documentation:ezskiros:behaviortree [robotwiki]

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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()
      )

Behavior Tree example in ezSkiROS