diff --git a/mep3_behavior/strategies/banner.xml b/mep3_behavior/strategies/banner.xml
new file mode 100644
index 00000000..7add0492
--- /dev/null
+++ b/mep3_behavior/strategies/banner.xml
@@ -0,0 +1,72 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+
+  <BehaviorTree ID="banner">
+    <Sequence>
+      <SubTree ID="init_banner"
+               _autoremap="true"/>
+      <WaitMatchStart state="2"/>
+      <Sleep msec="1500"/>
+      <SubTree ID="pull_back_banner"
+               _autoremap="true"/>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="init_banner">
+    <Sequence>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m21"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="47"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m22"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="265"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="pull_back_banner">
+    <Sequence>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m21"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="207"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m22"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="105"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel/>
+
+</root>
diff --git a/mep3_behavior/strategies/blue_new_a.xml b/mep3_behavior/strategies/blue_new_a.xml
deleted file mode 100644
index ed4f3e5f..00000000
--- a/mep3_behavior/strategies/blue_new_a.xml
+++ /dev/null
@@ -1,93 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_new_a">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="new_init"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="89000">
-                  <Sequence>
-                    <SubTree ID="blue_new_base_a"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_new_a"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <JointPosition instance="m2"
-                             max_effort="0"
-                             max_velocity="180"
-                             position="78"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m3"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="220"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="299"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_new_base.xml b/mep3_behavior/strategies/blue_new_base.xml
deleted file mode 100644
index 85c9d66b..00000000
--- a/mep3_behavior/strategies/blue_new_base.xml
+++ /dev/null
@@ -1,489 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_new_base_s">
-    <Sequence>
-      <Script code="alternative:=false"/>
-      <Script code="is_in_home:=false"/>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence>
-            <JointPosition instance="m15"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="299"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <RetryUntilSuccessful num_attempts="4">
-              <Fallback>
-                <Move goal="0.75;0.25;-90"
-                      ignore_obstacles="false"
-                      linear_velocity="1.0"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="3"
-                      linear_acceleration="0.7"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <ScoreboardTask points="30"
-                            task="PANELS"/>
-          </Sequence>
-          <ForceSuccess>
-            <SubTree ID="try_blue_alternative"
-                     _autoremap="true"/>
-          </ForceSuccess>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <JointPosition instance="m15"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="0"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m14"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="250"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="8">
-            <Fallback>
-              <Move name="MoveWeed#2"
-                    goal="55"
-                    ignore_obstacles="false"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="3.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="3.5"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="0.35;-0.18;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="6"
-                    linear_acceleration="0.3"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="stepenik"
-                   _autoremap="true"/>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <JointPosition instance="m14"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="180"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <RetryUntilSuccessful num_attempts="6">
-              <Fallback>
-                <Move name="MoveWeed#2"
-                      goal="90"
-                      ignore_obstacles="false"
-                      linear_velocity="1.5"
-                      frame_id="map"
-                      angular_velocity="3.5"
-                      mode="1"
-                      linear_acceleration="1.0"
-                      angular_acceleration="3.5"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="0.26;-0.75;90"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="0.8"
-                    mode="6"
-                    linear_acceleration="0.4"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <SubTree ID="gentle_attack"
-                   type="7"
-                   linear_velocity="1.2"
-                   linear_acceleration="1.0"
-                   goal="-0.30;-0.84;90"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="78"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="220"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <SubTree ID="gentle_attack"
-                   type="7"
-                   linear_velocity="1.2"
-                   linear_acceleration="1.0"
-                   goal="-0.30;-0.645;90"/>
-          <SubTree ID="try_pick_up_weed_front"
-                   _autoremap="true"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.75;-0.795;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="6"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <Fallback>
-            <Timeout msec="4800">
-              <Move goal="-0.83;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-            <Sequence>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Translate frame_id="base_link"
-                             ignore_obstacles="false"
-                             x="0.07"
-                             error="{error}"
-                             linear_velocity="0.5"
-                             linear_acceleration="0.8"
-                             enable_sensors="false"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-              <Move goal="-0.65;-1.17;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="125"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.05"
-                         error="{error}"
-                         linear_velocity="0.07"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="214"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-          <ForceSuccess>
-            <Timeout msec="700">
-              <Move goal="-0.913;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-          </ForceSuccess>
-          <SubTree ID="try_put_plenter_back_down_new"
-                   _autoremap="true"/>
-          <ScoreboardTask points="12"
-                          task="PLENTER_SIDE"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.07"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.75;-0.765;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.33;-1.06;-88"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.7"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="try_pick_up_pots_with_fork_new"
-                   _autoremap="true"/>
-          <Sequence _onSuccess="is_in_home:=true"
-                    _onFailure="is_in_home:=false">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.03"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <Move goal="90"
-                    ignore_obstacles="true"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="185"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <ForceSuccess>
-              <Timeout msec="1800">
-                <Move goal="-0.39;-1.465;90"
-                      ignore_obstacles="true"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="2"
-                      linear_acceleration="0.8"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-              </Timeout>
-            </ForceSuccess>
-            <SubTree ID="try_put_plenter_back_up_new"
-                     _autoremap="true"/>
-            <ScoreboardTask points="16"
-                            task="PLENTER2"/>
-            <Sequence>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <SubTree ID="try_put_field"
-                       _autoremap="true"/>
-            </Sequence>
-            <Move goal="90"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Move goal="123"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-          </Sequence>
-        </Sequence>
-      </ForceSuccess>
-      <Sleep msec="120000"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_new_base_a.xml b/mep3_behavior/strategies/blue_new_base_a.xml
deleted file mode 100644
index 91b76889..00000000
--- a/mep3_behavior/strategies/blue_new_base_a.xml
+++ /dev/null
@@ -1,584 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_new_base_a">
-    <Sequence>
-      <Script code="alternative:=false"/>
-      <Script code="is_in_home:=false"/>
-      <ForceSuccess>
-        <Sequence>
-          <JointPosition instance="m15"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="299"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="4">
-            <Fallback>
-              <Move goal="0.75;0.25;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="1.0"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.7"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="30"
-                          task="PANELS"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="0"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="250"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <RetryUntilSuccessful num_attempts="8">
-              <Fallback>
-                <Move name="MoveWeed#2"
-                      goal="65"
-                      ignore_obstacles="false"
-                      linear_velocity="1.5"
-                      frame_id="map"
-                      angular_velocity="3.5"
-                      mode="1"
-                      linear_acceleration="1.0"
-                      angular_acceleration="3.5"
-                      reversing="0"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <RetryUntilSuccessful num_attempts="7">
-              <Fallback>
-                <Move goal="0.35;-0.23;90"
-                      ignore_obstacles="false"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="6"
-                      linear_acceleration="0.3"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <JointPosition instance="m12"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="180"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <RetryUntilSuccessful num_attempts="6">
-                <Fallback>
-                  <Move name="MoveWeed#2"
-                        goal="-90"
-                        ignore_obstacles="false"
-                        linear_velocity="1.5"
-                        frame_id="map"
-                        angular_velocity="3.5"
-                        mode="1"
-                        linear_acceleration="1.0"
-                        angular_acceleration="3.5"
-                        reversing="2"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-            </Parallel>
-            <RetryUntilSuccessful num_attempts="7">
-              <Fallback>
-                <Move goal="0.26;0.75;-90"
-                      ignore_obstacles="false"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="0.8"
-                      mode="6"
-                      linear_acceleration="0.4"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="214"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-          <Sequence>
-            <JointPosition instance="m12"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="214"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence>
-            <SubTree ID="gentle_attack"
-                     goal="-0.32;0.84;-90"
-                     linear_acceleration="1.0"
-                     linear_velocity="1.2"
-                     type="7"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m2"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="78"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="220"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <SubTree ID="gentle_attack"
-                     goal="-0.32;0.60;-90"
-                     linear_acceleration="1.0"
-                     linear_velocity="1.2"
-                     type="7"/>
-            <SubTree ID="try_pick_up_weed_front"
-                     _autoremap="true"/>
-          </Sequence>
-          <Sequence>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m2"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="137"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <ForceSuccess>
-              <RetryUntilSuccessful num_attempts="7">
-                <Fallback>
-                  <Move goal="-0.66;-1.07;90"
-                        ignore_obstacles="false"
-                        linear_velocity="0.9"
-                        frame_id="map"
-                        angular_velocity="1.5"
-                        mode="6"
-                        linear_acceleration="0.6"
-                        angular_acceleration="2.0"
-                        reversing="0"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-            </ForceSuccess>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="165"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.73;-0.795;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <Fallback>
-            <Timeout msec="4550">
-              <Move name="MoveFAllback"
-                    goal="-0.87;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-            <Sequence>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Translate frame_id="base_link"
-                             ignore_obstacles="false"
-                             x="0.07"
-                             error="{error}"
-                             linear_velocity="0.5"
-                             linear_acceleration="0.8"
-                             enable_sensors="false"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-              <Move goal="-0.60;-1.18;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="125"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.05"
-                         error="{error}"
-                         linear_velocity="0.07"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="214"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-          <ForceSuccess>
-            <Timeout msec="800">
-              <Move name="MoveStack"
-                    goal="-0.902;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-          </ForceSuccess>
-          <SubTree ID="try_put_plenter_back_down_new"
-                   _autoremap="true"/>
-          <ScoreboardTask points="12"
-                          task="PLENTER_SIDE"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.12"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.72;-0.765;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.72;-0.765;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="try_pick_up_pots_with_fork_new"
-                   _autoremap="true"/>
-          <Sequence _onSuccess="is_in_home:=true"
-                    _onFailure="is_in_home:=false">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.035"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <Move goal="90"
-                    ignore_obstacles="true"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="185"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <ForceSuccess>
-              <Timeout msec="1000">
-                <Move goal="-0.39;-1.450;90"
-                      ignore_obstacles="true"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="2"
-                      linear_acceleration="0.8"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-              </Timeout>
-            </ForceSuccess>
-            <SubTree ID="try_put_plenter_back_up_new"
-                     _autoremap="true"/>
-            <ScoreboardTask points="16"
-                            task="PLENTER1"/>
-            <Sequence>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.18"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="-0.04"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <SubTree ID="try_put_field_a"
-                       _autoremap="true"/>
-            </Sequence>
-            <Move goal="90"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Move goal="55"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-          </Sequence>
-        </Sequence>
-      </ForceSuccess>
-      <Sleep msec="120000"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_new_base_d.xml b/mep3_behavior/strategies/blue_new_base_d.xml
deleted file mode 100644
index 10a12390..00000000
--- a/mep3_behavior/strategies/blue_new_base_d.xml
+++ /dev/null
@@ -1,457 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_new_base_d">
-    <Sequence>
-      <Script code="alternative:=false"/>
-      <Script code="is_in_home:=false"/>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence>
-            <JointPosition instance="m15"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="299"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <RetryUntilSuccessful num_attempts="4">
-              <Fallback>
-                <Move goal="0.75;0.25;-90"
-                      ignore_obstacles="false"
-                      linear_velocity="1.0"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="3"
-                      linear_acceleration="0.7"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <ScoreboardTask points="30"
-                            task="PANELS"/>
-          </Sequence>
-          <ForceSuccess>
-            <SubTree ID="try_blue_alternative"
-                     _autoremap="true"/>
-          </ForceSuccess>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <JointPosition instance="m15"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="0"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m14"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="250"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="0.60;0.60;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.8"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="6"
-                    linear_acceleration="0.5"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="0.05;0.40;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.8"
-                    frame_id="map"
-                    angular_velocity="2.4"
-                    mode="6"
-                    linear_acceleration="0.5"
-                    angular_acceleration="2.8"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="stepenik"
-                   _autoremap="true"/>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <JointPosition instance="m14"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="180"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <RetryUntilSuccessful num_attempts="6">
-              <Fallback>
-                <Move name="MoveWeed#2"
-                      goal="0.6;-0.2;90"
-                      ignore_obstacles="false"
-                      linear_velocity="0.7"
-                      frame_id="map"
-                      angular_velocity="2.0"
-                      mode="6"
-                      linear_acceleration="0.6"
-                      angular_acceleration="1.5"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Parallel>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <SubTree ID="gentle_attack"
-                   type="6"
-                   linear_velocity="0.6"
-                   linear_acceleration="0.4"
-                   goal="0.22;-0.60;90"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="78"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="220"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <SubTree ID="try_pick_up_weed_front"
-                   _autoremap="true"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.75;-0.795;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="6"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <Fallback>
-            <Timeout msec="4900">
-              <Move goal="-0.83;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-            <Sequence>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Translate frame_id="base_link"
-                             ignore_obstacles="false"
-                             x="0.07"
-                             error="{error}"
-                             linear_velocity="0.5"
-                             linear_acceleration="0.8"
-                             enable_sensors="false"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-              <Move goal="-0.65;-1.17;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="125"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.05"
-                         error="{error}"
-                         linear_velocity="0.07"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="214"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-          <ForceSuccess>
-            <Timeout msec="700">
-              <Move goal="-0.913;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-          </ForceSuccess>
-          <SubTree ID="try_put_plenter_back_down_new"
-                   _autoremap="true"/>
-          <ScoreboardTask points="12"
-                          task="PLENTER_SIDE"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.07"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.75;-0.765;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <SubTree ID="try_pick_up_pots_with_fork_new"
-                   _autoremap="true"/>
-          <Sequence _onSuccess="is_in_home:=true"
-                    _onFailure="is_in_home:=false">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.03"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <Move goal="90"
-                    ignore_obstacles="true"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="182"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <ForceSuccess>
-              <Timeout msec="1800">
-                <Move goal="-0.39;-1.46;90"
-                      ignore_obstacles="true"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="2"
-                      linear_acceleration="0.8"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-              </Timeout>
-            </ForceSuccess>
-            <SubTree ID="try_put_plenter_back_up_new"
-                     _autoremap="true"/>
-            <ScoreboardTask points="16"
-                            task="PLENTER2"/>
-            <Sequence>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <SubTree ID="try_put_field"
-                       _autoremap="true"/>
-            </Sequence>
-            <Move goal="90"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Move goal="123"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <JointPosition instance="m15"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="299"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-        </Sequence>
-      </ForceSuccess>
-      <Sleep msec="120000"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_new_base_u.xml b/mep3_behavior/strategies/blue_new_base_u.xml
deleted file mode 100644
index 14ef6e2d..00000000
--- a/mep3_behavior/strategies/blue_new_base_u.xml
+++ /dev/null
@@ -1,620 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_new_base_u">
-    <Sequence>
-      <Script code="alternative:=false"/>
-      <Script code="is_in_home:=false"/>
-      <ForceSuccess>
-        <Fallback>
-          <RetryUntilSuccessful num_attempts="8">
-            <Fallback>
-              <Move goal="-0.75;-1.1;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.3"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <RetryUntilSuccessful num_attempts="8">
-            <Fallback>
-              <Navigate behavior_tree="-0.65;-1.1;-90"
-                        goal=""/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <JointPosition instance="m15"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="299"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="4">
-            <Fallback>
-              <Move goal="0.75;0.25;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="1.0"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.7"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="30"
-                          task="PANELS"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="0"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="250"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <RetryUntilSuccessful num_attempts="8">
-              <Fallback>
-                <Move name="MoveWeed#2"
-                      goal="65"
-                      ignore_obstacles="false"
-                      linear_velocity="1.5"
-                      frame_id="map"
-                      angular_velocity="3.5"
-                      mode="1"
-                      linear_acceleration="1.0"
-                      angular_acceleration="3.5"
-                      reversing="0"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <RetryUntilSuccessful num_attempts="7">
-              <Fallback>
-                <Move goal="0.35;-0.23;90"
-                      ignore_obstacles="false"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="6"
-                      linear_acceleration="0.3"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <JointPosition instance="m12"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="180"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <RetryUntilSuccessful num_attempts="6">
-                <Fallback>
-                  <Move name="MoveWeed#2"
-                        goal="-90"
-                        ignore_obstacles="false"
-                        linear_velocity="1.5"
-                        frame_id="map"
-                        angular_velocity="3.5"
-                        mode="1"
-                        linear_acceleration="1.0"
-                        angular_acceleration="3.5"
-                        reversing="2"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-            </Parallel>
-            <RetryUntilSuccessful num_attempts="7">
-              <Fallback>
-                <Move goal="0.26;0.75;-90"
-                      ignore_obstacles="false"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="0.8"
-                      mode="6"
-                      linear_acceleration="0.4"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="214"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-          <Sequence>
-            <JointPosition instance="m12"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="214"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence>
-            <SubTree ID="gentle_attack"
-                     type="7"
-                     linear_velocity="1.2"
-                     linear_acceleration="1.0"
-                     goal="-0.32;0.84;-90"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m2"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="78"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="220"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <SubTree ID="gentle_attack"
-                     type="7"
-                     linear_velocity="1.2"
-                     linear_acceleration="1.0"
-                     goal="-0.32;0.60;-90"/>
-            <SubTree ID="try_pick_up_weed_front"
-                     _autoremap="true"/>
-          </Sequence>
-          <Sequence>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m2"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="137"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <ForceSuccess>
-              <RetryUntilSuccessful num_attempts="7">
-                <Fallback>
-                  <Move goal="-0.66;-1.07;90"
-                        ignore_obstacles="false"
-                        linear_velocity="0.9"
-                        frame_id="map"
-                        angular_velocity="1.5"
-                        mode="6"
-                        linear_acceleration="0.6"
-                        angular_acceleration="2.0"
-                        reversing="0"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-            </ForceSuccess>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="165"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.73;-0.795;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <Fallback>
-            <Timeout msec="4550">
-              <Move name="MoveFAllback"
-                    goal="-0.87;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-            <Sequence>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Translate frame_id="base_link"
-                             ignore_obstacles="false"
-                             x="0.07"
-                             error="{error}"
-                             linear_velocity="0.5"
-                             linear_acceleration="0.8"
-                             enable_sensors="false"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-              <Move goal="-0.60;-1.18;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="125"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.05"
-                         error="{error}"
-                         linear_velocity="0.07"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="214"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-          <ForceSuccess>
-            <Timeout msec="800">
-              <Move name="MoveStack"
-                    goal="-0.902;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-          </ForceSuccess>
-          <SubTree ID="try_put_plenter_back_down_new"
-                   _autoremap="true"/>
-          <ScoreboardTask points="12"
-                          task="PLENTER_SIDE"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.12"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.72;-0.765;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.72;-0.765;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="try_pick_up_pots_with_fork_new"
-                   _autoremap="true"/>
-          <Sequence _onSuccess="is_in_home:=true"
-                    _onFailure="is_in_home:=false">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.035"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <Move goal="90"
-                    ignore_obstacles="true"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="185"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <ForceSuccess>
-              <Timeout msec="1000">
-                <Move goal="-0.39;-1.450;90"
-                      ignore_obstacles="true"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="2"
-                      linear_acceleration="0.8"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-              </Timeout>
-            </ForceSuccess>
-            <SubTree ID="try_put_plenter_back_up_new"
-                     _autoremap="true"/>
-            <ScoreboardTask points="16"
-                            task="PLENTER1"/>
-            <Sequence>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.18"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="-0.04"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <SubTree ID="try_put_field_a"
-                       _autoremap="true"/>
-            </Sequence>
-            <Move goal="90"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Move goal="55"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-          </Sequence>
-        </Sequence>
-      </ForceSuccess>
-      <Sleep msec="120000"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="Navigate"
-            editable="true">
-      <input_port name="behavior_tree"/>
-      <input_port name="goal"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_new_d.xml b/mep3_behavior/strategies/blue_new_d.xml
deleted file mode 100644
index 3ffdb4c4..00000000
--- a/mep3_behavior/strategies/blue_new_d.xml
+++ /dev/null
@@ -1,52 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_new_d">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="new_init"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="89000">
-                  <Sequence>
-                    <SubTree ID="blue_new_base_d"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_new"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_new_s.xml b/mep3_behavior/strategies/blue_new_s.xml
deleted file mode 100644
index 6d3637f0..00000000
--- a/mep3_behavior/strategies/blue_new_s.xml
+++ /dev/null
@@ -1,77 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_new_s">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="new_init"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="89000">
-                  <Sequence>
-                    <SubTree ID="blue_new_base_s"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_new"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="299"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_new_ss.xml b/mep3_behavior/strategies/blue_new_ss.xml
deleted file mode 100644
index 0556a08b..00000000
--- a/mep3_behavior/strategies/blue_new_ss.xml
+++ /dev/null
@@ -1,125 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_new_ss">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="new_init"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="89000">
-                  <Sequence>
-                    <ForceSuccess>
-                      <Sequence>
-                        <JointPosition instance="m15"
-                                       max_effort="0"
-                                       max_velocity="220"
-                                       position="299"
-                                       tolerance="10"
-                                       feedback_effort="{feedback_effort}"
-                                       feedback_position="{feedback_position}"
-                                       result="{result}"/>
-                        <RetryUntilSuccessful num_attempts="4">
-                          <Fallback>
-                            <Move goal="0.75;-0.45;-90"
-                                  ignore_obstacles="false"
-                                  linear_velocity="1.2"
-                                  frame_id="map"
-                                  angular_velocity="1.0"
-                                  mode="7"
-                                  linear_acceleration="1.0"
-                                  angular_acceleration="1.8"
-                                  reversing="2"/>
-                            <Sequence>
-                              <Sleep msec="500"/>
-                              <AlwaysFailure/>
-                            </Sequence>
-                          </Fallback>
-                        </RetryUntilSuccessful>
-                      </Sequence>
-                    </ForceSuccess>
-                    <SubTree ID="try_blue_alternative"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_new"
-                       _autoremap="true"/>
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="299"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_new_u.xml b/mep3_behavior/strategies/blue_new_u.xml
deleted file mode 100644
index eee469bf..00000000
--- a/mep3_behavior/strategies/blue_new_u.xml
+++ /dev/null
@@ -1,101 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_new_u">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="new_init"
-               _autoremap="true"/>
-      <JointPosition instance="m15"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="0"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="89000">
-                  <Sequence>
-                    <SubTree ID="blue_new_base_u"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_new"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <JointPosition instance="m2"
-                             max_effort="0"
-                             max_velocity="180"
-                             position="78"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m3"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="220"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="299"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_panel_simple.xml b/mep3_behavior/strategies/blue_panel_simple.xml
deleted file mode 100644
index 5d837eb1..00000000
--- a/mep3_behavior/strategies/blue_panel_simple.xml
+++ /dev/null
@@ -1,602 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_panel_simple">
-    <TaskSequence>
-      <Script code="is_pick_first:=true"/>
-      <Script code="is_pick_second:=true"/>
-      <ForceSuccess>
-        <RetryUntilSuccessful num_attempts="6">
-          <Fallback>
-            <Move goal="0.815; -0.6;90"
-                  ignore_obstacles="true"
-                  linear_velocity="1.2"
-                  frame_id="map"
-                  angular_velocity="1.8"
-                  mode="7"
-                  linear_acceleration="0.5"
-                  angular_acceleration="0.1"/>
-            <ForceFailure>
-              <Sleep msec="500"/>
-            </ForceFailure>
-          </Fallback>
-        </RetryUntilSuccessful>
-      </ForceSuccess>
-      <ScoreboardTask points="15"
-                      task="SOLAR_PANELS"/>
-      <ForceSuccess>
-        <Sequence>
-          <Sequence _onFailure="is_pick_first=false">
-            <RetryUntilSuccessful num_attempts="10">
-              <Fallback>
-                <Move goal="225"
-                      ignore_obstacles="false"
-                      linear_velocity="1.5"
-                      frame_id="map"
-                      angular_velocity="3.5"
-                      mode="4"
-                      linear_acceleration="1.3"
-                      angular_acceleration="3.5"/>
-                <Sleep msec="500"/>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <SubTree ID="drop_fork_down"
-                       _autoremap="true"/>
-              <SubTree ID="gentle_attack"
-                       linear_velocity="1.8"
-                       linear_acceleration="1.5"
-                       type="3"
-                       goal="0.25;-0.9;90"/>
-            </Parallel>
-            <SubTree ID="gentle_attack"
-                     goal="0.25;-0.8;90"
-                     linear_acceleration="1.5"
-                     linear_velocity="1.8"
-                     type="3"/>
-            <SubTree ID="gentle_attack"
-                     type="3"
-                     linear_velocity="1.2"
-                     linear_acceleration="1.0"
-                     goal="0.25;-0.63;90"/>
-          </Sequence>
-          <SubTree ID="try_pick_up_weed_front"
-                   _autoremap="true"/>
-        </Sequence>
-      </ForceSuccess>
-      <Sequence>
-        <ForceSuccess name="ForceSuccess#0">
-          <Fallback>
-            <Sequence>
-              <Sequence _onFailure="is_pick_second=false">
-                <RetryUntilSuccessful num_attempts="5">
-                  <Fallback>
-                    <Move name="MoveWeed#2"
-                          goal="-135"
-                          ignore_obstacles="false"
-                          linear_velocity="1.5"
-                          frame_id="map"
-                          angular_velocity="3.5"
-                          mode="4"
-                          linear_acceleration="1.0"
-                          angular_acceleration="3.5"/>
-                    <Sleep msec="500"/>
-                  </Fallback>
-                </RetryUntilSuccessful>
-                <SubTree ID="gentle_attack_back"
-                         name="gentle_attack#12"
-                         type="7"
-                         linear_velocity="1.8"
-                         linear_acceleration="1.5"
-                         goal="-0.30;-1.0;-90"/>
-                <SubTree ID="gentle_attack_back"
-                         name="gentle_attack#22"
-                         type="3"
-                         linear_velocity="1.8"
-                         linear_acceleration="1.5"
-                         goal="-0.25;-0.75;-90"
-                         _autoremap="true"/>
-                <SubTree ID="gentle_attack_back"
-                         name="gentle_attack#32"
-                         type="3"
-                         linear_velocity="1.2"
-                         linear_acceleration="1.0"
-                         goal="-0.25;-0.64;-90"/>
-              </Sequence>
-              <SubTree ID="try_pick_up_weed_back"
-                       _autoremap="true"/>
-            </Sequence>
-            <JointPosition instance="m14"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="280"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Fallback>
-        </ForceSuccess>
-        <ForceSuccess name="ForceSuccess#1"
-                      _skipIf="is_pick_second==false">
-          <SubTree ID="try_put_plenter_back"
-                   _autoremap="true"/>
-        </ForceSuccess>
-        <ForceSuccess name="ForceSuccess#2"
-                      _skipIf="is_pick_first==false">
-          <SubTree ID="try_pick_up_pots_with_fork"
-                   _autoremap="true"/>
-        </ForceSuccess>
-      </Sequence>
-    </TaskSequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="blue_panel_simple_a">
-    <TaskSequence>
-      <Script code="is_in_home:=false"/>
-      <Script code="is_pick_first:=true"/>
-      <Script code="is_pick_second:=true"/>
-      <Script code="is_failed_picking:=false"/>
-      <ForceSuccess>
-        <Sequence>
-          <Sequence _onFailure="is_pick_first=false">
-            <RetryUntilSuccessful num_attempts="8">
-              <Fallback>
-                <Move goal="0.27;0.9;-90"
-                      ignore_obstacles="false"
-                      linear_velocity="1.8"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="7"
-                      linear_acceleration="1.5"
-                      angular_acceleration="1.8"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <SubTree ID="gentle_attack"
-                     goal="0.27;0.8;-90"
-                     linear_acceleration="1.5"
-                     linear_velocity="1.8"
-                     type="3"/>
-            <SubTree ID="gentle_attack"
-                     type="3"
-                     linear_velocity="1.2"
-                     linear_acceleration="1.0"
-                     goal="0.27;0.64;-90"/>
-          </Sequence>
-          <SubTree ID="try_pick_up_weed_front"
-                   _autoremap="true"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Fallback>
-            <Sequence>
-              <Sequence _onFailure="is_pick_second=false">
-                <RetryUntilSuccessful num_attempts="5">
-                  <Fallback>
-                    <Move name="MoveWeed#2"
-                          goal="-45"
-                          ignore_obstacles="false"
-                          linear_velocity="1.5"
-                          frame_id="map"
-                          angular_velocity="3.5"
-                          mode="1"
-                          linear_acceleration="1.0"
-                          angular_acceleration="3.5"/>
-                    <Sleep msec="700"/>
-                  </Fallback>
-                </RetryUntilSuccessful>
-                <SubTree ID="gentle_attack"
-                         type="3"
-                         linear_velocity="1.8"
-                         linear_acceleration="1.5"
-                         goal="-0.30;1.0;90"/>
-                <SubTree ID="gentle_attack_back"
-                         name="gentle_attack#22"
-                         type="3"
-                         linear_velocity="1.8"
-                         linear_acceleration="1.5"
-                         goal="-0.25;0.75;90"
-                         _autoremap="true"/>
-                <SubTree ID="gentle_attack_back"
-                         name="gentle_attack#32"
-                         type="3"
-                         linear_velocity="1.2"
-                         linear_acceleration="1.0"
-                         goal="-0.25;0.64;90"/>
-              </Sequence>
-              <SubTree ID="try_pick_up_weed_back"
-                       _autoremap="true"/>
-            </Sequence>
-            <JointPosition instance="m14"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="280"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Fallback>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Fallback>
-            <SubTree ID="wait_safe"
-                     goal="-0.52;-0.0;-90"
-                     linear_acceleration="0.6"
-                     linear_velocity="0.7"
-                     type="7"
-                     _onFailure="is_failed_picking=true"
-                     _autoremap="true"/>
-            <RetryUntilSuccessful num_attempts="10">
-              <Fallback>
-                <Navigate behavior_tree=""
-                          goal="-0.50;-0.7;0"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Fallback>
-          <Fallback _skipIf="is_failed_picking==true">
-            <SubTree ID="wait_safe"
-                     goal="-0.71;-1.05;-90"
-                     linear_acceleration="0.6"
-                     linear_velocity="0.7"
-                     type="6"
-                     _autoremap="true"/>
-            <RetryUntilSuccessful num_attempts="10">
-              <Fallback>
-                <Navigate behavior_tree=""
-                          goal="-0.50;-0.7;0"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Fallback>
-          <RetryUntilSuccessful num_attempts="10">
-            <Fallback>
-              <Move goal="-0.71;-0.55;90"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"/>
-              <Sequence>
-                <Sleep msec="700"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <RetryUntilSuccessful num_attempts="10">
-            <Fallback>
-              <Move goal="-0.73;-0.75;90"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"/>
-              <Sequence>
-                <Sleep msec="700"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess name="ForceSuccess#1"
-                            _skipIf="is_pick_second==false">
-                <Fallback>
-                  <SubTree ID="try_put_plenter_back_a"
-                           _autoremap="true"/>
-                  <Sequence>
-                    <JointPosition instance="m12"
-                                   max_effort="0"
-                                   max_velocity="150"
-                                   position="75"
-                                   tolerance="10"
-                                   feedback_effort="{feedback_effort}"
-                                   feedback_position="{feedback_position}"
-                                   result="{result}"/>
-                    <JointPosition instance="m11"
-                                   max_effort="0"
-                                   max_velocity="180"
-                                   position="142"
-                                   tolerance="10"
-                                   feedback_effort="{feedback_effort}"
-                                   feedback_position="{feedback_position}"
-                                   result="{result}"/>
-                    <JointPosition instance="m14"
-                                   max_effort="0"
-                                   max_velocity="220"
-                                   position="280"
-                                   tolerance="10"
-                                   feedback_effort="{feedback_effort}"
-                                   feedback_position="{feedback_position}"
-                                   result="{result}"/>
-                  </Sequence>
-                </Fallback>
-              </ForceSuccess>
-              <ForceSuccess name="ForceSuccess#2"
-                            _skipIf="is_pick_first==false">
-                <SubTree ID="try_pick_up_pots_with_fork_a"
-                         _autoremap="true"/>
-              </ForceSuccess>
-            </Sequence>
-          </ForceSuccess>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <SubTree ID="go_home_a"
-                   _onSuccess="is_in_home=true"
-                   _autoremap="true"/>
-          <Sleep msec="12000"/>
-        </Sequence>
-      </ForceSuccess>
-    </TaskSequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="blue_panel_simple_m">
-    <TaskSequence>
-      <Script code="is_in_home:=false"/>
-      <Script code="is_pick_first:=true"/>
-      <Script code="is_pick_second:=true"/>
-      <ForceSuccess>
-        <RetryUntilSuccessful num_attempts="6">
-          <Fallback>
-            <Move goal="0.805; -0.55;90"
-                  ignore_obstacles="true"
-                  linear_velocity="1.2"
-                  frame_id="map"
-                  angular_velocity="1.8"
-                  mode="7"
-                  linear_acceleration="1.2"
-                  angular_acceleration="0.1"/>
-            <ForceFailure>
-              <Sleep msec="500"/>
-            </ForceFailure>
-          </Fallback>
-        </RetryUntilSuccessful>
-      </ForceSuccess>
-      <ScoreboardTask points="15"
-                      task="SOLAR_PANELS"/>
-      <ForceSuccess>
-        <Sequence>
-          <Sequence _onFailure="is_pick_first=false">
-            <RetryUntilSuccessful num_attempts="10">
-              <Fallback>
-                <Move goal="225"
-                      ignore_obstacles="false"
-                      linear_velocity="1.5"
-                      frame_id="map"
-                      angular_velocity="4.5"
-                      mode="4"
-                      linear_acceleration="1.3"
-                      angular_acceleration="4.5"/>
-                <Sleep msec="500"/>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <SubTree ID="drop_fork_down"
-                       _autoremap="true"/>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Move goal="0.25;-0.9;90"
-                        ignore_obstacles="false"
-                        linear_velocity="1.8"
-                        frame_id="map"
-                        angular_velocity="1.0"
-                        mode="3"
-                        linear_acceleration="1.5"
-                        angular_acceleration="1.8"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-            </Parallel>
-            <SubTree ID="gentle_attack"
-                     goal="0.25;-0.8;90"
-                     linear_acceleration="1.5"
-                     linear_velocity="1.8"
-                     type="3"/>
-            <SubTree ID="gentle_attack"
-                     type="3"
-                     linear_velocity="1.2"
-                     linear_acceleration="1.0"
-                     goal="0.25;-0.63;90"/>
-          </Sequence>
-          <SubTree ID="try_pick_up_weed_front"
-                   _autoremap="true"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <ForceSuccess name="ForceSuccess#0">
-            <Fallback>
-              <Sequence>
-                <Sequence _onFailure="is_pick_second=false">
-                  <RetryUntilSuccessful num_attempts="5">
-                    <Fallback>
-                      <Move name="MoveWeed#2"
-                            goal="135"
-                            ignore_obstacles="false"
-                            linear_velocity="1.5"
-                            frame_id="map"
-                            angular_velocity="3.5"
-                            mode="4"
-                            linear_acceleration="1.0"
-                            angular_acceleration="3.5"/>
-                      <Sleep msec="500"/>
-                    </Fallback>
-                  </RetryUntilSuccessful>
-                  <SubTree ID="gentle_attack"
-                           type="3"
-                           linear_velocity="1.8"
-                           linear_acceleration="1.5"
-                           goal="-0.30;-1.0;-90"/>
-                  <SubTree ID="gentle_attack_back"
-                           name="gentle_attack#22"
-                           type="3"
-                           linear_velocity="1.8"
-                           linear_acceleration="1.5"
-                           goal="-0.25;-0.75;-90"
-                           _autoremap="true"/>
-                  <SubTree ID="gentle_attack_back"
-                           name="gentle_attack#32"
-                           type="3"
-                           linear_velocity="1.2"
-                           linear_acceleration="1.0"
-                           goal="-0.25;-0.64;-90"/>
-                </Sequence>
-                <SubTree ID="try_pick_up_weed_back"
-                         _autoremap="true"/>
-              </Sequence>
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="280"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Fallback>
-          </ForceSuccess>
-          <ForceSuccess name="ForceSuccess#1"
-                        _skipIf="is_pick_second==false">
-            <Fallback>
-              <SubTree ID="try_put_plenter_back"
-                       _onFailure="is_pick_second==false"
-                       _autoremap="true"/>
-              <Sequence>
-                <JointPosition instance="m12"
-                               max_effort="0"
-                               max_velocity="150"
-                               position="75"
-                               tolerance="10"
-                               feedback_effort="{feedback_effort}"
-                               feedback_position="{feedback_position}"
-                               result="{result}"/>
-                <JointPosition instance="m11"
-                               max_effort="0"
-                               max_velocity="180"
-                               position="142"
-                               tolerance="10"
-                               feedback_effort="{feedback_effort}"
-                               feedback_position="{feedback_position}"
-                               result="{result}"/>
-                <JointPosition instance="m14"
-                               max_effort="0"
-                               max_velocity="220"
-                               position="280"
-                               tolerance="10"
-                               feedback_effort="{feedback_effort}"
-                               feedback_position="{feedback_position}"
-                               result="{result}"/>
-              </Sequence>
-            </Fallback>
-          </ForceSuccess>
-          <ForceSuccess name="ForceSuccess#2"
-                        _skipIf="is_pick_first==false">
-            <SubTree ID="try_pick_up_pots_with_fork"
-                     _autoremap="true"/>
-          </ForceSuccess>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Fallback>
-            <SubTree ID="try_pick_up_random_weed"
-                     _onSuccess="is_in_home=true"
-                     _autoremap="true"/>
-            <RetryUntilSuccessful num_attempts="3"
-                                  _onSuccess="is_in_home=true">
-              <Fallback>
-                <Navigate behavior_tree=""
-                          goal="-0.48;-1.05;180"/>
-                <Sequence>
-                  <Sleep msec="600"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Fallback>
-          <Sleep msec="12000"/>
-          <SubTree ID="go_home"
-                   _skipIf="is_in_home==true"
-                   _onSuccess="is_in_home=true"
-                   _autoremap="true"/>
-          <Sleep msec="12000"/>
-        </Sequence>
-      </ForceSuccess>
-    </TaskSequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-    </Action>
-    <Action ID="Navigate"
-            editable="true">
-      <input_port name="behavior_tree"/>
-      <input_port name="goal"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Control ID="TaskSequence"
-             editable="true"/>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_simple.xml b/mep3_behavior/strategies/blue_simple.xml
deleted file mode 100644
index 9101ae30..00000000
--- a/mep3_behavior/strategies/blue_simple.xml
+++ /dev/null
@@ -1,96 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-<BehaviorTree ID="blue_simple">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="init_up"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="85000">
-                  <Sequence>
-                    <SubTree ID="blue_panel_simple"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <RetryUntilSuccessful num_attempts="5">
-                <Sequence>
-                  <Move goal="-0.48;-1.15;180"
-                        ignore_obstacles="false"
-                        linear_velocity="1.5"
-                        frame_id="map"
-                        angular_velocity="2.5"
-                        mode="7"
-                        linear_acceleration="1.0"
-                        angular_acceleration="2.2"/>
-                  <Sleep msec="300"/>
-                </Sequence>
-              </RetryUntilSuccessful>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <SubTree ID="init"
-                       _autoremap="true"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="true"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Control ID="TaskSequence"
-             editable="true"/>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_simple_a.xml b/mep3_behavior/strategies/blue_simple_a.xml
deleted file mode 100644
index a0f9b2c8..00000000
--- a/mep3_behavior/strategies/blue_simple_a.xml
+++ /dev/null
@@ -1,52 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_simple_a">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="init"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="87000">
-                  <Sequence>
-                    <SubTree ID="blue_panel_simple_a"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_a"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/blue_simple_m.xml b/mep3_behavior/strategies/blue_simple_m.xml
deleted file mode 100644
index 851dc161..00000000
--- a/mep3_behavior/strategies/blue_simple_m.xml
+++ /dev/null
@@ -1,52 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="blue_simple_m">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="init_up"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="87000">
-                  <Sequence>
-                    <SubTree ID="blue_panel_simple_m"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/build_tribune.xml b/mep3_behavior/strategies/build_tribune.xml
new file mode 100644
index 00000000..92c97134
--- /dev/null
+++ b/mep3_behavior/strategies/build_tribune.xml
@@ -0,0 +1,266 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+  <BehaviorTree ID="build_first_floor_back">
+    <Sequence>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m11"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="135"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m12"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="165"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m13"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="85"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m14"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="215"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m61"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="178"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <Translate frame_id="base_link"
+                   ignore_obstacles="true"
+                   x="0.06"
+                   error="{error}"
+                   linear_velocity="0.5"
+                   linear_acceleration="0.8"
+                   enable_sensors="false"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="build_first_floor_front">
+    <Sequence>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m1"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="135"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m2"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="165"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m3"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="85"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m4"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="215"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m51"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="150"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <Translate frame_id="base_link"
+                   ignore_obstacles="true"
+                   x="-0.06"
+                   error="{error}"
+                   linear_velocity="0.5"
+                   linear_acceleration="0.8"
+                   enable_sensors="false"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="second_floor_back">
+    <Sequence>
+      <Translate frame_id="base_link"
+                 ignore_obstacles="true"
+                 x="0.1"
+                 error="{error}"
+                 linear_velocity="0.5"
+                 linear_acceleration="0.8"
+                 enable_sensors="false"/>
+      <JointPosition instance="m61"
+                     max_effort="0"
+                     max_velocity="250"
+                     position="-323"
+                     tolerance="10"
+                     feedback_effort="{feedback_effort}"
+                     feedback_position="{feedback_position}"
+                     result="{result}"
+                     command_mode="0"/>
+      <Translate frame_id="base_link"
+                 ignore_obstacles="true"
+                 x="-0.126"
+                 error="{error}"
+                 linear_velocity="0.5"
+                 linear_acceleration="0.8"
+                 enable_sensors="false"/>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m61"
+                       max_effort="0"
+                       max_velocity="250"
+                       position="59"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <SubTree ID="pump_release_back"
+                 _autoremap="true"/>
+      </Parallel>
+      <Translate frame_id="base_link"
+                 ignore_obstacles="true"
+                 x="0.205"
+                 error="{error}"
+                 linear_velocity="0.5"
+                 linear_acceleration="0.8"
+                 enable_sensors="false"/>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="second_floor_front">
+    <Sequence>
+      <Translate frame_id="base_link"
+                 ignore_obstacles="true"
+                 x="-0.1"
+                 error="{error}"
+                 linear_velocity="0.5"
+                 linear_acceleration="0.8"
+                 enable_sensors="false"/>
+      <JointPosition instance="m51"
+                     max_effort="0"
+                     max_velocity="250"
+                     position="-330"
+                     tolerance="10"
+                     feedback_effort="{feedback_effort}"
+                     feedback_position="{feedback_position}"
+                     result="{result}"
+                     command_mode="0"/>
+      <Translate frame_id="base_link"
+                 ignore_obstacles="true"
+                 x="0.126"
+                 error="{error}"
+                 linear_velocity="0.5"
+                 linear_acceleration="0.8"
+                 enable_sensors="false"/>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m51"
+                       max_effort="0"
+                       max_velocity="250"
+                       position="70"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <SubTree ID="pump_release_front"
+                 _autoremap="true"/>
+      </Parallel>
+      <Translate frame_id="base_link"
+                 ignore_obstacles="true"
+                 x="-0.205"
+                 error="{error}"
+                 linear_velocity="0.5"
+                 linear_acceleration="0.8"
+                 enable_sensors="false"/>
+    </Sequence>
+  </BehaviorTree>
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel>
+    <Action ID="JointPosition"
+            editable="true">
+      <input_port name="instance"/>
+      <input_port name="max_effort"
+                  default="0"/>
+      <input_port name="max_velocity"
+                  default="180"/>
+      <input_port name="position"/>
+      <input_port name="tolerance"
+                  default="10"/>
+      <output_port name="feedback_effort"
+                   default="{feedback_effort}"/>
+      <output_port name="feedback_position"
+                   default="{feedback_position}"/>
+      <output_port name="result"
+                   default="{result}"/>
+      <input_port name="command_mode"
+                  default="0"/>
+    </Action>
+    <Action ID="Translate"
+            editable="true">
+      <input_port name="frame_id"
+                  default="base_link"/>
+      <input_port name="ignore_obstacles"
+                  default="false"/>
+      <input_port name="x"/>
+      <input_port name="error"
+                  default="{error}"/>
+      <input_port name="linear_velocity"
+                  default="0.5"/>
+      <input_port name="linear_acceleration"
+                  default="0.8"/>
+      <input_port name="enable_sensors"
+                  default="false"/>
+    </Action>
+  </TreeNodesModel>
+
+</root>
diff --git a/mep3_behavior/strategies/init_2025.xml b/mep3_behavior/strategies/init_2025.xml
new file mode 100644
index 00000000..e589a96d
--- /dev/null
+++ b/mep3_behavior/strategies/init_2025.xml
@@ -0,0 +1,269 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+  <BehaviorTree ID="init_new">
+    <Sequence>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <SubTree ID="secure_mechanisms_front"
+                 _autoremap="true"/>
+        <JointPosition instance="m11"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="155"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m12"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="145"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m13"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="85"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m14"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="215"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m61"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="110"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m62"
+                       max_effort="0"
+                       max_velocity="220"
+                       position=""
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m40"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="25"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m21"
+                       max_effort="0"
+                       max_velocity="180"
+                       position=""
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m22"
+                       max_effort="0"
+                       max_velocity="180"
+                       position=""
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="init_pickup_back">
+    <Sequence>
+      <Pump connect="0"
+            instance="pump1"/>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m61"
+                       max_effort="0"
+                       max_velocity="250"
+                       position="200"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m11"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="105"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m40"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="95"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m12"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="195"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m13"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="150"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m14"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="150"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m62"
+                       max_effort="0"
+                       max_velocity="250"
+                       position="400"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="init_pickup_front">
+    <Sequence>
+      <Pump connect="0"
+            instance="pump2"/>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m51"
+                       max_effort="0"
+                       max_velocity="250"
+                       position="182"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m30"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="105"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m1"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="105"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m2"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="195"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m3"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="150"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m4"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="150"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m52"
+                       max_effort="0"
+                       max_velocity="250"
+                       position="-200"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel>
+    <Action ID="JointPosition"
+            editable="true">
+      <input_port name="instance"/>
+      <input_port name="max_effort"
+                  default="0"/>
+      <input_port name="max_velocity"
+                  default="180"/>
+      <input_port name="position"/>
+      <input_port name="tolerance"
+                  default="10"/>
+      <output_port name="feedback_effort"
+                   default="{feedback_effort}"/>
+      <output_port name="feedback_position"
+                   default="{feedback_position}"/>
+      <output_port name="result"
+                   default="{result}"/>
+      <input_port name="command_mode"
+                  default="0"/>
+    </Action>
+    <Action ID="Pump"
+            editable="true">
+      <input_port name="connect"
+                  default="1"/>
+      <input_port name="instance"/>
+    </Action>
+  </TreeNodesModel>
+
+</root>
diff --git a/mep3_behavior/strategies/motori_test.xml b/mep3_behavior/strategies/motori_test.xml
deleted file mode 100644
index 37dce05d..00000000
--- a/mep3_behavior/strategies/motori_test.xml
+++ /dev/null
@@ -1,90 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="motori1">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INITIAL"/>
-      <WaitMatchStart state="2"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.2"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <SubTree ID="try_pick_up_weed_front"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="-0.4"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <Rotate angle="180"
-              angular_velocity="1.5"
-              frame_id="base_link"
-              ignore_obstacles="false"
-              error="{error}"
-              angular_acceleration="1.8"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.4"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <ScoreboardTask points="10"
-                      task="USPEH"/>
-      <SubTree ID="robot_test1"
-               _autoremap="true"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="Rotate"
-            editable="true">
-      <input_port name="angle"/>
-      <input_port name="angular_velocity"
-                  default="1.5"/>
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/project.btproj b/mep3_behavior/strategies/project.btproj
index 9d63e778..40930fdf 100644
--- a/mep3_behavior/strategies/project.btproj
+++ b/mep3_behavior/strategies/project.btproj
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4" project_name="Project">
+    <include path="banner.xml"/>
     <include path="blue_new_a.xml"/>
     <include path="blue_new_base.xml"/>
     <include path="blue_new_base_a.xml"/>
@@ -10,13 +11,21 @@
     <include path="blue_new_ss.xml"/>
     <include path="blue_new_u.xml"/>
     <include path="blue_panel_simple.xml"/>
+    <include path="blue_safe_a.xml"/>
+    <include path="blue_safe_offset_center.xml"/>
+    <include path="blue_safe_proper_center.xml"/>
     <include path="blue_simple.xml"/>
     <include path="blue_simple_a.xml"/>
     <include path="blue_simple_m.xml"/>
+    <include path="build_tribune.xml"/>
     <include path="drop_fork_down.xml"/>
     <include path="homologation.xml"/>
     <include path="init.xml"/>
+    <include path="init_2025.xml"/>
     <include path="move_type.xml"/>
+    <include path="pump.xml"/>
+    <include path="raise_fork.xml"/>
+    <include path="secure_mechanisms.xml"/>
     <include path="test_2025.xml"/>
     <include path="timeout.xml"/>
     <include path="try_move_weed.xml"/>
@@ -34,6 +43,7 @@
     <include path="yellow_new_s.xml"/>
     <include path="yellow_new_ss.xml"/>
     <include path="yellow_panel_simple.xml"/>
+    <include path="yellow_safe_center.xml"/>
     <include path="yellow_simple_m.xml"/>
     <!-- Description of Node Models (used by Groot) -->
     <TreeNodesModel>
diff --git a/mep3_behavior/strategies/drop_fork_down.xml b/mep3_behavior/strategies/pump.xml
similarity index 50%
rename from mep3_behavior/strategies/drop_fork_down.xml
rename to mep3_behavior/strategies/pump.xml
index 6e7c827c..b786c5c8 100644
--- a/mep3_behavior/strategies/drop_fork_down.xml
+++ b/mep3_behavior/strategies/pump.xml
@@ -1,76 +1,111 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4">
-  <BehaviorTree ID="drop_fork_back_down">
+  <BehaviorTree ID="pump_pickup_back">
     <Sequence>
-      <JointPosition instance="m12"
+      <Pump connect="1"
+            instance="pump1"/>
+      <JointPosition instance="m62"
                      max_effort="0"
                      max_velocity="250"
-                     position="64"
+                     position="280"
                      tolerance="10"
                      feedback_effort="{feedback_effort}"
                      feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m14"
+                     result="{result}"
+                     command_mode="0"/>
+      <JointPosition instance="m62"
                      max_effort="0"
-                     max_velocity="240"
-                     position="0"
+                     max_velocity="250"
+                     position="830"
                      tolerance="10"
                      feedback_effort="{feedback_effort}"
                      feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m11"
+                     result="{result}"
+                     command_mode="0"/>
+      <JointPosition instance="m40"
                      max_effort="0"
-                     max_velocity="250"
-                     position="142"
+                     max_velocity="200"
+                     position="105"
                      tolerance="10"
                      feedback_effort="{feedback_effort}"
                      feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m14"
+                     result="{result}"
+                     command_mode="0"/>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="pump_pickup_front">
+    <Sequence>
+      <Pump connect="1"
+            instance="pump2"/>
+      <JointPosition instance="m52"
                      max_effort="0"
-                     max_velocity="240"
-                     position="280"
+                     max_velocity="250"
+                     position="-340"
                      tolerance="10"
                      feedback_effort="{feedback_effort}"
                      feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m12"
+                     result="{result}"
+                     command_mode="0"/>
+      <JointPosition instance="m52"
                      max_effort="0"
                      max_velocity="250"
-                     position="194"
+                     position="220"
                      tolerance="10"
                      feedback_effort="{feedback_effort}"
                      feedback_position="{feedback_position}"
-                     result="{result}"/>
+                     result="{result}"
+                     command_mode="0"/>
     </Sequence>
   </BehaviorTree>
 
