="-1.341 0 0.4 0 0 0 1" box_size="2.56 1.26 0.8" group_name="arm" is_absolute="1" name="Add conveyor" service_name="robot/execute_add_box"/>
<Action ID="ExecuteAddBox" auto_subfix="0" box_name="boxsur" box_pose="0.881 0 1.35 0 0 0 1" box_size="0.001 2.4 2.7" group_name="arm" is_absolute="1" name="box_surface" service_name="robot/execute_add_box"/>
</Sequence>
<Sequence name="initialize robots">
<Action ID="ExecuteGroupNamedStates" group_name="arm" name="robot initial state" service_name="robot/execute_group_named_states" state_name="left_pre"/>
</Sequence>
<Repeat num_cycles="100">
<Sequence name="Depalletizing Proccess">
<Action ID="SenseObjectPose" category="" pose="{box_surface_pose}" service_name="sense_object_pose"/>
<Action ID="ExecutePlanning" category="" pick_pose="{pick_pose}" place_pose="{place_pose}" pose="{box_surface_pose}" post_middle_pose="{post_middle_pose}" post_pick_pose="{post_pick_pose}" post_pick_pose_edge="{post_pick_pose_edge}" pre_middle_pose="{pre_middle_pose}" pre_pick_pose="{pre_pick_pose}" service_name="execute_planning"/>
<Action ID="ExecuteGroupLinearJointStates" goal="{pre_middle_pose}" group_name="arm" name="pre middle" service_name="robot/execute_group_joint_states" tolerance="0.2"/>
<Action ID="ExecuteRemoveObject" is_exact="1" name="remove boxes_surface" obj_name="boxsur" service_name="robot/execute_remove_object"/>
<Action ID="ConnectWaypoints" connected_waypoints="{pick_motion}" name="pick motion" service_name="connect_waypoints" waypoint1="{pre_pick_pose}" waypoint2="{pick_pose}" waypoint3="" waypoint4="" waypoint5=""/>
<Action ID="ExecuteGroupManyPoses" constraint="" eef_step="0.1" goal_type="0" goals="{pick_motion}" group_name="arm" name="pre pick and pick" service_name="robot/execute_group_many_poses" tolerance="0.1"/>
<Delay delay_msec="1000" name="Grasping">
<AlwaysSuccess/>
</Delay>
<Action ID="ConnectWaypoints" connected_waypoints="{pull_out}" name="pull out" service_name="connect_waypoints" waypoint1="{post_pick_pose}" waypoint2="{post_pick_pose_edge}" waypoint3="" waypoint4="" waypoint5=""/>
<Action ID="ExecuteGroupManyPoses" constraint="" eef_step="0.1" goal_type="0" goals="{pull_out}" group_name="arm" name="post pick" service_name="robot/execute_group_many_poses" tolerance="0.1"/>
<Action ID="ExecuteGroupLinearJointStates" goal="{post_middle_pose}" group_name="arm" name="post middle" service_name="robot/execute_group_joint_states" tolerance="0.1"/>
<Action ID="ExecuteGroupLinearJointStates" goal="{place_pose}" group_name="arm" name="place" service_name="robot/execute_group_joint_states" tolerance="0.1"/>
<Delay delay_msec="1000" name="Droping">
<AlwaysSuccess/>
</Delay>
<Action ID="ExecuteAddBox" auto_subfix="0" box_name="boxsur" box_pose="0.881 0 1.35 0 0 0 1" box_size="0.001 2.4 2.7" group_name="arm" is_absolute="1" name="box_surface" service_name="robot/execute_add_box"/>
<Action ID="ExecuteGroupLinearJointStates" goal="{pre_middle_pose}" group_name="arm" name="back to pre middle" service_name="robot/execute_group_joint_states" tolerance="0.1"/>
</Sequence>
</Repeat>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="ConnectWaypoints">
<output_port name="connected_waypoints">PoseArray</output_port>
<input_port default="connect_waypoints" name="service_name"/>
<input_port name="waypoint1">Pose</input_port>
<input_port name="waypoint2">Pose</input_port>
<input_port name="waypoint3">Pose</input_port>
<input_port name="waypoint4">Pose</input_port>
<input_port name="waypoint5">Pose</input_port>
</Action>
<Action ID="ExecuteAddBox">
<input_port default="1" name="auto_subfix"/>
<input_port default="box" name="box_name"/>
<input_port default="{place_pose}" name="box_pose"/>
<input_port default="0.2 0.2 0.2" name="box_size"/>
<input_port default="arm" name="group_name"/>
<input_port default="1" name="is_absolute"/>
<input_port default="robot/execute_add_box" name="service_name"/>
</Action>
<Action ID="ExecuteAddPlane">
<input_port default="arm" name="group_name"/>
<input_port default="ground" name="plane_name"/>
<input_port default="0 0 1" name="plane_normal"/>
<input_port default="0 0 0 0 0 0 1" name="plane_pose">Pose</input_port>
<input_port default="robot/execute_add_plane" name="service_name"/>
</Action>
<Action ID="ExecuteAttachBox">
<input_port name="box_name"/>
<input_port name="box_pose"/>
<input_port name="box_size"/>
<input_port default="gripper" name="eef_group_name"/>
<input_port default="arm" name="group_name"/>
<input_port default="robot/execute_attach_box" name="service_name"/>
</Action>
<Action ID="ExecuteDetachObject">
<input_port default="arm" name="group_name"/>
<input_port name="obj_name"/>
<input_port default="robot/execute_detach_object" name="service_name"/>
</Action>
<Action ID="ExecuteGroupAngularJointStates">
<input_port default="0 0 0 0 0 0 0" name="goal"/>
<input_port default="panda_arm" name="group_name"/>
<input_port default="robot/execute_group_joint_states" name="service_name"/>
<input_port default="0.01" name="tolerance"/>
</Action>
<Action ID="ExecuteGroupLinearJointStates">
<input_port default="0.04 0.04" name="goal"/>
<input_port default="hand" name="group_name"/>
<input_port default="robot/execute_group_joint_states" name="service_name"/>
<input_port default="0.01" name="tolerance"/>
</Action>
<Action ID="ExecuteGroupManyPoses">
<input_port name="constraint">If 'r', 'p', or 'y' is given, the eef_frame should not rotate about itself along x-, y-, or z-axis. You can combine them like 'rp', 'ry', 'py', and 'rpy'. Default ''</input_port>
<input_port default="0.1" name="eef_step"/>
<input_port default="0" name="goal_type">0: Pose wrt the global base frame (robot base); 1: Pose wrt the base frame transferred to current eef base position; 2: pose wrt the eef frame</input_port>
<input_port default="0 0 0 0 0 0 1" name="goals">Goals for each waypoint to reach, seperate with ; </input_port>
<input_port default="arm" name="group_name">The group providing the reference frame</input_port>
<input_port default="robot/execute_group_many_poses" name="service_name"/>
<input_port default="0.01" name="tolerance"/>
</Action>
<Action ID="ExecuteGroupNamedStates">
<input_port default="aubo" name="group_name">The group providing the reference frame</input_port>
<input_port default="aubo/execute_group_named_states" name="service_name"/>
<input_port default="A" name="state_name">A: Camera to up left; B: Camera to up right; C: Camera to bottom left; D: Camera to bottom right</input_port>
</Action>
<Action ID="ExecuteGroupPose">
<input_port name="constraint">If 'r', 'p', or 'y' is given, the eef_frame should not rotate about itself along x-, y-, or z-axis. You can combine them like 'rp', 'ry', 'py', and 'rpy'. Default ''</input_port>
<input_port default="0 0 0 0 0 0 1" name="goal"/>
<input_port default="0" name="goal_type">0: Pose wrt the global base frame (robot base); 1: Pose wrt the base frame transferred to current eef base position; 2: pose wrt the eef frame</input_port>
<input_port default="arm" name="group_name">The group providing the reference frame</input_port>
<input_port default="robot/execute_group_pose" name="service_name"/>
<input_port default="0.01" name="tolerance"/>
</Action>
<Action ID="ExecuteGroupShift">
<input_port default="z" name="axis">Could be x y z roll pitch yaw</input_port>
<input_port default="0" name="goal"/>
<input_port default="arm" name="group_name"/>
<input_port default="0" name="is_absolute"/>
<input_port default="robot/execute_group_shift" name="service_name"/>
<input_port default="0.01" name="tolerance"/>
</Action>
<Action ID="ExecuteGroupSpeed">
<input_port default="arm" name="group_name">The group providing the reference frame</input_port>
<input_port default="robot/execute_group_speed" name="service_name"/>
<input_port default="0.5" name="value">The velocity scaling factor, Allowed values are in (0,1]</input_port>
</Action>
<Action ID="ExecutePlanning">
<input_port name="category">0 for large box, 1 for small box</input_port>
<output_port default="{pick_pose}" name="pick_pose">Pose</output_port>
<output_port default="{place_pose}" name="place_pose">Double Array</output_port>
<input_port default="{box_surface_pose}" name="pose">Pose</input_port>
<output_port default="{post_middle_pose}" name="post_middle_pose">Double Array</output_port>
<output_port default="{post_pick_pose}" name="post_pick_pose">Pose</output_port>
<output_port default="{post_pick_pose_edge}" name="post_pick_pose_edge">Pose</output_port>
<output_port default="{pre_middle_pose}" name="pre_middle_pose">Double Array</output_port>
<output_port default="{pre_pick_pose}" name="pre_pick_pose">Pose</output_port>
<input_port default="execute_planning" name="service_name"/>
</Action>
<Action ID="ExecuteRemoveObject">
<input_port default="1" name="is_exact"/>
<input_port name="obj_name"/>
<input_port default="robot/execute_remove_object" name="service_name"/>
</Action>
<Action ID="ExecuteSuction">
<input_port default="0" name="enable"/>
<input_port default="execute_suction" name="service_name"/>
</Action>
<Action ID="FetchDetectedInfo">
<output_port name="category">String, 0 for large box, 1 for small box</output_port>
<output_port name="pose">Pose</output_port>
<input_port default="fetch_detected_info" name="service_name"/>
</Action>
<Action ID="SenseObjectPose">
<output_port name="category">String, 0 for large box, 1 for small box</output_port>
<output_port name="pose">Pose</output_port>
<input_port default="sense_object_pose" name="service_name"/>
</Action>
<Action ID="StoreDetectedInfo">
<input_port name="category">String, 0 for large box, 1 for small box</input_port>
<input_port name="pose">Pose</input_port>
<input_port default="store_detected_info" name="service_name"/>
</Action>
<Action ID="TypeInPose">
<output_port name="pose_on_blackboard">Pose on blackboard</output_port>
<input_port default="type_in_pose" name="service_name"/>
<input_port default="0 0 0 0 0 0 1" name="type_in_pose">Pose to be typed in</input_port>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="BehaviorTree">
<BehaviorTree ID="BehaviorTree">
<Root>
<Fallback name="FB">
<Sequence name="S1">
<Action ID="Go_to_kitchen"/>
<Sequence name="S2">
<Action ID="Find_bottle"/>
<Action ID="Fetch_bottle"/>
</Sequence>
</Sequence>
<Action ID="Ask_for_help"/>
</Fallback>
</Root>
</BehaviorTree>
<TreeNodesModel>
<Action ID="Ask_for_help"/>
<Action ID="Fetch_bottle"/>
<Action ID="Find_bottle"/>
<Action ID="Go_to_kitchen"/>
</TreeNodesModel>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="BehaviorTree">
<!--------------------------------------->
<BehaviorTree ID="BehaviorTree">
<Root>
<Fallback name="FB">
<Sequence name="S1">
<Action ID="Go_to_kitchen"/>
<Sequence name="S2">
<Action ID="Fetch_bottle"/>
<Action ID="Find_bottle"/>
</Sequence>
</Sequence>
<Action ID="Ask_for_help"/>
</Fallback>
</Root>
</BehaviorTree>
<!--------------------------------------->
<TreeNodesModel>
<Action ID="Ask_for_help"/>
<Action ID="Fetch_bottle"/>
<Action ID="Find_bottle"/>
<Action ID="Go_to_kitchen"/>
</TreeNodesModel>
<!--------------------------------------->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree first goes into a branch where it will check if the robot is stuck.
