43 lines
1.9 KiB
XML
43 lines
1.9 KiB
XML
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<?xml version="1.0"?>
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<root BTCPP_format="4" main_tree_to_execute="TaskRoot">
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<!-- Stage one admits an already approved semantic plan. Planning is the
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coordinator's separate PlanTask action; XML never comes from that model. -->
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<BehaviorTree ID="TaskRoot">
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<Sequence name="TwoStageTask">
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<ApprovedPlanGate/>
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<SubTree ID="ExecutionStage" _autoremap="true"/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="ExecutionStage">
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<Sequence>
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<RunStage stage="Preflight"/>
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<SubTree ID="NavigateSkill" stage="NavigateObserve" _autoremap="true"/>
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<RunStage stage="LocateShelfColumn"/>
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<SubTree ID="NavigateSkill" stage="NavigateSource" _autoremap="true"/>
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<SubTree ID="GroundTargetSkill" _autoremap="true"/>
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<SubTree ID="PickSkill" _autoremap="true"/>
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<SubTree ID="NavigateSkill" stage="NavigateDestination" _autoremap="true"/>
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<SubTree ID="CheckFreeSpaceSkill" _autoremap="true"/>
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<SubTree ID="PlaceSkill" _autoremap="true"/>
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<RunStage stage="Cleanup"/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="NavigateSkill"><RunStage stage="{stage}"/></BehaviorTree>
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<BehaviorTree ID="GroundTargetSkill"><RunStage stage="LocalizeTarget"/></BehaviorTree>
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<BehaviorTree ID="PickSkill">
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<Sequence>
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<RunStage stage="Pick"/>
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<RunStage stage="VerifyPick"/>
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<RunStage stage="TransportPosture"/>
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<RunStage stage="VerifyTransport"/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="CheckFreeSpaceSkill"><RunStage stage="CheckFreeSpace"/></BehaviorTree>
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<BehaviorTree ID="PlaceSkill">
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<Sequence><RunStage stage="Place"/><RunStage stage="VerifyPlace"/><RunStage stage="Deliver"/></Sequence>
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</BehaviorTree>
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<!-- Deliberate failure routes back to coordinator clarification; no script,
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arbitrary XML, or autonomous motion while waiting for human information. -->
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<BehaviorTree ID="AskUserSkill"><RequestClarification/></BehaviorTree>
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</root>
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