From d77340e9163d2c83732db5eb6d7d47acb205b9a4 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 13 Dec 2023 10:49:40 +0100
Subject: [PATCH 01/80] new forms

---
 package.json                                  |   1 +
 src/components/ContactFormModal/index.js      | 188 ++++++++++++++++++
 .../ContactFormModal/styles.module.css        | 127 ++++++++++++
 src/pages/groot.js                            | 186 ++++++++++-------
 src/pages/index.js                            |   1 -
 static/img/done.png                           | Bin 0 -> 18493 bytes
 6 files changed, 431 insertions(+), 72 deletions(-)
 create mode 100644 src/components/ContactFormModal/index.js
 create mode 100644 src/components/ContactFormModal/styles.module.css
 create mode 100644 static/img/done.png

diff --git a/package.json b/package.json
index 406cf0e..35a11d6 100644
--- a/package.json
+++ b/package.json
@@ -19,6 +19,7 @@
     "@docusaurus/core": "^2.4.1",
     "@docusaurus/plugin-ideal-image": "^2.4.1",
     "@docusaurus/preset-classic": "^2.4.1",
+    "@emailjs/browser": "^3.11.0",
     "@mdx-js/react": "^1.6.22",
     "autoprefixer": "^10.4.13",
     "bootstrap": "^5.2.3",
diff --git a/src/components/ContactFormModal/index.js b/src/components/ContactFormModal/index.js
new file mode 100644
index 0000000..5fa2f0b
--- /dev/null
+++ b/src/components/ContactFormModal/index.js
@@ -0,0 +1,188 @@
+import React, { useState } from "react";
+import styles from "./styles.module.css";
+import emailjs from "@emailjs/browser";
+import useBaseUrl from "@docusaurus/useBaseUrl";
+
+const emailjs_service = "service_groot2";
+const emailjs_template = "template_groot2";
+const emailjs_serviceKey = "v20XNx8VMAULCQ7H3";
+const emailjs_toName = "Groot2 team"
+
+const ContactFormModal = ({ handleClose }) => {
+  const [loading, setLoading] = useState(false);
+  const [submitted, setSubmitted] = useState(false);
+  const [value, setValue] = useState({
+    name: "",
+    companyName: "",
+    email: "",
+    message: "",
+  });
+  const [errors, setErrors] = useState({
+    name: "",
+    email: "",
+    message: "",
+  });
+
+  const handleChange = (e) => {
+    const { name, value } = e.target;
+
+    setErrors((prevErrors) => ({
+      ...prevErrors,
+      [name]: "",
+    }));
+
+    setValue((prevValues) => ({
+      ...prevValues,
+      [name]: value,
+    }));
+  };
+
+  const validateFields = () => {
+    const newErrors = {};
+
+    if (!value.name.trim()) {
+      newErrors.name = "Name is required";
+    }
+
+    if (!value.email.trim()) {
+      newErrors.email = "Email is required";
+    } else if (
+      !/^[\w-]+(\.[\w-]+)*@([\w-]+\.)+[a-zA-Z]{2,7}$/.test(value.email)
+    ) {
+      newErrors.email = "Invalid email format";
+    }
+
+    if (!value.message.trim()) {
+      newErrors.message = "Message is required";
+    }
+
+    setErrors(newErrors);
+
+    return Object.keys(newErrors).length === 0;
+  };
+
+  const handleSubmit = (e) => {
+    e.preventDefault();
+
+    if (!validateFields()) {
+      return;
+    }
+    setLoading(true);
+
+    const templateParams = {
+      from_name: value.name,
+      message: value.message,
+      company_name: value.companyName,
+      from_email: value.email,
+      to_name: emailjs_toName,
+    };
+
+    emailjs
+      .send(
+        emailjs_service,
+        emailjs_template,
+        templateParams,
+        emailjs_serviceKey
+      )
+      .then(
+        (response) => {
+          console.log("SUCCESS!", response.status, response.text);
+          setSubmitted(true);
+          setLoading(false);
+        },
+        (err) => {
+          console.log("FAILED...", err);
+        }
+      )
+      .finally(() => {
+        setLoading(false);
+      });
+  };
+
+  const imageUrl = useBaseUrl("img/done.png");
+  return (
+    <div className={styles.modal}>
+      <div style={{ position: "relative" }} className={styles.modalContent}>
+        <div className={styles.closeBtn}>
+          <img
+            onClick={handleClose}
+            style={{ cursor: "pointer" }}
+            src={useBaseUrl("img/cross.png")}
+            alt="icon"
+          />
+        </div>
+        <div className={styles.scroll}>
+          <div className={styles.formContainer}>
+            {submitted ? (
+              <div
+                style={{
+                  textAlign: "center",
+                  paddingTop: "20px",
+                  paddingBottom: "20px",
+                }}
+              >
+                <img width={"20%"} src={imageUrl} alt="icon" />
+
+                <h2>Thank you for contact us!</h2>
+                <p>Our team member will contact you soon.</p>
+              </div>
+            ) : (
+              <form onSubmit={handleSubmit} id="contact-form">
+                <h2>Contact Us</h2>
+                <p>Tell us more about your needs</p>
+                <div>
+                  <label>Name <span className={styles.required}>*</span></label>
+                  <input
+                    type="text"
+                    name="name"
+                    value={value.name}
+                    onChange={handleChange}
+                  />
+                  <span className={styles.error}>{errors.name}</span>
+                </div>
+                <div>
+                  <label>Company Name <span className={styles.optional}>(optional)</span> </label>
+                  <input
+                    type="text"
+                    name="companyName"
+                    value={value.companyName}
+                    onChange={handleChange}
+                  />
+                </div>
+                <div>
+                  <label>Email <span className={styles.required}>*</span></label>
+                  <input
+                    type="text"
+                    name="email"
+                    value={value.email}
+                    onChange={handleChange}
+                  />
+                  <span className={styles.error}>{errors.email}</span>
+                </div>
+                <div>
+                  <label>Message <span className={styles.required}>*</span></label>
+                  <textarea
+                    name="message"
+                    cols={3}
+                    rows={6}
+                    value={value.message}
+                    onChange={handleChange}
+                  ></textarea>
+                  <span className={styles.error}>{errors.message}</span>
+                </div>
+                <div>
+                  <button type="submit" disabled={loading}>
+                    {" "}
+                    {loading ? " Loading..." : "Send"}{" "}
+                  </button>
+                </div>
+              </form>
+            )}
+          </div>
+        </div>
+      </div>
+    </div>
+  );
+};
+
+export default ContactFormModal;
diff --git a/src/components/ContactFormModal/styles.module.css b/src/components/ContactFormModal/styles.module.css
new file mode 100644
index 0000000..26aef0b
--- /dev/null
+++ b/src/components/ContactFormModal/styles.module.css
@@ -0,0 +1,127 @@
+.modal {
+  display: block;
+  position: fixed;
+  z-index: 99999;
+  inset: 0;
+  width: 100%;
+  background-color: rgb(0, 0, 0);
+  background-color: rgba(0, 0, 0, 0.4);
+  display: flex;
+  overflow: auto;
+  justify-content: center;
+  align-items: center;
+}
+
+.modalContent {
+  background-color: hsl(0, 0%, 100%);
+  width: 30%;
+  padding: 30px;
+  border-radius: 10px;
+}
+
+.close {
+  color: #aaa;
+  float: right;
+  font-size: 28px;
+  font-weight: bold;
+}
+
+.close:hover,
+.close:focus {
+  color: black;
+  text-decoration: none;
+  cursor: pointer;
+}
+
+.scroll::-webkit-scrollbar {
+  width: 4px !important;
+  height: 4px !important;
+}
+
+.scroll::-webkit-scrollbar-thumb {
+  background-color: #999;
+  border-radius: 6px;
+}
+
+.scroll::-webkit-scrollbar-track {
+  background-color: #f1f1f1;
+}
+
+.formContainer {
+  display: flex;
+  justify-content: center;
+  align-items: center;
+  width: 100%;
+  height: 100%;
+}
+
+.closeBtn {
+  position: absolute;
+  right: 10px;
+  top: 10px;
+}
+
+.error{
+  color: red;
+}
+
+form {
+  width: 100%;
+}
+
+form div {
+  display: flex;
+  flex-direction: column;
+  justify-content: space-between;
+  width: 100%;
+  padding: 10px;
+}
+
+form div input {
+  width: 100%;
+  padding: 8px 5px;
+  border-radius: 6px;
+  border: none;
+  border: 1px solid lightgray;
+  outline: none;
+}
+
+form div textarea {
+  width: 100%;
+  padding: 10px;
+  border-radius: 6px;
+  border: none;
+  border: 1px solid lightgray;
+}
+
+form div label {
+  font-weight: 600;
+}
+
+form div button {
+  cursor: pointer;
+  padding: 10px 8px;
+  background-color: #0dbb5b;
+  color: white;
+  border: none;
+  font-weight: 600;
+  font-size: 16px;
+  border-radius: 6px;
+}
+
+form div button:hover {
+  background-color: #359962;
+}
+.optional{
+  color: gray;
+  font-size: 10px;
+}
+.required{
+  color: red;
+}
+
+@media only screen and (max-width: 768px) {
+  .modalContent {
+    width: 90%;
+  }
+}
diff --git a/src/pages/groot.js b/src/pages/groot.js
index ab314bb..dc92477 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -1,4 +1,4 @@
-import React, { useEffect } from "react";
+import React, { useEffect,useState } from "react";
 import Layout from "@theme/Layout";
 import Link from "@docusaurus/Link";
 import useBaseUrl from "@docusaurus/useBaseUrl";
@@ -11,6 +11,7 @@ import clsx from "clsx";
 import EditorVideo from "@site/static/img/groot2_editor.mp4";
 import MonitorVideo from "@site/static/img/groot2_monitor.mp4";
 import LogVideo from "@site/static/img/groot2_log.mp4";
+import ContactFormModal from "../components/ContactFormModal";
 
 function Check(props) {
   return <img src={useBaseUrl("img/check.png")} width='15' alt='yes' />;
@@ -18,22 +19,47 @@ function Check(props) {
 function Cross(props) {
   return <img src={useBaseUrl("img/cross.png")} width='15' alt='no' />;
 }
+
 export default function Groot() {
 
+  const [chargebeeInitialized, setChargebeeInitialized] = useState(false);
+  const [open, setOpen] = useState(false);
+
+  useEffect(() => {
+    if (!chargebeeInitialized) {
+      const chargeBeeScript = document.getElementById("chargebeeScript");
+
+      if (!chargeBeeScript) {
+        const el = document.createElement("script");
+        el.onload = () => {
+          Chargebee?.init({
+            site: "aurynrobotics",
+          });
+          Chargebee?.registerAgain();
+          setChargebeeInitialized(true);
+        };
+        el.setAttribute("src", "https://js.chargebee.com/v2/chargebee.js");
+        el.setAttribute("id", "chargebeeScript");
+        document.body?.appendChild(el);
+      } else {
+        Chargebee.init({
+          site: "aurynrobotics",
+        });
+        Chargebee?.registerAgain();
+        setChargebeeInitialized(true);
+      }
+    }
+  }, [chargebeeInitialized]);
+
   const handleClickBasic = () => {
     console.log('free')
     scrollToSection('sectionDownload')
   }
-  const handleClickContact = () => {
-    console.log('Contact')
-    window.location.href = 'mailto:license@aurynrobotics.com'
-  }
-
-  const handleClickCheckout = () => {
-    console.log('Checkout')
-    window.location.href = "javascript:void(0)"
-  }
-
+  const handleClickPro = () => {
+    console.log('Pro')
+    setOpen(true)
+    // window.location.href = 'mailto:license@aurynrobotics.com'
+  };
   const obj = [
     {
       name: "Basic",
@@ -56,31 +82,23 @@ export default function Groot() {
         "Interactive real-time debugger",
         "Technical support",
       ],
-      btn: "Checkout",
-      onclick: () => handleClickCheckout()
+      btn: "Buy License",
+      onclick: () => handleClickPro()
     },
     {
       name: "PRO (source code)",
-      price: "Contact us",
+      price: "Inquiry",
       durance: "",
       points: [
         "All the features in PRO",
         "Access to the source code",
         "Site license with unlimited number of seats.",
       ],
-      btn: "Contact",
-      onclick:() => handleClickContact()
+      btn: "Contact us",
+      onclick:() => handleClickPro()
     },
   ];
   console.log(obj);
-  // useEffect(() => {
-  //   openPopup();
-  //   window.plausible =
-  //     window.plausible ||
-  //     function () {
-  //       (window.plausible.q = window.plausible.q || []).push(arguments);
-  //     };
-  // }, []);
 
   const renderTooltip = (message, props) => {
     return (
@@ -131,10 +149,24 @@ export default function Groot() {
       section.scrollIntoView({ behavior: "smooth" });
     }
   };
-  return (
-    <Layout title='Groot' description='Groot Editor'>
-      {/* groot intro */}
 
+
+  useEffect(() => {
+    if(open){
+     document.body.style.overflow = "hidden"
+    }else{
+      document.body.style.overflow = "auto"
+    }
+  },[open])
+
+
+  return (
+    <>
+      <Layout title='Groot' description='Groot Editor'>
+        {/* groot intro */}
+        {
+          open && <ContactFormModal handleClose={()=>setOpen(false)}/>
+        }
       <div className={clsx("hero hero--dark", styles.heroBanner)}>
         <div className='container '>
           <div className='row align-items-center'>
@@ -146,12 +178,6 @@ export default function Groot() {
                 The most advanced IDE<br/>to create and debug Behavior Trees.
               </p>
               <div className={styles.buttonGroup}>
-                {/* <button
-                  data-mooform-id='419144d7-9877-4876-bcfc-d1e1f0b6a2ad'
-                  className='button button--primary button--lg'
-                  onClick={openPopup}>
-                  Our newsletter
-                </button> */}
                 <button
                   onClick={() => scrollToSection("sectionDownload")}
                   className='button button--primary button--lg'>
@@ -263,47 +289,64 @@ export default function Groot() {
       </div>
 
       <div className={`${styles.sectionSeparator} container`}>Pricing</div>
-
       <div className={`styles.sectionText`}>
         <div className={`container `}>
           <div className={`row`} id='row_price'>
-            {obj?.map((item) => (
-              <div
-                className='col col--4 '
-                id='card_col'
-                style={{
-                  display: "flex",
-                  justifyContent: "center",
-                }}>
-                <div id='card'>
-                  <div id='card_header'>{item.name}</div>
-                  <div id='price_row'>
-                    <div id='price'>{item.price}</div>
-                    <div id='durance'>{item.durance}</div>
-                  </div>
-
-                  <ul id='point_stack' as='ul'>
-                    {item.points.map((p) => (
-                      <li id='point' as='li'>
-                        {p}
-                      </li>
-                    ))}
-                  </ul>
-                  <div style={{ display: "flex", justifyContent: "center" }}>
-                    <button
-                      id='btn'
-                      data-cb-type = "checkout"
-                      data-cb-item-0 = "Groot2-License-EUR-Yearly"
-                      className='button button--primary button--md'
-                      data-cb-item-0-quantity = "1"
-                      onClick={item.onclick}>
-                      {item.btn}
-                    </button>
+              {obj?.map((item, index) => (
+                <div
+                  className='col col--4 '
+                  id='card_col'
+                  style={{
+                    display: "flex",
+                    justifyContent: "center",
+                  }}>
+                  <div id="card">
+                    <div id="card_header">{item.name}</div>
+                    <div id="price_row">
+                      <div id="price">{item.price}</div>
+                      <div id="durance">{item.durance}</div>
+                    </div>
+                    <ul id="point_stack" as="ul">
+                      {item.points.map((p) => (
+                        <li id="point" as="li">
+                          {p}
+                        </li>
+                      ))}
+                    </ul>
+                    <div style={{ display: "flex", justifyContent: "center" }}>
+                      {index == 1 ? (
+                        <a
+                          id="btn"
+                          className="button button--primary button--md"
+                          href="javascript:void(0)"
+                          data-cb-type="checkout"
+                          data-cb-item-0="Floating-license-2024-EUR-Yearly"
+                          data-cb-item-0-quantity="1"
+                        >
+                          {item.btn}
+                        </a>
+                      ) : index == 2 ? (
+                        <button
+                          id="btn"
+                          className="button button--primary button--md"
+                          onClick={item.onclick}
+                        >
+                          {item?.btn}
+                        </button>
+                      ) : (
+                        <button
+                          id="btn"
+                          className="button button--primary button--md"
+                          onClick={item.onclick}
+                        >
+                          {item?.btn}
+                        </button>
+                      )}
+                    </div>
                   </div>
                 </div>
-              </div>
-            ))}
-          </div>
+              ))}
+            </div>
           <div className='row'>
             <div className='col col--2 '></div>
             <div className='col col--8 '>
@@ -314,8 +357,8 @@ export default function Groot() {
                   for one month, activating your trial in "Preferences".
                 </li>
                 <li id='text'>
-                  <b>Discounts:</b> are you considering buying multiple licenses? 
-                  We can offer you a discount and a solution tailored for your company.
+                  <b>Discounts:</b> a price discount is automatically applied
+                  when purchasing multiple licenses (3+ or 5+).
                 </li>
                 <li id='text'>
                 <b>Free for academia:</b> if you are a student or researcher,
@@ -386,5 +429,6 @@ export default function Groot() {
         </div>
       </div>
     </Layout>
+  </>
   );
 }
diff --git a/src/pages/index.js b/src/pages/index.js
index c16918a..604c112 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -35,7 +35,6 @@ function Home() {
           src="https://cdn.stat-track.com/statics/moosend-tracking.min.js"
           data-website-id="419144d798774876bcfcd1e1f0b6a2ad"
         ></script>
-        <script src="https://js.chargebee.com/v2/chargebee.js" data-cb-site="aurynrobotics" ></script>
       </Head>
       <div className={clsx("hero hero--light", styles.heroBanner)}>
         <div className="container ">
diff --git a/static/img/done.png b/static/img/done.png
new file mode 100644
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zz-F`yqbaG8^+Of#Tc^ZseeuwD83`-Mg3ab9pW;7qSEj1s4Z^2y|JVc>m{Ne-W=X@Q
zNUA7IE+~5aQlIk+h8%cw4Pn-}h8|$w7$lJ>q{>s<&K?2Z145iTWppy-_;s)U0Shfb
AivR!s

literal 0
HcmV?d00001


From c1bce51a4e4b737857c3aed58db53594716549f8 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 13 Dec 2023 17:20:47 +0100
Subject: [PATCH 02/80] fixed

---
 .../ContactFormModal/styles.module.css        | 19 +++++-----
 src/pages/groot.js                            | 37 ++++++++++---------
 2 files changed, 29 insertions(+), 27 deletions(-)

diff --git a/src/components/ContactFormModal/styles.module.css b/src/components/ContactFormModal/styles.module.css
index 26aef0b..1889ab5 100644
--- a/src/components/ContactFormModal/styles.module.css
+++ b/src/components/ContactFormModal/styles.module.css
@@ -17,19 +17,10 @@
   width: 30%;
   padding: 30px;
   border-radius: 10px;
+  position: relative;
 }
 
 .close {
-  color: #aaa;
-  float: right;
-  font-size: 28px;
-  font-weight: bold;
-}
-
-.close:hover,
-.close:focus {
-  color: black;
-  text-decoration: none;
   cursor: pointer;
 }
 
@@ -63,6 +54,8 @@
 
 .error{
   color: red;
+  font-size: 12px;
+  margin-top: 4px;
 }
 
 form {
@@ -120,6 +113,12 @@ form div button:hover {
   color: red;
 }
 
+.success{
+  text-align: center;
+  padding-top: 20px;
+  padding-bottom: 20px;
+}
+
 @media only screen and (max-width: 768px) {
   .modalContent {
     width: 90%;
diff --git a/src/pages/groot.js b/src/pages/groot.js
index dc92477..ebcbee6 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -11,7 +11,7 @@ import clsx from "clsx";
 import EditorVideo from "@site/static/img/groot2_editor.mp4";
 import MonitorVideo from "@site/static/img/groot2_monitor.mp4";
 import LogVideo from "@site/static/img/groot2_log.mp4";
-import ContactFormModal from "../components/ContactFormModal";
+import ContactUSFormModal from "../components/ContactFormModal";
 
 function Check(props) {
   return <img src={useBaseUrl("img/check.png")} width='15' alt='yes' />;
@@ -23,7 +23,7 @@ function Cross(props) {
 export default function Groot() {
 
   const [chargebeeInitialized, setChargebeeInitialized] = useState(false);
-  const [open, setOpen] = useState(false);
+  const [openContactUsModal, setOpenContactUsModal] = useState(false);
 
   useEffect(() => {
     if (!chargebeeInitialized) {
@@ -55,11 +55,17 @@ export default function Groot() {
     console.log('free')
     scrollToSection('sectionDownload')
   }
+
   const handleClickPro = () => {
     console.log('Pro')
-    setOpen(true)
-    // window.location.href = 'mailto:license@aurynrobotics.com'
   };
+  
+  const handleClickContact = () => {
+    console.log('contact')
+    setOpenContactUsModal(true)
+    // window.location.href = 'mailto:license@aurynrobotics.com'
+  }
+
   const obj = [
     {
       name: "Basic",
@@ -95,7 +101,7 @@ export default function Groot() {
         "Site license with unlimited number of seats.",
       ],
       btn: "Contact us",
-      onclick:() => handleClickPro()
+      onclick:() => handleClickContact()
     },
   ];
   console.log(obj);
@@ -150,23 +156,15 @@ export default function Groot() {
     }
   };
 
-
-  useEffect(() => {
-    if(open){
-     document.body.style.overflow = "hidden"
-    }else{
-      document.body.style.overflow = "auto"
-    }
-  },[open])
-
+  const handleCloseUsModal = () => setOpenContactUsModal(false)
 
   return (
     <>
       <Layout title='Groot' description='Groot Editor'>
         {/* groot intro */}
-        {
-          open && <ContactFormModal handleClose={()=>setOpen(false)}/>
-        }
+      {openContactUsModal && (
+         <ContactUSFormModal handleClose={handleCloseUsModal}/>
+      )}
       <div className={clsx("hero hero--dark", styles.heroBanner)}>
         <div className='container '>
           <div className='row align-items-center'>
@@ -183,6 +181,11 @@ export default function Groot() {
                   className='button button--primary button--lg'>
                   Download
                 </button>
+                <button
+                  onClick={() => handleClickContact()}
+                  className='button button--primary button--lg'>
+                  Contact us
+                </button>
               </div>
             </div>
             <div className='col col--6'>

From a327e8e667564199ca14d305e8f60555cdf51299 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Fri, 15 Dec 2023 18:30:06 +0100
Subject: [PATCH 03/80] Update groot.js

---
 src/pages/groot.js | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index ebcbee6..886951b 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -390,7 +390,7 @@ export default function Groot() {
 
       <div
         className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.4.0 (2023-11-29)</h3>
+        <h3>Latest release: 1.5.0 (2023-12-16)</h3>
         <div className={styles.downloadGroup}>
           <div id='card_download' style={{ textAlign: "center" }}>
             <img
@@ -400,7 +400,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-1.4.0-windows-installer.exe'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.5.0-windows-installer.exe'>
               Windows installer
             </Link>
           </div>
@@ -412,7 +412,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-1.4.0-linux-installer.run'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.0-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -425,7 +425,7 @@ export default function Groot() {
             <Link
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.4.0-x86_64.AppImage'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.0-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>

From 1b1bc8dfa155f0680739da72006035d305dd8efc Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 19 Dec 2023 12:52:12 +0100
Subject: [PATCH 04/80] fix pricing

---
 src/pages/groot.js         | 21 +++++++++++----------
 src/pages/groot.module.css | 11 +++++++++++
 2 files changed, 22 insertions(+), 10 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 886951b..1bedbdb 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -80,13 +80,13 @@ export default function Groot() {
     },
     {
       name: "PRO (floating license)",
-      price: "€790",
-      durance: " / year (*)",
+      price: "€65",
+      durance: " / month",
+      sub_durance: "Paid yearly (€780 / year)",
       points: [
         "Search Nodes in large trees",
         "Unlimited Number of Nodes in Monitor and Log Visualizer",
-        "Interactive real-time debugger",
-        "Technical support",
+        "Interactive real-time debugger"
       ],
       btn: "Buy License",
       onclick: () => handleClickPro()
@@ -98,7 +98,7 @@ export default function Groot() {
       points: [
         "All the features in PRO",
         "Access to the source code",
-        "Site license with unlimited number of seats.",
+        "Site license with unlimited number of seats",
       ],
       btn: "Contact us",
       onclick:() => handleClickContact()
@@ -309,6 +309,7 @@ export default function Groot() {
                       <div id="price">{item.price}</div>
                       <div id="durance">{item.durance}</div>
                     </div>
+                    <div id="sub_durance">{item.sub_durance}</div>
                     <ul id="point_stack" as="ul">
                       {item.points.map((p) => (
                         <li id="point" as="li">
@@ -353,7 +354,7 @@ export default function Groot() {
           <div className='row'>
             <div className='col col--2 '></div>
             <div className='col col--8 '>
-              <h1 id='pricingHead'>(*) But wait, there is more!</h1>
+              <h1 id='pricingHead'>But wait, there is more!</h1>
               <ul>
                 <li id='text'>
                   <b>Free Trial:</b> enjoy all the features of th PRO versions
@@ -390,7 +391,7 @@ export default function Groot() {
 
       <div
         className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.5.0 (2023-12-16)</h3>
+        <h3>Latest release: 1.4.0 (2023-11-29)</h3>
         <div className={styles.downloadGroup}>
           <div id='card_download' style={{ textAlign: "center" }}>
             <img
@@ -400,7 +401,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.5.0-windows-installer.exe'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-1.4.0-windows-installer.exe'>
               Windows installer
             </Link>
           </div>
@@ -412,7 +413,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.0-linux-installer.run'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-1.4.0-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -425,7 +426,7 @@ export default function Groot() {
             <Link
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.0-x86_64.AppImage'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.4.0-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>
diff --git a/src/pages/groot.module.css b/src/pages/groot.module.css
index eef7161..d3ad81e 100644
--- a/src/pages/groot.module.css
+++ b/src/pages/groot.module.css
@@ -63,6 +63,17 @@ h1[id="pricingHead"] {
   line-height: 1.5em;
   color: rgb(73, 73, 73);
 }
+
+[id="sub_durance"] {
+  margin-top: 5px;
+  margin-left: 10px;
+  font-size: 18px;
+  font-weight: 600;
+  line-height: 1.5em;
+  text-align: center;
+  color: rgb(73, 73, 73);
+}
+
 [id="price"] {
   margin-top: 20px;
   font-size: 46px;

From 16cccfbe06b2557efc95112fc2fbca48511a8dc7 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 19 Dec 2023 12:52:56 +0100
Subject: [PATCH 05/80] version updated

---
 src/pages/groot.js | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 1bedbdb..0a445be 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -391,7 +391,7 @@ export default function Groot() {
 
       <div
         className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.4.0 (2023-11-29)</h3>
+        <h3>Latest release: 1.5.0 (2023-12-16)</h3>
         <div className={styles.downloadGroup}>
           <div id='card_download' style={{ textAlign: "center" }}>
             <img
@@ -401,7 +401,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-1.4.0-windows-installer.exe'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.5.0-windows-installer.exe'>
               Windows installer
             </Link>
           </div>
@@ -413,7 +413,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-1.4.0-linux-installer.run'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.0-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -426,7 +426,7 @@ export default function Groot() {
             <Link
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.4.0-x86_64.AppImage'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.0-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>

From f3bb467b2a65d8c3bb2799f1b064d093199dd4c8 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 20 Dec 2023 12:32:33 +0100
Subject: [PATCH 06/80] fixed sentence

---
 src/pages/groot.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 0a445be..fae8b93 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -82,7 +82,7 @@ export default function Groot() {
       name: "PRO (floating license)",
       price: "€65",
       durance: " / month",
-      sub_durance: "Paid yearly (€780 / year)",
+      sub_durance: "Billed annually (€780 / year)",
       points: [
         "Search Nodes in large trees",
         "Unlimited Number of Nodes in Monitor and Log Visualizer",

From 161e234a51091aa8b604cb47db3e1b3e8575374d Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Thu, 11 Jan 2024 12:32:15 +0100
Subject: [PATCH 07/80] new pricing

---
 src/pages/groot.js | 29 ++++++++++++++---------------
 1 file changed, 14 insertions(+), 15 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index fae8b93..ce2ef0e 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -80,25 +80,24 @@ export default function Groot() {
     },
     {
       name: "PRO (floating license)",
-      price: "€65",
-      durance: " / month",
-      sub_durance: "Billed annually (€780 / year)",
+      price: "€690",
+      durance: " / year",
       points: [
         "Search Nodes in large trees",
         "Unlimited Number of Nodes in Monitor and Log Visualizer",
         "Interactive real-time debugger"
       ],
-      btn: "Buy License",
-      onclick: () => handleClickPro()
+      btn: "Contact us",
+      onclick:() => handleClickContact()
     },
     {
-      name: "PRO (source code)",
-      price: "Inquiry",
-      durance: "",
+      name: "Training",
+      price: "€1,800",
+      durance: " / month",
       points: [
-        "All the features in PRO",
-        "Access to the source code",
-        "Site license with unlimited number of seats",
+        "Includes 1 PRO license (1 year)",
+        "Up to 12 hours per month",
+        "Learn how to use BT.CPP effectively or improve your current implementation",
       ],
       btn: "Contact us",
       onclick:() => handleClickContact()
@@ -360,13 +359,13 @@ export default function Groot() {
                   <b>Free Trial:</b> enjoy all the features of th PRO versions
                   for one month, activating your trial in "Preferences".
                 </li>
-                <li id='text'>
+                {/* <li id='text'>
                   <b>Discounts:</b> a price discount is automatically applied
                   when purchasing multiple licenses (3+ or 5+).
-                </li>
+                </li> */}
                 <li id='text'>
-                <b>Free for academia:</b> if you are a student or researcher,
-                  you can receive a complementary 1 year license. 
+                <b>Free for individual researchers:</b> if you are a student or researcher,
+                  you can receive a complementary 1 year license (node locked). 
                   <a href="https://airtable.com/appqTlC23AiSoB4Fd/shrsC33d8feHZmKXs" target="_blank"> Fill this form</a>
                   &ensp;and tell us more about your project.
                 </li>

From 619c82886929c66105699311148e5261467dc3e3 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Fri, 12 Jan 2024 11:08:48 +0100
Subject: [PATCH 08/80] version bump

---
 src/pages/index.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pages/index.js b/src/pages/index.js
index 604c112..7bf22f3 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -41,7 +41,7 @@ function Home() {
           <div className="row align-items-center">
             <div className="col col--6">
               <div className={clsx(styles.heroText)}>
-                <h1 className="hero__title ">BehaviorTree.CPP 4.4</h1>
+                <h1 className="hero__title ">BehaviorTree.CPP 4.5</h1>
                 <p className="hero__subtitle">
                   The C++ library to build Behavior Trees.
                   <br />

From 9efe4b1d2f0e0e7b0c53290eabff542ff0cbe76e Mon Sep 17 00:00:00 2001
From: Luke Chang <luke.x.chang@gmail.com>
Date: Tue, 16 Jan 2024 05:44:43 +1300
Subject: [PATCH 09/80] Fix script keyword in tutorial_06_subtree_ports.md
 (#35)

Should be:
```
<Script code=" move_goal='1;2;3' " />
```
Instead of
```
<Script script=" move_goal='1;2;3' " />
```
---
 docs/tutorial-basics/tutorial_06_subtree_ports.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/docs/tutorial-basics/tutorial_06_subtree_ports.md b/docs/tutorial-basics/tutorial_06_subtree_ports.md
index 2afbc0d..0610a2c 100644
--- a/docs/tutorial-basics/tutorial_06_subtree_ports.md
+++ b/docs/tutorial-basics/tutorial_06_subtree_ports.md
@@ -28,7 +28,7 @@ Let's consider this Behavior Tree.
 
     <BehaviorTree ID="MainTree">
         <Sequence>
-            <Script script=" move_goal='1;2;3' " />
+            <Script code=" move_goal='1;2;3' " />
             // highlight-start
             <SubTree ID="MoveRobot" target="{move_goal}" 
                                     result="{move_result}" />
@@ -41,10 +41,10 @@ Let's consider this Behavior Tree.
         <Fallback>
             <Sequence>
                 <MoveBase  goal="{target}"/>
-                <Script script=" result:='goal reached' " />
+                <Script code=" result:='goal reached' " />
             </Sequence>
             <ForceFailure>
-                <Script script=" result:='error' " />
+                <Script code=" result:='error' " />
             </ForceFailure>
         </Fallback>
     </BehaviorTree>

From 7a6089def8fe584f81f1f92519895a61d7d03470 Mon Sep 17 00:00:00 2001
From: Luke Chang <luke.x.chang@gmail.com>
Date: Tue, 16 Jan 2024 05:45:14 +1300
Subject: [PATCH 10/80] Fix isDoorClosed logic (#34)

`isDoorClosed` should be true when the door is not opened `_door_open != true`
---
 docs/tutorial-basics/tutorial_05_subtrees.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/tutorial-basics/tutorial_05_subtrees.md b/docs/tutorial-basics/tutorial_05_subtrees.md
index c085655..1c8a248 100644
--- a/docs/tutorial-basics/tutorial_05_subtrees.md
+++ b/docs/tutorial-basics/tutorial_05_subtrees.md
@@ -75,7 +75,7 @@ class CrossDoor
 public:
     void registerNodes(BT::BehaviorTreeFactory& factory);
 
-    // SUCCESS if _door_open == true
+    // SUCCESS if _door_open != true
     BT::NodeStatus isDoorClosed();
 
     // SUCCESS if _door_open == true

From 072e38dc09a8e0c0a08ce0e94af364864294c29c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 16 Jan 2024 17:00:14 +0100
Subject: [PATCH 11/80] fix link

---
 src/pages/groot.js | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index ce2ef0e..478c297 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -87,8 +87,8 @@ export default function Groot() {
         "Unlimited Number of Nodes in Monitor and Log Visualizer",
         "Interactive real-time debugger"
       ],
-      btn: "Contact us",
-      onclick:() => handleClickContact()
+      btn: "Buy now",
+      onclick:() => handleClickPro()
     },
     {
       name: "Training",
@@ -323,7 +323,7 @@ export default function Groot() {
                           className="button button--primary button--md"
                           href="javascript:void(0)"
                           data-cb-type="checkout"
-                          data-cb-item-0="Floating-license-2024-EUR-Yearly"
+                          data-cb-item-0="Floating-License-fixed-EUR-Yearly"
                           data-cb-item-0-quantity="1"
                         >
                           {item.btn}

From 54f276a71bc6cf23bd5592ba06e085588dca5099 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 17 Jan 2024 13:03:50 +0100
Subject: [PATCH 12/80] version update

---
 src/pages/groot.js | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 478c297..28ebc7b 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -390,7 +390,7 @@ export default function Groot() {
 
       <div
         className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.5.0 (2023-12-16)</h3>
+        <h3>Latest release: 1.5.1 (2024-01-17)</h3>
         <div className={styles.downloadGroup}>
           <div id='card_download' style={{ textAlign: "center" }}>
             <img
@@ -400,7 +400,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.5.0-windows-installer.exe'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.5.1-windows-installer.exe'>
               Windows installer
             </Link>
           </div>
@@ -412,7 +412,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.0-linux-installer.run'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.1-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -425,7 +425,7 @@ export default function Groot() {
             <Link
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.0-x86_64.AppImage'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.1-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>

From 86bc8e4b27320e667902a01ad610a2e09c3d59cc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Karl=20Damkj=C3=A6r=20Hansen?= <kdh@mp.aau.dk>
Date: Thu, 18 Jan 2024 14:04:36 +0100
Subject: [PATCH 13/80] Fix broken link to article (#36)

---
 docs/tutorial-basics/tutorial_05_subtrees.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/tutorial-basics/tutorial_05_subtrees.md b/docs/tutorial-basics/tutorial_05_subtrees.md
index 1c8a248..5433673 100644
--- a/docs/tutorial-basics/tutorial_05_subtrees.md
+++ b/docs/tutorial-basics/tutorial_05_subtrees.md
@@ -17,7 +17,7 @@ node __SubTree__ to include one tree into the other.
 # CrossDoor behavior
 
 This example is inspired by a popular 
-[article about behavior trees](http://www.gamasutra.com/blogs/ChrisSimpson/20140717/221339/Behavior_trees_for_AI_How_they_work.php).
+[article about behavior trees](https://www.gamedeveloper.com/programming/behavior-trees-for-ai-how-they-work).
 
 It is also the first practical example that uses `Decorators` and `Fallback`.
 

From deb687c7b2511ef88288f71d0f6649c5266f9765 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 23 Jan 2024 12:33:47 +0100
Subject: [PATCH 14/80] tutorial modified

---
 docs/guides/blackboard_reference.md | 23 +++++++++++++++--------
 docusaurus.config.js                |  2 +-
 2 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/docs/guides/blackboard_reference.md b/docs/guides/blackboard_reference.md
index a7edce7..4e494ab 100644
--- a/docs/guides/blackboard_reference.md
+++ b/docs/guides/blackboard_reference.md
@@ -2,7 +2,7 @@
 sidebar_position: 4
 ---
 
-# Access Blackboard objects by Reference
+# Zero-copy access to the blackboard, using pointers
 
 If you followed the tutorials, you should already know that the Blackboard uses **value semantic**, i.e. 
 the methods `getInput` and `setOutput` copy the value from/to the blackboard.
@@ -18,7 +18,7 @@ For instance, a Node where it is recommended to use reference semantic is the
 `LoopNode` decorator, that modifies "in-place" a vector of objects.
 
 
-## Blackboard entries as Share pointers
+## Method 1: Blackboard entries as Share pointers
 
 For the sake of simplicity, we will consider an object that is expensive to copy,
  called **Pointcloud**.
@@ -59,16 +59,15 @@ The methods `getInput` and `setOutput` can be used as usual and still have value
 But since the object being copied is a `shared_ptr` we are actually accessing the
 pointcloud instance by reference.
 
-## Thread safety
+## Method 2: thread-safe castPtr (recommended since version 4.5.1)
 
-The most notable issue, when using this approach, is that it is **NOT thread safe**.
+The most notable issue, when using the `shared_ptr` approach, is that it is **NOT thread safe**.
 
 IF multithreading is used, inside a Node (remember that BT.CPP is single-threaded by default),
 then there is no guarantee that a copy of the object being shared isn't accessed during writing.
 
 To prevent this issue, we provide a different API that includes a locking mechanism.
 
-
 This is **NOT** thread-safe:
 
 ```cpp
@@ -80,11 +79,19 @@ getInput("cloud", cloud_ptr);
 The thread-safe alternative:
 
 ```cpp
-// inside this scope, the mutex protecting the instance of "pointcloud" remains locked
+// inside this scope (as long as any_locked exists), a mutex protecting 
+// the instance of "cloud" remains locked
 if(auto any_locked = getLockedPortContent("cloud"))
 {
-  auto cloud_ptr  =  any_locked.get()->cast<std::shared_ptr<Pointcloud>>();
-  // modify the pointcloud referenced by cloud_ptr here
+  if(any_locked->empty())
+  {
+    // the entry in the blackboard hasn't been initialized yet.
+  }
+  else if(auto cloud_ptr = any_locked->cast<std::shared_ptr<Pointcloud>>())
+  {
+    // Succesful cast to the original value.
+    // Modify the pointcloud, referenced by cloud_ptr, here
+  }
 }
 ```
 
diff --git a/docusaurus.config.js b/docusaurus.config.js
index 57b3d7b..9474e6f 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -45,7 +45,7 @@ const config = {
           lastVersion: 'current',
           versions: {
             current: {
-              label: '4.4',
+              label: '4.5',
             },
             3.8: {
               label: '3.8',

From 392a72de67b7ee26e47f9a0157610fa8e1c530a9 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 23 Jan 2024 13:09:21 +0100
Subject: [PATCH 15/80] fix title

---
 docs/guides/blackboard_reference.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/guides/blackboard_reference.md b/docs/guides/blackboard_reference.md
index 4e494ab..d99fefc 100644
--- a/docs/guides/blackboard_reference.md
+++ b/docs/guides/blackboard_reference.md
@@ -2,7 +2,7 @@
 sidebar_position: 4
 ---
 
-# Zero-copy access to the blackboard, using pointers
+# Zero-copy access to the blackboard
 
 If you followed the tutorials, you should already know that the Blackboard uses **value semantic**, i.e. 
 the methods `getInput` and `setOutput` copy the value from/to the blackboard.

From ea05a6ef2c0058a0f1c25968ff97131b868f5a81 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 23 Jan 2024 13:53:49 +0100
Subject: [PATCH 16/80] fix

---
 docs/guides/blackboard_reference.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/docs/guides/blackboard_reference.md b/docs/guides/blackboard_reference.md
index d99fefc..02ba80e 100644
--- a/docs/guides/blackboard_reference.md
+++ b/docs/guides/blackboard_reference.md
@@ -87,10 +87,10 @@ if(auto any_locked = getLockedPortContent("cloud"))
   {
     // the entry in the blackboard hasn't been initialized yet.
   }
-  else if(auto cloud_ptr = any_locked->cast<std::shared_ptr<Pointcloud>>())
+  else if(Pointcloud* cloud_ptr = any_locked->castPtr<Pointcloud>())
   {
-    // Succesful cast to the original value.
-    // Modify the pointcloud, referenced by cloud_ptr, here
+    // Succesful cast to Pointcloud* (original type).
+    // Modify the pointcloud instance, using cloud_ptr
   }
 }
 ```

From d49ef919ecc169eda5dd3e043db20d6ad740cc7a Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 23 Jan 2024 13:55:06 +0100
Subject: [PATCH 17/80] less confusing text

---
 docs/guides/blackboard_reference.md | 9 ---------
 1 file changed, 9 deletions(-)

diff --git a/docs/guides/blackboard_reference.md b/docs/guides/blackboard_reference.md
index 02ba80e..2215972 100644
--- a/docs/guides/blackboard_reference.md
+++ b/docs/guides/blackboard_reference.md
@@ -68,15 +68,6 @@ then there is no guarantee that a copy of the object being shared isn't accessed
 
 To prevent this issue, we provide a different API that includes a locking mechanism.
 
-This is **NOT** thread-safe:
-
-```cpp
-std::shared_ptr<Pointcloud> cloud_ptr;
-getInput("cloud", cloud_ptr);
-// modify the pointcloud referenced by cloud_ptr here
-```
-
-The thread-safe alternative:
 
 ```cpp
 // inside this scope (as long as any_locked exists), a mutex protecting 

From cf648235aa1c18853822a39c0c1fbd271defa213 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 23 Jan 2024 14:02:47 +0100
Subject: [PATCH 18/80] more improvements

---
 docs/guides/blackboard_reference.md | 27 +++++++++++++++++++++++----
 1 file changed, 23 insertions(+), 4 deletions(-)

diff --git a/docs/guides/blackboard_reference.md b/docs/guides/blackboard_reference.md
index 2215972..d8e3689 100644
--- a/docs/guides/blackboard_reference.md
+++ b/docs/guides/blackboard_reference.md
@@ -63,20 +63,39 @@ pointcloud instance by reference.
 
 The most notable issue, when using the `shared_ptr` approach, is that it is **NOT thread safe**.
 
-IF multithreading is used, inside a Node (remember that BT.CPP is single-threaded by default),
-then there is no guarantee that a copy of the object being shared isn't accessed during writing.
+If a custom asynchronous Node has its own thread, then the actual object might be accessed by other
+threads at the same time.
 
 To prevent this issue, we provide a different API that includes a locking mechanism.
 
+First, when creating our ports we can use a plain `Pointcloud`, no need to wrap it inside a `std::shared_ptr`:
 
 ```cpp
-// inside this scope (as long as any_locked exists), a mutex protecting 
-// the instance of "cloud" remains locked
+PortsList AcquirePointCloud::providedPorts()
+{
+    return { OutputPort<Pointcloud>("cloud") };
+}
+
+PortsList SegmentObject::providedPorts()
+{
+    return { InputPort<std::string>("obj_name"),
+             InputPort<Pointcloud>("cloud"),
+             OutputPort<Pose3D>("obj_pose") };
+}
+```
+
+To access the instance of Pointcloud by pointer/reference: 
+
+```cpp
+// inside the scope below, as long as "any_locked" exists, a mutex protecting 
+// the instance of "cloud" will remain locked
 if(auto any_locked = getLockedPortContent("cloud"))
 {
   if(any_locked->empty())
   {
     // the entry in the blackboard hasn't been initialized yet.
+    // You can initialize it doing:
+    any_locked.assign(my_initial_pointcloud);
   }
   else if(Pointcloud* cloud_ptr = any_locked->castPtr<Pointcloud>())
   {

From edd023a540521111632393920e3dbcf09cb07764 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 24 Jan 2024 13:13:53 +0100
Subject: [PATCH 19/80] Update groot.js

---
 src/pages/groot.js | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 28ebc7b..49f8707 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -390,7 +390,7 @@ export default function Groot() {
 
       <div
         className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.5.1 (2024-01-17)</h3>
+        <h3>Latest release: 1.5.2 (2024-01-24)</h3>
         <div className={styles.downloadGroup}>
           <div id='card_download' style={{ textAlign: "center" }}>
             <img
@@ -400,7 +400,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.5.1-windows-installer.exe'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.5.2-windows-installer.exe'>
               Windows installer
             </Link>
           </div>
@@ -412,7 +412,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.1-linux-installer.run'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -425,7 +425,7 @@ export default function Groot() {
             <Link
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.1-x86_64.AppImage'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>

From c86427d599ae7aaa7c687948543a57b0c1f18176 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Fri, 26 Jan 2024 10:21:49 +0100
Subject: [PATCH 20/80] fix pricing link

---
 src/pages/groot.js | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 49f8707..ceacf35 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -323,7 +323,7 @@ export default function Groot() {
                           className="button button--primary button--md"
                           href="javascript:void(0)"
                           data-cb-type="checkout"
-                          data-cb-item-0="Floating-License-fixed-EUR-Yearly"
+                          data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
                           data-cb-item-0-quantity="1"
                         >
                           {item.btn}
@@ -412,7 +412,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-linux-installer.run'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-V1.5.2-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -425,7 +425,8 @@ export default function Groot() {
             <Link
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-x86_64.AppImage'>
+              
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-V1.5.2-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>

From d7191ff69ae7f9d4c6ad6904c9c5a20f69d122e7 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Fri, 26 Jan 2024 12:27:17 +0100
Subject: [PATCH 21/80] Update groot.js

---
 src/pages/groot.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index ceacf35..399d210 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -412,7 +412,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-V1.5.2-linux-installer.run'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -426,7 +426,7 @@ export default function Groot() {
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
               
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-V1.5.2-x86_64.AppImage'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>

From 8374188b4bc8f94a7329dd0e63b9be028b23bbaa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=89=A7=E7=BE=8A=E7=8A=AC=E7=9C=9FQ?=
 <colliemst@gmail.com>
Date: Mon, 26 Feb 2024 17:06:48 +0800
Subject: [PATCH 22/80] Fix minor typo of "first" (#37)

---
 docs/tutorial-basics/tutorial_02_basic_ports.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/tutorial-basics/tutorial_02_basic_ports.md b/docs/tutorial-basics/tutorial_02_basic_ports.md
index 5135f2a..f446f4c 100644
--- a/docs/tutorial-basics/tutorial_02_basic_ports.md
+++ b/docs/tutorial-basics/tutorial_02_basic_ports.md
@@ -47,7 +47,7 @@ To pass this string, we will use an input port called __message__.
 Consider these alternative XML syntaxes:
 
 ``` xml
-<SaySomething name="fist"   message="hello world" />
+<SaySomething name="first"   message="hello world" />
 <SaySomething name="second" message="{greetings}" />
 ```
 

From d47dff1bb77920b1b5d9e2dc44d5c5d590b08f3d Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Thu, 29 Feb 2024 12:43:27 +0100
Subject: [PATCH 23/80] improve migration guide

---
 docs/migration.md | 116 ++++++++++++++++++++++++++++++++--------------
 1 file changed, 82 insertions(+), 34 deletions(-)

diff --git a/docs/migration.md b/docs/migration.md
index abd8329..f95d9c6 100644
--- a/docs/migration.md
+++ b/docs/migration.md
@@ -1,11 +1,11 @@
 ---
 title: Migration from BT.CPP 3.x
-description: How to migrate your code from version 3.X
+description: How to migrate your code from version 3.8
 hide_table_of_contents: false
 sidebar_position: 7
 ---
 
-# Migrating from version 3.X to 4.X
+# Migrating from version 3.8 to 4.X
 
 You will find that most of the changes in version 4.X
 are incremental and back compatible with your previous code.
@@ -15,14 +15,14 @@ that you should be aware of, when migrating.
 