If that is the case, it will attempt to recover. Otherwise it will continue with
the navigation branch. In this case the navigation branch is based on `simple_sequential.xml`.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence name="root">
<FallbackStar name="check_motion">
<Inverter name="is_not_stuck">
<IsStuck/>
</Inverter>
<SequenceStar name="stuck_recovery">
<Stop/>
<BackUp/>
<Spin/>
</SequenceStar>
</FallbackStar>
<SequenceStar name="navigate">
<ComputePathToPose endpoints="${endpoints}" path="${path}"/>
<FollowPath path="${path}"/>
</SequenceStar>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="main">
<BehaviorTree ID="main">
<Sequence>
<FixRudder depth="1.0" rudder="2.0" speed_knots="3.0"/>
<DelayFor delay_msec="1000">
<AlwaysSuccess/>
</DelayFor>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "LatTree">
<BehaviorTree ID="LatTree">
<Fallback>
<Sequence>
<!-- lane : left, ego, right -->
<!-- distance : m -->
<CheckLaneFrontClear which_lane="ego" distance="35.2" />
<ActionKeepLane />
</Sequence>
<Sequence>
<CheckLaneFrontClear which_lane="left" distance="35.2" />
<CheckLaneBackClear which_lane="left" distance="20.2" />
<CheckAvailDriveAreaClear which_lane="left" />
<ActionLeftBypass />
</Sequence>
<ActionKeepLane />
</Fallback>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0" encoding="utf-8"?>
<!--
Copyright (c) 2020 Carnegie Mellon University
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<!--
This Behavior Tree replans the global path periodically at 1 Hz and it also has
recovery actions.
-->
<root main_tree_to_execute="ElevatorTree">
<BehaviorTree ID="ElevatorTree">
<Sequence>
<RecoveryNode name="ClearCostmapRecorvery">
<Sequence name="ClearCostmapSequence">
<!-- clear costmap intentionally to get a path go through the door -->
<ClearEntireCostmap name="ClearGlobalCostmap-context" server_timeout="5000"
service_name="/local/global_costmap/clear_entirely_global_costmap"/>
<ClearEntireCostmap name="ClearLocalCostmap-context" server_timeout="5000"
service_name="/local/local_costmap/clear_entirely_local_costmap"/>
<ComputePathToPose goal="{goal}" path="{path_temp}" planner_id="GridBased"/>
<CheckPath path="{path_temp}" path_topic="/path" plan_topic="/plan" path_out="{path}"
average_threshold="0.3"/>
<!-- front vibration -->
<PublishTopic topic="/cabot/event" value="navigation;event;navigation_start" />
</Sequence>
<AlwaysSuccess/>
</RecoveryNode>
<RecoveryNode number_of_retries="99999999" name="NavigateRecovery">
<PipelineSequence name="NavigateWithReplanning">
<!-- Not using RateController, so that the robot can keep trying to find an updated path -->
<RecoveryNode number_of_retries="99999999" name="UpdatePathRecovery">
<Sequence>
<WaitFloat wait_duration_float="0.5"/>
<ComputePathToPose goal="{goal}" path="{path_temp}" planner_id="GridBased"/>
<CheckPath path="{path_temp}" path_topic="/path" plan_topic="/plan" path_out="{path}"
average_threshold="0.3"/>
</Sequence>
<AlwaysSuccess/>
</RecoveryNode>
<RecoveryNode number_of_retries="5" name="FollowPathRecovery">
<FollowPath path="{path}" controller_id="FollowPath" />
<AlwaysSuccess/>
</RecoveryNode>
</PipelineSequence>
<RecoveryNode>
<Sequence name="RecoveryActions">
<ClearEntireCostmap name="ClearGlobalCostmap-context" server_timeout="5000"
service_name="/local/global_costmap/clear_entirely_global_costmap"/>
<ClearEntireCostmap name="ClearLocalCostmap-context" server_timeout="5000"
service_name="/local/local_costmap/clear_entirely_local_costmap"/>
</Sequence>
<AlwaysSuccess/>
</RecoveryNode>
</RecoveryNode>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence name="Sequence">
<Print message="=== AddTwoInts demo ==="/>
<Print message="a"/>
<Print message="{a}"/>
<Print message="b"/>
<Print message="{b}"/>
<AddTwoInts a="{a}" b="{b}" sum="{sum}"/>
<Print message="a+b ="/>
<Print message="{sum}"/>
<AddTwoInts a="{sum}" b="100" sum="{sum}"/>
<Print message="+100 ="/>
<Print message="{sum}"/>
<AddTwoInts a="{sum}" b="{sum}" sum="{sum}"/>
<Print message="*2 ="/>
<Print message="{sum}"/>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="MainTree">
<!-- ////////// -->
<BehaviorTree ID="MainTree">
<Sequence name="move from bin A to bin B">
<SubTree ID="MoveToPredefinedPoint"/>
<SubTree ID="PickingItem"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="MoveToPredefinedPoint">
<Action ID="LinearMove"/>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="PickingItem">
<Action ID="AdjustTCPOrientation"/>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="AdjustTCPOrientation"/>
<Action ID="LinearMove"/>
<SubTree ID="MoveToPredefinedPoint"/>
<SubTree ID="PickingItem"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action ID="go1"/>
<ForceSuccess>
<Action ID="go2"/>
</ForceSuccess>
<Action ID="go3"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="go1"/>
<Action ID="go2"/>
<Action ID="go3"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence name="Sequence1">
<Action ID="go1"/>
<Sequence name="Sequence2">
<Action ID="stay1"/>
</Sequence>
<Action ID="go2"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="dumpRun"/>
<Action ID="go1"/>
<Action ID="go2"/>
<Action ID="go3"/>
<Action ID="goClosestR"/>
<Condition ID="isFull"/>
<Action ID="mineResources"/>
<Action ID="moveBaseToGoal">
<input_port name="key_name">goal</input_port>
</Action>
<Action ID="stay1"/>
<Action ID="stay2"/>
<Action ID="waitFrames">
<output_port name="barout"/>
<input_port name="baz"/>
<input_port name="fooin"/>
<input_port default="15" name="frames">frames</input_port>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action ID="addObjOut" _in_0="1" _in_1="2" out="${foo}"/>
<Action ID="add" _in_0="" _in_1="" _out_0="${zaz}"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="add">
<input_port default="99" name="_in_0"/>
<input_port default="99" name="_in_1"/>
<output_port name="_out_0"/>
</Action>
<Action ID="addObjOut">
<input_port name="_in_0"/>
<input_port name="_in_1"/>
<output_port name="out"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Sequence>
<Sequence>
<Action ID="go1"/>
</Sequence>
</Sequence>
<Action ID="go2"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="alwaysTrue"/>
<Action ID="dumpRun"/>
<Action ID="go1"/>
<Action ID="go2"/>
<Action ID="go3"/>
<Action ID="goClosestR"/>
<Action ID="guardAiMovement"/>
<Action ID="isFull"/>
<Action ID="mineResource"/>
<Action ID="waitFrames">
<input_port name="_in_0"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree follows a dynamic pose to a certain distance
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<Sequence>
<GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
<ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased"/>
</GoalUpdater>
<TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
</Sequence>
</RateController>
<KeepRunningUntilFailure>
<FollowPath path="{truncated_path}" controller_id="FollowPath"/>
</KeepRunningUntilFailure>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree follows a dynamic pose to a certain distance
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<Sequence>
<GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
<ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased"/>
</GoalUpdater>
<TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
</Sequence>
</RateController>
<KeepRunningUntilFailure>
<FollowPath path="{truncated_path}" controller_id="FollowPath"/>
</KeepRunningUntilFailure>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree replans the global path periodically at 1 Hz.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<SpeedController min_rate="0.1" max_rate="1.0" min_speed="0.0" max_speed="0.26" filter_duration="0.3">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
</SpeedController>
<FollowPath path="{path}" controller_id="FollowPath"/>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0" encoding="UTF-8"?>
<root main_tree_to_execute = "MainTreeBatteryTest">
<BehaviorTree ID="MainTreeBatteryTest">
<ReactiveSequence name="root_sequence">
<IsBatteryOk name="IS battery Ok ConditionNode"/>
<IsGoHomeOkConditionNode name="Is GoHome OK ConditionNode"/>
</ReactiveSequence>
</BehaviorTree>
</root> |
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="SayStuff">
<BehaviorTree ID="SayStuff">
<SequenceStar>
<Action ID="SaySomething" message="Hello World"/>
<Action ID="SayHello"/>
</SequenceStar>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action input="42" ID="Action_A"/>
<Condition result="69" ID="Condition_B"/>
<SubTree ID="LotOfStuff" res="200" param="100"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="Action_A">
<input_port default="42" name="input">interesting</input_port>
</Action>
<Condition ID="Condition_B">
<output_port default="69" name="result">Cool</output_port>
</Condition>
<SubTree ID="LotOfStuff">
<input_port name="param"/>
<output_port name="res"/>
</SubTree>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree replans the global path after every 1m.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<PipelineSequence name="NavigateWithReplanning">
<DistanceController distance="1.0">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
</DistanceController>
<FollowPath path="{path}" controller_id="FollowPath"/>
</PipelineSequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="root_sequence">
<OpenGripper name="open_gripper"/>
<ApproachObject name="approach_object"/>
<CloseGripper name="close_gripper"/>
<Move name="move" goal="${arg3}"/>
<OpenGripper name="open_gripper"/>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<!-- =================================== -->
<BehaviorTree ID="MainTree">
<Fallback>
<SequenceStar name="Main">
<Action ID="GetTarget"/>
<Action ID="Move"/>
<Sequence>
<Condition ID="TargetAdjacent"/>
<Action ID="AttackTarget"/>
</Sequence>
</SequenceStar>
<Action ID="RandomMove"/>
</Fallback>
</BehaviorTree>
<!-- =================================== -->
<TreeNodesModel>
<Action ID="AttackTarget"/>
<Action ID="GetTarget"/>
<Condition ID="IsDay"/>
<Condition ID="IsFemale"/>
<Condition ID="IsHungry"/>
<Condition ID="IsMale"/>
<Condition ID="IsNight"/>
<Action ID="Move"/>
<Action ID="RandomMove"/>
<Action ID="Sleep"/>
<Condition ID="TargetAdjacent"/>
</TreeNodesModel>
<!-- =================================== -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard output_key="Goal_a" value="-0.579;-1.341;0.0;1.0" />
<SetBlackboard output_key="Goal_b" value="5.214;-1.533;0.0;1.0" />
<SetBlackboard output_key="Goal_c" value="-1.588;1.253;0.0;1.0" />
<Repeat num_cycles="-1">
<ForceSuccess>
<Fallback>
<Sequence>
<OpenVINOEvent object="cat"/>
<Sequence>
<SubTree ID="MoveRobot" target="Goal_c" />
</Sequence>
</Sequence>
<Sequence>
<OpenVINOEvent object="dog"/>
<Sequence>
<SubTree ID="MoveRobot" target="Goal_a" />
</Sequence>
</Sequence>
<Sequence>
<OpenVINOEvent object="cow"/>
<Sequence>
<SubTree ID="MoveRobot" target="Goal_b" />
</Sequence>
</Sequence>
</Fallback>
</ForceSuccess>
</Repeat>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<Nav2Client goal="{target}" />
</Sequence>
</BehaviorTree>
</root> |
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree first computes a path using the global planner (ComputePathToPose).