-  <BehaviorTree ID="drop_fork_down">
+  <BehaviorTree ID="pump_release_back">
     <Sequence>
-      <JointPosition instance="m1"
+      <JointPosition instance="m62"
                      max_effort="0"
-                     max_velocity="60"
-                     position="174"
+                     max_velocity="250"
+                     position="730"
                      tolerance="10"
                      feedback_effort="{feedback_effort}"
                      feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m2"
+                     result="{result}"
+                     command_mode="0"/>
+      <Pump connect="0"
+            instance="pump1"/>
+      <JointPosition instance="m62"
                      max_effort="0"
-                     max_velocity="180"
-                     position="78"
+                     max_velocity="250"
+                     position="790"
                      tolerance="10"
                      feedback_effort="{feedback_effort}"
                      feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m3"
+                     result="{result}"
+                     command_mode="0"/>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="pump_release_front">
+    <Sequence>
+      <JointPosition instance="m52"
+                     max_effort="0"
+                     max_velocity="250"
+                     position="90"
+                     tolerance="10"
+                     feedback_effort="{feedback_effort}"
+                     feedback_position="{feedback_position}"
+                     result="{result}"
+                     command_mode="0"/>
+      <Pump connect="0"
+            instance="pump2"/>
+      <JointPosition instance="m52"
                      max_effort="0"
-                     max_velocity="180"
-                     position="216"
+                     max_velocity="250"
+                     position="190"
                      tolerance="10"
                      feedback_effort="{feedback_effort}"
                      feedback_position="{feedback_position}"
-                     result="{result}"/>
+                     result="{result}"
+                     command_mode="0"/>
     </Sequence>
   </BehaviorTree>
 
