| <?xml version="1.0" encoding="UTF-8"?> |
| <xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:bt="http://www.eclipse.org/papyrus/robotics/bt/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:robotics.behavior="http://www.eclipse.org/papyrus/robotics/behavior/1" xmlns:robotics.generics="http://www.eclipse.org/papyrus/robotics/generics/1" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" xsi:schemaLocation="http://www.eclipse.org/papyrus/robotics/behavior/1 http://www.eclipse.org/papyrus/robotics/1#//behavior http://www.eclipse.org/papyrus/robotics/generics/1 http://www.eclipse.org/papyrus/robotics/1#//generics"> |
| <uml:Model xmi:id="_fpjj4HKEEeqBULpQTAGd5A" name="CEAPickNPlaceBt"> |
| <packageImport xmi:type="uml:PackageImport" xmi:id="_2bpboHKEEeqBULpQTAGd5A"> |
| <importedPackage xmi:type="uml:Model" href="../skills/picknplace.skills.uml#_gWppgHJ7EeqBULpQTAGd5A"/> |
| </packageImport> |
| <packagedElement xmi:type="uml:Activity" xmi:id="_fpjj4XKEEeqBULpQTAGd5A" name="CEAPickNPlace" node="_vukfoHKEEeqBULpQTAGd5A _yRNbgHKEEeqBULpQTAGd5A _N0S9EHKFEeqBULpQTAGd5A _UHgnkHKFEeqBULpQTAGd5A _VlrOsHKFEeqBULpQTAGd5A _XwhVoHKFEeqBULpQTAGd5A _ZXBZYHKFEeqBULpQTAGd5A"> |
| <edge xmi:type="uml:ObjectFlow" xmi:id="_5WtpIHKFEeqBULpQTAGd5A" name="ObjectApproachState" target="_On3IAHKFEeqBULpQTAGd5A" source="_2bse83KEEeqBULpQTAGd5A"> |
| <guard xmi:type="uml:LiteralBoolean" xmi:id="_5XnoEHKFEeqBULpQTAGd5A" value="true"/> |
| <weight xmi:type="uml:LiteralInteger" xmi:id="_5XnoEXKFEeqBULpQTAGd5A" value="1"/> |
| </edge> |
| <edge xmi:type="uml:ObjectFlow" xmi:id="__hfJUHKFEeqBULpQTAGd5A" name="DepositApproachPose" target="_WIBt0HKFEeqBULpQTAGd5A" source="_2bse9nKEEeqBULpQTAGd5A"> |
| <guard xmi:type="uml:LiteralBoolean" xmi:id="__hrWkHKFEeqBULpQTAGd5A" value="true"/> |
| <weight xmi:type="uml:LiteralInteger" xmi:id="__hrWkXKFEeqBULpQTAGd5A" value="1"/> |
| </edge> |
| <edge xmi:type="uml:ObjectFlow" xmi:id="_C_jysHKGEeqBULpQTAGd5A" name="HomePose" target="_Z3KSAHKFEeqBULpQTAGd5A" source="_2bse8HKEEeqBULpQTAGd5A"> |
| <guard xmi:type="uml:LiteralBoolean" xmi:id="_C_ycMHKGEeqBULpQTAGd5A" value="true"/> |
| <weight xmi:type="uml:LiteralInteger" xmi:id="_C_zDQHKGEeqBULpQTAGd5A" value="1"/> |
| </edge> |
| <edge xmi:type="uml:ControlFlow" xmi:id="_3NPlwHKGEeqBULpQTAGd5A" name="ControlFlowEdge11" target="_yRNbgHKEEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/> |
| <edge xmi:type="uml:ControlFlow" xmi:id="_31w-UHKGEeqBULpQTAGd5A" name="ControlFlowEdge12" target="_N0S9EHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/> |
| <edge xmi:type="uml:ControlFlow" xmi:id="_5h9aYHKGEeqBULpQTAGd5A" name="ControlFlowEdge13" target="_UHgnkHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/> |
| <edge xmi:type="uml:ControlFlow" xmi:id="_6YqY4HKGEeqBULpQTAGd5A" name="ControlFlowEdge14" target="_VlrOsHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/> |
