Behavior Tree

Node Configuration

Node Operations

1. Add nodes: Drag and drop nodes from the Node Menu into the Editing area.
2. Delete nodes: Select the node to be deleted in the Editing area and click the delete button on the toolbar.
3. Rename nodes: Select the node to be renamed in the Editing area and enter the new name in the node name area above the Attribute Pane.
4. Connect nodes: To connect Node A with Node B, drag a yellow connection line from the bottom of Node A and connect it to the top of Node B. Release the mouse to complete the connection.

5. Delete node connections: Hold down the right mouse button and drag over the connection line you want to delete to cut off the link between the two nodes.
6. Organize nodes: Select the root node and press the L key to automatically organize the tree’s layout.

Common Configuration of Nodes

The behavior tree’s node conditions and attribute settings often require obtaining the attributes of digital twins, digital twins, and the positions of digital twins.

Select Attributes

Attribute Source

• Attribute of the digital twin: Select an attribute from the digital twin template.
  • Get digital twin from
    • Self: Select the digital twin that is executing the behavior tree currently.
    • Temporary digital twin: Select a digital twin that was temporarily created or used during the execution process.
    • Digital twin in the attribute: Select a specific digital twin based on the unique identifier stored in the attributes.
    • All the digital twins in the scene: Search for digital twins throughout the entire scene.
  • Behavior tree attribute: Retrieve the attribute value from the current behavior tree’s attributes.
  • Current attribute: The attribute being traversed during the behavior tree’s traversal of the container’s attributes is referred to as the current attribute.

Select Value

Get value from

• Manual entry
  • Value
• Attribute of the digital twin
  • Get digital twin from: Select digital twin
  • Target attribute
• Behavior tree attribute
  • Behavior tree attribute: Select a specific behavior tree attribute
• Current attribute: The attribute being traversed during the behavior tree’s traversal of the container’s attributes is referred to as the current attribute.

Select Digital Twin

Digital Twin Source

Filtering Methods for All Digital Twins in the Scene

When Get Digital Twin from is set to All Digital Twins in the Scene, you can filter the target digital twins in the following ways:

Advanced Selection Methods for Self, Temporary Digital Twin, and Digital Twin from Attribute

When Digital Twin Source is set to Self, Temporary Digital Twin, or Digital Twin from Attribute, the system first determines a base digital twin. You can then use an advanced selection method to find other objects related to that digital twin.

Find the Type of Object: Select the target object to find. The target object can be the digital twin itself or a specific role within the digital twin.

• Digital Twin: Finds the entire digital twin object. This is used to operate on a digital twin as a whole or obtain its properties. For example, you can find and operate on a robot, a production line device, or a shelf unit.
• Element in the Digital Twin: Finds a specific role within a digital twin. This type is used to operate on a specific part inside a digital twin. For example, the digital twin template of a material generator may include several roles, such as the generator model, outlet, and progress bar.

Select Position

Methods to get the position

• Manual entry
• Directly input the 3D coordinates of a point in the format x, y, z.
• Example: Input “10,20,30” represents a specific spatial location.
• Location of digital twin: Use the current location of the digital twin.
• Digital twin attribute: Obtain the location from the digital twin’s attributes.
• Behavior tree attribute: Obtain the location from the attributes of the behavior tree.
• Path point in the attributes: Use attribute values to find points in the path map.

Coordinate Types

• Local coordinate: Coordinates relative to a reference point. For example, the local coordinates of goods on a conveyor belt are relative to the center point of the conveyor belt.
• Coordinate: Global coordinate, or world coordinate.

Digital Twin Nodes

Digital twin nodes are used for creating, deleting, and manipulating digital twins and digital twin attributes.

Create Digital Twin

Function: Create a digital twin corresponding to a specified digital twin template with a given pose (position, rotation angle).

Parameter

• Template

Select the template for creating the digital twin.

• Position

Set the location where the new digital twin will be created in the scene.

• Rotation

Set the rotation angle of the new digital twin.

Example

This example demonstrates how to configure the “Create Digital Twin” node so that Digital Twin A creates a new digital twin at its output port:

1. Template

• • Get value from: Select “Attribute of the digital twin”
  • Get digital twin from: Select “Self”
  • Target attribute: Select “Digital Twin A’s Template” > “Template used to generate digital twins” (This is the custom template identifier attribute defined in Digital Twin A’s template by the user.)