 :::note
 In the repository you can find a Python script called **convert_v3_to_v4.py**
-that may save you some time (thanks to use https://github.com/SubaruArai)!
+that may save you some time (thanks to user https://github.com/SubaruArai)!
 
-Try it, but make sure that you double check the result first!
+Try it, but make sure that you double-check the result first!
 :::
 
 ## Class renaming 
 
-The name of the following classes / XML tags changed.
+The names of the following classes / XML tags changed.
 
 | Name in 3.8+ | Name in 4.x | Where |
 |-------------|---------|---------|
@@ -31,7 +31,7 @@ The name of the following classes / XML tags changed.
 | AsyncActionNode | ThreadedAction | C++ |
 | Optional | Expected | C++ |
 
-If you want to quickly fix the compilation of your C++ code, **even if refactoring is encorauged**, do:
+If you want to quickly fix the compilation of your C++ code (**even if refactoring is encouraged**) add:
 
 ```cpp
 namespace BT 
@@ -42,10 +42,6 @@ namespace BT
 }
 ```
 
-:::info
-These changes can be disabled while compiling BT.CPP with the CMake option __USE_V3_COMPATIBLE_NAMES__.
-:::
-
 ## XML  
 
 You should add the attribute `BTCPP_format` to the \<root\> tag of your XML:
@@ -60,26 +56,25 @@ Now:
 <root BTCPP_format="4">
 ```
 
-This will allow us to be compatible
-with both versions 3 and 4 (in future releases, not yet).
+This will allow us to be compatible with both versions 3 and 4... eventually!
 
 ## SubTree and SubTreePlus
-
-The deafault **SubTree** in 3.X has been deprecated and
-**SubtreePlus** is the new default, being easier to use and 
-more consistent.
+ 
+The default **SubTree** in 3.X has been deprecated in favor of **SubtreePlus**.
+Being this the new default, we simply call it "SubTree".
 
 | Name in 3.8+ | Name in 4.x |
 |-------------|---------|
 | `<SubTree>` | Deprecated |
 | `<SubTreePlus>` | `<SubTree>` |
 
-## SetBlackboard and BlackboardPrecondition
+## SetBlackboard and BlackboardCheck
 
-The new [scripting language](/docs/guides/scripting)
-is much simpler and more powerful.
+The new [scripting language](/docs/guides/scripting) is much simpler and more powerful.
 
-Old code in **3.8+**:
+Check also the introduction to [Pre and Post Conditions](/docs/guides/pre_post_conditions).
+
+Old code in **3.8**:
 
 ``` xml
 <SetBlackboard output_key="port_A" value="42" />
@@ -94,18 +89,72 @@ New code in **4.X**:
 
 ``` xml
 <Script code="port_A:=42; port_B:=69" />
-<Precondition if="port_A==port_B" else="FAILURE">
-    <MyAction/>
-</Precondition>
+<MyAction _failureIf="port_A!=port_B"/>
+```
+
+## Ticking in a While Loop
+
+A typical execution used to look like this:
+
+```cpp
+// simplified code, frequently found in BT.CPP 3.8
+while(status != NodeStatus::SUCCESS || status == NodeStatus::FAILURE) 
+{
+  status tree.tickRoot();
+  std::this_thread::sleep_for(sleep_ms);
+}
+```
+
+The "polling" model of Behavior Trees is sometimes criticized. The sleep is necessary to
+avoid "busy loops", but may introduce some latency.
+
+
+To improve the reactiveness of behavior trees, we introduced the method 
+```cpp
+Tree::sleep(std::chrono::milliseconds timeout)
 ```
 
-## Ticking
+This particular implementation of **sleep** can be interrupted if **any** node in the tree invokes the method `TreeNode::emitWakeUpSignal`. 
+This allows the loop to re-tick the tree **immediately**.
 
-The method `Tree::tickRoot()` was removed, and we introduced these two new methods instead:
+The method `Tree::tickRoot()` has been removed from the public API and the new recommended approach is:
 
-- `Tree::tickOnce()` works as usual. It should run inside a while-loop.
-- `Tree::tickWhileRunning()` has its own while-loop, and will continue ticking until either 
-SUCCESS or FAILURE is received.
+```cpp
+// Use Tree::sleep and wait for either SUCCESS or FAILURE
+while(!BT::isStatusCompleted(status)) 
+{
+  status = tree.tickOnce();
+  tree.sleep(sleep_ms);
+}
+//---- or, even better ------
+status = tree.tickWhileRunning(sleep_ms); 
+```
+
+`Tree::tickWhileRunning` is the new default and it has its own internal loop; 
+the first argument is a timeout of the sleep inside the loop.
+
+Alternatively, you may use these methods:
+
+- `Tree::tickExactlyOnce()`: equivalent to the old behavior in 3.8+
+- `Tree::tickOnce()` is roughly equivalent to `tickWhileRunning(0ms)`. It may potentially tick more than once.
+
+
+# ControlNodes and Decorators must support NodeStatus:SKIPPED
+
+The purpose of this new status is to be returned when a [PreCondition](/docs/guides/pre_post_conditions) is not met.
+
+When a Node returns **SKIPPED**, it is notifying to its parent (ControlNode or Decorator) that it hasn't been executed.
+
+:::note
+When you implement your own custom **Leaf Node**, you shall not return **SKIPPED**.
+This status is reserved for PreConditions.
+
+On the other hand, **ControlNodes and Decorators** must be modified to support this
+new status. 
+:::
+
+The usual rule of thumb is that, if a child Node returns **SKIPPED**, 
+it means that it was not executed, and the ControlNode should move to the next one.
 
 # Asychronous Control Nodes
 
@@ -113,7 +162,7 @@ A serious problem was detected by a user
 [here](https://github.com/BehaviorTree/BehaviorTree.CPP/issues/395):
 
 > If a **ControlNode** or **DecoratorNode** has synchronous children only,
-it is impossible to interrupt it.
+it is impossible to interrupt them.
 
 Consider this example:
 
@@ -127,14 +176,13 @@ Consider this example:
     <Sequence>
 </ReactiveSequence>   
 ```
-When a `Sequence` (or `Fallback`) has only synchronous children, the entire sequence becomes
-"atomic". 
+When a `Sequence` (or `Fallback`) has only synchronous children, the entire sequence becomes "atomic". 
 
 In other words, when "synch_sequence" starts, it is impossible for `AbortCondition` to stop it.
 
 To address this issue, we added two new nodes, `AsyncSequence` and `AsyncFallback`.
 
-When `AsyncSequence` is used, **RUNNING** is returned after the execution of each synchronous child,
-before moving to the next sibling.
+When `AsyncSequence` is used, **RUNNING** is returned after the execution of **each** synchronous child, before moving to the next sibling.
+
+In the example above, to complete the entire tree successfully we need 3 ticks.
 
-In this way, we give allow the tree to run the `ReactiveSequence` above.  

From a3366684de2eb3ce5e2121b35e4460e67fb8871c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 5 Mar 2024 13:54:25 +0100
Subject: [PATCH 24/80] adding article about blackboard access

---
 docs/guides/images/no_ports_sequence.png   | Bin 0 -> 52593 bytes
 docs/guides/images/with_ports_sequence.png | Bin 0 -> 37820 bytes
 docs/guides/ports_vs_blackboard.md         | 114 +++++++++++++++++++++
 3 files changed, 114 insertions(+)
 create mode 100644 docs/guides/images/no_ports_sequence.png
 create mode 100644 docs/guides/images/with_ports_sequence.png
 create mode 100644 docs/guides/ports_vs_blackboard.md

diff --git a/docs/guides/images/no_ports_sequence.png b/docs/guides/images/no_ports_sequence.png
new file mode 100644
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diff --git a/docs/guides/ports_vs_blackboard.md b/docs/guides/ports_vs_blackboard.md
new file mode 100644
index 0000000..5657f27
--- /dev/null
+++ b/docs/guides/ports_vs_blackboard.md
@@ -0,0 +1,114 @@
+---
+sidebar_position: 5
+---
+
+# Ports VS Blackboard
+
+**BT.CPP** is the only implementation (to our knowledge) of Behavior Tree that
+introduces the concept of **Input/Output Ports**, as an alternative to **Blackboards**.
+
+To be more specific, Ports are an interface that adds a level of
+indirection and additional semantics to the blackboard.
+
+To understand why using Ports is recommended and using directly the Blackboard 
+is **discouraged**, we should first understand some of the core principles 
+of BehaviorTree.CPP.
+
+## Goals of BT.CPP
+
+### Model Driven Development
+
+It is not the purpose of this article to explain what Model Driven Development is.
+But, in short, we want to build a "model" of our Nodes, i.e. some kind of meta-information
+that tells us how the Node interacts with  the rest of the tree.
+
+Models are important both for developers (being self-documenting) and 
+for external tools, such as visual editors, being Groot2 a notable example, 
+or static analyzers.
+
+We believe that the **description of the data-flow between Nodes must be part of the model**. 
+Additionally, we want to clearly express if a blackboard entry is being written (output), 
+read (input) or both. 
+
+Consider this example:
+
+![no_ports](images/no_ports_sequence.png)
+
+In other implementations (or if anybody uses this library inappropriately...) the
+only way to know if these two Nodes communicate and depend on each other is either:
+
+- **inspecting the code**: something that we want to avoid.
+- or **reading the documentation**: but documentation is not guaranteed to be accurate and up to date.
+
+Instead, if Input/Output ports are part of the model, the intent of the Node and it
+relationship with the others become more explicit:
+
+![with_ports](images/with_ports_sequence.png)
+
+### Nodes composibility and Subtree scoping
+
+Ideally, we want to offer a platform that allows Behavior Designers to build trees
+(i.e., "compose Nodes") implemented by different vendors / users.
+
+But when the Blackboard is used directly, name-collision will become immediately an issue.
+
+Think about common names such as `goal`, `results`, `target`, `value`, etc.
+
+For instance, the Nodes **GraspObject** and **MoveBase** may be developed by different people
+and they both read the entry `target` from the blackboard.
+Unfortunately, they have different meanings and the type itself is different: 
+the former expects a 3D pose, whilst the latter a 2D one.
+
+**Ports** offer one level of indirection, called also "remapping", as explained in
+[Tutorial 2](../tutorial-basics/tutorial_02_basic_ports.md).
+
+This means that, no matter which name is used when defining the Port 
+(that name is "hardcoded" into your C++ implementation),
+you can always "remap" it to a different blackboard entry into your XML, 
+without modifying the source code.
+
+The same is true for Subtrees remapping, explained in [Tutorial 6](../tutorial-basics/tutorial_06_subtree_ports.md). 
+Being the Blackboard a glorified map of global variables, it scales very poorly. 
+There is a reason why global variables are a no-no in programming!
+
+Ports remapping offers a solution to this problem.
+
+
+## Summary: never use the Blackboard directly
+
+You should do this:
+
+```c++
+// example code in your tick()
+getInput("goal", goal);
+setOutput("result", result);
+```
+
+and avoid as much as possible this:
+
+```c++
+// example code in your tick()
+config().blackboard->get("goal", goal);
+config().blackboard->set("result", result);
+```
+
+Both these codes may technically work, but the latter (direct access to the blackboard) 
+is considered bad practice and **it is highly discouraged**:
+
+The problems with the 2nd version, i.e. the direct access to the blackboard:
+
+1. Names "goal" and "result" are hard-coded. To change them, you must recompile your application. Port, instead, can be remapped at run-time, modifying only the XML.
+
+2. The only way to know if a Node reads or writes one or more entries of the blackboard, 
+is by inspecting the code. Up to date documentation is a solution, but the Port model is self-documenting.
+
+3. The `BehaviorTreeFactory` is unaware that those blackboard entries are being accessed.
+In contrast, when using Ports, we are able to introspect how ports communicate to each other
+and also to check at deployment time if the connection is done correctly.
+
+4. It may not work as expected when using SubTrees.
+
+5. The template specialization `convertFromString()` will not work correctly.
+
+
+

From a6787b2eb58c3ed964100000de097fb9ec966aac Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 12 Mar 2024 14:38:52 +0100
Subject: [PATCH 25/80] new tutorials

---
 docs/guides/_category_.json                   |  2 +-
 docs/guides/images/port_vs_blackboard.drawio  | 52 ++++++++++++
 docs/guides/ports_vs_blackboard.md            |  2 +-
 docs/guides/scripting.md                      |  1 +
 docs/learn-the-basics/_category_.json         |  2 +-
 docs/tutorial-advanced/_category_.json        |  8 ++
 .../tutorial_12_default_ports.md              | 81 +++++++++++++++++++
 .../tutorial_13_blackboard_reference.md}      |  3 +-
 .../tutorial_14_subtree_model.md              | 72 +++++++++++++++++
 .../tutorial_15_replace_rules.md}             |  4 +-
 docs/tutorial-basics/_category_.json          |  2 +-
 ...ial_12_groot2.md => tutorial_11_groot2.md} |  4 +-
 12 files changed, 224 insertions(+), 9 deletions(-)
 create mode 100644 docs/guides/images/port_vs_blackboard.drawio
 create mode 100644 docs/tutorial-advanced/_category_.json
 create mode 100644 docs/tutorial-advanced/tutorial_12_default_ports.md
 rename docs/{guides/blackboard_reference.md => tutorial-advanced/tutorial_13_blackboard_reference.md} (97%)
 create mode 100644 docs/tutorial-advanced/tutorial_14_subtree_model.md
 rename docs/{tutorial-basics/tutorial_11_replace_rules.md => tutorial-advanced/tutorial_15_replace_rules.md} (98%)
 rename docs/tutorial-basics/{tutorial_12_groot2.md => tutorial_11_groot2.md} (98%)

diff --git a/docs/guides/_category_.json b/docs/guides/_category_.json
index c630842..0d02b8d 100644
--- a/docs/guides/_category_.json
+++ b/docs/guides/_category_.json
@@ -1,6 +1,6 @@
 {
   "label": "Guides",
-  "position": 4,
+  "position": 5,
   "link": {
     "type": "generated-index",
     "description": "Become a behavior tree whisperer"
diff --git a/docs/guides/images/port_vs_blackboard.drawio b/docs/guides/images/port_vs_blackboard.drawio
new file mode 100644
index 0000000..edc8813
--- /dev/null
+++ b/docs/guides/images/port_vs_blackboard.drawio
@@ -0,0 +1,52 @@
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+          <mxGeometry x="178" y="254" width="162" height="63.5" as="geometry" />
+        </mxCell>
+        <mxCell id="Tmei_RwYaEZryfnuTa6W-9" style="rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.25;exitY=1;exitDx=0;exitDy=0;entryX=0.75;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="Tmei_RwYaEZryfnuTa6W-8" target="Tmei_RwYaEZryfnuTa6W-4">
+          <mxGeometry relative="1" as="geometry" />
+        </mxCell>
+        <mxCell id="Tmei_RwYaEZryfnuTa6W-8" value="&lt;span style=&quot;background-color: initial;&quot;&gt;Where do we get the pose of the object to grasp?&lt;/span&gt;" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontColor=#3333FF;" vertex="1" parent="1">
+          <mxGeometry x="559" y="285" width="146" height="32.5" as="geometry" />
+        </mxCell>
+        <mxCell id="Tmei_RwYaEZryfnuTa6W-11" style="rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="Tmei_RwYaEZryfnuTa6W-13" target="Tmei_RwYaEZryfnuTa6W-14">
+          <mxGeometry relative="1" as="geometry" />
+        </mxCell>
+        <mxCell id="Tmei_RwYaEZryfnuTa6W-12" style="rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="Tmei_RwYaEZryfnuTa6W-13" target="Tmei_RwYaEZryfnuTa6W-15">
+          <mxGeometry relative="1" as="geometry" />
+        </mxCell>
+        <mxCell id="Tmei_RwYaEZryfnuTa6W-13" value="Sequence" style="rounded=0;whiteSpace=wrap;html=1;fontSize=16;" vertex="1" parent="1">
+          <mxGeometry x="377.5" y="446" width="120" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="Tmei_RwYaEZryfnuTa6W-14" value="DetectObject&lt;br&gt;&lt;font style=&quot;font-size: 11px;&quot;&gt;[IN] name = &quot;apple&quot;&lt;br&gt;[OUT] pose = &quot;{apple_pose}&quot;&lt;br&gt;&lt;/font&gt;" style="rounded=0;whiteSpace=wrap;html=1;fontSize=16;" vertex="1" parent="1">
+          <mxGeometry x="262" y="536" width="160.5" height="88" as="geometry" />
+        </mxCell>
+        <mxCell id="Tmei_RwYaEZryfnuTa6W-15" value="GraspObject&lt;br style=&quot;font-size: 15px;&quot;&gt;&lt;font style=&quot;font-size: 11px;&quot;&gt;[IN] location = &quot;{apple_pose}&quot;&lt;br&gt;&lt;br&gt;&lt;/font&gt;" style="rounded=0;whiteSpace=wrap;html=1;fontSize=16;" vertex="1" parent="1">
+          <mxGeometry x="457.5" y="536" width="163.5" height="88" as="geometry" />
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>
diff --git a/docs/guides/ports_vs_blackboard.md b/docs/guides/ports_vs_blackboard.md
index 5657f27..3a46503 100644
--- a/docs/guides/ports_vs_blackboard.md
+++ b/docs/guides/ports_vs_blackboard.md
@@ -1,5 +1,5 @@
 ---
-sidebar_position: 5
+sidebar_position: 4
 ---
 
 # Ports VS Blackboard
diff --git a/docs/guides/scripting.md b/docs/guides/scripting.md
index 968947f..ddc8b9d 100644
--- a/docs/guides/scripting.md
+++ b/docs/guides/scripting.md
@@ -1,5 +1,6 @@
 ---
 sidebar_position: 1
+sidebar_label: The Scripting Language
 ---
 
 # Introduction to Scripting
diff --git a/docs/learn-the-basics/_category_.json b/docs/learn-the-basics/_category_.json
index 97d3fb8..225cbe2 100644
--- a/docs/learn-the-basics/_category_.json
+++ b/docs/learn-the-basics/_category_.json
@@ -1,5 +1,5 @@
 {
-  "label": "Learn the Basic Concepts",
+  "label": "Basic Concepts",
   "position": 2,
   "link": {
     "type": "generated-index",
diff --git a/docs/tutorial-advanced/_category_.json b/docs/tutorial-advanced/_category_.json
new file mode 100644
index 0000000..a6ec4e4
--- /dev/null
+++ b/docs/tutorial-advanced/_category_.json
@@ -0,0 +1,8 @@
+{
+  "label": "Tutorials (Advanced)",
+  "position": 4,
+  "link": {
+    "type": "generated-index",
+    "description": "5 minutes to learn the most important Docusaurus concepts."
+  }
+}
diff --git a/docs/tutorial-advanced/tutorial_12_default_ports.md b/docs/tutorial-advanced/tutorial_12_default_ports.md
new file mode 100644
index 0000000..b51d813
--- /dev/null
+++ b/docs/tutorial-advanced/tutorial_12_default_ports.md
@@ -0,0 +1,81 @@
+---
+sidebar_position: 12
+sidebar_label: 12. Default Port values
+---
+
+# Default Port values
+
+When defining a port, it might be convenient to add a default value,
+i.e. the value that the port should have if not specified in the XML.
+
+:::note
+Some of the examples shown in this tutorial will require version 4.5.2 or later.
+:::
+
+## Default InputPorts
+
+Let's consider a node initializing multiple ports. We use a custom type **Point2D**,
+but the same is true for simple types, such as `int`, `double` or `string`.
+
+```cpp
+  static PortsList providedPorts()
+  {
+    return { 
+      BT::InputPort<Point2D>("input"),
+      BT::InputPort<Point2D>("pointA", Point2D{1, 2}, "default value is x=1, y=2"),
+      BT::InputPort<Point2D>("pointB", "3,4",         "default value is x=3, y=4"),
+      BT::InputPort<Point2D>("pointC", "{point}",     "point by default to BB entry {point}"),
+      BT::InputPort<Point2D>("pointD", "{=}",         "point by default to BB entry {pointD}") 
+    };
+  }
+```
+
+The very first one (`input`) has no default value and it is mandatory to providing either a value
+or blackboard entry in the XML.
+
+### Default values
+
+```cpp
+BT::InputPort<Point2D>("pointA", Point2D{1, 2}, "...");
+```
+
+If the template specialization `convertFromString<Point2D>()` is implemented, we can use that too.
+
+In other words, the following syntaxes should be equivalent, if our **converFromString** expects
+two comma-separated values:
+
+```cpp
+BT::InputPort<Point2D>("pointB", "3,4", "...");
+// should be equivalent to:
+BT::InputPort<Point2D>("pointB", Point2D{3, 4}, "...");
+```
+
+### Default blackboard entry
+
+Alternatively, we can define the default blackboard entry that the port should point at.
+
+```cpp
+BT::InputPort<Point2D>("pointC", "{point}", "...");
+```
+
+If the name of the port and the blackboard entry are the **same**, you can use "{=}"
+
+```cpp
+BT::InputPort<Point2D>("pointD", "{=}", "...");
+// equivalent to:
+BT::InputPort<Point2D>("pointD", "{pointD}", "...");
+```
+
+## Default OutputPorts
+
+Output ports are more limited and can only point to a blackboard entry.
+You can still use "{=}" when the two names are the same.
+
+```cpp
+  static PortsList providedPorts()
+  {
+    return { 
+      BT::OutputPort<Point2D>("result", "{target}", "point by default to BB entry {target}");
+    };
+  }
+```
\ No newline at end of file
diff --git a/docs/guides/blackboard_reference.md b/docs/tutorial-advanced/tutorial_13_blackboard_reference.md
similarity index 97%
rename from docs/guides/blackboard_reference.md
rename to docs/tutorial-advanced/tutorial_13_blackboard_reference.md
index d8e3689..85f7a21 100644
--- a/docs/guides/blackboard_reference.md
+++ b/docs/tutorial-advanced/tutorial_13_blackboard_reference.md
@@ -1,5 +1,6 @@
 ---
-sidebar_position: 4
+sidebar_position: 13
+sidebar_label: 13. Access a port by reference
 ---
 
 # Zero-copy access to the blackboard
diff --git a/docs/tutorial-advanced/tutorial_14_subtree_model.md b/docs/tutorial-advanced/tutorial_14_subtree_model.md
new file mode 100644
index 0000000..89d14eb
--- /dev/null
+++ b/docs/tutorial-advanced/tutorial_14_subtree_model.md
@@ -0,0 +1,72 @@
+---
+sidebar_position: 14
+sidebar_label: 14. Subtree Models and autoremap
+---
+
+# Subtree Models and autoremap
+
+Subtree remapping was introduced in [Tutorial 6](../tutorial-basics/tutorial_06_subtree_ports.md).
+
+Unfortunately, when using the same SubTree in multiple locations, we might find ourselves
+copying and pasting the same long XML tags.
+
+Consider for instance a case like this:
+
+```xml
+<SubTree ID="MoveRobot" target="{move_goal}"  frame="world" result="{error_code}" />
+```
+
+We don't want to copy and paste the three XML attributes `target`, `frame` and `result` every single time,
+unless their value IS different.
+
+To avoid that, we can define their default values in `<TreeNodesModel>`. 
+
+
+```xml
+  <TreeNodesModel>
+    <SubTree ID="MoveRobot">
+      <input_port  name="target"  default="{move_goal}"/>
+      <input_port  name="frame"   default="world"/>
+      <output_port name="result"  default="{error_code}"/>
+    </SubTree>
+  </TreeNodesModel>
+```
+Conceptually, this is similar to the 
+default port explained in [Tutorial 12](tutorial-advanced/tutorial_12_default_ports.md).
+
+If specified in the XML, the value of these remapped blackboard entries, will be overridden.
+In the example below, we are overriding the value of "frame", but keeping the default
+remapping otherwise.
+
+```xml
+<SubTree ID="MoveRobot" frame="map" />
+```
+
+## Autoremap
+
+When the names of the entries in the SubTree and the parent tree are the **same**,
+you can use the attribute `_autoremap`.
+
+For instance:
+
+```xml
+<SubTree ID="MoveRobot" target="{target}"  frame="{frame}" result="{result}" />
+```
+
+Can be replaced by:
+```xml
+<SubTree ID="MoveRobot" _autoremap="true" />
+```
+
+We can still override a specific value, and autoremap the others
+
+```xml
+<SubTree ID="MoveRobot" _autoremap="true" frame="world" />
+```
+
+:::caution
+The attribute `_autoremap="true"` will automatically remap **all** the entries in 
+the SubTree, **unless** their name start with an underscore (character "_").
+
+This could be a convenient way to mark an entry in a SubTree as "private".
+:::
\ No newline at end of file
diff --git a/docs/tutorial-basics/tutorial_11_replace_rules.md b/docs/tutorial-advanced/tutorial_15_replace_rules.md
similarity index 98%
rename from docs/tutorial-basics/tutorial_11_replace_rules.md
rename to docs/tutorial-advanced/tutorial_15_replace_rules.md
index df77bbe..1a64f1b 100644
--- a/docs/tutorial-basics/tutorial_11_replace_rules.md
+++ b/docs/tutorial-advanced/tutorial_15_replace_rules.md
@@ -1,6 +1,6 @@
 ---
-sidebar_position: 11
-sidebar_label: 11. Substitution Rules
+sidebar_position: 15
+sidebar_label: 15. Mocking and Nodes Replacement
 ---
 
 # Mock testing in BT.CPP
diff --git a/docs/tutorial-basics/_category_.json b/docs/tutorial-basics/_category_.json
index edd3422..35c3312 100644
--- a/docs/tutorial-basics/_category_.json
+++ b/docs/tutorial-basics/_category_.json
@@ -1,5 +1,5 @@
 {
-  "label": "Tutorials",
+  "label": "Tutorials (Basic)",
   "position": 3,
   "link": {
     "type": "generated-index",
diff --git a/docs/tutorial-basics/tutorial_12_groot2.md b/docs/tutorial-basics/tutorial_11_groot2.md
similarity index 98%
rename from docs/tutorial-basics/tutorial_12_groot2.md
rename to docs/tutorial-basics/tutorial_11_groot2.md
index c551b7c..e77de34 100644
--- a/docs/tutorial-basics/tutorial_12_groot2.md
+++ b/docs/tutorial-basics/tutorial_11_groot2.md
@@ -1,6 +1,6 @@
 ---
-sidebar_position: 12
-sidebar_label: 12. Connect to Groot2
+sidebar_position: 11
+sidebar_label: 11. Connect to Groot2
 ---
 
 **Groot2** is the official IDE to Edit, Monitor and interact with

From 4398192757891c012df7a029315fc149b2c991c2 Mon Sep 17 00:00:00 2001
From: Tom Creutz <tcreutz97@gmail.com>
Date: Wed, 3 Apr 2024 12:55:48 +0200
Subject: [PATCH 26/80] Fix typo in tutorial_12_default_ports.md (#40)

---
 docs/tutorial-advanced/tutorial_12_default_ports.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/tutorial-advanced/tutorial_12_default_ports.md b/docs/tutorial-advanced/tutorial_12_default_ports.md
index b51d813..6747579 100644
--- a/docs/tutorial-advanced/tutorial_12_default_ports.md
+++ b/docs/tutorial-advanced/tutorial_12_default_ports.md
@@ -41,7 +41,7 @@ BT::InputPort<Point2D>("pointA", Point2D{1, 2}, "...");
 
 If the template specialization `convertFromString<Point2D>()` is implemented, we can use that too.
 
-In other words, the following syntaxes should be equivalent, if our **converFromString** expects
+In other words, the following syntaxes should be equivalent, if our **convertFromString** expects
 two comma-separated values:
 
 ```cpp
@@ -78,4 +78,4 @@ You can still use "{=}" when the two names are the same.
       BT::OutputPort<Point2D>("result", "{target}", "point by default to BB entry {target}");
     };
   }
-```
\ No newline at end of file
+```

From 537eac282a0f06ffcc2455b2dedc234611fe10a7 Mon Sep 17 00:00:00 2001
From: Chung Pu Onn <chungpuonn@gmail.com>
Date: Wed, 3 Apr 2024 18:56:14 +0800
Subject: [PATCH 27/80] Fix tutorial_04_sequence.md (#23)

- Correct the expected output of the Sequence and the ReactiveSequence
---
 .../tutorial-basics/tutorial_04_sequence.md        | 14 ++------------
 1 file changed, 2 insertions(+), 12 deletions(-)

diff --git a/versioned_docs/version-3.8/tutorial-basics/tutorial_04_sequence.md b/versioned_docs/version-3.8/tutorial-basics/tutorial_04_sequence.md
index 4c5a4e1..fc2f833 100644
--- a/versioned_docs/version-3.8/tutorial-basics/tutorial_04_sequence.md
+++ b/versioned_docs/version-3.8/tutorial-basics/tutorial_04_sequence.md
@@ -191,14 +191,8 @@ Expected output:
 ``` 
 --- ticking
 [ Battery: OK ]
---- status: RUNNING
-
---- ticking
 Robot says: mission started...
---- status: RUNNING
-
---- ticking
-[ MoveBase: SEND REQUEST ]. goal: x=1.0 y=2.0 theta=3.0
+[ MoveBase: SEND REQUEST ]. goal: x=1.000000 y=2.000000 theta=3.000000
 --- status: RUNNING
 
 --- ticking
@@ -242,11 +236,7 @@ Expected output:
 --- ticking
 [ Battery: OK ]
 Robot says: mission started...
---- status: RUNNING
-
---- ticking
-[ Battery: OK ]
-[ MoveBase: SEND REQUEST ]. goal: x=1.0 y=2.0 theta=3.0
+[ MoveBase: SEND REQUEST ]. goal: x=1.000000 y=2.000000 theta=3.000000
 --- status: RUNNING
 
 --- ticking

From 03ea0bf433263397eeb6e8393666d7b53a875458 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 3 Apr 2024 12:57:42 +0200
Subject: [PATCH 28/80] Update groot.js

---
 src/pages/groot.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 399d210..14ad048 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -362,13 +362,13 @@ export default function Groot() {
                 {/* <li id='text'>
                   <b>Discounts:</b> a price discount is automatically applied
                   when purchasing multiple licenses (3+ or 5+).
-                </li> */}
+                </li> 
                 <li id='text'>
                 <b>Free for individual researchers:</b> if you are a student or researcher,
                   you can receive a complementary 1 year license (node locked). 
                   <a href="https://airtable.com/appqTlC23AiSoB4Fd/shrsC33d8feHZmKXs" target="_blank"> Fill this form</a>
                   &ensp;and tell us more about your project.
-                </li>
+                </li> */}
 
                 <li id='text'>
                   <b>Source code escrow:</b> if Auryn

From 5874eb0463656b6df77e84398ce9a34a2776b336 Mon Sep 17 00:00:00 2001
From: thatslifebro <75624064+thatslifebro@users.noreply.github.com>
Date: Mon, 6 May 2024 07:20:54 -0700
Subject: [PATCH 29/80] Update tutorial_04_sequence.md (#41)

---
 docs/tutorial-basics/tutorial_04_sequence.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/tutorial-basics/tutorial_04_sequence.md b/docs/tutorial-basics/tutorial_04_sequence.md
index df49496..de439b2 100644
--- a/docs/tutorial-basics/tutorial_04_sequence.md
+++ b/docs/tutorial-basics/tutorial_04_sequence.md
@@ -166,7 +166,7 @@ int main()
   // Here, instead of tree.tickWhileRunning(),
   // we prefer our own loop.
   std::cout << "--- ticking\n";
-  status = tree.tickOnce();
+  auto status = tree.tickOnce();
   std::cout << "--- status: " << toStr(status) << "\n\n";
 
   while(status == NodeStatus::RUNNING) 

From ed7763e603fd5e64730ffb32c4a619545650ec56 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 6 May 2024 17:20:17 +0200
Subject: [PATCH 30/80] added new tutorial

---
 .../tutorial-advanced/images/bb_hierarchy.png | Bin 0 -> 16591 bytes
 .../images/tree_hierarchy.png                 | Bin 0 -> 23283 bytes
 .../tutorial_16_global_blackboard.md          | 165 ++++++++++++++++++
 docusaurus.config.js                          |   2 +-
 src/pages/index.js                            |   2 +-
 5 files changed, 167 insertions(+), 2 deletions(-)
 create mode 100644 docs/tutorial-advanced/images/bb_hierarchy.png
 create mode 100644 docs/tutorial-advanced/images/tree_hierarchy.png
 create mode 100644 docs/tutorial-advanced/tutorial_16_global_blackboard.md

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diff --git a/docs/tutorial-advanced/tutorial_16_global_blackboard.md b/docs/tutorial-advanced/tutorial_16_global_blackboard.md
new file mode 100644
index 0000000..8d92d7b
--- /dev/null
+++ b/docs/tutorial-advanced/tutorial_16_global_blackboard.md
@@ -0,0 +1,165 @@
+---
+sidebar_position: 16
+sidebar_label: 16. The global blackboard idiom
+---
+
+# Why a "global blackboard" 
+
+:::note
+Introduced in Bt.CPP 4.6.0
+:::
+
+As described in earlier tutorials, BT.CPP insists on the importance of having "scoped blackboards", to
+isolate each subtree as they were independent functions / routines, in a programming language.
+
+Still, there are cases where it could be desirable to have a truly "global" blackboard, that can be 
+accessed from every Subtree directly, without remapping.
+
+This may make sense for:
+
+- Singletons and global objects that can't be shared as described in [Tutorial 8](tutorial-basics/tutorial_08_additional_args.md)
+- Global states of the robot. 
+- Data that is written / read outside the Behavior Tree, i.e. in the main loop executing the tick.
+
+Additionally, since the blackboard is a generic key/value storage, where the value can have **any** type,
+it is a perfect data structure to implement what is known in the literature as "World Model",
+i.e. data that represents the state of the world, and that the Nodes in the tree may need to access.
+
+
+Consider a simple Tree with two subtrees, like this:
+
+![tree_hierarchy.png](images/tree_hierarchy.png)
+
+Each one of the 3 Subtree has its own blackboard; the parent.child relationship between these
+blackboards is exactly the same as the BehaviorTrees, i.e. BB1 is the parent of BB2 and BB3.
+
+The lifecycle of these individual blackboards is coupled with their respective Subtree.
+
+We will can introduce easily an external "global blackboard" like this:
+
+```cpp
+auto global_bb = BT::Blackboard::create();
+auto maintree_bb = BT::Blackboard::create(global_bb);
+auto tree = factory.createTree("MainTree", maintree_bb);
+```
+
+This will create the following hierarchy, among blackboards:
+
+![bb_hierarchy.png](images/bb_hierarchy.png)
+
+The instance `global_bb` lives "outside" the behavior tree and will persist if the 
+object `tree` is destroyed.
+
+Furthermore, it can be easily accessed using `set` and `get` methods.
+
+## How to access the top-level blackboard from the tree
+
+We call a blackboard the "top-level" one, when it is the root or the hierarchy.
+
+In the previous tutorials, that would be the one inside "MainTree", but when the code above 
+is used, `global_bb` will become the top-level one.
+
+Since version **4.6** of BT.CPP, a new syntax was introduced to access the top-level
+blackboard **without remapping**.
+
+Simply, add the prefix "@" to the name of the entry. For instance:
+
+
+```xml
+<PrintNumber val="{@value}" />
+```
+
+This code will always search the entry `value` in the top-level blackboard, instead of the local one.
+
+## Full example
+
+Consider this tree:
+
+```xml
+  <BehaviorTree ID="MainTree">
+    <Sequence>
+      <PrintNumber name="main_print" val="{@value}" />
+      <SubTree ID="MySub"/>
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="MySub">
+    <Sequence>
+      <PrintNumber name="sub_print" val="{@value}" />
+      <Script code="@value_sqr := @value * @value" />
+    </Sequence>
+  </BehaviorTree>
+```
+
+And the C++ code:
+
+```cpp
+class PrintNumber : public BT::SyncActionNode
+{
+public:
+  PrintNumber(const std::string& name, const BT::NodeConfig& config)
+    : BT::SyncActionNode(name, config)
+  {}
+
+  NodeStatus tick() override
+  {
+    const int val = getInput<int>("val").value();
+    std::cout << "[" << name() << "] val: " << val << std::endl;
+    return NodeStatus::SUCCESS;
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return { BT::InputPort<int>("val") };
+  }
+};
+
+int main()
+{
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<PrintNumber>("PrintNumber");
+  factory.registerBehaviorTreeFromText(xml_main);
+
+  // No one will take the ownership of this blackboard
+  auto global_bb = BT::Blackboard::create();
+  // "MainTree" will own maintree_bb
+  auto maintree_bb = BT::Blackboard::create(global_bb);
+  auto tree = factory.createTree("MainTree", maintree_bb);
+
+  // we can interact directly with global_bb
+  for(int i = 1; i <= 3; i++)
+  {
+    // write the entry "value"
+    global_bb->set("value", i);
+    // tick the tree
+    tree.tickOnce();
+    // read the entry "value_sqr"
+    auto value_sqr = global_bb->get<int>("value_sqr");
+    // print 
+    std::cout << "[While loop] value: " << i 
+              << " value_sqr: " << value_sqr << "\n\n";
+  }
+  return 0;
+}
+```
+
+Output:
+```
+[main_print] val: 1
+[sub_print] val: 1
+[While loop] value: 1 value_sqr: 1
+
+[main_print] val: 2
+[sub_print] val: 2
+[While loop] value: 2 value_sqr: 4
+
+[main_print] val: 3
+[sub_print] val: 3
+[While loop] value: 3 value_sqr: 9
+```
+
+Notes:
+
+- The prefix "@" works both when used in an InputPort or in the scripting language.
+- No remapping is needed in the Subtrees.
+- When accessing the blackboard directly in the main loop, no prefix "@" is needed.
\ No newline at end of file
diff --git a/docusaurus.config.js b/docusaurus.config.js
index 9474e6f..7033b7e 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -45,7 +45,7 @@ const config = {
           lastVersion: 'current',
           versions: {
             current: {
-              label: '4.5',
+              label: '4.6',
             },
             3.8: {
               label: '3.8',
diff --git a/src/pages/index.js b/src/pages/index.js
index 7bf22f3..91441e9 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -41,7 +41,7 @@ function Home() {
           <div className="row align-items-center">
             <div className="col col--6">
               <div className={clsx(styles.heroText)}>
-                <h1 className="hero__title ">BehaviorTree.CPP 4.5</h1>
+                <h1 className="hero__title ">BehaviorTree.CPP 4.6</h1>
                 <p className="hero__subtitle">
                   The C++ library to build Behavior Trees.
                   <br />

From 2ecb897a502f7bddf8ee48f3dc349791d5f12b07 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 7 May 2024 14:17:19 +0200
Subject: [PATCH 31/80] article fix

---
 .../tutorial_16_global_blackboard.md          | 40 +++++++++----------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/docs/tutorial-advanced/tutorial_16_global_blackboard.md b/docs/tutorial-advanced/tutorial_16_global_blackboard.md
index 8d92d7b..a0000d2 100644
--- a/docs/tutorial-advanced/tutorial_16_global_blackboard.md
+++ b/docs/tutorial-advanced/tutorial_16_global_blackboard.md
@@ -15,27 +15,28 @@ isolate each subtree as they were independent functions / routines, in a program
 Still, there are cases where it could be desirable to have a truly "global" blackboard, that can be 
 accessed from every Subtree directly, without remapping.
 
-This may make sense for:
+This makes sense for:
 
 - Singletons and global objects that can't be shared as described in [Tutorial 8](tutorial-basics/tutorial_08_additional_args.md)
 - Global states of the robot. 
 - Data that is written / read outside the Behavior Tree, i.e. in the main loop executing the tick.
 
-Additionally, since the blackboard is a generic key/value storage, where the value can have **any** type,
-it is a perfect data structure to implement what is known in the literature as "World Model",
-i.e. data that represents the state of the world, and that the Nodes in the tree may need to access.
+Additionally, since the blackboard is a generic key/value storage, where the value can contain **any** type,
+it is a perfect data structure to implement what is known in the literature as **"World Model"**,
+i.e. a place where the states of the environment, the robot and the tasks can be shared with the Behavior Trees.
 
+## Blackboards hierarchy
 
 Consider a simple Tree with two subtrees, like this:
 
 ![tree_hierarchy.png](images/tree_hierarchy.png)
 
-Each one of the 3 Subtree has its own blackboard; the parent.child relationship between these
-blackboards is exactly the same as the BehaviorTrees, i.e. BB1 is the parent of BB2 and BB3.
+Each one of the 3 Subtree has its own blackboard; the parent / child relationship between these
+blackboards is exactly the same as the tree, i.e. BB1 is the parent of BB2 and BB3.
 
 The lifecycle of these individual blackboards is coupled with their respective Subtree.
 
-We will can introduce easily an external "global blackboard" like this:
+We can implement an external "global blackboard" like this:
 