| <edge xmi:type="uml:ControlFlow" xmi:id="_7lJaIHKGEeqBULpQTAGd5A" name="ControlFlowEdge15" target="_XwhVoHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/> |
| <edge xmi:type="uml:ControlFlow" xmi:id="_8q9ysHKGEeqBULpQTAGd5A" name="ControlFlowEdge16" target="_ZXBZYHKFEeqBULpQTAGd5A" source="_vukfoHKEEeqBULpQTAGd5A"/> |
| <node xmi:type="uml:CallBehaviorAction" xmi:id="_vukfoHKEEeqBULpQTAGd5A" name="sequence" outgoing="_3NPlwHKGEeqBULpQTAGd5A _31w-UHKGEeqBULpQTAGd5A _5h9aYHKGEeqBULpQTAGd5A _6YqY4HKGEeqBULpQTAGd5A _7lJaIHKGEeqBULpQTAGd5A _8q9ysHKGEeqBULpQTAGd5A"> |
| <behavior xmi:type="uml:FunctionBehavior" href="pathmap://Robotics_LIBRARIES_BT/btsemantics.uml#_BIq1QAboEeqCcYqBkTNorg"/> |
| </node> |
| <node xmi:type="uml:CallOperationAction" xmi:id="_yRNbgHKEEeqBULpQTAGd5A" name="planning" incoming="_3NPlwHKGEeqBULpQTAGd5A"> |
| <result xmi:type="uml:OutputPin" xmi:id="_2bse8HKEEeqBULpQTAGd5A" name="home" outgoing="_C_jysHKGEeqBULpQTAGd5A"> |
| <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/> |
| <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_2bse8XKEEeqBULpQTAGd5A" value="1"/> |
| <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_2bse8nKEEeqBULpQTAGd5A" value="1"/> |
| </result> |
| <result xmi:type="uml:OutputPin" xmi:id="_2bse83KEEeqBULpQTAGd5A" name="obj_appr" outgoing="_5WtpIHKFEeqBULpQTAGd5A"> |
| <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/sensor_msgs.servicedef.uml#ID_msg_JointState"/> |
| <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_2bse9HKEEeqBULpQTAGd5A" value="1"/> |
| <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_2bse9XKEEeqBULpQTAGd5A" value="1"/> |
| </result> |
| <result xmi:type="uml:OutputPin" xmi:id="_2bse9nKEEeqBULpQTAGd5A" name="dep_appr" outgoing="__hfJUHKFEeqBULpQTAGd5A"> |
| <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/> |
| <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_2bse93KEEeqBULpQTAGd5A" value="1"/> |
| <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_2bse-HKEEeqBULpQTAGd5A" value="1"/> |
| </result> |
| <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_IfOE4HJ8EeqBULpQTAGd5A"/> |
| </node> |
| <node xmi:type="uml:CallOperationAction" xmi:id="_N0S9EHKFEeqBULpQTAGd5A" name="appr_obj" incoming="_31w-UHKGEeqBULpQTAGd5A"> |
| <argument xmi:type="uml:InputPin" xmi:id="_On3IAHKFEeqBULpQTAGd5A" name="p" incoming="_5WtpIHKFEeqBULpQTAGd5A"> |
| <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/sensor_msgs.servicedef.uml#ID_msg_JointState"/> |
| <upperBound xmi:type="uml:LiteralInteger" xmi:id="_On5kQHKFEeqBULpQTAGd5A" value="1"/> |
| <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_On3IAXKFEeqBULpQTAGd5A" value="1"/> |
| <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_On3IAnKFEeqBULpQTAGd5A" value="1"/> |
| </argument> |
| <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_StM70HJ8EeqBULpQTAGd5A"/> |
| </node> |
| <node xmi:type="uml:CallOperationAction" xmi:id="_UHgnkHKFEeqBULpQTAGd5A" name="grasp_it" incoming="_5h9aYHKGEeqBULpQTAGd5A"> |