Then, it runs two sub-branches in parallel. The first sub-branch is a FollowPath
operation (the local planner). In parallel, there is a rate controlled execution of
FollowPath (the global planner). Each time a new path is computed, the path update
is sent to the local planner. The right branch, which is the rate controlled
ComputePathToPose, always returns RUNNING. Because the Parallel node uses a
threshold of 1, whenever the FollowPath returns SUCCESS or FAILURE, the parallel
node will return this result.
The goal (input to the global planner) and the resulting path (output of the global
planner and input to the local planner) are passed on the blackboard.
The rate at which the ComputePathToPose operation is invoked can be controlled with
the hz parameter to the RateController node.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence name="root">
<RateController hz="1.0">
<Fallback>
<GoalReached/>
<ComputePathToPose goal="${goal}"/>
</Fallback>
</RateController>
<FollowPath path="${path}"/>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Fallback name="Core_seq">
<Sequence>
<Condition ID="checkMissionWait"/>
<Action ID="stop"/>
</Sequence>
<Sequence>
<Action ID="init"/>
<Action ID="genGlobalFollowPath"/>
<Fallback name="mission_start">
<Sequence>
<Condition ID="checkFrontObject"/>
<Fallback>
<Sequence>
<Condition ID="checkIsGlobalFollow"/>
<Fallback name="loc_check">
<Sequence>
<Condition ID="checkNearCorner"/>
<Action ID="acc"/>
</Sequence>
<Sequence>
<Condition ID="checkNearStopline"/>
<Action ID="acc"/>
</Sequence>
<Sequence>
<Condition ID="checkProfitKeeplane"/>
<Action ID="acc"/>
</Sequence>
</Fallback>
</Sequence>
<Fallback name="lane_check">
<Sequence>
<Condition ID="checkLaneChange"/>
<Fallback name="lane_check">
<Sequence>
<Condition ID="checkLeftchageAble"/>
<Fallback>
<Sequence>
<Condition ID="checkCollision"/>
<Action ID="keepLane"/>
</Sequence>
<Action ID="laneChangeLeft"/>
</Fallback>
</Sequence>
<Fallback>
<Sequence>
<Condition ID="checkCollision"/>
<Action ID="keepLane"/>
</Sequence>
<Action ID="laneChangeRight"/>
</Fallback>
</Fallback>
</Sequence>
<Sequence name="Local_path">
<Sequence>
<Condition ID="checkEmptyLocal"/>
<Sequence name="Gen_Local">
<Action ID="stop"/>
<Action ID="genLocalPath"/>
<Action ID="setStartLocal"/>
</Sequence>
</Sequence>
<Fallback name="local_check">
<Sequence>
<Condition ID="checkFinishLocal"/>
<Action ID="setFinishLocal"/>
</Sequence>
<Sequence>
<Condition ID="checkCollision"/>
<Action ID="stop"/>
</Sequence>
<Action ID="localPathfollow"/>
</Fallback>
</Sequence>
</Fallback>
</Fallback>
</Sequence>
<Sequence>
<Condition ID="checkNearStopline"/>
<Fallback>
<Sequence>
<Condition ID="checkPassAble"/>
<Sequence>
<Sequence>
<Condition ID="checkCollision"/>
<Action ID="stop"/>
</Sequence>
<Action ID="drive"/>
</Sequence>
</Sequence>
<Action ID="stop"/>
</Fallback>
</Sequence>
<Action ID="drive"/>
</Fallback>
<Action ID="setPath"/>
</Sequence>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="treeGenGlobalFollowPath">
<Fallback>
<Sequence>
<Condition ID="checkGlobalLaneChange"/>
<Fallback>
<Sequence>
<Condition ID="checkLetfChange"/>
<Fallback>
<Sequence>
<Condition ID="checkCollision"/>
<Action ID="keepLane"/>
</Sequence>
<Action ID="laneChangeLeft"/>
</Fallback>
</Sequence>
<Fallback>
<Sequence>
<Condition ID="checkCollision"/>
<Action ID="keepLane"/>
</Sequence>
<Action ID="laneChangeRight"/>
</Fallback>
</Fallback>
</Sequence>
<Action ID="genGlobalFollowPath"/>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="acc"/>
<Condition ID="checkCollision"/>
<Condition ID="checkEmptyLocal"/>
<Condition ID="checkFinishLocal"/>
<Condition ID="checkFrontObject"/>
<Condition ID="checkGlobalLaneChange"/>
<Condition ID="checkIsGlobalFollow"/>
<Condition ID="checkLaneChange"/>
<Condition ID="checkLeftchageAble"/>
<Condition ID="checkLetfChange"/>
<Condition ID="checkMissionWait"/>
<Condition ID="checkNearCorner"/>
<Condition ID="checkNearStopline"/>
<Condition ID="checkPassAble"/>
<Condition ID="checkProfitKeeplane"/>
<Action ID="drive"/>
<Action ID="genGlobalFollowPath"/>
<Action ID="genLocalPath"/>
<Action ID="init"/>
<Action ID="keepLane"/>
<Action ID="laneChangeLeft"/>
<Action ID="laneChangeRight"/>
<Action ID="localPathFollow"/>
<Action ID="localPathfollow"/>
<Action ID="setFinishLocal"/>
<Action ID="setPath"/>
<Action ID="setStartLocal"/>
<Action ID="stop"/>
<SubTree ID="treeGenGlobalFollowPath"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard output_key="Goal_a" value="1.17;-1.65;0.0;1.0" />
<SetBlackboard output_key="Goal_b" value="1.1;1.51;0.0;1.0" />
<SetBlackboard output_key="Goal_c" value="-1.25;0.324;0.0;1.0" />
<SetBlackboard output_key="Waiting_time" value="2"/>
<Fallback>
<ReactiveSequence>
<InterruptEvent event="gohome"/>
<Repeat num_cycles="-1">
<Sequence>
<SubTree ID="MoveRobot" target="Goal_a" />
<WaitingEvent name="waiting_event" waiting_time="{Waiting_time}"/>
<SubTree ID="MoveRobot" target="Goal_b" />
<WaitingEvent name="waiting_event" waiting_time="{Waiting_time}"/>
</Sequence>
</Repeat>
</ReactiveSequence>
<Sequence>
<SubTree ID="MoveRobot" target="Goal_c" />
</Sequence>
</Fallback>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<MoveBase goal="{target}" />
</Sequence>
</BehaviorTree>
</root> |
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" />
<ReactiveFallback name="ComputePathToPoseRecoveryFallback">
<GoalUpdated />
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap" />
</ReactiveFallback>
</RecoveryNode>
</RateController>
<RecoveryNode number_of_retries="1" name="FollowPath">
<FollowPath path="{path}" controller_id="FollowPath" />
<ReactiveFallback name="FollowPathRecoveryFallback">
<GoalUpdated />
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap" />
</ReactiveFallback>
</RecoveryNode>
</PipelineSequence>
<ReactiveFallback name="RecoveryFallback">
<GoalUpdated />
<RoundRobin name="RecoveryActions">
<Sequence name="ClearingActions">
<ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap" />
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap" />
</Sequence>
<Spin spin_dist="1.57" />
<Wait wait_duration="5" />
<BackUp backup_dist="0.15" backup_speed="0.025" />
</RoundRobin>
</ReactiveFallback>
</RecoveryNode>
</BehaviorTree>
</root> |
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Repeat num_cycles="1">
<Sequence>
<Action ID="LookAtTheTray"/>
<RetryUntilSuccesful num_attempts="3">
<Timeout msec="300">
<Action ID="DetectHandles"/>
</Timeout>
</RetryUntilSuccesful>
<Action ID="PickTray"/>
<Action ID="LookUp"/>
<Action ID="MoveBack"/>
<Action ID="GoToTable"/>
<Action ID="PlaceTray"/>
</Sequence>
</Repeat>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="lookAtTheTray"/>
<Action ID="DetectHandles"/>
<Action ID="PickTray"/>
<Action ID="LookUp"/>
<Action ID="MoveBack"/>
<Action ID="GoToTable"/>
<Action ID="PlaceTray"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action name="WaitSeconds1" duration="2" ID="WaitSeconds"/>
<ForceSuccess name="ForceSuccess1">
<Repeat num_cycles="10">
<Action action="/Make_Plan" state="gpf1" name="GoToGoal1" ID="UPOGoToGoalByName" goal_name="stage_4_pos_final_5"/>
</Repeat>
</ForceSuccess>
<Action name="WaitSeconds2" duration="2" ID="WaitSeconds"/>
<ForceSuccess name="ForceSuccess2">
<Repeat num_cycles="10">
<Action action="/Make_Plan" state="gpf2" name="UPOGoToGoalByName2" ID="UPOGoToGoalByName" goal_name="stage_4_pos_final_6"/>
</Repeat>
</ForceSuccess>
<Action name="WaitSeconds3" duration="2" ID="WaitSeconds"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="CallEmptyService">
<input_port name="service" type="std::string">ROS service name</input_port>
</Action>
<Condition ID="CheckBool">
<input_port name="input" type="bool">Input boolean value</input_port>
</Condition>
<SubTree ID="CheckDoorandEnter">
<input_port name="action"/>
<input_port name="detection_action"/>
<input_port name="door"/>
<output_port name="out_door"/>
</SubTree>
<SubTree ID="CheckFireAndExtinguish">
<input_port name="actextinguish">Extinguish Action Name</input_port>
<input_port name="actgoto">GoTo Action Name</input_port>
<input_port name="fire">Fire waypoint</input_port>
<output_port name="found_fire">Name of the Fire WP if found</output_port>
</SubTree>
<Action ID="CheckKey">
<input_port name="no_key" type="std::string">Key to determine if key to say 'no' has benn pressed</input_port>
<input_port name="yes_key" type="std::string">Key to determine if key to say 'yes' has been pressed</input_port>
</Action>
<SubTree ID="CheckResetRequest">
<output_port name="reset_requested"/>
</SubTree>
<Condition ID="CompareNumbers">
<input_port name="comparison_op" type="std::string">Comparison operator. Valid operators are <, >, <=, >=, == and !=</input_port>
<input_port name="first" type="double">First operand</input_port>
<input_port name="second" type="double">Second operand</input_port>
</Condition>
<Condition ID="CompareStrings">
<input_port name="comparison_op" type="std::string">Comparison operator. Valid operators are <, >, <=, >=, == and !=</input_port>
<input_port name="first" type="std::string">First operand</input_port>
<input_port name="second" type="std::string">Second operand</input_port>
</Condition>
<Action ID="ConcatenateStrings">
<input_port name="first" type="std::string">First string</input_port>
<output_port name="output" type="std::string">Concatenated result string</output_port>
<input_port name="second" type="std::string">Second string</input_port>
</Action>
<Action ID="ConvertJsonToDouble">
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message</input_port>
<output_port name="output" type="double">Output variable</output_port>
</Action>
<Action ID="ConvertJsonToInt64">
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message</input_port>
<output_port name="output" type="long">Output variable</output_port>
</Action>
<Action ID="ConvertJsonToString">