2. Position

• • Get value from: Select “Attribute of the digital twin”
  • Get digital twin from: Select “Self”
  • Target attribute: Select “Digital Twin A’s Template” > “Output port”  > “The location of the port”

3. Rotation

• • Manual entry: Set the rotation angle to (0, 0, 0).

Delete Digital Twin

Function: Delete a specified digital twin. For example, automatically remove products from the production line that have expired or are no longer needed.

Parameter

• Target digital twin: Specify the digital twin object to be deleted.

• Get digital twin from
  • Self: Delete the digital twin currently executing the behavior tree.
  • Temporary digital twin: Delete the temporary digital twin that was automatically generated under specific conditions.
  • Digital twin in the attribute: Find and delete a specific digital twin based on the identifier stored in the attributes.
  • All the digital twins in the scene: Traverse all digital twins in the scene and delete those that meet the specified conditions.

Example

When using a destructor on a factory production line, you can configure the “Delete Digital Twin” node to automatically remove unwanted products. The specific configuration is as follows:

Target digital twin: Select “Temporary Digital Twin” to handle automatically generated temporary products or parts that need to be deleted during runtime.

Set Attributes

Function: Set any attributes of a digital twin or behavior tree. You can update product status, adjust production equipment parameters, or control specific behaviors in the process by configuring the Set attributes node.

Parameter

• Target attribute

Specify the attribute to be set, which can be any attribute within a digital twin or behavior tree.

• Attribute Source
  • Attribute of the digital twin: Select an attribute from a specific digital twin.
  • Behavior tree attribute: Retrieve a value from the current behavior tree’s attributes.
  • Current attribute: The attribute being traversed during the behavior tree’s traversal of the container’s attributes is referred to as the current attribute.
• Strategy for setting value
  • Replace the original value: Directly replace the existing attribute value with the new one.
  • Sum with original value: Add the new value to the current attribute value.
• Value:

The value to be set can be specified in one of the following ways:

• • Manual entry: Directly enter the value.
  • Attribute of the digital twin: Retrieve the value from the specified digital twin’s attributes.
  • Behavior tree attribute: Retrieve the value from the behavior tree’s attributes.
  • Current attribute: The attribute being traversed during the behavior tree’s traversal of the container’s attributes is referred to as the current attribute.

Set Digital Twin Pose

Function: Set the position and rotation of a digital twin or elements within the digital twin. For example, adjust the position and angle of a robot arm to perform a specific task.

Parameter

• Target

Specify the object whose pose is to be adjusted. This can be the digital twin itself or a specific element within the digital twin.

• • Digital Twin: Select the digital twin to adjust.
  • Element in the digital twin: Select a specific element in the digital twin for pose adjustment.

• Position

Set the coordinates of the digital twin or element in the scene.

• Rotation

Set the rotation angle of the digital twin or element.

• Configure the Parent Object: When enabled, you can specify a new parent object for the current target object. After this is set, the target object is attached under the new parent object.
• Pose Change Method:

Specifies how the pose is calculated:

• • Set the Target Value: Directly sets the position and rotation of the target object to the values specified in Position and Rotation.
  • Perform Addition Operation with the Target Value: Adds the values specified in Position and Rotation to the current position and rotation of the target object.

Set parent object of digital twins

Function: Set a digital twin or one of its elements as a child object of another digital twin or its element. For example, in the assembly of production equipment, a component can be set as a child object of the machine.

Parameter

• Target

Specify the object for setting the hierarchical relationship. This can be a digital twin or a specific element within the digital twin.

• • Digital Twin: Select the digital twin as the target object.
  • Element in the digital twin: Select a specific element in the digital twin as the target object.

• No parent object: Remove the parent-child relationship of the target object, making it no longer part of any parent object.
• New parent object

Select a new parent object to attach the target object to, establishing a new parent-child relationship.

• • Digital twin: Select a new digital twin as the parent object.
  • Element in the digital twin: Select a specific element within the digital twin as the new parent object.

Keep coordinate unchanged: Check this option to maintain the target object’s coordinates, even if its parent-child relationship is changed.

Get digital twin

Function: Set the specified digital twin as the current digital twin, or store the digital twin’s identifier in a designated attribute for easy reference and use in subsequent processes.

Parameter

• Target

Specify the source of the digital twin to be retrieved.

