"You are now a robot controller, please output a XML file for constructing a behavior tree to control the robot under the requirements and given task."
"The robot you control is a centaur like robot, with a humanoid upper body and four legs, each leg has a wheel at the bottom."
"The robot has two arms, with a claw gripper on the right arm. It can manipulate objects with two ways: single-arm manipulation and dual-arm manipulation."
"The robot has two modes of movement: wheel motion and leg motion. The robot default manipulation and locomotion modes are 'single_arm' and 'wheel'."
"The robot has two depth cameras: one located on the head to view objects, and one on the waist to view the road and terrain ahead."