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message</input_port>
<output_port name="output" type="std::string">Output variable</output_port>
</Action>
<Action ID="ConvertJsonToUint64">
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message</input_port>
<output_port name="output" type="unsigned long">Output variable</output_port>
</Action>
<Action ID="ConvertMessageField">
<input_port name="field" type="std::string">Field to fetch</input_port>
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message</input_port>
<output_port name="output" type="void">Output variable</output_port>
</Action>
<Action ID="ConvertRandomMessageField">
<input_port name="field" type="std::string">Field to fetch</input_port>
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message</input_port>
<output_port name="output" type="void">Output variable</output_port>
</Action>
<Decorator ID="CooldownMilliseconds">
<input_port default="0" name="cooldown" type="unsigned int">Cooldown time</input_port>
</Decorator>
<Decorator ID="CooldownSeconds">
<input_port default="0" name="cooldown" type="unsigned int">Cooldown time</input_port>
</Decorator>
<Action ID="CopyJson">
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Input variable</input_port>
<output_port name="output" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Output variable to copy to</output_port>
</Action>
<Action ID="DebugLog">
<input_port name="message" type="std::string">Message to log</input_port>
</Action>
<Action ID="ErrorLog">
<input_port name="message" type="std::string">Message to log</input_port>
</Action>
<SubTree ID="ExitBuilding">
<input_port name="robot_action">Action Service Interface</input_port>
<input_port name="window">Window to Exit</input_port>
</SubTree>
<SubTree ID="ExtinguishFacadeFire">
<output_port name="fire_found">WP where fire is found, none otherwise</output_port>
</SubTree>
<Action ID="FatalLog">
<input_port name="message" type="std::string">Message to log</input_port>
</Action>
<Action ID="FindByFieldValue">
<input_port name="field" type="std::string">Field to fetch</input_port>
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message</input_port>
<output_port name="output" type="void">Output variable</output_port>
<input_port name="value" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Value to search for</input_port>
</Action>
<Action ID="FindSubstrings">
<input_port name="input" type="std::string">String to look into</input_port>
<input_port name="substrings" type="std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >">Substrings to look for</input_port>
</Action>
<SubTree ID="Floor0SurveyAndExtinguish"/>
<Decorator ID="ForEachLoop">
<input_port name="break_on_child_failure" type="bool">Break loop on child failure?</input_port>
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Input sequence</input_port>
<output_port name="output_element" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Output element variable</output_port>
<output_port name="output_index" type="unsigned long">Output index variable</output_port>
</Decorator>
<Action ID="GetJsonSize">
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Input sequence</input_port>
<output_port name="output" type="unsigned long">Sequence size output</output_port>
</Action>
<Action ID="GetKeyboard">
<output_port name="output" type="std::string">String received from keyboard</output_port>
</Action>
<Action ID="GetMessageField">
<input_port name="field" type="std::string">Field to fetch</input_port>
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message</input_port>
<output_port name="output" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Output variable</output_port>
</Action>
<Action ID="GetRandomMessageField">
<input_port name="field" type="std::string">Field to fetch</input_port>
<input_port name="input" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message</input_port>
<output_port name="output" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Output variable</output_port>
</Action>
<Action ID="GetTransformDistance">
<input_port name="input" type="tf::StampedTransform">TF transform</input_port>
<output_port name="output" type="double">Distance form transform origin</output_port>
</Action>
<Action ID="GetTransformHorizontalDistance">
<input_port name="input" type="tf::StampedTransform">TF transform</input_port>
<output_port name="output" type="double">2D distance from TF transform origin</output_port>
</Action>
<Action ID="GetTransformOrigin">
<input_port name="input" type="tf::StampedTransform">TF transform</input_port>
<output_port name="x" type="double">Origin x coordinate</output_port>
<output_port name="y" type="double">Origin y coordinate</output_port>
<output_port name="z" type="double">Origin z coordinate</output_port>
</Action>
<Action ID="InfoLog">
<input_port name="message" type="std::string">Message to log</input_port>
</Action>
<Action ID="InitializeJson">
<output_port name="output" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Output variable to initialize</output_port>
</Action>
<Action ID="InterpolateFloat">
<input_port name="input_range" type="std::vector<double, std::allocator<double> >">Input value range.</input_port>
<input_port name="input_value" type="double">Value to interpolate.</input_port>
<input_port name="output_range" type="std::vector<double, std::allocator<double> >">Output value range.</input_port>
<output_port name="output_value" type="double">Interpolated value.</output_port>
</Action>
<Control ID="Interruptible"/>
<Action ID="LookupTransform">
<output_port name="output" type="tf::StampedTransform">Result transform</output_port>
<input_port name="source_frame" type="std::string">Origin TF frame</input_port>
<input_port name="target_frame" type="std::string">Target TF frame</input_port>
<input_port default="0" name="use_last_available" type="bool">Use last available transform?</input_port>
</Action>
<Decorator ID="Loop"/>
<Action ID="MathOperationFloat">
<input_port name="first" type="double">First operand</input_port>
<input_port name="operator" type="std::string">Math operation. Valid operatores are: +, -, / and *</input_port>
<output_port name="output" type="double">Operation result</output_port>
<input_port name="second" type="double">Second operand</input_port>
</Action>
<Action ID="MathOperationInt">
<input_port name="first" type="int">First operand</input_port>
<input_port name="operator" type="std::string">Math operation. Valid operatores are: +, -, / and *</input_port>
<output_port name="output" type="int">Operation result</output_port>
<input_port name="second" type="int">Second operand</input_port>
</Action>
<Action ID="MonitorStdBool">
<input_port default="0" name="consume_msgs" type="bool">Should messages be consumed?</input_port>
<input_port default="1" name="queue_size" type="unsigned int">Subscriber callback queue size</input_port>
<output_port name="serialized_output" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message [std_msgs::Bool_<std::allocator<void> >]</output_port>
<input_port name="topic" type="std::string">Topic to subscribe</input_port>
</Action>
<Action ID="MonitorStdFloat64">
<input_port default="0" name="consume_msgs" type="bool">Should messages be consumed?</input_port>
<input_port default="1" name="queue_size" type="unsigned int">Subscriber callback queue size</input_port>
<output_port name="serialized_output" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message [std_msgs::Float64_<std::allocator<void> >]</output_port>
<input_port name="topic" type="std::string">Topic to subscribe</input_port>
</Action>
<Action ID="MonitorStdInt32">
<input_port default="0" name="consume_msgs" type="bool">Should messages be consumed?</input_port>
<input_port default="1" name="queue_size" type="unsigned int">Subscriber callback queue size</input_port>
<output_port name="serialized_output" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message [std_msgs::Int32_<std::allocator<void> >]</output_port>
<input_port name="topic" type="std::string">Topic to subscribe</input_port>
</Action>
<Action ID="OStreamNode">
<input_port name="message" type="std::string">String to print</input_port>
</Action>
<Decorator ID="OnlyOnce"/>
<Action ID="PublishBool">
<input_port name="data" type="bool">Auto-generated field from std_msgs::Bool_<std::allocator<void> ></input_port>
<input_port default="0" name="latch" type="bool">Latch messages?</input_port>
<input_port default="1" name="queue_size" type="unsigned int">Internal publisher queue size</input_port>
<input_port name="topic" type="std::string">Topic to publish to</input_port>
</Action>
<Action ID="PublishStdString">
<input_port name="data" type="std::string">Auto-generated field from std_msgs::String_<std::allocator<void> ></input_port>
<input_port default="0" name="latch" type="bool">Latch messages?</input_port>
<input_port default="1" name="queue_size" type="unsigned int">Internal publisher queue size</input_port>
<input_port name="topic" type="std::string">Topic to publish to</input_port>
</Action>
<Action ID="RandomFloat">
<input_port name="max" type="double">Max range value</input_port>
<input_port name="min" type="double">Minimum range value</input_port>
<output_port name="result" type="double">Random result value</output_port>
</Action>
<Action ID="RandomInteger">
<input_port name="max" type="int">Max range value</input_port>
<input_port name="min" type="int">Minimum range value</input_port>
<output_port name="result" type="int">Random result value</output_port>
</Action>
<Action ID="RandomSequenceValue">
<input_port default=";" name="delimiter" type="std::string">Sequence entries delimiter</input_port>
<output_port name="output" type="std::string">Result random sequence entry</output_port>
<input_port name="sequence" type="std::string">Sequence to randomize</input_port>
</Action>
<Action ID="SubscribeUPOGoal">