 ```cpp
 auto global_bb = BT::Blackboard::create();
@@ -43,7 +44,7 @@ auto maintree_bb = BT::Blackboard::create(global_bb);
 auto tree = factory.createTree("MainTree", maintree_bb);
 ```
 
-This will create the following hierarchy, among blackboards:
+This will create the following blackboards hierarchy:
 
 ![bb_hierarchy.png](images/bb_hierarchy.png)
 
@@ -54,22 +55,21 @@ Furthermore, it can be easily accessed using `set` and `get` methods.
 
 ## How to access the top-level blackboard from the tree
 
-We call a blackboard the "top-level" one, when it is the root or the hierarchy.
+By "top-level blackboard", we mean the one at the root or the hierarchy.
 
-In the previous tutorials, that would be the one inside "MainTree", but when the code above 
-is used, `global_bb` will become the top-level one.
+In the code above, `global_bb` becomes the top-level blackboard.
 
 Since version **4.6** of BT.CPP, a new syntax was introduced to access the top-level
-blackboard **without remapping**.
+blackboard **without remapping**, by adding the prefix `@` to the name of the entry. 
 
-Simply, add the prefix "@" to the name of the entry. For instance:
+For instance:
 
 
 ```xml
 <PrintNumber val="{@value}" />
 ```
 
-This code will always search the entry `value` in the top-level blackboard, instead of the local one.
+The port **val** will search the entry `value` in the top-level blackboard, instead of the local one.
 
 ## Full example
 
@@ -100,6 +100,11 @@ public:
   PrintNumber(const std::string& name, const BT::NodeConfig& config)
     : BT::SyncActionNode(name, config)
   {}
+  
+  static BT::PortsList providedPorts()
+  {
+    return { BT::InputPort<int>("val") };
+  }
 
   NodeStatus tick() override
   {
@@ -107,11 +112,6 @@ public:
     std::cout << "[" << name() << "] val: " << val << std::endl;
     return NodeStatus::SUCCESS;
   }
-
-  static BT::PortsList providedPorts()
-  {
-    return { BT::InputPort<int>("val") };
-  }
 };
 
 int main()
@@ -160,6 +160,6 @@ Output:
 
 Notes:
 
-- The prefix "@" works both when used in an InputPort or in the scripting language.
+- The prefix "@" works both when used in an Input / Output Port or in the scripting language.
 - No remapping is needed in the Subtrees.
 - When accessing the blackboard directly in the main loop, no prefix "@" is needed.
\ No newline at end of file

From 5721cad28a6906fc0b2e994cb77c4525cb087226 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 24 Jun 2024 21:26:18 +0200
Subject: [PATCH 32/80] Update groot.js

---
 src/pages/groot.js | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 14ad048..d01c751 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -390,7 +390,7 @@ export default function Groot() {
 
       <div
         className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.5.2 (2024-01-24)</h3>
+        <h3>Latest release: 1.6.0 (2024-06-24)</h3>
         <div className={styles.downloadGroup}>
           <div id='card_download' style={{ textAlign: "center" }}>
             <img
@@ -400,7 +400,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.5.2-windows-installer.exe'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.6.0-windows-installer.exe'>
               Windows installer
             </Link>
           </div>
@@ -412,7 +412,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-linux-installer.run'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.0-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -426,7 +426,7 @@ export default function Groot() {
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
               
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-x86_64.AppImage'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.0-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>

From 104d0f0763d8ea66d9b34387461c2f2ecead76e4 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Fri, 12 Jul 2024 08:47:52 +0200
Subject: [PATCH 33/80] Update groot.js

---
 src/pages/groot.js | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index d01c751..dd4f9b8 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -390,7 +390,7 @@ export default function Groot() {
 
       <div
         className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.6.0 (2024-06-24)</h3>
+        <h3>Latest release: 1.6.1 (2024-07-11)</h3>
         <div className={styles.downloadGroup}>
           <div id='card_download' style={{ textAlign: "center" }}>
             <img
@@ -400,7 +400,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.6.0-windows-installer.exe'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.6.1-windows-installer.exe'>
               Windows installer
             </Link>
           </div>
@@ -412,7 +412,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.0-linux-installer.run'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.1-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -426,7 +426,7 @@ export default function Groot() {
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
               
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.0-x86_64.AppImage'>
+              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.1-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>

From d7f15c78323304d60f181bed748e5a2741a838ba Mon Sep 17 00:00:00 2001
From: Alireza Moayyedi <137421365+alireza-moayyedi@users.noreply.github.com>
Date: Tue, 6 Aug 2024 10:21:56 +0200
Subject: [PATCH 34/80] fix missing slashes (#45)

---
 docs/tutorial-basics/tutorial_07_multiple_xml.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/tutorial-basics/tutorial_07_multiple_xml.md b/docs/tutorial-basics/tutorial_07_multiple_xml.md
index ffc1c7d..68d05e6 100644
--- a/docs/tutorial-basics/tutorial_07_multiple_xml.md
+++ b/docs/tutorial-basics/tutorial_07_multiple_xml.md
@@ -47,7 +47,7 @@ Let's consider a file **main_tree.xml** that should include the other 2 files:
             // highlight-end
         </Sequence>
     </BehaviorTree>
-<root>
+</root>
 ```
 
 To load multiple files manually:
@@ -120,7 +120,7 @@ to include into the XML itself, you can modify **main_tree.xml** as shown below:
             <SubTree ID="SubTreeB" />
         </Sequence>
     </BehaviorTree>
-<root>
+</root>
 ```
 
 As you may notice, we included two relative paths in **main_tree.xml**

From 3b8a37c69e1fd104ad7d219c5d50081b3e127a34 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sat, 21 Sep 2024 12:53:03 +0200
Subject: [PATCH 35/80] fix docs

---
 docs/learn-the-basics/BT_basics.md            |   6 +-
 .../images/DecoratorEnterRoom.svg             | 120 ++++++++----------
 2 files changed, 54 insertions(+), 72 deletions(-)

diff --git a/docs/learn-the-basics/BT_basics.md b/docs/learn-the-basics/BT_basics.md
index a117f63..5a92c69 100644
--- a/docs/learn-the-basics/BT_basics.md
+++ b/docs/learn-the-basics/BT_basics.md
@@ -121,10 +121,10 @@ this node could be either:
 ![Simple Decorator: Enter Room](images/DecoratorEnterRoom.svg)
 
 The node __Inverter__ is a Decorator that inverts 
-the result returned by its child; An Inverter followed by the node called
-__isDoorOpen__ is, therefore, equivalent to 
+the result returned by its child; an Inverter followed by the node called
+__isDoorClosed__ is, therefore, equivalent to 
 
-    "Is the door closed?".
+    "Is the door open?".
 
 The node __Retry__ will repeat ticking the child up to __num_attempts__ times (5 in this case)
 if the child returns FAILURE.
diff --git a/docs/learn-the-basics/images/DecoratorEnterRoom.svg b/docs/learn-the-basics/images/DecoratorEnterRoom.svg
index 517c89e..0b7564b 100644
--- a/docs/learn-the-basics/images/DecoratorEnterRoom.svg
+++ b/docs/learn-the-basics/images/DecoratorEnterRoom.svg
@@ -7,7 +7,7 @@
    version="1.1"
    viewBox="0 0 1798.08 948.96"
    sodipodi:docname="DecoratorEnterRoom.svg"
-   inkscape:version="1.2.2 (1:1.2.2+202212051550+b0a8486541)"
+   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:xlink="http://www.w3.org/1999/xlink"
@@ -23,15 +23,16 @@
      inkscape:pagecheckerboard="0"
      inkscape:deskcolor="#d1d1d1"
      showgrid="false"
-     inkscape:zoom="0.92022041"
-     inkscape:cx="239.61651"
-     inkscape:cy="837.29941"
-     inkscape:window-width="2472"
-     inkscape:window-height="1369"
-     inkscape:window-x="2008"
-     inkscape:window-y="34"
+     inkscape:zoom="0.65069409"
+     inkscape:cx="-120.64041"
+     inkscape:cy="1308.6026"
+     inkscape:window-width="2490"
+     inkscape:window-height="1376"
+     inkscape:window-x="1990"
+     inkscape:window-y="27"
      inkscape:window-maximized="1"
-     inkscape:current-layer="g372-3" />
+     inkscape:current-layer="text3171"
+     inkscape:pageshadow="2" />
   <defs
      id="defs130">
     <g
@@ -672,36 +673,47 @@
      id="g266"
      fill="#000"
      fill-opacity="1">
-    <use
-       id="use242"
-       x="74.778"
-       y="892.162"
-       xlink:href="#glyph-0-21" />
-    <use
-       id="use244"
-       x="90.713"
-       y="892.162"
-       xlink:href="#glyph-0-19" />
-    <use
-       id="use246"
-       x="119.39"
-       y="892.162"
-       xlink:href="#glyph-0-20" />
-    <use
-       id="use248"
-       x="160.808"
-       y="892.162"
-       xlink:href="#glyph-0-16" />
-    <use
-       id="use250"
-       x="192.705"
-       y="892.162"
-       xlink:href="#glyph-0-16" />
-    <use
-       id="use252"
-       x="224.603"
-       y="892.162"
-       xlink:href="#glyph-0-14" />
+    <g
+       aria-label="IsDoorClosed"
+       id="text3171"
+       style="font-size:56px;stroke-width:0.75">
+      <path
+         d="m 73.850876,850.46045 h 5.523437 v 40.82422 h -5.523437 z"
+         id="path13777" />
+      <path
+         d="m 109.67119,861.56201 v 4.75781 q -2.13281,-1.09375 -4.42969,-1.64062 -2.29687,-0.54688 -4.75781,-0.54688 -3.746095,0 -5.632814,1.14844 -1.859375,1.14844 -1.859375,3.44531 0,1.75 1.339844,2.76172 1.339843,0.98438 5.386718,1.88672 l 1.722657,0.38281 q 5.35937,1.14844 7.60156,3.25391 2.26953,2.07813 2.26953,5.82422 0,4.26562 -3.39062,6.75391 -3.36328,2.48828 -9.269533,2.48828 -2.460937,0 -5.140625,-0.49219 -2.652344,-0.46484 -5.605469,-1.42188 v -5.19531 q 2.789063,1.44922 5.496094,2.1875 2.707031,0.71094 5.359375,0.71094 3.554688,0 5.468748,-1.20313 1.91406,-1.23046 1.91406,-3.44531 0,-2.05078 -1.39453,-3.14453 -1.36718,-1.09375 -6.042965,-2.10547 l -1.75,-0.41015 q -4.675782,-0.98438 -6.753907,-3.00782 -2.078125,-2.05078 -2.078125,-5.60547 0,-4.32031 3.0625,-6.67187 3.0625,-2.35156 8.695313,-2.35156 2.789064,0 5.250004,0.41015 2.46093,0.41016 4.53906,1.23047 z"
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+      <path
+         d="m 362.43681,861.56201 v 4.75781 q -2.13281,-1.09375 -4.42968,-1.64062 -2.29688,-0.54688 -4.75782,-0.54688 -3.74609,0 -5.63281,1.14844 -1.85937,1.14844 -1.85937,3.44531 0,1.75 1.33984,2.76172 1.33984,0.98438 5.38672,1.88672 l 1.72265,0.38281 q 5.35938,1.14844 7.60157,3.25391 2.26953,2.07813 2.26953,5.82422 0,4.26562 -3.39063,6.75391 -3.36328,2.48828 -9.26953,2.48828 -2.46094,0 -5.14062,-0.49219 -2.65235,-0.46484 -5.60547,-1.42188 v -5.19531 q 2.78906,1.44922 5.49609,2.1875 2.70703,0.71094 5.35938,0.71094 3.55468,0 5.46875,-1.20313 1.91406,-1.23046 1.91406,-3.44531 0,-2.05078 -1.39453,-3.14453 -1.36719,-1.09375 -6.04297,-2.10547 l -1.75,-0.41015 q -4.67578,-0.98438 -6.75391,-3.00782 -2.07812,-2.05078 -2.07812,-5.60547 0,-4.32031 3.0625,-6.67187 3.0625,-2.35156 8.69531,-2.35156 2.78906,0 5.25,0.41015 2.46094,0.41016 4.53906,1.23047 z"
+         id="path13795" />
+      <path
+         d="m 398.28447,874.71436 v 2.46093 h -23.13281 q 0.32812,5.19532 3.11718,7.92969 2.81641,2.70703 7.82032,2.70703 2.89843,0 5.60547,-0.71094 2.73437,-0.71093 5.41406,-2.13281 v 4.75781 q -2.70703,1.14844 -5.55078,1.75 -2.84375,0.60157 -5.76953,0.60157 -7.32813,0 -11.6211,-4.26563 -4.26562,-4.26562 -4.26562,-11.53906 0,-7.51953 4.04687,-11.92188 4.07422,-4.42968 10.96485,-4.42968 6.17968,0 9.76171,3.99218 3.60938,3.96485 3.60938,10.80079 z m -5.03125,-1.47657 q -0.0547,-4.1289 -2.32422,-6.58984 -2.24219,-2.46094 -5.96094,-2.46094 -4.21093,0 -6.7539,2.37891 -2.51563,2.3789 -2.89844,6.69922 z"
+         id="path13797" />
+      <path
+         d="m 426.69463,865.30811 v -16.57032 h 5.03125 v 42.54688 h -5.03125 v -4.59375 q -1.58594,2.73437 -4.01954,4.07422 -2.40625,1.3125 -5.79687,1.3125 -5.55078,0 -9.05078,-4.42969 -3.47266,-4.42969 -3.47266,-11.64844 0,-7.21875 3.47266,-11.64844 3.5,-4.42968 9.05078,-4.42968 3.39062,0 5.79687,1.33984 2.4336,1.3125 4.01954,4.04688 z m -17.14454,10.6914 q 0,5.55078 2.26954,8.72266 2.29687,3.14453 6.28906,3.14453 3.99219,0 6.28906,-3.14453 2.29688,-3.17188 2.29688,-8.72266 0,-5.55078 -2.29688,-8.69531 -2.29687,-3.17188 -6.28906,-3.17188 -3.99219,0 -6.28906,3.17188 -2.26954,3.14453 -2.26954,8.69531 z"
+         id="path13799" />
+    </g>
   </g>
   <path
      id="path268"
@@ -998,36 +1010,6 @@
        y="892.162"
        xlink:href="#glyph-0-14" />
   </g>
-  <g
-     id="g372-3"
-     fill="#000000"
-     fill-opacity="1"
-     transform="translate(-511.36057,-1.3237927)">
-    <use
-       id="use356-6"
-       x="756.64502"
-       y="892.16199"
-       xlink:href="#glyph-0-27"
-       transform="translate(1.8175332,1.4645426)" />
-    <use
-       id="use358-7"
-       x="801.25598"
-       y="892.16199"
-       xlink:href="#glyph-0-28"
-       transform="translate(1.8175332,1.4645426)" />
-    <use
-       id="use360-5"
-       x="833.15399"
-       y="892.16199"
-       xlink:href="#glyph-0-2"
-       transform="translate(1.8175332,1.4645426)" />
-    <use
-       id="use362-3"
-       x="865.05103"
-       y="892.16199"
-       xlink:href="#glyph-0-5"
-       transform="translate(1.8175332,1.4645426)" />
-  </g>
   <path
      id="path374"
      fill="none"

From d55c88481267ebd37c5bcd1efe353dae0e98322b Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Fri, 25 Oct 2024 11:50:20 -0500
Subject: [PATCH 36/80] Update DecoratorNode.md for num_cycles=-1 (#49)

---
 docs/nodes-library/DecoratorNode.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docs/nodes-library/DecoratorNode.md b/docs/nodes-library/DecoratorNode.md
index 4188e79..940ae57 100644
--- a/docs/nodes-library/DecoratorNode.md
+++ b/docs/nodes-library/DecoratorNode.md
@@ -29,6 +29,7 @@ Otherwise, it returns always FAILURE.
 Tick the child up to N times (within one of its tick), where N is passed as [Input Port](tutorial-basics/tutorial_02_basic_ports.md) `num_cycles`,
 as long as the child returns SUCCESS.
 Return SUCCESS after the N repetitions in the case that the child always returned SUCCESS.
+If `num_cycles` is -1, repeat indefinitely.
 
 Interrupt the loop if the child returns FAILURE and, in that case, return FAILURE too.
 

From 3ee9fece852bb915394af4c1bf357980b4ef1bff Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Fri, 25 Oct 2024 11:50:52 -0500
Subject: [PATCH 37/80] Improve documentation on ReactiveSequence (#47)

---
 docs/nodes-library/SequenceNode.md | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/docs/nodes-library/SequenceNode.md b/docs/nodes-library/SequenceNode.md
index 7abb714..db21e1f 100644
--- a/docs/nodes-library/SequenceNode.md
+++ b/docs/nodes-library/SequenceNode.md
@@ -54,8 +54,9 @@ Let's take a look at another example:
 `ApproachEnemy` is an __asynchronous__ action that returns RUNNING until
 it is, eventually, completed.
 
-The condition `isEnemyVisible` will be called many times and, 
-if it becomes false (i,e, "FAILURE"), `ApproachEnemy` is halted. 
+The __synchronous__ condition `isEnemyVisible` will be called many times and
+returns true or false quickly. If it becomes false (i,e, "FAILURE"), `ApproachEnemy`
+is halted.
 
 
 ## SequenceWithMemory
@@ -72,6 +73,3 @@ On the other hand, __isBatteryOK__ must be checked at every tick,
 for this reason its parent must be a `ReactiveSequence`.
 
 ![SequenceWithMemory](images/SequenceStar.svg)
-
-
- 

From d93c86da940f815b22a1080fedfb18cd24d1c802 Mon Sep 17 00:00:00 2001
From: Mason McV <34190043+MasonMcV@users.noreply.github.com>
Date: Fri, 25 Oct 2024 11:51:22 -0500
Subject: [PATCH 38/80] Add a section on using booleans in the scripting
 language (#44)

* Add a section on using booleans in the scripting language

* Removing statement on SetBlackboard limitations
---
 docs/guides/scripting.md | 30 ++++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/docs/guides/scripting.md b/docs/guides/scripting.md
index ddc8b9d..47bab88 100644
--- a/docs/guides/scripting.md
+++ b/docs/guides/scripting.md
@@ -128,6 +128,36 @@ Example:
 val_B = (val_A > 1) ? 42 : 24
 ```
 
+## Boolean Values
+Boolean values can be one of `true` or `false`
+and are saved to the blackboard as `1` and `0` respectively.
+
+Setting booleans:
+```
+val_A = true
+val_B := !false
+```
+The logical `!` works with boolean literals. 
+`!false` is the equivalent of `true`. 
+`val_A` and `val_B` above are equivalent. 
+
+Using booleans:
+```
+<Precondition if="val_A" else="FAILURE">
+<Precondition if="val_A == true" else="FAILURE">
+<Precondition if="val_A == 1" else="FAILURE">
+```
+All of the scripts used in precondition nodes above are valid. 
+
+When evaluating the boolean value, it can be:
+ - checked directly, 
+ - compared with the literals `true` and `false`
+ - compared with `1` and `0`.
+
+
+Note that capitalization of the words "true" and "false" in any manner will not work.
+
+
 ## C++ example
 
 Demonstration of the scripting language, including how to use enums to 

From 25d7299abb48b3a62c432bc83d8f932e59627b08 Mon Sep 17 00:00:00 2001
From: Steven Robyns <33555494+RobynsS@users.noreply.github.com>
Date: Fri, 25 Oct 2024 18:51:44 +0200
Subject: [PATCH 39/80] update documentation (#43)

---
 docs/ros2_integration.md | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/docs/ros2_integration.md b/docs/ros2_integration.md
index f871210..9faaa70 100644
--- a/docs/ros2_integration.md
+++ b/docs/ros2_integration.md
@@ -48,18 +48,17 @@ should not worry about creating a separate thread.
 `TreeNode::halt()` and build reactive behaviors.
 
 Let's consider, for instance, the "Fibonacci" action client described in the
-[official C++ tutorial](https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client):
-
-```cpp
-// let's define these, for brevity
-using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
-using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
-```
+[official C++ tutorial](https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client).
 
 To create a BT Action that invokes this ROS Action:
 
 ```cpp
 #include <behaviortree_ros2/bt_action_node.hpp>
+#include "action_tutorials_interfaces/action/fibonacci.hpp"
+
+// let's define these, for brevity
+using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
+using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
 
 using namespace BT;
 
@@ -99,7 +98,7 @@ public:
     for (auto number : wr.result->sequence) {
       ss << number << " ";
     }
-    RCLCPP_INFO(node_->get_logger(), ss.str().c_str());
+    RCLCPP_INFO(logger(), ss.str().c_str());
     return NodeStatus::SUCCESS;
   }
 
@@ -110,7 +109,7 @@ public:
   // If not overridden, it will return FAILURE by default.
   virtual NodeStatus onFailure(ActionNodeErrorCode error) override
   {
-    RCLCPP_ERROR(node_->get_logger(), "Error: %d", error);
+    RCLCPP_ERROR(logger(), "Error: %d", error);
     return NodeStatus::FAILURE;
   }
 
@@ -128,7 +127,7 @@ public:
     for (auto number : feedback->partial_sequence) {
       ss << number << " ";
     }
-    RCLCPP_INFO(node_->get_logger(), ss.str().c_str());
+    RCLCPP_INFO(logger(), ss.str().c_str());
     return NodeStatus::RUNNING;
   }
 };
@@ -163,6 +162,7 @@ The example below is based on the
 
 ```cpp
 #include <behaviortree_ros2/bt_service_node.hpp>
+#include "example_interfaces/srv/add_two_ints.hpp"
 
 using AddTwoInts = example_interfaces::srv::AddTwoInts;
 using namespace BT;
@@ -203,7 +203,7 @@ class AddTwoIntsNode: public RosServiceNode<AddTwoInts>
   // It must return SUCCESS or FAILURE
   NodeStatus onResponseReceived(const Response::SharedPtr& response) override
   {
-    RCLCPP_INFO(node_->get_logger(), "Sum: %ld", response->sum);
+    RCLCPP_INFO(logger(), "Sum: %ld", response->sum);
     return NodeStatus::SUCCESS;
   }
 
@@ -214,7 +214,7 @@ class AddTwoIntsNode: public RosServiceNode<AddTwoInts>
   // If not overridden, it will return FAILURE by default.
   virtual NodeStatus onFailure(ServiceNodeErrorCode error) override
   {
-    RCLCPP_ERROR(node_->get_logger(), "Error: %d", error);
+    RCLCPP_ERROR(logger(), "Error: %d", error);
     return NodeStatus::FAILURE;
   }
 };

From 58d5cd0d5591186a711d2b2e439c78f173c2ef37 Mon Sep 17 00:00:00 2001
From: Eric Su <eric.su@shinfangglobal.com>
Date: Fri, 23 May 2025 15:56:10 +0800
Subject: [PATCH 40/80] Update tutorial_09_scripting.md (#52)

Fix indentation in code
---
 docs/tutorial-basics/tutorial_09_scripting.md | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/docs/tutorial-basics/tutorial_09_scripting.md b/docs/tutorial-basics/tutorial_09_scripting.md
index e674991..d8af053 100644
--- a/docs/tutorial-basics/tutorial_09_scripting.md
+++ b/docs/tutorial-basics/tutorial_09_scripting.md
@@ -38,12 +38,12 @@ We will use this XML:
     <Sequence>
       <Script code=" msg:='hello world' " />
       <Script code=" A:=THE_ANSWER; B:=3.14; color:=RED " />
-        <Precondition if="A>B && color != BLUE" else="FAILURE">
-          <Sequence>
-            <SaySomething message="{A}"/>
-            <SaySomething message="{B}"/>
-            <SaySomething message="{msg}"/>
-            <SaySomething message="{color}"/>
+      <Precondition if="A>B && color != BLUE" else="FAILURE">
+        <Sequence>
+          <SaySomething message="{A}"/>
+          <SaySomething message="{B}"/>
+          <SaySomething message="{msg}"/>
+          <SaySomething message="{color}"/>
         </Sequence>
       </Precondition>
     </Sequence>
@@ -95,4 +95,4 @@ int main()
 
   return 0;
 }
-```
\ No newline at end of file
+```

From 5e4d9651b664a454f3fdffbd6c921b2b2190647c Mon Sep 17 00:00:00 2001
From: Eric Su <eric.su@shinfangglobal.com>
Date: Mon, 7 Jul 2025 21:07:48 +0800
Subject: [PATCH 41/80] Fix typo in SequenceNode.md (#53)

---
 versioned_docs/version-4.0.2/nodes-library/SequenceNode.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md b/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md
index 7abb714..133db9b 100644
--- a/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md
+++ b/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md
@@ -45,7 +45,7 @@ This tree represents the behavior of a sniper in a computer game.
 
 This node is particularly useful to continuously check Conditions; but 
 the user should also be careful when using asynchronous children, to be
-sure that they are not ticked more often that expected.
+sure that they are not ticked more often than expected.
 
 Let's take a look at another example:
 

From a63ca21bcd0c038758ebb7c7b7c42d2429cdfced Mon Sep 17 00:00:00 2001
From: "Peter Mitrano (AR)" <peter.mitrano@agile-robots.com>
Date: Thu, 6 Nov 2025 14:42:15 +0100
Subject: [PATCH 42/80] fix underscore typo in main concepts (#56)

---
 docs/learn-the-basics/main_concepts.md                         | 2 +-
 versioned_docs/version-3.8/learn-the-basics/main_concepts.md   | 2 +-
 versioned_docs/version-4.0.2/learn-the-basics/main_concepts.md | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/docs/learn-the-basics/main_concepts.md b/docs/learn-the-basics/main_concepts.md
index dcdf14b..b453ae7 100644
--- a/docs/learn-the-basics/main_concepts.md
+++ b/docs/learn-the-basics/main_concepts.md
@@ -88,7 +88,7 @@ For the time being, it is important to know that:
 - The number, name and kind of ports of a Node must be known at _compilation-time_ (C++); 
   connections between ports are done at _deployment-time_ (XML).  
 
-- You can store as value any C++ type (we use a __type erasure_ technique
+- You can store as value any C++ type (we use a _type erasure_ technique
 similar to [std::any](https://www.fluentcpp.com/2021/02/05/how-stdany-works/)).
 
 
diff --git a/versioned_docs/version-3.8/learn-the-basics/main_concepts.md b/versioned_docs/version-3.8/learn-the-basics/main_concepts.md
index a2dc2b9..60ce42f 100644
--- a/versioned_docs/version-3.8/learn-the-basics/main_concepts.md
+++ b/versioned_docs/version-3.8/learn-the-basics/main_concepts.md
@@ -88,7 +88,7 @@ For the time being, it is important to know that:
 - The number, name and kind of ports of a Node must be known at _compilation-time_ (C++); 
   connections between ports are done at _deployment-time_ (XML).  
 
-- You can store as value any C++ type (we use a __type erasure_ technique
+- You can store as value any C++ type (we use a _type erasure_ technique
 similar to [std::any](https://www.fluentcpp.com/2021/02/05/how-stdany-works/)).
 
 
diff --git a/versioned_docs/version-4.0.2/learn-the-basics/main_concepts.md b/versioned_docs/version-4.0.2/learn-the-basics/main_concepts.md
index dcdf14b..b453ae7 100644
--- a/versioned_docs/version-4.0.2/learn-the-basics/main_concepts.md
+++ b/versioned_docs/version-4.0.2/learn-the-basics/main_concepts.md
@@ -88,7 +88,7 @@ For the time being, it is important to know that:
 - The number, name and kind of ports of a Node must be known at _compilation-time_ (C++); 
   connections between ports are done at _deployment-time_ (XML).  
 
-- You can store as value any C++ type (we use a __type erasure_ technique
+- You can store as value any C++ type (we use a _type erasure_ technique
 similar to [std::any](https://www.fluentcpp.com/2021/02/05/how-stdany-works/)).
 
 

From dac9fb02236a1694d7263743de3fe0ccdadbda60 Mon Sep 17 00:00:00 2001
From: Eric Su <eric.su@shinfangglobal.com>
Date: Mon, 15 Dec 2025 04:24:55 +0800
Subject: [PATCH 43/80] Fixup images and add notes in docs (#54)

* Update SequenceWithMemory.svg

* Fix FetchBeer

* Temporary solutions for incomplete docs.

* fixup! Fix typo in SequenceNode.md (#53)
---
 corrected_behavior_tree.svg                   |   1 +
 docs/learn-the-basics/images/FetchBeer.svg    | 184 +++++++++++++++++-
 docs/nodes-library/DecoratorNode.md           |   2 +
 docs/nodes-library/FallbackNode.md            |   4 +-
 docs/nodes-library/SequenceNode.md            |   6 +-
 docs/nodes-library/images/SequenceStar.svg    |   1 -
 .../images/SequenceWithMemory.svg             |   4 +
 .../learn-the-basics/images/FetchBeer.svg     | 184 +++++++++++++++++-
 .../version-3.8/nodes-library/SequenceNode.md |   2 +-
 .../nodes-library/images/SequenceStar.svg     |   5 +-
 .../learn-the-basics/images/FetchBeer.svg     | 184 +++++++++++++++++-
 .../nodes-library/SequenceNode.md             |   2 +-
 .../nodes-library/images/SequenceStar.svg     |   1 -
 .../images/SequenceWithMemory.svg             |   4 +
 14 files changed, 573 insertions(+), 11 deletions(-)
 create mode 100644 corrected_behavior_tree.svg
 delete mode 100644 docs/nodes-library/images/SequenceStar.svg
 create mode 100644 docs/nodes-library/images/SequenceWithMemory.svg
 delete mode 100644 versioned_docs/version-4.0.2/nodes-library/images/SequenceStar.svg
 create mode 100644 versioned_docs/version-4.0.2/nodes-library/images/SequenceWithMemory.svg

diff --git a/corrected_behavior_tree.svg b/corrected_behavior_tree.svg
new file mode 100644
index 0000000..0519ecb
--- /dev/null
+++ b/corrected_behavior_tree.svg
@@ -0,0 +1 @@
+ 
\ No newline at end of file
diff --git a/docs/learn-the-basics/images/FetchBeer.svg b/docs/learn-the-basics/images/FetchBeer.svg
index 880a142..e530a7b 100644
--- a/docs/learn-the-basics/images/FetchBeer.svg
+++ b/docs/learn-the-basics/images/FetchBeer.svg
@@ -1 +1,183 @@
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+                        <xhtml:div style="box-sizing:border-box;font-size:0;text-align:center" data-drawio-colors="color: rgb(0, 0, 0);">
+                            <xhtml:div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal">CloseFridge</xhtml:div>
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+                            <xhtml:div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal">Fallback</xhtml:div>
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+                <text id="text126" x="836" y="215" font-size="18" style="font-size:18px;font-family:Helvetica;text-anchor:middle;fill:#000">ForceFailure</text>
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+                        <xhtml:div style="box-sizing:border-box;font-size:0;text-align:center" data-drawio-colors="color: rgb(0, 0, 0);">
+                            <xhtml:div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal">CloseFridge</xhtml:div>
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+                <text id="text134" x="836" y="295" font-size="18" style="font-size:18px;font-family:Helvetica;text-anchor:middle;fill:#000">CloseFridge</text>
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+</svg>
diff --git a/docs/nodes-library/DecoratorNode.md b/docs/nodes-library/DecoratorNode.md
index 940ae57..a77e94c 100644
--- a/docs/nodes-library/DecoratorNode.md
+++ b/docs/nodes-library/DecoratorNode.md
@@ -5,6 +5,8 @@ A decorator is a node that must have a single child.
 It is up to the Decorator to decide if, when and how many times the child should be
 ticked.
 
+> Some nodes are not listed yet. See [decorators](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/master/include/behaviortree_cpp/decorators) on Github for complete definitions.
+
 ## Inverter
 
 Tick the child once and return SUCCESS if the child failed or FAILURE if
diff --git a/docs/nodes-library/FallbackNode.md b/docs/nodes-library/FallbackNode.md
index 85639f7..54639ed 100644
--- a/docs/nodes-library/FallbackNode.md
+++ b/docs/nodes-library/FallbackNode.md
@@ -1,4 +1,4 @@
-# Fallbacks
+# Fallbacks (Controls)
 
 This family of nodes are known as "Selector" or "Priority"
 in other frameworks.
@@ -36,6 +36,8 @@ To understand how the two ControlNodes differ, refer to the following table:
   same child is ticked again. Previous siblings, which returned FAILURE already,
   are not ticked again.
 
+> Some nodes are not listed yet. See [controls](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/master/include/behaviortree_cpp/controls) on Github for complete definitions.
+
 ## Fallback
 
 In this example, we try different strategies to open the door. 
diff --git a/docs/nodes-library/SequenceNode.md b/docs/nodes-library/SequenceNode.md
index db21e1f..73e8fc5 100644
--- a/docs/nodes-library/SequenceNode.md
+++ b/docs/nodes-library/SequenceNode.md
@@ -34,6 +34,8 @@ To understand how the three ControlNodes differ, refer to the following table:
   same child is ticked again. Previous siblings, which returned SUCCESS already,
   are not ticked again.
 
+> Some nodes are not listed yet. See [controls](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/master/include/behaviortree_cpp/controls) on Github for complete definitions.
+
 ## Sequence
 
 This tree represents the behavior of a sniper in a computer game.
@@ -45,7 +47,7 @@ This tree represents the behavior of a sniper in a computer game.
 
 This node is particularly useful to continuously check Conditions; but 
 the user should also be careful when using asynchronous children, to be
-sure that they are not ticked more often that expected.
+sure that they are not ticked more often than expected.
 
 Let's take a look at another example:
 
@@ -72,4 +74,4 @@ If the action __GoTo(B)__ fails, __GoTo(A)__ will not be ticked again.
 On the other hand, __isBatteryOK__ must be checked at every tick, 
 for this reason its parent must be a `ReactiveSequence`.
 
-![SequenceWithMemory](images/SequenceStar.svg)
+![SequenceWithMemory](images/SequenceWithMemory.svg)
diff --git a/docs/nodes-library/images/SequenceStar.svg b/docs/nodes-library/images/SequenceStar.svg
deleted file mode 100644
index 335116f..0000000
--- a/docs/nodes-library/images/SequenceStar.svg
+++ /dev/null
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index 880a142..e530a7b 100644
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+++ b/versioned_docs/version-3.8/learn-the-basics/images/FetchBeer.svg
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diff --git a/versioned_docs/version-3.8/nodes-library/SequenceNode.md b/versioned_docs/version-3.8/nodes-library/SequenceNode.md
index 7abb714..133db9b 100644
--- a/versioned_docs/version-3.8/nodes-library/SequenceNode.md
+++ b/versioned_docs/version-3.8/nodes-library/SequenceNode.md
@@ -45,7 +45,7 @@ This tree represents the behavior of a sniper in a computer game.
 
 This node is particularly useful to continuously check Conditions; but 
 the user should also be careful when using asynchronous children, to be
-sure that they are not ticked more often that expected.
+sure that they are not ticked more often than expected.
 
 Let's take a look at another example:
 
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index 335116f..932d4bb 100644
--- a/versioned_docs/version-3.8/nodes-library/images/SequenceStar.svg
+++ b/versioned_docs/version-3.8/nodes-library/images/SequenceStar.svg
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diff --git a/versioned_docs/version-4.0.2/learn-the-basics/images/FetchBeer.svg b/versioned_docs/version-4.0.2/learn-the-basics/images/FetchBeer.svg
index 880a142..e530a7b 100644
--- a/versioned_docs/version-4.0.2/learn-the-basics/images/FetchBeer.svg
+++ b/versioned_docs/version-4.0.2/learn-the-basics/images/FetchBeer.svg
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diff --git a/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md b/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md
index 133db9b..6dcdb2e 100644
--- a/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md
+++ b/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md
@@ -71,7 +71,7 @@ If the action __GoTo(B)__ fails, __GoTo(A)__ will not be ticked again.
 On the other hand, __isBatteryOK__ must be checked at every tick, 
 for this reason its parent must be a `ReactiveSequence`.
 
-![SequenceWithMemory](images/SequenceStar.svg)
+![SequenceWithMemory](images/SequenceWithMemory.svg)
 
 
  
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stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 158px; height: 1px; padding-top: 180px; margin-left: 161px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">SequenceWithMemory</div></div></div></foreignObject><text x="240" y="184" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px" text-anchor="middle">SequenceWithMemory</text></switch></g></g></g><g data-cell-id="UabTkN5YzIkwJ8bnCeyS-14"><g><rect x="80" y="240" width="80" height="40" fill="#ffffff" stroke="#000000" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); 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stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/></g><g><g><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 260px; margin-left: 321px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; "><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">GoTo(C)</div></div></div></foreignObject><text x="360" y="264" fill="light-dark(#000000, #ffffff)" font-family="Helvetica" font-size="12px" text-anchor="middle">GoTo(C)</text></switch></g></g></g></g></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.drawio.com/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text></a></switch></svg>

From 46f541c1b81cc0181576965821672e481a337cce Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 14 Dec 2025 21:47:01 +0100
Subject: [PATCH 44/80] new version

---
 src/pages/groot.js | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index dd4f9b8..a063acc 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -390,7 +390,7 @@ export default function Groot() {
 
       <div
         className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.6.1 (2024-07-11)</h3>
+        <h3>Latest release: 1.7.0 (2025-12-14)</h3>
         <div className={styles.downloadGroup}>
           <div id='card_download' style={{ textAlign: "center" }}>
             <img
@@ -400,7 +400,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_windows_installer/Groot2-v1.6.1-windows-installer.exe'>
+              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe'>
               Windows installer
             </Link>
           </div>
@@ -412,7 +412,7 @@ export default function Groot() {
             />
             <Link
               onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.1-linux-installer.run'>
+              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run'>
               Linux installer
             </Link>
           </div>
@@ -426,7 +426,7 @@ export default function Groot() {
               // style={{marginLeft: '20px'}}
               onclick="fathom.trackGoal('DIQDUTJ2', 0);"
               
-              to='https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.6.1-x86_64.AppImage'>
+              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>
@@ -436,3 +436,4 @@ export default function Groot() {
   </>
   );
 }
+

From eca368e419b4d8af30dd410e28ff16a89c914b27 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 14 Dec 2025 21:50:56 +0100
Subject: [PATCH 45/80] Update groot.js

---
 src/pages/groot.js | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index a063acc..71f3995 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -365,15 +365,15 @@ export default function Groot() {
                 </li> 
                 <li id='text'>
                 <b>Free for individual researchers:</b> if you are a student or researcher,
-                  you can receive a complementary 1 year license (node locked). 
+                  you can receive a complimentary 1 year license (node-locked). 
                   <a href="https://airtable.com/appqTlC23AiSoB4Fd/shrsC33d8feHZmKXs" target="_blank"> Fill this form</a>
                   &ensp;and tell us more about your project.
                 </li> */}
 
                 <li id='text'>
                   <b>Source code escrow:</b> if Auryn
-                  Robotics, the company behind Groot2, becomes unable to support
-                  and maintain its software, the source code will be released open source,
+                  Robotics, the company behind Groot2, becomes unable to distribute and/or
+                  sell the software, the source code will be released as open source,
                   under the Apache License, Version 2.0.
                 </li>
               </ul>
@@ -437,3 +437,4 @@ export default function Groot() {
   );
 }
 
+

From 1fd7ba849960bbaa5a5f489bceab458a9fad5a99 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 14 Dec 2025 21:56:09 +0100
Subject: [PATCH 46/80] update node.js

---
 .nvmrc | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 .nvmrc

diff --git a/.nvmrc b/.nvmrc
new file mode 100644
index 0000000..3c03207
--- /dev/null
+++ b/.nvmrc
@@ -0,0 +1 @@
+18

From 15fc39d65cbdf203aa1cdc1b809cf5f00fa5cd94 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 14 Dec 2025 22:09:00 +0100
Subject: [PATCH 47/80] update docusaurus

---
 README.md                                     | 36 ++++++++++++++++++-
 blog/2023-01-28-beta4.md                      |  4 +--
 docs/guides/scripting.md                      | 18 +++++-----
 .../tutorial_12_default_ports.md              |  4 +--
 docusaurus.config.js                          |  9 ++---
 package.json                                  | 22 ++++++------
 src/pages/index.js                            |  4 +--
 .../tutorial-advanced/scripting.md            | 18 +++++-----
 8 files changed, 75 insertions(+), 40 deletions(-)

diff --git a/README.md b/README.md
index 0434ca3..4fc060e 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,39 @@
 # Website of BehaviorTree.CPP
 
-This website is built using [Docusaurus 2](https://docusaurus.io/).
+This website is built using [Docusaurus 3](https://docusaurus.io/).
 
 If you find any typo reading the documentation, please submit a Pull Request or an Issue.
+
+## Prerequisites
+
+- [Node.js](https://nodejs.org/) version 18.0 or higher
+
+## Installation
+
+```bash
+npm install
+```
+
+## Local Development
+
+```bash
+npm run start
+```
+
+This starts a local development server at `http://localhost:3000` with hot reload enabled. Most changes are reflected live without restarting the server.
+
+## Build
+
+```bash
+npm run build
+```
+
+This generates static content into the `build` directory.
+
+## Preview Build Locally
+
+```bash
+npm run serve
+```
+
+This serves the production build locally at `http://localhost:3000` for testing before deployment.
diff --git a/blog/2023-01-28-beta4.md b/blog/2023-01-28-beta4.md
index f015f15..5e5e9a8 100644
--- a/blog/2023-01-28-beta4.md
+++ b/blog/2023-01-28-beta4.md
@@ -9,9 +9,9 @@ hide_table_of_contents: true
 I am pleased to announce the release of the 4th Beta of Groot2. 
 These are the most notable new features...
 