| <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_U-sdUHJ8EeqBULpQTAGd5A"/> |
| </node> |
| <node xmi:type="uml:CallOperationAction" xmi:id="_VlrOsHKFEeqBULpQTAGd5A" name="appr_dep" incoming="_6YqY4HKGEeqBULpQTAGd5A"> |
| <argument xmi:type="uml:InputPin" xmi:id="_WIBt0HKFEeqBULpQTAGd5A" name="p" incoming="__hfJUHKFEeqBULpQTAGd5A"> |
| <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/> |
| <upperBound xmi:type="uml:LiteralInteger" xmi:id="_WIDjAHKFEeqBULpQTAGd5A" value="1"/> |
| <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_WIBt0XKFEeqBULpQTAGd5A" value="1"/> |
| <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_WIBt0nKFEeqBULpQTAGd5A" value="1"/> |
| </argument> |
| <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_RfrYwHJ8EeqBULpQTAGd5A"/> |
| </node> |
| <node xmi:type="uml:CallOperationAction" xmi:id="_XwhVoHKFEeqBULpQTAGd5A" name="rels_obj" incoming="_7lJaIHKGEeqBULpQTAGd5A"> |
| <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_T4hfcHJ8EeqBULpQTAGd5A"/> |
| </node> |
| <node xmi:type="uml:CallOperationAction" xmi:id="_ZXBZYHKFEeqBULpQTAGd5A" name="go__home" incoming="_8q9ysHKGEeqBULpQTAGd5A"> |
| <argument xmi:type="uml:InputPin" xmi:id="_Z3KSAHKFEeqBULpQTAGd5A" name="p" incoming="_C_jysHKGEeqBULpQTAGd5A"> |
| <type xmi:type="uml:DataType" href="pathmap://ROS2_LIB_BASE/services/geometry_msgs.servicedef.uml#ID_msg_Pose"/> |
| <upperBound xmi:type="uml:LiteralInteger" xmi:id="_Z3LgIXKFEeqBULpQTAGd5A" value="1"/> |
| <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Z3KSAXKFEeqBULpQTAGd5A" value="1"/> |
| <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Z3KSAnKFEeqBULpQTAGd5A" value="1"/> |
| </argument> |
| <operation xmi:type="uml:Operation" href="../skills/picknplace.skills.uml#_RfrYwHJ8EeqBULpQTAGd5A"/> |
| </node> |
| </packagedElement> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fpjj4nKEEeqBULpQTAGd5A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fpjj43KEEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//skills"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_gi8QcEu_EemIANEC5Ku3WA"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fpjj5HKEEeqBULpQTAGd5A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fpjj5XKEEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//behavior"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_q3mpAEyBEemO4axG7yzSjw"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fpjj5nKEEeqBULpQTAGd5A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fpjj53KEEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bt/1#/"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotics_PROFILES_BT/bt.profile.uml#_ReuxwEu8Eem2LtvnSS1y6A"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fpjj6HKEEeqBULpQTAGd5A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fpjj6XKEEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/bpc/1#/"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_BPC_PROFILES/bpc.profile.uml#__9qqMJZ1Eeeq1f8hGgKVzA"/> |