<input_port default="0" name="consume_msgs" type="bool">Should messages be consumed?</input_port>
<output_port name="output" type="upo_actions::MakePlanGoal_<std::allocator<void> >">Received ROS message [upo_actions::MakePlanGoal_<std::allocator<void> >]</output_port>
<input_port default="1" name="queue_size" type="unsigned int">Subscriber callback queue size</input_port>
<input_port name="topic" type="std::string">Topic to subscribe</input_port>
</Action>
<Action ID="UPOFireDetection3D">
<input_port name="action" type="std::string">Actionlib action server name</input_port>
<input_port name="duration" type="int">Duration</input_port>
<output_port name="fire_found" type="bool">Fire Found</output_port>
<output_port name="state" type="actionlib::SimpleClientGoalState">Actionlib reported state</output_port>
<output_port name="x" type="double">Fire x</output_port>
<output_port name="y" type="double">Fire x</output_port>
<output_port name="z" type="double">Fire x</output_port>
</Action>
<Action ID="UPOFireExtinguish">
<input_port name="action" type="std::string">Actionlib action server name</input_port>
<input_port name="detect_fire" type="bool">Detect Fire</input_port>
<output_port name="serialized_feedback" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message [upo_actions::FireExtinguishFeedback_<std::allocator<void> >]</output_port>
<output_port name="serialized_result" type="nlohmann::basic_json<std::map, std::vector, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool, long, unsigned long, double, std::allocator, nlohmann::adl_serializer>">Serialized ROS message [upo_actions::FireExtinguishResult_<std::allocator<void> >]</output_port>
<output_port name="state" type="actionlib::SimpleClientGoalState">Actionlib reported state</output_port>
</Action>
<Action ID="UPOGoToGoal">
<input_port name="action" type="std::string">Actionlib action server name</input_port>
<input_port name="global_goal.header.frame_id" type="std::string">Auto-generated field from upo_actions::MakePlanGoal_<std::allocator<void> ></input_port>
<input_port name="global_goal.header.seq" type="unsigned int">Auto-generated field from upo_actions::MakePlanGoal_<std::allocator<void> ></input_port>
<input_port name="global_goal.pose.orientation.w" type="double">Auto-generated field from upo_actions::MakePlanGoal_<std::allocator<void> ></input_port>
<input_port name="global_goal.pose.orientation.x" type="double">Auto-generated field from upo_actions::MakePlanGoal_<std::allocator<void> ></input_port>
<input_port name="global_goal.pose.orientation.y" type="double">Auto-generated field from upo_actions::MakePlanGoal_<std::allocator<void> ></input_port>
<input_port name="global_goal.pose.orientation.z" type="double">Auto-generated field from upo_actions::MakePlanGoal_<std::allocator<void> ></input_port>
<input_port name="global_goal.pose.position.x" type="double">Auto-generated field from upo_actions::MakePlanGoal_<std::allocator<void> ></input_port>
<input_port name="global_goal.pose.position.y" type="double">Auto-generated field from upo_actions::MakePlanGoal_<std::allocator<void> ></input_port>
<input_port name="global_goal.pose.position.z" type="double">Auto-generated field from upo_actions::MakePlanGoal_<std::allocator<void> ></input_port>
<output_port name="state" type="actionlib::SimpleClientGoalState">Actionlib reported state</output_port>
</Action>
<Action ID="UPOGoToGoalByName">
<input_port name="action" type="std::string">Actionlib action server name</input_port>
<input_port name="goal_name" type="std::string">Name of goal</input_port>
<output_port name="state" type="actionlib::SimpleClientGoalState">Actionlib reported state</output_port>
</Action>
<Action ID="UPOLanding">
<input_port name="action" type="std::string">Actionlib action server name</input_port>
<input_port name="land" type="bool">Auto-generated field from upo_actions::LandingGoal_<std::allocator<void> ></input_port>
<output_port name="state" type="actionlib::SimpleClientGoalState">Actionlib reported state</output_port>
</Action>
<Action ID="UPOTakeOff">
<input_port name="action" type="std::string">Actionlib action server name</input_port>
<output_port name="state" type="actionlib::SimpleClientGoalState">Actionlib reported state</output_port>
<input_port name="takeoff_height.data" type="float">Auto-generated field from upo_actions::TakeOffGoal_<std::allocator<void> ></input_port>
</Action>
<Action ID="UPOWindowDetection">
<input_port name="action" type="std::string">Actionlib action server name</input_port>
<input_port name="duration" type="int">Duration</input_port>
<output_port name="state" type="actionlib::SimpleClientGoalState">Actionlib reported state</output_port>
<output_port name="window_present" type="bool">Window Present</output_port>
<output_port name="x" type="double">Window x</output_port>
<output_port name="y" type="double">Window y</output_port>
<output_port name="z" type="double">Window z</output_port>
</Action>
<Action ID="WaitMilliseconds">
<input_port default="0" name="duration" type="unsigned int">Time to wait</input_port>
</Action>
<Action ID="WaitSeconds">
<input_port default="0" name="duration" type="unsigned int">Time to wait</input_port>
</Action>
<Action ID="WarnLog">
<input_port name="message" type="std::string">Message to log</input_port>
</Action>
<Decorator ID="WhileSuccess"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<!-- =================================== -->
<BehaviorTree ID="MainTree">
<Sequence>
<SequenceStar>
<Fallback>
<Action ID="GuardDogGetTarget"/>
<Action ID="GetTarget"/>
</Fallback>
<Action ID="Move"/>
<Sequence>
<Condition ID="TargetAdjacent"/>
<Action ID="AttackTarget"/>
</Sequence>
</SequenceStar>
</Sequence>
</BehaviorTree>
<!-- =================================== -->
<TreeNodesModel>
<Action ID="AttackTarget"/>
<Condition ID="CanHaveSex"/>
<Action ID="EatPrey"/>
<Action ID="EnterShed"/>
<Action ID="FindPrey"/>
<Action ID="FindRandomPastureField"/>
<Action ID="FindRetreat"/>
<Action ID="FindShed"/>
<Action ID="GiveBirth"/>
<Action ID="GetTarget"/>
<Action ID="GuardDogGetTarget"/>
<Condition ID="IsAdult"/>
<Condition ID="IsCarnivore"/>
<Condition ID="IsDay"/>
<Condition ID="IsEgg"/>
<Condition ID="IsEggLayer"/>
<Condition ID="IsFemale"/>
<Condition ID="IsHerbivore"/>
<Condition ID="IsHungry"/>
<Condition ID="IsInShed"/>
<Condition ID="IsMale"/>
<Condition ID="IsNight"/>
<Condition ID="IsOnPasture"/>
<Condition ID="IsPregnant"/>
<Condition ID="IsProducer"/>
<Condition ID="IsReadyToGiveBirth"/>
<Condition ID="IsWoodVermin"/>
<Condition ID="IsYoung"/>
<Action ID="KillPrey"/>
<Action ID="LayEgg"/>
<Action ID="LeaveShed"/>
<Action ID="Move"/>
<Action ID="Produce"/>
<Action ID="RandomMove"/>
<SubTree ID="ShedTree"/>
<Action ID="Sleep"/>
<Condition ID="TargetAdjacent"/>
<Action ID="TryHaveSex"/>
</TreeNodesModel>
<!-- =================================== -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<!-- =================================== -->
<BehaviorTree ID="MainTree">
<FallbackStar>
<SequenceStar>
<Action ID="GetTarget"/>
<Action ID="Move"/>
<Sequence>
<Condition ID="TargetAdjacent"/>
<Action ID="AttackTarget"/>
</Sequence>
</SequenceStar>
<SequenceStar name="Hunt">
<Condition ID="IsNight"/>
<Condition ID="IsHungry"/>
<Action ID="FindPrey"/>
<Action ID="Move"/>
<Action ID="KillPrey"/>
<Action ID="EatPrey"/>
</SequenceStar>
<SequenceStar name="Retreat">
<Condition ID="IsDay"/>
<Action ID="FindRetreat"/>
<Action ID="Move"/>
<Sequence>
<Condition ID="IsDay"/>
<Action ID="Sleep"/>
</Sequence>
</SequenceStar>
<Action ID="RandomMove"/>
</FallbackStar>
</BehaviorTree>
<!-- =================================== -->
<TreeNodesModel>
<Action ID="AttackTarget"/>
<Condition ID="CanHaveSex"/>
<Action ID="EatPrey"/>
<Action ID="FindPrey"/>
<Action ID="FindRetreat"/>
<Action ID="GetTarget"/>
<Action ID="GiveBirth"/>
<Condition ID="IsAdult"/>
<Condition ID="IsCarnivore"/>
<Condition ID="IsDay"/>
<Condition ID="IsEgg"/>
<Condition ID="IsEggLayer"/>
<Condition ID="IsFemale"/>
<Condition ID="IsHerbivore"/>
<Condition ID="IsHungry"/>
<Condition ID="IsMale"/>
<Condition ID="IsNight"/>
<Condition ID="IsPregnant"/>
<Condition ID="IsProducer"/>
<Condition ID="IsReadyToGiveBirth"/>
<Condition ID="IsWoodVermin"/>
<Condition ID="IsYoung"/>
<Action ID="KillPrey"/>
<Action ID="LayEgg"/>
<Action ID="Move"/>
<Action ID="Produce"/>
<Action ID="RandomMove"/>
<Action ID="Sleep"/>
<Condition ID="TargetAdjacent"/>
<Action ID="TryHaveSex"/>
</TreeNodesModel>
<!-- =================================== -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Repeat num_cycles="3">
<Sequence>
<SpeechToTextActionClient text="{said}" />
<TextToSpeechActionClient msg="{said}"/>
<SpeechToTextActionClient text="{said}" />
<TextToSpeechActionClient msg="{said}"/>
</Sequence>
</Repeat>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Repeat num_cycles="3">
<Sequence>
<SetBlackboard output_key="Goal_a" value="-5.40;-5.37;0.707;-0.707" />
<SetBlackboard output_key="Goal_b" value="-3.94;-4.47;0.707;-0.707" />
<SetBlackboard output_key="Goal_c" value="-4.79;-6.87;0.707;-0.707" />
<Sequence>
<SubTree ID="MoveRobot" target="Goal_a" />
<TextToSpeechActionClient msg="I'm at goal A" />
<SubTree ID="MoveRobot" target="Goal_b" />
<TextToSpeechActionClient msg="I'm at goal B" />
<SubTree ID="MoveRobot" target="Goal_c" />
<TextToSpeechActionClient msg="I'm at goal C" />
</Sequence>
</Sequence>
</Repeat>
</BehaviorTree>
<BehaviorTree ID="MoveRobot">
<Sequence name="SetGoal">
<Nav2Client goal="{target}" />
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Repeat num_cycles="9999">
<Sequence>
<Fallback>
<Sequence>
<ObjectDetectionAction class="person" pose="detected_Pose" min_confidence="0.85" />
<TextToSpeechActionClient msg="Detected" />
</Sequence>
<Sequence>
<TextToSpeechActionClient msg="Not Detected" />
</Sequence>
</Fallback>
</Sequence>