• • Self: The digital twin currently executing the behavior tree.
  • Temporary digital twin: A digital twin dynamically created during execution.
  • Digital twin in the attribute: Retrieve the digital twin identifier from an attribute and locate the corresponding digital twin.
  • All digital twins in the scene: Search for digital twins that meet the criteria across the entire scene.

• Digital twin configuration

Choose how to handle the retrieved digital twin.

• • Set digital twin as current: Set the retrieved digital twin as the current one.
  • Store digital twin identifier in attribute: Save the retrieved digital twin identifier to the target attribute for later use.

Get Position in Object

Function: Gets the coordinates of a specified point in the bounding box of the target object model, such as the center point of the top face or bottom face. This node is commonly used for object alignment, stacking, gripping, and handling.

Parameter Description

Specified Point Type

Show or Hide Digital Twin

Function: Use this node to control the visibility of a digital twin or an element within it in the scene. For example, you can hide or show specific digital twins during certain steps to help users focus on the current task.

Parameter

Target Type

Change Attribute to Vector3

Function: Combine three different values (such as the X, Y, and Z axis values of position or rotation) into a single three-dimensional vector (Vector3).

Parameter

• Attribute 1

The first component of the vector (typically the X-axis).

• Attribute 2

The second component of the vector (Y-axis).

• Attribute 3

The third component of the vector (Z-axis).

Convert Vector3 to Attribute

Function

Splits a 3D vector (Vector3) into three independent numeric values, corresponding to the X, Y, and Z axes. Commonly used to convert position or rotation vectors into individual axis values for further calculation or logic processing.

Parameters

• Source Vector3 Property: Specifies the Vector3 property to be converted (can be entered manually or selected from existing properties).
• Store X Value: When enabled, stores the X component of the Vector3 into a property.
• Store Y Value: When enabled, stores the Y component of the Vector3 into a property.
• Store Z Value: When enabled, stores the Z component of the Vector3 into a property.

Delete Elements in the Container

Function

This node removes an element from a specified container property. Supported container types include:

• List: Stores multiple elements in sequence, accessible by index.
• Dictionary: Stores elements as key–value pairs, suitable for identifier-based access.

Parameters

Set List Element Index

Function
This node reorders elements in a list. By specifying the element’s current index and target index, you can move it to the desired position, thereby changing the order of the list.

Parameters

• Target Attribute: The list property to be adjusted. List indices start at 0.
  • Example: In the list [A, B, C], element A has index 0, and B has index 1.
• Current Index: The current index of the element.
• Target Index: The new index where the element should be moved.

Get List Element Index

Function: This node is used to search for a target value in a specified list property and return the index position of that value in the list. This node can be used to locate a specific element in a list during runtime, such as finding the position of a material in a production queue.

Parameter

• Target Attribute: Specifies the source list property on which the search operation is performed.
• Target Value: Specifies the target content to search for in the list, or the property value used for matching. If the list contains multiple identical values, the node returns the index position of the first matching item.
• Target Index: Specifies an integer property used to store the search result, that is, the index position of the target value in the list.

Set Vector3 Axis Value

Function
This node modifies a single axis (X / Y / Z) of a Vector3 property without affecting its other components. It is commonly used for local adjustments of position, rotation, or scale.

Parameters

• Target Attribute: The Vector3 property to be modified (e.g., position, rotation).
• Target Axis: The axis to modify, selectable from X, Y, or Z.
• Target Value: The new value to assign to the selected axis.

Coordinate Conversion

Function: This node is used to convert coordinates between world space and local space, making it easier to accurately calculate object positions under different hierarchy relationships.

Parameter

• Get Vector3 Attribute: Specifies the original coordinate data to be converted.
• Set Coordinate Conversion Type:
  Specifies the direction of coordinate conversion. Available options are:
  • World to Local Coordinates
  • Local to World Coordinates
• Target: Specifies the digital twin or role used as the reference for coordinate conversion. The default value is Self.
• Save Result to Target Attribute: Specifies a Vector3 property used to store the converted coordinate result.

Path Nodes

Path nodes are used for configuring and controlling the moving path of digital twins.

Move Digital Twins Along a Path

Function
This node moves a digital twin or a role within the twin along a specified path.

Typical Use Cases

• Defining path and speed for AGVs (Automated Guided Vehicles)

• Controlling crane movements during material handling

Parameter Description

1. Target and Path

2. Start Point Configuration

3. Path Point Management

4. Rotation Control

5. Speed Control

6. Smoothness

Set Digital Twin Moving Path

Function: Save a specified path to the digital twin or an element within it. By setting the path, speed, and starting point, the object can move along the path when needed, such as transporting goods on a conveyor belt.