@@ -92,6 +127,14 @@
                    default="{feedback_position}"/>
       <output_port name="result"
                    default="{result}"/>
+      <input_port name="command_mode"
+                  default="0"/>
+    </Action>
+    <Action ID="Pump"
+            editable="true">
+      <input_port name="connect"
+                  default="1"/>
+      <input_port name="instance"/>
     </Action>
   </TreeNodesModel>
 
diff --git a/mep3_behavior/strategies/raise_fork.xml b/mep3_behavior/strategies/raise_fork.xml
new file mode 100644
index 00000000..f0a0fc06
--- /dev/null
+++ b/mep3_behavior/strategies/raise_fork.xml
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+  <BehaviorTree ID="raise_fork_back">
+    <Sequence>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m11"
+                       max_effort="0"
+                       max_velocity="190"
+                       position="75"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m12"
+                       max_effort="0"
+                       max_velocity="190"
+                       position="225"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="raise_fork_front">
+    <Sequence>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m1"
+                       max_effort="0"
+                       max_velocity="190"
+                       position="75"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m2"
+                       max_effort="0"
+                       max_velocity="190"
+                       position="225"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel>
+    <Action ID="JointPosition"
+            editable="true">
+      <input_port name="instance"/>
+      <input_port name="max_effort"
+                  default="0"/>
+      <input_port name="max_velocity"
+                  default="180"/>
+      <input_port name="position"/>
+      <input_port name="tolerance"
+                  default="10"/>
+      <output_port name="feedback_effort"
+                   default="{feedback_effort}"/>
+      <output_port name="feedback_position"
+                   default="{feedback_position}"/>
+      <output_port name="result"
+                   default="{result}"/>
+      <input_port name="command_mode"
+                  default="0"/>
+    </Action>
+  </TreeNodesModel>
+
+</root>
diff --git a/mep3_behavior/strategies/robot_test_napravljen.xml b/mep3_behavior/strategies/robot_test_napravljen.xml
deleted file mode 100644
index b2f6e650..00000000
--- a/mep3_behavior/strategies/robot_test_napravljen.xml
+++ /dev/null
@@ -1,132 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="robot_test1">
-    <Sequence>
-      <Script code="uspeo:= false"/>
-      <Script code="uspeo_alt:= false"/>
-      <ForceSuccess>
-        <Sequence _onSuccess="uspeo:=true">
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.2"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess _skipIf="uspeo == true"
-                    _onSuccess="uspeo_alt:=true">
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Sequence>
-                <Rotate angle="-90"
-                        angular_velocity="1.5"
-                        frame_id="base_link"
-                        ignore_obstacles="false"
-                        error="{error}"
-                        angular_acceleration="1.8"/>
-                <Translate frame_id="base_link"
-                           ignore_obstacles="false"
-                           x="0.2"
-                           error="{error}"
-                           linear_velocity="0.5"
-                           linear_acceleration="0.8"
-                           enable_sensors="false"/>
-                <Rotate angle="90"
-                        angular_velocity="1.5"
-                        frame_id="base_link"
-                        ignore_obstacles="false"
-                        error="{error}"
-                        angular_acceleration="1.8"/>
-                <Translate frame_id="base_link"
-                           ignore_obstacles="false"
-                           x="0.2"
-                           error="{error}"
-                           linear_velocity="0.5"
-                           linear_acceleration="0.8"
-                           enable_sensors="false"/>
-              </Sequence>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess _skipIf="uspeo == true || uspeo_alt == true">
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.1"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ScoreboardTask points="10"
-                      task="PROBA"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="Rotate"
-            editable="true">
-      <input_port name="angle"/>
-      <input_port name="angular_velocity"
-                  default="1.5"/>
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/robot_testovi.xml b/mep3_behavior/strategies/robot_testovi.xml
deleted file mode 100644
index 1793ef6d..00000000
--- a/mep3_behavior/strategies/robot_testovi.xml
+++ /dev/null
@@ -1,70 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="ne_test">
-    <Sequence>
-      <WaitMatchStart state="2"/>
-      <Sequence>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="false"
-                   x="0.3"
-                   error="{error}"
-                   linear_velocity="0.5"
-                   linear_acceleration="0.8"
-                   enable_sensors="false"/>
-        <Rotate angle="-90"
-                angular_velocity="1.5"
-                frame_id="base_link"
-                ignore_obstacles="false"
-                error="{error}"
-                angular_acceleration="1.8"/>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="false"
-                   x="0.3"
-                   error="{error}"
-                   linear_velocity="0.5"
-                   linear_acceleration="0.8"
-                   enable_sensors="false"/>
-      </Sequence>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="Rotate"
-            editable="true">
-      <input_port name="angle"/>
-      <input_port name="angular_velocity"
-                  default="1.5"/>
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/secure_mechanisms.xml b/mep3_behavior/strategies/secure_mechanisms.xml
new file mode 100644
index 00000000..b44327cc
--- /dev/null
+++ b/mep3_behavior/strategies/secure_mechanisms.xml
@@ -0,0 +1,168 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+  <BehaviorTree ID="secure_mechanisms_back">
+    <Sequence>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m11"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="155"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m12"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="145"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m13"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="85"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m14"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="215"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m61"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="7"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m62"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="630"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m40"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="25"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="secure_mechanisms_front">
+    <Sequence>
+      <Parallel failure_count="1"
+                success_count="-1">
+        <JointPosition instance="m3"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="85"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m4"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="215"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m1"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="155"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m2"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="145"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m51"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="-40"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m52"
+                       max_effort="0"
+                       max_velocity="220"
+                       position="10"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+        <JointPosition instance="m30"
+                       max_effort="0"
+                       max_velocity="180"
+                       position="25"
+                       tolerance="10"
+                       feedback_effort="{feedback_effort}"
+                       feedback_position="{feedback_position}"
+                       result="{result}"
+                       command_mode="0"/>
+      </Parallel>
+    </Sequence>
+  </BehaviorTree>
+
+  <!-- Description of Node Models (used by Groot) -->
+  <TreeNodesModel>
+    <Action ID="JointPosition"
+            editable="true">
+      <input_port name="instance"/>
+      <input_port name="max_effort"
+                  default="0"/>
+      <input_port name="max_velocity"
+                  default="180"/>
+      <input_port name="position"/>
+      <input_port name="tolerance"
+                  default="10"/>
+      <output_port name="feedback_effort"
+                   default="{feedback_effort}"/>
+      <output_port name="feedback_position"
+                   default="{feedback_position}"/>
+      <output_port name="result"
+                   default="{result}"/>
+      <input_port name="command_mode"
+                  default="0"/>
+    </Action>
+  </TreeNodesModel>
+
+</root>
diff --git a/mep3_behavior/strategies/test_2025.xml b/mep3_behavior/strategies/test_2025.xml
index cc3114ef..0850b5e7 100644
--- a/mep3_behavior/strategies/test_2025.xml
+++ b/mep3_behavior/strategies/test_2025.xml
@@ -1,738 +1,2274 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4">
-  <BehaviorTree ID="build_one_floor_back">
+  <BehaviorTree ID="blue_offset_center">
     <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="135"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m12"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="165"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m13"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="85"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m14"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="215"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m61"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="400"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="false"
-                   x="0.06"
-                   error="{error}"
-                   linear_velocity="0.5"
-                   linear_acceleration="0.8"
-                   enable_sensors="false"/>
-      </Parallel>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.1"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="500"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="0"/>
+      <Script code="is_in_front_of_home:=false"/>
+      <Script code="is_front_equipped:=false"/>
+      <Script code="is_back_equipped:=false"/>
+      <ScoreboardTask points="20"
+                      task="BANNER"/>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-7.2"
+                      ignore_obstacles="true"
+                      linear_velocity="1.2"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="1"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="init_pickup_front"
+                       _autoremap="true"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.3;-0.39;0"
+                        ignore_obstacles="true"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.19;-0.39;0"
+                      ignore_obstacles="false"
+                      linear_velocity="0.5"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_front"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_front"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_front"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="49"
+                      ignore_obstacles="false"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="1"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="init_pickup_back"
+                       _autoremap="true"/>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.48;-0.725;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="3"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.615;-0.725;0"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_back"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_back"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_back_equipped==false">
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=false">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.73;-0.725;0"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="build_first_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_back_equipped==true">
+        <Fallback>
+          <Sequence>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="73.5"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="1"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <SubTree ID="secure_mechanisms_back"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.6;-1.17;90"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="3"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+              <SubTree ID="init_pickup_back"
+                       _autoremap="true"/>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.6;-1.277;90"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="3"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_back"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_back"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=false">
+            <Sequence>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.50;-0.27;180"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.75;-0.27;180"
+                        ignore_obstacles="true"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="2"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Sequence>
+            <SubTree ID="build_first_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=false">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="-0.52;-0.27;0"
+                        ignore_obstacles="true"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <SubTree ID="secure_mechanisms_front"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.6;-0.27;0"
+                      ignore_obstacles="true"
+                      linear_velocity="1.2"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="build_first_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="0.45;-0.69;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <SubTree ID="init_pickup_front"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="0.57;-0.69;0"
+                      ignore_obstacles="true"
+                      linear_velocity="1.2"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_front"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_front"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_front"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_front_equipped==false">
+        <Sequence>
+          <RetryUntilSuccessful num_attempts="7">
+            <Fallback>
+              <Move goal="0.3;-0.69;2"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="2"
+                    linear_acceleration="1"
+                    angular_acceleration="2.0"
+                    reversing="0"/>
+              <Sequence>
+                <Sleep msec="500"/>
+                <AlwaysFailure/>
+              </Sequence>
+            </Fallback>
+          </RetryUntilSuccessful>
+          <RetryUntilSuccessful num_attempts="7">
+            <Fallback>
+              <Move goal="-0.42;-0.27;180"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="7"
+                    linear_acceleration="1"
+                    angular_acceleration="2.0"
+                    reversing="0"/>
+              <Sequence>
+                <Sleep msec="500"/>
+                <AlwaysFailure/>
+              </Sequence>
+            </Fallback>
+          </RetryUntilSuccessful>
+          <SubTree ID="build_first_floor_front"
+                   _autoremap="true"/>
+          <ScoreboardTask points="4"
+                          task="FIRST_FLOOR"/>
+          <SubTree ID="second_floor_front"
+                   _autoremap="true"/>
+          <ScoreboardTask points="8"
+                          task="SECOND_FLOOR"/>
+        </Sequence>
+      </ForceSuccess>
+      <ForceSuccess>
+        <RetryUntilSuccessful num_attempts="7"
+                              _onSuccess="is_in_front_of_home:=true">
+          <Fallback>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <Move goal="0.25;-1.0;0"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="7"
+                    linear_acceleration="1"
+                    angular_acceleration="1.8"
+                    reversing="0"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+            </Parallel>
+            <Sequence>
+              <Sleep msec="500"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </ForceSuccess>
+      <ScoreboardTask points="10"
+                      task="FINISH"/>
+      <Sleep msec="120000"/>
     </Sequence>
   </BehaviorTree>
 
