Eurobot-2026-Main/note at main · DIT-ROBOTICS/Eurobot-2026-Main · GitHub

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<!-- TAKE 2: Fill FRONT side (0) -->
            <DecisionCore
                ActionType="take"
                RobotSideIdx="0"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="TakeSubTree" _autoremap="true"/>

            <!-- TAKE 3: Fill RIGHT side (1) -->
            <DecisionCore
                ActionType="take"
                RobotSideIdx="1"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="TakeSubTree" _autoremap="true"/>

            <!-- TAKE 4: Fill LEFT side (3) -->
            <DecisionCore
                ActionType="take"
                RobotSideIdx="3"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="TakeSubTree" _autoremap="true"/>

            <!-- PUT 1: Empty BACK side (2) to pantry -->
            <DecisionCore
                ActionType="put"
                RobotSideIdx="2"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="PutSubTree" _autoremap="true"/>

            <!-- PUT 2: Empty FRONT side (0) to pantry -->
            <DecisionCore
                ActionType="put"
                RobotSideIdx="0"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="PutSubTree" _autoremap="true"/>

            <!-- PUT 3: Empty RIGHT side (1) to pantry -->
            <DecisionCore
                ActionType="put"
                RobotSideIdx="1"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="PutSubTree" _autoremap="true"/>

            <!-- PUT 4: Empty LEFT side (3) to pantry -->
            <DecisionCore
                ActionType="put"
                RobotSideIdx="3"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="PutSubTree" _autoremap="true"/>

            <!-- ========== CYCLE 2: Fill 4 sides again, empty to pantries ========== -->

            <!-- TAKE 5: Fill BACK side (2) -->
            <DecisionCore
                ActionType="take"
                RobotSideIdx="2"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="TakeSubTree" _autoremap="true"/>

            <!-- TAKE 6: Fill FRONT side (0) -->
            <DecisionCore
                ActionType="take"
                RobotSideIdx="0"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="TakeSubTree" _autoremap="true"/>

            <!-- TAKE 7: Fill RIGHT side (1) -->
            <DecisionCore
                ActionType="take"
                RobotSideIdx="1"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="TakeSubTree" _autoremap="true"/>

            <!-- TAKE 8: Fill LEFT side (3) -->
            <DecisionCore
                ActionType="take"
                RobotSideIdx="3"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="TakeSubTree" _autoremap="true"/>

            <!-- PUT 5: Empty BACK side (2) to pantry -->
            <DecisionCore
                ActionType="put"
                RobotSideIdx="2"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="PutSubTree" _autoremap="true"/>

            <!-- PUT 6: Empty FRONT side (0) to pantry -->
            <DecisionCore
                ActionType="put"
                RobotSideIdx="0"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="PutSubTree" _autoremap="true"/>

            <!-- PUT 7: Empty RIGHT side (1) to pantry -->
            <DecisionCore
                ActionType="put"
                RobotSideIdx="1"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="PutSubTree" _autoremap="true"/>

            <!-- PUT 8: Empty LEFT side (3) to pantry -->
            <DecisionCore
                ActionType="put"
                RobotSideIdx="3"
                nextActionType="{next_action}"
                targetPoseIdx="{target_idx}"
                targetPoseSideIdx="{target_side}"
                targetDirection="{target_dir}"/>
            <SubTree ID="PutSubTree" _autoremap="true"/>