Parameter

• Target to be moved

Choose the target to move along the path. This can be the entire digital twin or a specific element within it.

• • Digital twin: Select the entire digital twin as the moving object.
  • Element in the digital twin: Select an element within the digital twin to move.

• Target path

Define the path for the digital twin or element to follow. The path can be entered manually or selected from existing attributes.

• Reverse: Check this box to make the digital twin move in the opposite direction along the path.
• The starting point of the movement

Set the starting position for the digital twin’s movement.

• Target speed

Set the speed at which the digital twin moves. Speed can be entered manually or pulled from attributes.

• Keep the original angle when entering the path

Check this box to keep the digital twin’s original rotation angle when it enters the path, without adjusting it based on the path’s direction.

Example: The following example demonstrates how to use the “Set digital twin moving path” node to set a movement path for items on a conveyor belt.

Move One Step

Function: Move the target digital twin one step at the configured speed. For example, move an object on a conveyor belt one step to simulate the process of gradual movement of the object on the conveyor belt.

Parameter

• Target to be moved: Select the object to move, which can be the entire digital twin or a specific element within it.
  • Digital twin: Select the digital twin as the moving object.
  • Element in the digital twin: Select an element within the digital twin as the moving object.
• Target speed: Set the target speed for movement.
• Rotate during movement: Check this option to have the object rotate along the movement direction while moving. This option is checked by default.
• Turn radius: Set the turn radius for the target object. A larger value results in smoother turns.

Generate Path

Function
This node creates a path in the scene. You can define the start point, end point, or additional path points either by coordinates or by referencing existing path points. A completely new path can be generated, or an existing path can be extended.

Parameters

• Point Entry Method: Defines how to specify the start, end, or additional points.
  • Use Point Coordinates: Input specific coordinates (Vector3), e.g., (1, 2, 3).
  • Use Path Points: Input the name of an existing path point, e.g., point0.
• Path Generation Mode:
  • Generate New Path: Creates a new path based on the defined start and end points.
  • Append to Path: Extends an existing path by adding a new segment at the end.
• Path Generation Method:
  • Based on Existing Path: Finds the shortest path along existing path points.
  • Direct Connection by Coordinates: Generates a straight path based on the coordinates of the target points. Supports setting rotation and speed.
• Start Point: Specifies the starting point of the path.
• End Point: Specifies the endpoint of the path.
• Save Path to Target Attribute: Select a property to store the newly generated path for later use or reuse.

Track Path Planning

Function: Set the digital twin’s pursuit target, shortest path, and starting point to automatically navigate and chase the target digital twin. For example, a robotic arm grabbing a moving item on a conveyor belt.

Parameter

• Save the path to the target attribute: Specify where the generated path will be saved after planning.
• Starting point: Set the starting point for path tracking.
• Target to be pursued
  • Digital twin: Select the target digital twin as the tracking object.
  • Element in the digital twin: Select a specific element within the digital twin as the tracking object.

Pathfinding

Function
This node enables autonomous pathfinding. On a specified navigation surface, the system calculates the optimal movement path to a given destination and drives the target object to reach it.
Typical use cases include dynamic path planning and scheduling for devices such as AMRs (Autonomous Mobile Robots).

Parameter Description

1. Target Settings

2. Destination Configuration

3. Execution Control

Simple Move

Function: Controls a digital twin or actor to move in a straight line by a specified direction and distance without configuring a complex path in advance. This is suitable for simple displacement and fine position adjustment.

Parameter

• Target: Specifies the object to move. Digital Twin or Actor in Digital Twin can be selected.
• Local X Offset: Sets the distance the target object moves along its own local X-axis direction.
• Local Y Offset: Sets the distance the target object moves along its own local Y-axis direction.
• Local Z Offset: Sets the distance the target object moves along its own local Z-axis direction.
• Movement Duration: Sets the total duration required to complete the offsets above.

Port Nodes

Get Digital Twins from the Input Port

Function: Get the digital twin from the specified input/output port and set it as the current digital twin or save it to a target attribute.

Parameter

• Target Port: Choose the input or output port from which to retrieve the digital twin.
• Digital twin configuration
  • Set as current digital twin: Set the retrieved digital twin as the active one for the current operation.
  • Store digital twin identifier in attribute: Save the retrieved digital twin to the selected attribute.
• Remove the digital twin from the port: Check this option to remove the digital twin from the specified port.