-  <BehaviorTree ID="build_one_floor_front">
-    <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="135"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="165"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m3"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="85"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m4"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="215"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m51"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="92.5"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="false"
-                   x="-0.06"
-                   error="{error}"
-                   linear_velocity="0.5"
-                   linear_acceleration="0.8"
-                   enable_sensors="false"/>
-      </Parallel>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="cinch_test">
+  <BehaviorTree ID="blue_offset_side">
     <Sequence>
       <WaitMatchStart state="2"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.1"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="da_li_drzi">
-    <Sequence>
-      <JointPosition instance="m30"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="105"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="0"/>
-      <Sleep msec="2000"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="-0.3"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.3"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="-0.3"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="init_pickup_back">
-    <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="105"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m12"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="195"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m13"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="150"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m14"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="150"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="10"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="0"/>
+      <Script code="is_in_front_of_home:=false"/>
+      <Script code="is_front_equipped:=false"/>
+      <Script code="is_back_equipped:=false"/>
+      <ScoreboardTask points="20"
+                      task="BANNER"/>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="58"
+                      ignore_obstacles="false"
+                      linear_velocity="1.2"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="1"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="init_pickup_front"
+                       _autoremap="true"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.3;0.39;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.19;0.39;0"
+                      ignore_obstacles="false"
+                      linear_velocity="0.5"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_front"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_front"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_front"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-48"
+                      ignore_obstacles="false"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="1"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="init_pickup_back"
+                       _autoremap="true"/>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.48;0.725;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="3"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.615;0.725;0"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_back"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_back"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=false">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.12;1.16;90"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="7"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.12;1.24;90"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="build_first_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=false">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.12;1.01;-90"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="7"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.12;1.09;-90"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="build_first_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_front"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_back_equipped==true">
+        <Fallback>
+          <Sequence>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="-0.12;0.95;-90"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="2"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <SubTree ID="secure_mechanisms_back"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.72;1.24;180"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+              <SubTree ID="init_pickup_back"
+                       _autoremap="true"/>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.6;-1.277;90"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="3"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_back"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_back"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=false">
+            <Sequence>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.50;-0.27;180"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.75;-0.27;180"
+                        ignore_obstacles="true"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="2"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Sequence>
+            <SubTree ID="build_first_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=false">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="-0.52;-0.27;0"
+                        ignore_obstacles="true"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <SubTree ID="secure_mechanisms_front"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.6;-0.27;0"
+                      ignore_obstacles="true"
+                      linear_velocity="1.2"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="build_first_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="0.45;-0.69;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <SubTree ID="init_pickup_front"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="0.57;-0.69;0"
+                      ignore_obstacles="true"
+                      linear_velocity="1.2"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_front"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_front"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_front"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_front_equipped==false">
+        <Sequence>
+          <RetryUntilSuccessful num_attempts="7">
+            <Fallback>
+              <Move goal="0.3;-0.69;2"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="2"
+                    linear_acceleration="1"
+                    angular_acceleration="2.0"
+                    reversing="0"/>
+              <Sequence>
+                <Sleep msec="500"/>
+                <AlwaysFailure/>
+              </Sequence>
+            </Fallback>
+          </RetryUntilSuccessful>
+          <RetryUntilSuccessful num_attempts="7">
+            <Fallback>
+              <Move goal="-0.42;-0.27;180"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="7"
+                    linear_acceleration="1"
+                    angular_acceleration="2.0"
+                    reversing="0"/>
+              <Sequence>
+                <Sleep msec="500"/>
+                <AlwaysFailure/>
+              </Sequence>
+            </Fallback>
+          </RetryUntilSuccessful>
+          <SubTree ID="build_first_floor_front"
+                   _autoremap="true"/>
+          <ScoreboardTask points="4"
+                          task="FIRST_FLOOR"/>
+          <SubTree ID="second_floor_front"
+                   _autoremap="true"/>
+          <ScoreboardTask points="8"
+                          task="SECOND_FLOOR"/>
+        </Sequence>
+      </ForceSuccess>
+      <ForceSuccess>
+        <RetryUntilSuccessful num_attempts="7"
+                              _onSuccess="is_in_front_of_home:=true">
+          <Fallback>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <Move goal="0.25;-1.0;0"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="7"
+                    linear_acceleration="1"
+                    angular_acceleration="1.8"
+                    reversing="0"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+            </Parallel>
+            <Sequence>
+              <Sleep msec="500"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </ForceSuccess>
+      <ScoreboardTask points="10"
+                      task="FINISH"/>
+      <Sleep msec="120000"/>
     </Sequence>
   </BehaviorTree>
 
-  <BehaviorTree ID="init_pickup_front">
+  <BehaviorTree ID="blue_proper_center">
     <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="105"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="195"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m3"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="150"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m4"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="150"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <JointPosition instance="m51"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="112.5"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="0"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="move_test">
-    <Sequence>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="1.0"
-                 error="{error}"
-                 linear_velocity="0.3"
-                 linear_acceleration="0.5"
-                 enable_sensors="false"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="mx61">
-    <Sequence>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="-100"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="4"/>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="105"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="0"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m13"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="150"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m14"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="150"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m61"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="390"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m12"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="165"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="ne_diraj">
-    <Sequence>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="512"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="4"/>
-      <Sleep msec="1000"/>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="388"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="4"/>
-      <Sleep msec="1000"/>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="-114"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="4"/>
-      <Sleep msec="1000"/>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="-300"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="4"/>
-      <Sleep msec="1000"/>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="-114"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="4"/>
-      <Sleep msec="1000"/>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="388"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="4"/>
-      <Sleep msec="1000"/>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="512"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="4"/>
-      <Sleep msec="1000"/>
-      <JointPosition instance="m61"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="338"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"
-                     command_mode="4"/>
+      <WaitMatchStart state="2"/>
+      <Script code="is_in_front_of_home:=false"/>
+      <Script code="is_front_equipped:=false"/>
+      <Script code="is_back_equipped:=false"/>
+      <ScoreboardTask points="20"
+                      task="BANNER"/>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-6.7"
+                      ignore_obstacles="false"
+                      linear_velocity="1.2"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="1"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="init_pickup_front"
+                       _autoremap="true"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.3;-0.39;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.19;-0.39;0"
+                      ignore_obstacles="false"
+                      linear_velocity="0.5"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_front"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_front"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_front"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="49"
+                      ignore_obstacles="false"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="1"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="init_pickup_back"
+                       _autoremap="true"/>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.48;-0.725;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="3"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.615;-0.725;0"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_back"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_back"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_back_equipped==false">
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=false">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.73;-0.725;0"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="build_first_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_back_equipped==true">
+        <Fallback>
+          <Sequence>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="72"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="1"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <SubTree ID="secure_mechanisms_back"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.6;-1.17;93"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="3"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+              <SubTree ID="init_pickup_back"
+                       _autoremap="true"/>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.6;-1.277;90"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="3"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_back"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_back"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=false">
+            <Sequence>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.50;-0.27;180"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.75;-0.27;180"
+                        ignore_obstacles="true"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="2"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Sequence>
+            <SubTree ID="build_first_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=false">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="-0.52;-0.27;0"
+                        ignore_obstacles="true"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <SubTree ID="secure_mechanisms_front"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.6;-0.27;0"
+                      ignore_obstacles="true"
+                      linear_velocity="1.2"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="build_first_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="0.45;-0.68;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.2"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <SubTree ID="init_pickup_front"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="0.57;-0.68;0"
+                      ignore_obstacles="true"
+                      linear_velocity="1.2"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_front"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_front"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_front"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_front_equipped==false">
+        <Sequence>
+          <RetryUntilSuccessful num_attempts="7">
+            <Fallback>
+              <Move goal="0.3;-0.68;2"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="2"
+                    linear_acceleration="1"
+                    angular_acceleration="2.0"
+                    reversing="0"/>
+              <Sequence>
+                <Sleep msec="500"/>
+                <AlwaysFailure/>
+              </Sequence>
+            </Fallback>
+          </RetryUntilSuccessful>
+          <RetryUntilSuccessful num_attempts="7">
+            <Fallback>
+              <Move goal="-0.42;-0.27;180"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="7"
+                    linear_acceleration="1"
+                    angular_acceleration="2.0"
+                    reversing="0"/>
+              <Sequence>
+                <Sleep msec="500"/>
+                <AlwaysFailure/>
+              </Sequence>
+            </Fallback>
+          </RetryUntilSuccessful>
+          <SubTree ID="build_first_floor_front"
+                   _autoremap="true"/>
+          <ScoreboardTask points="4"
+                          task="FIRST_FLOOR"/>
+          <SubTree ID="second_floor_front"
+                   _autoremap="true"/>
+          <ScoreboardTask points="8"
+                          task="SECOND_FLOOR"/>
+        </Sequence>
+      </ForceSuccess>
+      <ForceSuccess>
+        <RetryUntilSuccessful num_attempts="7"
+                              _onSuccess="is_in_front_of_home:=true">
+          <Fallback>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <Move goal="0.25;-1.0;0"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="7"
+                    linear_acceleration="1"
+                    angular_acceleration="1.8"
+                    reversing="0"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+            </Parallel>
+            <Sequence>
+              <Sleep msec="500"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </ForceSuccess>
+      <ScoreboardTask points="10"
+                      task="FINISH"/>
+      <Sleep msec="120000"/>
     </Sequence>
   </BehaviorTree>
 
-  <BehaviorTree ID="odsed">
+  <BehaviorTree ID="blue_side_agressive">
     <Sequence>
-      <Sleep msec="1000"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="-0.1"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
+      <ForceSuccess>
+        <RetryUntilSuccessful num_attempts="10">
+          <Fallback>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="secure_mechanisms_front"
+                       _autoremap="true"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+              <Move goal="0.55;1.1;30"
+                    ignore_obstacles="false"
+                    linear_velocity="0.5"
+                    frame_id="map"
+                    angular_velocity="1.0"
+                    mode="7"
+                    linear_acceleration="0.8"
+                    angular_acceleration="1.8"
+                    reversing="0"/>
+            </Parallel>
+            <Sequence>
+              <Sleep msec="500"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </ForceSuccess>
+      <Sleep msec="120000"/>
     </Sequence>
   </BehaviorTree>
 
-  <BehaviorTree ID="pump_test">
+  <BehaviorTree ID="build_reserved_stack_yellow">
     <Sequence>
-      <CanbusSend can_id="0x00006C01"
-                  message="0x000001"/>
-      <Sleep msec="3000"/>
-      <CanbusSend can_id="0x00006C01"
-                  message="0x000000"/>
+      <RetryUntilSuccessful num_attempts="7">
+        <Fallback>
+          <Move goal="0.3;0.68;2"
+                ignore_obstacles="false"
+                linear_velocity="1.2"
+                frame_id="map"
+                angular_velocity="2.5"
+                mode="2"
+                linear_acceleration="1"
+                angular_acceleration="2.0"
+                reversing="0"/>
+          <Sequence>
+            <Sleep msec="500"/>
+            <AlwaysFailure/>
+          </Sequence>
+        </Fallback>
+      </RetryUntilSuccessful>
+      <RetryUntilSuccessful num_attempts="7">
+        <Fallback>
+          <Move goal="-0.42;0.27;180"
+                ignore_obstacles="false"
+                linear_velocity="1.2"
+                frame_id="map"
+                angular_velocity="2.5"
+                mode="7"
+                linear_acceleration="1"
+                angular_acceleration="2.0"
+                reversing="0"/>
+          <Sequence>
+            <Sleep msec="500"/>
+            <AlwaysFailure/>
+          </Sequence>
+        </Fallback>
+      </RetryUntilSuccessful>
+      <SubTree ID="build_first_floor_front"
+               _autoremap="true"/>
+      <ScoreboardTask points="4"
+                      task="FIRST_FLOOR"/>
+      <SubTree ID="second_floor_front"
+               _autoremap="true"/>
+      <ScoreboardTask points="8"
+                      task="SECOND_FLOOR"/>
     </Sequence>
   </BehaviorTree>
 
-  <BehaviorTree ID="raise_fork_back">
+  <BehaviorTree ID="go_home_blue2025">
     <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="75"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m12"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="225"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
+      <ForceSuccess>
+        <RetryUntilSuccessful num_attempts="7"
+                              _skipIf="is_in_front_of_home==true">
+          <Fallback>
+            <Move goal="0.25;-1.0;0"
+                  ignore_obstacles="false"
+                  linear_velocity="0.5"
+                  frame_id="map"
+                  angular_velocity="1.0"
+                  mode="7"
+                  linear_acceleration="0.8"
+                  angular_acceleration="1.8"
+                  reversing="0"/>
+            <Sequence>
+              <Sleep msec="100"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </ForceSuccess>
+      <Fallback>
+        <RetryUntilSuccessful num_attempts="7">
+          <Fallback>
+            <Move goal="0.5;-1.0;0"
+                  ignore_obstacles="false"
+                  linear_velocity="0.5"
+                  frame_id="map"
+                  angular_velocity="1.0"
+                  mode="7"
+                  linear_acceleration="0.8"
+                  angular_acceleration="1.8"
+                  reversing="0"/>
+            <Sequence>
+              <Sleep msec="100"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+        <RetryUntilSuccessful num_attempts="3">
+          <Fallback>
+            <Navigate behavior_tree=""
+                      goal="0.5;-1.0;0"/>
+            <Sequence>
+              <Sleep msec="100"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+        <RetryUntilSuccessful num_attempts="3">
+          <Fallback>
+            <Navigate behavior_tree=""
+                      goal="0.5;-1.0;0"/>
+            <Sequence>
+              <Sleep msec="100"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </Fallback>
+      <ScoreboardTask points="10"
+                      task="FINISH"/>
     </Sequence>
   </BehaviorTree>
 
-  <BehaviorTree ID="raise_fork_front">
+  <BehaviorTree ID="go_home_yellow2025">
     <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="75"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="225"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
+      <ForceSuccess>
+        <RetryUntilSuccessful num_attempts="7"
+                              _skipIf="is_in_front_of_home==true">
+          <Fallback>
+            <Move goal="0.25;1.0;0"
+                  ignore_obstacles="false"
+                  linear_velocity="0.5"
+                  frame_id="map"
+                  angular_velocity="1.0"
+                  mode="7"
+                  linear_acceleration="0.8"
+                  angular_acceleration="1.8"
+                  reversing="0"/>
+            <Sequence>
+              <Sleep msec="100"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </ForceSuccess>
+      <Fallback>
+        <RetryUntilSuccessful num_attempts="7">
+          <Fallback>
+            <Move goal="0.5;1.0;0"
+                  ignore_obstacles="false"
+                  linear_velocity="0.5"
+                  frame_id="map"
+                  angular_velocity="1.0"
+                  mode="7"
+                  linear_acceleration="0.8"
+                  angular_acceleration="1.8"
+                  reversing="0"/>
+            <Sequence>
+              <Sleep msec="100"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+        <RetryUntilSuccessful num_attempts="3">
+          <Fallback>
+            <Navigate behavior_tree=""
+                      goal="0.5;1.0;0"/>
+            <Sequence>
+              <Sleep msec="100"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+        <RetryUntilSuccessful num_attempts="3">
+          <Fallback>
+            <Navigate behavior_tree=""
+                      goal="0.5;1.0;0"/>
+            <Sequence>
+              <Sleep msec="100"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </Fallback>
+      <ScoreboardTask points="10"
+                      task="FINISH"/>
     </Sequence>
   </BehaviorTree>
 
-  <BehaviorTree ID="stack_pickup_back">
-    <Sequence>
-      <SubTree ID="init_pickup_back"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="-0.2"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <SubTree ID="raise_fork_back"
+  <BehaviorTree ID="pickup_reserved_stack_yellow">
+    <Fallback>
+      <Sequence _onSuccess="is_front_equipped:=true">
+        <RetryUntilSuccessful num_attempts="7">
+          <Fallback>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <Move goal="0.45;0.68;0"
+                    ignore_obstacles="false"
+                    linear_velocity="1.2"
+                    frame_id="map"
+                    angular_velocity="2.5"
+                    mode="7"
+                    linear_acceleration="1"
+                    angular_acceleration="2.0"
+                    reversing="0"/>
+              <SubTree ID="init_pickup_front"
+                       _autoremap="true"/>
+            </Parallel>
+            <Sequence>
+              <Sleep msec="500"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+        <RetryUntilSuccessful num_attempts="7">
+          <Fallback>
+            <Move goal="0.57;0.68;0"
+                  ignore_obstacles="true"
+                  linear_velocity="1.2"
+                  frame_id="map"
+                  angular_velocity="2.5"
+                  mode="2"
+                  linear_acceleration="1"
+                  angular_acceleration="2.0"
+                  reversing="0"/>
+            <Sequence>
+              <Sleep msec="500"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+        <SubTree ID="pump_pickup_front"
+                 _autoremap="true"/>
+        <SubTree ID="raise_fork_front"
+                 _autoremap="true"/>
+      </Sequence>
+      <SubTree ID="secure_mechanisms_front"
                _autoremap="true"/>
-    </Sequence>
+    </Fallback>
   </BehaviorTree>
 
-  <BehaviorTree ID="stack_pickup_front">
+  <BehaviorTree ID="yellow_center">
     <Sequence>
-      <SubTree ID="init_pickup_front"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.2"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <SubTree ID="raise_fork_front"
-               _autoremap="true"/>
+      <Script code="is_in_front_of_home:=false"/>
+      <Script code="is_front_equipped:=false"/>
+      <Script code="is_back_equipped:=false"/>
+      <ScoreboardTask points="20"
+                      task="BANNER"/>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="7"
+                      ignore_obstacles="true"
+                      linear_velocity="1.7"
+                      frame_id="map"
+                      angular_velocity="3.5"
+                      mode="1"
+                      linear_acceleration="1"
+                      angular_acceleration="3.5"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="init_pickup_front"
+                       _autoremap="true"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.3;0.39;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.7"
+                        frame_id="map"
+                        angular_velocity="3.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="3.5"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.19;0.39;0"
+                      ignore_obstacles="true"
+                      linear_velocity="0.5"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_front"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_front"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_front"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=true">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-49"
+                      ignore_obstacles="false"
+                      linear_velocity="1.7"
+                      frame_id="map"
+                      angular_velocity="3.5"
+                      mode="1"
+                      linear_acceleration="1"
+                      angular_acceleration="3.5"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="init_pickup_back"
+                       _autoremap="true"/>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.48;0.725;0"
+                        ignore_obstacles="false"
+                        linear_velocity="1.7"
+                        frame_id="map"
+                        angular_velocity="3.5"
+                        mode="3"
+                        linear_acceleration="1"
+                        angular_acceleration="3.5"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.61;0.725;0"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_back"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_back"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_back_equipped==false">
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=false">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.73;0.725;0"
+                      ignore_obstacles="true"
+                      linear_velocity="1.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="build_first_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_back_equipped==true">
+        <Fallback>
+          <Sequence>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="-77"
+                        ignore_obstacles="false"
+                        linear_velocity="1.5"
+                        frame_id="map"
+                        angular_velocity="3.5"
+                        mode="1"
+                        linear_acceleration="1"
+                        angular_acceleration="3.5"
+                        reversing="0"/>
+                  <SubTree ID="secure_mechanisms_back"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.6;1.17;-88"
+                        ignore_obstacles="false"
+                        linear_velocity="1.7"
+                        frame_id="map"
+                        angular_velocity="3.5"
+                        mode="3"
+                        linear_acceleration="1"
+                        angular_acceleration="3.5"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+              <SubTree ID="init_pickup_back"
+                       _autoremap="true"/>
+            </Parallel>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.6;1.277;-90"
+                      ignore_obstacles="true"
+                      linear_velocity="0.7"
+                      frame_id="map"
+                      angular_velocity="3.5"
+                      mode="3"
+                      linear_acceleration="1"
+                      angular_acceleration="3.5"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="pump_pickup_back"
+                     _autoremap="true"/>
+            <SubTree ID="raise_fork_back"
+                     _autoremap="true"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_front_equipped:=false">
+            <Sequence>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.519;0.47;180"
+                        ignore_obstacles="false"
+                        linear_velocity="1.7"
+                        frame_id="map"
+                        angular_velocity="3.5"
+                        mode="6"
+                        linear_acceleration="1"
+                        angular_acceleration="3.5"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.50;0.27;180"
+                        ignore_obstacles="true"
+                        linear_velocity="1.7"
+                        frame_id="map"
+                        angular_velocity="3.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="3.5"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+              <RetryUntilSuccessful num_attempts="7">
+                <Fallback>
+                  <Move goal="-0.75;0.27;180"
+                        ignore_obstacles="true"
+                        linear_velocity="1.7"
+                        frame_id="map"
+                        angular_velocity="2.5"
+                        mode="2"
+                        linear_acceleration="1"
+                        angular_acceleration="2.0"
+                        reversing="0"/>
+                  <Sequence>
+                    <Sleep msec="500"/>
+                    <AlwaysFailure/>
+                  </Sequence>
+                </Fallback>
+              </RetryUntilSuccessful>
+            </Sequence>
+            <SubTree ID="build_first_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_front"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess>
+        <Fallback>
+          <Sequence _onSuccess="is_back_equipped:=false">
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Parallel failure_count="1"
+                          success_count="-1">
+                  <Move goal="-0.52;0.27;0"
+                        ignore_obstacles="true"
+                        linear_velocity="1.7"
+                        frame_id="map"
+                        angular_velocity="3.5"
+                        mode="7"
+                        linear_acceleration="1"
+                        angular_acceleration="3.5"
+                        reversing="0"/>
+                  <SubTree ID="secure_mechanisms_front"
+                           _autoremap="true"/>
+                </Parallel>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <RetryUntilSuccessful num_attempts="7">
+              <Fallback>
+                <Move goal="-0.6;0.27;0"
+                      ignore_obstacles="true"
+                      linear_velocity="1.7"
+                      frame_id="map"
+                      angular_velocity="2.5"
+                      mode="2"
+                      linear_acceleration="1"
+                      angular_acceleration="2.0"
+                      reversing="0"/>
+                <Sequence>
+                  <Sleep msec="500"/>
+                  <AlwaysFailure/>
+                </Sequence>
+              </Fallback>
+            </RetryUntilSuccessful>
+            <SubTree ID="build_first_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="4"
+                            task="FIRST_FLOOR"/>
+            <SubTree ID="second_floor_back"
+                     _autoremap="true"/>
+            <ScoreboardTask points="8"
+                            task="SECOND_FLOOR"/>
+          </Sequence>
+          <SubTree ID="secure_mechanisms_back"
+                   _autoremap="true"/>
+        </Fallback>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_front_equipped==true">
+        <SubTree ID="pickup_reserved_stack_yellow"
+                 _autoremap="true"/>
+      </ForceSuccess>
+      <ForceSuccess _skipIf="is_front_equipped==false">
+        <SubTree ID="build_reserved_stack_yellow"
+                 _autoremap="true"/>
+      </ForceSuccess>
+      <ForceSuccess>
+        <RetryUntilSuccessful num_attempts="7"
+                              _onSuccess="is_in_front_of_home:=true">
+          <Fallback>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <Move goal="0.25;1.0;0"
+                    ignore_obstacles="false"
+                    linear_velocity="1.5"
+                    frame_id="map"
+                    angular_velocity="3.5"
+                    mode="7"
+                    linear_acceleration="1"
+                    angular_acceleration="3.5"
+                    reversing="0"/>
+              <SubTree ID="secure_mechanisms_front"
+                       _autoremap="true"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+            </Parallel>
+            <Sequence>
+              <Sleep msec="500"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </ForceSuccess>
+      <Sleep msec="120000"/>
     </Sequence>
   </BehaviorTree>
 
