cornerstone 0.3.1

A behavior tree library
Documentation 
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4"
  main_tree_to_execute="main">
  <BehaviorTree ID="aaa">
    <Parallel failure_count="1"
      success_count="-1">
      <SubTree ID="bbb" />
      <ForceSuccess>
        <PrintBody body="abcdefg" />
      </ForceSuccess>
      <SubTree ID="bbb" />
    </Parallel>
  </BehaviorTree>

  <BehaviorTree ID="bbb">
    <PrintArm arm="arm" />
  </BehaviorTree>

  <BehaviorTree ID="main">
    <Sequence>
      <PrintBody body="abcdefg" />
      <PrintArm arm="left_arm" />
      <PrintArm arm="right_arm" />
      <PrintBody bb="" />
      <SetBlackboard value="42" output_key="the_answer" />
      <SetBlackboard value="{the_answer}" output_key="dst_port" />
      <Fallback>
        <PrintArm arm="arm_in" />
        <Sequence>
          <PrintArm arm="dd" />
          <PrintBody body="dd" />
        </Sequence>
        <PrintBody body="abcdefg" />
      </Fallback>
      <SubTree ID="aaa" target_pose="{move_pose}"/>
      <Repeat num_cycles="10">
        <PrintBody body="aaa" />
      </Repeat>
      <ForceFailure>
        <Sequence>
          <PrintArm arm="left_arm" />
          <PrintArm arm="right_arm" />
          <PrintBody bb="" />
        </Sequence>
      </ForceFailure>
    </Sequence>
  </BehaviorTree>

  <!-- Description of Node Models (used by Groot) -->
  <TreeNodesModel>
    <Action ID="PrintArm"
      editable="true">
      <input_port name="arm"
        default="arm_in">arm info</input_port>
    </Action>
    <Action ID="PrintBb"
      editable="true">
      <input_port name="bb">asdfasdf</input_port>
    </Action>
    <Action ID="PrintBody"
      editable="true">
      <input_port name="body"
        default="abcdefg">body info</input_port>
    </Action>
  </TreeNodesModel>

</root>