{
  "start": {
    "state": "Idle"
  },
  "template_transitions": {
    "battery_low": {
      "target": "GoToBattery",
      "conditions": [
        {
          "type": ">=",
          "left": {
            "value": 20
          },
          "right": {
            "accessor": [
              "character",
              "battery_charge"
            ]
          }
        }
      ]
    }
  },
  "states": {
    "Idle": {
      "transitions": [
        {
          "template": "battery_low"
        },
        {
          "target": "PickupTrash",
          "signal": "waste_detected",
          "conditions": [
            {
              "type": ">=",
              "left": {
                "value": 400
              },
              "right": {
                "function": "distance",
                "args": [
                  {
                    "accessor": [
                      "character",
                      "position"
                    ]
                  },
                  {
                    "accessor": [
                      "signals",
                      "waste_detected",
                      "args",
                      "waste",
                      "position"
                    ]
                  }
                ]
              }
            }
          ],
          "transfer": {
            "waste": {
              "accessor": [
                "signals",
                "waste_detected",
                "args",
                "waste"
              ]
            }
          }
        }
      ]
    },
    "PickupTrash": {
      "transitions": [
        {
          "template": "battery_low"
        },
        {
          "target": "ThrowTrashAway",
          "signal": "waste_detected",
          "conditions": [
            {
              "type": ">=",
              "left": {
                "value": 75
              },
              "right": {
                "function": "distance",
                "args": [
                  {
                    "accessor": [
                      "character",
                      "position"
                    ]
                  },
                  {
                    "accessor": [
                      "signals",
                      "waste_detected",
                      "args",
                      "waste",
                      "position"
                    ]
                  }
                ]
              }
            }
          ],
          "transfer": {
            "waste": {
              "accessor": [
                "signals",
                "waste_detected",
                "args",
                "waste"
              ]
            }
          }
        }
      ]
    },
    "ThrowTrashAway": {
      "transitions": [
        {
          "template": "battery_low"
        },
        {
          "target": "Idle",
          "conditions": [
            {
              "type": ">=",
              "left": {
                "value": 90
              },
              "right": {
                "function": "distance",
                "args": [
                  {
                    "accessor": [
                      "character",
                      "position"
                    ]
                  },
                  {
                    "accessor": [
                      "root_nodes",
                      "StateMachineWorld",
                      "child_nodes",
                      "TrashBin",
                      "position"
                    ]
                  }
                ]
              }
            }
          ]
        }
      ]
    },
    "GoToBattery": {
      "transitions": [
        {
          "target": "RechargeBattery",
          "conditions": [
            {
              "type": ">=",
              "left": {
                "value": 90
              },
              "right": {
                "function": "distance",
                "args": [
                  {
                    "accessor": [
                      "character",
                      "position"
                    ]
                  },
                  {
                    "accessor": [
                      "root_nodes",
                      "StateMachineWorld",
                      "child_nodes",
                      "Battery",
                      "position"
                    ]
                  }
                ]
              }
            }
          ]
        }
      ]
    },
    "RechargeBattery": {
      "transitions": [
        {
          "target": {
            "type": "history_first",
            "ignore": [
              "RechargeBattery",
              "GoToBattery"
            ],
            "restore_transfer_variables": true
          },
          "conditions": [
            {
              "type": "<=",
              "left": {
                "value": 100
              },
              "right": {
                "accessor": [
                  "character",
                  "battery_charge"
                ]
              }
            }
          ]
        }
      ]
    }
  }
}