"Please reason about the spatial location relationships given in the task instruction to avoid redundant movements."
"Behavior tree nodes you can use include the action nodes and condition nodes from the 'Motion_library', as well as ControlNode, DecoratorNode from BehaviorTree"
"The desired output is an XML text used to construct the BehaviorTree to control the robot to complete the task."
"And here are some exampes of input task instructions and outputs."
"Example 1"
"Task insturction: Find the door and open it. ('manipulation_mode_selector'=off,'locomotion_mode_selector'=off, 'detection_recovery'=off)"
"Output:"
"
 <root BTCPP_format="4" >
     <BehaviorTree ID="MainTree">
        <Sequence name="root">
            <FindObject  name="find_object"  goal="{DoorPosition}"/>
            <Fallback>
                <Distance  name="object_in_reach"  message="{DoorPosition}"/>
                <MoveTarget  name="move_target"  message="{DoorPosition}"/>
            </Fallback>
            <OpenDoor  name="door_open"/>
        </Sequence>
     </BehaviorTree>
 </root>
"
"Example 2"
"Task insturction: Pick up the box on the table and place it on the chair. ('manipulation_mode_selector'=on,'locomotion_mode_selector'=off, 'detection_recovery'=off)"
"Output:"
"
 <root BTCPP_format="4" >
     <BehaviorTree ID="MainTree">
        <Sequence name="root">
            <FindObject  name="find_object"  goal="{TablePosition}"/>
            <Fallback>
                <Distance  name="object_in_reach"  message="{TablePosition}"/>
                <MoveTarget  name="move_target"  message="{TablePosition}"/>
            </Fallback>
            <ObjectDetect  name="object_detect"  goal="{BoxPose}"/>
            <Fallback>
                <Sequence>
                    <WhetherSingleArm  name="whether_single_arm"  message="{BoxPose}"/>
                    <SinglePick  name="single_arm_pick"  message="{BoxPose}"/>
                </Sequence>
                <DualPick  name="dual_arm_pick"  message="{BoxPose}"/>
            </Fallback>
            <FindObject  name="find_object"  goal="{ChairPosition}"/>
            <Fallback>
                <Distance  name="object_in_reach"  message="{ChairPosition}"/>
                <MoveTarget  name="move_target"  message="{ChairPosition}"/>
            </Fallback>
            <ObjectPlace  name="object_place"  message="{ChairPosition}"/>
        </Sequence>
     </BehaviorTree>
 </root>
"
"Example 3"
"Task insturction: Pick the drill on the desk and bring me the drill. ('manipulation_mode_selector'=off,'locomotion_mode_selector'=on, 'detection_recovery'=off)"
"Output:"
"
 <root BTCPP_format="4" >
     <BehaviorTree ID="MainTree">
        <Sequence name="root">
            <FindObject  name="find_object"  goal="{DeskPosition}"/>
            <Fallback>
                <Distance  name="object_in_reach"  message="{DeskPosition}"/>
                <Sequence>
                    <WhetherWheelMove  name="whether_wheel_move"/>
                    <MoveTarget  name="move_target"  message="{DeskPosition}"/>
                </Sequence>
                <WalkTarget  name="walk_target"  message="{DeskPosition}"/>
            </Fallback>
            <ObjectDetect  name="object_detect"  goal="{DrillPose}"/>
            <SinglePick  name="single_arm_pick"  message="{DrillPose}"/>
            <FindObject  name="find_object"  goal="{InstructorPosition}"/>
            <Fallback>
                <Distance  name="object_in_reach"  message="{InstructorPosition}"/>
                <Sequence>
                    <WhetherWheelMove  name="whether_wheel_move"/>
                    <MoveTarget  name="move_target"  message="{InstructorPosition}"/>
                </Sequence>
                <WalkTarget  name="walk_target"  message="{InstructorPosition}"/>
            </Fallback>
            <ObjectPlace  name="object_place"  message="{InstructorPosition}"/>
        </Sequence>
     </BehaviorTree>
 </root>
"
"Example 4"
"Task insturction: Pick the bottle on the table, put it into the box on the table and put the box on the shelf. ('manipulation_mode_selector'=on,'locomotion_mode_selector'=on, 'detection_recovery'=off)"
"Output:"
"
 <root BTCPP_format="4" >
     <BehaviorTree ID="MainTree">
        <Sequence name="root">
            <FindObject  name="find_object"  goal="{TablePosition}"/>
            <Fallback>
                <Distance  name="object_in_reach"  message="{TablePosition}"/>
                <Sequence>
                    <WhetherWheelMove  name="whether_wheel_move"/>
                    <MoveTarget  name="move_target"  message="{TablePosition}"/>
                </Sequence>
                <WalkTarget  name="walk_target"  message="{TablePosition}"/>
            </Fallback>
            <ObjectDetect  name="object_detect"  goal="{BottlePose}"/>
            <Fallback>
                <Sequence>
                    <WhetherSingleArm  name="whether_single_arm"  message="{BottlePose}"/>
                    <SinglePick  name="single_arm_pick"  message="{BottlePose}"/>
                </Sequence>
                <DualPick  name="dual_arm_pick"  message="{BottlePose}"/>
            </Fallback>
            <ObjectDetect  name="object_detect"  goal="{BoxPose}"/>
            <ObjectPlace  name="object_place"  message="{BoxPose}"/>
            <Fallback>
                <Sequence>
                    <WhetherSingleArm  name="whether_single_arm"  message="{BoxPose}"/>
                    <SinglePick  name="single_arm_pick"  message="{BoxPose}"/>
                </Sequence>
                <DualPick  name="dual_arm_pick"  message="{BoxPose}"/>
            </Fallback>
            <FindObject  name="find_object"  goal="{ShelfPosition}"/>
            <Fallback>
                <Distance  name="object_in_reach"  message="{ShelfPosition}"/>
                <Sequence>
                    <WhetherWheelMove  name="whether_wheel_move"/>
                    <MoveTarget  name="move_target"  message="{ShelfPosition}"/>
                </Sequence>
                <WalkTarget  name="walk_target"  message="{ShelfPosition}"/>
            </Fallback>
            <ObjectPlace  name="object_place"  message="{ShelfPosition}"/>
        </Sequence>
     </BehaviorTree>
 </root>
"
"Now you receive the following task instruction, please output the result:"
"(Answer with only the XML text, Do not output other content!)"