-  <BehaviorTree ID="test_build_back">
+  <BehaviorTree ID="yellow_side_agressive">
     <Sequence>
-      <SubTree ID="stack_pickup_back"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.3"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <SubTree ID="build_one_floor_back"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.1"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="test_build_front">
-    <Sequence>
-      <SubTree ID="stack_pickup_front"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="-0.3"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <SubTree ID="build_one_floor_front"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="-0.1"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="test_fork_back">
-    <Sequence>
-      <SubTree ID="init_pickup_back"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.2"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="75"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-        <JointPosition instance="m12"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="225"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"
-                       command_mode="0"/>
-      </Parallel>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="-0.5"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <Rotate angle="180"
-              angular_velocity="1.5"
-              frame_id="base_link"
-              ignore_obstacles="false"
-              error="{error}"
-              angular_acceleration="1.8"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="0.2"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
+      <ForceSuccess>
+        <RetryUntilSuccessful num_attempts="10">
+          <Fallback>
+            <Parallel failure_count="1"
+                      success_count="-1">
+              <SubTree ID="secure_mechanisms_front"
+                       _autoremap="true"/>
+              <SubTree ID="secure_mechanisms_back"
+                       _autoremap="true"/>
+              <Move goal="0.55;-1.1;-30"
+                    ignore_obstacles="false"
+                    linear_velocity="0.5"
+                    frame_id="map"
+                    angular_velocity="1.0"
+                    mode="7"
+                    linear_acceleration="0.8"
+                    angular_acceleration="1.8"
+                    reversing="0"/>
+            </Parallel>
+            <Sequence>
+              <Sleep msec="500"/>
+              <AlwaysFailure/>
+            </Sequence>
+          </Fallback>
+        </RetryUntilSuccessful>
+      </ForceSuccess>
+      <Sleep msec="120000"/>
     </Sequence>
   </BehaviorTree>
 