</Repeat>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<Nav2ClearGlobalCostMap/>
<RobotSeekInitAction search_poses="-4.3,-4,180.0;-4.7,-6.6,270.0;-6.0,-4.2,206.0;-6.4,-1.9,0.0;-8.0,1.5,90.0;-4.4,0.95,218.0" />
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<Repeat num_cycles="999">
<Fallback>
<Sequence>
<Delay delay_msec="3000">
<TextToSpeechActionClient msg="Say something" />
</Delay>
<SpeechToTextActionClient text="{said}" />
<TextToSpeechActionClient msg="You said" />
<TextToSpeechActionClient msg="{said}" />
</Sequence>
<TextToSpeechActionClient msg="I'm sorry, but I didn't here you" />
</Fallback>
</Repeat>
<TextToSpeechActionClient msg="Goodbye" />
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<PoseDetectionControlAction enable="false" />
<TrackAction mode="Scan" rate="3" />
<TextToSpeechActionClient msg="Start" />
<ScanWaitAction />
<TextToSpeechActionClient msg="End" />
<TrackAction mode="Track" rate="3" />
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <!--
This Behavior Tree does the bare minimum - it invokes ComputePathToPose to
compute a path using the global planner. It then invokes the local planner
(FollowPath) with this path. The path endpoints (input to the global planner)
and the resulting path (output of the global planner and input to the local
planner) are passed on the blackboard.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<SequenceStar name="root">
<ComputePathToPose goal="${goal}" path="${path}"/>
<FollowPath path="${path}"/>
</SequenceStar>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="MainTree">
<!-- ////////// -->
<BehaviorTree ID="MainTree">
<Sequence>
<Fallback>
<Action ID="CheckComponent" component="battery"/>
<Sequence name="recharging">
<Fallback>
<Sequence>
<Action ID="CheckComponent" component="laser"/>
<Action ID="Reconfigure" mode="f_energy_saving_mode"/>
</Sequence>
<Sequence>
<Action ID="CheckComponent" component="camera"/>
<Action ID="Reconfigure" mode="f_degraded_mode"/>
</Sequence>
</Fallback>
<Action ID="NavigateToWp" goal="recharge_station" name="navigate_to_wp"/>
<Action ID="Recharge"/>
</Sequence>
</Fallback>
<Sequence>
<Fallback>
<Sequence>
<Action ID="CheckComponent" component="laser"/>
<Action ID="Reconfigure" mode="f_normal_mode"/>
</Sequence>
<Sequence>
<Action ID="CheckComponent" component="camera"/>
<Action ID="Reconfigure" mode="f_degraded_mode"/>
</Sequence>
</Fallback>
<SequenceStar name="patrolling">
<Action ID="NavigateToWp" goal="wp_1" name="navigate_to_wp"/>
<Action ID="NavigateToWp" goal="wp_2" name="navigate_to_wp"/>
<Action ID="NavigateToWp" goal="wp_3" name="navigate_to_wp"/>
<Action ID="NavigateToWp" goal="wp_4" name="navigate_to_wp"/>
<Action ID="NavigateToWp" goal="wp_5" name="navigate_to_wp"/>
<Action ID="NavigateToWp" goal="wp_6" name="navigate_to_wp"/>
<Action ID="NavigateToWp" goal="wp_7" name="navigate_to_wp"/>
</SequenceStar>
</Sequence>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="CheckComponent">
<input_port name="component"/>
</Action>
<Action ID="NavigateToWp">
<input_port name="goal"/>
</Action>
<Action ID="Recharge"/>
<Action ID="Reconfigure">
<input_port name="mode"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action ID="DebugAction" string="Doing nothing"/>
<Action ID="DebugAction" string="With style"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="ArmCartesian">
<input_port name="action_name"/>
<input_port name="frame_id"/>
<input_port name="pose"/>
<input_port name="type"/>
</Action>
<Action ID="ArmRoutines">
<input_port name="gesture"/>
<input_port name="topic"/>
</Action>
<Action ID="Charge">
<input_port name="action"/>
<input_port name="action_name"/>
</Action>
<Action ID="CheckBattery">
<output_port name="battery_state" type="int"/>
<output_port name="percentage" type="double"/>
<input_port name="service_name" type="std::string"/>
</Action>
<Condition ID="CheckBool">
<input_port name="variable"/>
</Condition>
<Action ID="CheckCharging">
<output_port name="charging_state" type="int"/>
<input_port name="service_name" type="std::string"/>
</Action>
<Condition ID="CompareDouble">
<input_port name="A"/>
<input_port name="B"/>
<input_port name="Condition"/>
</Condition>
<Condition ID="CompareInt">
<input_port name="A"/>
<input_port name="B"/>
<input_port name="Condition"/>
</Condition>
<Action ID="DebugAction">
<input_port name="string" type="std::string"/>
</Action>
<Action ID="Destroy"/>
<Action ID="DetectFaces">
<output_port name="faceListOut"/>
<input_port name="face_topic"/>
</Action>
<Action ID="FaceCounter">
<input_port name="faceListIn"/>
<input_port name="number_faces"/>
</Action>
<Action ID="GazeAtTarget">
<input_port name="action_name"/>
<input_port name="fixation_pose"/>
<input_port name="frame_id"/>
</Action>
<Action ID="GetFloat64">
<output_port name="number" type="double"/>
<input_port name="topic" type="std::string"/>
</Action>
<Action ID="GetInt16">
<output_port name="number"/>
<input_port name="topic"/>
</Action>
<Action ID="GetPoseArray">
<output_port name="pose_array"/>
<input_port name="topic"/>
</Action>
<Action ID="GiveFeedback">
<input_port default="850" name="almost_thr"/>
<input_port name="correct_blocks"/>
<input_port name="incorrect_blocks"/>
<input_port default="0" name="personality"/>
<input_port name="score"/>
</Action>
<Action ID="MoveBase">
<input_port name="action_name"/>
<input_port name="frame_id"/>
<input_port name="goal_pose"/>
</Action>
<Action ID="MoveTorso">
<input_port name="angle"/>
<input_port name="topic"/>
</Action>
<Action ID="ResetVars"/>
<Action ID="SelectBlock">
<input_port name="block_list" type="social_cues::BlockList_<std::allocator<void> >"/>
<output_port name="block_pose" type="geometry_msgs::PoseStamped_<std::allocator<void> >"/>
<input_port name="position_in_list" type="std::string"/>
</Action>
<Action ID="SelectFieldFromPoseStamped">
<input_port name="field"/>
<output_port name="output_val"/>
<input_port name="pose_stamped"/>
</Action>
<Action ID="SelectPose">
<input_port name="pose_array"/>
<output_port name="pose_stamped"/>
<input_port name="position_in_list"/>
</Action>
<Action ID="SenseScore">
<output_port name="score"/>
<input_port name="score_topic"/>
</Action>
<Action ID="Speak">
<input_port name="action_name" type="std::string"/>
<input_port name="language" type="std::string"/>
<input_port name="utterance" type="std::string"/>
<input_port name="voice" type="std::string"/>
</Action>
<Action ID="WaitForXSeconds">
<input_port default="SUCCESS" name="result">Result after specified time: SUCCESS or FAILURE</input_port>
<input_port default="5" name="seconds">Time in seconds</input_port>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<ReactiveFallback>
<Sequence>
<Action ID="GetPoseArray" name="Faces" pose_array="faceList" topic="/faces"/>
<Action ID="SelectPose" name="Closest face" pose_array="{faceList}" pose_stamped="closest_face" position_in_list="0"/>
<Action ID="TimerAction" s_between_success="10"/>
<Action ID="GazeAtTarget" action_name="gaze" fixation_pose="{closest_face}" frame_id="base_footprint"/>
<Action ID="ArmRoutines" gesture="HAPPY_EMOTIVE" topic="/vizzyArmRoutines/right/command"/>
<Action ID="Speak" action_name="/gcloud_tts" language="pt_PT" utterance="Ora viva" voice="pt-PT-Wavenet-D"/>
<Action ID="WaitForXSeconds" result="SUCCESS" seconds="3"/>
<Action ID="ArmRoutines" gesture="ARMS_DOWN" topic="/vizzyArmRoutines/right/command"/>
</Sequence>
<SubTree ID="Patrol"/>
</ReactiveFallback>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="Patrol">
<Switch3 case_1="0" case_2="1" case_3="2" variable="{state}">
<Sequence>
<Action ID="MoveBase" action_name="move_base" frame_id="map" goal_pose="0.568;0.5395;0;0;0;0.0347;0.99939"/>
<SetBlackboard output_key="state" value="1"/>
</Sequence>
<Sequence>
<Action ID="MoveBase" action_name="move_base" frame_id="map" goal_pose="-16.48;-0.2331;0;0;0;0.6178;0.78627"/>
<SetBlackboard output_key="state" value="2"/>
</Sequence>
<Sequence>
<Action ID="MoveBase" action_name="move_base" frame_id="map" goal_pose="-16.129;16.7376;0;0;0;0.05602;0.9984"/>
<SetBlackboard output_key="state" value="3"/>
</Sequence>
<Sequence>
<Action ID="MoveBase" action_name="move_base" frame_id="map" goal_pose="1.13;5.56;0;0;0;-0.1487;0.9888"/>
<SetBlackboard output_key="state" value="0"/>
</Sequence>
</Switch3>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="ArmCartesian">
<input_port name="action_name"/>
<input_port name="frame_id"/>
<input_port name="pose"/>
<input_port name="type"/>
</Action>
<Action ID="ArmRoutines">
<input_port name="gesture"/>
<input_port name="topic"/>
</Action>
<Action ID="Charge">
<input_port name="action"/>
<input_port name="action_name"/>
</Action>
<Action ID="CheckBattery">
<output_port name="battery_state" type="int"/>
<output_port name="percentage" type="double"/>
<input_port name="service_name" type="std::string"/>
</Action>
<Condition ID="CheckBool">
<input_port name="variable"/>
</Condition>
<Action ID="CheckCharging">
<output_port name="charging_state" type="int"/>
<input_port name="service_name" type="std::string"/>
</Action>
<Condition ID="CompareDouble">
<input_port name="A"/>
<input_port name="B"/>
<input_port name="Condition"/>
</Condition>
<Condition ID="CompareInt">
<input_port name="A"/>
<input_port name="B"/>
<input_port name="Condition"/>
</Condition>
<Action ID="DebugAction">
<input_port name="string" type="std::string"/>
</Action>
<Action ID="Destroy"/>
<Action ID="DetectFaces">
<output_port name="faceListOut"/>
<input_port name="face_topic"/>
</Action>
<Action ID="FaceCounter">
<input_port name="faceListIn"/>
<input_port name="number_faces"/>
</Action>
<Action ID="GazeAtTarget">
<input_port name="action_name"/>
<input_port name="fixation_pose"/>
<input_port name="frame_id"/>
</Action>
<Action ID="GetFloat64">
<output_port name="number" type="double"/>
<input_port name="topic" type="std::string"/>
</Action>
<Action ID="GetInt16">
