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blue_new_base_a.xml
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="blue_new_base_a">
<Sequence>
<Script code="alternative:=false"/>
<Script code="is_in_home:=false"/>
<ForceSuccess>
<Sequence>
<JointPosition instance="m15"
max_effort="0"
max_velocity="220"
position="299"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<RetryUntilSuccessful num_attempts="4">
<Fallback>
<Move goal="0.75;0.25;-90"
ignore_obstacles="false"
linear_velocity="1.0"
frame_id="map"
angular_velocity="1.0"
mode="3"
linear_acceleration="0.7"
angular_acceleration="1.8"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<ScoreboardTask points="30"
task="PANELS"/>
</Sequence>
</ForceSuccess>
<ForceSuccess>
<Fallback>
<Sequence>
<Parallel failure_count="1"
success_count="-1">
<JointPosition instance="m15"
max_effort="0"
max_velocity="220"
position="0"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m14"
max_effort="0"
max_velocity="220"
position="250"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<RetryUntilSuccessful num_attempts="8">
<Fallback>
<Move name="MoveWeed#2"
goal="65"
ignore_obstacles="false"
linear_velocity="1.5"
frame_id="map"
angular_velocity="3.5"
mode="1"
linear_acceleration="1.0"
angular_acceleration="3.5"
reversing="0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="0.35;-0.23;90"
ignore_obstacles="false"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="6"
linear_acceleration="0.3"
angular_acceleration="1.8"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m12"
max_effort="0"
max_velocity="220"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Parallel failure_count="1"
success_count="-1">
<JointPosition instance="m14"
max_effort="0"
max_velocity="220"
position="180"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<RetryUntilSuccessful num_attempts="6">
<Fallback>
<Move name="MoveWeed#2"
goal="-90"
ignore_obstacles="false"
linear_velocity="1.5"
frame_id="map"
angular_velocity="3.5"
mode="1"
linear_acceleration="1.0"
angular_acceleration="3.5"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Parallel>
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="0.26;0.75;-90"
ignore_obstacles="false"
linear_velocity="0.5"
frame_id="map"
angular_velocity="0.8"
mode="6"
linear_acceleration="0.4"
angular_acceleration="1.8"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
<Sequence>
<JointPosition instance="m12"
max_effort="0"
max_velocity="220"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
</Fallback>
</ForceSuccess>
<ForceSuccess>
<Fallback>
<Sequence>
<SubTree ID="gentle_attack"
goal="-0.32;0.84;-90"
linear_acceleration="1.0"
linear_velocity="1.2"
type="7"/>
<JointPosition instance="m1"
max_effort="0"
max_velocity="180"
position="174"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m2"
max_effort="0"
max_velocity="180"
position="78"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m3"
max_effort="0"
max_velocity="220"
position="220"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<SubTree ID="gentle_attack"
goal="-0.32;0.60;-90"
linear_acceleration="1.0"
linear_velocity="1.2"
type="7"/>
<SubTree ID="try_pick_up_weed_front"
_autoremap="true"/>
</Sequence>
<Sequence>
<JointPosition instance="m3"
max_effort="0"
max_velocity="220"
position="85"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<JointPosition instance="m2"
max_effort="0"
max_velocity="180"
position="137"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Sequence>
</Fallback>
</ForceSuccess>
<ForceSuccess>
<Sequence>
<Parallel failure_count="1"
success_count="-1">
<ForceSuccess>
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="-0.66;-1.07;90"
ignore_obstacles="false"
linear_velocity="0.9"
frame_id="map"
angular_velocity="1.5"
mode="6"
linear_acceleration="0.6"
angular_acceleration="2.0"
reversing="0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</ForceSuccess>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="165"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="-0.73;-0.795;0"
ignore_obstacles="false"
linear_velocity="0.9"
frame_id="map"
angular_velocity="1.5"
mode="7"
linear_acceleration="0.6"
angular_acceleration="2.0"
reversing="2"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Fallback>
<Timeout msec="4550">
<Move name="MoveFAllback"
goal="-0.87;-0.795;0"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="7"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="2"/>
</Timeout>
<Sequence>
<RetryUntilSuccessful num_attempts="8">
<Fallback>
<Translate frame_id="base_link"
ignore_obstacles="false"
x="0.07"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<Move goal="-0.60;-1.18;0"
ignore_obstacles="true"
