<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
  <BehaviorTree ID="spade-simulator">
    <Fallback>
      <ReturnToBaseNode/>
      <Sequence>
        <LocalSensingNode/>
        <Fallback>
          <Sequence>
            <DecisionMakingNode/>
            <TaskExecutingNode/>
          </Sequence>
          <ExplorationNode/>
        </Fallback>
      </Sequence>
    </Fallback>
  </BehaviorTree>

  <!-- Description of Node Models (used by Groot) -->
  <TreeNodesModel>
    <Action ID="DecisionMakingNode"
            editable="true"/>
    <Action ID="ExplorationNode"
            editable="true"/>
    <Action ID="LocalSensingNode"
            editable="true"/>
    <Action ID="ReturnToBaseNode"
            editable="true"/>
    <Action ID="TaskExecutingNode"
            editable="true"/>
  </TreeNodesModel>

</root>