<output_port name="number"/>
<input_port name="topic"/>
</Action>
<Action ID="GetPoseArray">
<input_port name="pose_array"/>
<input_port name="topic"/>
</Action>
<Action ID="GiveFeedback">
<input_port default="850" name="almost_thr"/>
<input_port name="correct_blocks"/>
<input_port name="incorrect_blocks"/>
<input_port default="0" name="personality"/>
<input_port name="score"/>
</Action>
<Action ID="MoveBase">
<input_port name="action_name"/>
<input_port name="frame_id"/>
<input_port name="goal_pose"/>
</Action>
<Action ID="MoveTorso">
<input_port name="angle"/>
<input_port name="topic"/>
</Action>
<SubTree ID="Patrol"/>
<Action ID="ResetVars"/>
<Action ID="SelectBlock">
<input_port name="block_list" type="social_cues::BlockList_<std::allocator<void> >"/>
<output_port name="block_pose" type="geometry_msgs::PoseStamped_<std::allocator<void> >"/>
<input_port name="position_in_list" type="std::string"/>
</Action>
<Action ID="SelectFieldFromPoseStamped">
<input_port name="field"/>
<output_port name="output_val"/>
<input_port name="pose_stamped"/>
</Action>
<Action ID="SelectPose">
<input_port name="pose_array"/>
<input_port name="pose_stamped"/>
<input_port name="position_in_list"/>
</Action>
<Action ID="SenseScore">
<output_port name="score"/>
<input_port name="score_topic"/>
</Action>
<Action ID="Speak">
<input_port name="action_name"/>
<input_port name="language"/>
<input_port name="utterance"/>
<input_port name="voice"/>
</Action>
<Action ID="TimerAction">
<input_port name="s_between_success">Time (s) before this node returns SUCCESS. It will return FAILURE in the meanwhile</input_port>
</Action>
<Action ID="WaitForXSeconds">
<input_port default="SUCCESS" name="result">Result after specified time: SUCCESS or FAILURE</input_port>
<input_port default="5" name="seconds">Time in seconds</input_port>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Repeat num_cycles="{num_cycles}">
<Sequence>
<Fallback>
<Action ID="LTLPreCheck" ltl_state_current="{ltl_state_current}" ltl_state_desired_sequence="{ltl_state_desired_sequence}"/>
<ForceFailure>
<Action ID="Replanning2"/>
</ForceFailure>
</Fallback>
<ReactiveSequence>
<Fallback>
<Action ID="LocomotionStatusCheck"/>
<Timeout msec="">
<Sequence>
<Action ID="RecoveryStand"/>
<Action ID="LocomotionStart"/>
</Sequence>
</Timeout>
<ForceFailure>
<Action ID="Replanning3"/>
</ForceFailure>
</Fallback>
<Fallback>
<Action ID="MoveAction" action="{action}" move_base_finished="{move_base_finished}" move_base_idle="{move_base_idle}" nav_goal="{nav_goal}"/>
<ForceFailure>
<Action ID="Replanning3"/>
</ForceFailure>
</Fallback>
</ReactiveSequence>
<Action ID="UpdateLTL" action_sequence="{action_sequence}" ltl_state_desired_sequence="{ltl_state_desired_sequence}" nav_goal="{nav_goal}"/>
</Sequence>
</Repeat>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="LTLPreCheck">
<input_port name="ltl_state_current"/>
<input_port name="ltl_state_desired_sequence"/>
</Action>
<Action ID="LocomotionStart"/>
<Action ID="LocomotionStatusCheck"/>
<Action ID="MoveAction">
<output_port name="action"/>
<input_port name="move_base_finished"/>
<input_port name="move_base_idle"/>
<input_port name="nav_goal"/>
</Action>
<Action ID="RecoveryStand"/>
<Action ID="Replanning2"/>
<Action ID="Replanning3"/>
<Action ID="UpdateLTL">
<inout_port name="action_sequence"/>
<inout_port name="ltl_state_desired_sequence"/>
<output_port name="nav_goal"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Repeat num_cycles="{num_cycles}">
<Sequence>
<Fallback>
<Action ID="LTLPreCheck" ltl_state_current="{ltl_state_current}" ltl_state_desired_sequence="{ltl_state_desired_sequence}" ltl_state_executed_sequence="{ltl_state_executed_sequence}"/>
<ForceFailure>
<Action ID="ReplanningRequestLevel2" ltl_state_current="{ltl_state_current}" ltl_state_executed_sequence="{ltl_state_executed_sequence}" replanning_request="{replanning_request}"/>
</ForceFailure>
</Fallback>
<Fallback>
<Switch3 case_1="move" case_2="stay" case_3="synchronized_transition" variable="{bt_action_type}">
<Action ID="MoveAction" bt_action_type="{bt_action_type}" current_action="{current_action}" goal_sent="{goal_sent}" move_base_finished="{move_base_finished}" move_base_idle="{move_base_idle}"/>
<Action ID="StayAction" bt_action_type="{bt_action_type}" current_action="{current_action}" ltl_state_current="{ltl_state_current}"/>
<Action ID="SynchronizedTransitionAction" bt_action_type="{bt_action_type}" current_action="{current_action}" ltl_state_current="{ltl_state_current}"/>
<AlwaysFailure/>
</Switch3>
<ForceFailure>
<Action ID="ReplanningRequestLevel3" ltl_state_current="{ltl_state_current}" ltl_state_executed_sequence="{ltl_state_executed_sequence}" replanning_request="{replanning_request}"/>
</ForceFailure>
</Fallback>
<Action ID="UpdateLTL" action_sequence="{action_sequence}" action_sequence_executed="{action_sequence_executed}" bt_action_type="{bt_action_type}" current_action="{current_action}" ltl_state_desired_sequence="{ltl_state_desired_sequence}"/>
</Sequence>
</Repeat>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="LTLPreCheck">
<input_port name="ltl_state_current"/>
<input_port name="ltl_state_desired_sequence"/>
<inout_port name="ltl_state_executed_sequence"/>
</Action>
<Action ID="LocomotionStart">
<input_port name="locomotion_status"/>
</Action>
<Action ID="LocomotionStatusCheck">
<input_port name="locomotion_status"/>
</Action>
<Action ID="MoveAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<output_port name="goal_sent"/>
<input_port name="move_base_finished"/>
<input_port name="move_base_idle"/>
</Action>
<Action ID="RecoveryStand">
<input_port name="locomotion_status"/>
</Action>
<Action ID="ReplanningRequestLevel2">
<input_port name="ltl_state_current"/>
<inout_port name="ltl_state_executed_sequence"/>
<inout_port name="replanning_request"/>
</Action>
<Action ID="ReplanningRequestLevel3">
<input_port name="ltl_state_current"/>
<inout_port name="ltl_state_executed_sequence"/>
<inout_port name="replanning_request"/>
</Action>
<Action ID="StayAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<inout_port name="ltl_state_current"/>
</Action>
<Action ID="SynchronizedTransitionAction">
<input_port name="bt_action_type"/>
<input_port name="current_action"/>
<inout_port name="ltl_state_current"/>
</Action>
<Action ID="UpdateLTL">
<inout_port name="action_sequence"/>
<inout_port name="action_sequence_executed"/>
<output_port name="bt_action_type"/>
<output_port name="current_action"/>
<inout_port name="ltl_state_desired_sequence"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
<FollowPath path="{path}" controller_id="FollowPath"/>
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute="BehaviorTree">
<!--------------------------------------->
<BehaviorTree ID="BehaviorTree">
<Root>
<Fallback name="FB1">
<Sequence name="S1">
<Fallback name="FB2">
<Sequence name="S7">
<Condition ID="Room_known"/>
<Fallback name="FB10">
<Condition ID="Robot_in_room"/>
<Action ID="Go_to_room"/>
</Fallback>
</Sequence>
<Action ID="FollowHuman"/>
</Fallback>
<Sequence name="S2">
<Fallback name="FB3">
<Condition ID="Bottle_found"/>
<Action ID="Find_bottle"/>
</Fallback>
<Fallback name="FB4">
<Condition ID="Bottle_grasped"/>
<Fallback name="FB5">
<Sequence name="S3">
<Fallback name="FB7">
<Sequence name="S6">
<Condition ID="Inv_pose_computed"/>
<Condition ID="Inv_pose_valid"/>
</Sequence>
<Action ID="Compute_inv_pose"/>
</Fallback>
<Sequence name="S4">
<Fallback name="FB8">
<Condition ID="Robot_at_inv_pose"/>
<Sequence name="S8">
<Action ID="Keep_arms_for_grasp"/>
<Action ID="Go_to_inv_pose"/>
</Sequence>
</Fallback>
<Sequence name="S5">
<Fallback name="FB9">
<Condition ID="Bottle_located"/>
<Action ID="Locate_bottle"/>
</Fallback>
<Action ID="Grasp_bottle"/>
</Sequence>
</Sequence>
</Sequence>
<Action ID="Set_inv_pose_not_valid"/>
</Fallback>
</Fallback>
</Sequence>
</Sequence>
<Action ID="Ask_for_help"/>
</Fallback>
</Root>
</BehaviorTree>
<!--------------------------------------->
<TreeNodesModel>
<Action ID="Ask_for_help"/>
<Condition ID="Bottle_found"/>
<Condition ID="Bottle_grasped"/>
<Condition ID="Bottle_located"/>
<Action ID="Compute_inv_pose"/>
<Action ID="Find_bottle"/>
<Action ID="FollowHuman"/>
<Action ID="Go_to_inv_pose"/>
<Action ID="Go_to_room"/>
<Action ID="Grasp_bottle"/>
<Condition ID="Inv_pose_computed"/>
<Condition ID="Inv_pose_valid"/>
<Action ID="Keep_arms_for_grasp"/>
<Action ID="Keep_running"/>
<Action ID="Locate_bottle"/>
<Condition ID="Robot_at_inv_pose"/>
<Condition ID="Robot_in_room"/>
<Condition ID="Room_known"/>
<Action ID="Set_inv_pose_not_valid"/>
</TreeNodesModel>
<!--------------------------------------->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="MainTree">
<!-- ////////// -->
<BehaviorTree ID="MainTree">
<Sequence name="root_sequence">
<Action ID="BehaviorTask" task_description="TAKE_OFF;;1"/>
<Action ID="BehaviorTask" task_description="FOLLOW_PATH;path: [ [1, 1, 3] ];1"/>
<Action ID="BehaviorTask" task_description="LAND;;1"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="BehaviorTask">
<input_port name="task_description"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Fallback>
<ReactiveSequence>
<Condition ID="PullOver_Request"/>
<Condition ID="PullOver_Ready"/>
<Action ID="PullOver_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="PullOut_Request"/>
<Condition ID="PullOut_Ready"/>
<Action ID="PullOut_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="SideShift_Request"/>
<Condition ID="SideShift_Ready"/>
<Action ID="SideShift_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="LaneChange_Request"/>
<Fallback>
<Condition ID="LaneChange_Ready"/>
<Condition ID="ForceLaneChange_ForceApproval"/>
</Fallback>
<Action ID="LaneChange_Plan" output="{output}"/>
</ReactiveSequence>
<ReactiveSequence>
<Condition ID="Avoidance_Request"/>
<Condition ID="Avoidance_Ready"/>
