Task node
The task node is used to invoke an action. The resulting state machine is equivalent to the current action execution.
Properties
| Property | Description |
|---|---|
| Child semantics | Can only be leaf node, cannot have any children. |
| Parameters | name: name of the node action: an action proto describing a skill invocation |
| Success criterion | Associated action succeeds |
| Failure criterion | Associated action fails |
Python API
All nodes accept actions directly and are wrapped into task nodes internally.
However, using Task nodes explicitly allows you to name the nodes and add
decorators on them.
enable_motion_skill = skills.enable_motion(clear_faults=True)
enable = BT.Task(name="Enable motion", action=enable_motion_skill)