-## Support for <include\>
+## Support for `<include>`
 
-In **BehaviorTree.CPP** it is common to use the XML tag <include\>
+In **BehaviorTree.CPP** it is common to use the XML tag `<include>`
 to automatically define the dependency between multiple XML.
 This is not considered best practice anymore, and you are invited to follow the
 best practices described in **Tutorial  7**. 
diff --git a/docs/guides/scripting.md b/docs/guides/scripting.md
index 47bab88..3188d69 100644
--- a/docs/guides/scripting.md
+++ b/docs/guides/scripting.md
@@ -109,15 +109,15 @@ val_D := (val_A && val_B) || !val_C
 | Operators | Description |
 |----------|---------|
 | true/false |  Booleans. Castable to 1 and 0 respectively   |
-| &&       |  Logic and |
-| \|\|     |  Logic or |
-| !        |  Negation |
-| ==       |  Equality |
-| !=       |  Inequality |
-| <        |  Less |
-| <=       |  Less equal |
-| >        |  Greater |
-| >=       |  Greater equal |
+| `&&`       |  Logic and |
+| `\|\|`     |  Logic or |
+| `!`        |  Negation |
+| `==`       |  Equality |
+| `!=`       |  Inequality |
+| `<`        |  Less |
+| `<=`       |  Less equal |
+| `>`        |  Greater |
+| `>=`       |  Greater equal |
 
 
 ### Ternary operator **if-then-else**
diff --git a/docs/tutorial-advanced/tutorial_12_default_ports.md b/docs/tutorial-advanced/tutorial_12_default_ports.md
index 6747579..a55924b 100644
--- a/docs/tutorial-advanced/tutorial_12_default_ports.md
+++ b/docs/tutorial-advanced/tutorial_12_default_ports.md
@@ -58,7 +58,7 @@ Alternatively, we can define the default blackboard entry that the port should p
 BT::InputPort<Point2D>("pointC", "{point}", "...");
 ```
 
-If the name of the port and the blackboard entry are the **same**, you can use "{=}"
+If the name of the port and the blackboard entry are the **same**, you can use `"{=}"`
 
 ```cpp
 BT::InputPort<Point2D>("pointD", "{=}", "...");
@@ -69,7 +69,7 @@ BT::InputPort<Point2D>("pointD", "{pointD}", "...");
 ## Default OutputPorts
 