Remove digital twins from the input port

Function: Delete the digital twin at the input port.

Parameter

• Target port: Select the port from which to remove the digital twin.

Place digital twins to the port

Function: Place the target digital twin at the specified port.

Parameter

• Target port: Select the port where the digital twin will be placed.
• Target digital twin: Specify the digital twin to be placed at the port.

Get Port Position

Function: Dynamically gets the three-dimensional coordinates of the specified input/output at runtime. It supports getting the position of the remote input/output directly connected to the current input/output.

Parameter

• Target Port: Specifies the input/output object whose position needs to be obtained.
• Target Attribute: Specifies a property used to store the result, that is, the obtained input/output coordinate data.
• Use Remote Ports:
  • Enabled: Returns the position of the input/output directly connected to the current input/output. If the current object is an output, it returns the position of the directly connected input. If the current object is an input, it returns the position of the directly connected output.
  • Disabled (default): Returns the position of the currently selected input/output itself.
• Use World Coordinates

Sets the reference coordinate system of the returned coordinates:

• Enabled (default): Returns the absolute coordinates in the scene.
• Disabled: Returns relative coordinates.

Queue Nodes

Outbound Sorting

Function: Takes digital twins out of a specified storage area to simulate goods outbound or object transfer from a storage area.

Parameter

• Target Storage Area: Select the storage area on which to perform the outbound operation.
• Retrieval Strategy: Defines how objects are retrieved from the storage area. The following strategies are supported:
  • First In, Last Out (FILO): Prioritizes retrieving the object that entered the storage area most recently.
  • Retrieve Nearest Object (XZ Plane Only): Prioritizes retrieving the object that is closest on the horizontal plane.
  • Remove Specified Object: Retrieves the specified target object.
• Keep Object in Storage Area: When enabled, only the target object information is obtained, and the object is not actually removed from the storage area.
• Pickup Position: Specifies a property used to receive and store the coordinate data of the retrieved object’s current position.
• Pickup Rotation: Specifies a property used to receive and store the current rotation angle data of the retrieved object.
• Target Attribute: Specifies a property of the String or Object type used to receive and record the digital twin reference or identifier of the retrieved object.

Inbound sorting

Function: This node is used to place a specified digital twin into a target storage area, simulating the process of storing cargo or placing an object in a storage area.

Parameter

• Target Storage Area: Select the storage area where the digital twin will be stored
• Digital Twin to Store: Specify the digital twin to be placed in the storage area.
• Move Object: 

  Sets whether the system automatically moves the digital twin into the storage area.

  • Enabled (default): The system automatically moves the digital twin and places it in the storage area.
  • Disabled: You need to manually specify the position of the digital twin after it is stored.
• Placement Position: When Move Object is disabled, this is used to manually set the coordinate position of the digital twin after it is stored.

Role nodes

Play animation

Function: Play a specified animation for a digital twin or a specific element within the digital twin, with the default setting to play it once.

Parameter

• Target: Select the object for the animation playback.
  • Digital twin: Choose the entire digital twin as the object for animation playback.
  • Element in the digital twin: Choose a specific element in the digital twin as the object for animation playback.
• Animation control: Set the playback options for the animation.
  • Animation Status
    • Play: Start playing the animation.
    • Pause: Pause the current animation.
    • Resume: Continue playing the paused animation.
    • Restart: Restart the animation from the beginning.
  • Play mode
    • Default: Read the loop mode from the animation clip (default is to play once).
    • Play Once: Stop the animation when it reaches the end of the clip.
    • Loop: Restart the animation from the beginning when it reaches the end.
    • Ping Pong: When time reaches the end of the animation clip, time will ping pong back between the beginning and end.
    • Clamp Forever: Plays back the animation. When it reaches the end, it will keep playing the last frame and never stop playing.
  • Animation name: Manually input the name of the animation. The digital twin or element must contain this animation. You can view the animation names through DataMesh Importer.
    • Animation speed: Set the speed of the animation playback, default is 1x speed

Example: The following example shows how to use the “Play Animation” node to play the “Pick and Move Object” animation for the “Six-Axis Robotic Arm.”

• Target: Element in the digital twin: Six-Axis Robotic Arm
• Animation control
  • Animation status: Play
  • Animation mode: Default
  • Animation name: Pick and Move Object
  • Animation speed: 2 (2x speed)

Tool nodes

Idle

Function: Stop the execution of the behavior tree.

