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--- documentation:ezskiros:behaviortree [2023/12/14 16:13] – created mominar
+++ documentation:ezskiros:behaviortree [2023/12/15 09:20] (current) – marcusk
@@ Line 1: / Line 1: @@
 ====Behavior Tree example in ezSkiROS ====
+<code python>
+class deliver_demo(DeliverDemo.SkillBase):
+    def expandBT(self, params):
+        self.sequence(
+            SwitchController(Controller = params.joint_config),
+            PredefinedMovement.arm_lookout(),
+            DetectFreeSpace(Object = params.DeliverPose, ApproachPose = params.DeliverApproachPose),
+            PredefinedMovement.arm_lookout_front(),
+            PredefinedMovement.arm_storage_approach(),
+            PredefinedMovement.arm_storage(),
+            Grasp(),
+            PredefinedMovement.arm_storage_approach(),
+            PredefinedMovement.arm_lookout_front(),
+            PredefinedMovement.arm_lookout(),
+            DeliverObject(DistanceZ = 0.20),
+            PredefinedMovement.arm_lookout(),
+            PredefinedMovement.arm_home()
+        )
+</code>