 Output ports are more limited and can only point to a blackboard entry.
-You can still use "{=}" when the two names are the same.
+You can still use `"{=}"` when the two names are the same.
 
 ```cpp
   static PortsList providedPorts()
diff --git a/docusaurus.config.js b/docusaurus.config.js
index 7033b7e..844d150 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -1,8 +1,9 @@
 // @ts-check
 // Note: type annotations allow type checking and IDEs autocompletion
 
-const lightCodeTheme = require('prism-react-renderer/themes/github');
-const darkCodeTheme = require('prism-react-renderer/themes/dracula');
+const { themes } = require('prism-react-renderer');
+const lightCodeTheme = themes.github;
+const darkCodeTheme = themes.dracula;
 
 /** @type {import('@docusaurus/types').Config} */
 const config = {
@@ -33,7 +34,7 @@ const config = {
   },
   
   plugins: [
-    require.resolve("@cmfcmf/docusaurus-search-local"),
+    require.resolve("@easyops-cn/docusaurus-search-local"),
   ],
 
   presets: [
@@ -45,7 +46,7 @@ const config = {
           lastVersion: 'current',
           versions: {
             current: {
-              label: '4.6',
+              label: '4.8',
             },
             3.8: {
               label: '3.8',
diff --git a/package.json b/package.json
index 35a11d6..4f42fea 100644
--- a/package.json
+++ b/package.json
@@ -14,26 +14,26 @@
     "write-heading-ids": "docusaurus write-heading-ids"
   },
   "dependencies": {
-    "@cmfcmf/docusaurus-search-local": "^0.11.0",
+    "@easyops-cn/docusaurus-search-local": "^0.46.0",
     "@dipakparmar/docusaurus-plugin-umami": "^2.0.2",
-    "@docusaurus/core": "^2.4.1",
-    "@docusaurus/plugin-ideal-image": "^2.4.1",
-    "@docusaurus/preset-classic": "^2.4.1",
+    "@docusaurus/core": "^3.6.3",
+    "@docusaurus/plugin-ideal-image": "^3.6.3",
+    "@docusaurus/preset-classic": "^3.6.3",
     "@emailjs/browser": "^3.11.0",
-    "@mdx-js/react": "^1.6.22",
+    "@mdx-js/react": "^3.0.0",
     "autoprefixer": "^10.4.13",
     "bootstrap": "^5.2.3",
-    "clsx": "^1.2.1",
+    "clsx": "^2.1.0",
     "postcss": "^8.4.19",
-    "prism-react-renderer": "^1.3.5",
-    "react": "^17.0.2",
+    "prism-react-renderer": "^2.3.0",
+    "react": "^18.2.0",
     "react-bootstrap": "^2.6.0",
     "react-bootstrap-icons": "^1.9.1",
-    "react-dom": "^17.0.2",
+    "react-dom": "^18.2.0",
     "react-responsive-carousel": "^3.2.23"
   },
   "devDependencies": {
-    "@docusaurus/module-type-aliases": "^2.4.1"
+    "@docusaurus/module-type-aliases": "^3.6.3"
   },
   "browserslist": {
     "production": [
@@ -48,6 +48,6 @@
     ]
   },
   "engines": {
-    "node": ">=16.14"
+    "node": ">=18.0"
   }
 }
diff --git a/src/pages/index.js b/src/pages/index.js
index 91441e9..c67d47d 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -41,7 +41,7 @@ function Home() {
           <div className="row align-items-center">
             <div className="col col--6">
               <div className={clsx(styles.heroText)}>
-                <h1 className="hero__title ">BehaviorTree.CPP 4.6</h1>
+                <h1 className="hero__title ">BehaviorTree.CPP 4.8</h1>
                 <p className="hero__subtitle">
                   The C++ library to build Behavior Trees.
                   <br />
@@ -50,7 +50,7 @@ function Home() {
                 <div>
                   <Link
                     className="button button--outline button--primary button--lg"
-                    to={useBaseUrl("docs/Intro")}
+                    to={useBaseUrl("docs/intro")}
                   >
                     Tutorials
                   </Link>
diff --git a/versioned_docs/version-4.0.2/tutorial-advanced/scripting.md b/versioned_docs/version-4.0.2/tutorial-advanced/scripting.md
index 6c04af8..ac052fe 100644
--- a/versioned_docs/version-4.0.2/tutorial-advanced/scripting.md
+++ b/versioned_docs/version-4.0.2/tutorial-advanced/scripting.md
@@ -108,15 +108,15 @@ val_D := (val_A && val_B) || !val_C
 | Operators | Description |
 |----------|---------|
 | true/false |  Booleans. Castable to 1 and 0 respectively   |
-| &&       |  Logic and |
-| \|\|     |  Logic or |
-| !        |  Negation |
-| ==       |  Equality |
-| !=       |  Inequality |
-| <        |  Less |
-| <=       |  Less equal |
-| >        |  Greater |
-| >=       |  Greater equal |
+| `&&`       |  Logic and |
+| `\|\|`     |  Logic or |
+| `!`        |  Negation |
+| `==`       |  Equality |
+| `!=`       |  Inequality |
+| `<`        |  Less |
+| `<=`       |  Less equal |
+| `>`        |  Greater |
+| `>=`       |  Greater equal |
 
 
 ### Ternary operator **if-then-else**

From e0a9c6e68cf165eb175d4257228a0c8699e0c27e Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 14 Dec 2025 22:20:49 +0100
Subject: [PATCH 48/80] try fix

---
 .nvmrc                                   |  2 +-
 README.md                                |  2 +-
 docusaurus.config.js                     | 11 +++++++----
 package.json                             |  4 +---
 src/components/ContactFormModal/index.js |  3 +--
 src/pages/groot.js                       |  6 +-----
 6 files changed, 12 insertions(+), 16 deletions(-)

diff --git a/.nvmrc b/.nvmrc
index 3c03207..209e3ef 100644
--- a/.nvmrc
+++ b/.nvmrc
@@ -1 +1 @@
-18
+20
diff --git a/README.md b/README.md
index 4fc060e..02552a5 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@ If you find any typo reading the documentation, please submit a Pull Request or
 
 ## Prerequisites
 
-- [Node.js](https://nodejs.org/) version 18.0 or higher
+- [Node.js](https://nodejs.org/) version 20.0 or higher
 
 ## Installation
 
diff --git a/docusaurus.config.js b/docusaurus.config.js
index 844d150..631aa98 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -12,8 +12,12 @@ const config = {
   url: 'https://www.behaviortree.dev/',
   baseUrl: '/',
   onBrokenLinks: 'throw',
-  onBrokenMarkdownLinks: 'warn',
   favicon: 'img/favicon.svg',
+  markdown: {
+    hooks: {
+      onBrokenMarkdownLinks: 'throw',
+    },
+  },
 
   // GitHub pages deployment config.
   // If you aren't using GitHub pages, you don't need these.
@@ -33,9 +37,7 @@ const config = {
     },
   },
   
-  plugins: [
-    require.resolve("@easyops-cn/docusaurus-search-local"),
-  ],
+  plugins: [],
 
   presets: [
     [
@@ -60,6 +62,7 @@ const config = {
         },
         blog: {
           showReadingTime: true,
+          onUntruncatedBlogPosts: 'ignore',
           // Remove this to remove the "edit this page" links.
           editUrl:
             'https://github.com/BehaviorTree/btcpp_website/tree/master',
diff --git a/package.json b/package.json
index 4f42fea..3a2e033 100644
--- a/package.json
+++ b/package.json
@@ -14,8 +14,6 @@
     "write-heading-ids": "docusaurus write-heading-ids"
   },
   "dependencies": {
-    "@easyops-cn/docusaurus-search-local": "^0.46.0",
-    "@dipakparmar/docusaurus-plugin-umami": "^2.0.2",
     "@docusaurus/core": "^3.6.3",
     "@docusaurus/plugin-ideal-image": "^3.6.3",
     "@docusaurus/preset-classic": "^3.6.3",
@@ -48,6 +46,6 @@
     ]
   },
   "engines": {
-    "node": ">=18.0"
+    "node": ">=20.0"
   }
 }
diff --git a/src/components/ContactFormModal/index.js b/src/components/ContactFormModal/index.js
index 5fa2f0b..464dd50 100644
--- a/src/components/ContactFormModal/index.js
+++ b/src/components/ContactFormModal/index.js
@@ -86,12 +86,11 @@ const ContactFormModal = ({ handleClose }) => {
       )
       .then(
         (response) => {
-          console.log("SUCCESS!", response.status, response.text);
           setSubmitted(true);
           setLoading(false);
         },
         (err) => {
-          console.log("FAILED...", err);
+          // Email send failed
         }
       )
       .finally(() => {
diff --git a/src/pages/groot.js b/src/pages/groot.js
index 71f3995..9b9b381 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -52,16 +52,13 @@ export default function Groot() {
   }, [chargebeeInitialized]);
 
   const handleClickBasic = () => {
-    console.log('free')
     scrollToSection('sectionDownload')
   }
 
   const handleClickPro = () => {
-    console.log('Pro')
   };
-  
+
   const handleClickContact = () => {
-    console.log('contact')
     setOpenContactUsModal(true)
     // window.location.href = 'mailto:license@aurynrobotics.com'
   }
@@ -103,7 +100,6 @@ export default function Groot() {
       onclick:() => handleClickContact()
     },
   ];
-  console.log(obj);
 
   const renderTooltip = (message, props) => {
     return (

From 36a5954a2d6f0debe1dd8f16cfa9392ee4646319 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 29 Dec 2025 13:14:25 +0100
Subject: [PATCH 49/80] add search again

---
 CLAUDE.md            | 47 ++++++++++++++++++++++++++++++++++++++++++++
 docusaurus.config.js | 13 ++++++++++++
 package.json         |  1 +
 3 files changed, 61 insertions(+)
 create mode 100644 CLAUDE.md

diff --git a/CLAUDE.md b/CLAUDE.md
new file mode 100644
index 0000000..c58edc4
--- /dev/null
+++ b/CLAUDE.md
@@ -0,0 +1,47 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## Project Overview
+
+This is the official documentation website for BehaviorTree.CPP, a C++ library for building behavior trees used in robotics and AI systems. The site is built with Docusaurus 3 and hosted at https://www.behaviortree.dev/
+
+## Common Commands
+
+```bash
+npm install        # Install dependencies (requires Node.js 20+)
+npm run start      # Local dev server at http://localhost:3000 (hot reload)
+npm run build      # Production build to /build directory
+npm run serve      # Serve production build locally
+npm run clear      # Clear Docusaurus cache
+```
+
+## Architecture
+
+### Documentation Structure
+- `docs/` - Current version (4.8) documentation in Markdown
+  - `learn-the-basics/` - Fundamental BT concepts
+  - `tutorial-basics/` - Tutorials 01-11 (beginner)
+  - `tutorial-advanced/` - Tutorials 12-16 (advanced)
+  - `guides/` - Topic guides (async nodes, ports, scripting)
+  - `nodes-library/` - Node type reference
+- `versioned_docs/` - Legacy versions (3.8, 4.0.2)
+- `blog/` - Release announcements
+
+### Custom Pages (React)
+- `src/pages/index.js` - Homepage with hero section and feature carousel
+- `src/pages/groot.js` - Groot2 IDE page with pricing/licensing (uses Chargebee)
+- `src/pages/moveit_studio.js` - MoveIt Studio integration page
+- `src/components/ContactFormModal/` - Email contact form (EmailJS)
+- `src/components/HomepageFeatures/` - Homepage feature cards
+
+### Configuration
+- `docusaurus.config.js` - Main config (versions, navbar, footer, Prism languages)
+- `sidebars.js` - Auto-generated from filesystem structure
+- `versions.json` - Supported doc versions
+
+### Key Technical Details
+- Prism syntax highlighting configured for `cpp` and `xml-doc`
+- Bootstrap 5 + React Bootstrap for UI components
+- Fathom Analytics for tracking
+- Dark mode disabled (light mode only)
\ No newline at end of file
diff --git a/docusaurus.config.js b/docusaurus.config.js
index 631aa98..707d161 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -39,6 +39,19 @@ const config = {
   
   plugins: [],
 
+  themes: [
+    [
+      require.resolve("@easyops-cn/docusaurus-search-local"),
+      {
+        hashed: true,
+        language: ["en"],
+        indexBlog: true,
+        indexDocs: true,
+        docsRouteBasePath: "/docs",
+      },
+    ],
+  ],
+
   presets: [
     [
       'classic',
diff --git a/package.json b/package.json
index 3a2e033..085df36 100644
--- a/package.json
+++ b/package.json
@@ -17,6 +17,7 @@
     "@docusaurus/core": "^3.6.3",
     "@docusaurus/plugin-ideal-image": "^3.6.3",
     "@docusaurus/preset-classic": "^3.6.3",
+    "@easyops-cn/docusaurus-search-local": "^0.52.2",
     "@emailjs/browser": "^3.11.0",
     "@mdx-js/react": "^3.0.0",
     "autoprefixer": "^10.4.13",

From 53a18981faba1b2837e70d476aa2e8c5c34c0959 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 29 Dec 2025 14:20:09 +0100
Subject: [PATCH 50/80] WIP refactoring

---
 CLAUDE.md                  |   13 +-
 btcpp-landing-page.html    | 1191 ++++++++++++++++++++++++++++++++++++
 landing-page-summary.md    |   71 +++
 src/css/custom.css         |   83 ++-
 src/pages/groot.js         |  470 ++++++--------
 src/pages/index.js         |  457 ++++++++------
 src/pages/index.module.css |  780 +++++++++++++++++++++--
 7 files changed, 2493 insertions(+), 572 deletions(-)
 create mode 100644 btcpp-landing-page.html
 create mode 100644 landing-page-summary.md

diff --git a/CLAUDE.md b/CLAUDE.md
index c58edc4..e5446cc 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -29,11 +29,15 @@ npm run clear      # Clear Docusaurus cache
 - `blog/` - Release announcements
 
 ### Custom Pages (React)
-- `src/pages/index.js` - Homepage with hero section and feature carousel
+- `src/pages/index.js` - Modern landing page with:
+  - Hero section (animated blobs, image carousel)
+  - Trust bar (Nav2, MoveIt2, etc.)
+  - Bento grid features section
+  - Groot2 promotional section
+  - CTA section with contact modal
 - `src/pages/groot.js` - Groot2 IDE page with pricing/licensing (uses Chargebee)
 - `src/pages/moveit_studio.js` - MoveIt Studio integration page
 - `src/components/ContactFormModal/` - Email contact form (EmailJS)
-- `src/components/HomepageFeatures/` - Homepage feature cards
 
 ### Configuration
 - `docusaurus.config.js` - Main config (versions, navbar, footer, Prism languages)
@@ -44,4 +48,7 @@ npm run clear      # Clear Docusaurus cache
 - Prism syntax highlighting configured for `cpp` and `xml-doc`
 - Bootstrap 5 + React Bootstrap for UI components
 - Fathom Analytics for tracking
-- Dark mode disabled (light mode only)
\ No newline at end of file
+- Dark mode disabled (light mode only)
+- Local search via `@easyops-cn/docusaurus-search-local` (configured in `themes` array)
+- Landing page uses Outfit font; docs use Open Sans
+- CSS variables for design system defined in `src/css/custom.css`
\ No newline at end of file
diff --git a/btcpp-landing-page.html b/btcpp-landing-page.html
new file mode 100644
index 0000000..db8776d
--- /dev/null
+++ b/btcpp-landing-page.html
@@ -0,0 +1,1191 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>BehaviorTree.CPP – The Industry Standard for Robot Intelligence</title>
+  <link rel="preconnect" href="https://fonts.googleapis.com">
+  <link href="https://fonts.googleapis.com/css2?family=Outfit:wght@400;500;600;700;800&family=JetBrains+Mono:wght@400;500&display=swap" rel="stylesheet">
+  <style>
+    :root {
+      --green-50: #f0fdf4;
+      --green-100: #dcfce7;
+      --green-200: #bbf7d0;
+      --green-400: #4ade80;
+      --green-500: #22c55e;
+      --green-600: #16a34a;
+      --green-700: #15803d;
+      --cream: #fdfcfa;
+      --warm-white: #fffef9;
+      --sand: #f5f3ef;
+      --text-dark: #1c1917;
+      --text-mid: #44403c;
+      --text-light: #78716c;
+      --font-display: 'Outfit', sans-serif;
+      --font-mono: 'JetBrains Mono', monospace;
+      --radius-sm: 12px;
+      --radius-md: 20px;
+      --radius-lg: 32px;
+      --radius-xl: 48px;
+    }
+
+    * {
+      margin: 0;
+      padding: 0;
+      box-sizing: border-box;
+    }
+
+    html {
+      scroll-behavior: smooth;
+    }
+
+    body {
+      font-family: var(--font-display);
+      background: var(--cream);
+      color: var(--text-dark);
+      line-height: 1.6;
+      overflow-x: hidden;
+    }
+
+    /* Grain texture overlay */
+    body::after {
+      content: '';
+      position: fixed;
+      top: 0;
+      left: 0;
+      width: 100%;
+      height: 100%;
+      background-image: url("data:image/svg+xml,%3Csvg viewBox='0 0 256 256' xmlns='http://www.w3.org/2000/svg'%3E%3Cfilter id='noise'%3E%3CfeTurbulence type='fractalNoise' baseFrequency='0.8' numOctaves='4' stitchTiles='stitch'/%3E%3C/filter%3E%3Crect width='100%25' height='100%25' filter='url(%23noise)'/%3E%3C/svg%3E");
+      opacity: 0.03;
+      pointer-events: none;
+      z-index: 9999;
+    }
+
+    /* Navigation - Matching original behaviortree.dev with dark background */
+    nav {
+      position: fixed;
+      top: 0;
+      left: 0;
+      right: 0;
+      z-index: 100;
+      padding: 0.75rem 2rem;
+      background: var(--text-dark);
+      box-shadow: 0 1px 0 rgba(0, 0, 0, 0.2);
+    }
+
+    .nav-content {
+      display: flex;
+      align-items: center;
+      justify-content: space-between;
+      max-width: 1400px;
+      margin: 0 auto;
+    }
+
+    .logo {
+      display: flex;
+      align-items: center;
+      gap: 0.5rem;
+      font-weight: 700;
+      font-size: 1.1rem;
+      color: white;
+      text-decoration: none;
+    }
+
+    .logo-icon {
+      width: 36px;
+      height: 36px;
+    }
+
+    .logo-icon svg {
+      width: 100%;
+      height: 100%;
+    }
+
+    .nav-links {
+      display: flex;
+      align-items: center;
+      gap: 0.5rem;
+    }
+
+    .nav-links a {
+      color: rgba(255, 255, 255, 0.85);
+      text-decoration: none;
+      font-size: 0.95rem;
+      font-weight: 500;
+      padding: 0.5rem 1rem;
+      border-radius: 6px;
+      transition: all 0.2s ease;
+    }
+
+    .nav-links a:hover {
+      background: rgba(255, 255, 255, 0.1);
+      color: white;
+    }
+
+    .nav-version {
+      display: flex;
+      align-items: center;
+      gap: 0.25rem;
+      background: rgba(255, 255, 255, 0.1);
+      padding: 0.4rem 0.75rem;
+      border-radius: 6px;
+      font-size: 0.85rem;
+      font-weight: 600;
+      color: rgba(255, 255, 255, 0.85);
+      cursor: pointer;
+      transition: all 0.2s;
+    }
+
+    .nav-version:hover {
+      background: var(--green-600);
+      color: white;
+    }
+
+    .nav-version svg {
+      width: 12px;
+      height: 12px;
+    }
+
+    .github-link {
+      display: flex;
+      align-items: center;
+      gap: 0.4rem;
+      color: rgba(255, 255, 255, 0.85);
+      text-decoration: none;
+      font-size: 0.95rem;
+      font-weight: 500;
+      padding: 0.5rem 1rem;
+      border-radius: 6px;
+      transition: all 0.2s ease;
+    }
+
+    .github-link:hover {
+      background: rgba(255, 255, 255, 0.1);
+      color: white;
+    }
+
+    .github-link svg {
+      width: 20px;
+      height: 20px;
+    }
+
+    /* Hero Section */
+    .hero {
+      min-height: 100vh;
+      display: flex;
+      flex-direction: column;
+      justify-content: center;
+      align-items: center;
+      text-align: center;
+      padding: 6rem 2rem 4rem;
+      position: relative;
+      overflow: hidden;
+      background: linear-gradient(180deg, var(--warm-white) 0%, var(--cream) 100%);
+    }
+
+    /* Floating organic shapes */
+    .blob {
+      position: absolute;
+      border-radius: 50%;
+      filter: blur(80px);
+      opacity: 0.6;
+      animation: float 20s ease-in-out infinite;
+    }
+
+    .blob-1 {
+      width: 600px;
+      height: 600px;
+      background: var(--green-200);
+      top: -200px;
+      right: -100px;
+      animation-delay: 0s;
+    }
+
+    .blob-2 {
+      width: 400px;
+      height: 400px;
+      background: var(--green-100);
+      bottom: -100px;
+      left: -100px;
+      animation-delay: -5s;
+    }
+
+    .blob-3 {
+      width: 300px;
+      height: 300px;
+      background: var(--green-200);
+      top: 40%;
+      left: 10%;
+      animation-delay: -10s;
+    }
+
+    @keyframes float {
+      0%, 100% { transform: translate(0, 0) scale(1); }
+      25% { transform: translate(30px, -30px) scale(1.05); }
+      50% { transform: translate(-20px, 20px) scale(0.95); }
+      75% { transform: translate(20px, 10px) scale(1.02); }
+    }
+
+    .hero-content {
+      position: relative;
+      z-index: 1;
+      max-width: 900px;
+    }
+
+    .hero-badge {
+      display: inline-flex;
+      align-items: center;
+      gap: 0.5rem;
+      background: var(--green-100);
+      padding: 0.6rem 1.25rem;
+      border-radius: 100px;
+      font-size: 0.9rem;
+      color: var(--green-700);
+      font-weight: 600;
+      margin-bottom: 2rem;
+      animation: fadeInUp 0.8s ease-out;
+    }
+
+    .hero-badge span {
+      width: 8px;
+      height: 8px;
+      background: var(--green-500);
+      border-radius: 50%;
+      animation: pulse 2s ease-in-out infinite;
+    }
+
+    @keyframes pulse {
+      0%, 100% { transform: scale(1); opacity: 1; }
+      50% { transform: scale(1.2); opacity: 0.7; }
+    }
+
+    .hero h1 {
+      font-size: clamp(3rem, 7vw, 5rem);
+      font-weight: 800;
+      line-height: 1.1;
+      margin-bottom: 1.5rem;
+      letter-spacing: -0.03em;
+      animation: fadeInUp 0.8s ease-out 0.1s both;
+    }
+
+    .hero h1 .highlight {
+      background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
+      -webkit-background-clip: text;
+      -webkit-text-fill-color: transparent;
+      background-clip: text;
+    }
+
+    .hero-sub {
+      font-size: 1.25rem;
+      color: var(--text-mid);
+      max-width: 600px;
+      margin: 0 auto 2.5rem;
+      animation: fadeInUp 0.8s ease-out 0.2s both;
+    }
+
+    .hero-ctas {
+      display: flex;
+      gap: 1rem;
+      justify-content: center;
+      flex-wrap: wrap;
+      animation: fadeInUp 0.8s ease-out 0.3s both;
+    }
+
+    .btn {
+      padding: 1rem 2rem;
+      border-radius: 100px;
+      font-weight: 600;
+      font-size: 1rem;
+      text-decoration: none;
+      transition: all 0.3s ease;
+      display: inline-flex;
+      align-items: center;
+      gap: 0.5rem;
+      cursor: pointer;
+      border: none;
+    }
+
+    .btn-primary {
+      background: var(--green-600);
+      color: white;
+      box-shadow: 0 4px 20px rgba(22, 163, 74, 0.3);
+    }
+
+    .btn-primary:hover {
+      background: var(--green-700);
+      transform: translateY(-2px);
+      box-shadow: 0 8px 30px rgba(22, 163, 74, 0.4);
+    }
+
+    .btn-secondary {
+      background: white;
+      color: var(--text-dark);
+      box-shadow: 0 4px 20px rgba(0, 0, 0, 0.08);
+    }
+
+    .btn-secondary:hover {
+      background: var(--green-50);
+      transform: translateY(-2px);
+    }
+
+    .hero-stats {
+      display: flex;
+      gap: 3rem;
+      justify-content: center;
+      margin-top: 4rem;
+      animation: fadeInUp 0.8s ease-out 0.4s both;
+    }
+
+    .stat {
+      text-align: center;
+    }
+
+    .stat-value {
+      font-size: 2.5rem;
+      font-weight: 800;
+      color: var(--green-600);
+      line-height: 1;
+    }
+
+    .stat-label {
+      font-size: 0.9rem;
+      color: var(--text-light);
+      margin-top: 0.25rem;
+    }
+
+    @keyframes fadeInUp {
+      from {
+        opacity: 0;
+        transform: translateY(30px);
+      }
+      to {
+        opacity: 1;
+        transform: translateY(0);
+      }
+    }
+
+    /* Trust Bar - Dark style like footer */
+    .trust-bar {
+      padding: 3rem 2rem;
+      text-align: center;
+      background: var(--text-dark);
+    }
+
+    .trust-bar p {
+      color: rgba(255, 255, 255, 0.5);
+      font-size: 0.85rem;
+      margin-bottom: 1.5rem;
+      text-transform: uppercase;
+      letter-spacing: 0.15em;
+      font-weight: 600;
+    }
+
+    .trust-logos {
+      display: flex;
+      justify-content: center;
+      align-items: center;
+      gap: 3rem;
+      flex-wrap: wrap;
+    }
+
+    .trust-logo {
+      color: rgba(255, 255, 255, 0.7);
+      font-family: var(--font-mono);
+      font-size: 0.9rem;
+      font-weight: 500;
+      transition: color 0.2s;
+    }
+
+    .trust-logo:hover {
+      color: var(--green-400);
+    }
+
+    /* Features Section - Bento Grid */
+    .features-section {
+      padding: 6rem 2rem;
+      background: var(--cream);
+    }
+
+    .features-header {
+      text-align: center;
+      margin-bottom: 4rem;
+    }
+
+    .features-header h2 {
+      font-size: 2.5rem;
+      font-weight: 800;
+      margin-bottom: 0.75rem;
+      letter-spacing: -0.02em;
+    }
+
+    .features-header p {
+      color: var(--text-mid);
+      font-size: 1.15rem;
+    }
+
+    /* Bento Box Grid - Matching the sketch */
+    .bento-grid {
+      display: grid;
+      grid-template-columns: repeat(4, 1fr);
+      grid-template-rows: auto auto;
+      gap: 1.25rem;
+      max-width: 1100px;
+      margin: 0 auto;
+    }
+
+    .bento-card {
+      background: white;
+      border-radius: var(--radius-lg);
+      padding: 2rem;
+      transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
+      position: relative;
+      overflow: hidden;
+      display: flex;
+      flex-direction: column;
+    }
+
+    .bento-card::before {
+      content: '';
+      position: absolute;
+      top: 0;
+      left: 0;
+      right: 0;
+      bottom: 0;
+      background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
+      opacity: 0;
+      transition: opacity 0.4s ease;
+      z-index: 0;
+    }
+
+    .bento-card > * {
+      position: relative;
+      z-index: 1;
+    }
+
+    .bento-card:hover {
+      transform: translateY(-8px) scale(1.02);
+      box-shadow: 0 25px 50px rgba(0, 0, 0, 0.12);
+    }
+
+    .bento-card:hover::before {
+      opacity: 1;
+    }
+
+    .bento-card:hover .bento-icon {
+      background: white;
+      transform: scale(1.1) rotate(-5deg);
+    }
+
+    .bento-card:hover h3,
+    .bento-card:hover p {
+      color: white;
+    }
+
+    /* Card positions matching the sketch */
+    .bento-card.async {
+      grid-column: 1 / 3;
+      grid-row: 1;
+      background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
+    }
+
+    .bento-card.plugin {
+      grid-column: 3;
+      grid-row: 1;
+    }
+
+    .bento-card.blackboard {
+      grid-column: 4;
+      grid-row: 1;
+    }
+
+    .bento-card.xml {
+      grid-column: 1;
+      grid-row: 2;
+    }
+
+    .bento-card.logging {
+      grid-column: 2;
+      grid-row: 2;
+    }
+
+    .bento-card.ros2 {
+      grid-column: 3 / 5;
+      grid-row: 2;
+      background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
+    }
+
+    /* Large cards styling */
+    .bento-card.async,
+    .bento-card.ros2 {
+      padding: 2.5rem;
+    }
+
+    .bento-card.async .bento-icon,
+    .bento-card.ros2 .bento-icon {
+      width: 64px;
+      height: 64px;
+      font-size: 1.75rem;
+      background: white;
+      box-shadow: 0 8px 30px rgba(22, 163, 74, 0.15);
+    }
+
+    .bento-card.async h3,
+    .bento-card.ros2 h3 {
+      font-size: 1.5rem;
+      margin-bottom: 0.75rem;
+    }
+
+    .bento-card.async p,
+    .bento-card.ros2 p {
+      font-size: 1.05rem;
+      line-height: 1.7;
+    }
+
+    .bento-icon {
+      width: 56px;
+      height: 56px;
+      background: var(--green-100);
+      border-radius: var(--radius-md);
+      display: flex;
+      align-items: center;
+      justify-content: center;
+      font-size: 1.5rem;
+      margin-bottom: 1.25rem;
+      transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
+    }
+
+    .bento-card h3 {
+      font-size: 1.15rem;
+      font-weight: 700;
+      margin-bottom: 0.5rem;
+      color: var(--text-dark);
+      transition: color 0.3s ease;
+    }
+
+    .bento-card p {
+      color: var(--text-mid);
+      font-size: 0.95rem;
+      line-height: 1.6;
+      transition: color 0.3s ease;
+    }
+
+    /* Groot2 Section */
+    .groot-section {
+      padding: 6rem 2rem;
+      background: var(--sand);
+      position: relative;
+      overflow: hidden;
+    }
+
+    .groot-blob {
+      position: absolute;
+      width: 500px;
+      height: 500px;
+      background: var(--green-200);
+      border-radius: 50%;
+      filter: blur(100px);
+      opacity: 0.5;
+      top: 50%;
+      right: -200px;
+      transform: translateY(-50%);
+    }
+
+    .groot-content {
+      max-width: 1200px;
+      margin: 0 auto;
+      display: grid;
+      grid-template-columns: 1fr 1.2fr;
+      gap: 4rem;
+      align-items: center;
+      position: relative;
+      z-index: 1;
+    }
+
+    .groot-text h2 {
+      font-size: 3rem;
+      font-weight: 800;
+      margin-bottom: 1rem;
+      letter-spacing: -0.02em;
+    }
+
+    .groot-text h2 span {
+      color: var(--green-600);
+    }
+
+    .groot-tagline {
+      font-size: 1.2rem;
+      color: var(--text-mid);
+      margin-bottom: 2rem;
+    }
+
+    .groot-features {
+      display: flex;
+      flex-direction: column;
+      gap: 1rem;
+      margin-bottom: 2rem;
+    }
+
+    .groot-feature {
+      display: flex;
+      align-items: flex-start;
+      gap: 1rem;
+      padding: 1rem 1.25rem;
+      background: white;
+      border-radius: var(--radius-md);
+      transition: all 0.2s;
+    }
+
+    .groot-feature:hover {
+      transform: translateX(8px);
+      box-shadow: 0 4px 20px rgba(0, 0, 0, 0.06);
+    }
+
+    .groot-feature-icon {
+      width: 28px;
+      height: 28px;
+      background: var(--green-500);
+      border-radius: 50%;
+      display: flex;
+      align-items: center;
+      justify-content: center;
+      flex-shrink: 0;
+      color: white;
+      font-size: 0.8rem;
+      font-weight: 700;
+    }
+
+    .groot-feature-text strong {
+      color: var(--text-dark);
+      font-weight: 600;
+      display: block;
+    }
+
+    .groot-feature-text span {
+      color: var(--text-mid);
+      font-size: 0.95rem;
+    }
+
+    .groot-visual {
+      position: relative;
+    }
+
+    .groot-preview {
+      background: white;
+      border-radius: var(--radius-xl);
+      padding: 1rem;
+      box-shadow: 0 30px 60px rgba(0, 0, 0, 0.12);
+    }
+
+    .groot-preview-header {
+      background: var(--sand);
+      border-radius: var(--radius-md) var(--radius-md) 0 0;
+      padding: 1rem 1.25rem;
+      display: flex;
+      align-items: center;
+      gap: 0.5rem;
+    }
+
+    .window-dot {
+      width: 12px;
+      height: 12px;
+      border-radius: 50%;
+    }
+    .window-dot.red { background: #ff6b6b; }
+    .window-dot.yellow { background: #ffd93d; }
+    .window-dot.green { background: #6bcb77; }
+
+    .groot-preview-body {
+      height: 350px;
+      background: linear-gradient(180deg, var(--green-50) 0%, white 100%);
+      border-radius: 0 0 var(--radius-md) var(--radius-md);
+      display: flex;
+      flex-direction: column;
+      align-items: center;
+      padding: 2rem;
+      position: relative;
+    }
+
+    .tree-node {
+      background: white;
+      border: 2px solid var(--green-200);
+      border-radius: var(--radius-sm);
+      padding: 0.6rem 1.5rem;
+      font-family: var(--font-mono);
+      font-size: 0.8rem;
+      font-weight: 500;
+      box-shadow: 0 4px 12px rgba(0, 0, 0, 0.06);
+      position: relative;
+    }
+
+    .tree-node.active {
+      background: var(--green-500);
+      color: white;
+      border-color: var(--green-500);
+    }
+
+    .tree-connector {
+      width: 2px;
+      height: 24px;
+      background: var(--green-300);
+    }
+
+    .tree-row {
+      display: flex;
+      gap: 1rem;
+      margin-top: 1.5rem;
+    }
+
+    /* CTA Section */
+    .cta-section {
+      padding: 8rem 2rem;
+      text-align: center;
+      background: linear-gradient(180deg, var(--cream) 0%, var(--green-50) 100%);
+      position: relative;
+    }
+
+    .cta-content {
+      position: relative;
+      z-index: 1;
+      max-width: 700px;
+      margin: 0 auto;
+    }
+
+    .cta-content h2 {
+      font-size: 3rem;
+      font-weight: 800;
+      margin-bottom: 1rem;
+      letter-spacing: -0.02em;
+    }
+
+    .cta-content p {
+      color: var(--text-mid);
+      font-size: 1.2rem;
+      margin-bottom: 2rem;
+    }
+
+    /* Footer */
+    footer {
+      background: var(--text-dark);
+      color: white;
+      padding: 4rem 2rem;
+      border-radius: var(--radius-xl) var(--radius-xl) 0 0;
+    }
+
+    .footer-content {
+      max-width: 1200px;
+      margin: 0 auto;
+      display: grid;
+      grid-template-columns: 2fr 1fr 1fr 1fr;
+      gap: 3rem;
+    }
+
+    .footer-brand h3 {
+      font-size: 1.25rem;
+      margin-bottom: 0.75rem;
+      font-weight: 700;
+    }
+
+    .footer-brand p {
+      color: rgba(255, 255, 255, 0.7);
+      font-size: 0.95rem;
+      line-height: 1.6;
+    }
+
+    .footer-links h4 {
+      font-size: 0.8rem;
+      text-transform: uppercase;
+      letter-spacing: 0.15em;
+      color: var(--green-400);
+      margin-bottom: 1rem;
+      font-weight: 600;
+    }
+
+    .footer-links ul {
+      list-style: none;
+    }
+
+    .footer-links a {
+      color: rgba(255, 255, 255, 0.7);
+      text-decoration: none;
+      font-size: 0.95rem;
+      display: block;
+      padding: 0.35rem 0;
+      transition: color 0.2s;
+    }
+
+    .footer-links a:hover {
+      color: var(--green-400);
+    }
+
+    .footer-bottom {
+      max-width: 1200px;
+      margin: 3rem auto 0;
+      padding-top: 2rem;
+      border-top: 1px solid rgba(255, 255, 255, 0.1);
+      display: flex;
+      justify-content: space-between;
+      align-items: center;
+      color: rgba(255, 255, 255, 0.5);
+      font-size: 0.9rem;
+    }
+
+    /* Responsive */
+    @media (max-width: 1024px) {
+      .groot-content {
+        grid-template-columns: 1fr;
+        gap: 3rem;
+      }
+
+      .bento-grid {
+        grid-template-columns: repeat(2, 1fr);
+      }
+
+      .bento-card.async {
+        grid-column: 1 / 3;
+        grid-row: 1;
+      }
+
+      .bento-card.plugin {
+        grid-column: 1;
+        grid-row: 2;
+      }
+
+      .bento-card.blackboard {
+        grid-column: 2;
+        grid-row: 2;
+      }
+
+      .bento-card.xml {
+        grid-column: 1;
+        grid-row: 3;
+      }
+
+      .bento-card.logging {
+        grid-column: 2;
+        grid-row: 3;
+      }
+
+      .bento-card.ros2 {
+        grid-column: 1 / 3;
+        grid-row: 4;
+      }
+      
+      .footer-content {
+        grid-template-columns: 1fr 1fr;
+      }
+    }
+
+    @media (max-width: 768px) {
+      nav {
+        padding: 0.75rem 1rem;
+      }
+
+      .nav-links a:not(.github-link) {
+        display: none;
+      }
+
+      .nav-version {
+        display: none;
+      }
+      
+      .hero-stats {
+        flex-direction: column;
+        gap: 1.5rem;
+      }
+      
+      .trust-logos {
+        gap: 1.5rem;
+      }
+
+      .bento-grid {
+        grid-template-columns: 1fr;
+      }
+
+      .bento-card.async,
+      .bento-card.plugin,
+      .bento-card.blackboard,
+      .bento-card.xml,
+      .bento-card.logging,
+      .bento-card.ros2 {
+        grid-column: 1;
+        grid-row: auto;
+      }
+      
+      .footer-content {
+        grid-template-columns: 1fr;
+      }
+      
+      .footer-bottom {
+        flex-direction: column;
+        gap: 1rem;
+        text-align: center;
+      }
+
+      .hero h1 {
+        font-size: 2.5rem;
+      }
+
+      .groot-text h2,
+      .cta-content h2 {
+        font-size: 2rem;
+      }
+    }
+  </style>
+</head>
+<body>
+  <!-- Navigation - Matching original behaviortree.dev -->
+  <nav>
+    <div class="nav-content">
+      <a href="#" class="logo">
+        <div class="logo-icon">
+          <svg viewBox="0 0 100 100" fill="none" xmlns="http://www.w3.org/2000/svg">
+            <circle cx="50" cy="50" r="45" fill="#22c55e"/>
+            <path d="M50 20 L50 45 M50 45 L30 65 M50 45 L70 65 M30 65 L30 80 M70 65 L70 80" stroke="white" stroke-width="6" stroke-linecap="round"/>
+          </svg>
+        </div>
+        BehaviorTree
+      </a>
+      <div class="nav-links">
+        <a href="/docs/intro">Docs</a>
+        <a href="/groot">Groot2</a>
+        <div class="nav-version">
+          4.8
+          <svg viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
+            <path d="M6 9l6 6 6-6"/>
+          </svg>
+        </div>
+        <a href="/blog">Blog</a>
+        <a href="https://github.com/BehaviorTree/BehaviorTree.CPP" class="github-link">
+          <svg viewBox="0 0 24 24" fill="currentColor">
+            <path d="M12 0C5.37 0 0 5.37 0 12c0 5.31 3.435 9.795 8.205 11.385.6.105.825-.255.825-.57 0-.285-.015-1.23-.015-2.235-3.015.555-3.795-.735-4.035-1.41-.135-.345-.72-1.41-1.23-1.695-.42-.225-1.02-.78-.015-.795.945-.015 1.62.87 1.845 1.23 1.08 1.815 2.805 1.305 3.495.99.105-.78.42-1.305.765-1.605-2.67-.3-5.46-1.335-5.46-5.925 0-1.305.465-2.385 1.23-3.225-.12-.3-.54-1.53.12-3.18 0 0 1.005-.315 3.3 1.23.96-.27 1.98-.405 3-.405s2.04.135 3 .405c2.295-1.56 3.3-1.23 3.3-1.23.66 1.65.24 2.88.12 3.18.765.84 1.23 1.905 1.23 3.225 0 4.605-2.805 5.625-5.475 5.925.435.375.81 1.095.81 2.22 0 1.605-.015 2.895-.015 3.3 0 .315.225.69.825.57A12.02 12.02 0 0024 12c0-6.63-5.37-12-12-12z"/>
+          </svg>
+          GitHub
+        </a>
+      </div>
+    </div>
+  </nav>
+
+  <!-- Hero Section -->
+  <section class="hero">
+    <div class="blob blob-1"></div>
+    <div class="blob blob-2"></div>
+    <div class="blob blob-3"></div>
+    
+    <div class="hero-content">
+      <div class="hero-badge">
+        <span></span>
+        Powering Nav2 and 100+ robotics companies
+      </div>
+      <h1>The Industry Standard for <span class="highlight">Robot Intelligence</span></h1>
+      <p class="hero-sub">
+        BehaviorTree.CPP is the most advanced, production-ready framework for building 
+        reactive, modular, and debuggable robot behaviors. Design in XML, execute in C++.
+      </p>
+      <div class="hero-ctas">
+        <a href="/docs/intro" class="btn btn-primary">
+          Get Started Free →
+        </a>
+        <a href="#groot" class="btn btn-secondary">
+          Try Groot2 IDE
+        </a>
+      </div>
+      <div class="hero-stats">
+        <div class="stat">
+          <div class="stat-value">3.7k+</div>
+          <div class="stat-label">GitHub Stars</div>
+        </div>
+        <div class="stat">
+          <div class="stat-value">100+</div>
+          <div class="stat-label">Companies</div>
+        </div>
+        <div class="stat">
+          <div class="stat-value">10+</div>
+          <div class="stat-label">Years Active</div>
+        </div>
+      </div>
+    </div>
+  </section>
+
+  <!-- Trust Bar -->
+  <section class="trust-bar">
+    <p>Trusted by teams building autonomous systems</p>
+    <div class="trust-logos">
+      <span class="trust-logo">Nav2 / ROS2</span>
+      <span class="trust-logo">MoveIt2</span>
+      <span class="trust-logo">NVIDIA Isaac</span>
+      <span class="trust-logo">Open Navigation</span>
+      <span class="trust-logo">Husarion</span>
+    </div>
+  </section>
+
+  <!-- Features Section - Bento Grid -->
+  <section class="features-section" id="features">
+    <div class="features-header">
+      <h2>Why BehaviorTree.CPP?</h2>
+      <p>Built for real-world robotics, not just demos</p>
+    </div>
+    
+    <div class="bento-grid">
+      <!-- Row 1: Large left + 2 small right -->
+      <div class="bento-card async">
+        <div class="bento-icon">⚡</div>
+        <h3>Async-First Design</h3>
+        <p>Non-blocking actions as first-class citizens. Build reactive behaviors that execute concurrently, making your robots responsive and efficient in complex real-world scenarios.</p>
+      </div>
+      
+      <div class="bento-card plugin">
+        <div class="bento-icon">🔌</div>
+        <h3>Plugin Architecture</h3>
+        <p>Load custom nodes at runtime. Separate behavior design from implementation.</p>
+      </div>
+      
+      <div class="bento-card blackboard">
+        <div class="bento-icon">📊</div>
+        <h3>Type-Safe Blackboard</h3>
+        <p>Strongly-typed data flow between nodes. Catch errors at compile time.</p>
+      </div>
+      
+      <!-- Row 2: 2 small left + Large right -->
+      <div class="bento-card xml">
+        <div class="bento-icon">📝</div>
+        <h3>XML-Defined Trees</h3>
+        <p>Modify behaviors without recompiling. Perfect for field engineers.</p>
+      </div>
+      
+      <div class="bento-card logging">
+        <div class="bento-icon">🔍</div>
+        <h3>Built-in Logging</h3>
+        <p>Record, replay, and analyze state transitions with confidence.</p>
+      </div>
+      
+      <div class="bento-card ros2">
+        <div class="bento-icon">🤖</div>
+        <h3>ROS2 Integration</h3>
+        <p>Official wrappers for actions, services, and topics. Powers the Nav2 navigation stack trusted by hundreds of robots and engineering teams worldwide.</p>
+      </div>
+    </div>
+  </section>
+
+  <!-- Groot2 Section -->
+  <section class="groot-section" id="groot">
+    <div class="groot-blob"></div>
+    <div class="groot-content">
+      <div class="groot-text">
+        <h2>Meet <span>Groot2</span></h2>
+        <p class="groot-tagline">The IDE for Behavior Trees. Design, debug, and deploy with confidence.</p>
+        
+        <div class="groot-features">
+          <div class="groot-feature">
+            <div class="groot-feature-icon">✓</div>
+            <div class="groot-feature-text">
+              <strong>Visual Editor</strong>
+              <span>Drag-and-drop interface for rapid prototyping</span>
+            </div>
+          </div>
+          <div class="groot-feature">
+            <div class="groot-feature-icon">✓</div>
+            <div class="groot-feature-text">
+              <strong>Real-time Monitoring</strong>
+              <span>Watch your tree execute live on your robot</span>
+            </div>
+          </div>
+          <div class="groot-feature">
+            <div class="groot-feature-icon">✓</div>
+            <div class="groot-feature-text">
+              <strong>Log Replay & Analysis</strong>
+              <span>Debug past runs with full state reconstruction</span>
+            </div>
+          </div>
+          <div class="groot-feature">
+            <div class="groot-feature-icon">✓</div>
+            <div class="groot-feature-text">
+              <strong>Breakpoints & Fault Injection</strong>
+              <span>Pause execution and simulate failures</span>
+            </div>
+          </div>
+        </div>
+        
+        <a href="/groot" class="btn btn-primary">Learn More About Groot2</a>
+      </div>
+      
+      <div class="groot-visual">
+        <div class="groot-preview">
+          <div class="groot-preview-header">
+            <span class="window-dot red"></span>
+            <span class="window-dot yellow"></span>
+            <span class="window-dot green"></span>
+          </div>
+          <div class="groot-preview-body">
+            <div class="tree-node active">Sequence</div>
+            <div class="tree-connector"></div>
+            <div class="tree-row">
+              <div class="tree-node">Fallback</div>
+              <div class="tree-node">Navigate</div>
+            </div>
+            <div class="tree-connector"></div>
+            <div class="tree-row">
+              <div class="tree-node">Check</div>
+              <div class="tree-node active">Pick</div>
+              <div class="tree-node">Place</div>
+            </div>
+          </div>
+        </div>
+      </div>
+    </div>
+  </section>
+
+  <!-- CTA Section -->
+  <section class="cta-section">
+    <div class="cta-content">
+      <h2>Ready to Build Smarter Robots?</h2>
+      <p>Join thousands of engineers using BehaviorTree.CPP to build production-grade autonomous systems.</p>
+      <div class="hero-ctas">
+        <a href="/docs/intro" class="btn btn-primary">Start the Tutorial</a>
+        <a href="mailto:dfaconti@aurynrobotics.com" class="btn btn-secondary">Contact for Enterprise</a>
+      </div>
+    </div>
+  </section>
+
+  <!-- Footer -->
+  <footer>
+    <div class="footer-content">
+      <div class="footer-brand">
+        <h3>BehaviorTree.CPP</h3>
+        <p>The industry standard for robot intelligence. Open source, professionally supported.</p>
+      </div>
+      
+      <div class="footer-links">
+        <h4>Documentation</h4>
+        <ul>
+          <li><a href="/docs/intro">Tutorials</a></li>
+          <li><a href="https://behaviortree.github.io/BehaviorTree.CPP/">API Reference</a></li>
+          <li><a href="/docs/ros2_integration">ROS2 Integration</a></li>
+        </ul>
+      </div>
+      
+      <div class="footer-links">
+        <h4>Community</h4>
+        <ul>
+          <li><a href="https://github.com/BehaviorTree/BehaviorTree.CPP/discussions">Forum</a></li>
+          <li><a href="https://github.com/BehaviorTree/BehaviorTree.CPP">GitHub</a></li>
+          <li><a href="/blog">Blog</a></li>
+        </ul>
+      </div>
+      
+      <div class="footer-links">
+        <h4>Company</h4>
+        <ul>
+          <li><a href="mailto:dfaconti@aurynrobotics.com">Contact</a></li>
+          <li><a href="#">Support</a></li>
+          <li><a href="#">Enterprise</a></li>
+        </ul>
+      </div>
+    </div>
+    
+    <div class="footer-bottom">
+      <span>© 2025 Auryn Robotics. All rights reserved.</span>
+      <span>Made with ❤️ for the robotics community</span>
+    </div>
+  </footer>
+</body>
+</html>
diff --git a/landing-page-summary.md b/landing-page-summary.md
new file mode 100644
index 0000000..193b20d
--- /dev/null
+++ b/landing-page-summary.md
@@ -0,0 +1,71 @@
+# BehaviorTree.CPP Landing Page Summary
+
+## Overall Style
+Organic, warm aesthetic with soft rounded corners, floating gradient blobs, and generous whitespace. Light cream background with green accent color. Subtle grain texture overlay for depth. Modern 2025 design trends: bento grid layout, micro-animations on hover.
+
+## Typography
+- Display font: Outfit (friendly, modern sans-serif)
+- Monospace: JetBrains Mono (for code/technical elements)
+- Large bold headlines, comfortable body text
+
+## Color Palette
+- Background: Warm cream/off-white
+- Accent: Green (used for CTAs, highlights, hover states)
+- Text: Dark charcoal for headings, medium gray for body
+- Dark sections: Near-black (header, trust bar, footer)
+
+---
+
+## Page Structure
+
+### Header (dark)
+Full-width navigation bar with: logo + "BehaviorTree" text, links (Docs, Groot2, version dropdown, Blog, GitHub).
+
+### Hero Section
+- Badge: "Powering Nav2 and 100+ robotics companies"
+- Headline: "The Industry Standard for Robot Intelligence"
+- Subheadline: Brief description of the framework
+- Two CTAs: "Get Started Free" (primary), "Try Groot2 IDE" (secondary)
+- Stats row: 3.7k+ GitHub Stars, 100+ Companies, 10+ Years Active
+- Animated floating green blobs in background
+
+### Trust Bar (dark)
+Lists integrations: Nav2/ROS2, MoveIt2, NVIDIA Isaac, Open Navigation, Husarion
+
+### Features Section - Bento Grid
+Title: "Why BehaviorTree.CPP?" with subtitle "Built for real-world robotics, not just demos"
+
+Six feature cards in asymmetric bento layout:
+1. **Async-First Design** (large) - Non-blocking actions, concurrent execution
+2. **Plugin Architecture** (small) - Runtime loading, separation of concerns
+3. **Type-Safe Blackboard** (small) - Strongly-typed data flow
+4. **XML-Defined Trees** (small) - Modify without recompiling
+5. **Built-in Logging** (small) - Record, replay, analyze
+6. **ROS2 Integration** (large) - Official wrappers, powers Nav2
+
+Cards have hover effect: lift up and fill with green gradient.
+
+### Groot2 Section
+Two-column layout: text left, visual preview right.
+- Headline: "Meet Groot2"
+- Tagline: "The IDE for Behavior Trees"
+- Feature list with checkmarks: Visual Editor, Real-time Monitoring, Log Replay, Breakpoints
+- CTA: "Learn More About Groot2"
+- Mock window showing behavior tree node diagram
+
+### CTA Section
+- Headline: "Ready to Build Smarter Robots?"
+- Two buttons: "Start the Tutorial", "Contact for Enterprise"
+- Gradient background fading to light green
+
+### Footer (dark, rounded top corners)
+Four columns: Brand description, Documentation links, Community links, Company links.
+Bottom bar with copyright and tagline.
+
+---
+
+## Interactive Elements
+- Hover effects on all cards (lift + color change)
+- Floating blob animations in hero
+- Smooth scroll behavior
+- Button hover states with shadow changes
diff --git a/src/css/custom.css b/src/css/custom.css
index 467b6f3..7ff5376 100644
--- a/src/css/custom.css
+++ b/src/css/custom.css
@@ -4,60 +4,75 @@
  * work well for content-centric websites.
  */
 
- @import url('https://fonts.googleapis.com/css2?family=Open+Sans&display=swap');
+@import url('https://fonts.googleapis.com/css2?family=Open+Sans&family=Outfit:wght@400;500;600;700;800&family=JetBrains+Mono:wght@400;500&display=swap');
 
-/* You can override the default Infima variables here. */
+/* Design System Variables */
 :root {
-  --ifm-font-family-base: 'Open Sans';
-  --ifm-color-primary: #0dbb5b;
-  --ifm-color-primary-dark: #29784c;
-  --ifm-color-primary-darker: #277148;
-  --ifm-color-primary-darkest: #205d3b;
-  --ifm-color-primary-light: #33925d;
-  --ifm-color-primary-lighter: #359962;
-  --ifm-color-primary-lightest: #3cad6e;
+  /* Fonts - Keep Open Sans for documentation */
+  --ifm-font-family-base: 'Open Sans', sans-serif;
+  /* Landing page uses Outfit via module CSS */
+  --font-display: 'Outfit', sans-serif;
+  --font-mono: 'JetBrains Mono', monospace;
+
+  /* Green palette */
+  --green-50: #f0fdf4;
+  --green-100: #dcfce7;
+  --green-200: #bbf7d0;
+  --green-400: #4ade80;
+  --green-500: #22c55e;
+  --green-600: #16a34a;
+  --green-700: #15803d;
+
+  /* Neutral palette */
+  --cream: #fdfcfa;
+  --warm-white: #fffef9;
+  --sand: #f5f3ef;
+  --text-dark: #1c1917;
+  --text-mid: #44403c;
+  --text-light: #78716c;
+
+  /* Docusaurus overrides */
+  --ifm-color-primary: #16a34a;
+  --ifm-color-primary-dark: #15803d;
+  --ifm-color-primary-darker: #166534;
+  --ifm-color-primary-darkest: #14532d;
+  --ifm-color-primary-light: #22c55e;
+  --ifm-color-primary-lighter: #4ade80;
+  --ifm-color-primary-lightest: #86efac;
   --ifm-code-font-size: 95%;
   --docusaurus-highlighted-code-line-bg: rgb(180, 251, 169);
 
+  /* Radii */
+  --radius-sm: 12px;
+  --radius-md: 20px;
+  --radius-lg: 32px;
+  --radius-xl: 48px;
+
   --doc-sidebar-width: 350px !important;
   --ifm--sidebar-font-size: 14px;
 }
 
+html {
+  scroll-behavior: smooth;
+}
+
 article {
   max-width: 900px;
   margin-left: auto;
   margin-right: auto;
 }
 
-.theme-doc-sidebar-menu{
+.theme-doc-sidebar-menu {
   font-size: 18px;
 }
 
-@media (min-width: 992px) and (max-width: 1199.98px) {
-  .heroBanner_src-pages-index-module h1 {
-    font-size: 30px !important;
-    font-weight: bold;
-  }
+/* Navbar dark style override for landing page consistency */
+.navbar--dark {
+  background: var(--text-dark);
 }
+
 @media (max-width: 580px) {
   .navbar__title {
     font-size: 14px;
   }
-  .heroBanner_src-pages-index-module h1 {
-    font-size: 32px !important;
-    font-weight: bold;
-  }
-  .heroBanner_src-pages-index-module p {
-    font-size: 20px !important;
-  }
-}
-
-@media (max-width: 480px) {
-  .heroBanner_src-pages-index-module h1 {
-    font-size: 28px !important;
-    font-weight: bold;
-  }
-  .heroBanner_src-pages-index-module p {
-    font-size: 18px !important;
-  }
-}
+}
\ No newline at end of file
diff --git a/src/pages/groot.js b/src/pages/groot.js
index 9b9b381..75778ea 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -1,11 +1,9 @@
-import React, { useEffect,useState } from "react";
+import React, { useEffect, useState } from "react";
 import Layout from "@theme/Layout";
 import Link from "@docusaurus/Link";
 import useBaseUrl from "@docusaurus/useBaseUrl";
 import styles from "./groot.module.css";
-import Table from "react-bootstrap/Table";
-import { OverlayTrigger, Tooltip } from "react-bootstrap";
-import Head from "@docusaurus/Head";
+import sharedStyles from "./index.module.css";
 import clsx from "clsx";
 
 import EditorVideo from "@site/static/img/groot2_editor.mp4";
@@ -13,13 +11,6 @@ import MonitorVideo from "@site/static/img/groot2_monitor.mp4";
 import LogVideo from "@site/static/img/groot2_log.mp4";
 import ContactUSFormModal from "../components/ContactFormModal";
 
-function Check(props) {
-  return <img src={useBaseUrl("img/check.png")} width='15' alt='yes' />;
-}
-function Cross(props) {
-  return <img src={useBaseUrl("img/cross.png")} width='15' alt='no' />;
-}
-
 export default function Groot() {
 
   const [chargebeeInitialized, setChargebeeInitialized] = useState(false);
@@ -51,386 +42,285 @@ export default function Groot() {
     }
   }, [chargebeeInitialized]);
 
-  const handleClickBasic = () => {
-    scrollToSection('sectionDownload')
-  }
-
-  const handleClickPro = () => {
+  const scrollToSection = (sectionId) => {
+    const section = document.getElementById(sectionId);
+    if (section) {
+      section.scrollIntoView({ behavior: "smooth" });
+    }
   };
 
   const handleClickContact = () => {
-    setOpenContactUsModal(true)
-    // window.location.href = 'mailto:license@aurynrobotics.com'
-  }
+    setOpenContactUsModal(true);
+  };
+
+  const handleCloseModal = () => {
+    setOpenContactUsModal(false);
+  };
 
-  const obj = [
+  const pricingPlans = [
     {
       name: "Basic",
       price: "Free",
-      durance: "",
+      duration: "",
       points: [
         "Full Behavior Tree Editor",
         "Monitor and Log Visualizer limited to 20 Nodes",
       ],
-      btn: "Download",
-      onclick:() => handleClickBasic()
+      buttonText: "Download",
+      onClick: () => scrollToSection("sectionDownload"),
     },
     {
       name: "PRO (floating license)",
       price: "€690",
-      durance: " / year",
+      duration: " / year",
       points: [
         "Search Nodes in large trees",
         "Unlimited Number of Nodes in Monitor and Log Visualizer",
-        "Interactive real-time debugger"
+        "Interactive real-time debugger",
       ],
-      btn: "Buy now",
-      onclick:() => handleClickPro()
+      buttonText: "Buy now",
+      isChargebee: true,
     },
     {
       name: "Training",
       price: "€1,800",
-      durance: " / month",
+      duration: " / month",
       points: [
         "Includes 1 PRO license (1 year)",
         "Up to 12 hours per month",
         "Learn how to use BT.CPP effectively or improve your current implementation",
       ],
-      btn: "Contact us",
-      onclick:() => handleClickContact()
+      buttonText: "Contact us",
+      onClick: handleClickContact,
     },
   ];
 
-  const renderTooltip = (message, props) => {
-    return (
-      <Tooltip id='button-tooltip' className={styles.toolTip} {...props}>
-        {message}
-      </Tooltip>
-    );
-  };
-
-  const openPopup = () => {
-    if (!window.mootrack) {
-      !(function (t, n, e, o, a) {
-        function d(t) {
-          var n = ~~(Date.now() / 3e5),
-            o = document.createElement(e);
-          (o.async = !0), (o.src = t + "?ts=" + n);
-          var a = document.getElementsByTagName(e)[0];
-          a.parentNode.insertBefore(o, a);
-        }
-        (t.MooTrackerObject = a),
-          (t[a] =
-            t[a] ||
-            function () {
-              return t[a].q
-                ? void t[a].q.push(arguments)
-                : void (t[a].q = [arguments]);
-            }),
-          window.attachEvent
-            ? window.attachEvent("onload", d.bind(this, o))
-            : window.addEventListener("load", d.bind(this, o), !1);
-      })(
-        window,
-        document,
-        "script",
-        "https://cdn.stat-track.com/statics/moosend-tracking.min.js",
-        "mootrack"
-      );
-    }
-    {
-      (" ");
-    }
-    mootrack("loadForm", "419144d798774876bcfcd1e1f0b6a2ad");
-  };
-
-  const scrollToSection = (sectionId) => {
-    const section = document.getElementById(sectionId);
-    if (section) {
-      section.scrollIntoView({ behavior: "smooth" });
-    }
-  };
-
-  const handleCloseUsModal = () => setOpenContactUsModal(false)
-
   return (
-    <>
-      <Layout title='Groot' description='Groot Editor'>
-        {/* groot intro */}
+    <Layout title="Groot" description="Groot Editor">
       {openContactUsModal && (
-         <ContactUSFormModal handleClose={handleCloseUsModal}/>
+        <ContactUSFormModal handleClose={handleCloseModal} />
       )}
+
+      {/* Hero Section */}
       <div className={clsx("hero hero--dark", styles.heroBanner)}>
-        <div className='container '>
-          <div className='row align-items-center'>
-            <div className='col col--6' style={{ textAlign: "center" }}>
-              <h1 className='hero__title ' id='hero__title'>
-                Groot2
-              </h1>
-              <p className='hero__subtitle'>
-                The most advanced IDE<br/>to create and debug Behavior Trees.
+        <div className="container">
+          <div className="row align-items-center">
+            <div className="col col--6" style={{ textAlign: "center" }}>
+              <h1 className="hero__title">Groot2</h1>
+              <p className="hero__subtitle">
+                The most advanced IDE<br />to create and debug Behavior Trees.
               </p>
               <div className={styles.buttonGroup}>
                 <button
                   onClick={() => scrollToSection("sectionDownload")}
-                  className='button button--primary button--lg'>
+                  className={clsx(sharedStyles.btn, sharedStyles.btnPrimary)}
+                >
                   Download
                 </button>
                 <button
-                  onClick={() => handleClickContact()}
-                  className='button button--primary button--lg'>
+                  onClick={handleClickContact}
+                  className={clsx(sharedStyles.btn, sharedStyles.btnSecondary)}
