Behavior Tree
=====

.. toctree::
   :maxdepth: 1
   :hidden:

   agv_behaviors
   competition_behaviors
   conditions
   inspection_behaviors
   inspection_robot_1
   inspection_robot_2

Overview
--------

`NIST ARIAC <https://pages.nist.gov/ARIAC_docs/en/latest/index.html>`_ is a competition to test the ability of robots to perform complex manufacturing tasks in a dynamic environment.
The simulation is a ``py_trees`` implementation of the EV battery manufacturing tasks.


**Legend:**

- Sequence Node **(⟶)**
- Selector Node **(?)**
- Parallel Node **(\|⟶\|)**
- Looping Decorator **(⟳)**
- Inverter Decorator **(!)**
- Condition Node: **Circular Border**
- Action Node: **Normal Borders**

Below is the visualization of the behavior tree.

.. image:: ../../../lib/Task1BehaviorTree.png
   :align: center

`View on Figma <https://www.figma.com/board/FQbgSewBoVZuaahuNycCL8/NIST_ARIACMASTER?node-id=0-1&p=f&t=e7GGcnD3WUBGhm5T-0>`_

**Task 1: Inspection and Kit Building**
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

**Task 1a: Physical Inspection**
   Denoted by *green-colored* nodes in behavior tree. Physical inspection for defects is done on each cell at the 
   inspection station and results are stored for appropriate disposal or advancement of cell.
**Task 1b: Conveyor Pickup**
   Denoted by *purple-colored* nodes in behavior tree. Conveyor pickup is done by inspection robot 1 and the cell is placed
   into a voltage tester.

**Task 1c: Voltage Inspection**
   Denoted by *blue-colored* nodes in behavior tree. The voltage tester's reading is published after cell voltage inspection completes.

**Task 1d: AGV Placement**
   Denoted by *blue-colored* nodes in behavior tree. Inspection robot 2 places cells that pass into an AGV or places defective cells into the recycling bin.

**Task 1e: Move AGV**
   Denoted by *pink-colored* nodes in behavior tree. AGVs are moved to the kit assembly station for kit building once they are filled (all slots must have same cell type).