   <!-- Description of Node Models (used by Groot) -->
   <TreeNodesModel>
-    <Action ID="CanbusSend"
-            editable="true">
-      <input_port name="can_id">For example, 0x12345</input_port>
-      <input_port name="message">For example, 0x32;0x34</input_port>
-    </Action>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-      <input_port name="command_mode"
-                  default="0"/>
-    </Action>
-    <Action ID="Rotate"
-            editable="true">
-      <input_port name="angle"/>
-      <input_port name="angular_velocity"
-                  default="1.5"/>
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-    </Action>
-    <Action ID="Translate"
+    <Action ID="Move"
             editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
+      <input_port name="goal"/>
+      <inout_port name="ignore_obstacles"
                   default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
       <input_port name="linear_velocity"
                   default="0.5"/>
+      <input_port name="frame_id"
+                  default="map"/>
+      <input_port name="angular_velocity"
+                  default="1.0"/>
+      <input_port name="mode"
+                  default="7"/>
       <input_port name="linear_acceleration"
                   default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
+      <input_port name="angular_acceleration"
+                  default="1.8"/>
+      <input_port name="reversing"
+                  default="0"/>
+    </Action>
+    <Action ID="Navigate"
+            editable="true">
+      <input_port name="behavior_tree"/>
+      <input_port name="goal"/>
+    </Action>
+    <Action ID="ScoreboardTask"
+            editable="true">
+      <input_port name="points"
+                  default="0">points scored, can be negative</input_port>
+      <input_port name="task"
+                  default="store_sample_to_work_shed">unique task name</input_port>
     </Action>
     <Action ID="WaitMatchStart"
             editable="true">
diff --git a/mep3_behavior/strategies/try_move_weed.xml b/mep3_behavior/strategies/try_move_weed.xml
deleted file mode 100644
index 909b75e0..00000000
--- a/mep3_behavior/strategies/try_move_weed.xml
+++ /dev/null
@@ -1,114 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="try_move_weed">
-    <Sequence>
-      <SubTree ID="init"
-               table="{table}"
-               color="{color}"
-               _autoremap="false"/>
-      <Move goal="-0.33;-1.0;90"
-            ignore_obstacles="true"
-            linear_velocity="1.0"
-            frame_id="map"
-            angular_velocity="1.8"
-            mode="7"/>
-      <Move goal="-0.33;-0.85;90"
-            ignore_obstacles="true"
-            linear_velocity="1.0"
-            frame_id="map"
-            angular_velocity="1.8"
-            mode="7"/>
-      <Move goal="-0.33;-0.63;90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.5"
-            mode="2"/>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="200"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="-0.05"
-                 error="{error}"
-                 linear_velocity="0.5"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m3"
-                       max_effort="0"
-                       max_velocity="170"
-                       position="81"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="true"
-                   x="0.25"
-                   error="{error}"
-                   linear_velocity="0.2"/>
-      </Parallel>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="140"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="true"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="true"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/try_pick_up_pots.xml b/mep3_behavior/strategies/try_pick_up_pots.xml
deleted file mode 100644
index 3d9ec56a..00000000
--- a/mep3_behavior/strategies/try_pick_up_pots.xml
+++ /dev/null
@@ -1,2400 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="try_pick_up_pots">
-    <Sequence>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="140"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="170"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <Move goal="-0.51;-1.1;-65"
-              ignore_obstacles="false"
-              linear_velocity="1.5"
-              frame_id="map"
-              angular_velocity="1.0"
-              mode="7"
-              linear_acceleration="1.5"
-              angular_acceleration="1.8"
-              reversing="0"/>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="190"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Move goal="-0.51;-1.24;-65"
-            ignore_obstacles="false"
-            linear_velocity="1.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="2"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Fallback>
-        <Timeout msec="1500">
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.085"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-        </Timeout>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="true"
-                   x="-0.01"
-                   error="{error}"
-                   linear_velocity="0.5"
-                   linear_acceleration="0.8"
-                   enable_sensors="false"/>
-      </Fallback>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="130"
-                     position="235"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <Move goal="-0.25;-1.34;0"
-              ignore_obstacles="false"
-              linear_velocity="1.5"
-              frame_id="map"
-              angular_velocity="1.0"
-              mode="7"
-              linear_acceleration="0.8"
-              angular_acceleration="1.8"
-              reversing="0"/>
-        <JointPosition instance="m4"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="0"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="180"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="275"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Move goal="-0.36;-1.34;-90"
-            ignore_obstacles="false"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <ForceSuccess>
-        <Timeout msec="1500">
-          <Move goal="-0.36;-1.39;-90"
-                ignore_obstacles="true"
-                linear_velocity="0.8"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-      </ForceSuccess>
-      <Move goal="-0.36;-1.41;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.3"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <SubTree ID="try_put_plenter_front"
-               color="{color}"
-               table="{table}"
-               _autoremap="false"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_pots_with_fork">
-    <Sequence>
-      <Script code="pots_failed:=false"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="210"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <SubTree ID="gentle_attack"
-                 type="7"
-                 linear_velocity="1.5"
-                 linear_acceleration="1.4"
-                 goal="-0.37;-1.15;-88"/>
-      </Parallel>
-      <Move goal="-0.37;-1.28;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.2"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move goal="-0.37;-1.24;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="137"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Fallback>
-        <Timeout msec="3500">
-          <Move goal="-0.42;-1.363;-90"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.3"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="3">
-            <Fallback>
-              <Move goal="-0.67;-1.10;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="7"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="84"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="216"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="6"
-                          task="STUCK_SAFE_1"/>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <Move goal="-0.37;-1.35;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="230"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.03"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </Fallback>
-      <Move goal="-0.37;-1.24;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="0"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="275"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="180"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Fallback>
-        <Timeout msec="2200">
-          <Move goal="-0.37;-1.413;-90"
-                ignore_obstacles="true"
-                linear_velocity="0.5"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence _onSuccess="pots_failed=true">
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.15"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <Move goal="180"
-                ignore_obstacles="true"
-                linear_velocity="1.5"
-                frame_id="map"
-                angular_velocity="2.5"
-                mode="1"
-                linear_acceleration="1.0"
-                angular_acceleration="2.2"
-                reversing="0"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.1"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <ScoreboardTask points="12"
-                          task="PLENTS_AFTER_MOVE_STUCK"/>
-          <JointPosition instance="m4"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="300"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="84"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="213"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="8">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="700"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </Fallback>
-      <ForceSuccess>
-        <Timeout msec="1000">
-          <Move goal="-0.37;-1.453;-90"
-                ignore_obstacles="true"
-                linear_velocity="0.5"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-      </ForceSuccess>
-      <SubTree ID="try_put_plenter_front"
-               _skipIf="pots_failed==true"
-               _autoremap="true"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_pots_with_fork_a">
-    <Sequence>
-      <Script code="pots_failed:=false"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="210"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <SubTree ID="gentle_attack"
-                 type="7"
-                 linear_velocity="1.5"
-                 linear_acceleration="1.4"
-                 goal="-0.41;-1.11;-88"/>
-      </Parallel>
-      <Move goal="-0.41;-1.23;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.2"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move goal="-0.41;-1.19;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="137"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Fallback>
-        <Timeout msec="3500">
-          <Move goal="-0.45;-1.265;-90"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.3"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="3">
-            <Fallback>
-              <Move goal="-0.67;-1.05;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="7"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="84"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="216"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="6"
-                          task="STUCK_SAFE_1"/>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <Move goal="-0.41;-1.29;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="230"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.03"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </Fallback>
-      <Move goal="-0.37;-1.21;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="0"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="275"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="180"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Fallback>
-        <Timeout msec="2200">
-          <Move goal="-0.37;-1.37;-90"
-                ignore_obstacles="true"
-                linear_velocity="0.5"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence _onSuccess="pots_failed=true">
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.15"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <Move goal="180"
-                ignore_obstacles="true"
-                linear_velocity="1.5"
-                frame_id="map"
-                angular_velocity="2.5"
-                mode="1"
-                linear_acceleration="1.0"
-                angular_acceleration="2.2"
-                reversing="0"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.1"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <ScoreboardTask points="12"
-                          task="PLENTS_AFTER_MOVE_STUCK"/>
-          <JointPosition instance="m4"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="300"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="84"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="213"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="8">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="700"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </Fallback>
-      <ForceSuccess>
-        <Timeout msec="1000">
-          <Move goal="-0.37;-1.40;-90"
-                ignore_obstacles="true"
-                linear_velocity="0.5"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-      </ForceSuccess>
-      <SubTree ID="try_put_plenter_front"
-               _skipIf="pots_failed==true"
-               _autoremap="true"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_pots_with_fork_new">
-    <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="210"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <SubTree ID="gentle_attack"
-                 goal="-0.33;-1.16;-88"
-                 linear_acceleration="0.8"
-                 linear_velocity="1.0"
-                 type="7"/>
-      </Parallel>
-      <Move goal="-0.34;-1.3;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.2"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move goal="-0.35;-1.25;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="137"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="174"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Fallback>
-        <Timeout msec="1900">
-          <Move goal="-0.4;-1.375;-90"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.3"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.015"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="3">
-            <Fallback>
-              <Move goal="-0.64;-1.11;-90"
-                    ignore_obstacles="true"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="7"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="72"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="223"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="6"
-                          task="STUCK_SAFE_1"/>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="230"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.03"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </Fallback>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_pots_with_fork_new_alternative">
-    <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="210"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <SubTree ID="gentle_attack"
-                 goal="-0.35;-1.16;-88"
-                 linear_acceleration="0.8"
-                 linear_velocity="1.0"
-                 type="7"/>
-      </Parallel>
-      <Move goal="-0.35;-1.29;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.2"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move goal="-0.37;-1.25;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="137"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="174"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Fallback>
-        <Timeout msec="1800">
-          <Move goal="-0.42;-1.364;-90"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.3"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.03"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="3">
-            <Fallback>
-              <Move goal="-0.64;-1.11;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="7"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="72"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="223"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="6"
-                          task="STUCK_SAFE_1"/>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="230"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.03"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </Fallback>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_pots_with_fork_new_yellow_alternative">
-    <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="210"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <SubTree ID="gentle_attack"
-                 goal="-0.36;1.16;88"
-                 linear_acceleration="0.8"
-                 linear_velocity="1.0"
-                 type="7"/>
-      </Parallel>
-      <Move goal="-0.36;1.29;90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.2"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move goal="-0.38;1.25;90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="137"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="180"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Fallback>
-        <Timeout msec="1500">
-          <Move goal="-0.43;1.342;90"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.3"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="3">
-            <Fallback>
-              <Move goal="-0.64;1.11;90"
-                    ignore_obstacles="false"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="7"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="72"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="223"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="6"
-                          task="STUCK_SAFE_1"/>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="230"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.03"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </Fallback>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_pots_with_fork_yellow">
-    <Sequence>
-      <Script code="pots_failed:=false"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="210"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <SubTree ID="gentle_attack"
-                 type="7"
-                 linear_velocity="1.5"
-                 linear_acceleration="1.4"
-                 goal="-0.37;1.11;88"/>
-      </Parallel>
-      <Move goal="-0.37;1.29;90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.2"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move goal="-0.37;1.23;90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="137"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Fallback>
-        <Timeout msec="3500">
-          <Move goal="-0.42;1.360;90"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.3"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="3">
-            <Fallback>
-              <Move goal="-0.65;1.12;90"
-                    ignore_obstacles="false"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="7"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="84"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="216"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="6"
-                          task="STUCK_SAFE_1"/>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <Move goal="-0.37;1.345;90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="230"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.03"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </Fallback>
-      <Move goal="-0.37;1.24;90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="0"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="275"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="180"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Fallback>
-        <Timeout msec="2200">
-          <Move goal="-0.37;1.43;90"
-                ignore_obstacles="true"
-                linear_velocity="0.5"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence _onSuccess="pots_failed=true">
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.15"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <Move goal="180"
-                ignore_obstacles="true"
-                linear_velocity="1.5"
-                frame_id="map"
-                angular_velocity="2.5"
-                mode="1"
-                linear_acceleration="1.0"
-                angular_acceleration="2.2"
-                reversing="0"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.1"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <ScoreboardTask points="12"
-                          task="PLENTS_AFTER_MOVE_STUCK"/>
-          <JointPosition instance="m4"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="300"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="84"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="213"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="8">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="700"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </Fallback>
-      <ForceSuccess>
-        <Timeout msec="1000">
-          <Move goal="-0.37;1.453;90"
-                ignore_obstacles="true"
-                linear_velocity="0.5"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-      </ForceSuccess>
-      <SubTree ID="try_put_plenter_front_yellow"
-               _skipIf="pots_failed==true"
-               _autoremap="true"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_pots_with_fork_yellow_a">
-    <Sequence>
-      <Script code="pots_failed:=false"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="210"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <SubTree ID="gentle_attack"
-                 type="7"
-                 linear_velocity="1.5"
-                 linear_acceleration="1.4"
-                 goal="-0.34;1.06;88"/>
-      </Parallel>
-      <Move goal="-0.34;1.23;90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.2"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move goal="-0.34;1.20;90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="137"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Fallback>
-        <Timeout msec="3500">
-          <Move goal="-0.42;1.315;90"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.3"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="3">
-            <Fallback>
-              <Move goal="-0.65;1.12;90"
-                    ignore_obstacles="false"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="7"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="84"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="216"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="6"
-                          task="STUCK_SAFE_1"/>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <Move goal="-0.34;1.305;90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="230"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.03"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </Fallback>
-      <Move goal="-0.34;1.24;90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="0"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="275"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="180"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Fallback>
-        <Timeout msec="2200">
-          <Move goal="-0.34;1.38;90"
-                ignore_obstacles="true"
-                linear_velocity="0.5"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence _onSuccess="pots_failed=true">
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.15"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <Move goal="180"
-                ignore_obstacles="true"
-                linear_velocity="1.5"
-                frame_id="map"
-                angular_velocity="2.5"
-                mode="1"
-                linear_acceleration="1.0"
-                angular_acceleration="2.2"
-                reversing="0"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.1"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <ScoreboardTask points="12"
-                          task="PLENTS_AFTER_MOVE_STUCK"/>
-          <JointPosition instance="m4"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="300"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="84"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="213"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="8">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="700"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </Fallback>
-      <ForceSuccess>
-        <Timeout msec="1000">
-          <Move goal="-0.34;1.41;90"
-                ignore_obstacles="true"
-                linear_velocity="0.5"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-      </ForceSuccess>
-      <SubTree ID="try_put_plenter_front_yellow"
-               _skipIf="pots_failed==true"
-               _autoremap="true"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_pots_with_fork_yellow_new">
-    <Sequence>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="210"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <SubTree ID="gentle_attack"
-                 goal="-0.36;1.16;88"
-                 linear_acceleration="0.8"
-                 linear_velocity="1.0"
-                 type="7"/>
-      </Parallel>
-      <Move goal="-0.35;1.29;90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.2"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move goal="-0.38;1.25;90"
-            ignore_obstacles="true"
-            linear_velocity="0.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="137"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="180"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Fallback>
-        <Timeout msec="1500">
-          <Move goal="-0.42;1.345;90"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.0"
-                mode="3"
-                linear_acceleration="0.3"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="3">
-            <Fallback>
-              <Move goal="-0.64;1.11;90"
-                    ignore_obstacles="false"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="7"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="72"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="223"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.12"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ScoreboardTask points="6"
-                          task="STUCK_SAFE_1"/>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="230"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.03"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="235"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </Fallback>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/try_pick_up_weed.xml b/mep3_behavior/strategies/try_pick_up_weed.xml
deleted file mode 100644
index b00f5d99..00000000
--- a/mep3_behavior/strategies/try_pick_up_weed.xml
+++ /dev/null
@@ -1,319 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="try_pick_up_random_weed">
-    <Sequence>
-      <SubTree ID="drop_fork_down"
-               _autoremap="true"/>
-      <SubTree ID="gentle_attack"
-               type="7"
-               linear_velocity="0.7"
-               linear_acceleration="0.6"
-               goal="-0.52;0.10;70"
-               _autoremap="true"/>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="85"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <SubTree ID="gentle_attack"
-               type="3"
-               linear_velocity="0.4"
-               linear_acceleration="0.3"
-               goal="0;1.20;90"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="-0.12"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="216"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="-0.12"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_random_weed_yellow">
-    <Sequence>
-      <SubTree ID="drop_fork_down"
-               _autoremap="true"/>
-      <SubTree ID="gentle_attack"
-               type="7"
-               linear_velocity="0.7"
-               linear_acceleration="0.6"
-               goal="-0.53;-0.10;-70"
-               _autoremap="true"/>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="85"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <SubTree ID="gentle_attack"
-               type="3"
-               linear_velocity="0.4"
-               linear_acceleration="0.3"
-               goal="0;-1.17;-90"
-               _autoremap="true"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="-0.12"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="216"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="-0.12"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_three_front">
-    <Sequence>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="202"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <RetryUntilSuccessful num_attempts="8">
-        <Fallback>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="false"
-                     x="-0.07"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <Sleep msec="500"/>
-        </Fallback>
-      </RetryUntilSuccessful>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="170"
-                     position="85"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_weed_back">
-    <Sequence>
-      <Script code="put_back_1:=true"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="172"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <RetryUntilSuccessful num_attempts="5">
-        <Fallback>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="false"
-                     x="0.07"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <Sleep msec="500"/>
-        </Fallback>
-      </RetryUntilSuccessful>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="75"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Fallback>
-        <Parallel failure_count="1"
-                  success_count="-1"
-                  _onFailure="put_back_1=false">
-          <JointPosition instance="m14"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="0"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.25"
-                         error="{error}"
-                         linear_velocity="0.2"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="300"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Parallel>
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="232"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Fallback>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="232"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_pick_up_weed_front">
-    <Sequence>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="205"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <RetryUntilSuccessful num_attempts="6">
-        <Fallback>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="false"
-                     x="-0.07"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <Sleep msec="500"/>
-        </Fallback>
-      </RetryUntilSuccessful>
-      <Fallback>
-        <Parallel failure_count="1"
-                  success_count="-1">
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="170"
-                         position="85"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="2">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.25"
-                         error="{error}"
-                         linear_velocity="0.2"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="700"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Parallel>
-        <JointPosition instance="m3"
-                       max_effort="0"
-                       max_velocity="170"
-                       position="85"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Fallback>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="137"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/try_pickup_weed.xml b/mep3_behavior/strategies/try_pickup_weed.xml
deleted file mode 100644
index e639cfea..00000000
--- a/mep3_behavior/strategies/try_pickup_weed.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="try_pickup_weed">
-    <Sequence>
-      <SubTree ID="try_move_weed"
-               color="{color}"
-               table="{table}"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="250"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="0"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/try_plenter.xml b/mep3_behavior/strategies/try_plenter.xml
deleted file mode 100644
index de7c46b7..00000000
--- a/mep3_behavior/strategies/try_plenter.xml
+++ /dev/null
@@ -1,185 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="try_plenter">
-    <Sequence>
-      <SubTree ID="try_move_weed"
-               color="{color}"
-               table="{table}"
-               _autoremap="false"/>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="140"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="170"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <Move goal="-0.25;-1.1;-110"
-              ignore_obstacles="true"
-              linear_velocity="0.5"
-              frame_id="map"
-              angular_velocity="1.0"
-              mode="7"/>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="190"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Move goal="-0.25;-1.355;-110"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="2"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="130"
-                     position="235"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Rotate angle="-180"
-              angular_velocity="1.5"
-              frame_id="map"
-              ignore_obstacles="true"
-              error="{error}"/>
-      <Move goal="-0.65;-1.355;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="2"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <Move goal="-0.22;-1.355;-90"
-              ignore_obstacles="true"
-              linear_velocity="0.5"
-              frame_id="map"
-              angular_velocity="1.0"
-              mode="2"/>
-        <JointPosition instance="m4"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="0"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="180"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="275"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Move goal="-0.44;-1.3;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.3"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="3"/>
-      <Fallback>
-        <Move goal="-0.39;-1.397;-90"
-              ignore_obstacles="true"
-              linear_velocity="0.3"
-              frame_id="map"
-              angular_velocity="1.0"
-              mode="3"/>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="false"
-                   x="-0.01"
-                   error="{error}"
-                   linear_velocity="0.5"/>
-      </Fallback>
-      <SubTree ID="try_put_plenter_front"
-               color="{color}"
-               table="{table}"
-               _autoremap="false"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="true"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-    </Action>
-    <Action ID="Rotate"
-            editable="true">
-      <input_port name="angle"/>
-      <input_port name="angular_velocity"
-                  default="1.5"/>
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="error"
-                  default="{error}"/>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/try_put_field.xml b/mep3_behavior/strategies/try_put_field.xml
deleted file mode 100644
index 46841353..00000000
--- a/mep3_behavior/strategies/try_put_field.xml
+++ /dev/null
@@ -1,1217 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="stepenik">
-    <Sequence>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="190"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="0.03"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m12"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="85"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="150"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_blue_alternative">
-    <Sequence>
-      <Script code="is_second:=true"/>
-      <Script code="is_first:=true"/>
-      <Script code="is_thirt:=true"/>
-      <ScoreboardTask points="15"
-                      task="THREE_PALENS"/>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence _onFailure="is_first=false">
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="230"
-                             position="0"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="180"
-                             position="240"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Move goal="0.75;-0.75;0"
-                    ignore_obstacles="true"
-                    linear_velocity="1.7"
-                    frame_id="map"
-                    angular_velocity="2.4"
-                    mode="7"
-                    linear_acceleration="1.4"
-                    angular_acceleration="2.8"
-                    reversing="0"/>
-            </Parallel>
-            <RetryUntilSuccessful num_attempts="6">
-              <Fallback>
-                <Move goal="0.05;-0.40;0"
-                      ignore_obstacles="false"
-                      linear_velocity="0.8"
-                      frame_id="map"
-                      angular_velocity="2.4"
-                      mode="6"
-                      linear_acceleration="0.5"
-                      angular_acceleration="2.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <SubTree ID="stepenik"
-                     _autoremap="true"/>
-          </Sequence>
-          <JointPosition instance="m12"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="85"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence _onFailure="is_second=false">
-            <RetryUntilSuccessful num_attempts="6">
-              <Fallback>
-                <Move goal="-0.5;-0.57;0"
-                      ignore_obstacles="false"
-                      linear_velocity="0.7"
-                      frame_id="map"
-                      angular_velocity="2.4"
-                      mode="7"
-                      linear_acceleration="0.4"
-                      angular_acceleration="2.0"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.07"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="160"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="0.05"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="214"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence _onFailure="is_thirt:=false">
-            <SubTree ID="gentle_attack"
-                     type="7"
-                     linear_velocity="0.7"
-                     linear_acceleration="0.5"
-                     goal="-0.47;-0.11;90"
-                     _autoremap="true"/>
-            <SubTree ID="try_pick_up_weed_front"
-                     _autoremap="true"/>
-          </Sequence>
-          <Sequence>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="170"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m2"
-                           max_effort="0"
-                           max_velocity="150"
-                           position="137"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence _skipIf="is_second==false">
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <RetryUntilSuccessful num_attempts="7">
-              <Fallback>
-                <Move goal="-0.75;-1.05;0"
-                      ignore_obstacles="false"
-                      linear_velocity="0.9"
-                      frame_id="map"
-                      angular_velocity="1.5"
-                      mode="6"
-                      linear_acceleration="0.6"
-                      angular_acceleration="2.0"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="165"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.75;-0.795;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <Fallback>
-            <Timeout msec="3400">
-              <Move goal="-0.878;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-            <Sequence>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Translate frame_id="base_link"
-                             ignore_obstacles="false"
-                             x="0.07"
-                             error="{error}"
-                             linear_velocity="0.5"
-                             linear_acceleration="0.8"
-                             enable_sensors="false"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-              <Move goal="-0.65;-1.17;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="125"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.05"
-                         error="{error}"
-                         linear_velocity="0.07"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="214"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-          <ForceSuccess>
-            <Timeout msec="750">
-              <Move goal="-0.9;-0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-          </ForceSuccess>
-          <SubTree ID="try_put_plenter_back_down_new"
-                   _autoremap="true"/>
-          <ScoreboardTask points="12"
-                          task="ALTERNATIVE_SIDE"/>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.70;-0.765;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7"
-                                _skipIf="is_second==true || is_thirt==true">
-            <Fallback>
-              <Move goal="-0.70;-0.765;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="try_pick_up_pots_with_fork_new_alternative"
-                   _autoremap="true"/>
-          <ScoreboardTask points="16"