+                >
                   Contact us
                 </button>
               </div>
             </div>
-            <div className='col col--6'>
-              <img src={useBaseUrl("img/groot2.png")} />
+            <div className="col col--6">
+              <img src={useBaseUrl("img/groot2.png")} alt="Groot2 IDE" />
             </div>
           </div>
         </div>
       </div>
 
-      <div className={`styles.sectionText`}>
-        <div className={`container text--left ${styles.sectionText}`}>
-          <div className='row'>
-            <div className='col col--5' id="t1">
-              <h1>BT Editor</h1>
-              <ul>
-                <li>Create and edit trees, using a simple drag and drop interface.</li>
-                <li>Manage large projects using multiple files.</li>
-                <li>Compatible with both BT.CPP 3 and 4.</li>
-                <li>Split view to visualize two trees at once.</li>
-                <li>Preview the XML in real-time.</li>
-                <li><b>PRO:</b> search Nodes in large trees.</li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--6'>
-              <video src={EditorVideo} muted loop autoPlay width='100%'></video>
-            </div>
-            <div className='col col--6' id="t2">
-              <h1>BT Editor</h1>
-              <ul>
-                <li>Create and edit trees, using a simple drag and drop interface.</li>
-                <li>Manage large projects using multiple files.</li>
-                <li>Compatible with both BT.CPP 3 and 4.</li>
-                <li>Split view to visualize two trees at once.</li>
-                <li>Preview the XML in real-time.</li>
-                <li><b>PRO:</b> search Nodes in large trees.</li>
-              </ul>
-              <br />
-            </div>
+      {/* BT Editor Section */}
+      <div className={`container text--left ${styles.sectionText}`}>
+        <div className="row">
+          <div className="col col--5" id="t1">
+            <h1>BT Editor</h1>
+            <ul>
+              <li>Create and edit trees, using a simple drag and drop interface.</li>
+              <li>Manage large projects using multiple files.</li>
+              <li>Compatible with both BT.CPP 3 and 4.</li>
+              <li>Split view to visualize two trees at once.</li>
+              <li>Preview the XML in real-time.</li>
+              <li><b>PRO:</b> search Nodes in large trees.</li>
+            </ul>
+          </div>
+          <div className="col col--6">
+            <video src={EditorVideo} muted loop autoPlay width="100%" />
+          </div>
+          <div className="col col--6" id="t2">
+            <h1>BT Editor</h1>
+            <ul>
+              <li>Create and edit trees, using a simple drag and drop interface.</li>
+              <li>Manage large projects using multiple files.</li>
+              <li>Compatible with both BT.CPP 3 and 4.</li>
+              <li>Split view to visualize two trees at once.</li>
+              <li>Preview the XML in real-time.</li>
+              <li><b>PRO:</b> search Nodes in large trees.</li>
+            </ul>
           </div>
         </div>
       </div>
 
-      <div className={`styles.sectionText`}>
-        <div className={`container text--left ${styles.sectionText}`}>
-          <div className='row'>
-            <div className='col col--6'>
-              <h1>Real-time Monitor</h1>
-              <ul>
-                <li>
-                  Connect to a running BT.CPP executor and visualize the state
-                  of the tree in real-time.
-                </li>
-                <li>
-                  Record all transitions into a log file, that you can analyze later.
-                </li>
-                <li><b>PRO:</b> Visualize the content of the blackboard.</li>
-                <li><b>PRO:</b> Add interactive breakpoints and fault injection.</li>
-                <li><b>PRO:</b> Substitute any Nodes with dummy ones, at run-time.
-                </li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--6'>
-              <video
-                src={MonitorVideo}
-                muted
-                loop
-                autoPlay
-                width='100%'></video>
-            </div>
+      {/* Real-time Monitor Section */}
+      <div className={`container text--left ${styles.sectionText}`}>
+        <div className="row">
+          <div className="col col--6">
+            <h1>Real-time Monitor</h1>
+            <ul>
+              <li>Connect to a running BT.CPP executor and visualize the state of the tree in real-time.</li>
+              <li>Record all transitions into a log file, that you can analyze later.</li>
+              <li><b>PRO:</b> Visualize the content of the blackboard.</li>
+              <li><b>PRO:</b> Add interactive breakpoints and fault injection.</li>
+              <li><b>PRO:</b> Substitute any Nodes with dummy ones, at run-time.</li>
+            </ul>
+          </div>
+          <div className="col col--6">
+            <video src={MonitorVideo} muted loop autoPlay width="100%" />
           </div>
         </div>
       </div>
 
-      <div className={`styles.sectionText`}>
-        <div className={`container text--left ${styles.sectionText}`}>
-          <div className='row'>
-          <div className='col col--6' id="t3">
-              <h1>Log Visualization</h1>
-              <ul>
-                <li>Open logs and replay the execution of the tree at different speeds.</li>
-                <li>Visualize how long a Node was in the RUNNING state and how many times it 
-                  returned a new status.</li>
-                <li>Filter transitions by name or time range.</li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--6'>
-              <video src={LogVideo} muted loop autoPlay width='100%'></video>
-            </div>
-            <div className='col col--6' id="t4">
-              <h1>Log Visualization</h1>
-              <ul>
-                <li>Open logs and replay the execution of the tree at different speeds.</li>
-                <li>Visualize how long a Node was in the RUNNING state and how many times it 
-                  returned a new status.</li>
-                <li>Filter transitions by name or time range.</li>
-              </ul>
-              <br />
-            </div>
+      {/* Log Visualization Section */}
+      <div className={`container text--left ${styles.sectionText}`}>
+        <div className="row">
+          <div className="col col--6" id="t3">
+            <h1>Log Visualization</h1>
+            <ul>
+              <li>Open logs and replay the execution of the tree at different speeds.</li>
+              <li>Visualize how long a Node was in the RUNNING state and how many times it returned a new status.</li>
+              <li>Filter transitions by name or time range.</li>
+            </ul>
+          </div>
+          <div className="col col--6">
+            <video src={LogVideo} muted loop autoPlay width="100%" />
+          </div>
+          <div className="col col--6" id="t4">
+            <h1>Log Visualization</h1>
+            <ul>
+              <li>Open logs and replay the execution of the tree at different speeds.</li>
+              <li>Visualize how long a Node was in the RUNNING state and how many times it returned a new status.</li>
+              <li>Filter transitions by name or time range.</li>
+            </ul>
           </div>
         </div>
       </div>
 
+      {/* Pricing Section */}
       <div className={`${styles.sectionSeparator} container`}>Pricing</div>
-      <div className={`styles.sectionText`}>
-        <div className={`container `}>
-          <div className={`row`} id='row_price'>
-              {obj?.map((item, index) => (
-                <div
-                  className='col col--4 '
-                  id='card_col'
-                  style={{
-                    display: "flex",
-                    justifyContent: "center",
-                  }}>
-                  <div id="card">
-                    <div id="card_header">{item.name}</div>
-                    <div id="price_row">
-                      <div id="price">{item.price}</div>
-                      <div id="durance">{item.durance}</div>
-                    </div>
-                    <div id="sub_durance">{item.sub_durance}</div>
-                    <ul id="point_stack" as="ul">
-                      {item.points.map((p) => (
-                        <li id="point" as="li">
-                          {p}
-                        </li>
-                      ))}
-                    </ul>
-                    <div style={{ display: "flex", justifyContent: "center" }}>
-                      {index == 1 ? (
-                        <a
-                          id="btn"
-                          className="button button--primary button--md"
-                          href="javascript:void(0)"
-                          data-cb-type="checkout"
-                          data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
-                          data-cb-item-0-quantity="1"
-                        >
-                          {item.btn}
-                        </a>
-                      ) : index == 2 ? (
-                        <button
-                          id="btn"
-                          className="button button--primary button--md"
-                          onClick={item.onclick}
-                        >
-                          {item?.btn}
-                        </button>
-                      ) : (
-                        <button
-                          id="btn"
-                          className="button button--primary button--md"
-                          onClick={item.onclick}
-                        >
-                          {item?.btn}
-                        </button>
-                      )}
-                    </div>
-                  </div>
+      <div className="container">
+        <div className="row" id="row_price">
+          {pricingPlans.map((plan, index) => (
+            <div
+              key={plan.name}
+              className="col col--4"
+              style={{ display: "flex", justifyContent: "center" }}
+            >
+              <div id="card">
+                <div id="card_header">{plan.name}</div>
+                <div id="price_row">
+                  <div id="price">{plan.price}</div>
+                  <div id="durance">{plan.duration}</div>
+                </div>
+                <ul id="point_stack">
+                  {plan.points.map((point, i) => (
+                    <li key={i} id="point">{point}</li>
+                  ))}
+                </ul>
+                <div style={{ display: "flex", justifyContent: "center" }}>
+                  {plan.isChargebee ? (
+                    <a
+                      className={clsx(sharedStyles.btn, sharedStyles.btnPrimary)}
+                      href="javascript:void(0)"
+                      data-cb-type="checkout"
+                      data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
+                      data-cb-item-0-quantity="1"
+                    >
+                      {plan.buttonText}
+                    </a>
+                  ) : (
+                    <button
+                      className={clsx(sharedStyles.btn, sharedStyles.btnPrimary)}
+                      onClick={plan.onClick}
+                    >
+                      {plan.buttonText}
+                    </button>
+                  )}
                 </div>
-              ))}
+              </div>
             </div>
-          <div className='row'>
-            <div className='col col--2 '></div>
-            <div className='col col--8 '>
-              <h1 id='pricingHead'>But wait, there is more!</h1>
-              <ul>
-                <li id='text'>
-                  <b>Free Trial:</b> enjoy all the features of th PRO versions
-                  for one month, activating your trial in "Preferences".
-                </li>
-                {/* <li id='text'>
-                  <b>Discounts:</b> a price discount is automatically applied
-                  when purchasing multiple licenses (3+ or 5+).
-                </li> 
-                <li id='text'>
-                <b>Free for individual researchers:</b> if you are a student or researcher,
-                  you can receive a complimentary 1 year license (node-locked). 
-                  <a href="https://airtable.com/appqTlC23AiSoB4Fd/shrsC33d8feHZmKXs" target="_blank"> Fill this form</a>
-                  &ensp;and tell us more about your project.
-                </li> */}
+          ))}
+        </div>
 
-                <li id='text'>
-                  <b>Source code escrow:</b> if Auryn
-                  Robotics, the company behind Groot2, becomes unable to distribute and/or
-                  sell the software, the source code will be released as open source,
-                  under the Apache License, Version 2.0.
-                </li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--2 '></div>
+        <div className="row">
+          <div className="col col--2" />
+          <div className="col col--8">
+            <h1 id="pricingHead">But wait, there is more!</h1>
+            <ul>
+              <li id="text">
+                <b>Free Trial:</b> enjoy all the features of the PRO version
+                for one month, activating your trial in "Preferences".
+              </li>
+              <li id="text">
+                <b>Source code escrow:</b> if Auryn Robotics, the company behind Groot2,
+                becomes unable to distribute and/or sell the software, the source code
+                will be released as open source, under the Apache License, Version 2.0.
+              </li>
+            </ul>
           </div>
+          <div className="col col--2" />
         </div>
       </div>
-      {/* groot download  */}
-      <div id='sectionDownload' className={`${styles.sectionSeparator} container`}>
+      {/* Download Section */}
+      <div id="sectionDownload" className={`${styles.sectionSeparator} container`}>
         Download
       </div>
 
-      <div
-        className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
+      <div className={`${styles.sectionText} container ${styles.flexCol} gap-5`}>
         <h3>Latest release: 1.7.0 (2025-12-14)</h3>
         <div className={styles.downloadGroup}>
-          <div id='card_download' style={{ textAlign: "center" }}>
+          <div id="card_download" style={{ textAlign: "center" }}>
             <img
               className={styles.downloadLogo}
               src={useBaseUrl("img/windows.png")}
-              alt='windows logo'
+              alt="Windows logo"
             />
             <Link
-              onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe'>
+              onClick={() => window.fathom?.trackGoal("I8XXZTK4", 0)}
+              to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe"
+            >
               Windows installer
             </Link>
           </div>
-          <div id='card_download' style={{ textAlign: "center" }}>
+          <div id="card_download" style={{ textAlign: "center" }}>
             <img
               className={styles.downloadLogo}
               src={useBaseUrl("img/linux.png")}
-              alt='linux logo'
+              alt="Linux logo"
             />
             <Link
-              onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run'>
+              onClick={() => window.fathom?.trackGoal("VGT2ANC4", 0)}
+              to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run"
+            >
               Linux installer
             </Link>
           </div>
-          <div id='card_download' style={{ textAlign: "center" }}>
+          <div id="card_download" style={{ textAlign: "center" }}>
             <img
               className={styles.downloadLogo}
               src={useBaseUrl("img/appimage.png")}
-              alt='appimage logo'
+              alt="AppImage logo"
             />
             <Link
-              // style={{marginLeft: '20px'}}
-              onclick="fathom.trackGoal('DIQDUTJ2', 0);"
-              
-              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage'>
+              onClick={() => window.fathom?.trackGoal("DIQDUTJ2", 0)}
+              to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage"
+            >
               AppImage (Linux)
             </Link>
           </div>
         </div>
       </div>
     </Layout>
-  </>
   );
 }
-
-
diff --git a/src/pages/index.js b/src/pages/index.js
index c67d47d..2d26275 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -1,215 +1,312 @@
-import React from "react";
+import React, { useState } from "react";
 import Link from "@docusaurus/Link";
 import useDocusaurusContext from "@docusaurus/useDocusaurusContext";
 import useBaseUrl from "@docusaurus/useBaseUrl";
-
 import Layout from "@theme/Layout";
 import clsx from "clsx";
-
 import styles from "./index.module.css";
-import EditorVideo from "@site/static/img/groot2_editor.mp4";
-import Head from "@docusaurus/Head";
 import "react-responsive-carousel/lib/styles/carousel.min.css";
 import { Carousel } from "react-responsive-carousel";
+import ContactUSFormModal from "../components/ContactFormModal";
 
-// import 'bootstrap/dist/css/bootstrap.min.css';
-
+function HeroSection() {
+  return (
+    <section className={styles.hero}>
+      {/* Floating blobs */}
+      <div className={clsx(styles.blob, styles.blob1)} />
+      <div className={clsx(styles.blob, styles.blob2)} />
+      <div className={clsx(styles.blob, styles.blob3)} />
 
-function Home() {
-  const context = useDocusaurusContext();
-  const { siteConfig = {} } = context;
+      <div className={styles.heroContainer}>
+        <div className={styles.heroContent}>
+          <h1 className={styles.heroTitle}>
+            The Industry Standard for{" "}
+            <span className={styles.highlight}>Robot Behaviors</span>
+          </h1>
 
-  return (
-    <Layout
-      permalink={"/"}
-      description={"The leading C++ BehaviorTree Library."}
-    >
-      <Head>
-        <script
-          async
-          defer
-          data-website-id="b0133a07-1c59-49aa-8f9c-7a0c25711718"
-          src="https://behaviortree-cpp-umami.netlify.app/umami.js"
-        ></script>
-        <script
-          src="https://cdn.stat-track.com/statics/moosend-tracking.min.js"
-          data-website-id="419144d798774876bcfcd1e1f0b6a2ad"
-        ></script>
-      </Head>
-      <div className={clsx("hero hero--light", styles.heroBanner)}>
-        <div className="container ">
-          <div className="row align-items-center">
-            <div className="col col--6">
-              <div className={clsx(styles.heroText)}>
-                <h1 className="hero__title ">BehaviorTree.CPP 4.8</h1>
-                <p className="hero__subtitle">
-                  The C++ library to build Behavior Trees.
-                  <br />
-                  Batteries included.
-                </p>
-                <div>
-                  <Link
-                    className="button button--outline button--primary button--lg"
-                    to={useBaseUrl("docs/intro")}
-                  >
-                    Tutorials
-                  </Link>
-                </div>
-              </div>
-            </div>
-            <div className="col col--5">
-              <img
-                className={clsx(styles.heroSvg)}
-                alt="behavior tree animation"
-                src={useBaseUrl("img/animated.svg")}
-              />
-            </div>
+          <p className={styles.heroSub}>
+            BehaviorTree.CPP is the most advanced, production-ready framework for
+            building reactive, modular, and debuggable robot behaviors. Design in
+            XML, execute in C++.
+          </p>
+          <div className={styles.heroBadge}>
+            <span className={styles.badgeDot} />
+            Powering 100+ robotics companies
           </div>
+          <div className={styles.heroCtas}>
+            <Link
+              to="/docs/intro"
+              className={clsx(styles.btn, styles.btnPrimary)}
+            >
+              Read the Documentation
+            </Link>
+            <Link to="/groot" className={clsx(styles.btn, styles.btnSecondary)}>
+              About Groot2
+            </Link>
+          </div>
+
         </div>
-      </div>
 
-      <div className={styles.features}>
-        <div className="container">
-          <div className="row">
-            <div className={clsx("col col--4", styles.feature)}>
-              <h3>
-                Think in terms of Actions,
-                <br /> not states
-              </h3>
-              <p>
-                Unlike state machines, behavior trees emphasize executing
-                actions, not transitioning between states.
-              </p>
+        <div className={styles.heroCarousel}>
+          <Carousel
+            autoPlay
+            showThumbs={false}
+            infiniteLoop={true}
+            showStatus={false}
+            interval={4000}
+          >
+            <div>
+              <img src={useBaseUrl("img/image_agv.webp")} alt="Automated Ground Vehicles" />
             </div>
-            <div className={clsx("col col--4", styles.feature)}>
-              <h3>
-                Build extensible and <br /> hierarchical behaviors
-              </h3>
-              <p>
-                Behavior Trees are <b>composable</b>. You can build complex
-                behaviors reusing simpler ones.
-              </p>
+            <div>
+              <img src={useBaseUrl("img/image_quadruped.webp")} alt="Quadruped robots" />
             </div>
-            <div className={clsx("col col--4", styles.feature)}>
-              <h3>
-                The power of C++,
-                <br />
-                the flexibility of scripting
-              </h3>
-              <p>
-                Implement your Actions in C++ and assemble them into trees using
-                a scripting language based on XML.
-              </p>
+            <div>
+              <img src={useBaseUrl("img/image_drone.jpg")} alt="Drones" />
             </div>
-          </div>
+            <div>
+              <img src={useBaseUrl("img/image_arm.jpg")} alt="Robotic arms" />
+            </div>
+          </Carousel>
         </div>
       </div>
+    </section>
+  );
+}
 
-      <div className={styles.sectionText}>
-        <div className="container padding-vert--xl text--left {styles.sectionText}">
-          <div className="row">
-            <div className="col col--6">
-              <h2>
-                Perfect for robotics
-                <br />
-                and automation
-              </h2>
-              <p>
-                <b>BehaviorTree.CPP</b> is increasingly used to implement{" "}
-                <b>Task Planning</b> in a large variety of robotics systems,
-                including:
-              </p>
-              <ul>
-                <li>Automated Ground Vehicles</li>
-                <li>Robotic Manipulators</li>
-                <li>Humanoid and Quadruped robots</li>
-                <li>Semi-autonomous drones</li>
-                <li>Social Robots</li>
-              </ul>
-            </div>
-            <div className="col col--5 col--offset-1">
-              <Carousel autoPlay showThumbs={false} infiniteLoop={true}>
-                <div>
-                  <img src={useBaseUrl("img/image_agv.webp")} alt="robots" />
-                </div>
-                <div>
-                  <img src={useBaseUrl("img/image_quadruped.webp")} alt="quadrupeds" />
-                </div>
-                <div>
-                  <img src={useBaseUrl("img/image_drone.jpg")} alt="robots" />
-                </div>
-                <div>
-                  <img src={useBaseUrl("img/image_arm.jpg")} alt="robots" />
+function TrustBar() {
+  const logos = [
+    "Nav2",
+    "MoveIt2",
+    "Anybotics",
+  ];
+
+  return (
+    <section className={styles.trustBar}>
+      <p className={styles.trustBarLabel}>
+        Trusted by teams building autonomous systems
+      </p>
+      <div className={styles.trustLogos}>
+        {logos.map((logo) => (
+          <span key={logo} className={styles.trustLogo}>
+            {logo}
+          </span>
+        ))}
+      </div>
+    </section>
+  );
+}
+
+function FeaturesSection() {
+  const features = [
+    {
+      id: "scalability",
+      icon: "⚡",
+      title: "Better scalability than FSMs",
+      description:
+        "Finite State Machines (FSMs) become unmanageable as complexity grows. Behavior Trees scale effortlessly with modular nodes and clear and reusable structure.",
+      className: styles.cardAsync,
+    },
+    {
+      id: "async",
+      icon: "📊",
+      title: "Async-First Design",
+      description:
+        "Non-blocking actions as first-class citizens. Build reactive behaviors that execute concurrently.",
+      className: styles.cardBlackboard,
+    },
+    {
+      id: "plugin",
+      icon: "🔌",
+      title: "Plugin Architecture",
+      description:
+        "Load custom nodes at runtime. Separate behavior design from implementation.",
+      className: styles.cardPlugin,
+    },
+    {
+      id: "xml",
+      icon: "📝",
+      title: "XML-Defined Trees",
+      description:
+        "Modify behaviors without recompiling. Perfect for field engineers.",
+      className: styles.cardXml,
+    },
+    {
+      id: "logging",
+      icon: "🔍",
+      title: "Built-in Logging",
+      description:
+        "Record, replay, and analyze state transitions with confidence.",
+      className: styles.cardLogging,
+    },
+    {
+      id: "ros2",
+      icon: "🤖",
+      title: "ROS2 Integration",
+      description:
+        "Official wrappers for actions, services, and topics. Powers the Nav2 navigation stack trusted by hundreds of robots and engineering teams worldwide.",
+      className: styles.cardRos2,
+    },
+  ];
+
+  return (
+    <section className={styles.featuresSection}>
+      <div className={styles.featuresHeader}>
+        <h2>Why BehaviorTree.CPP?</h2>
+        <p>Built for real-world robotics, not just demos</p>
+      </div>
+
+      <div className={styles.bentoGrid}>
+        {features.map((feature) => (
+          <div
+            key={feature.id}
+            className={clsx(styles.bentoCard, feature.className)}
+          >
+            <div className={styles.bentoIcon}>{feature.icon}</div>
+            <h3>{feature.title}</h3>
+            <p>{feature.description}</p>
+          </div>
+        ))}
+      </div>
+    </section>
+  );
+}
+
+function GrootSection() {
+  const grootFeatures = [
+    {
+      title: "Visual Editor",
+      description: "Drag-and-drop interface for rapid prototyping",
+    },
+    {
+      title: "Real-time Monitoring",
+      description: "Watch your tree execute live on your robot",
+    },
+    {
+      title: "Log Replay & Analysis",
+      description: "Debug past runs with full state reconstruction",
+    },
+    {
+      title: "Breakpoints & Fault Injection",
+      description: "Pause execution and simulate failures",
+    },
+  ];
+
+  return (
+    <section className={styles.grootSection}>
+      <div className={styles.grootBlob} />
+
+      <div className={styles.grootContent}>
+        <div className={styles.grootText}>
+          <h2>
+            Supercharge you development speed with <span>Groot2</span>
+          </h2>
+          <p className={styles.grootTagline}>
+            The IDE for Behavior Trees. Design, debug, and deploy with
+            confidence.
+          </p>
+
+          <div className={styles.grootFeatures}>
+            {grootFeatures.map((feature) => (
+              <div key={feature.title} className={styles.grootFeature}>
+                <div className={styles.grootFeatureIcon}>✓</div>
+                <div className={styles.grootFeatureText}>
+                  <strong>{feature.title}</strong>
+                  <span>{feature.description}</span>
                 </div>
-              </Carousel>
-            </div>
+              </div>
+            ))}
           </div>
+
+          <Link to="/groot" className={clsx(styles.btn, styles.btnPrimary)}>
+            Learn More About Groot2
+          </Link>
         </div>
-      </div>
 
-      <div className={styles.sectionText}>
-        <div className="container padding-vert--xl text--left">
-          <div className="row">
-            <div className="col col--5">
-              <video src={EditorVideo} muted autoPlay width="100%"></video>
+        <div className={styles.grootVisual}>
+          <div className={styles.grootPreview}>
+            <div className={styles.grootPreviewHeader}>
+              <span className={clsx(styles.windowDot, styles.windowDotRed)} />
+              <span className={clsx(styles.windowDot, styles.windowDotYellow)} />
+              <span className={clsx(styles.windowDot, styles.windowDotGreen)} />
             </div>
-            <div className="col col--6 col--offset-1">
-              <h2>Visual Editing and Monitoring</h2>
-              <p>
-                <b>Groot2</b> is our "IDE for Behavior Trees".
-                <br />
-                It allows users to visualize, create and edit Behavior Trees,
-                using a simple drag and drop interface. <br />
-                Trees can be monitored in real-time
-              </p>
-              <Link
-                className="button button--outline button--primary button--lg"
-                to={useBaseUrl("/groot")}
-              >
-                About Groot2
-              </Link>
+            <div className={styles.grootPreviewBody}>
+              <div className={clsx(styles.treeNode, styles.treeNodeActive)}>
+                Sequence
+              </div>
+              <div className={styles.treeConnector} />
+              <div className={styles.treeRow}>
+                <div className={styles.treeNode}>Fallback</div>
+                <div className={styles.treeNode}>Navigate</div>
+              </div>
+              <div className={styles.treeConnector} />
+              <div className={styles.treeRow}>
+                <div className={styles.treeNode}>Check</div>
+                <div className={clsx(styles.treeNode, styles.treeNodeActive)}>
+                  Pick
+                </div>
+                <div className={styles.treeNode}>Place</div>
+              </div>
             </div>
           </div>
         </div>
       </div>
+    </section>
+  );
+}
 
-      <div className={styles.supportFrame}>
-        <div className="container">
-          <div className="row">
-            <div className={styles.sectionText}>
-              <div className="col col--9">
-                <h1>Software and Technical Support</h1>
-                <p>
-                  <b>BehaviorTree.CPP</b> is Open Source software and can be
-                  download for free on
-                  <a href="https://github.com/BehaviorTree/BehaviorTree.CPP">
-                    {" "}
-                    Github.
-                  </a>
-                  <br />
-                  You can ask questions and reach other users in our
-                  <a href="https://github.com/BehaviorTree/BehaviorTree.CPP/discussions/">
-                    {" "}
-                    community forum.
-                  </a>
-                  <br />
-                  If you are using BehaviorTree.CPP in your commercial product
-                  and you need support,
-                  <a href="mailto:dfaconti@aurynrobotics.com"> contact us!</a>
-                </p>
-              </div>
-            </div>
-            <div className="col col--3 ">
-              <img
-                alt="behavior tree animation"
-                src={useBaseUrl("img/support.svg")}
-              />
-            </div>
-          </div>
+function CtaSection({ onContactClick }) {
+  return (
+    <section className={styles.ctaSection}>
+      <div className={styles.ctaContent}>
+        <h2>Ready to Build Smarter Robots?</h2>
+        <p>
+          Join hundreds of engineers using BehaviorTree.CPP to build
+          production-grade autonomous systems.
+        </p>
+        <div className={styles.heroCtas}>
+          <Link to="/docs/intro" className={clsx(styles.btn, styles.btnPrimary)}>
+            Start the Tutorial
+          </Link>
+          <button
+            onClick={onContactClick}
+            className={clsx(styles.btn, styles.btnSecondary)}
+          >
+            Contact Us
+          </button>
         </div>
       </div>
-    </Layout>
+    </section>
   );
 }
 
-export default Home;
+export default function Home() {
+  const { siteConfig } = useDocusaurusContext();
+  const [openContactUsModal, setOpenContactUsModal] = useState(false);
+
+  const handleContactClick = () => {
+    setOpenContactUsModal(true);
+  };
+
+  const handleCloseModal = () => {
+    setOpenContactUsModal(false);
+  };
+
+  return (
+    <Layout
+      title={siteConfig.title}
+      description="The leading C++ Behavior Tree library for robotics and AI."
+    >
+      {openContactUsModal && (
+        <ContactUSFormModal handleClose={handleCloseModal} />
+      )}
+      <main className={styles.landingPage}>
+        <HeroSection />
+        <TrustBar />
+        <FeaturesSection />
+        <GrootSection />
+        <CtaSection onContactClick={handleContactClick} />
+      </main>
+    </Layout>
+  );
+}
\ No newline at end of file
diff --git a/src/pages/index.module.css b/src/pages/index.module.css
index baf9f17..996a10b 100644
--- a/src/pages/index.module.css
+++ b/src/pages/index.module.css
@@ -1,102 +1,752 @@
+/* Landing Page Styles - Modern 2025 Design */
 
-h1 {
-    font-size: 38px;
-    padding: 0.5rem 0;
+/* Landing page uses Outfit font */
+.landingPage {
+  font-family: var(--font-display);
 }
 
-h2 {
-    font-size: 32px;
-    padding: 0.5rem 0;
+/* Hero Section */
+.hero {
+  min-height: calc(100vh - 60px);
+  display: flex;
+  flex-direction: column;
+  justify-content: center;
+  align-items: center;
+  padding: 6rem 2rem 4rem;
+  position: relative;
+  overflow: hidden;
+  background: linear-gradient(180deg, var(--warm-white) 0%, var(--cream) 100%);
 }
 
-h3{
-    font-size: 24px;
+.heroContainer {
+  display: grid;
+  grid-template-columns: 2fr 1fr;
+  gap: 4rem;
+  align-items: center;
+  max-width: 1400px;
+  width: 100%;
+  position: relative;
+  z-index: 1;
 }
 
-p{
-    font-size: 18px;
+/* Floating organic blobs */
+.blob {
+  position: absolute;
+  border-radius: 50%;
+  filter: blur(80px);
+  opacity: 0.6;
+  animation: float 20s ease-in-out infinite;
 }
 
-li{
-    font-size: 18px;
+.blob1 {
+  width: 600px;
+  height: 600px;
+  background: var(--green-200);
+  top: -200px;
+  right: -100px;
+  animation-delay: 0s;
 }
 
-.heroBanner {
-    padding: 2.5rem 0;
-    text-align: center;
-    position: relative;
-    overflow: hidden;
-    display: flex;
-    align-items: center;
-    justify-content: center;
+.blob2 {
+  width: 400px;
+  height: 400px;
+  background: var(--green-100);
+  bottom: -100px;
+  left: -100px;
+  animation-delay: -5s;
 }
 
-.heroBanner h1{
-    padding: 0.5rem 0;
-    font-size: 48px;
+.blob3 {
+  width: 300px;
+  height: 300px;
+  background: var(--green-200);
+  top: 40%;
+  left: 10%;
+  animation-delay: -10s;
 }
 
-.heroText {
-    color: #3b3b3b;
-    padding: 3.5rem 0;
+@keyframes float {
+  0%, 100% { transform: translate(0, 0) scale(1); }
+  25% { transform: translate(30px, -30px) scale(1.05); }
+  50% { transform: translate(-20px, 20px) scale(0.95); }
+  75% { transform: translate(20px, 10px) scale(1.02); }
 }
 
-.heroSvg {
-    max-width: 550px;
-    max-height: 550px;
+.heroContent {
+  text-align: left;
 }
 
-@media screen and (max-width: 966px) {
-    .heroBanner {
-        padding: 2rem;
-    }
+.heroCarousel {
+  position: relative;
+  border-radius: var(--radius-lg);
+  overflow: hidden;
+  box-shadow: 0 30px 60px rgba(0, 0, 0, 0.15);
 }
 
-.sectionText {
-    display: flex;
-    align-items: center;
-    justify-content: center;
-    color: #3b3b3b;
+.heroCarousel img {
+  border-radius: var(--radius-lg);
+  object-fit: cover;
+}
+
+.heroBadge {
+  display: inline-flex;
+  align-items: center;
+  gap: 0.5rem;
+  background: var(--green-100);
+  padding: 0.6rem 1.25rem;
+  border-radius: 100px;
+  font-size: 0.9rem;
+  color: var(--green-700);
+  font-weight: 600;
+  margin-bottom: 2rem;
+  animation: fadeInUp 0.8s ease-out;
+}
+
+.badgeDot {
+  width: 8px;
+  height: 8px;
+  background: var(--green-500);
+  border-radius: 50%;
+  animation: pulse 2s ease-in-out infinite;
+}
+
+@keyframes pulse {
+  0%, 100% { transform: scale(1); opacity: 1; }
+  50% { transform: scale(1.2); opacity: 0.7; }
+}
+
+.heroTitle {
+  font-size: clamp(3rem, 7vw, 5rem);
+  font-weight: 800;
+  line-height: 1.1;
+  margin-bottom: 1.5rem;
+  letter-spacing: -0.03em;
+  animation: fadeInUp 0.8s ease-out 0.1s both;
+  color: var(--text-dark);
+}
+
+.highlight {
+  background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
+  -webkit-background-clip: text;
+  -webkit-text-fill-color: transparent;
+  background-clip: text;
+}
+
+.heroSub {
+  font-size: 1.25rem;
+  color: var(--text-mid);
+  max-width: 600px;
+  margin: 0 0 2.5rem;
+  animation: fadeInUp 0.8s ease-out 0.2s both;
+  line-height: 1.6;
+}
+
+.heroCtas {
+  display: flex;
+  gap: 1rem;
+  justify-content: flex-start;
+  flex-wrap: wrap;
+  animation: fadeInUp 0.8s ease-out 0.3s both;
+}
+
+.btn {
+  padding: 1rem 2rem;
+  border-radius: 100px;
+  font-weight: 600;
+  font-size: 1rem;
+  text-decoration: none;
+  transition: all 0.3s ease;
+  display: inline-flex;
+  align-items: center;
+  gap: 0.5rem;
+  cursor: pointer;
+  border: none;
+}
+
+.btnPrimary {
+  background: var(--green-600);
+  color: white;
+  box-shadow: 0 4px 20px rgba(22, 163, 74, 0.3);
+}
+
+.btnPrimary:hover {
+  background: var(--green-700);
+  transform: translateY(-2px);
+  box-shadow: 0 8px 30px rgba(22, 163, 74, 0.4);
+  color: white;
+  text-decoration: none;
+}
+
+.btnSecondary {
+  background: white;
+  color: var(--text-dark);
+  box-shadow: 0 4px 20px rgba(0, 0, 0, 0.08);
+}
+
+.btnSecondary:hover {
+  background: var(--green-50);
+  transform: translateY(-2px);
+  color: var(--text-dark);
+  text-decoration: none;
+}
+
+.heroStats {
+  display: flex;
+  gap: 3rem;
+  justify-content: flex-start;
+  margin-top: 4rem;
+  animation: fadeInUp 0.8s ease-out 0.4s both;
+}
+
+.stat {
+  text-align: center;
+}
+
+.statValue {
+  font-size: 2.5rem;
+  font-weight: 800;
+  color: var(--green-600);
+  line-height: 1;
+}
+
+.statLabel {
+  font-size: 0.9rem;
+  color: var(--text-light);
+  margin-top: 0.25rem;
+}
+
+@keyframes fadeInUp {
+  from {
+    opacity: 0;
+    transform: translateY(30px);
+  }
+  to {
+    opacity: 1;
+    transform: translateY(0);
+  }
+}
+
+/* Trust Bar */
+.trustBar {
+  padding: 3rem 2rem;
+  text-align: center;
+  background: var(--text-dark);
+}
+
+.trustBarLabel {
+  color: rgba(255, 255, 255, 0.5);
+  font-size: 0.85rem;
+  margin-bottom: 1.5rem;
+  text-transform: uppercase;
+  letter-spacing: 0.15em;
+  font-weight: 600;
+}
+
+.trustLogos {
+  display: flex;
+  justify-content: center;
+  align-items: center;
+  gap: 3rem;
+  flex-wrap: wrap;
+}
+
+.trustLogo {
+  color: rgba(255, 255, 255, 0.7);
+  font-family: var(--font-mono);
+  font-size: 0.9rem;
+  font-weight: 500;
+  transition: color 0.2s;
+}
+
+.trustLogo:hover {
+  color: var(--green-400);
+}
+
+/* Features Section - Bento Grid */
+.featuresSection {
+  padding: 6rem 2rem;
+  background: var(--cream);
+}
+
+.featuresHeader {
+  text-align: center;
+  margin-bottom: 4rem;
+}
+
+.featuresHeader h2 {
+  font-size: 2.5rem;
+  font-weight: 800;
+  margin-bottom: 0.75rem;
+  letter-spacing: -0.02em;
+  color: var(--text-dark);
+}
+
+.featuresHeader p {
+  color: var(--text-mid);
+  font-size: 1.15rem;
+}
+
+.bentoGrid {
+  display: grid;
+  grid-template-columns: repeat(4, 1fr);
+  grid-template-rows: auto auto;
+  gap: 1.25rem;
+  max-width: 1100px;
+  margin: 0 auto;
+}
+
+.bentoCard {
+  background: white;
+  border-radius: var(--radius-lg);
+  padding: 2rem;
+  transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
+  position: relative;
+  overflow: hidden;
+  display: flex;
+  flex-direction: column;
+}
+
+.bentoCard::before {
+  content: '';
+  position: absolute;
+  top: 0;
+  left: 0;
+  right: 0;
+  bottom: 0;
+  background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
+  opacity: 0;
+  transition: opacity 0.4s ease;
+  z-index: 0;
+}
+
+.bentoCard > * {
+  position: relative;
+  z-index: 1;
+}
+
+.bentoCard:hover {
+  transform: translateY(-8px) scale(1.02);
+  box-shadow: 0 25px 50px rgba(0, 0, 0, 0.12);
+}
+
+.bentoCard:hover::before {
+  opacity: 1;
+}
+
+.bentoCard:hover .bentoIcon {
+  background: white;
+  transform: scale(1.1) rotate(-5deg);
+}
+
+.bentoCard:hover h3,
+.bentoCard:hover p {
+  color: white;
+}
+
+/* Card positions */
+.cardAsync {
+  grid-column: 1 / 3;
+  grid-row: 1;
+  background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
+}
+
+.cardPlugin {
+  grid-column: 3;
+  grid-row: 1;
+}
+
+.cardBlackboard {
+  grid-column: 4;
+  grid-row: 1;
+}
+
+.cardXml {
+  grid-column: 1;
+  grid-row: 2;
+}
+
+.cardLogging {
+  grid-column: 2;
+  grid-row: 2;
 }
 
-.sectionText p{
-    font-size: 20px;
+.cardRos2 {
+  grid-column: 3 / 5;
+  grid-row: 2;
+  background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
 }
 
-.sectionText li{
-    font-size: 20px;
+/* Large cards styling */
+.cardAsync,
+.cardRos2 {
+  padding: 2.5rem;
 }
 
-.features {
-    display: flex;
-    align-items: center;
-    padding: 4rem 0;
-    width: 100%;
-    background-color: #383838;
-    color: white;
+.cardAsync .bentoIcon,
+.cardRos2 .bentoIcon {
+  width: 64px;
+  height: 64px;
+  font-size: 1.75rem;
+  background: white;
+  box-shadow: 0 8px 30px rgba(22, 163, 74, 0.15);
 }
 
-.features h3 {
-    color: rgb(0, 217, 94);
+.cardAsync h3,
+.cardRos2 h3 {
+  font-size: 1.5rem;
+  margin-bottom: 0.75rem;
 }
 
-.features p {
-    font-size: 20px;
+.cardAsync p,
+.cardRos2 p {
+  font-size: 1.05rem;
+  line-height: 1.7;
 }
 
-.supportFrame {
-    display: flex;
-    align-items: center;
-    padding: 2rem 0;
-    width: 100%;
-    color: rgb(53, 53, 53);
-    background-image: linear-gradient(to bottom, #00a639, #1eb645, #30c651, 
-    #3fd65d, #4de769, #4eef69, #4ff669, #51fe68, #46fe59, #39ff47, #2bff30, #17ff00);
+.bentoIcon {
+  width: 56px;
+  height: 56px;
+  background: var(--green-100);
+  border-radius: var(--radius-md);
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  font-size: 1.5rem;
+  margin-bottom: 1.25rem;
+  transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
+}
+
+.bentoCard h3 {
+  font-size: 1.15rem;
+  font-weight: 700;
+  margin-bottom: 0.5rem;
+  color: var(--text-dark);
+  transition: color 0.3s ease;
+}
+
+.bentoCard p {
+  color: var(--text-mid);
+  font-size: 0.95rem;
+  line-height: 1.6;
+  transition: color 0.3s ease;
+  margin: 0;
+}
+
+/* Groot2 Section */
+.grootSection {
+  padding: 6rem 2rem;
+  background: var(--sand);
+  position: relative;
+  overflow: hidden;
+}
+
+.grootBlob {
+  position: absolute;
+  width: 500px;
+  height: 500px;
+  background: var(--green-200);
+  border-radius: 50%;
+  filter: blur(100px);
+  opacity: 0.5;
+  top: 50%;
+  right: -200px;
+  transform: translateY(-50%);
+}
+
+.grootContent {
+  max-width: 1200px;
+  margin: 0 auto;
+  display: grid;
+  grid-template-columns: 1fr 1.2fr;
+  gap: 4rem;
+  align-items: center;
+  position: relative;
+  z-index: 1;
+}
+
+.grootText h2 {
+  font-size: 3rem;
+  font-weight: 800;
+  margin-bottom: 1rem;
+  letter-spacing: -0.02em;
+  color: var(--text-dark);
+}
+
+.grootText h2 span {
+  color: var(--green-600);
+}
+
+.grootTagline {
+  font-size: 1.2rem;
+  color: var(--text-mid);
+  margin-bottom: 2rem;
+}
+
+.grootFeatures {
+  display: flex;
+  flex-direction: column;
+  gap: 1rem;
+  margin-bottom: 2rem;
+}
+
+.grootFeature {
+  display: flex;
+  align-items: flex-start;
+  gap: 1rem;
+  padding: 1rem 1.25rem;
+  background: white;
+  border-radius: var(--radius-md);
+  transition: all 0.2s;
+}
 
+.grootFeature:hover {
+  transform: translateX(8px);
+  box-shadow: 0 4px 20px rgba(0, 0, 0, 0.06);
 }
-.supportFrame a
-{
-    font-weight: bold;
-    color: rgb(13, 47, 65);
+
+.grootFeatureIcon {
+  width: 28px;
+  height: 28px;
+  background: var(--green-500);
+  border-radius: 50%;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  flex-shrink: 0;
+  color: white;
+  font-size: 0.8rem;
+  font-weight: 700;
+}
+
+.grootFeatureText strong {
+  color: var(--text-dark);
+  font-weight: 600;
+  display: block;
+}
+
+.grootFeatureText span {
+  color: var(--text-mid);
+  font-size: 0.95rem;
+}
+
+.grootVisual {
+  position: relative;
+}
+
+.grootPreview {
+  background: white;
+  border-radius: var(--radius-xl);
+  padding: 1rem;
+  box-shadow: 0 30px 60px rgba(0, 0, 0, 0.12);
+}
+
+.grootPreviewHeader {
+  background: var(--sand);
+  border-radius: var(--radius-md) var(--radius-md) 0 0;
+  padding: 1rem 1.25rem;
+  display: flex;
+  align-items: center;
+  gap: 0.5rem;
+}
+
+.windowDot {
+  width: 12px;
+  height: 12px;
+  border-radius: 50%;
+}
+
+.windowDotRed { background: #ff6b6b; }
+.windowDotYellow { background: #ffd93d; }
+.windowDotGreen { background: #6bcb77; }
+
+.grootPreviewBody {
+  height: 350px;
+  background: linear-gradient(180deg, var(--green-50) 0%, white 100%);
+  border-radius: 0 0 var(--radius-md) var(--radius-md);
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  padding: 2rem;
+  position: relative;
+}
+
+.treeNode {
+  background: white;
+  border: 2px solid var(--green-200);
+  border-radius: var(--radius-sm);
+  padding: 0.6rem 1.5rem;
+  font-family: var(--font-mono);
+  font-size: 0.8rem;
+  font-weight: 500;
+  box-shadow: 0 4px 12px rgba(0, 0, 0, 0.06);
+}
+
+.treeNodeActive {
+  background: var(--green-500);
+  color: white;
+  border-color: var(--green-500);
 }
 
+.treeConnector {
+  width: 2px;
+  height: 24px;
+  background: var(--green-300);
+}
+
+.treeRow {
+  display: flex;
+  gap: 1rem;
+  margin-top: 1.5rem;
+}
+
+/* CTA Section */
+.ctaSection {
+  padding: 8rem 2rem;
+  text-align: center;
+  background: linear-gradient(180deg, var(--cream) 0%, var(--green-50) 100%);
+  position: relative;
+}
+
+.ctaContent {
+  position: relative;
+  z-index: 1;
+  max-width: 700px;
+  margin: 0 auto;
+}
+
+.ctaContent h2 {
+  font-size: 3rem;
+  font-weight: 800;
+  margin-bottom: 1rem;
+  letter-spacing: -0.02em;
+  color: var(--text-dark);
+}
+
+.ctaContent p {
+  color: var(--text-mid);
+  font-size: 1.2rem;
+  margin-bottom: 2rem;
+}
+
+/* Footer override for rounded top */
+.footer {
+  background: var(--text-dark);
+  color: white;
+  padding: 4rem 2rem;
+  border-radius: var(--radius-xl) var(--radius-xl) 0 0;
+}
+
+/* Responsive */
+@media (max-width: 1024px) {
+  .grootContent {
+    grid-template-columns: 1fr;
+    gap: 3rem;
+  }
+
+  .bentoGrid {
+    grid-template-columns: repeat(2, 1fr);
+  }
+
+  .cardAsync {
+    grid-column: 1 / 3;
+    grid-row: 1;
+  }
+
+  .cardPlugin {
+    grid-column: 1;
+    grid-row: 2;
+  }
+
+  .cardBlackboard {
+    grid-column: 2;
+    grid-row: 2;
+  }
+
+  .cardXml {
+    grid-column: 1;
+    grid-row: 3;
+  }
+
+  .cardLogging {
+    grid-column: 2;
+    grid-row: 3;
+  }
+
+  .cardRos2 {
+    grid-column: 1 / 3;
+    grid-row: 4;
+  }
+}
+
+@media (max-width: 1024px) {
+  .heroContainer {
+    grid-template-columns: 1fr;
+    gap: 3rem;
+  }
+
+  .heroContent {
+    text-align: center;
+  }
+
+  .heroSub {
+    margin: 0 auto 2.5rem;
+  }
+
+  .heroCtas {
+    justify-content: center;
+  }
+
+  .heroStats {
+    justify-content: center;
+  }
+
+  .heroCarousel {
+    max-width: 500px;
+    margin: 0 auto;
+  }
+}
+
+@media (max-width: 768px) {
+  .hero {
+    padding: 4rem 1.5rem 3rem;
+    min-height: auto;
+  }
+
+  .heroStats {
+    flex-direction: column;
+    gap: 1.5rem;
+  }
+
+  .trustLogos {
+    gap: 1.5rem;
+  }
+
+  .bentoGrid {
+    grid-template-columns: 1fr;
+  }
+
+  .cardAsync,
+  .cardPlugin,
+  .cardBlackboard,
+  .cardXml,
+  .cardLogging,
+  .cardRos2 {
+    grid-column: 1;
+    grid-row: auto;
+  }
+
+  .heroTitle {
+    font-size: 2.5rem;
+  }
+
+  .grootText h2,
+  .ctaContent h2 {
+    font-size: 2rem;
+  }
+
+  .featuresSection,
+  .grootSection,
+  .ctaSection {
+    padding: 4rem 1.5rem;
+  }
+}
\ No newline at end of file

From 71d4e6d7bfbccea92f0de19c6b187e1e0c38bae1 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 29 Dec 2025 14:25:03 +0100
Subject: [PATCH 51/80] WIP

---
 CLAUDE.md                  |   13 +-
 btcpp-landing-page.html    | 1191 ------------------------------------
 landing-page-summary.md    |   71 ---
 src/css/custom.css         |   83 +--
 src/pages/groot.js         |  470 ++++++++------
 src/pages/index.js         |  457 ++++++--------
 src/pages/index.module.css |  780 ++---------------------
 7 files changed, 572 insertions(+), 2493 deletions(-)
 delete mode 100644 btcpp-landing-page.html
 delete mode 100644 landing-page-summary.md

diff --git a/CLAUDE.md b/CLAUDE.md
index e5446cc..c58edc4 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -29,15 +29,11 @@ npm run clear      # Clear Docusaurus cache
 - `blog/` - Release announcements
 
 ### Custom Pages (React)
-- `src/pages/index.js` - Modern landing page with:
-  - Hero section (animated blobs, image carousel)
-  - Trust bar (Nav2, MoveIt2, etc.)
-  - Bento grid features section
-  - Groot2 promotional section
-  - CTA section with contact modal
+- `src/pages/index.js` - Homepage with hero section and feature carousel
 - `src/pages/groot.js` - Groot2 IDE page with pricing/licensing (uses Chargebee)
 - `src/pages/moveit_studio.js` - MoveIt Studio integration page
 - `src/components/ContactFormModal/` - Email contact form (EmailJS)
+- `src/components/HomepageFeatures/` - Homepage feature cards
 
 ### Configuration
 - `docusaurus.config.js` - Main config (versions, navbar, footer, Prism languages)
@@ -48,7 +44,4 @@ npm run clear      # Clear Docusaurus cache
 - Prism syntax highlighting configured for `cpp` and `xml-doc`
 - Bootstrap 5 + React Bootstrap for UI components
 - Fathom Analytics for tracking
-- Dark mode disabled (light mode only)
-- Local search via `@easyops-cn/docusaurus-search-local` (configured in `themes` array)
-- Landing page uses Outfit font; docs use Open Sans
-- CSS variables for design system defined in `src/css/custom.css`
\ No newline at end of file
+- Dark mode disabled (light mode only)
\ No newline at end of file
diff --git a/btcpp-landing-page.html b/btcpp-landing-page.html
deleted file mode 100644
index db8776d..0000000
--- a/btcpp-landing-page.html
+++ /dev/null
@@ -1,1191 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-<head>
-  <meta charset="UTF-8">
-  <meta name="viewport" content="width=device-width, initial-scale=1.0">
-  <title>BehaviorTree.CPP – The Industry Standard for Robot Intelligence</title>
-  <link rel="preconnect" href="https://fonts.googleapis.com">
-  <link href="https://fonts.googleapis.com/css2?family=Outfit:wght@400;500;600;700;800&family=JetBrains+Mono:wght@400;500&display=swap" rel="stylesheet">
-  <style>
-    :root {
-      --green-50: #f0fdf4;
-      --green-100: #dcfce7;
-      --green-200: #bbf7d0;
-      --green-400: #4ade80;
-      --green-500: #22c55e;
-      --green-600: #16a34a;
-      --green-700: #15803d;
-      --cream: #fdfcfa;
-      --warm-white: #fffef9;
-      --sand: #f5f3ef;
-      --text-dark: #1c1917;
-      --text-mid: #44403c;
-      --text-light: #78716c;
-      --font-display: 'Outfit', sans-serif;
-      --font-mono: 'JetBrains Mono', monospace;
-      --radius-sm: 12px;
-      --radius-md: 20px;
-      --radius-lg: 32px;
-      --radius-xl: 48px;
-    }
-
-    * {
-      margin: 0;
-      padding: 0;
-      box-sizing: border-box;
-    }
-
-    html {
-      scroll-behavior: smooth;
-    }
-
-    body {
-      font-family: var(--font-display);
-      background: var(--cream);
-      color: var(--text-dark);
-      line-height: 1.6;
-      overflow-x: hidden;
-    }
-
-    /* Grain texture overlay */
-    body::after {
-      content: '';
-      position: fixed;
-      top: 0;
-      left: 0;
-      width: 100%;
-      height: 100%;
-      background-image: url("data:image/svg+xml,%3Csvg viewBox='0 0 256 256' xmlns='http://www.w3.org/2000/svg'%3E%3Cfilter id='noise'%3E%3CfeTurbulence type='fractalNoise' baseFrequency='0.8' numOctaves='4' stitchTiles='stitch'/%3E%3C/filter%3E%3Crect width='100%25' height='100%25' filter='url(%23noise)'/%3E%3C/svg%3E");
-      opacity: 0.03;
-      pointer-events: none;
-      z-index: 9999;
-    }
-
-    /* Navigation - Matching original behaviortree.dev with dark background */
-    nav {
-      position: fixed;
-      top: 0;
-      left: 0;
-      right: 0;
-      z-index: 100;
-      padding: 0.75rem 2rem;
-      background: var(--text-dark);
-      box-shadow: 0 1px 0 rgba(0, 0, 0, 0.2);
-    }
-
-    .nav-content {
-      display: flex;
-      align-items: center;
-      justify-content: space-between;
-      max-width: 1400px;
-      margin: 0 auto;
-    }
-
-    .logo {
-      display: flex;
-      align-items: center;
-      gap: 0.5rem;
-      font-weight: 700;
-      font-size: 1.1rem;
-      color: white;
-      text-decoration: none;
-    }
-
-    .logo-icon {
-      width: 36px;
-      height: 36px;
-    }
-
-    .logo-icon svg {
-      width: 100%;
-      height: 100%;
-    }
-
-    .nav-links {
-      display: flex;
-      align-items: center;
-      gap: 0.5rem;
-    }
-
-    .nav-links a {
-      color: rgba(255, 255, 255, 0.85);
-      text-decoration: none;
-      font-size: 0.95rem;
-      font-weight: 500;
-      padding: 0.5rem 1rem;
-      border-radius: 6px;
-      transition: all 0.2s ease;
-    }
-
-    .nav-links a:hover {
-      background: rgba(255, 255, 255, 0.1);
-      color: white;
-    }
-
-    .nav-version {
-      display: flex;
-      align-items: center;
-      gap: 0.25rem;
-      background: rgba(255, 255, 255, 0.1);
-      padding: 0.4rem 0.75rem;
-      border-radius: 6px;
-      font-size: 0.85rem;
-      font-weight: 600;
-      color: rgba(255, 255, 255, 0.85);
-      cursor: pointer;
-      transition: all 0.2s;
-    }
-
-    .nav-version:hover {
-      background: var(--green-600);
-      color: white;
-    }
-
-    .nav-version svg {
-      width: 12px;
-      height: 12px;
-    }
-
-    .github-link {
-      display: flex;
-      align-items: center;
-      gap: 0.4rem;
-      color: rgba(255, 255, 255, 0.85);
-      text-decoration: none;
-      font-size: 0.95rem;
-      font-weight: 500;
-      padding: 0.5rem 1rem;
-      border-radius: 6px;
-      transition: all 0.2s ease;
-    }
-
-    .github-link:hover {
-      background: rgba(255, 255, 255, 0.1);
-      color: white;
-    }
-
-    .github-link svg {
-      width: 20px;
-      height: 20px;
-    }
-
-    /* Hero Section */
-    .hero {
-      min-height: 100vh;
-      display: flex;
-      flex-direction: column;
-      justify-content: center;
-      align-items: center;
-      text-align: center;
-      padding: 6rem 2rem 4rem;
-      position: relative;
-      overflow: hidden;
-      background: linear-gradient(180deg, var(--warm-white) 0%, var(--cream) 100%);
-    }
-
-    /* Floating organic shapes */
-    .blob {
-      position: absolute;
-      border-radius: 50%;
-      filter: blur(80px);
-      opacity: 0.6;
-      animation: float 20s ease-in-out infinite;
-    }
-
-    .blob-1 {
-      width: 600px;
-      height: 600px;
-      background: var(--green-200);
-      top: -200px;
-      right: -100px;
-      animation-delay: 0s;
-    }
-
-    .blob-2 {
-      width: 400px;
-      height: 400px;
-      background: var(--green-100);
-      bottom: -100px;
-      left: -100px;
-      animation-delay: -5s;
-    }
-
-    .blob-3 {
-      width: 300px;
-      height: 300px;
-      background: var(--green-200);
-      top: 40%;
-      left: 10%;
-      animation-delay: -10s;
-    }
-
-    @keyframes float {
-      0%, 100% { transform: translate(0, 0) scale(1); }
-      25% { transform: translate(30px, -30px) scale(1.05); }
-      50% { transform: translate(-20px, 20px) scale(0.95); }
-      75% { transform: translate(20px, 10px) scale(1.02); }
-    }
-
-    .hero-content {
-      position: relative;
-      z-index: 1;
-      max-width: 900px;
-    }
-
-    .hero-badge {
-      display: inline-flex;
-      align-items: center;
-      gap: 0.5rem;
-      background: var(--green-100);
-      padding: 0.6rem 1.25rem;
-      border-radius: 100px;
-      font-size: 0.9rem;
-      color: var(--green-700);
-      font-weight: 600;
-      margin-bottom: 2rem;
-      animation: fadeInUp 0.8s ease-out;
-    }
-
-    .hero-badge span {
-      width: 8px;
-      height: 8px;
-      background: var(--green-500);
-      border-radius: 50%;
-      animation: pulse 2s ease-in-out infinite;
-    }
-
-    @keyframes pulse {
-      0%, 100% { transform: scale(1); opacity: 1; }
-      50% { transform: scale(1.2); opacity: 0.7; }
-    }
-
-    .hero h1 {
-      font-size: clamp(3rem, 7vw, 5rem);
-      font-weight: 800;
