Variant of pedModelSwap with delayed start for left-to-right agents.

pedModelSwapB_delayed_movement.xml

<?xml version="1.0"?>
<BFSM>

  <GoalSet id="0">
    <Goal id="0" type="AABB" min_x="-2" max_x="2" min_y="-10" max_y="-5" weight="1.0" />
    <Goal id="1" type="AABB" min_x="-10" min_y="-2" max_x="-5" max_y="2" />
  </GoalSet>

  <State name="MoveDown" speedPolicy="min" final="0" >
    <GoalSelector type="explicit" goal_set="0" goal="0" />
    <VelComponent type="goal" weight="1.0" />
  </State>
  <State name="GoalReachedDown" speedPolicy="min" final="1" >
    <GoalSelector type="identity" />
    <VelComponent type="zero" />
  </State>

  <Transition order="1" from="MoveDown" to="GoalReachedDown">
    <Condition type="goal_reached" distance="0.25" />
  </Transition>

  <State name="WaitLeft" speedPolicy="min" final="0" >
    <GoalSelector type="identity" />
    <VelComponent type="zero" />
  </State>
  <State name="MoveLeft" speedPolicy="min" final="0" >
    <GoalSelector type="explicit" goal_set="0" goal="1" />
    <VelComponent type="goal" weight="1.0" />
  </State>
  <State name="GoalReachedLeft" speedPolicy="min" final="1" >
    <GoalSelector type="identity" />
    <VelComponent type="zero" />
  </State>

  <Transition order="1" from="MoveLeft" to="GoalReachedLeft">
    <Condition type="goal_reached" distance="0.25" />
  </Transition>
  <Transition order="1" from"WaitLeft" to "MoveLeft">
    <Condition type="timer" dist="c" value="3" />
  </Transition>
</BFSM>