-                          task="ALTERNATIVE_PLENTER2"/>
-          <Sequence _onSuccess="is_in_home:=true"
-                    _onFailure="is_in_home:=false">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.03"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <Move goal="90"
-                    ignore_obstacles="true"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="185"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <ForceSuccess>
-              <Timeout msec="1000">
-                <Move goal="-0.45;-1.459;90"
-                      ignore_obstacles="true"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="2"
-                      linear_acceleration="0.8"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-              </Timeout>
-            </ForceSuccess>
-            <SubTree ID="try_put_plenter_back_up_new"
-                     _autoremap="true"/>
-            <Sequence>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <SubTree ID="try_put_field"
-                       _skipIf="is_thirt==false"
-                       _autoremap="true"/>
-            </Sequence>
-            <Move goal="90"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Move goal="123"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <SubTree ID="go_home_new"
-                     _skipIf="is_thirt==true"
-                     _autoremap="true"/>
-          </Sequence>
-        </Sequence>
-      </ForceSuccess>
-      <Sleep msec="120000"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_put_field">
-    <Sequence>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="0"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="275"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="180"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Sequence>
-        <Move goal="180"
-              ignore_obstacles="true"
-              linear_velocity="1.5"
-              frame_id="map"
-              angular_velocity="2.5"
-              mode="1"
-              linear_acceleration="1.0"
-              angular_acceleration="2.2"
-              reversing="0"/>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="true"
-                   x="0.10"
-                   error="{error}"
-                   linear_velocity="0.5"
-                   linear_acceleration="0.8"
-                   enable_sensors="false"/>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="174"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m4"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="285"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <ScoreboardTask points="12"
-                        task="PLANTS_WITH_POTS"/>
-        <RetryUntilSuccessful num_attempts="8">
-          <Fallback>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="false"
-                       x="-0.04"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Sequence>
-              <Sleep msec="700"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-        </RetryUntilSuccessful>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="72"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m3"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="225"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="true"
-                   x="-0.04"
-                   error="{error}"
-                   linear_velocity="0.5"
-                   linear_acceleration="0.8"
-                   enable_sensors="false"/>
-        <ScoreboardTask points="0"
-                        task="ONE_PLANT_IN_FIELD"/>
-      </Sequence>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_put_field_a">
-    <Sequence>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="0"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="275"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="180"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Sequence>
-        <Parallel failure_count="1"
-                  success_count="-1">
-          <Move goal="180"
-                ignore_obstacles="true"
-                linear_velocity="1.5"
-                frame_id="map"
-                angular_velocity="2.5"
-                mode="1"
-                linear_acceleration="1.0"
-                angular_acceleration="2.2"
-                reversing="0"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="225"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Parallel>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="true"
-                   x="0.10"
-                   error="{error}"
-                   linear_velocity="0.5"
-                   linear_acceleration="0.8"
-                   enable_sensors="false"/>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="174"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m4"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="285"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <ScoreboardTask points="12"
-                        task="PLANTS_WITH_POTS"/>
-        <RetryUntilSuccessful num_attempts="8">
-          <Fallback>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="false"
-                       x="-0.04"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Sequence>
-              <Sleep msec="700"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-        </RetryUntilSuccessful>
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="72"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m3"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="225"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Translate frame_id="base_link"
-                   ignore_obstacles="true"
-                   x="-0.04"
-                   error="{error}"
-                   linear_velocity="0.5"
-                   linear_acceleration="0.8"
-                   enable_sensors="false"/>
-        <ScoreboardTask points="0"
-                        task="ONE_PLANT_IN_FIELD"/>
-      </Sequence>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_yellow_alternative">
-    <Sequence>
-      <Script code="is_second:=true"/>
-      <Script code="is_first:=true"/>
-      <Script code="is_thirt:=true"/>
-      <ScoreboardTask points="15"
-                      task="THREE_PALENS"/>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence _onFailure="is_first=false">
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="230"
-                             position="0"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="180"
-                             position="240"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Move goal="0.75;0.75;0"
-                    ignore_obstacles="true"
-                    linear_velocity="1.7"
-                    frame_id="map"
-                    angular_velocity="2.4"
-                    mode="7"
-                    linear_acceleration="1.4"
-                    angular_acceleration="2.8"
-                    reversing="2"/>
-            </Parallel>
-            <RetryUntilSuccessful num_attempts="6">
-              <Fallback>
-                <Move goal="0.07;0.43;0"
-                      ignore_obstacles="false"
-                      linear_velocity="0.8"
-                      frame_id="map"
-                      angular_velocity="2.4"
-                      mode="6"
-                      linear_acceleration="0.5"
-                      angular_acceleration="2.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <SubTree ID="stepenik"
-                     _autoremap="true"/>
-          </Sequence>
-          <JointPosition instance="m12"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="85"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence _onFailure="is_second=false">
-            <RetryUntilSuccessful num_attempts="6">
-              <Fallback>
-                <Move goal="-0.5;0.57;0"
-                      ignore_obstacles="false"
-                      linear_velocity="0.6"
-                      frame_id="map"
-                      angular_velocity="2.4"
-                      mode="7"
-                      linear_acceleration="0.4"
-                      angular_acceleration="2.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.07"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="160"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="0.05"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="214"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence _onFailure="is_thirt:=false">
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m2"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="78"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="220"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <SubTree ID="gentle_attack"
-                     type="7"
-                     linear_velocity="0.7"
-                     linear_acceleration="0.5"
-                     goal="-0.47;0.12;-90"
-                     _autoremap="true"/>
-            <SubTree ID="try_pick_up_weed_front"
-                     _autoremap="true"/>
-          </Sequence>
-          <Sequence>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="170"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m2"
-                           max_effort="0"
-                           max_velocity="150"
-                           position="137"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence _skipIf="is_second==false">
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <RetryUntilSuccessful num_attempts="7">
-              <Fallback>
-                <Move goal="-0.75;1.05;0"
-                      ignore_obstacles="false"
-                      linear_velocity="0.9"
-                      frame_id="map"
-                      angular_velocity="1.5"
-                      mode="6"
-                      linear_acceleration="0.6"
-                      angular_acceleration="2.0"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="165"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.75;0.795;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <Fallback>
-            <Timeout msec="3150">
-              <Move goal="-0.86;0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-            <Sequence>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Translate frame_id="base_link"
-                             ignore_obstacles="true"
-                             x="0.05"
-                             error="{error}"
-                             linear_velocity="0.5"
-                             linear_acceleration="0.8"
-                             enable_sensors="false"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-              <Move goal="-0.65;1.17;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="125"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.07"
-                         error="{error}"
-                         linear_velocity="0.065"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="214"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-          <ForceSuccess>
-            <Timeout msec="600">
-              <Move goal="-0.91;0.79;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-          </ForceSuccess>
-          <SubTree ID="try_put_plenter_back_down_new"
-                   _autoremap="true"/>
-          <ScoreboardTask points="12"
-                          task="ALTERNATIVE_PLENTER_SIDE"/>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.70;0.765;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7"
-                                _skipIf="is_second==true || is_thirt==true">
-            <Fallback>
-              <Move goal="-0.70;0.765;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="try_pick_up_pots_with_fork_new_yellow_alternative"
-                   _autoremap="true"/>
-          <Sequence _onSuccess="is_in_home:=true"
-                    _onFailure="is_in_home:=false">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.03"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <Move goal="-90"
-                    ignore_obstacles="true"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="185"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <ForceSuccess>
-              <Timeout msec="1000">
-                <Move goal="-0.45;1.44;90"
-                      ignore_obstacles="true"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="2"
-                      linear_acceleration="0.8"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-              </Timeout>
-            </ForceSuccess>
-            <SubTree ID="try_put_plenter_back_up_new"
-                     _autoremap="true"/>
-            <ScoreboardTask points="16"
-                            task="ALTERNATIVE_PLENTER1"/>
-            <Sequence>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <SubTree ID="try_put_field"
-                       _skipIf="is_thirt==false"
-                       _autoremap="true"/>
-            </Sequence>
-            <Move goal="90"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Move goal="55"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <SubTree ID="go_home_yellow_new"
-                     _skipIf="is_thirt==true"
-                     _autoremap="true"/>
-          </Sequence>
-        </Sequence>
-      </ForceSuccess>
-      <Sleep msec="120000"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/try_put_plenter.xml b/mep3_behavior/strategies/try_put_plenter.xml
deleted file mode 100644
index d89cd547..00000000
--- a/mep3_behavior/strategies/try_put_plenter.xml
+++ /dev/null
@@ -1,1132 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="try_put_plenter_back">
-    <Sequence>
-      <SubTree ID="gentle_attack_back"
-               name="gentle_attack#22"
-               goal="-0.50;-0.7;0"
-               linear_acceleration="1.5"
-               linear_velocity="1.8"
-               type="3"
-               _autoremap="true"/>
-      <SubTree ID="gentle_attack_back"
-               name="gentle_attack#22"
-               goal="-0.68;-0.7;0"
-               linear_acceleration="1.5"
-               linear_velocity="1.8"
-               type="3"
-               _autoremap="true"/>
-      <Fallback>
-        <Timeout msec="3500">
-          <Move goal="-0.88;-0.7;0"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.5"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.23"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <ForceSuccess>
-        <Timeout msec="1300">
-          <Move goal="-0.91;-0.7;0"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.5"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-      </ForceSuccess>
-      <Rotate angle="0"
-              angular_velocity="1.8"
-              frame_id="map"
-              ignore_obstacles="true"
-              error="{error}"
-              angular_acceleration="1.8"/>
-      <Fallback>
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="140"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <JointPosition instance="m12"
-                         max_effort="0"
-                         max_velocity="150"
-                         position="75"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="232"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="190"
-                     position="180"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="200"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="280"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_BACK_1"
-                      _skipIf="put_back_1==false"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="160"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="0.1"
-                 error="{error}"
-                 linear_velocity="0.05"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_BACK_2"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_put_plenter_back_a">
-    <Sequence>
-      <SubTree ID="gentle_attack_back"
-               name="gentle_attack#22"
-               goal="-0.50;-0.7;0"
-               linear_acceleration="1.5"
-               linear_velocity="1.8"
-               type="7"
-               _autoremap="true"/>
-      <SubTree ID="gentle_attack_back"
-               name="gentle_attack#22"
-               goal="-0.68;-0.7;0"
-               linear_acceleration="1.5"
-               linear_velocity="1.8"
-               type="3"
-               _autoremap="true"/>
-      <Fallback>
-        <Timeout msec="2500">
-          <Move goal="-0.90;-0.73;0"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.5"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.23"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <ForceSuccess>
-        <Timeout msec="1500">
-          <Move goal="-0.94;-0.73;0"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.5"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-      </ForceSuccess>
-      <Rotate angle="0"
-              angular_velocity="1.8"
-              frame_id="map"
-              ignore_obstacles="true"
-              error="{error}"
-              angular_acceleration="1.8"/>
-      <Fallback>
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="140"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <JointPosition instance="m12"
-                         max_effort="0"
-                         max_velocity="150"
-                         position="75"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="232"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="190"
-                     position="180"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="200"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="280"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_BACK_1"
-                      _skipIf="put_back_1==false"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="160"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="0.1"
-                 error="{error}"
-                 linear_velocity="0.05"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_BACK_2"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_put_plenter_back_down_new">
-    <Sequence>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="85"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="185"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="109"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <Translate frame_id="base_link"
-                   ignore_obstacles="true"
-                   x="0.035"
-                   error="{error}"
-                   linear_velocity="0.010"
-                   linear_acceleration="0.005"
-                   enable_sensors="false"/>
-        <JointPosition instance="m12"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="119"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Sleep msec="500"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="50"
-                     position="150"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_put_plenter_back_up_new">
-    <Sequence>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="214"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="160"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="120"
-                     position="172"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="120"
-                     position="175"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="0.05"
-                 error="{error}"
-                 linear_velocity="0.01"
-                 linear_acceleration="0.005"
-                 enable_sensors="false"/>
-      <Sleep msec="500"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="120"
-                     position="250"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_put_plenter_back_yellow">
-    <Sequence>
-      <SubTree ID="gentle_attack_back"
-               name="gentle_attack#22"
-               goal="-0.50;0.7;0"
-               linear_acceleration="1.5"
-               linear_velocity="1.8"
-               type="3"
-               _autoremap="true"/>
-      <SubTree ID="gentle_attack_back"
-               name="gentle_attack#22"
-               goal="-0.68;0.7;0"
-               linear_acceleration="1.5"
-               linear_velocity="1.8"
-               type="3"
-               _autoremap="true"/>
-      <Fallback>
-        <Timeout msec="3500">
-          <Move goal="-0.88;0.7;0"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.5"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.23"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <ForceSuccess>
-        <Timeout msec="1300">
-          <Move goal="-0.925;0.70;0"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.5"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-      </ForceSuccess>
-      <Rotate angle="0"
-              angular_velocity="1.8"
-              frame_id="map"
-              ignore_obstacles="true"
-              error="{error}"
-              angular_acceleration="1.8"/>
-      <Fallback>
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="140"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <JointPosition instance="m12"
-                         max_effort="0"
-                         max_velocity="150"
-                         position="75"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="232"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="190"
-                     position="180"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="200"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="280"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_BACK_1"
-                      _skipIf="put_back_1==false"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="160"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="0.1"
-                 error="{error}"
-                 linear_velocity="0.05"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_BACK_2"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_put_plenter_back_yellow_a">
-    <Sequence>
-      <SubTree ID="gentle_attack_back"
-               name="gentle_attack#22"
-               goal="-0.50;0.75;0"
-               linear_acceleration="1.5"
-               linear_velocity="1.8"
-               type="3"
-               _autoremap="true"/>
-      <SubTree ID="gentle_attack_back"
-               name="gentle_attack#22"
-               goal="-0.68;0.75;0"
-               linear_acceleration="1.5"
-               linear_velocity="1.8"
-               type="3"
-               _autoremap="true"/>
-      <Fallback>
-        <Timeout msec="3500">
-          <Move goal="-0.875;0.75;0"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.5"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.23"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <ForceSuccess>
-        <Timeout msec="1300">
-          <Move goal="-0.925;0.75;0"
-                ignore_obstacles="true"
-                linear_velocity="0.3"
-                frame_id="map"
-                angular_velocity="1.5"
-                mode="3"
-                linear_acceleration="0.8"
-                angular_acceleration="1.8"
-                reversing="0"/>
-        </Timeout>
-      </ForceSuccess>
-      <Rotate angle="0"
-              angular_velocity="1.8"
-              frame_id="map"
-              ignore_obstacles="true"
-              error="{error}"
-              angular_acceleration="1.8"/>
-      <Fallback>
-        <JointPosition instance="m11"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="140"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <Sequence>
-          <JointPosition instance="m12"
-                         max_effort="0"
-                         max_velocity="150"
-                         position="75"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="232"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="5">
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <AlwaysFailure/>
-        </Sequence>
-      </Fallback>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="190"
-                     position="180"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="200"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="280"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_BACK_1"
-                      _skipIf="put_back_1==false"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="160"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="0.1"
-                 error="{error}"
-                 linear_velocity="0.05"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_BACK_2"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_put_plenter_front">
-    <Sequence>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="200"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <RetryUntilSuccessful num_attempts="5">
-          <Sequence>
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-            <JointPosition instance="m4"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="300"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <Move goal="-0.59;-1.20;180"
-                  ignore_obstacles="false"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="7"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m2"
-                             max_effort="0"
-                             max_velocity="180"
-                             position="84"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m1"
-                             max_effort="0"
-                             max_velocity="180"
-                             position="174"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="213"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="false"
-                       x="-0.03"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <AlwaysFailure/>
-          </Sequence>
-        </RetryUntilSuccessful>
-      </Fallback>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="180"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="70"
-                     position="220"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="150"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="70"
-                       position="235"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m4"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="300"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <ScoreboardTask points="15"
-                      task="PLENTER_FRONT_1"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m3"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="190"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="-0.1"
-                 error="{error}"
-                 linear_velocity="0.06"
-                 linear_acceleration="0.4"
-                 enable_sensors="false"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_FRONT_2"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_put_plenter_front_yellow">
-    <Sequence>
-      <Fallback>
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="200"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <RetryUntilSuccessful num_attempts="5">
-          <Sequence>
-            <Fallback>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="false"
-                         x="-0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-            <JointPosition instance="m4"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="300"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <Move goal="-0.59;1.20;180"
-                  ignore_obstacles="false"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="7"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m2"
-                             max_effort="0"
-                             max_velocity="180"
-                             position="84"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m1"
-                             max_effort="0"
-                             max_velocity="180"
-                             position="174"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="213"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="false"
-                       x="-0.03"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <AlwaysFailure/>
-          </Sequence>
-        </RetryUntilSuccessful>
-      </Fallback>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="180"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="70"
-                     position="220"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="150"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m1"
-                       max_effort="0"
-                       max_velocity="70"
-                       position="235"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m4"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="300"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <ScoreboardTask points="15"
-                      task="PLENTER_FRONT_1"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m2"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="100"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m3"
-                       max_effort="0"
-                       max_velocity="180"
-                       position="190"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="-0.1"
-                 error="{error}"
-                 linear_velocity="0.06"
-                 linear_acceleration="0.4"
-                 enable_sensors="false"/>
-      <ScoreboardTask points="12"
-                      task="PLENTER_FRONT_2"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="Rotate"
-            editable="true">
-      <input_port name="angle"/>
-      <input_port name="angular_velocity"
-                  default="1.5"/>
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/try_put_simple.xml b/mep3_behavior/strategies/try_put_simple.xml
deleted file mode 100644
index 9f531919..00000000
--- a/mep3_behavior/strategies/try_put_simple.xml
+++ /dev/null
@@ -1,110 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="try_put_simple">
-    <Sequence>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="250"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="0"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="201"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="160"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m1"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="230"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m4"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="300"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="107"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="184"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="false"
-                 x="-0.1"
-                 error="{error}"
-                 linear_velocity="0.03"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/try_translate.xml b/mep3_behavior/strategies/try_translate.xml
deleted file mode 100644
index 954aa027..00000000
--- a/mep3_behavior/strategies/try_translate.xml
+++ /dev/null
@@ -1,382 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="test">
-    <Sequence>
-      <Repeat num_cycles="5">
-        <Sequence>
-          <Sleep msec="2000"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.1"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <Sleep msec="2000"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="-0.1"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-        </Sequence>
-      </Repeat>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="test_lifts">
-    <Sequence>
-      <JointPosition instance="m15"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="299"
-                     tolerance="150"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="test_mechanism">
-    <TaskSequence>
-      <SubTree ID="new_init"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <JointPosition instance="m15"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="250"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Move goal="0.79;0.25;-90"
-            ignore_obstacles="true"
-            linear_velocity="1.2"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="7"
-            linear_acceleration="1.0"
-            angular_acceleration="1.8"
-            reversing="2"/>
-      <Parallel failure_count="1"
-                success_count="-1">
-        <JointPosition instance="m14"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="250"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-        <JointPosition instance="m15"
-                       max_effort="0"
-                       max_velocity="220"
-                       position="0"
-                       tolerance="10"
-                       feedback_effort="{feedback_effort}"
-                       feedback_position="{feedback_position}"
-                       result="{result}"/>
-      </Parallel>
-      <Move goal="0.79;-0.15;-90"
-            ignore_obstacles="true"
-            linear_velocity="1.8"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="7"
-            linear_acceleration="1.4"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move name="MoveWeed#2"
-            goal="-55"
-            ignore_obstacles="false"
-            linear_velocity="1.5"
-            frame_id="map"
-            angular_velocity="3.5"
-            mode="1"
-            linear_acceleration="1.0"
-            angular_acceleration="3.5"
-            reversing="2"/>
-      <FollowPath path="0.72;-0.15;-90|0.49;-0.05;-90|0.30;-0.18;-90|0.3;-0.40;90"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="85"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="180"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Move goal="0.3;-0.60;90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="7"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="2"/>
-      <JointPosition instance="m11"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="214"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <SubTree ID="gentle_attack"
-               goal="-0.30;-0.84;90"
-               linear_acceleration="1.0"
-               linear_velocity="1.2"
-               type="7"/>
-      <JointPosition instance="m2"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="78"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m3"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="215"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <SubTree ID="gentle_attack"
-               goal="-0.30;-0.65;90"
-               linear_acceleration="1.0"
-               linear_velocity="1.2"
-               type="7"/>
-      <SubTree ID="try_pick_up_weed_front"
-               _autoremap="true"/>
-      <Move goal="-0.85;-0.765;0"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="7"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="2"/>
-    </TaskSequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="test_sensors">
-    <Sequence>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="10000">
-          <Repeat num_cycles="7">
-            <Sequence>
-              <Sleep msec="1000"/>
-              <ForceSuccess>
-                <Translate frame_id="base_link"
-                           ignore_obstacles="false"
-                           x="0.8"
-                           error="{error}"
-                           linear_velocity="1.4"
-                           linear_acceleration="1.0"
-                           enable_sensors="false"/>
-              </ForceSuccess>
-              <Sleep msec="1000"/>
-              <ForceSuccess>
-                <Translate frame_id="base_link"
-                           ignore_obstacles="false"
-                           x="-0.8"
-                           error="{error}"
-                           linear_velocity="1.4"
-                           linear_acceleration="1.0"
-                           enable_sensors="false"/>
-              </ForceSuccess>
-            </Sequence>
-          </Repeat>
-        </Timeout>
-      </ForceSuccess>
-      <Repeat num_cycles="7">
-        <Sequence>
-          <Sleep msec="1000"/>
-          <ForceSuccess>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="false"
-                       x="0.8"
-                       error="{error}"
-                       linear_velocity="1.4"
-                       linear_acceleration="1.0"
-                       enable_sensors="true"/>
-          </ForceSuccess>
-          <Sleep msec="1000"/>
-          <ForceSuccess>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="false"
-                       x="-0.8"
-                       error="{error}"
-                       linear_velocity="1.4"
-                       linear_acceleration="1.0"
-                       enable_sensors="true"/>
-          </ForceSuccess>
-        </Sequence>
-      </Repeat>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="try_translate">
-    <Sequence>
-      <Sleep msec="3000"/>
-      <JointPosition instance="m14"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="5"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="220"
-                     position="85"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="wait_everytime">
-    <Sequence>
-      <WaitMatchStart state="2"/>
-      <SubTree ID="init_up"
-               _autoremap="true"/>
-      <Move goal="0;0;0"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="7"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Sleep msec="50000"/>
-      <Move goal="-0.43;-0.5;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="7"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <Move goal="-0.43;-0.1;-90"
-            ignore_obstacles="true"
-            linear_velocity="0.5"
-            frame_id="map"
-            angular_velocity="1.0"
-            mode="2"
-            linear_acceleration="0.8"
-            angular_acceleration="1.8"
-            reversing="0"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="180"
-                     position="177"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-      <Translate frame_id="base_link"
-                 ignore_obstacles="true"
-                 x="0.07"
-                 error="{error}"
-                 linear_velocity="0.5"
-                 linear_acceleration="0.8"
-                 enable_sensors="false"/>
-      <JointPosition instance="m12"
-                     max_effort="0"
-                     max_velocity="150"
-                     position="70"
-                     tolerance="10"
-                     feedback_effort="{feedback_effort}"
-                     feedback_position="{feedback_position}"
-                     result="{result}"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="FollowPath"
-            editable="true">
-      <input_port name="path"/>
-    </Action>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Control ID="TaskSequence"
-             editable="true"/>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/yellow_new_a.xml b/mep3_behavior/strategies/yellow_new_a.xml
deleted file mode 100644
index a254550a..00000000
--- a/mep3_behavior/strategies/yellow_new_a.xml
+++ /dev/null
@@ -1,93 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="yellow_new_a">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="init_up"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="89000">
-                  <Sequence>
-                    <SubTree ID="yellow_new_base_a"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_yellow_new_a"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <JointPosition instance="m2"
-                             max_effort="0"
-                             max_velocity="180"
-                             position="78"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m3"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="220"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="299"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/yellow_new_base.xml b/mep3_behavior/strategies/yellow_new_base.xml
deleted file mode 100644
index 4e83a421..00000000
--- a/mep3_behavior/strategies/yellow_new_base.xml
+++ /dev/null
@@ -1,488 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="yellow_new_base_s">
-    <Sequence>
-      <Script code="alternative:=false"/>
-      <Script code="is_in_home:=false"/>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence>
-            <JointPosition instance="m15"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="299"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <RetryUntilSuccessful num_attempts="4">
-              <Fallback>
-                <Move goal="0.75;-0.25;-90"
-                      ignore_obstacles="false"
-                      linear_velocity="1.0"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="3"
-                      linear_acceleration="0.7"
-                      angular_acceleration="1.8"
-                      reversing="0"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <ScoreboardTask points="30"
-                            task="PANELS"/>
-          </Sequence>
-          <ForceSuccess>
-            <SubTree ID="try_yellow_alternative"
-                     _autoremap="true"/>
-          </ForceSuccess>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <JointPosition instance="m15"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="0"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <RetryUntilSuccessful num_attempts="8">
-            <Fallback>
-              <Move name="MoveWeed#2"
-                    goal="-55"
-                    ignore_obstacles="false"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="3.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="3.5"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="0.40;0.18;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="6"
-                    linear_acceleration="0.3"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="stepenik"
