runtime/rbs_bt_executor/bt_trees/grasp_object.xml

<?xml version='1.0' encoding='utf-8'?>
<root BTCPP_format="4">
  <BehaviorTree ID="GraspObject">
    <Sequence>


      <!-- <Script code="open_gripper_limit:='-0.014'" /> -->
      <!-- <Script code="close_gripper_limit:='0.0'" /> -->
      <!---->
      <!-- <Script code="robot_name:='rbs_arm'" /> -->
      <!-- <Script code="object_name:='box'" /> -->
      <!---->
      <!-- <Script code="grasp_service:='/get_grasp_poses'" /> -->
      <!-- <Script code="move_action:='/mtp_jtc'" /> -->
      <!-- <Script code="grpper_action:='/gripper_controller/gripper_cmd'" /> -->

      <Action ID="GetGraspPose"
        object_name="box"
        service_name="{grasp_service}"
        grasp_pose="{grasp_pose}"
        pregrasp_pose="{pregrasp_pose}"
        postgrasp_pose="{postgrasp_pose}" />

      <Action ID="MoveToPose" pose="{pregrasp_pose}" duration="5.0" robot_name="{robot_name}"
        action_name="{move_action}" />

      <Action ID="GripperCommand" open_limit="{open_gripper_limit}" close_limit="{close_gripper_limit}" state="open"
        action_name="{gripper_action}" />

      <Action ID="MoveToPose" pose="{grasp_pose}" duration="2.0" robot_name="{robot_name}"
        action_name="{move_action}" />

      <Action ID="GripperCommand" open_limit="{open_gripper_limit}" close_limit="{close_gripper_limit}" state="close"
        action_name="{gripper_action}" />

      <Action ID="MoveToPose" pose="{postgrasp_pose}" duration="2.0" robot_name="{robot_name}"
        action_name="{move_action}" />
    </Sequence>
  </BehaviorTree>

  <TreeNodesModel>
    <Action ID="GetGraspPose">
      <input_port name="object_name" />
      <input_port name="service_name" />
      <output_port name="grasp_pose" />
      <output_port name="pregrasp_pose" />
      <output_port name="postgrasp_pose" />
    </Action>

    <Action ID="MoveToPose">
      <input_port name="pose" />
      <input_port name="robot_name" />
      <input_port name="action_name" />
    </Action>

    <Action ID="GripperCommand">
      <input_port name="open_limit" />
      <input_port name="close_limit" />
      <input_port name="state" />
      <input_port name="action_name"/>
    </Action>
  </TreeNodesModel>
</root>