Behavior Tree System Documentation

Complete guide to using our AI-powered behavior tree generator for modular robotics.

System Overview
Understanding the behavior tree generation process

Our behavior tree system transforms natural language task descriptions into executable robot behaviors by combining AI planning with our comprehensive asset library.

Key Components:

  • Asset Library: Hardware modules and software skills
  • AI Generator: Natural language to behavior tree conversion
  • XML Output: Standard behavior tree format
  • ROS2 Integration: Ready-to-deploy launch files
How to Use
Step-by-step guide to generating behavior trees
1

Describe Your Task

Write a clear description of what you want your robot to do. Be specific about objects, actions, and constraints.

Example: "Pick up red cubes from conveyor belt and sort them into bins based on size"
2

AI Analysis

Our AI analyzes your task and selects appropriate hardware modules and software skills from the asset library.

3

Behavior Tree Generation

The system generates a hierarchical behavior tree with proper sequencing, decision logic, and error handling.

4

Download & Deploy

Download the XML behavior tree, skill mappings, and ROS2 launch files for immediate deployment.

Asset Library
Available hardware modules and software skills

Hardware Modules

ActuatorsRotation joints, linear gantries, telescoping actuators
Sensors3D cameras, force sensors, proximity sensors
End EffectorsGrippers, suction manipulators, tool adapters
HubsProcessing units, power distribution, communication

Software Skills

VisionObject detection, visual servoing, tracking
MotionInverse kinematics, path planning, trajectory execution
ControlForce feedback, compliance control, G-code interpretation
ManipulationPick and place, adaptive grasping, object handling
Browse complete asset library →
Output Formats
Understanding the generated files and their usage

Behavior Tree XML

Standard XML format compatible with behavior tree libraries and ROS2.

<root>
  <BehaviorTree ID="MainTree">
    <Sequence name="MainSequence">
      <Action name="DetectObjects" />
      <Action name="PlanMotion" />
      <Action name="ExecuteTrajectory" />
    </Sequence>
  </BehaviorTree>
</root>

Skill Mapping JSON

Maps behavior tree nodes to specific software skills from the asset library.

{
  "DetectObjects": "object_detection",
  "PlanMotion": "inverse_kinematics",
  "ExecuteTrajectory": "trajectory_execution"
}

ROS2 Launch File

Python launch file for deploying the complete system in ROS2.

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='bt_executor',
            executable='bt_executor_node',
            name='behavior_tree_executor'
        ),
        # Additional nodes...
    ])
System Integration
Deploying behavior trees in your robotic system

ROS2 Requirements

  • ROS2 Humble or later
  • Behavior tree executor package
  • Hardware controller nodes
  • Skill implementation packages

Hardware Setup

  • Assemble required hardware modules
  • Configure universal connectors
  • Verify power and data connections
  • Run topology discovery process

Deployment Steps

  1. Install generated ROS2 packages
  2. Configure parameter files
  3. Launch the behavior tree executor
  4. Monitor execution and performance
Quick Start
Get started with your first behavior tree

Ready to create your first behavior tree? Try these example tasks:

Pick and place objects from one location to another
Sort colored blocks by size and color
Inspect products for quality control
Clean and organize a workspace
Try GeneratorBrowse Assets