-                   _autoremap="true"/>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <JointPosition instance="m14"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="180"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <RetryUntilSuccessful num_attempts="6">
-              <Fallback>
-                <Move name="MoveWeed#2"
-                      goal="-90"
-                      ignore_obstacles="false"
-                      linear_velocity="1.5"
-                      frame_id="map"
-                      angular_velocity="3.5"
-                      mode="1"
-                      linear_acceleration="1.0"
-                      angular_acceleration="3.5"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="0.26;0.75;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="0.8"
-                    mode="6"
-                    linear_acceleration="0.4"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <SubTree ID="gentle_attack"
-                   type="7"
-                   linear_velocity="1.2"
-                   linear_acceleration="1.0"
-                   goal="-0.30;0.84;-90"/>
-          <JointPosition instance="m1"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="174"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m2"
-                         max_effort="0"
-                         max_velocity="180"
-                         position="78"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <JointPosition instance="m3"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="220"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <SubTree ID="gentle_attack"
-                   type="7"
-                   linear_velocity="1.2"
-                   linear_acceleration="1.0"
-                   goal="-0.30;0.645;-90"/>
-          <SubTree ID="try_pick_up_weed_front"
-                   _autoremap="true"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.65;0.795;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="6"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <Fallback>
-            <Timeout msec="3150">
-              <Move name="MoveFAllback"
-                    goal="-0.87;0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-            <Sequence>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Translate frame_id="base_link"
-                             ignore_obstacles="false"
-                             x="0.07"
-                             error="{error}"
-                             linear_velocity="0.5"
-                             linear_acceleration="0.8"
-                             enable_sensors="false"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-              <Move goal="-0.60;1.24;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="125"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.05"
-                         error="{error}"
-                         linear_velocity="0.07"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="214"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-          <ForceSuccess>
-            <Timeout msec="1000">
-              <Move name="MoveStack"
-                    goal="-0.902;0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-          </ForceSuccess>
-          <SubTree ID="try_put_plenter_back_down_new"
-                   _autoremap="true"/>
-          <ScoreboardTask points="12"
-                          task="PLENTER_SIDE"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.12"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.75;0.765;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.36;1.06;88"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="try_pick_up_pots_with_fork_yellow_new"
-                   _autoremap="true"/>
-          <Sequence _onSuccess="is_in_home:=true"
-                    _onFailure="is_in_home:=false">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.035"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <Move goal="-90"
-                    ignore_obstacles="true"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="185"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <ForceSuccess>
-              <Timeout msec="1000">
-                <Move goal="-0.39;1.450;90"
-                      ignore_obstacles="true"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="2"
-                      linear_acceleration="0.8"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-              </Timeout>
-            </ForceSuccess>
-            <SubTree ID="try_put_plenter_back_up_new"
-                     _autoremap="true"/>
-            <ScoreboardTask points="16"
-                            task="PLENTER1"/>
-            <Sequence>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.15"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <SubTree ID="try_put_field"
-                       _autoremap="true"/>
-            </Sequence>
-            <Move goal="90"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Move goal="55"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-          </Sequence>
-        </Sequence>
-      </ForceSuccess>
-      <Sleep msec="120000"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/yellow_new_base_a.xml b/mep3_behavior/strategies/yellow_new_base_a.xml
deleted file mode 100644
index cfddfc63..00000000
--- a/mep3_behavior/strategies/yellow_new_base_a.xml
+++ /dev/null
@@ -1,595 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="yellow_new_base_a">
-    <Sequence>
-      <Script code="alternative:=false"/>
-      <Script code="is_in_home:=false"/>
-      <ForceSuccess>
-        <Sequence>
-          <JointPosition instance="m15"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="299"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <JointPosition instance="m15"
-                           max_effort="0"
-                           max_velocity="65"
-                           position="270"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <RetryUntilSuccessful num_attempts="4">
-              <Fallback>
-                <Move goal="0.75;-0.25;-90"
-                      ignore_obstacles="false"
-                      linear_velocity="1.0"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="3"
-                      linear_acceleration="0.7"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Parallel>
-          <ScoreboardTask points="30"
-                          task="PANELS"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="0"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="250"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <RetryUntilSuccessful num_attempts="8">
-              <Fallback>
-                <Move name="MoveWeed#2"
-                      goal="-65"
-                      ignore_obstacles="false"
-                      linear_velocity="1.5"
-                      frame_id="map"
-                      angular_velocity="3.5"
-                      mode="1"
-                      linear_acceleration="1.0"
-                      angular_acceleration="3.5"
-                      reversing="0"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <RetryUntilSuccessful num_attempts="7">
-              <Fallback>
-                <Move goal="0.35;0.23;-90"
-                      ignore_obstacles="false"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="6"
-                      linear_acceleration="0.3"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <JointPosition instance="m12"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="180"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <RetryUntilSuccessful num_attempts="6">
-                <Fallback>
-                  <Move name="MoveWeed#2"
-                        goal="90"
-                        ignore_obstacles="false"
-                        linear_velocity="1.5"
-                        frame_id="map"
-                        angular_velocity="3.5"
-                        mode="1"
-                        linear_acceleration="1.0"
-                        angular_acceleration="3.5"
-                        reversing="2"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-            </Parallel>
-            <RetryUntilSuccessful num_attempts="7">
-              <Fallback>
-                <Move goal="0.26;-0.75;90"
-                      ignore_obstacles="false"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="0.8"
-                      mode="7"
-                      linear_acceleration="0.4"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="214"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-          <Sequence>
-            <JointPosition instance="m12"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="214"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Fallback>
-          <Sequence>
-            <SubTree ID="gentle_attack"
-                     type="7"
-                     linear_velocity="1.2"
-                     linear_acceleration="1.0"
-                     goal="-0.32;-0.84;90"/>
-            <JointPosition instance="m1"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="174"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m2"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="78"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="220"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <SubTree ID="gentle_attack"
-                     type="7"
-                     linear_velocity="1.2"
-                     linear_acceleration="1.0"
-                     goal="-0.32;-0.60;90"/>
-            <SubTree ID="try_pick_up_weed_front"
-                     _autoremap="true"/>
-          </Sequence>
-          <Sequence>
-            <JointPosition instance="m3"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="85"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-            <JointPosition instance="m2"
-                           max_effort="0"
-                           max_velocity="180"
-                           position="137"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Sequence>
-        </Fallback>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Parallel failure_count="1"
-                    success_count="-1">
-            <ForceSuccess>
-              <RetryUntilSuccessful num_attempts="7">
-                <Fallback>
-                  <Move goal="-0.66;1.07;90"
-                        ignore_obstacles="false"
-                        linear_velocity="0.9"
-                        frame_id="map"
-                        angular_velocity="1.5"
-                        mode="6"
-                        linear_acceleration="0.6"
-                        angular_acceleration="2.0"
-                        reversing="0"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-            </ForceSuccess>
-            <JointPosition instance="m11"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="165"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Parallel>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.73;0.795;0"
-                    ignore_obstacles="false"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="6"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <JointPosition instance="m11"
-                         max_effort="0"
-                         max_velocity="220"
-                         position="214"
-                         tolerance="10"
-                         feedback_effort="{feedback_effort}"
-                         feedback_position="{feedback_position}"
-                         result="{result}"/>
-          <Fallback>
-            <Timeout msec="3650">
-              <Move name="MoveFAllback"
-                    goal="-0.87;0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="7"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-            <Sequence>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Translate frame_id="base_link"
-                             ignore_obstacles="false"
-                             x="0.07"
-                             error="{error}"
-                             linear_velocity="0.5"
-                             linear_acceleration="0.8"
-                             enable_sensors="false"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-              <Move goal="-0.60;1.18;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.9"
-                    frame_id="map"
-                    angular_velocity="1.5"
-                    mode="7"
-                    linear_acceleration="0.6"
-                    angular_acceleration="2.0"
-                    reversing="2"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="125"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.05"
-                         error="{error}"
-                         linear_velocity="0.07"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="214"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <AlwaysFailure/>
-            </Sequence>
-          </Fallback>
-          <ForceSuccess>
-            <Timeout msec="800">
-              <Move name="MoveStack"
-                    goal="-0.902;0.795;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="2"/>
-            </Timeout>
-          </ForceSuccess>
-          <SubTree ID="try_put_plenter_back_down_new"
-                   _autoremap="true"/>
-          <ScoreboardTask points="12"
-                          task="PLENTER_SIDE"/>
-          <Translate frame_id="base_link"
-                     ignore_obstacles="true"
-                     x="0.12"
-                     error="{error}"
-                     linear_velocity="0.5"
-                     linear_acceleration="0.8"
-                     enable_sensors="false"/>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.72;0.765;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <RetryUntilSuccessful num_attempts="7">
-            <Fallback>
-              <Move goal="-0.72;0.765;0"
-                    ignore_obstacles="true"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="3"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"
-                    reversing="0"/>
-              <Sequence>
-                <Sleep msec="500"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <SubTree ID="try_pick_up_pots_with_fork_yellow_new"
-                   _autoremap="true"/>
-          <Sequence _onSuccess="is_in_home:=true"
-                    _onFailure="is_in_home:=false">
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.035"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <Move goal="-90"
-                    ignore_obstacles="true"
-                    linear_velocity="1.5"
-                    frame_id="map"
-                    angular_velocity="2.5"
-                    mode="1"
-                    linear_acceleration="1.0"
-                    angular_acceleration="2.2"
-                    reversing="0"/>
-              <JointPosition instance="m11"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="185"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Parallel>
-            <ForceSuccess>
-              <Timeout msec="1000">
-                <Move goal="-0.39;1.450;90"
-                      ignore_obstacles="true"
-                      linear_velocity="0.5"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="2"
-                      linear_acceleration="0.8"
-                      angular_acceleration="1.8"
-                      reversing="2"/>
-              </Timeout>
-            </ForceSuccess>
-            <SubTree ID="try_put_plenter_back_up_new"
-                     _autoremap="true"/>
-            <ScoreboardTask points="16"
-                            task="PLENTER1"/>
-            <Sequence>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="0.18"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <Translate frame_id="base_link"
-                         ignore_obstacles="true"
-                         x="-0.04"
-                         error="{error}"
-                         linear_velocity="0.5"
-                         linear_acceleration="0.8"
-                         enable_sensors="false"/>
-              <SubTree ID="try_put_field_a"
-                       _autoremap="true"/>
-            </Sequence>
-            <Move goal="90"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-            <Translate frame_id="base_link"
-                       ignore_obstacles="true"
-                       x="-0.15"
-                       error="{error}"
-                       linear_velocity="0.5"
-                       linear_acceleration="0.8"
-                       enable_sensors="false"/>
-            <Move goal="55"
-                  ignore_obstacles="true"
-                  linear_velocity="0.5"
-                  frame_id="map"
-                  angular_velocity="1.0"
-                  mode="1"
-                  linear_acceleration="0.8"
-                  angular_acceleration="1.8"
-                  reversing="0"/>
-          </Sequence>
-        </Sequence>
-      </ForceSuccess>
-      <Sleep msec="120000"/>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="Translate"
-            editable="true">
-      <input_port name="frame_id"
-                  default="base_link"/>
-      <input_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="x"/>
-      <input_port name="error"
-                  default="{error}"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="enable_sensors"
-                  default="false"/>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/yellow_new_s.xml b/mep3_behavior/strategies/yellow_new_s.xml
deleted file mode 100644
index c09c268b..00000000
--- a/mep3_behavior/strategies/yellow_new_s.xml
+++ /dev/null
@@ -1,77 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="yellow_new_s">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="init_up"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="89000">
-                  <Sequence>
-                    <SubTree ID="yellow_new_base_s"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_yellow_new"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="299"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/yellow_new_ss.xml b/mep3_behavior/strategies/yellow_new_ss.xml
deleted file mode 100644
index cf62c450..00000000
--- a/mep3_behavior/strategies/yellow_new_ss.xml
+++ /dev/null
@@ -1,127 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="yellow_new_ss">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="init_up"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="89000">
-                  <Sequence>
-                    <ForceSuccess>
-                      <Sequence>
-                        <JointPosition instance="m15"
-                                       max_effort="0"
-                                       max_velocity="220"
-                                       position="288"
-                                       tolerance="10"
-                                       feedback_effort="{feedback_effort}"
-                                       feedback_position="{feedback_position}"
-                                       result="{result}"/>
-                        <Fallback>
-                          <RetryUntilSuccessful num_attempts="4">
-                            <Fallback>
-                              <Move goal="0.75;0.45;-90"
-                                    ignore_obstacles="false"
-                                    linear_velocity="1.2"
-                                    frame_id="map"
-                                    angular_velocity="1.0"
-                                    mode="7"
-                                    linear_acceleration="1.0"
-                                    angular_acceleration="1.8"
-                                    reversing="0"/>
-                              <Sequence>
-                                <Sleep msec="500"/>
-                                <AlwaysFailure/>
-                              </Sequence>
-                            </Fallback>
-                          </RetryUntilSuccessful>
-                        </Fallback>
-                      </Sequence>
-                    </ForceSuccess>
-                    <SubTree ID="try_yellow_alternative"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_yellow_new"
-                       _autoremap="true"/>
-              <JointPosition instance="m15"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="299"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-      <input_port name="reversing"
-                  default="0"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/yellow_panel_simple.xml b/mep3_behavior/strategies/yellow_panel_simple.xml
deleted file mode 100644
index 633fe5b6..00000000
--- a/mep3_behavior/strategies/yellow_panel_simple.xml
+++ /dev/null
@@ -1,473 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="yellow_panel_simple_a">
-    <TaskSequence>
-      <Script code="is_in_home:=false"/>
-      <Script code="is_pick_first:=true"/>
-      <Script code="is_pick_second:=true"/>
-      <Script code="is_failed_picking:=false"/>
-      <ForceSuccess>
-        <Sequence>
-          <Sequence _onFailure="is_pick_first=false">
-            <RetryUntilSuccessful num_attempts="8">
-              <Fallback>
-                <Move goal="0.27;-0.9;90"
-                      ignore_obstacles="false"
-                      linear_velocity="1.8"
-                      frame_id="map"
-                      angular_velocity="1.0"
-                      mode="7"
-                      linear_acceleration="1.5"
-                      angular_acceleration="1.8"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <SubTree ID="gentle_attack"
-                     goal="0.27;-0.8;90"
-                     linear_acceleration="1.5"
-                     linear_velocity="1.8"
-                     type="3"/>
-            <SubTree ID="gentle_attack"
-                     type="3"
-                     linear_velocity="1.2"
-                     linear_acceleration="1.0"
-                     goal="0.27;-0.64;90"/>
-          </Sequence>
-          <SubTree ID="try_pick_up_weed_front"
-                   _autoremap="true"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Fallback>
-            <Sequence>
-              <Sequence _onFailure="is_pick_second=false">
-                <RetryUntilSuccessful num_attempts="15">
-                  <Fallback>
-                    <Move name="MoveWeed#2"
-                          goal="-135"
-                          ignore_obstacles="false"
-                          linear_velocity="1.5"
-                          frame_id="map"
-                          angular_velocity="3.5"
-                          mode="1"
-                          linear_acceleration="1.0"
-                          angular_acceleration="3.5"/>
-                    <Sleep msec="700"/>
-                  </Fallback>
-                </RetryUntilSuccessful>
-                <SubTree ID="gentle_attack"
-                         type="3"
-                         linear_velocity="1.8"
-                         linear_acceleration="1.5"
-                         goal="-0.31;-1.0;-90"
-                         _autoremap="false"/>
-                <SubTree ID="gentle_attack_back"
-                         name="gentle_attack#22"
-                         type="3"
-                         linear_velocity="1.8"
-                         linear_acceleration="1.5"
-                         goal="-0.25;-0.75;-90"
-                         _autoremap="false"/>
-                <SubTree ID="gentle_attack_back"
-                         name="gentle_attack#32"
-                         type="3"
-                         linear_velocity="1.2"
-                         linear_acceleration="1.0"
-                         goal="-0.25;-0.64;-90"/>
-              </Sequence>
-              <SubTree ID="try_pick_up_weed_back"
-                       _autoremap="true"/>
-            </Sequence>
-            <JointPosition instance="m14"
-                           max_effort="0"
-                           max_velocity="220"
-                           position="280"
-                           tolerance="10"
-                           feedback_effort="{feedback_effort}"
-                           feedback_position="{feedback_position}"
-                           result="{result}"/>
-          </Fallback>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Fallback>
-            <SubTree ID="wait_safe"
-                     goal="-0.52;0.0;90"
-                     linear_acceleration="0.6"
-                     linear_velocity="0.7"
-                     type="7"
-                     _onFailure="is_failed_picking=true"
-                     _autoremap="true"/>
-            <RetryUntilSuccessful num_attempts="10">
-              <Fallback>
-                <Navigate behavior_tree=""
-                          goal="-0.50;0.7;0"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Fallback>
-          <Fallback _skipIf="is_failed_picking==true">
-            <SubTree ID="wait_safe"
-                     goal="-0.71;1.05;90"
-                     linear_acceleration="0.6"
-                     linear_velocity="0.7"
-                     type="6"
-                     _autoremap="true"/>
-            <RetryUntilSuccessful num_attempts="10">
-              <Fallback>
-                <Navigate behavior_tree=""
-                          goal="-0.50;0.7;0"/>
-                <Sequence>
-                  <Sleep msec="500"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Fallback>
-          <RetryUntilSuccessful num_attempts="10">
-            <Fallback>
-              <Move goal="-0.71;0.55;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"/>
-              <Sequence>
-                <Sleep msec="700"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <RetryUntilSuccessful num_attempts="10">
-            <Fallback>
-              <Move goal="-0.73;0.75;-90"
-                    ignore_obstacles="false"
-                    linear_velocity="0.5"
-                    frame_id="map"
-                    angular_velocity="1.0"
-                    mode="2"
-                    linear_acceleration="0.8"
-                    angular_acceleration="1.8"/>
-              <Sequence>
-                <Sleep msec="700"/>
-                <AlwaysFailure/>
-              </Sequence>
-            </Fallback>
-          </RetryUntilSuccessful>
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess name="ForceSuccess#1"
-                            _skipIf="is_pick_second==false">
-                <Fallback>
-                  <SubTree ID="try_put_plenter_back_yellow_a"
-                           _autoremap="true"/>
-                  <Sequence>
-                    <JointPosition instance="m12"
-                                   max_effort="0"
-                                   max_velocity="150"
-                                   position="75"
-                                   tolerance="10"
-                                   feedback_effort="{feedback_effort}"
-                                   feedback_position="{feedback_position}"
-                                   result="{result}"/>
-                    <JointPosition instance="m11"
-                                   max_effort="0"
-                                   max_velocity="180"
-                                   position="142"
-                                   tolerance="10"
-                                   feedback_effort="{feedback_effort}"
-                                   feedback_position="{feedback_position}"
-                                   result="{result}"/>
-                    <JointPosition instance="m14"
-                                   max_effort="0"
-                                   max_velocity="220"
-                                   position="280"
-                                   tolerance="10"
-                                   feedback_effort="{feedback_effort}"
-                                   feedback_position="{feedback_position}"
-                                   result="{result}"/>
-                  </Sequence>
-                </Fallback>
-              </ForceSuccess>
-              <ForceSuccess name="ForceSuccess#2"
-                            _skipIf="is_pick_first==false">
-                <SubTree ID="try_pick_up_pots_with_fork_yellow_a"
-                         _autoremap="true"/>
-              </ForceSuccess>
-            </Sequence>
-          </ForceSuccess>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <SubTree ID="go_home_yellow_a"
-                   _onSuccess="is_in_home=true"
-                   _autoremap="true"/>
-          <Sleep msec="12000"/>
-        </Sequence>
-      </ForceSuccess>
-    </TaskSequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="yellow_panel_simple_m">
-    <TaskSequence>
-      <Script code="is_in_home:=false"/>
-      <Script code="is_pick_first:=true"/>
-      <Script code="is_pick_second:=true"/>
-      <ForceSuccess>
-        <RetryUntilSuccessful num_attempts="6">
-          <Fallback>
-            <Move goal="0.805; 0.55;-90"
-                  ignore_obstacles="true"
-                  linear_velocity="1.0"
-                  frame_id="map"
-                  angular_velocity="1.8"
-                  mode="7"
-                  linear_acceleration="1.0"
-                  angular_acceleration="0.1"/>
-            <ForceFailure>
-              <Sleep msec="500"/>
-            </ForceFailure>
-          </Fallback>
-        </RetryUntilSuccessful>
-      </ForceSuccess>
-      <ScoreboardTask points="15"
-                      task="SOLAR_PANELS"/>
-      <ForceSuccess>
-        <Sequence>
-          <Sequence _onFailure="is_pick_first=false">
-            <RetryUntilSuccessful num_attempts="10">
-              <Fallback>
-                <Move goal="-45"
-                      ignore_obstacles="false"
-                      linear_velocity="1.5"
-                      frame_id="map"
-                      angular_velocity="4.5"
-                      mode="1"
-                      linear_acceleration="1.3"
-                      angular_acceleration="4.5"/>
-                <Sleep msec="500"/>
-              </Fallback>
-            </RetryUntilSuccessful>
-            <Parallel failure_count="1"
-                      success_count="-1">
-              <SubTree ID="drop_fork_down"
-                       _autoremap="true"/>
-              <RetryUntilSuccessful num_attempts="8">
-                <Fallback>
-                  <Move goal="0.25;0.9;-90"
-                        ignore_obstacles="false"
-                        linear_velocity="1.8"
-                        frame_id="map"
-                        angular_velocity="1.0"
-                        mode="3"
-                        linear_acceleration="1.5"
-                        angular_acceleration="1.8"/>
-                  <Sequence>
-                    <Sleep msec="500"/>
-                    <AlwaysFailure/>
-                  </Sequence>
-                </Fallback>
-              </RetryUntilSuccessful>
-            </Parallel>
-            <SubTree ID="gentle_attack"
-                     goal="0.25;0.8;-90"
-                     linear_acceleration="1.5"
-                     linear_velocity="1.8"
-                     type="3"/>
-            <SubTree ID="gentle_attack"
-                     type="3"
-                     linear_velocity="1.2"
-                     linear_acceleration="1.0"
-                     goal="0.25;0.64;-90"/>
-          </Sequence>
-          <SubTree ID="try_pick_up_weed_front"
-                   _autoremap="true"/>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <ForceSuccess name="ForceSuccess#0">
-            <Fallback>
-              <Sequence>
-                <Sequence _onFailure="is_pick_second=false">
-                  <RetryUntilSuccessful num_attempts="5">
-                    <Fallback>
-                      <Move name="MoveWeed#2"
-                            goal="-45"
-                            ignore_obstacles="false"
-                            linear_velocity="1.5"
-                            frame_id="map"
-                            angular_velocity="3.5"
-                            mode="1"
-                            linear_acceleration="1.0"
-                            angular_acceleration="3.5"/>
-                      <Sleep msec="500"/>
-                    </Fallback>
-                  </RetryUntilSuccessful>
-                  <SubTree ID="gentle_attack"
-                           type="3"
-                           linear_velocity="1.8"
-                           linear_acceleration="1.5"
-                           goal="-0.30;1.0;90"/>
-                  <SubTree ID="gentle_attack_back"
-                           name="gentle_attack#22"
-                           type="3"
-                           linear_velocity="1.8"
-                           linear_acceleration="1.5"
-                           goal="-0.25;0.75;90"
-                           _autoremap="true"/>
-                  <SubTree ID="gentle_attack_back"
-                           name="gentle_attack#32"
-                           type="3"
-                           linear_velocity="1.2"
-                           linear_acceleration="1.0"
-                           goal="-0.25;0.64;90"/>
-                </Sequence>
-                <SubTree ID="try_pick_up_weed_back"
-                         _autoremap="true"/>
-              </Sequence>
-              <JointPosition instance="m14"
-                             max_effort="0"
-                             max_velocity="220"
-                             position="280"
-                             tolerance="10"
-                             feedback_effort="{feedback_effort}"
-                             feedback_position="{feedback_position}"
-                             result="{result}"/>
-            </Fallback>
-          </ForceSuccess>
-          <ForceSuccess name="ForceSuccess#1"
-                        _skipIf="is_pick_second==false">
-            <Fallback>
-              <SubTree ID="try_put_plenter_back_yellow"
-                       _onFailure="is_pick_second==false"
-                       _autoremap="true"/>
-              <Sequence>
-                <JointPosition instance="m12"
-                               max_effort="0"
-                               max_velocity="150"
-                               position="75"
-                               tolerance="10"
-                               feedback_effort="{feedback_effort}"
-                               feedback_position="{feedback_position}"
-                               result="{result}"/>
-                <JointPosition instance="m11"
-                               max_effort="0"
-                               max_velocity="180"
-                               position="142"
-                               tolerance="10"
-                               feedback_effort="{feedback_effort}"
-                               feedback_position="{feedback_position}"
-                               result="{result}"/>
-                <JointPosition instance="m14"
-                               max_effort="0"
-                               max_velocity="220"
-                               position="280"
-                               tolerance="10"
-                               feedback_effort="{feedback_effort}"
-                               feedback_position="{feedback_position}"
-                               result="{result}"/>
-              </Sequence>
-            </Fallback>
-          </ForceSuccess>
-          <ForceSuccess name="ForceSuccess#2"
-                        _skipIf="is_pick_first==false">
-            <SubTree ID="try_pick_up_pots_with_fork_yellow"
-                     _autoremap="true"/>
-          </ForceSuccess>
-        </Sequence>
-      </ForceSuccess>
-      <ForceSuccess>
-        <Sequence>
-          <Fallback>
-            <SubTree ID="try_pick_up_random_weed_yellow"
-                     _onSuccess="is_in_home=true"
-                     _autoremap="true"/>
-            <RetryUntilSuccessful num_attempts="3"
-                                  _onSuccess="is_in_home=true">
-              <Fallback>
-                <Navigate behavior_tree=""
-                          goal="-0.48;1.05;0"/>
-                <Sequence>
-                  <Sleep msec="600"/>
-                  <AlwaysFailure/>
-                </Sequence>
-              </Fallback>
-            </RetryUntilSuccessful>
-          </Fallback>
-          <Sleep msec="12000"/>
-          <SubTree ID="go_home"
-                   _skipIf="is_in_home==true"
-                   _onSuccess="is_in_home=true"
-                   _autoremap="true"/>
-          <Sleep msec="12000"/>
-        </Sequence>
-      </ForceSuccess>
-    </TaskSequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="JointPosition"
-            editable="true">
-      <input_port name="instance"/>
-      <input_port name="max_effort"
-                  default="0"/>
-      <input_port name="max_velocity"
-                  default="180"/>
-      <input_port name="position"/>
-      <input_port name="tolerance"
-                  default="10"/>
-      <output_port name="feedback_effort"
-                   default="{feedback_effort}"/>
-      <output_port name="feedback_position"
-                   default="{feedback_position}"/>
-      <output_port name="result"
-                   default="{result}"/>
-    </Action>
-    <Action ID="Move"
-            editable="true">
-      <input_port name="goal"/>
-      <inout_port name="ignore_obstacles"
-                  default="false"/>
-      <input_port name="linear_velocity"
-                  default="0.5"/>
-      <input_port name="frame_id"
-                  default="map"/>
-      <input_port name="angular_velocity"
-                  default="1.0"/>
-      <input_port name="mode"
-                  default="7"/>
-      <input_port name="linear_acceleration"
-                  default="0.8"/>
-      <input_port name="angular_acceleration"
-                  default="1.8"/>
-    </Action>
-    <Action ID="Navigate"
-            editable="true">
-      <input_port name="behavior_tree"/>
-      <input_port name="goal"/>
-    </Action>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Control ID="TaskSequence"
-             editable="true"/>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_behavior/strategies/yellow_simple_m.xml b/mep3_behavior/strategies/yellow_simple_m.xml
deleted file mode 100644
index 650340a3..00000000
--- a/mep3_behavior/strategies/yellow_simple_m.xml
+++ /dev/null
@@ -1,85 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<root BTCPP_format="4">
-  <BehaviorTree ID="yellow_simple_a">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="init"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="87000">
-                  <Sequence>
-                    <SubTree ID="yellow_panel_simple_a"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_yellow_a"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <BehaviorTree ID="yellow_simple_m">
-    <Sequence>
-      <ScoreboardTask points="0"
-                      task="INIT_DISPLAY"/>
-      <SubTree ID="init_up"
-               _autoremap="true"/>
-      <WaitMatchStart state="2"/>
-      <ForceSuccess>
-        <Timeout msec="100000">
-          <ForceSuccess>
-            <Sequence>
-              <ForceSuccess>
-                <Timeout msec="87000">
-                  <Sequence>
-                    <SubTree ID="yellow_panel_simple_m"
-                             _autoremap="true"/>
-                    <Sleep msec="120000"/>
-                  </Sequence>
-                </Timeout>
-              </ForceSuccess>
-              <SubTree ID="go_home_yellow"
-                       _skipIf="is_in_home==true"
-                       _autoremap="true"/>
-              <ScoreboardTask points="10"
-                              task="FINISH"/>
-              <Sleep msec="120000"/>
-            </Sequence>
-          </ForceSuccess>
-        </Timeout>
-      </ForceSuccess>
-    </Sequence>
-  </BehaviorTree>
-
-  <!-- Description of Node Models (used by Groot) -->
-  <TreeNodesModel>
-    <Action ID="ScoreboardTask"
-            editable="true">
-      <input_port name="points"
-                  default="0">points scored, can be negative</input_port>
-      <input_port name="task"
-                  default="store_sample_to_work_shed">unique task name</input_port>
-    </Action>
-    <Action ID="WaitMatchStart"
-            editable="true">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
-  </TreeNodesModel>
-
-</root>
diff --git a/mep3_bringup/launch/robot_launch.py b/mep3_bringup/launch/robot_launch.py
index 026950ec..cb4368ea 100644
--- a/mep3_bringup/launch/robot_launch.py
+++ b/mep3_bringup/launch/robot_launch.py
@@ -22,8 +22,8 @@
 
 INITIAL_POSE_MATRIX = [
     # ('big', 'blue', [0.03, -1.15, pi/2]), # centralno polje
-    ('big', 'blue', [0.815, -1.33, pi/2]), # polje kod panela
-    ('big', 'yellow', [0.80, 1.33, -pi/2]), # polje kod panela
+    ('big', 'blue', [-0.75, -0.335, 0.0]), # polje kod panela; Bilo je (0.815, -1.33, pi/2) 2:-0.78 -0.35
+    ('big', 'yellow', [-0.75, 0.335, 0.0]), # polje kod panela
     
     ('big', 'blue_a', [0.045, 1.31, -pi/2]), # centralno polje
     ('big', 'yellow_a', [0.045, -1.31, pi/2]), # centralno polje