-      line-height: 1.1;
-      margin-bottom: 1.5rem;
-      letter-spacing: -0.03em;
-      animation: fadeInUp 0.8s ease-out 0.1s both;
-    }
-
-    .hero h1 .highlight {
-      background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
-      -webkit-background-clip: text;
-      -webkit-text-fill-color: transparent;
-      background-clip: text;
-    }
-
-    .hero-sub {
-      font-size: 1.25rem;
-      color: var(--text-mid);
-      max-width: 600px;
-      margin: 0 auto 2.5rem;
-      animation: fadeInUp 0.8s ease-out 0.2s both;
-    }
-
-    .hero-ctas {
-      display: flex;
-      gap: 1rem;
-      justify-content: center;
-      flex-wrap: wrap;
-      animation: fadeInUp 0.8s ease-out 0.3s both;
-    }
-
-    .btn {
-      padding: 1rem 2rem;
-      border-radius: 100px;
-      font-weight: 600;
-      font-size: 1rem;
-      text-decoration: none;
-      transition: all 0.3s ease;
-      display: inline-flex;
-      align-items: center;
-      gap: 0.5rem;
-      cursor: pointer;
-      border: none;
-    }
-
-    .btn-primary {
-      background: var(--green-600);
-      color: white;
-      box-shadow: 0 4px 20px rgba(22, 163, 74, 0.3);
-    }
-
-    .btn-primary:hover {
-      background: var(--green-700);
-      transform: translateY(-2px);
-      box-shadow: 0 8px 30px rgba(22, 163, 74, 0.4);
-    }
-
-    .btn-secondary {
-      background: white;
-      color: var(--text-dark);
-      box-shadow: 0 4px 20px rgba(0, 0, 0, 0.08);
-    }
-
-    .btn-secondary:hover {
-      background: var(--green-50);
-      transform: translateY(-2px);
-    }
-
-    .hero-stats {
-      display: flex;
-      gap: 3rem;
-      justify-content: center;
-      margin-top: 4rem;
-      animation: fadeInUp 0.8s ease-out 0.4s both;
-    }
-
-    .stat {
-      text-align: center;
-    }
-
-    .stat-value {
-      font-size: 2.5rem;
-      font-weight: 800;
-      color: var(--green-600);
-      line-height: 1;
-    }
-
-    .stat-label {
-      font-size: 0.9rem;
-      color: var(--text-light);
-      margin-top: 0.25rem;
-    }
-
-    @keyframes fadeInUp {
-      from {
-        opacity: 0;
-        transform: translateY(30px);
-      }
-      to {
-        opacity: 1;
-        transform: translateY(0);
-      }
-    }
-
-    /* Trust Bar - Dark style like footer */
-    .trust-bar {
-      padding: 3rem 2rem;
-      text-align: center;
-      background: var(--text-dark);
-    }
-
-    .trust-bar p {
-      color: rgba(255, 255, 255, 0.5);
-      font-size: 0.85rem;
-      margin-bottom: 1.5rem;
-      text-transform: uppercase;
-      letter-spacing: 0.15em;
-      font-weight: 600;
-    }
-
-    .trust-logos {
-      display: flex;
-      justify-content: center;
-      align-items: center;
-      gap: 3rem;
-      flex-wrap: wrap;
-    }
-
-    .trust-logo {
-      color: rgba(255, 255, 255, 0.7);
-      font-family: var(--font-mono);
-      font-size: 0.9rem;
-      font-weight: 500;
-      transition: color 0.2s;
-    }
-
-    .trust-logo:hover {
-      color: var(--green-400);
-    }
-
-    /* Features Section - Bento Grid */
-    .features-section {
-      padding: 6rem 2rem;
-      background: var(--cream);
-    }
-
-    .features-header {
-      text-align: center;
-      margin-bottom: 4rem;
-    }
-
-    .features-header h2 {
-      font-size: 2.5rem;
-      font-weight: 800;
-      margin-bottom: 0.75rem;
-      letter-spacing: -0.02em;
-    }
-
-    .features-header p {
-      color: var(--text-mid);
-      font-size: 1.15rem;
-    }
-
-    /* Bento Box Grid - Matching the sketch */
-    .bento-grid {
-      display: grid;
-      grid-template-columns: repeat(4, 1fr);
-      grid-template-rows: auto auto;
-      gap: 1.25rem;
-      max-width: 1100px;
-      margin: 0 auto;
-    }
-
-    .bento-card {
-      background: white;
-      border-radius: var(--radius-lg);
-      padding: 2rem;
-      transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
-      position: relative;
-      overflow: hidden;
-      display: flex;
-      flex-direction: column;
-    }
-
-    .bento-card::before {
-      content: '';
-      position: absolute;
-      top: 0;
-      left: 0;
-      right: 0;
-      bottom: 0;
-      background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
-      opacity: 0;
-      transition: opacity 0.4s ease;
-      z-index: 0;
-    }
-
-    .bento-card > * {
-      position: relative;
-      z-index: 1;
-    }
-
-    .bento-card:hover {
-      transform: translateY(-8px) scale(1.02);
-      box-shadow: 0 25px 50px rgba(0, 0, 0, 0.12);
-    }
-
-    .bento-card:hover::before {
-      opacity: 1;
-    }
-
-    .bento-card:hover .bento-icon {
-      background: white;
-      transform: scale(1.1) rotate(-5deg);
-    }
-
-    .bento-card:hover h3,
-    .bento-card:hover p {
-      color: white;
-    }
-
-    /* Card positions matching the sketch */
-    .bento-card.async {
-      grid-column: 1 / 3;
-      grid-row: 1;
-      background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
-    }
-
-    .bento-card.plugin {
-      grid-column: 3;
-      grid-row: 1;
-    }
-
-    .bento-card.blackboard {
-      grid-column: 4;
-      grid-row: 1;
-    }
-
-    .bento-card.xml {
-      grid-column: 1;
-      grid-row: 2;
-    }
-
-    .bento-card.logging {
-      grid-column: 2;
-      grid-row: 2;
-    }
-
-    .bento-card.ros2 {
-      grid-column: 3 / 5;
-      grid-row: 2;
-      background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
-    }
-
-    /* Large cards styling */
-    .bento-card.async,
-    .bento-card.ros2 {
-      padding: 2.5rem;
-    }
-
-    .bento-card.async .bento-icon,
-    .bento-card.ros2 .bento-icon {
-      width: 64px;
-      height: 64px;
-      font-size: 1.75rem;
-      background: white;
-      box-shadow: 0 8px 30px rgba(22, 163, 74, 0.15);
-    }
-
-    .bento-card.async h3,
-    .bento-card.ros2 h3 {
-      font-size: 1.5rem;
-      margin-bottom: 0.75rem;
-    }
-
-    .bento-card.async p,
-    .bento-card.ros2 p {
-      font-size: 1.05rem;
-      line-height: 1.7;
-    }
-
-    .bento-icon {
-      width: 56px;
-      height: 56px;
-      background: var(--green-100);
-      border-radius: var(--radius-md);
-      display: flex;
-      align-items: center;
-      justify-content: center;
-      font-size: 1.5rem;
-      margin-bottom: 1.25rem;
-      transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
-    }
-
-    .bento-card h3 {
-      font-size: 1.15rem;
-      font-weight: 700;
-      margin-bottom: 0.5rem;
-      color: var(--text-dark);
-      transition: color 0.3s ease;
-    }
-
-    .bento-card p {
-      color: var(--text-mid);
-      font-size: 0.95rem;
-      line-height: 1.6;
-      transition: color 0.3s ease;
-    }
-
-    /* Groot2 Section */
-    .groot-section {
-      padding: 6rem 2rem;
-      background: var(--sand);
-      position: relative;
-      overflow: hidden;
-    }
-
-    .groot-blob {
-      position: absolute;
-      width: 500px;
-      height: 500px;
-      background: var(--green-200);
-      border-radius: 50%;
-      filter: blur(100px);
-      opacity: 0.5;
-      top: 50%;
-      right: -200px;
-      transform: translateY(-50%);
-    }
-
-    .groot-content {
-      max-width: 1200px;
-      margin: 0 auto;
-      display: grid;
-      grid-template-columns: 1fr 1.2fr;
-      gap: 4rem;
-      align-items: center;
-      position: relative;
-      z-index: 1;
-    }
-
-    .groot-text h2 {
-      font-size: 3rem;
-      font-weight: 800;
-      margin-bottom: 1rem;
-      letter-spacing: -0.02em;
-    }
-
-    .groot-text h2 span {
-      color: var(--green-600);
-    }
-
-    .groot-tagline {
-      font-size: 1.2rem;
-      color: var(--text-mid);
-      margin-bottom: 2rem;
-    }
-
-    .groot-features {
-      display: flex;
-      flex-direction: column;
-      gap: 1rem;
-      margin-bottom: 2rem;
-    }
-
-    .groot-feature {
-      display: flex;
-      align-items: flex-start;
-      gap: 1rem;
-      padding: 1rem 1.25rem;
-      background: white;
-      border-radius: var(--radius-md);
-      transition: all 0.2s;
-    }
-
-    .groot-feature:hover {
-      transform: translateX(8px);
-      box-shadow: 0 4px 20px rgba(0, 0, 0, 0.06);
-    }
-
-    .groot-feature-icon {
-      width: 28px;
-      height: 28px;
-      background: var(--green-500);
-      border-radius: 50%;
-      display: flex;
-      align-items: center;
-      justify-content: center;
-      flex-shrink: 0;
-      color: white;
-      font-size: 0.8rem;
-      font-weight: 700;
-    }
-
-    .groot-feature-text strong {
-      color: var(--text-dark);
-      font-weight: 600;
-      display: block;
-    }
-
-    .groot-feature-text span {
-      color: var(--text-mid);
-      font-size: 0.95rem;
-    }
-
-    .groot-visual {
-      position: relative;
-    }
-
-    .groot-preview {
-      background: white;
-      border-radius: var(--radius-xl);
-      padding: 1rem;
-      box-shadow: 0 30px 60px rgba(0, 0, 0, 0.12);
-    }
-
-    .groot-preview-header {
-      background: var(--sand);
-      border-radius: var(--radius-md) var(--radius-md) 0 0;
-      padding: 1rem 1.25rem;
-      display: flex;
-      align-items: center;
-      gap: 0.5rem;
-    }
-
-    .window-dot {
-      width: 12px;
-      height: 12px;
-      border-radius: 50%;
-    }
-    .window-dot.red { background: #ff6b6b; }
-    .window-dot.yellow { background: #ffd93d; }
-    .window-dot.green { background: #6bcb77; }
-
-    .groot-preview-body {
-      height: 350px;
-      background: linear-gradient(180deg, var(--green-50) 0%, white 100%);
-      border-radius: 0 0 var(--radius-md) var(--radius-md);
-      display: flex;
-      flex-direction: column;
-      align-items: center;
-      padding: 2rem;
-      position: relative;
-    }
-
-    .tree-node {
-      background: white;
-      border: 2px solid var(--green-200);
-      border-radius: var(--radius-sm);
-      padding: 0.6rem 1.5rem;
-      font-family: var(--font-mono);
-      font-size: 0.8rem;
-      font-weight: 500;
-      box-shadow: 0 4px 12px rgba(0, 0, 0, 0.06);
-      position: relative;
-    }
-
-    .tree-node.active {
-      background: var(--green-500);
-      color: white;
-      border-color: var(--green-500);
-    }
-
-    .tree-connector {
-      width: 2px;
-      height: 24px;
-      background: var(--green-300);
-    }
-
-    .tree-row {
-      display: flex;
-      gap: 1rem;
-      margin-top: 1.5rem;
-    }
-
-    /* CTA Section */
-    .cta-section {
-      padding: 8rem 2rem;
-      text-align: center;
-      background: linear-gradient(180deg, var(--cream) 0%, var(--green-50) 100%);
-      position: relative;
-    }
-
-    .cta-content {
-      position: relative;
-      z-index: 1;
-      max-width: 700px;
-      margin: 0 auto;
-    }
-
-    .cta-content h2 {
-      font-size: 3rem;
-      font-weight: 800;
-      margin-bottom: 1rem;
-      letter-spacing: -0.02em;
-    }
-
-    .cta-content p {
-      color: var(--text-mid);
-      font-size: 1.2rem;
-      margin-bottom: 2rem;
-    }
-
-    /* Footer */
-    footer {
-      background: var(--text-dark);
-      color: white;
-      padding: 4rem 2rem;
-      border-radius: var(--radius-xl) var(--radius-xl) 0 0;
-    }
-
-    .footer-content {
-      max-width: 1200px;
-      margin: 0 auto;
-      display: grid;
-      grid-template-columns: 2fr 1fr 1fr 1fr;
-      gap: 3rem;
-    }
-
-    .footer-brand h3 {
-      font-size: 1.25rem;
-      margin-bottom: 0.75rem;
-      font-weight: 700;
-    }
-
-    .footer-brand p {
-      color: rgba(255, 255, 255, 0.7);
-      font-size: 0.95rem;
-      line-height: 1.6;
-    }
-
-    .footer-links h4 {
-      font-size: 0.8rem;
-      text-transform: uppercase;
-      letter-spacing: 0.15em;
-      color: var(--green-400);
-      margin-bottom: 1rem;
-      font-weight: 600;
-    }
-
-    .footer-links ul {
-      list-style: none;
-    }
-
-    .footer-links a {
-      color: rgba(255, 255, 255, 0.7);
-      text-decoration: none;
-      font-size: 0.95rem;
-      display: block;
-      padding: 0.35rem 0;
-      transition: color 0.2s;
-    }
-
-    .footer-links a:hover {
-      color: var(--green-400);
-    }
-
-    .footer-bottom {
-      max-width: 1200px;
-      margin: 3rem auto 0;
-      padding-top: 2rem;
-      border-top: 1px solid rgba(255, 255, 255, 0.1);
-      display: flex;
-      justify-content: space-between;
-      align-items: center;
-      color: rgba(255, 255, 255, 0.5);
-      font-size: 0.9rem;
-    }
-
-    /* Responsive */
-    @media (max-width: 1024px) {
-      .groot-content {
-        grid-template-columns: 1fr;
-        gap: 3rem;
-      }
-
-      .bento-grid {
-        grid-template-columns: repeat(2, 1fr);
-      }
-
-      .bento-card.async {
-        grid-column: 1 / 3;
-        grid-row: 1;
-      }
-
-      .bento-card.plugin {
-        grid-column: 1;
-        grid-row: 2;
-      }
-
-      .bento-card.blackboard {
-        grid-column: 2;
-        grid-row: 2;
-      }
-
-      .bento-card.xml {
-        grid-column: 1;
-        grid-row: 3;
-      }
-
-      .bento-card.logging {
-        grid-column: 2;
-        grid-row: 3;
-      }
-
-      .bento-card.ros2 {
-        grid-column: 1 / 3;
-        grid-row: 4;
-      }
-      
-      .footer-content {
-        grid-template-columns: 1fr 1fr;
-      }
-    }
-
-    @media (max-width: 768px) {
-      nav {
-        padding: 0.75rem 1rem;
-      }
-
-      .nav-links a:not(.github-link) {
-        display: none;
-      }
-
-      .nav-version {
-        display: none;
-      }
-      
-      .hero-stats {
-        flex-direction: column;
-        gap: 1.5rem;
-      }
-      
-      .trust-logos {
-        gap: 1.5rem;
-      }
-
-      .bento-grid {
-        grid-template-columns: 1fr;
-      }
-
-      .bento-card.async,
-      .bento-card.plugin,
-      .bento-card.blackboard,
-      .bento-card.xml,
-      .bento-card.logging,
-      .bento-card.ros2 {
-        grid-column: 1;
-        grid-row: auto;
-      }
-      
-      .footer-content {
-        grid-template-columns: 1fr;
-      }
-      
-      .footer-bottom {
-        flex-direction: column;
-        gap: 1rem;
-        text-align: center;
-      }
-
-      .hero h1 {
-        font-size: 2.5rem;
-      }
-
-      .groot-text h2,
-      .cta-content h2 {
-        font-size: 2rem;
-      }
-    }
-  </style>
-</head>
-<body>
-  <!-- Navigation - Matching original behaviortree.dev -->
-  <nav>
-    <div class="nav-content">
-      <a href="#" class="logo">
-        <div class="logo-icon">
-          <svg viewBox="0 0 100 100" fill="none" xmlns="http://www.w3.org/2000/svg">
-            <circle cx="50" cy="50" r="45" fill="#22c55e"/>
-            <path d="M50 20 L50 45 M50 45 L30 65 M50 45 L70 65 M30 65 L30 80 M70 65 L70 80" stroke="white" stroke-width="6" stroke-linecap="round"/>
-          </svg>
-        </div>
-        BehaviorTree
-      </a>
-      <div class="nav-links">
-        <a href="/docs/intro">Docs</a>
-        <a href="/groot">Groot2</a>
-        <div class="nav-version">
-          4.8
-          <svg viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
-            <path d="M6 9l6 6 6-6"/>
-          </svg>
-        </div>
-        <a href="/blog">Blog</a>
-        <a href="https://github.com/BehaviorTree/BehaviorTree.CPP" class="github-link">
-          <svg viewBox="0 0 24 24" fill="currentColor">
-            <path d="M12 0C5.37 0 0 5.37 0 12c0 5.31 3.435 9.795 8.205 11.385.6.105.825-.255.825-.57 0-.285-.015-1.23-.015-2.235-3.015.555-3.795-.735-4.035-1.41-.135-.345-.72-1.41-1.23-1.695-.42-.225-1.02-.78-.015-.795.945-.015 1.62.87 1.845 1.23 1.08 1.815 2.805 1.305 3.495.99.105-.78.42-1.305.765-1.605-2.67-.3-5.46-1.335-5.46-5.925 0-1.305.465-2.385 1.23-3.225-.12-.3-.54-1.53.12-3.18 0 0 1.005-.315 3.3 1.23.96-.27 1.98-.405 3-.405s2.04.135 3 .405c2.295-1.56 3.3-1.23 3.3-1.23.66 1.65.24 2.88.12 3.18.765.84 1.23 1.905 1.23 3.225 0 4.605-2.805 5.625-5.475 5.925.435.375.81 1.095.81 2.22 0 1.605-.015 2.895-.015 3.3 0 .315.225.69.825.57A12.02 12.02 0 0024 12c0-6.63-5.37-12-12-12z"/>
-          </svg>
-          GitHub
-        </a>
-      </div>
-    </div>
-  </nav>
-
-  <!-- Hero Section -->
-  <section class="hero">
-    <div class="blob blob-1"></div>
-    <div class="blob blob-2"></div>
-    <div class="blob blob-3"></div>
-    
-    <div class="hero-content">
-      <div class="hero-badge">
-        <span></span>
-        Powering Nav2 and 100+ robotics companies
-      </div>
-      <h1>The Industry Standard for <span class="highlight">Robot Intelligence</span></h1>
-      <p class="hero-sub">
-        BehaviorTree.CPP is the most advanced, production-ready framework for building 
-        reactive, modular, and debuggable robot behaviors. Design in XML, execute in C++.
-      </p>
-      <div class="hero-ctas">
-        <a href="/docs/intro" class="btn btn-primary">
-          Get Started Free →
-        </a>
-        <a href="#groot" class="btn btn-secondary">
-          Try Groot2 IDE
-        </a>
-      </div>
-      <div class="hero-stats">
-        <div class="stat">
-          <div class="stat-value">3.7k+</div>
-          <div class="stat-label">GitHub Stars</div>
-        </div>
-        <div class="stat">
-          <div class="stat-value">100+</div>
-          <div class="stat-label">Companies</div>
-        </div>
-        <div class="stat">
-          <div class="stat-value">10+</div>
-          <div class="stat-label">Years Active</div>
-        </div>
-      </div>
-    </div>
-  </section>
-
-  <!-- Trust Bar -->
-  <section class="trust-bar">
-    <p>Trusted by teams building autonomous systems</p>
-    <div class="trust-logos">
-      <span class="trust-logo">Nav2 / ROS2</span>
-      <span class="trust-logo">MoveIt2</span>
-      <span class="trust-logo">NVIDIA Isaac</span>
-      <span class="trust-logo">Open Navigation</span>
-      <span class="trust-logo">Husarion</span>
-    </div>
-  </section>
-
-  <!-- Features Section - Bento Grid -->
-  <section class="features-section" id="features">
-    <div class="features-header">
-      <h2>Why BehaviorTree.CPP?</h2>
-      <p>Built for real-world robotics, not just demos</p>
-    </div>
-    
-    <div class="bento-grid">
-      <!-- Row 1: Large left + 2 small right -->
-      <div class="bento-card async">
-        <div class="bento-icon">⚡</div>
-        <h3>Async-First Design</h3>
-        <p>Non-blocking actions as first-class citizens. Build reactive behaviors that execute concurrently, making your robots responsive and efficient in complex real-world scenarios.</p>
-      </div>
-      
-      <div class="bento-card plugin">
-        <div class="bento-icon">🔌</div>
-        <h3>Plugin Architecture</h3>
-        <p>Load custom nodes at runtime. Separate behavior design from implementation.</p>
-      </div>
-      
-      <div class="bento-card blackboard">
-        <div class="bento-icon">📊</div>
-        <h3>Type-Safe Blackboard</h3>
-        <p>Strongly-typed data flow between nodes. Catch errors at compile time.</p>
-      </div>
-      
-      <!-- Row 2: 2 small left + Large right -->
-      <div class="bento-card xml">
-        <div class="bento-icon">📝</div>
-        <h3>XML-Defined Trees</h3>
-        <p>Modify behaviors without recompiling. Perfect for field engineers.</p>
-      </div>
-      
-      <div class="bento-card logging">
-        <div class="bento-icon">🔍</div>
-        <h3>Built-in Logging</h3>
-        <p>Record, replay, and analyze state transitions with confidence.</p>
-      </div>
-      
-      <div class="bento-card ros2">
-        <div class="bento-icon">🤖</div>
-        <h3>ROS2 Integration</h3>
-        <p>Official wrappers for actions, services, and topics. Powers the Nav2 navigation stack trusted by hundreds of robots and engineering teams worldwide.</p>
-      </div>
-    </div>
-  </section>
-
-  <!-- Groot2 Section -->
-  <section class="groot-section" id="groot">
-    <div class="groot-blob"></div>
-    <div class="groot-content">
-      <div class="groot-text">
-        <h2>Meet <span>Groot2</span></h2>
-        <p class="groot-tagline">The IDE for Behavior Trees. Design, debug, and deploy with confidence.</p>
-        
-        <div class="groot-features">
-          <div class="groot-feature">
-            <div class="groot-feature-icon">✓</div>
-            <div class="groot-feature-text">
-              <strong>Visual Editor</strong>
-              <span>Drag-and-drop interface for rapid prototyping</span>
-            </div>
-          </div>
-          <div class="groot-feature">
-            <div class="groot-feature-icon">✓</div>
-            <div class="groot-feature-text">
-              <strong>Real-time Monitoring</strong>
-              <span>Watch your tree execute live on your robot</span>
-            </div>
-          </div>
-          <div class="groot-feature">
-            <div class="groot-feature-icon">✓</div>
-            <div class="groot-feature-text">
-              <strong>Log Replay & Analysis</strong>
-              <span>Debug past runs with full state reconstruction</span>
-            </div>
-          </div>
-          <div class="groot-feature">
-            <div class="groot-feature-icon">✓</div>
-            <div class="groot-feature-text">
-              <strong>Breakpoints & Fault Injection</strong>
-              <span>Pause execution and simulate failures</span>
-            </div>
-          </div>
-        </div>
-        
-        <a href="/groot" class="btn btn-primary">Learn More About Groot2</a>
-      </div>
-      
-      <div class="groot-visual">
-        <div class="groot-preview">
-          <div class="groot-preview-header">
-            <span class="window-dot red"></span>
-            <span class="window-dot yellow"></span>
-            <span class="window-dot green"></span>
-          </div>
-          <div class="groot-preview-body">
-            <div class="tree-node active">Sequence</div>
-            <div class="tree-connector"></div>
-            <div class="tree-row">
-              <div class="tree-node">Fallback</div>
-              <div class="tree-node">Navigate</div>
-            </div>
-            <div class="tree-connector"></div>
-            <div class="tree-row">
-              <div class="tree-node">Check</div>
-              <div class="tree-node active">Pick</div>
-              <div class="tree-node">Place</div>
-            </div>
-          </div>
-        </div>
-      </div>
-    </div>
-  </section>
-
-  <!-- CTA Section -->
-  <section class="cta-section">
-    <div class="cta-content">
-      <h2>Ready to Build Smarter Robots?</h2>
-      <p>Join thousands of engineers using BehaviorTree.CPP to build production-grade autonomous systems.</p>
-      <div class="hero-ctas">
-        <a href="/docs/intro" class="btn btn-primary">Start the Tutorial</a>
-        <a href="mailto:dfaconti@aurynrobotics.com" class="btn btn-secondary">Contact for Enterprise</a>
-      </div>
-    </div>
-  </section>
-
-  <!-- Footer -->
-  <footer>
-    <div class="footer-content">
-      <div class="footer-brand">
-        <h3>BehaviorTree.CPP</h3>
-        <p>The industry standard for robot intelligence. Open source, professionally supported.</p>
-      </div>
-      
-      <div class="footer-links">
-        <h4>Documentation</h4>
-        <ul>
-          <li><a href="/docs/intro">Tutorials</a></li>
-          <li><a href="https://behaviortree.github.io/BehaviorTree.CPP/">API Reference</a></li>
-          <li><a href="/docs/ros2_integration">ROS2 Integration</a></li>
-        </ul>
-      </div>
-      
-      <div class="footer-links">
-        <h4>Community</h4>
-        <ul>
-          <li><a href="https://github.com/BehaviorTree/BehaviorTree.CPP/discussions">Forum</a></li>
-          <li><a href="https://github.com/BehaviorTree/BehaviorTree.CPP">GitHub</a></li>
-          <li><a href="/blog">Blog</a></li>
-        </ul>
-      </div>
-      
-      <div class="footer-links">
-        <h4>Company</h4>
-        <ul>
-          <li><a href="mailto:dfaconti@aurynrobotics.com">Contact</a></li>
-          <li><a href="#">Support</a></li>
-          <li><a href="#">Enterprise</a></li>
-        </ul>
-      </div>
-    </div>
-    
-    <div class="footer-bottom">
-      <span>© 2025 Auryn Robotics. All rights reserved.</span>
-      <span>Made with ❤️ for the robotics community</span>
-    </div>
-  </footer>
-</body>
-</html>
diff --git a/landing-page-summary.md b/landing-page-summary.md
deleted file mode 100644
index 193b20d..0000000
--- a/landing-page-summary.md
+++ /dev/null
@@ -1,71 +0,0 @@
-# BehaviorTree.CPP Landing Page Summary
-
-## Overall Style
-Organic, warm aesthetic with soft rounded corners, floating gradient blobs, and generous whitespace. Light cream background with green accent color. Subtle grain texture overlay for depth. Modern 2025 design trends: bento grid layout, micro-animations on hover.
-
-## Typography
-- Display font: Outfit (friendly, modern sans-serif)
-- Monospace: JetBrains Mono (for code/technical elements)
-- Large bold headlines, comfortable body text
-
-## Color Palette
-- Background: Warm cream/off-white
-- Accent: Green (used for CTAs, highlights, hover states)
-- Text: Dark charcoal for headings, medium gray for body
-- Dark sections: Near-black (header, trust bar, footer)
-
----
-
-## Page Structure
-
-### Header (dark)
-Full-width navigation bar with: logo + "BehaviorTree" text, links (Docs, Groot2, version dropdown, Blog, GitHub).
-
-### Hero Section
-- Badge: "Powering Nav2 and 100+ robotics companies"
-- Headline: "The Industry Standard for Robot Intelligence"
-- Subheadline: Brief description of the framework
-- Two CTAs: "Get Started Free" (primary), "Try Groot2 IDE" (secondary)
-- Stats row: 3.7k+ GitHub Stars, 100+ Companies, 10+ Years Active
-- Animated floating green blobs in background
-
-### Trust Bar (dark)
-Lists integrations: Nav2/ROS2, MoveIt2, NVIDIA Isaac, Open Navigation, Husarion
-
-### Features Section - Bento Grid
-Title: "Why BehaviorTree.CPP?" with subtitle "Built for real-world robotics, not just demos"
-
-Six feature cards in asymmetric bento layout:
-1. **Async-First Design** (large) - Non-blocking actions, concurrent execution
-2. **Plugin Architecture** (small) - Runtime loading, separation of concerns
-3. **Type-Safe Blackboard** (small) - Strongly-typed data flow
-4. **XML-Defined Trees** (small) - Modify without recompiling
-5. **Built-in Logging** (small) - Record, replay, analyze
-6. **ROS2 Integration** (large) - Official wrappers, powers Nav2
-
-Cards have hover effect: lift up and fill with green gradient.
-
-### Groot2 Section
-Two-column layout: text left, visual preview right.
-- Headline: "Meet Groot2"
-- Tagline: "The IDE for Behavior Trees"
-- Feature list with checkmarks: Visual Editor, Real-time Monitoring, Log Replay, Breakpoints
-- CTA: "Learn More About Groot2"
-- Mock window showing behavior tree node diagram
-
-### CTA Section
-- Headline: "Ready to Build Smarter Robots?"
-- Two buttons: "Start the Tutorial", "Contact for Enterprise"
-- Gradient background fading to light green
-
-### Footer (dark, rounded top corners)
-Four columns: Brand description, Documentation links, Community links, Company links.
-Bottom bar with copyright and tagline.
-
----
-
-## Interactive Elements
-- Hover effects on all cards (lift + color change)
-- Floating blob animations in hero
-- Smooth scroll behavior
-- Button hover states with shadow changes
diff --git a/src/css/custom.css b/src/css/custom.css
index 7ff5376..467b6f3 100644
--- a/src/css/custom.css
+++ b/src/css/custom.css
@@ -4,75 +4,60 @@
  * work well for content-centric websites.
  */
 
-@import url('https://fonts.googleapis.com/css2?family=Open+Sans&family=Outfit:wght@400;500;600;700;800&family=JetBrains+Mono:wght@400;500&display=swap');
+ @import url('https://fonts.googleapis.com/css2?family=Open+Sans&display=swap');
 
-/* Design System Variables */
+/* You can override the default Infima variables here. */
 :root {
-  /* Fonts - Keep Open Sans for documentation */
-  --ifm-font-family-base: 'Open Sans', sans-serif;
-  /* Landing page uses Outfit via module CSS */
-  --font-display: 'Outfit', sans-serif;
-  --font-mono: 'JetBrains Mono', monospace;
-
-  /* Green palette */
-  --green-50: #f0fdf4;
-  --green-100: #dcfce7;
-  --green-200: #bbf7d0;
-  --green-400: #4ade80;
-  --green-500: #22c55e;
-  --green-600: #16a34a;
-  --green-700: #15803d;
-
-  /* Neutral palette */
-  --cream: #fdfcfa;
-  --warm-white: #fffef9;
-  --sand: #f5f3ef;
-  --text-dark: #1c1917;
-  --text-mid: #44403c;
-  --text-light: #78716c;
-
-  /* Docusaurus overrides */
-  --ifm-color-primary: #16a34a;
-  --ifm-color-primary-dark: #15803d;
-  --ifm-color-primary-darker: #166534;
-  --ifm-color-primary-darkest: #14532d;
-  --ifm-color-primary-light: #22c55e;
-  --ifm-color-primary-lighter: #4ade80;
-  --ifm-color-primary-lightest: #86efac;
+  --ifm-font-family-base: 'Open Sans';
+  --ifm-color-primary: #0dbb5b;
+  --ifm-color-primary-dark: #29784c;
+  --ifm-color-primary-darker: #277148;
+  --ifm-color-primary-darkest: #205d3b;
+  --ifm-color-primary-light: #33925d;
+  --ifm-color-primary-lighter: #359962;
+  --ifm-color-primary-lightest: #3cad6e;
   --ifm-code-font-size: 95%;
   --docusaurus-highlighted-code-line-bg: rgb(180, 251, 169);
 
-  /* Radii */
-  --radius-sm: 12px;
-  --radius-md: 20px;
-  --radius-lg: 32px;
-  --radius-xl: 48px;
-
   --doc-sidebar-width: 350px !important;
   --ifm--sidebar-font-size: 14px;
 }
 
-html {
-  scroll-behavior: smooth;
-}
-
 article {
   max-width: 900px;
   margin-left: auto;
   margin-right: auto;
 }
 
-.theme-doc-sidebar-menu {
+.theme-doc-sidebar-menu{
   font-size: 18px;
 }
 
-/* Navbar dark style override for landing page consistency */
-.navbar--dark {
-  background: var(--text-dark);
+@media (min-width: 992px) and (max-width: 1199.98px) {
+  .heroBanner_src-pages-index-module h1 {
+    font-size: 30px !important;
+    font-weight: bold;
+  }
 }
-
 @media (max-width: 580px) {
   .navbar__title {
     font-size: 14px;
   }
-}
\ No newline at end of file
+  .heroBanner_src-pages-index-module h1 {
+    font-size: 32px !important;
+    font-weight: bold;
+  }
+  .heroBanner_src-pages-index-module p {
+    font-size: 20px !important;
+  }
+}
+
+@media (max-width: 480px) {
+  .heroBanner_src-pages-index-module h1 {
+    font-size: 28px !important;
+    font-weight: bold;
+  }
+  .heroBanner_src-pages-index-module p {
+    font-size: 18px !important;
+  }
+}
diff --git a/src/pages/groot.js b/src/pages/groot.js
index 75778ea..9b9b381 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -1,9 +1,11 @@
-import React, { useEffect, useState } from "react";
+import React, { useEffect,useState } from "react";
 import Layout from "@theme/Layout";
 import Link from "@docusaurus/Link";
 import useBaseUrl from "@docusaurus/useBaseUrl";
 import styles from "./groot.module.css";
-import sharedStyles from "./index.module.css";
+import Table from "react-bootstrap/Table";
+import { OverlayTrigger, Tooltip } from "react-bootstrap";
+import Head from "@docusaurus/Head";
 import clsx from "clsx";
 
 import EditorVideo from "@site/static/img/groot2_editor.mp4";
@@ -11,6 +13,13 @@ import MonitorVideo from "@site/static/img/groot2_monitor.mp4";
 import LogVideo from "@site/static/img/groot2_log.mp4";
 import ContactUSFormModal from "../components/ContactFormModal";
 
+function Check(props) {
+  return <img src={useBaseUrl("img/check.png")} width='15' alt='yes' />;
+}
+function Cross(props) {
+  return <img src={useBaseUrl("img/cross.png")} width='15' alt='no' />;
+}
+
 export default function Groot() {
 
   const [chargebeeInitialized, setChargebeeInitialized] = useState(false);
@@ -42,285 +51,386 @@ export default function Groot() {
     }
   }, [chargebeeInitialized]);
 
-  const scrollToSection = (sectionId) => {
-    const section = document.getElementById(sectionId);
-    if (section) {
-      section.scrollIntoView({ behavior: "smooth" });
-    }
-  };
+  const handleClickBasic = () => {
+    scrollToSection('sectionDownload')
+  }
 
-  const handleClickContact = () => {
-    setOpenContactUsModal(true);
+  const handleClickPro = () => {
   };
 
-  const handleCloseModal = () => {
-    setOpenContactUsModal(false);
-  };
+  const handleClickContact = () => {
+    setOpenContactUsModal(true)
+    // window.location.href = 'mailto:license@aurynrobotics.com'
+  }
 
-  const pricingPlans = [
+  const obj = [
     {
       name: "Basic",
       price: "Free",
-      duration: "",
+      durance: "",
       points: [
         "Full Behavior Tree Editor",
         "Monitor and Log Visualizer limited to 20 Nodes",
       ],
-      buttonText: "Download",
-      onClick: () => scrollToSection("sectionDownload"),
+      btn: "Download",
+      onclick:() => handleClickBasic()
     },
     {
       name: "PRO (floating license)",
       price: "€690",
-      duration: " / year",
+      durance: " / year",
       points: [
         "Search Nodes in large trees",
         "Unlimited Number of Nodes in Monitor and Log Visualizer",
-        "Interactive real-time debugger",
+        "Interactive real-time debugger"
       ],
-      buttonText: "Buy now",
-      isChargebee: true,
+      btn: "Buy now",
+      onclick:() => handleClickPro()
     },
     {
       name: "Training",
       price: "€1,800",
-      duration: " / month",
+      durance: " / month",
       points: [
         "Includes 1 PRO license (1 year)",
         "Up to 12 hours per month",
         "Learn how to use BT.CPP effectively or improve your current implementation",
       ],
-      buttonText: "Contact us",
-      onClick: handleClickContact,
+      btn: "Contact us",
+      onclick:() => handleClickContact()
     },
   ];
 
+  const renderTooltip = (message, props) => {
+    return (
+      <Tooltip id='button-tooltip' className={styles.toolTip} {...props}>
+        {message}
+      </Tooltip>
+    );
+  };
+
+  const openPopup = () => {
+    if (!window.mootrack) {
+      !(function (t, n, e, o, a) {
+        function d(t) {
+          var n = ~~(Date.now() / 3e5),
+            o = document.createElement(e);
+          (o.async = !0), (o.src = t + "?ts=" + n);
+          var a = document.getElementsByTagName(e)[0];
+          a.parentNode.insertBefore(o, a);
+        }
+        (t.MooTrackerObject = a),
+          (t[a] =
+            t[a] ||
+            function () {
+              return t[a].q
+                ? void t[a].q.push(arguments)
+                : void (t[a].q = [arguments]);
+            }),
+          window.attachEvent
+            ? window.attachEvent("onload", d.bind(this, o))
+            : window.addEventListener("load", d.bind(this, o), !1);
+      })(
+        window,
+        document,
+        "script",
+        "https://cdn.stat-track.com/statics/moosend-tracking.min.js",
+        "mootrack"
+      );
+    }
+    {
+      (" ");
+    }
+    mootrack("loadForm", "419144d798774876bcfcd1e1f0b6a2ad");
+  };
+
+  const scrollToSection = (sectionId) => {
+    const section = document.getElementById(sectionId);
+    if (section) {
+      section.scrollIntoView({ behavior: "smooth" });
+    }
+  };
+
+  const handleCloseUsModal = () => setOpenContactUsModal(false)
+
   return (
-    <Layout title="Groot" description="Groot Editor">
+    <>
+      <Layout title='Groot' description='Groot Editor'>
+        {/* groot intro */}
       {openContactUsModal && (
-        <ContactUSFormModal handleClose={handleCloseModal} />
+         <ContactUSFormModal handleClose={handleCloseUsModal}/>
       )}
-
-      {/* Hero Section */}
       <div className={clsx("hero hero--dark", styles.heroBanner)}>
-        <div className="container">
-          <div className="row align-items-center">
-            <div className="col col--6" style={{ textAlign: "center" }}>
-              <h1 className="hero__title">Groot2</h1>
-              <p className="hero__subtitle">
-                The most advanced IDE<br />to create and debug Behavior Trees.
+        <div className='container '>
+          <div className='row align-items-center'>
+            <div className='col col--6' style={{ textAlign: "center" }}>
+              <h1 className='hero__title ' id='hero__title'>
+                Groot2
+              </h1>
+              <p className='hero__subtitle'>
+                The most advanced IDE<br/>to create and debug Behavior Trees.
               </p>
               <div className={styles.buttonGroup}>
                 <button
                   onClick={() => scrollToSection("sectionDownload")}
-                  className={clsx(sharedStyles.btn, sharedStyles.btnPrimary)}
-                >
+                  className='button button--primary button--lg'>
                   Download
                 </button>
                 <button
-                  onClick={handleClickContact}
-                  className={clsx(sharedStyles.btn, sharedStyles.btnSecondary)}
-                >
+                  onClick={() => handleClickContact()}
+                  className='button button--primary button--lg'>
                   Contact us
                 </button>
               </div>
             </div>
-            <div className="col col--6">
-              <img src={useBaseUrl("img/groot2.png")} alt="Groot2 IDE" />
+            <div className='col col--6'>
+              <img src={useBaseUrl("img/groot2.png")} />
             </div>
           </div>
         </div>
       </div>
 
-      {/* BT Editor Section */}
-      <div className={`container text--left ${styles.sectionText}`}>
-        <div className="row">
-          <div className="col col--5" id="t1">
-            <h1>BT Editor</h1>
-            <ul>
-              <li>Create and edit trees, using a simple drag and drop interface.</li>
-              <li>Manage large projects using multiple files.</li>
-              <li>Compatible with both BT.CPP 3 and 4.</li>
-              <li>Split view to visualize two trees at once.</li>
-              <li>Preview the XML in real-time.</li>
-              <li><b>PRO:</b> search Nodes in large trees.</li>
-            </ul>
-          </div>
-          <div className="col col--6">
-            <video src={EditorVideo} muted loop autoPlay width="100%" />
-          </div>
-          <div className="col col--6" id="t2">
-            <h1>BT Editor</h1>
-            <ul>
-              <li>Create and edit trees, using a simple drag and drop interface.</li>
-              <li>Manage large projects using multiple files.</li>
-              <li>Compatible with both BT.CPP 3 and 4.</li>
-              <li>Split view to visualize two trees at once.</li>
-              <li>Preview the XML in real-time.</li>
-              <li><b>PRO:</b> search Nodes in large trees.</li>
-            </ul>
+      <div className={`styles.sectionText`}>
+        <div className={`container text--left ${styles.sectionText}`}>
+          <div className='row'>
+            <div className='col col--5' id="t1">
+              <h1>BT Editor</h1>
+              <ul>
+                <li>Create and edit trees, using a simple drag and drop interface.</li>
+                <li>Manage large projects using multiple files.</li>
+                <li>Compatible with both BT.CPP 3 and 4.</li>
+                <li>Split view to visualize two trees at once.</li>
+                <li>Preview the XML in real-time.</li>
+                <li><b>PRO:</b> search Nodes in large trees.</li>
+              </ul>
+              <br />
+            </div>
+            <div className='col col--6'>
+              <video src={EditorVideo} muted loop autoPlay width='100%'></video>
+            </div>
+            <div className='col col--6' id="t2">
+              <h1>BT Editor</h1>
+              <ul>
+                <li>Create and edit trees, using a simple drag and drop interface.</li>
+                <li>Manage large projects using multiple files.</li>
+                <li>Compatible with both BT.CPP 3 and 4.</li>
+                <li>Split view to visualize two trees at once.</li>
+                <li>Preview the XML in real-time.</li>
+                <li><b>PRO:</b> search Nodes in large trees.</li>
+              </ul>
+              <br />
+            </div>
           </div>
         </div>
       </div>
 
-      {/* Real-time Monitor Section */}
-      <div className={`container text--left ${styles.sectionText}`}>
-        <div className="row">
-          <div className="col col--6">
-            <h1>Real-time Monitor</h1>
-            <ul>
-              <li>Connect to a running BT.CPP executor and visualize the state of the tree in real-time.</li>
-              <li>Record all transitions into a log file, that you can analyze later.</li>
-              <li><b>PRO:</b> Visualize the content of the blackboard.</li>
-              <li><b>PRO:</b> Add interactive breakpoints and fault injection.</li>
-              <li><b>PRO:</b> Substitute any Nodes with dummy ones, at run-time.</li>
-            </ul>
-          </div>
-          <div className="col col--6">
-            <video src={MonitorVideo} muted loop autoPlay width="100%" />
+      <div className={`styles.sectionText`}>
+        <div className={`container text--left ${styles.sectionText}`}>
+          <div className='row'>
+            <div className='col col--6'>
+              <h1>Real-time Monitor</h1>
+              <ul>
+                <li>
+                  Connect to a running BT.CPP executor and visualize the state
+                  of the tree in real-time.
+                </li>
+                <li>
+                  Record all transitions into a log file, that you can analyze later.
+                </li>
+                <li><b>PRO:</b> Visualize the content of the blackboard.</li>
+                <li><b>PRO:</b> Add interactive breakpoints and fault injection.</li>
+                <li><b>PRO:</b> Substitute any Nodes with dummy ones, at run-time.
+                </li>
+              </ul>
+              <br />
+            </div>
+            <div className='col col--6'>
+              <video
+                src={MonitorVideo}
+                muted
+                loop
+                autoPlay
+                width='100%'></video>
+            </div>
           </div>
         </div>
       </div>
 
-      {/* Log Visualization Section */}
-      <div className={`container text--left ${styles.sectionText}`}>
-        <div className="row">
-          <div className="col col--6" id="t3">
-            <h1>Log Visualization</h1>
-            <ul>
-              <li>Open logs and replay the execution of the tree at different speeds.</li>
-              <li>Visualize how long a Node was in the RUNNING state and how many times it returned a new status.</li>
-              <li>Filter transitions by name or time range.</li>
-            </ul>
-          </div>
-          <div className="col col--6">
-            <video src={LogVideo} muted loop autoPlay width="100%" />
-          </div>
-          <div className="col col--6" id="t4">
-            <h1>Log Visualization</h1>
-            <ul>
-              <li>Open logs and replay the execution of the tree at different speeds.</li>
-              <li>Visualize how long a Node was in the RUNNING state and how many times it returned a new status.</li>
-              <li>Filter transitions by name or time range.</li>
-            </ul>
+      <div className={`styles.sectionText`}>
+        <div className={`container text--left ${styles.sectionText}`}>
+          <div className='row'>
+          <div className='col col--6' id="t3">
+              <h1>Log Visualization</h1>
+              <ul>
+                <li>Open logs and replay the execution of the tree at different speeds.</li>
+                <li>Visualize how long a Node was in the RUNNING state and how many times it 
+                  returned a new status.</li>
+                <li>Filter transitions by name or time range.</li>
+              </ul>
+              <br />
+            </div>
+            <div className='col col--6'>
+              <video src={LogVideo} muted loop autoPlay width='100%'></video>
+            </div>
+            <div className='col col--6' id="t4">
+              <h1>Log Visualization</h1>
+              <ul>
+                <li>Open logs and replay the execution of the tree at different speeds.</li>
+                <li>Visualize how long a Node was in the RUNNING state and how many times it 
+                  returned a new status.</li>
+                <li>Filter transitions by name or time range.</li>
+              </ul>
+              <br />
+            </div>
           </div>
         </div>
       </div>
 
-      {/* Pricing Section */}
       <div className={`${styles.sectionSeparator} container`}>Pricing</div>
-      <div className="container">
-        <div className="row" id="row_price">
-          {pricingPlans.map((plan, index) => (
-            <div
-              key={plan.name}
-              className="col col--4"
-              style={{ display: "flex", justifyContent: "center" }}
-            >
-              <div id="card">
-                <div id="card_header">{plan.name}</div>
-                <div id="price_row">
-                  <div id="price">{plan.price}</div>
-                  <div id="durance">{plan.duration}</div>
-                </div>
-                <ul id="point_stack">
-                  {plan.points.map((point, i) => (
-                    <li key={i} id="point">{point}</li>
-                  ))}
-                </ul>
-                <div style={{ display: "flex", justifyContent: "center" }}>
-                  {plan.isChargebee ? (
-                    <a
-                      className={clsx(sharedStyles.btn, sharedStyles.btnPrimary)}
-                      href="javascript:void(0)"
-                      data-cb-type="checkout"
-                      data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
-                      data-cb-item-0-quantity="1"
-                    >
-                      {plan.buttonText}
-                    </a>
-                  ) : (
-                    <button
-                      className={clsx(sharedStyles.btn, sharedStyles.btnPrimary)}
-                      onClick={plan.onClick}
-                    >
-                      {plan.buttonText}
-                    </button>
-                  )}
+      <div className={`styles.sectionText`}>
+        <div className={`container `}>
+          <div className={`row`} id='row_price'>
+              {obj?.map((item, index) => (
+                <div
+                  className='col col--4 '
+                  id='card_col'
+                  style={{
+                    display: "flex",
+                    justifyContent: "center",
+                  }}>
+                  <div id="card">
+                    <div id="card_header">{item.name}</div>
+                    <div id="price_row">
+                      <div id="price">{item.price}</div>
+                      <div id="durance">{item.durance}</div>
+                    </div>
+                    <div id="sub_durance">{item.sub_durance}</div>
+                    <ul id="point_stack" as="ul">
+                      {item.points.map((p) => (
+                        <li id="point" as="li">
+                          {p}
+                        </li>
+                      ))}
+                    </ul>
+                    <div style={{ display: "flex", justifyContent: "center" }}>
+                      {index == 1 ? (
+                        <a
+                          id="btn"
+                          className="button button--primary button--md"
+                          href="javascript:void(0)"
+                          data-cb-type="checkout"
+                          data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
+                          data-cb-item-0-quantity="1"
+                        >
+                          {item.btn}
+                        </a>
+                      ) : index == 2 ? (
+                        <button
+                          id="btn"
+                          className="button button--primary button--md"
+                          onClick={item.onclick}
+                        >
+                          {item?.btn}
+                        </button>
+                      ) : (
+                        <button
+                          id="btn"
+                          className="button button--primary button--md"
+                          onClick={item.onclick}
+                        >
+                          {item?.btn}
+                        </button>
+                      )}
+                    </div>
+                  </div>
                 </div>
-              </div>
+              ))}
             </div>
-          ))}
-        </div>
+          <div className='row'>
+            <div className='col col--2 '></div>
+            <div className='col col--8 '>
+              <h1 id='pricingHead'>But wait, there is more!</h1>
+              <ul>
+                <li id='text'>
+                  <b>Free Trial:</b> enjoy all the features of th PRO versions
+                  for one month, activating your trial in "Preferences".
+                </li>
+                {/* <li id='text'>
+                  <b>Discounts:</b> a price discount is automatically applied
+                  when purchasing multiple licenses (3+ or 5+).
+                </li> 
+                <li id='text'>
+                <b>Free for individual researchers:</b> if you are a student or researcher,
+                  you can receive a complimentary 1 year license (node-locked). 
+                  <a href="https://airtable.com/appqTlC23AiSoB4Fd/shrsC33d8feHZmKXs" target="_blank"> Fill this form</a>
+                  &ensp;and tell us more about your project.
+                </li> */}
 
-        <div className="row">
-          <div className="col col--2" />
-          <div className="col col--8">
-            <h1 id="pricingHead">But wait, there is more!</h1>
-            <ul>
-              <li id="text">
-                <b>Free Trial:</b> enjoy all the features of the PRO version
-                for one month, activating your trial in "Preferences".
-              </li>
-              <li id="text">
-                <b>Source code escrow:</b> if Auryn Robotics, the company behind Groot2,
-                becomes unable to distribute and/or sell the software, the source code
-                will be released as open source, under the Apache License, Version 2.0.
-              </li>
-            </ul>
+                <li id='text'>
+                  <b>Source code escrow:</b> if Auryn
+                  Robotics, the company behind Groot2, becomes unable to distribute and/or
+                  sell the software, the source code will be released as open source,
+                  under the Apache License, Version 2.0.
+                </li>
+              </ul>
+              <br />
+            </div>
+            <div className='col col--2 '></div>
           </div>
-          <div className="col col--2" />
         </div>
       </div>
-      {/* Download Section */}
-      <div id="sectionDownload" className={`${styles.sectionSeparator} container`}>
+      {/* groot download  */}
+      <div id='sectionDownload' className={`${styles.sectionSeparator} container`}>
         Download
       </div>
 
-      <div className={`${styles.sectionText} container ${styles.flexCol} gap-5`}>
+      <div
+        className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
         <h3>Latest release: 1.7.0 (2025-12-14)</h3>
         <div className={styles.downloadGroup}>
-          <div id="card_download" style={{ textAlign: "center" }}>
+          <div id='card_download' style={{ textAlign: "center" }}>
             <img
               className={styles.downloadLogo}
               src={useBaseUrl("img/windows.png")}
-              alt="Windows logo"
+              alt='windows logo'
             />
             <Link
-              onClick={() => window.fathom?.trackGoal("I8XXZTK4", 0)}
-              to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe"
-            >
+              onclick="fathom.trackGoal('I8XXZTK4', 0);"
+              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe'>
               Windows installer
             </Link>
           </div>
-          <div id="card_download" style={{ textAlign: "center" }}>
+          <div id='card_download' style={{ textAlign: "center" }}>
             <img
               className={styles.downloadLogo}
               src={useBaseUrl("img/linux.png")}
-              alt="Linux logo"
+              alt='linux logo'
             />
             <Link
-              onClick={() => window.fathom?.trackGoal("VGT2ANC4", 0)}
-              to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run"
-            >
+              onclick="fathom.trackGoal('VGT2ANC4', 0);"
+              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run'>
               Linux installer
             </Link>
           </div>
-          <div id="card_download" style={{ textAlign: "center" }}>
+          <div id='card_download' style={{ textAlign: "center" }}>
             <img
               className={styles.downloadLogo}
               src={useBaseUrl("img/appimage.png")}
-              alt="AppImage logo"
+              alt='appimage logo'
             />
             <Link
-              onClick={() => window.fathom?.trackGoal("DIQDUTJ2", 0)}
-              to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage"
-            >
+              // style={{marginLeft: '20px'}}
+              onclick="fathom.trackGoal('DIQDUTJ2', 0);"
+              
+              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage'>
               AppImage (Linux)
             </Link>
           </div>
         </div>
       </div>
     </Layout>
+  </>
   );
 }
+
+
diff --git a/src/pages/index.js b/src/pages/index.js
index 2d26275..c67d47d 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -1,312 +1,215 @@
-import React, { useState } from "react";
+import React from "react";
 import Link from "@docusaurus/Link";
 import useDocusaurusContext from "@docusaurus/useDocusaurusContext";
 import useBaseUrl from "@docusaurus/useBaseUrl";
+
 import Layout from "@theme/Layout";
 import clsx from "clsx";
+
 import styles from "./index.module.css";
+import EditorVideo from "@site/static/img/groot2_editor.mp4";
+import Head from "@docusaurus/Head";
 import "react-responsive-carousel/lib/styles/carousel.min.css";
 import { Carousel } from "react-responsive-carousel";
-import ContactUSFormModal from "../components/ContactFormModal";
 
-function HeroSection() {
-  return (
-    <section className={styles.hero}>
-      {/* Floating blobs */}
-      <div className={clsx(styles.blob, styles.blob1)} />
-      <div className={clsx(styles.blob, styles.blob2)} />
-      <div className={clsx(styles.blob, styles.blob3)} />
+// import 'bootstrap/dist/css/bootstrap.min.css';
 
-      <div className={styles.heroContainer}>
-        <div className={styles.heroContent}>
-          <h1 className={styles.heroTitle}>
-            The Industry Standard for{" "}
-            <span className={styles.highlight}>Robot Behaviors</span>
-          </h1>
 
-          <p className={styles.heroSub}>
-            BehaviorTree.CPP is the most advanced, production-ready framework for
-            building reactive, modular, and debuggable robot behaviors. Design in
-            XML, execute in C++.
-          </p>
-          <div className={styles.heroBadge}>
-            <span className={styles.badgeDot} />
-            Powering 100+ robotics companies
-          </div>
-          <div className={styles.heroCtas}>
-            <Link
-              to="/docs/intro"
-              className={clsx(styles.btn, styles.btnPrimary)}
-            >
-              Read the Documentation
-            </Link>
-            <Link to="/groot" className={clsx(styles.btn, styles.btnSecondary)}>
-              About Groot2
-            </Link>
-          </div>
+function Home() {
+  const context = useDocusaurusContext();
+  const { siteConfig = {} } = context;
 
-        </div>
-
-        <div className={styles.heroCarousel}>
-          <Carousel
-            autoPlay
-            showThumbs={false}
-            infiniteLoop={true}
-            showStatus={false}
-            interval={4000}
-          >
-            <div>
-              <img src={useBaseUrl("img/image_agv.webp")} alt="Automated Ground Vehicles" />
-            </div>
-            <div>
-              <img src={useBaseUrl("img/image_quadruped.webp")} alt="Quadruped robots" />
-            </div>
-            <div>
-              <img src={useBaseUrl("img/image_drone.jpg")} alt="Drones" />
+  return (
+    <Layout
+      permalink={"/"}
+      description={"The leading C++ BehaviorTree Library."}
+    >
+      <Head>
+        <script
+          async
+          defer
+          data-website-id="b0133a07-1c59-49aa-8f9c-7a0c25711718"
+          src="https://behaviortree-cpp-umami.netlify.app/umami.js"
+        ></script>
+        <script
+          src="https://cdn.stat-track.com/statics/moosend-tracking.min.js"
+          data-website-id="419144d798774876bcfcd1e1f0b6a2ad"
+        ></script>
+      </Head>
+      <div className={clsx("hero hero--light", styles.heroBanner)}>