linear_velocity="0.9"
frame_id="map"
angular_velocity="1.5"
mode="7"
linear_acceleration="0.6"
angular_acceleration="2.0"
reversing="2"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="125"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.05"
error="{error}"
linear_velocity="0.07"
linear_acceleration="0.8"
enable_sensors="false"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="214"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
<ForceSuccess>
<Timeout msec="800">
<Move name="MoveStack"
goal="-0.902;-0.795;0"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="2"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="2"/>
</Timeout>
</ForceSuccess>
<SubTree ID="try_put_plenter_back_down_new"
_autoremap="true"/>
<ScoreboardTask points="12"
task="PLENTER_SIDE"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.12"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="-0.72;-0.765;0"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="3"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
</Sequence>
</ForceSuccess>
<ForceSuccess>
<Sequence>
<RetryUntilSuccessful num_attempts="7">
<Fallback>
<Move goal="-0.72;-0.765;0"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="3"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="0"/>
<Sequence>
<Sleep msec="500"/>
<AlwaysFailure/>
</Sequence>
</Fallback>
</RetryUntilSuccessful>
<SubTree ID="try_pick_up_pots_with_fork_new"
_autoremap="true"/>
<Sequence _onSuccess="is_in_home:=true"
_onFailure="is_in_home:=false">
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.035"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Parallel failure_count="1"
success_count="-1">
<Move goal="90"
ignore_obstacles="true"
linear_velocity="1.5"
frame_id="map"
angular_velocity="2.5"
mode="1"
linear_acceleration="1.0"
angular_acceleration="2.2"
reversing="0"/>
<JointPosition instance="m11"
max_effort="0"
max_velocity="220"
position="185"
tolerance="10"
feedback_effort="{feedback_effort}"
feedback_position="{feedback_position}"
result="{result}"/>
</Parallel>
<ForceSuccess>
<Timeout msec="1000">
<Move goal="-0.39;-1.450;90"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="2"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="2"/>
</Timeout>
</ForceSuccess>
<SubTree ID="try_put_plenter_back_up_new"
_autoremap="true"/>
<ScoreboardTask points="16"
task="PLENTER1"/>
<Sequence>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="0.18"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.04"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<SubTree ID="try_put_field_a"
_autoremap="true"/>
</Sequence>
<Move goal="90"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="1"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="0"/>
<Translate frame_id="base_link"
ignore_obstacles="true"
x="-0.15"
error="{error}"
linear_velocity="0.5"
linear_acceleration="0.8"
enable_sensors="false"/>
<Move goal="55"
ignore_obstacles="true"
linear_velocity="0.5"
frame_id="map"
angular_velocity="1.0"
mode="1"
linear_acceleration="0.8"
angular_acceleration="1.8"
reversing="0"/>
</Sequence>
</Sequence>
</ForceSuccess>
<Sleep msec="120000"/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="JointPosition"
editable="true">
<input_port name="instance"/>
<input_port name="max_effort"
default="0"/>
<input_port name="max_velocity"
default="180"/>
<input_port name="position"/>
<input_port name="tolerance"
default="10"/>
<output_port name="feedback_effort"
default="{feedback_effort}"/>
<output_port name="feedback_position"
default="{feedback_position}"/>
<output_port name="result"
default="{result}"/>
</Action>
<Action ID="Move"
editable="true">
<input_port name="goal"/>
<inout_port name="ignore_obstacles"
default="false"/>
<input_port name="linear_velocity"
default="0.5"/>
<input_port name="frame_id"
default="map"/>
<input_port name="angular_velocity"
default="1.0"/>
<input_port name="mode"
default="7"/>
<input_port name="linear_acceleration"
default="0.8"/>
<input_port name="angular_acceleration"
default="1.8"/>
<input_port name="reversing"
default="0"/>
</Action>
<Action ID="ScoreboardTask"
editable="true">
<input_port name="points"
default="0">points scored, can be negative</input_port>
<input_port name="task"
default="store_sample_to_work_shed">unique task name</input_port>
</Action>
<Action ID="Translate"
editable="true">
<input_port name="frame_id"
default="base_link"/>
<input_port name="ignore_obstacles"
default="false"/>
<input_port name="x"/>
<input_port name="error"
default="{error}"/>
<input_port name="linear_velocity"
default="0.5"/>
<input_port name="linear_acceleration"
default="0.8"/>
<input_port name="enable_sensors"
default="false"/>
</Action>
</TreeNodesModel>
</root>