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TrickShot.xml
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TrickShot.xml
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="TrickShot">
<Sequence>
<SubTree ID="MoveSinglePose"
positionX="0.0"
positionY="0.0"
positionZ="0.0"
orientationX="0.0"
orientationY="90"
orientationZ="0.0"
frame="1"
_autoremap="true"/>
<SubTree ID="MoveSinglePose"
positionX="0.0"
positionY="0.0"
positionZ="0.0"
orientationX="180"
orientationY="0.0"
orientationZ="0.0"
frame="1"
_autoremap="true"/>
<SubTree ID="MoveSinglePose"
positionX="0.0"
positionY="0.0"
positionZ="0.0"
orientationX="180"
orientationY="0.0"
orientationZ="0.0"
frame="1"
_autoremap="true"/>
<SubTree ID="MoveSinglePose"
positionX="0.0"
positionY="0.0"
positionZ="0.0"
orientationX="0.0"
orientationY="90"
orientationZ="0.0"
frame="1"
_autoremap="true"/>
<SubTree ID="MoveSinglePose"
positionX="0.0"
positionY="0.0"
positionZ="0.0"
orientationX="0.0"
orientationY="180"
orientationZ="0.0"
frame="1"
_autoremap="true"/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<SubTree ID="MoveSinglePose"
editable="true">
<input_port name="positionX"
default="0.0"/>
<input_port name="positionY"
default="0.0"/>
<input_port name="positionZ"
default="0.0"/>
<input_port name="orientationX"
default="0.0"/>
<input_port name="orientationY"
default="0.0"/>
<input_port name="orientationZ"
default="0.0"/>
<input_port name="frame"
default="1"/>
</SubTree>
</TreeNodesModel>
</root>