Decorator Nodes

A decorator node has exactly one child and modifies or controls that child's behavior.

Inverter

Inverts the child's result: SUCCESS ↔ FAILURE. RUNNING is unchanged.

Repeater

Repeatedly ticks the child until a configured repeat count is reached, or the child returns RUNNING / ERROR.

• Property maxLoop: maximum repeats; a negative value means infinite.

RepeatUntilSuccess

Repeatedly runs the child until it returns SUCCESS (or maxLoop is reached).

RepeatUntilFailure

Repeatedly runs the child until it returns FAILURE (or maxLoop is reached).

MaxTime

Caps the child's running time. If it has not finished after maxTime (milliseconds), returns FAILURE.

Limiter

Caps how many times the child may run.

• Property maxLoop: the maximum number of executions; beyond it, returns FAILURE.

Probability

Runs the child according to a probability. The decision is rolled once in OnOpen and stored in the blackboard, so a child that returns RUNNING is not interrupted on later ticks.

Supported properties (by precedence):

Property	Description
probability	0.0–1.0, preferred
rate	alias of probability
percent	0–100 percentage form
skip_status	status returned when not running: success (default) / failure / error

Example: probability = 0.3 means a 30% chance to run the child, otherwise it returns skip_status.

Name	Effect
Inverter	Invert result
Repeater	Repeat N times
RepeatUntilSuccess	Repeat until success
RepeatUntilFailure	Repeat until failure
MaxTime	Limit running time
Limiter	Limit run count
Probability	Run by probability