<Action ID="Avoidance_Plan" output="{output}"/>
</ReactiveSequence>
<Action ID="LaneFollowing_Plan" output="{output}"/>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="a">
<ReactiveFallback>
<Condition ID="LaneChange_CheckApproval"/>
<KeepRunningUntilFailure>
<Action ID="LaneChange_PlanCandidate" output="{output}"/>
</KeepRunningUntilFailure>
</ReactiveFallback>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="b">
<ReactiveFallback>
<Condition ID="Avoidance_CheckApproval"/>
<KeepRunningUntilFailure>
<Action ID="Avoidance_PlanCandidate" output="{output}"/>
</KeepRunningUntilFailure>
</ReactiveFallback>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Condition ID="Avoidance_CheckApproval"/>
<Action ID="Avoidance_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Action ID="Avoidance_PlanCandidate">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="Avoidance_Ready"/>
<Condition ID="Avoidance_Request"/>
<Condition ID="ExternalApproval"/>
<Condition ID="ForceApproval"/>
<Condition ID="ForceLaneChange_ForceApproval"/>
<Condition ID="LaneChange_CheckApproval"/>
<Action ID="LaneChange_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Action ID="LaneChange_PlanCandidate">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="LaneChange_Ready"/>
<Condition ID="LaneChange_Request"/>
<Action ID="LaneFollowing_Plan">
<output_port name="output" type="boost::optional<tier4_planning_msgs::PathWithLaneId_<std::allocator<void> > >">desc</output_port>
</Action>
<Action ID="LaneFollowing_PlanCandidate">
<output_port name="output_candidate" type="boost::optional<tier4_planning_msgs::PathWithLaneId_<std::allocator<void> > >">desc</output_port>
</Action>
<Condition ID="LaneFollowing_Ready"/>
<Condition ID="LaneFollowing_Request"/>
<Action ID="PullOut_Plan">
<output_port name="output"/>
</Action>
<Condition ID="PullOut_Ready"/>
<Condition ID="PullOut_Request"/>
<Action ID="PullOver_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="PullOver_Ready"/>
<Condition ID="PullOver_Request"/>
<Condition ID="SideShift_CheckApproval"/>
<Action ID="SideShift_Plan">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Action ID="SideShift_PlanCandidate">
<output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
</Action>
<Condition ID="SideShift_Ready"/>
<Condition ID="SideShift_Request"/>
<SubTree ID="SubTree"/>
<SubTree ID="a"/>
<SubTree ID="b"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<AutodockClient action="start" />
<AutodockClient action="cancel" />
</Sequence>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Turn name="Turn"/>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <root main_tree_to_execute = "MainTree">
<BehaviorTree ID="MainTree">
<Sequence name="main_sequence">
<SetBlackboard output_key="move_goal" value="1;2;3" />
<SubTree ID="MoveRobot" target="move_goal" output="move_result" />
<SaySomething message="{move_result}"/>
</Sequence>
</BehaviorTree>
<BehaviorTree ID="MoveRobot">
<Fallback name="move_robot_main">
<SequenceStar>
<MoveBase goal="{target}"/>
<SetBlackboard output_key="output" value="mission accomplished" />
</SequenceStar>
<ForceFailure>
<SetBlackboard output_key="output" value="mission failed" />
</ForceFailure>
</Fallback>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0" encoding="utf-8"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="AutoClean">
<Fallback>
<Condition ID="IsCleanProcessFinished"/>
<Fallback>
<Condition ID="IsThereEnoughWater"/>
<Sequence>
<Timeout msec="5000">
<Condition ID="IsWaterTankRemoved"/>
</Timeout>
<Fallback>
<Timeout msec="5000">
<Condition ID="IsWaterTankFull"/>
</Timeout>
<Action ID="FillWaterTank"/>
</Fallback>
<RetryUntilSuccesful num_attempts="100">
<Condition ID="IsWaterTankPlacedInCoffeMachine"/>
</RetryUntilSuccesful>
</Sequence>
</Fallback>
<Fallback>
<Inverter>
<Condition ID="IsMarroTankFull"/>
</Inverter>
<Sequence>
<Timeout msec="5000">
<Condition ID="IsMarroTankRemoved"/>
</Timeout>
<Fallback>
<Timeout msec="5000">
<Condition ID="IsMarroTankEmpty"/>
</Timeout>
<Action ID="EmptyMarroTank"/>
</Fallback>
<RetryUntilSuccesful num_attempts="100">
<Condition ID="IsMarroTankPlacedInCoffeMachine"/>
</RetryUntilSuccesful>
</Sequence>
</Fallback>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<SubTree ID="OpenCoffeMachine" __shared_blackboard="false"/>
<SubTree ID="AutoClean" __shared_blackboard="false"/>
<SubTree ID="PutCoffeCup" __shared_blackboard="false"/>
<SubTree ID="CoffeType" __shared_blackboard="false"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="CoffeType">
<Sequence>
<Fallback>
<Timeout msec="5000">
<Condition ID="IsDesiredCoffeSelected"/>
</Timeout>
<Action ID="PressDesiredCoffe"/>
</Fallback>
<Timeout msec="5000">
<Condition ID="IsCoffeFinished"/>
</Timeout>
<Timeout msec="5000">
<Condition ID="HasCupOffCoffeBeenRemoved"/>
</Timeout>
<Timeout msec="5000">
<Fallback>
<Condition ID="HasHumanAddedCleaningCup"/>
<Sequence>
<Action ID="PlaceCleanCup"/>
<Action ID="SwitchOffCoffeMachine"/>
</Sequence>
</Fallback>
</Timeout>
<Timeout msec="5000">
<Fallback name="arallel">
<Condition ID="HasHumanAddedMilk"/>
<Sequence>
<Fallback>
<Inverter>
<Condition ID="IsMilkDesired"/>
</Inverter>
<Action ID="AddMilktoCoffe"/>
</Fallback>
<Fallback>
<Inverter>
<Condition ID="IsSugarDesired"/>
</Inverter>
<Action ID="AddSugarToCoffe"/>
</Fallback>
</Sequence>
</Fallback>
</Timeout>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="OpenCoffeMachine">
<Fallback>
<Condition ID="IsMachineOpen"/>
<Sequence>
<RetryUntilSuccesful num_attempts="10">
<Condition ID="IsCleanCupReady"/>
</RetryUntilSuccesful>
<Fallback>
<Timeout msec="5000">
<Condition ID="IsMachineOpen"/>
</Timeout>
<Action ID="SwitchOnCoffeMachine"/>
</Fallback>
</Sequence>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="PutCoffeCup">
<Fallback>
<Timeout msec="5000">
<Condition ID="IsCoffeCupReady"/>
</Timeout>
<Action ID="PlaceCoffeCup"/>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="AddMilktoCoffe"/>
<Action ID="AddSugarToCoffe"/>
<SubTree ID="AutoClean">
<input_port default="false" name="__shared_blackboard">If false (default), the Subtree has an isolated blackboard and needs port remapping</input_port>
</SubTree>
<SubTree ID="CoffeType">
<input_port default="false" name="__shared_blackboard">If false (default), the Subtree has an isolated blackboard and needs port remapping</input_port>
</SubTree>
<Action ID="EmptyMarroTank"/>
<Action ID="FillWaterTank"/>
<Condition ID="HasCupOffCoffeBeenRemoved"/>
<Condition ID="HasHumanAddedCleaningCup"/>
<Condition ID="HasHumanAddedMilk"/>
<Condition ID="IsCleanCupReady"/>
<Condition ID="IsCleanProcessFinished"/>
<Condition ID="IsCoffeCupReady"/>
<Condition ID="IsCoffeFinished"/>
<Condition ID="IsDesiredCoffeSelected"/>
<Condition ID="IsMachineOpen"/>
<Condition ID="IsMarroTankEmpty"/>
<Condition ID="IsMarroTankFull"/>
<Condition ID="IsMarroTankPlacedInCoffeMachine"/>
<Condition ID="IsMarroTankRemoved"/>
<Condition ID="IsMilkDesired"/>
<Condition ID="IsSugarDesired"/>
<Condition ID="IsThereEnoughWater"/>
<Condition ID="IsWaterTankFull"/>
<Condition ID="IsWaterTankPlacedInCoffeMachine"/>
<Condition ID="IsWaterTankRemoved"/>
<SubTree ID="OpenCoffeMachine">
<input_port default="false" name="__shared_blackboard">If false (default), the Subtree has an isolated blackboard and needs port remapping</input_port>
</SubTree>
<Action ID="PlaceCleanCup"/>
<Action ID="PlaceCoffeCup"/>
<Action ID="PressDesiredCoffe"/>
<SubTree ID="PutCoffeCup">
<input_port default="false" name="__shared_blackboard">If false (default), the Subtree has an isolated blackboard and needs port remapping</input_port>
</SubTree>
<Action ID="SwitchOffCoffeMachine"/>
<Action ID="SwitchOnCoffeMachine"/>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Sequence>
<Sequence>
<Action ID="go1"/>
</Sequence>
</Sequence>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="alwaysTrue"/>
<Action ID="dumpRun"/>
<Action ID="go1"/>
<Action ID="go2"/>
<Action ID="go3"/>
<Action ID="goClosestR"/>
<Action ID="guardAiMovement"/>
<Action ID="isFull"/>
<Action ID="mineResource"/>
<Action ID="waitFrames">
<input_port name="_in_0"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. |
<!--
This Behavior Tree replans the global path periodically at 1 Hz and it also has
recovery actions.
-->
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<RecoveryNode number_of_retries="2" name="NavigateRecovery">
<PipelineSequence name="NavigateWithReplanning">
<RateController hz="1.0">
<RecoveryNode number_of_retries="4" name="ComputePathToPose">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
<ReactiveFallback name="PathToPoseFallback">
<GoalUpdated/>
<RoundRobin name="GlobalPlannerRecoveryActions">
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
<Wait wait_duration="2"/>
</RoundRobin>
</ReactiveFallback>
</RecoveryNode>
</RateController>
<RecoveryNode number_of_retries="4" name="FollowPath">
<FollowPath path="{path}" controller_id="FollowPath"/>
<ReactiveFallback name="FollowPathFallback">
<GoalUpdated/>
<RoundRobin name="PlannerRecoveryActions">
<ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
<Spin spin_dist="1.57"/>
</RoundRobin>
</ReactiveFallback>
</RecoveryNode>
</PipelineSequence>
<ReactiveFallback name="RecoveryFallback">
<GoalUpdated/>
<Wait wait_duration="5"/>
</ReactiveFallback>
</RecoveryNode>
</BehaviorTree>
</root>
|
|
You will be provided a summary of a task performed by a behavior tree, and your objective is to express this behavior tree in XML format. | <?xml version="1.0" encoding="UTF-8"?>
<root main_tree_to_execute = "ActiveBatteryPolicy">
<BehaviorTree ID="ActiveBatteryPolicy">
<ReactiveSequence name="ActiveBatteryPolicy_ReactiveSequence">
<Inverter>
<IsBatteryOk name="IS battery Ok ConditionNode"/>
</Inverter>
<LandActionNode name="This is the Land action Node"/>
</ReactiveSequence>
</BehaviorTree>
</root> |