Example:

The following Idle node uses the condition “Check if digital twins already exist at the port” to determine when to stop the behavior tree. The behavior tree stops running when other digital twins are present at the port.

Log

Function: The log node is used to output specified text content, which is displayed in the “Output Information” panel in the scene playback interface.

Parameter

• Content to be printed: Manually enter the text to be output.

Wait

Function: The wait node is used to pause the execution of the behavior tree until the set waiting time has elapsed. Once the waiting time ends, the behavior tree will continue to execute the nodes following the wait node.

Parameter

• Waiting time: Set the duration for which the behavior tree will pause.
  • Manual entry: Manually specify the waiting time (in seconds).
  • Attribute of the digital twin: Use a digital twin attribute value as the waiting time.
  • Behavior tree attribute: Use a behavior tree attribute to define the waiting time.
  • Current attribute: The attribute currently being traversed by the behavior tree is treated as the “current” attribute.
• Save waiting time to the attribute: Check this option to save the waiting time to a specified target attribute for future use or recording.
  • Target attribute: Select the attribute where the waiting time will be saved.

Behavior tree nodes

Add behavior tree

Function: Add the specified behavior tree to the target digital twin.

Parameter

• Target digital twin: Select the digital twin to which the behavior tree will be added.
• Target behavior tree: Choose the behavior tree to be added to the digital twin.

Remove behavior tree

Function: Remove the target behavior tree from the target digital twin.

Parameter

• Target digital twin: Select the digital twin from which the behavior tree will be removed.
• Target behavior tree: Select the behavior tree to be removed.
• Delete Self: When enabled, the behavior tree containing the current node is removed after the behavior tree finishes running. This is suitable for one-time command behavior trees, such as trolley movement or equipment actions triggered on demand by FactVerse AI or an external system. After the action is completed, the behavior tree is automatically cleaned up to prevent it from continuing to remain and run on the digital twin.

Math nodes

Math nodes are used to perform various mathematical operations and apply the results to digital twin attributes.

Radom number

Function: Output a random number.

Addition

Function: Select two attribute values of the digital twin for addition, and either replace a specific attribute value of the digital twin with the result or add the result to it.

Subtraction

Function: Select two attribute values of the digital twin for subtraction, and either replace a specific attribute value of the digital twin with the result or add the result to it.

Multiplication

Function: Select two attribute values of the digital twin for multiplication, and either replace a specific attribute value of the digital twin with the result or add the result to it.

Division

Function: Select two attribute values of the digital twin for division, and either replace a specific attribute value of the digital twin with the result or add the result to it.

Orthostatic Distribution

Function: Generate output values based on a normal distribution using the input value.

Poisson Distribution

Function: Generate output values based on a Poisson distribution using the input value.

Sin Function

Function: Convert the input value to the corresponding sine value and output it.

Cos Function

Function: Convert the input value to the corresponding cosine value and output it.

Tan Function

Function: Convert the input value to the corresponding tangent value and output it.

Quantity Statistics

Function: Counts the number of objects in the scene that match tags. Single-tag counting and multi-tag batch counting are supported.

Configuration Item Description

• Target

Specifies the object range that needs to participate in calculation. The following methods are supported:

• • Single tag: Manually enter a tag name in the Properties Pane, or select a string property that stores the tag name.
  • Multiple tags (batch): Select a List property. The system calculates all objects corresponding to the tags included in the list at the same time.
• Save Result to Target Attribute: Saves the counting result, that is, the total number of matching objects. The result type is integer (Int).

Event nodes

Receive event

Function: Used to listen for and respond to a specified event. Only one digital twin can listen for and respond to this event. For example, if two AGVs need to compete for the same cargo, the receive event node can be used to ensure that only one AGV responds to the cargo arrival event, avoiding conflicts.

Parameter

• Event identifier: Specify the event identifier for which to listen.
• Save the received digital twin to the target attribute: Enable this option to save the detected event identifier to a target attribute for use in subsequent operations or logic checks.

Send event

Function: Send a specified event to trigger actions or behaviors in other digital twins. For example, on a production line, after one processing step is completed, an event can be sent to notify the next processing step’s digital twin to start working.

Parameter

• Event identifier: Specify the event identifier to send, used to notify other digital twins to perform related actions.
• Send digital twin: Send the digital twin along with the event, allowing other digital twins to use it when receiving the event.