| </profileApplication> |
| <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fpjj6nKEEeqBULpQTAGd5A"> |
| <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fpjj63KEEeqBULpQTAGd5A" source="http://www.eclipse.org/uml2/2.0.0/UML"> |
| <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/papyrus/robotics/1#//generics"/> |
| </eAnnotations> |
| <appliedProfile xmi:type="uml:Profile" href="pathmap://ROBOTICS_PROFILES/robotics.profile.uml#_eFhjMEnvEeien6eLHpkAxA"/> |
| </profileApplication> |
| </uml:Model> |
| <robotics.behavior:Task xmi:id="_fpjj7HKEEeqBULpQTAGd5A" base_Class="_fpjj4XKEEeqBULpQTAGd5A" base_Behavior="_fpjj4XKEEeqBULpQTAGd5A"/> |
| <bt:TreeRoot xmi:id="_fpjj7XKEEeqBULpQTAGd5A" base_Activity="_fpjj4XKEEeqBULpQTAGd5A"/> |
| <robotics.generics:Package xmi:id="_fpjj7nKEEeqBULpQTAGd5A" base_Package="_fpjj4HKEEeqBULpQTAGd5A"/> |
| <bt:Sequence xmi:id="_vvklMHKEEeqBULpQTAGd5A" base_Action="_vukfoHKEEeqBULpQTAGd5A"/> |
| <bt:Action xmi:id="_2brQ0HKEEeqBULpQTAGd5A" base_Action="_yRNbgHKEEeqBULpQTAGd5A"/> |
| <bt:OutFlowPort xmi:id="_2buUIHKEEeqBULpQTAGd5A" base_OutputPin="_2bse8HKEEeqBULpQTAGd5A"/> |
| <bt:OutFlowPort xmi:id="_2bu7MHKEEeqBULpQTAGd5A" base_OutputPin="_2bse83KEEeqBULpQTAGd5A"/> |
| <bt:OutFlowPort xmi:id="_2bwJUHKEEeqBULpQTAGd5A" base_OutputPin="_2bse9nKEEeqBULpQTAGd5A"/> |
| <bt:Action xmi:id="_On2g8HKFEeqBULpQTAGd5A" base_Action="_N0S9EHKFEeqBULpQTAGd5A"/> |
| <bt:InFlowPort xmi:id="_On49MHKFEeqBULpQTAGd5A" base_InputPin="_On3IAHKFEeqBULpQTAGd5A"/> |
| <bt:Action xmi:id="_U6HJMHKFEeqBULpQTAGd5A" base_Action="_UHgnkHKFEeqBULpQTAGd5A"/> |
| <bt:Action xmi:id="_WIBGwHKFEeqBULpQTAGd5A" base_Action="_VlrOsHKFEeqBULpQTAGd5A"/> |
| <bt:InFlowPort xmi:id="_WIC78HKFEeqBULpQTAGd5A" base_InputPin="_WIBt0HKFEeqBULpQTAGd5A"/> |
| <bt:Action xmi:id="_YzE-0HKFEeqBULpQTAGd5A" base_Action="_XwhVoHKFEeqBULpQTAGd5A"/> |
| <bt:Action xmi:id="_Z3JD4HKFEeqBULpQTAGd5A" base_Action="_ZXBZYHKFEeqBULpQTAGd5A"/> |
| <bt:InFlowPort xmi:id="_Z3LgIHKFEeqBULpQTAGd5A" base_InputPin="_Z3KSAHKFEeqBULpQTAGd5A"/> |
| <bt:DataFlowEdge xmi:id="_5XdQAHKFEeqBULpQTAGd5A" base_ObjectFlow="_5WtpIHKFEeqBULpQTAGd5A"/> |
| <bt:DataFlowEdge xmi:id="__hg-gHKFEeqBULpQTAGd5A" base_ObjectFlow="__hfJUHKFEeqBULpQTAGd5A"/> |
| <bt:DataFlowEdge xmi:id="_C_m2AHKGEeqBULpQTAGd5A" base_ObjectFlow="_C_jysHKGEeqBULpQTAGd5A"/> |
| <bt:ControlFlowEdge xmi:id="_3NRa8HKGEeqBULpQTAGd5A" base_ControlFlow="_3NPlwHKGEeqBULpQTAGd5A"/> |
| <bt:ControlFlowEdge xmi:id="_31yzgHKGEeqBULpQTAGd5A" base_ControlFlow="_31w-UHKGEeqBULpQTAGd5A"/> |
| <bt:ControlFlowEdge xmi:id="_5iBEwHKGEeqBULpQTAGd5A" base_ControlFlow="_5h9aYHKGEeqBULpQTAGd5A"/> |
| <bt:ControlFlowEdge xmi:id="_6YsOEHKGEeqBULpQTAGd5A" base_ControlFlow="_6YqY4HKGEeqBULpQTAGd5A"/> |
| <bt:ControlFlowEdge xmi:id="_7lKoQHKGEeqBULpQTAGd5A" base_ControlFlow="_7lJaIHKGEeqBULpQTAGd5A"/> |
| <bt:ControlFlowEdge xmi:id="_8q_A0HKGEeqBULpQTAGd5A" base_ControlFlow="_8q9ysHKGEeqBULpQTAGd5A"/> |
| </xmi:XMI> |