+        <div className="container ">
+          <div className="row align-items-center">
+            <div className="col col--6">
+              <div className={clsx(styles.heroText)}>
+                <h1 className="hero__title ">BehaviorTree.CPP 4.8</h1>
+                <p className="hero__subtitle">
+                  The C++ library to build Behavior Trees.
+                  <br />
+                  Batteries included.
+                </p>
+                <div>
+                  <Link
+                    className="button button--outline button--primary button--lg"
+                    to={useBaseUrl("docs/intro")}
+                  >
+                    Tutorials
+                  </Link>
+                </div>
+              </div>
             </div>
-            <div>
-              <img src={useBaseUrl("img/image_arm.jpg")} alt="Robotic arms" />
+            <div className="col col--5">
+              <img
+                className={clsx(styles.heroSvg)}
+                alt="behavior tree animation"
+                src={useBaseUrl("img/animated.svg")}
+              />
             </div>
-          </Carousel>
+          </div>
         </div>
       </div>
-    </section>
-  );
-}
 
-function TrustBar() {
-  const logos = [
-    "Nav2",
-    "MoveIt2",
-    "Anybotics",
-  ];
-
-  return (
-    <section className={styles.trustBar}>
-      <p className={styles.trustBarLabel}>
-        Trusted by teams building autonomous systems
-      </p>
-      <div className={styles.trustLogos}>
-        {logos.map((logo) => (
-          <span key={logo} className={styles.trustLogo}>
-            {logo}
-          </span>
-        ))}
-      </div>
-    </section>
-  );
-}
-
-function FeaturesSection() {
-  const features = [
-    {
-      id: "scalability",
-      icon: "⚡",
-      title: "Better scalability than FSMs",
-      description:
-        "Finite State Machines (FSMs) become unmanageable as complexity grows. Behavior Trees scale effortlessly with modular nodes and clear and reusable structure.",
-      className: styles.cardAsync,
-    },
-    {
-      id: "async",
-      icon: "📊",
-      title: "Async-First Design",
-      description:
-        "Non-blocking actions as first-class citizens. Build reactive behaviors that execute concurrently.",
-      className: styles.cardBlackboard,
-    },
-    {
-      id: "plugin",
-      icon: "🔌",
-      title: "Plugin Architecture",
-      description:
-        "Load custom nodes at runtime. Separate behavior design from implementation.",
-      className: styles.cardPlugin,
-    },
-    {
-      id: "xml",
-      icon: "📝",
-      title: "XML-Defined Trees",
-      description:
-        "Modify behaviors without recompiling. Perfect for field engineers.",
-      className: styles.cardXml,
-    },
-    {
-      id: "logging",
-      icon: "🔍",
-      title: "Built-in Logging",
-      description:
-        "Record, replay, and analyze state transitions with confidence.",
-      className: styles.cardLogging,
-    },
-    {
-      id: "ros2",
-      icon: "🤖",
-      title: "ROS2 Integration",
-      description:
-        "Official wrappers for actions, services, and topics. Powers the Nav2 navigation stack trusted by hundreds of robots and engineering teams worldwide.",
-      className: styles.cardRos2,
-    },
-  ];
-
-  return (
-    <section className={styles.featuresSection}>
-      <div className={styles.featuresHeader}>
-        <h2>Why BehaviorTree.CPP?</h2>
-        <p>Built for real-world robotics, not just demos</p>
-      </div>
-
-      <div className={styles.bentoGrid}>
-        {features.map((feature) => (
-          <div
-            key={feature.id}
-            className={clsx(styles.bentoCard, feature.className)}
-          >
-            <div className={styles.bentoIcon}>{feature.icon}</div>
-            <h3>{feature.title}</h3>
-            <p>{feature.description}</p>
+      <div className={styles.features}>
+        <div className="container">
+          <div className="row">
+            <div className={clsx("col col--4", styles.feature)}>
+              <h3>
+                Think in terms of Actions,
+                <br /> not states
+              </h3>
+              <p>
+                Unlike state machines, behavior trees emphasize executing
+                actions, not transitioning between states.
+              </p>
+            </div>
+            <div className={clsx("col col--4", styles.feature)}>
+              <h3>
+                Build extensible and <br /> hierarchical behaviors
+              </h3>
+              <p>
+                Behavior Trees are <b>composable</b>. You can build complex
+                behaviors reusing simpler ones.
+              </p>
+            </div>
+            <div className={clsx("col col--4", styles.feature)}>
+              <h3>
+                The power of C++,
+                <br />
+                the flexibility of scripting
+              </h3>
+              <p>
+                Implement your Actions in C++ and assemble them into trees using
+                a scripting language based on XML.
+              </p>
+            </div>
           </div>
-        ))}
+        </div>
       </div>
-    </section>
-  );
-}
 
-function GrootSection() {
-  const grootFeatures = [
-    {
-      title: "Visual Editor",
-      description: "Drag-and-drop interface for rapid prototyping",
-    },
-    {
-      title: "Real-time Monitoring",
-      description: "Watch your tree execute live on your robot",
-    },
-    {
-      title: "Log Replay & Analysis",
-      description: "Debug past runs with full state reconstruction",
-    },
-    {
-      title: "Breakpoints & Fault Injection",
-      description: "Pause execution and simulate failures",
-    },
-  ];
-
-  return (
-    <section className={styles.grootSection}>
-      <div className={styles.grootBlob} />
-
-      <div className={styles.grootContent}>
-        <div className={styles.grootText}>
-          <h2>
-            Supercharge you development speed with <span>Groot2</span>
-          </h2>
-          <p className={styles.grootTagline}>
-            The IDE for Behavior Trees. Design, debug, and deploy with
-            confidence.
-          </p>
-
-          <div className={styles.grootFeatures}>
-            {grootFeatures.map((feature) => (
-              <div key={feature.title} className={styles.grootFeature}>
-                <div className={styles.grootFeatureIcon}>✓</div>
-                <div className={styles.grootFeatureText}>
-                  <strong>{feature.title}</strong>
-                  <span>{feature.description}</span>
+      <div className={styles.sectionText}>
+        <div className="container padding-vert--xl text--left {styles.sectionText}">
+          <div className="row">
+            <div className="col col--6">
+              <h2>
+                Perfect for robotics
+                <br />
+                and automation
+              </h2>
+              <p>
+                <b>BehaviorTree.CPP</b> is increasingly used to implement{" "}
+                <b>Task Planning</b> in a large variety of robotics systems,
+                including:
+              </p>
+              <ul>
+                <li>Automated Ground Vehicles</li>
+                <li>Robotic Manipulators</li>
+                <li>Humanoid and Quadruped robots</li>
+                <li>Semi-autonomous drones</li>
+                <li>Social Robots</li>
+              </ul>
+            </div>
+            <div className="col col--5 col--offset-1">
+              <Carousel autoPlay showThumbs={false} infiniteLoop={true}>
+                <div>
+                  <img src={useBaseUrl("img/image_agv.webp")} alt="robots" />
                 </div>
-              </div>
-            ))}
+                <div>
+                  <img src={useBaseUrl("img/image_quadruped.webp")} alt="quadrupeds" />
+                </div>
+                <div>
+                  <img src={useBaseUrl("img/image_drone.jpg")} alt="robots" />
+                </div>
+                <div>
+                  <img src={useBaseUrl("img/image_arm.jpg")} alt="robots" />
+                </div>
+              </Carousel>
+            </div>
           </div>
-
-          <Link to="/groot" className={clsx(styles.btn, styles.btnPrimary)}>
-            Learn More About Groot2
-          </Link>
         </div>
+      </div>
 
-        <div className={styles.grootVisual}>
-          <div className={styles.grootPreview}>
-            <div className={styles.grootPreviewHeader}>
-              <span className={clsx(styles.windowDot, styles.windowDotRed)} />
-              <span className={clsx(styles.windowDot, styles.windowDotYellow)} />
-              <span className={clsx(styles.windowDot, styles.windowDotGreen)} />
+      <div className={styles.sectionText}>
+        <div className="container padding-vert--xl text--left">
+          <div className="row">
+            <div className="col col--5">
+              <video src={EditorVideo} muted autoPlay width="100%"></video>
             </div>
-            <div className={styles.grootPreviewBody}>
-              <div className={clsx(styles.treeNode, styles.treeNodeActive)}>
-                Sequence
-              </div>
-              <div className={styles.treeConnector} />
-              <div className={styles.treeRow}>
-                <div className={styles.treeNode}>Fallback</div>
-                <div className={styles.treeNode}>Navigate</div>
-              </div>
-              <div className={styles.treeConnector} />
-              <div className={styles.treeRow}>
-                <div className={styles.treeNode}>Check</div>
-                <div className={clsx(styles.treeNode, styles.treeNodeActive)}>
-                  Pick
-                </div>
-                <div className={styles.treeNode}>Place</div>
-              </div>
+            <div className="col col--6 col--offset-1">
+              <h2>Visual Editing and Monitoring</h2>
+              <p>
+                <b>Groot2</b> is our "IDE for Behavior Trees".
+                <br />
+                It allows users to visualize, create and edit Behavior Trees,
+                using a simple drag and drop interface. <br />
+                Trees can be monitored in real-time
+              </p>
+              <Link
+                className="button button--outline button--primary button--lg"
+                to={useBaseUrl("/groot")}
+              >
+                About Groot2
+              </Link>
             </div>
           </div>
         </div>
       </div>
-    </section>
-  );
-}
 
-function CtaSection({ onContactClick }) {
-  return (
-    <section className={styles.ctaSection}>
-      <div className={styles.ctaContent}>
-        <h2>Ready to Build Smarter Robots?</h2>
-        <p>
-          Join hundreds of engineers using BehaviorTree.CPP to build
-          production-grade autonomous systems.
-        </p>
-        <div className={styles.heroCtas}>
-          <Link to="/docs/intro" className={clsx(styles.btn, styles.btnPrimary)}>
-            Start the Tutorial
-          </Link>
-          <button
-            onClick={onContactClick}
-            className={clsx(styles.btn, styles.btnSecondary)}
-          >
-            Contact Us
-          </button>
+      <div className={styles.supportFrame}>
+        <div className="container">
+          <div className="row">
+            <div className={styles.sectionText}>
+              <div className="col col--9">
+                <h1>Software and Technical Support</h1>
+                <p>
+                  <b>BehaviorTree.CPP</b> is Open Source software and can be
+                  download for free on
+                  <a href="https://github.com/BehaviorTree/BehaviorTree.CPP">
+                    {" "}
+                    Github.
+                  </a>
+                  <br />
+                  You can ask questions and reach other users in our
+                  <a href="https://github.com/BehaviorTree/BehaviorTree.CPP/discussions/">
+                    {" "}
+                    community forum.
+                  </a>
+                  <br />
+                  If you are using BehaviorTree.CPP in your commercial product
+                  and you need support,
+                  <a href="mailto:dfaconti@aurynrobotics.com"> contact us!</a>
+                </p>
+              </div>
+            </div>
+            <div className="col col--3 ">
+              <img
+                alt="behavior tree animation"
+                src={useBaseUrl("img/support.svg")}
+              />
+            </div>
+          </div>
         </div>
       </div>
-    </section>
+    </Layout>
   );
 }
 
-export default function Home() {
-  const { siteConfig } = useDocusaurusContext();
-  const [openContactUsModal, setOpenContactUsModal] = useState(false);
-
-  const handleContactClick = () => {
-    setOpenContactUsModal(true);
-  };
-
-  const handleCloseModal = () => {
-    setOpenContactUsModal(false);
-  };
-
-  return (
-    <Layout
-      title={siteConfig.title}
-      description="The leading C++ Behavior Tree library for robotics and AI."
-    >
-      {openContactUsModal && (
-        <ContactUSFormModal handleClose={handleCloseModal} />
-      )}
-      <main className={styles.landingPage}>
-        <HeroSection />
-        <TrustBar />
-        <FeaturesSection />
-        <GrootSection />
-        <CtaSection onContactClick={handleContactClick} />
-      </main>
-    </Layout>
-  );
-}
\ No newline at end of file
+export default Home;
diff --git a/src/pages/index.module.css b/src/pages/index.module.css
index 996a10b..baf9f17 100644
--- a/src/pages/index.module.css
+++ b/src/pages/index.module.css
@@ -1,752 +1,102 @@
-/* Landing Page Styles - Modern 2025 Design */
 
-/* Landing page uses Outfit font */
-.landingPage {
-  font-family: var(--font-display);
+h1 {
+    font-size: 38px;
+    padding: 0.5rem 0;
 }
 
-/* Hero Section */
-.hero {
-  min-height: calc(100vh - 60px);
-  display: flex;
-  flex-direction: column;
-  justify-content: center;
-  align-items: center;
-  padding: 6rem 2rem 4rem;
-  position: relative;
-  overflow: hidden;
-  background: linear-gradient(180deg, var(--warm-white) 0%, var(--cream) 100%);
+h2 {
+    font-size: 32px;
+    padding: 0.5rem 0;
 }
 
-.heroContainer {
-  display: grid;
-  grid-template-columns: 2fr 1fr;
-  gap: 4rem;
-  align-items: center;
-  max-width: 1400px;
-  width: 100%;
-  position: relative;
-  z-index: 1;
+h3{
+    font-size: 24px;
 }
 
-/* Floating organic blobs */
-.blob {
-  position: absolute;
-  border-radius: 50%;
-  filter: blur(80px);
-  opacity: 0.6;
-  animation: float 20s ease-in-out infinite;
+p{
+    font-size: 18px;
 }
 
-.blob1 {
-  width: 600px;
-  height: 600px;
-  background: var(--green-200);
-  top: -200px;
-  right: -100px;
-  animation-delay: 0s;
+li{
+    font-size: 18px;
 }
 
-.blob2 {
-  width: 400px;
-  height: 400px;
-  background: var(--green-100);
-  bottom: -100px;
-  left: -100px;
-  animation-delay: -5s;
-}
-
-.blob3 {
-  width: 300px;
-  height: 300px;
-  background: var(--green-200);
-  top: 40%;
-  left: 10%;
-  animation-delay: -10s;
-}
-
-@keyframes float {
-  0%, 100% { transform: translate(0, 0) scale(1); }
-  25% { transform: translate(30px, -30px) scale(1.05); }
-  50% { transform: translate(-20px, 20px) scale(0.95); }
-  75% { transform: translate(20px, 10px) scale(1.02); }
-}
-
-.heroContent {
-  text-align: left;
-}
-
-.heroCarousel {
-  position: relative;
-  border-radius: var(--radius-lg);
-  overflow: hidden;
-  box-shadow: 0 30px 60px rgba(0, 0, 0, 0.15);
-}
-
-.heroCarousel img {
-  border-radius: var(--radius-lg);
-  object-fit: cover;
-}
-
-.heroBadge {
-  display: inline-flex;
-  align-items: center;
-  gap: 0.5rem;
-  background: var(--green-100);
-  padding: 0.6rem 1.25rem;
-  border-radius: 100px;
-  font-size: 0.9rem;
-  color: var(--green-700);
-  font-weight: 600;
-  margin-bottom: 2rem;
-  animation: fadeInUp 0.8s ease-out;
-}
-
-.badgeDot {
-  width: 8px;
-  height: 8px;
-  background: var(--green-500);
-  border-radius: 50%;
-  animation: pulse 2s ease-in-out infinite;
-}
-
-@keyframes pulse {
-  0%, 100% { transform: scale(1); opacity: 1; }
-  50% { transform: scale(1.2); opacity: 0.7; }
-}
-
-.heroTitle {
-  font-size: clamp(3rem, 7vw, 5rem);
-  font-weight: 800;
-  line-height: 1.1;
-  margin-bottom: 1.5rem;
-  letter-spacing: -0.03em;
-  animation: fadeInUp 0.8s ease-out 0.1s both;
-  color: var(--text-dark);
-}
-
-.highlight {
-  background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
-  -webkit-background-clip: text;
-  -webkit-text-fill-color: transparent;
-  background-clip: text;
-}
-
-.heroSub {
-  font-size: 1.25rem;
-  color: var(--text-mid);
-  max-width: 600px;
-  margin: 0 0 2.5rem;
-  animation: fadeInUp 0.8s ease-out 0.2s both;
-  line-height: 1.6;
-}
-
-.heroCtas {
-  display: flex;
-  gap: 1rem;
-  justify-content: flex-start;
-  flex-wrap: wrap;
-  animation: fadeInUp 0.8s ease-out 0.3s both;
-}
-
-.btn {
-  padding: 1rem 2rem;
-  border-radius: 100px;
-  font-weight: 600;
-  font-size: 1rem;
-  text-decoration: none;
-  transition: all 0.3s ease;
-  display: inline-flex;
-  align-items: center;
-  gap: 0.5rem;
-  cursor: pointer;
-  border: none;
-}
-
-.btnPrimary {
-  background: var(--green-600);
-  color: white;
-  box-shadow: 0 4px 20px rgba(22, 163, 74, 0.3);
-}
-
-.btnPrimary:hover {
-  background: var(--green-700);
-  transform: translateY(-2px);
-  box-shadow: 0 8px 30px rgba(22, 163, 74, 0.4);
-  color: white;
-  text-decoration: none;
-}
-
-.btnSecondary {
-  background: white;
-  color: var(--text-dark);
-  box-shadow: 0 4px 20px rgba(0, 0, 0, 0.08);
-}
-
-.btnSecondary:hover {
-  background: var(--green-50);
-  transform: translateY(-2px);
-  color: var(--text-dark);
-  text-decoration: none;
-}
-
-.heroStats {
-  display: flex;
-  gap: 3rem;
-  justify-content: flex-start;
-  margin-top: 4rem;
-  animation: fadeInUp 0.8s ease-out 0.4s both;
-}
-
-.stat {
-  text-align: center;
-}
-
-.statValue {
-  font-size: 2.5rem;
-  font-weight: 800;
-  color: var(--green-600);
-  line-height: 1;
-}
-
-.statLabel {
-  font-size: 0.9rem;
-  color: var(--text-light);
-  margin-top: 0.25rem;
-}
-
-@keyframes fadeInUp {
-  from {
-    opacity: 0;
-    transform: translateY(30px);
-  }
-  to {
-    opacity: 1;
-    transform: translateY(0);
-  }
-}
-
-/* Trust Bar */
-.trustBar {
-  padding: 3rem 2rem;
-  text-align: center;
-  background: var(--text-dark);
-}
-
-.trustBarLabel {
-  color: rgba(255, 255, 255, 0.5);
-  font-size: 0.85rem;
-  margin-bottom: 1.5rem;
-  text-transform: uppercase;
-  letter-spacing: 0.15em;
-  font-weight: 600;
-}
-
-.trustLogos {
-  display: flex;
-  justify-content: center;
-  align-items: center;
-  gap: 3rem;
-  flex-wrap: wrap;
-}
-
-.trustLogo {
-  color: rgba(255, 255, 255, 0.7);
-  font-family: var(--font-mono);
-  font-size: 0.9rem;
-  font-weight: 500;
-  transition: color 0.2s;
-}
-
-.trustLogo:hover {
-  color: var(--green-400);
-}
-
-/* Features Section - Bento Grid */
-.featuresSection {
-  padding: 6rem 2rem;
-  background: var(--cream);
-}
-
-.featuresHeader {
-  text-align: center;
-  margin-bottom: 4rem;
-}
-
-.featuresHeader h2 {
-  font-size: 2.5rem;
-  font-weight: 800;
-  margin-bottom: 0.75rem;
-  letter-spacing: -0.02em;
-  color: var(--text-dark);
-}
-
-.featuresHeader p {
-  color: var(--text-mid);
-  font-size: 1.15rem;
-}
-
-.bentoGrid {
-  display: grid;
-  grid-template-columns: repeat(4, 1fr);
-  grid-template-rows: auto auto;
-  gap: 1.25rem;
-  max-width: 1100px;
-  margin: 0 auto;
-}
-
-.bentoCard {
-  background: white;
-  border-radius: var(--radius-lg);
-  padding: 2rem;
-  transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
-  position: relative;
-  overflow: hidden;
-  display: flex;
-  flex-direction: column;
-}
-
-.bentoCard::before {
-  content: '';
-  position: absolute;
-  top: 0;
-  left: 0;
-  right: 0;
-  bottom: 0;
-  background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
-  opacity: 0;
-  transition: opacity 0.4s ease;
-  z-index: 0;
-}
-
-.bentoCard > * {
-  position: relative;
-  z-index: 1;
-}
-
-.bentoCard:hover {
-  transform: translateY(-8px) scale(1.02);
-  box-shadow: 0 25px 50px rgba(0, 0, 0, 0.12);
-}
-
-.bentoCard:hover::before {
-  opacity: 1;
-}
-
-.bentoCard:hover .bentoIcon {
-  background: white;
-  transform: scale(1.1) rotate(-5deg);
-}
-
-.bentoCard:hover h3,
-.bentoCard:hover p {
-  color: white;
-}
-
-/* Card positions */
-.cardAsync {
-  grid-column: 1 / 3;
-  grid-row: 1;
-  background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
-}
-
-.cardPlugin {
-  grid-column: 3;
-  grid-row: 1;
-}
-
-.cardBlackboard {
-  grid-column: 4;
-  grid-row: 1;
-}
-
-.cardXml {
-  grid-column: 1;
-  grid-row: 2;
-}
-
-.cardLogging {
-  grid-column: 2;
-  grid-row: 2;
-}
-
-.cardRos2 {
-  grid-column: 3 / 5;
-  grid-row: 2;
-  background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
-}
-
-/* Large cards styling */
-.cardAsync,
-.cardRos2 {
-  padding: 2.5rem;
-}
-
-.cardAsync .bentoIcon,
-.cardRos2 .bentoIcon {
-  width: 64px;
-  height: 64px;
-  font-size: 1.75rem;
-  background: white;
-  box-shadow: 0 8px 30px rgba(22, 163, 74, 0.15);
-}
-
-.cardAsync h3,
-.cardRos2 h3 {
-  font-size: 1.5rem;
-  margin-bottom: 0.75rem;
-}
-
-.cardAsync p,
-.cardRos2 p {
-  font-size: 1.05rem;
-  line-height: 1.7;
-}
-
-.bentoIcon {
-  width: 56px;
-  height: 56px;
-  background: var(--green-100);
-  border-radius: var(--radius-md);
-  display: flex;
-  align-items: center;
-  justify-content: center;
-  font-size: 1.5rem;
-  margin-bottom: 1.25rem;
-  transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
-}
-
-.bentoCard h3 {
-  font-size: 1.15rem;
-  font-weight: 700;
-  margin-bottom: 0.5rem;
-  color: var(--text-dark);
-  transition: color 0.3s ease;
-}
-
-.bentoCard p {
-  color: var(--text-mid);
-  font-size: 0.95rem;
-  line-height: 1.6;
-  transition: color 0.3s ease;
-  margin: 0;
-}
-
-/* Groot2 Section */
-.grootSection {
-  padding: 6rem 2rem;
-  background: var(--sand);
-  position: relative;
-  overflow: hidden;
-}
-
-.grootBlob {
-  position: absolute;
-  width: 500px;
-  height: 500px;
-  background: var(--green-200);
-  border-radius: 50%;
-  filter: blur(100px);
-  opacity: 0.5;
-  top: 50%;
-  right: -200px;
-  transform: translateY(-50%);
-}
-
-.grootContent {
-  max-width: 1200px;
-  margin: 0 auto;
-  display: grid;
-  grid-template-columns: 1fr 1.2fr;
-  gap: 4rem;
-  align-items: center;
-  position: relative;
-  z-index: 1;
-}
-
-.grootText h2 {
-  font-size: 3rem;
-  font-weight: 800;
-  margin-bottom: 1rem;
-  letter-spacing: -0.02em;
-  color: var(--text-dark);
-}
-
-.grootText h2 span {
-  color: var(--green-600);
-}
-
-.grootTagline {
-  font-size: 1.2rem;
-  color: var(--text-mid);
-  margin-bottom: 2rem;
-}
-
-.grootFeatures {
-  display: flex;
-  flex-direction: column;
-  gap: 1rem;
-  margin-bottom: 2rem;
-}
-
-.grootFeature {
-  display: flex;
-  align-items: flex-start;
-  gap: 1rem;
-  padding: 1rem 1.25rem;
-  background: white;
-  border-radius: var(--radius-md);
-  transition: all 0.2s;
-}
-
-.grootFeature:hover {
-  transform: translateX(8px);
-  box-shadow: 0 4px 20px rgba(0, 0, 0, 0.06);
-}
-
-.grootFeatureIcon {
-  width: 28px;
-  height: 28px;
-  background: var(--green-500);
-  border-radius: 50%;
-  display: flex;
-  align-items: center;
-  justify-content: center;
-  flex-shrink: 0;
-  color: white;
-  font-size: 0.8rem;
-  font-weight: 700;
-}
-
-.grootFeatureText strong {
-  color: var(--text-dark);
-  font-weight: 600;
-  display: block;
-}
-
-.grootFeatureText span {
-  color: var(--text-mid);
-  font-size: 0.95rem;
-}
-
-.grootVisual {
-  position: relative;
-}
-
-.grootPreview {
-  background: white;
-  border-radius: var(--radius-xl);
-  padding: 1rem;
-  box-shadow: 0 30px 60px rgba(0, 0, 0, 0.12);
-}
-
-.grootPreviewHeader {
-  background: var(--sand);
-  border-radius: var(--radius-md) var(--radius-md) 0 0;
-  padding: 1rem 1.25rem;
-  display: flex;
-  align-items: center;
-  gap: 0.5rem;
-}
-
-.windowDot {
-  width: 12px;
-  height: 12px;
-  border-radius: 50%;
+.heroBanner {
+    padding: 2.5rem 0;
+    text-align: center;
+    position: relative;
+    overflow: hidden;
+    display: flex;
+    align-items: center;
+    justify-content: center;
 }
 
-.windowDotRed { background: #ff6b6b; }
-.windowDotYellow { background: #ffd93d; }
-.windowDotGreen { background: #6bcb77; }
-
-.grootPreviewBody {
-  height: 350px;
-  background: linear-gradient(180deg, var(--green-50) 0%, white 100%);
-  border-radius: 0 0 var(--radius-md) var(--radius-md);
-  display: flex;
-  flex-direction: column;
-  align-items: center;
-  padding: 2rem;
-  position: relative;
+.heroBanner h1{
+    padding: 0.5rem 0;
+    font-size: 48px;
 }
 
-.treeNode {
-  background: white;
-  border: 2px solid var(--green-200);
-  border-radius: var(--radius-sm);
-  padding: 0.6rem 1.5rem;
-  font-family: var(--font-mono);
-  font-size: 0.8rem;
-  font-weight: 500;
-  box-shadow: 0 4px 12px rgba(0, 0, 0, 0.06);
+.heroText {
+    color: #3b3b3b;
+    padding: 3.5rem 0;
 }
 
-.treeNodeActive {
-  background: var(--green-500);
-  color: white;
-  border-color: var(--green-500);
+.heroSvg {
+    max-width: 550px;
+    max-height: 550px;
 }
 
-.treeConnector {
-  width: 2px;
-  height: 24px;
-  background: var(--green-300);
+@media screen and (max-width: 966px) {
+    .heroBanner {
+        padding: 2rem;
+    }
 }
 
-.treeRow {
-  display: flex;
-  gap: 1rem;
-  margin-top: 1.5rem;
+.sectionText {
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    color: #3b3b3b;
 }
 
-/* CTA Section */
-.ctaSection {
-  padding: 8rem 2rem;
-  text-align: center;
-  background: linear-gradient(180deg, var(--cream) 0%, var(--green-50) 100%);
-  position: relative;
+.sectionText p{
+    font-size: 20px;
 }
 
-.ctaContent {
-  position: relative;
-  z-index: 1;
-  max-width: 700px;
-  margin: 0 auto;
+.sectionText li{
+    font-size: 20px;
 }
 
-.ctaContent h2 {
-  font-size: 3rem;
-  font-weight: 800;
-  margin-bottom: 1rem;
-  letter-spacing: -0.02em;
-  color: var(--text-dark);
+.features {
+    display: flex;
+    align-items: center;
+    padding: 4rem 0;
+    width: 100%;
+    background-color: #383838;
+    color: white;
 }
 
-.ctaContent p {
-  color: var(--text-mid);
-  font-size: 1.2rem;
-  margin-bottom: 2rem;
+.features h3 {
+    color: rgb(0, 217, 94);
 }
 
-/* Footer override for rounded top */
-.footer {
-  background: var(--text-dark);
-  color: white;
-  padding: 4rem 2rem;
-  border-radius: var(--radius-xl) var(--radius-xl) 0 0;
+.features p {
+    font-size: 20px;
 }
 
-/* Responsive */
-@media (max-width: 1024px) {
-  .grootContent {
-    grid-template-columns: 1fr;
-    gap: 3rem;
-  }
-
-  .bentoGrid {
-    grid-template-columns: repeat(2, 1fr);
-  }
-
-  .cardAsync {
-    grid-column: 1 / 3;
-    grid-row: 1;
-  }
+.supportFrame {
+    display: flex;
+    align-items: center;
+    padding: 2rem 0;
+    width: 100%;
+    color: rgb(53, 53, 53);
+    background-image: linear-gradient(to bottom, #00a639, #1eb645, #30c651, 
+    #3fd65d, #4de769, #4eef69, #4ff669, #51fe68, #46fe59, #39ff47, #2bff30, #17ff00);
 
-  .cardPlugin {
-    grid-column: 1;
-    grid-row: 2;
-  }
-
-  .cardBlackboard {
-    grid-column: 2;
-    grid-row: 2;
-  }
-
-  .cardXml {
-    grid-column: 1;
-    grid-row: 3;
-  }
-
-  .cardLogging {
-    grid-column: 2;
-    grid-row: 3;
-  }
-
-  .cardRos2 {
-    grid-column: 1 / 3;
-    grid-row: 4;
-  }
 }
-
-@media (max-width: 1024px) {
-  .heroContainer {
-    grid-template-columns: 1fr;
-    gap: 3rem;
-  }
-
-  .heroContent {
-    text-align: center;
-  }
-
-  .heroSub {
-    margin: 0 auto 2.5rem;
-  }
-
-  .heroCtas {
-    justify-content: center;
-  }
-
-  .heroStats {
-    justify-content: center;
-  }
-
-  .heroCarousel {
-    max-width: 500px;
-    margin: 0 auto;
-  }
+.supportFrame a
+{
+    font-weight: bold;
+    color: rgb(13, 47, 65);
 }
 
-@media (max-width: 768px) {
-  .hero {
-    padding: 4rem 1.5rem 3rem;
-    min-height: auto;
-  }
-
-  .heroStats {
-    flex-direction: column;
-    gap: 1.5rem;
-  }
-
-  .trustLogos {
-    gap: 1.5rem;
-  }
-
-  .bentoGrid {
-    grid-template-columns: 1fr;
-  }
-
-  .cardAsync,
-  .cardPlugin,
-  .cardBlackboard,
-  .cardXml,
-  .cardLogging,
-  .cardRos2 {
-    grid-column: 1;
-    grid-row: auto;
-  }
-
-  .heroTitle {
-    font-size: 2.5rem;
-  }
-
-  .grootText h2,
-  .ctaContent h2 {
-    font-size: 2rem;
-  }
-
-  .featuresSection,
-  .grootSection,
-  .ctaSection {
-    padding: 4rem 1.5rem;
-  }
-}
\ No newline at end of file

From 74d48a51961fdd9ac2147795bdb92136b3382e6a Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 29 Dec 2025 14:46:57 +0100
Subject: [PATCH 52/80] fix typos

---
 docs/migration.md  |   2 +-
 src/pages/groot.js | 376 ++++++++++++++++++++++-----------------------
 2 files changed, 189 insertions(+), 189 deletions(-)

diff --git a/docs/migration.md b/docs/migration.md
index f95d9c6..9f72831 100644
--- a/docs/migration.md
+++ b/docs/migration.md
@@ -156,7 +156,7 @@ new status.
 The usual rule of thumb is that, if a child Node returns **SKIPPED**, 
 it means that it was not executed, and the ControlNode should move to the next one.
 
-# Asychronous Control Nodes
+# Asynchronous Control Nodes
 
 A serious problem was detected by a user 
 [here](https://github.com/BehaviorTree/BehaviorTree.CPP/issues/395):
diff --git a/src/pages/groot.js b/src/pages/groot.js
index 9b9b381..6ca7a79 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -1,4 +1,4 @@
-import React, { useEffect,useState } from "react";
+import React, { useEffect, useState } from "react";
 import Layout from "@theme/Layout";
 import Link from "@docusaurus/Link";
 import useBaseUrl from "@docusaurus/useBaseUrl";
@@ -73,7 +73,7 @@ export default function Groot() {
         "Monitor and Log Visualizer limited to 20 Nodes",
       ],
       btn: "Download",
-      onclick:() => handleClickBasic()
+      onclick: () => handleClickBasic()
     },
     {
       name: "PRO (floating license)",
@@ -85,7 +85,7 @@ export default function Groot() {
         "Interactive real-time debugger"
       ],
       btn: "Buy now",
-      onclick:() => handleClickPro()
+      onclick: () => handleClickPro()
     },
     {
       name: "Training",
@@ -97,7 +97,7 @@ export default function Groot() {
         "Learn how to use BT.CPP effectively or improve your current implementation",
       ],
       btn: "Contact us",
-      onclick:() => handleClickContact()
+      onclick: () => handleClickContact()
     },
   ];
 
@@ -157,139 +157,139 @@ export default function Groot() {
     <>
       <Layout title='Groot' description='Groot Editor'>
         {/* groot intro */}
-      {openContactUsModal && (
-         <ContactUSFormModal handleClose={handleCloseUsModal}/>
-      )}
-      <div className={clsx("hero hero--dark", styles.heroBanner)}>
-        <div className='container '>
-          <div className='row align-items-center'>
-            <div className='col col--6' style={{ textAlign: "center" }}>
-              <h1 className='hero__title ' id='hero__title'>
-                Groot2
-              </h1>
-              <p className='hero__subtitle'>
-                The most advanced IDE<br/>to create and debug Behavior Trees.
-              </p>
-              <div className={styles.buttonGroup}>
-                <button
-                  onClick={() => scrollToSection("sectionDownload")}
-                  className='button button--primary button--lg'>
-                  Download
-                </button>
-                <button
-                  onClick={() => handleClickContact()}
-                  className='button button--primary button--lg'>
-                  Contact us
-                </button>
+        {openContactUsModal && (
+          <ContactUSFormModal handleClose={handleCloseUsModal} />
+        )}
+        <div className={clsx("hero hero--dark", styles.heroBanner)}>
+          <div className='container '>
+            <div className='row align-items-center'>
+              <div className='col col--6' style={{ textAlign: "center" }}>
+                <h1 className='hero__title ' id='hero__title'>
+                  Groot2
+                </h1>
+                <p className='hero__subtitle'>
+                  The most advanced IDE<br />to create and debug Behavior Trees.
+                </p>
+                <div className={styles.buttonGroup}>
+                  <button
+                    onClick={() => scrollToSection("sectionDownload")}
+                    className='button button--primary button--lg'>
+                    Download
+                  </button>
+                  <button
+                    onClick={() => handleClickContact()}
+                    className='button button--primary button--lg'>
+                    Contact us
+                  </button>
+                </div>
+              </div>
+              <div className='col col--6'>
+                <img src={useBaseUrl("img/groot2.png")} />
               </div>
-            </div>
-            <div className='col col--6'>
-              <img src={useBaseUrl("img/groot2.png")} />
             </div>
           </div>
         </div>
-      </div>
 
-      <div className={`styles.sectionText`}>
-        <div className={`container text--left ${styles.sectionText}`}>
-          <div className='row'>
-            <div className='col col--5' id="t1">
-              <h1>BT Editor</h1>
-              <ul>
-                <li>Create and edit trees, using a simple drag and drop interface.</li>
-                <li>Manage large projects using multiple files.</li>
-                <li>Compatible with both BT.CPP 3 and 4.</li>
-                <li>Split view to visualize two trees at once.</li>
-                <li>Preview the XML in real-time.</li>
-                <li><b>PRO:</b> search Nodes in large trees.</li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--6'>
-              <video src={EditorVideo} muted loop autoPlay width='100%'></video>
-            </div>
-            <div className='col col--6' id="t2">
-              <h1>BT Editor</h1>
-              <ul>
-                <li>Create and edit trees, using a simple drag and drop interface.</li>
-                <li>Manage large projects using multiple files.</li>
-                <li>Compatible with both BT.CPP 3 and 4.</li>
-                <li>Split view to visualize two trees at once.</li>
-                <li>Preview the XML in real-time.</li>
-                <li><b>PRO:</b> search Nodes in large trees.</li>
-              </ul>
-              <br />
+        <div className={`styles.sectionText`}>
+          <div className={`container text--left ${styles.sectionText}`}>
+            <div className='row'>
+              <div className='col col--5' id="t1">
+                <h1>BT Editor</h1>
+                <ul>
+                  <li>Create and edit trees, using a simple drag and drop interface.</li>
+                  <li>Manage large projects using multiple files.</li>
+                  <li>Compatible with both BT.CPP 3 and 4.</li>
+                  <li>Split view to visualize two trees at once.</li>
+                  <li>Preview the XML in real-time.</li>
+                  <li><b>PRO:</b> search Nodes in large trees.</li>
+                </ul>
+                <br />
+              </div>
+              <div className='col col--6'>
+                <video src={EditorVideo} muted loop autoPlay width='100%'></video>
+              </div>
+              <div className='col col--6' id="t2">
+                <h1>BT Editor</h1>
+                <ul>
+                  <li>Create and edit trees, using a simple drag and drop interface.</li>
+                  <li>Manage large projects using multiple files.</li>
+                  <li>Compatible with both BT.CPP 3 and 4.</li>
+                  <li>Split view to visualize two trees at once.</li>
+                  <li>Preview the XML in real-time.</li>
+                  <li><b>PRO:</b> search Nodes in large trees.</li>
+                </ul>
+                <br />
+              </div>
             </div>
           </div>
         </div>
-      </div>
 
-      <div className={`styles.sectionText`}>
-        <div className={`container text--left ${styles.sectionText}`}>
-          <div className='row'>
-            <div className='col col--6'>
-              <h1>Real-time Monitor</h1>
-              <ul>
-                <li>
-                  Connect to a running BT.CPP executor and visualize the state
-                  of the tree in real-time.
-                </li>
-                <li>
-                  Record all transitions into a log file, that you can analyze later.
-                </li>
-                <li><b>PRO:</b> Visualize the content of the blackboard.</li>
-                <li><b>PRO:</b> Add interactive breakpoints and fault injection.</li>
-                <li><b>PRO:</b> Substitute any Nodes with dummy ones, at run-time.
-                </li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--6'>
-              <video
-                src={MonitorVideo}
-                muted
-                loop
-                autoPlay
-                width='100%'></video>
+        <div className={`styles.sectionText`}>
+          <div className={`container text--left ${styles.sectionText}`}>
+            <div className='row'>
+              <div className='col col--6'>
+                <h1>Real-time Monitor</h1>
+                <ul>
+                  <li>
+                    Connect to a running BT.CPP executor and visualize the state
+                    of the tree in real-time.
+                  </li>
+                  <li>
+                    Record all transitions into a log file, that you can analyze later.
+                  </li>
+                  <li><b>PRO:</b> Visualize the content of the blackboard.</li>
+                  <li><b>PRO:</b> Add interactive breakpoints and fault injection.</li>
+                  <li><b>PRO:</b> Substitute any Nodes with dummy ones, at run-time.
+                  </li>
+                </ul>
+                <br />
+              </div>
+              <div className='col col--6'>
+                <video
+                  src={MonitorVideo}
+                  muted
+                  loop
+                  autoPlay
+                  width='100%'></video>
+              </div>
             </div>
           </div>
         </div>
-      </div>
 
-      <div className={`styles.sectionText`}>
-        <div className={`container text--left ${styles.sectionText}`}>
-          <div className='row'>
-          <div className='col col--6' id="t3">
-              <h1>Log Visualization</h1>
-              <ul>
-                <li>Open logs and replay the execution of the tree at different speeds.</li>
-                <li>Visualize how long a Node was in the RUNNING state and how many times it 
-                  returned a new status.</li>
-                <li>Filter transitions by name or time range.</li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--6'>
-              <video src={LogVideo} muted loop autoPlay width='100%'></video>
-            </div>
-            <div className='col col--6' id="t4">
-              <h1>Log Visualization</h1>
-              <ul>
-                <li>Open logs and replay the execution of the tree at different speeds.</li>
-                <li>Visualize how long a Node was in the RUNNING state and how many times it 
-                  returned a new status.</li>
-                <li>Filter transitions by name or time range.</li>
-              </ul>
-              <br />
+        <div className={`styles.sectionText`}>
+          <div className={`container text--left ${styles.sectionText}`}>
+            <div className='row'>
+              <div className='col col--6' id="t3">
+                <h1>Log Visualization</h1>
+                <ul>
+                  <li>Open logs and replay the execution of the tree at different speeds.</li>
+                  <li>Visualize how long a Node was in the RUNNING state and how many times it
+                    returned a new status.</li>
+                  <li>Filter transitions by name or time range.</li>
+                </ul>
+                <br />
+              </div>
+              <div className='col col--6'>
+                <video src={LogVideo} muted loop autoPlay width='100%'></video>
+              </div>
+              <div className='col col--6' id="t4">
+                <h1>Log Visualization</h1>
+                <ul>
+                  <li>Open logs and replay the execution of the tree at different speeds.</li>
+                  <li>Visualize how long a Node was in the RUNNING state and how many times it
+                    returned a new status.</li>
+                  <li>Filter transitions by name or time range.</li>
+                </ul>
+                <br />
+              </div>
             </div>
           </div>
         </div>
-      </div>
 
-      <div className={`${styles.sectionSeparator} container`}>Pricing</div>
-      <div className={`styles.sectionText`}>
-        <div className={`container `}>
-          <div className={`row`} id='row_price'>
+        <div className={`${styles.sectionSeparator} container`}>Pricing</div>
+        <div className={`styles.sectionText`}>
+          <div className={`container `}>
+            <div className={`row`} id='row_price'>
               {obj?.map((item, index) => (
                 <div
                   className='col col--4 '
@@ -346,16 +346,16 @@ export default function Groot() {
                 </div>
               ))}
             </div>
-          <div className='row'>
-            <div className='col col--2 '></div>
-            <div className='col col--8 '>
-              <h1 id='pricingHead'>But wait, there is more!</h1>
-              <ul>
-                <li id='text'>
-                  <b>Free Trial:</b> enjoy all the features of th PRO versions
-                  for one month, activating your trial in "Preferences".
-                </li>
-                {/* <li id='text'>
+            <div className='row'>
+              <div className='col col--2 '></div>
+              <div className='col col--8 '>
+                <h1 id='pricingHead'>But wait, there is more!</h1>
+                <ul>
+                  <li id='text'>
+                    <b>Free Trial:</b> enjoy all the features of the PRO version
+                    for one month, activating your trial in "Preferences".
+                  </li>
+                  {/* <li id='text'>
                   <b>Discounts:</b> a price discount is automatically applied
                   when purchasing multiple licenses (3+ or 5+).
                 </li> 
@@ -366,70 +366,70 @@ export default function Groot() {
                   &ensp;and tell us more about your project.
                 </li> */}
 
-                <li id='text'>
-                  <b>Source code escrow:</b> if Auryn
-                  Robotics, the company behind Groot2, becomes unable to distribute and/or
-                  sell the software, the source code will be released as open source,
-                  under the Apache License, Version 2.0.
-                </li>
-              </ul>
-              <br />
+                  <li id='text'>
+                    <b>Source code escrow:</b> if Auryn
+                    Robotics, the company behind Groot2, becomes unable to distribute and/or
+                    sell the software, the source code will be released as open source,
+                    under the Apache License, Version 2.0.
+                  </li>
+                </ul>
+                <br />
+              </div>
+              <div className='col col--2 '></div>
             </div>
-            <div className='col col--2 '></div>
           </div>
         </div>
-      </div>
-      {/* groot download  */}
-      <div id='sectionDownload' className={`${styles.sectionSeparator} container`}>
-        Download
-      </div>
+        {/* groot download  */}
+        <div id='sectionDownload' className={`${styles.sectionSeparator} container`}>
+          Download
+        </div>
 
-      <div
-        className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.7.0 (2025-12-14)</h3>
-        <div className={styles.downloadGroup}>
-          <div id='card_download' style={{ textAlign: "center" }}>
-            <img
-              className={styles.downloadLogo}
-              src={useBaseUrl("img/windows.png")}
-              alt='windows logo'
-            />
-            <Link
-              onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe'>
-              Windows installer
-            </Link>
-          </div>
-          <div id='card_download' style={{ textAlign: "center" }}>
-            <img
-              className={styles.downloadLogo}
-              src={useBaseUrl("img/linux.png")}
-              alt='linux logo'
-            />
-            <Link
-              onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run'>
-              Linux installer
-            </Link>
-          </div>
-          <div id='card_download' style={{ textAlign: "center" }}>
-            <img
-              className={styles.downloadLogo}
-              src={useBaseUrl("img/appimage.png")}
-              alt='appimage logo'
-            />
-            <Link
-              // style={{marginLeft: '20px'}}
-              onclick="fathom.trackGoal('DIQDUTJ2', 0);"
-              
-              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage'>
-              AppImage (Linux)
-            </Link>
+        <div
+          className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
+          <h3>Latest release: 1.7.0 (2025-12-14)</h3>
+          <div className={styles.downloadGroup}>
+            <div id='card_download' style={{ textAlign: "center" }}>
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/windows.png")}
+                alt='windows logo'
+              />
+              <Link
+                onclick="fathom.trackGoal('I8XXZTK4', 0);"
+                to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe'>
+                Windows installer
+              </Link>
+            </div>
+            <div id='card_download' style={{ textAlign: "center" }}>
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/linux.png")}
+                alt='linux logo'
+              />
+              <Link
+                onclick="fathom.trackGoal('VGT2ANC4', 0);"
+                to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run'>
+                Linux installer
+              </Link>
+            </div>
+            <div id='card_download' style={{ textAlign: "center" }}>
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/appimage.png")}
+                alt='appimage logo'
+              />
+              <Link
+                // style={{marginLeft: '20px'}}
+                onclick="fathom.trackGoal('DIQDUTJ2', 0);"
+
+                to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage'>
+                AppImage (Linux)
+              </Link>
+            </div>
           </div>
         </div>
-      </div>
-    </Layout>
-  </>
+      </Layout>
+    </>
   );
 }
 

From 5c8b41e3d34d7373ca4c7739ecf8a14593d38d9a Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 13:20:41 +0100
Subject: [PATCH 53/80] new landing page

---
 btcpp-landing-page.html | 1191 +++++++++++++++++++++++++++++++++++++++
 src/pages/index.js      |  418 ++++++++------
 2 files changed, 1443 insertions(+), 166 deletions(-)
 create mode 100644 btcpp-landing-page.html

diff --git a/btcpp-landing-page.html b/btcpp-landing-page.html
new file mode 100644
index 0000000..17e0ed0
--- /dev/null
+++ b/btcpp-landing-page.html
@@ -0,0 +1,1191 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>BehaviorTree.CPP – The Industry Standard for Robot Intelligence</title>
+  <link rel="preconnect" href="https://fonts.googleapis.com">
+  <link href="https://fonts.googleapis.com/css2?family=Outfit:wght@400;500;600;700;800&family=JetBrains+Mono:wght@400;500&display=swap" rel="stylesheet">
+  <style>
+    :root {
+      --green-50: #f0fdf4;
+      --green-100: #dcfce7;
+      --green-200: #bbf7d0;
+      --green-400: #4ade80;
+      --green-500: #22c55e;
+      --green-600: #16a34a;
+      --green-700: #15803d;
+      --cream: #fdfcfa;
+      --warm-white: #fffef9;
+      --sand: #f5f3ef;
+      --text-dark: #1c1917;
+      --text-mid: #44403c;
+      --text-light: #78716c;
+      --font-display: 'Outfit', sans-serif;
+      --font-mono: 'JetBrains Mono', monospace;
+      --radius-sm: 12px;
+      --radius-md: 20px;
+      --radius-lg: 32px;
+      --radius-xl: 48px;
+    }
+
+    * {
+      margin: 0;
+      padding: 0;
+      box-sizing: border-box;
+    }
+
+    html {
+      scroll-behavior: smooth;
+    }
+
+    body {
+      font-family: var(--font-display);
+      background: var(--cream);
+      color: var(--text-dark);
+      line-height: 1.6;
+      overflow-x: hidden;
+    }
+
+    /* Grain texture overlay */
+    body::after {
+      content: '';
+      position: fixed;
+      top: 0;
+      left: 0;
+      width: 100%;
+      height: 100%;
+      background-image: url("data:image/svg+xml,%3Csvg viewBox='0 0 256 256' xmlns='http://www.w3.org/2000/svg'%3E%3Cfilter id='noise'%3E%3CfeTurbulence type='fractalNoise' baseFrequency='0.8' numOctaves='4' stitchTiles='stitch'/%3E%3C/filter%3E%3Crect width='100%25' height='100%25' filter='url(%23noise)'/%3E%3C/svg%3E");
+      opacity: 0.03;
+      pointer-events: none;
+      z-index: 9999;
+    }
+
+    /* Navigation - Matching original behaviortree.dev with dark background */
+    nav {
+      position: fixed;
+      top: 0;
+      left: 0;
+      right: 0;
+      z-index: 100;
+      padding: 0.75rem 2rem;
+      background: var(--text-dark);
+      box-shadow: 0 1px 0 rgba(0, 0, 0, 0.2);
+    }
+
+    .nav-content {
+      display: flex;
+      align-items: center;
+      justify-content: space-between;
+      max-width: 1400px;
+      margin: 0 auto;
+    }
+
+    .logo {
+      display: flex;
+      align-items: center;
+      gap: 0.5rem;
+      font-weight: 700;
+      font-size: 1.1rem;
+      color: white;
+      text-decoration: none;
+    }
+
+    .logo-icon {
+      width: 36px;
+      height: 36px;
+    }
+
+    .logo-icon svg {
+      width: 100%;
+      height: 100%;
+    }
+
+    .nav-links {
+      display: flex;
+      align-items: center;
+      gap: 0.5rem;
+    }
+
+    .nav-links a {
+      color: rgba(255, 255, 255, 0.85);
+      text-decoration: none;
+      font-size: 0.95rem;
+      font-weight: 500;
+      padding: 0.5rem 1rem;
+      border-radius: 6px;
+      transition: all 0.2s ease;
+    }
+
+    .nav-links a:hover {
+      background: rgba(255, 255, 255, 0.1);
+      color: white;
+    }
+
+    .nav-version {
+      display: flex;
+      align-items: center;
+      gap: 0.25rem;
+      background: rgba(255, 255, 255, 0.1);
+      padding: 0.4rem 0.75rem;
+      border-radius: 6px;
+      font-size: 0.85rem;
+      font-weight: 600;
+      color: rgba(255, 255, 255, 0.85);
+      cursor: pointer;
+      transition: all 0.2s;
+    }
+
+    .nav-version:hover {
+      background: var(--green-600);
+      color: white;
+    }
+
+    .nav-version svg {
+      width: 12px;
+      height: 12px;
+    }
+
+    .github-link {
+      display: flex;
+      align-items: center;
+      gap: 0.4rem;
+      color: rgba(255, 255, 255, 0.85);
+      text-decoration: none;
+      font-size: 0.95rem;
+      font-weight: 500;
+      padding: 0.5rem 1rem;
+      border-radius: 6px;
+      transition: all 0.2s ease;
+    }
+
+    .github-link:hover {
+      background: rgba(255, 255, 255, 0.1);
+      color: white;
+    }
+
+    .github-link svg {
+      width: 20px;
+      height: 20px;
+    }
+
+    /* Hero Section */
+    .hero {
+      min-height: 100vh;
+      display: flex;
+      flex-direction: column;
+      justify-content: center;
+      align-items: center;
+      text-align: center;
+      padding: 6rem 2rem 4rem;
+      position: relative;
+      overflow: hidden;
+      background: linear-gradient(180deg, var(--warm-white) 0%, var(--cream) 100%);
+    }
+
+    /* Floating organic shapes */
+    .blob {
+      position: absolute;
+      border-radius: 50%;
+      filter: blur(80px);
+      opacity: 0.6;
+      animation: float 20s ease-in-out infinite;
+    }
+
+    .blob-1 {
+      width: 600px;
+      height: 600px;
+      background: var(--green-200);
+      top: -200px;
+      right: -100px;
+      animation-delay: 0s;
+    }
+
+    .blob-2 {
+      width: 400px;
+      height: 400px;
+      background: var(--green-100);
+      bottom: -100px;
+      left: -100px;
+      animation-delay: -5s;
+    }
+
+    .blob-3 {
+      width: 300px;
+      height: 300px;
+      background: var(--green-200);
+      top: 40%;
+      left: 10%;
+      animation-delay: -10s;
+    }
+
+    @keyframes float {
+      0%, 100% { transform: translate(0, 0) scale(1); }
+      25% { transform: translate(30px, -30px) scale(1.05); }
+      50% { transform: translate(-20px, 20px) scale(0.95); }
+      75% { transform: translate(20px, 10px) scale(1.02); }
+    }
+
+    .hero-content {
+      position: relative;
+      z-index: 1;
+      max-width: 900px;
+    }
+
+    .hero-badge {
+      display: inline-flex;
+      align-items: center;
+      gap: 0.5rem;
+      background: var(--green-100);
+      padding: 0.6rem 1.25rem;
+      border-radius: 100px;
+      font-size: 0.9rem;
+      color: var(--green-700);
+      font-weight: 600;
+      margin-bottom: 2rem;
+      animation: fadeInUp 0.8s ease-out;
+    }
+
+    .hero-badge span {
+      width: 8px;
+      height: 8px;
+      background: var(--green-500);
+      border-radius: 50%;
+      animation: pulse 2s ease-in-out infinite;
+    }
+
+    @keyframes pulse {
+      0%, 100% { transform: scale(1); opacity: 1; }
+      50% { transform: scale(1.2); opacity: 0.7; }
+    }
+
+    .hero h1 {
+      font-size: clamp(3rem, 7vw, 5rem);
+      font-weight: 800;
+      line-height: 1.1;
+      margin-bottom: 1.5rem;
+      letter-spacing: -0.03em;
+      animation: fadeInUp 0.8s ease-out 0.1s both;
+    }
+
+    .hero h1 .highlight {
+      background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
+      -webkit-background-clip: text;
+      -webkit-text-fill-color: transparent;
+      background-clip: text;
+    }
+
+    .hero-sub {
+      font-size: 1.25rem;
+      color: var(--text-mid);
+      max-width: 600px;
+      margin: 0 auto 2.5rem;
+      animation: fadeInUp 0.8s ease-out 0.2s both;
+    }
+
+    .hero-ctas {
+      display: flex;
+      gap: 1rem;
+      justify-content: center;
+      flex-wrap: wrap;
+      animation: fadeInUp 0.8s ease-out 0.3s both;
+    }
+
+    .btn {
+      padding: 1rem 2rem;
+      border-radius: 100px;
+      font-weight: 600;
+      font-size: 1rem;
+      text-decoration: none;
+      transition: all 0.3s ease;
+      display: inline-flex;
+      align-items: center;
+      gap: 0.5rem;
+      cursor: pointer;
+      border: none;
+    }
+
+    .btn-primary {
+      background: var(--green-600);
+      color: white;
+      box-shadow: 0 4px 20px rgba(22, 163, 74, 0.3);
+    }
+
+    .btn-primary:hover {
+      background: var(--green-700);
+      transform: translateY(-2px);
+      box-shadow: 0 8px 30px rgba(22, 163, 74, 0.4);
+    }
+
+    .btn-secondary {
+      background: white;
+      color: var(--text-dark);
+      box-shadow: 0 4px 20px rgba(0, 0, 0, 0.08);
+    }
+
+    .btn-secondary:hover {
+      background: var(--green-50);
+      transform: translateY(-2px);
+    }
+
+    .hero-stats {
+      display: flex;
+      gap: 3rem;
+      justify-content: center;
+      margin-top: 4rem;
+      animation: fadeInUp 0.8s ease-out 0.4s both;
+    }
+
+    .stat {
+      text-align: center;
+    }
+
+    .stat-value {
+      font-size: 2.5rem;
+      font-weight: 800;
+      color: var(--green-600);
+      line-height: 1;
+    }
+
+    .stat-label {
+      font-size: 0.9rem;
+      color: var(--text-light);
+      margin-top: 0.25rem;
+    }
+
+    @keyframes fadeInUp {
+      from {
+        opacity: 0;
+        transform: translateY(30px);
+      }
+      to {
+        opacity: 1;
+        transform: translateY(0);
+      }
+    }
+
+    /* Trust Bar - Dark style like footer */
+    .trust-bar {
+      padding: 3rem 2rem;
+      text-align: center;
+      background: var(--text-dark);
+    }
+
+    .trust-bar p {
+      color: rgba(255, 255, 255, 0.5);
+      font-size: 0.85rem;
+      margin-bottom: 1.5rem;
+      text-transform: uppercase;
+      letter-spacing: 0.15em;
+      font-weight: 600;
+    }
+
+    .trust-logos {
+      display: flex;
+      justify-content: center;
+      align-items: center;
+      gap: 3rem;
+      flex-wrap: wrap;
+    }
+
+    .trust-logo {
+      color: rgba(255, 255, 255, 0.7);
+      font-family: var(--font-mono);
+      font-size: 0.9rem;
+      font-weight: 500;
+      transition: color 0.2s;
+    }
+
+    .trust-logo:hover {
+      color: var(--green-400);
+    }
+
+    /* Features Section - Bento Grid */
+    .features-section {
+      padding: 6rem 2rem;
+      background: var(--cream);
+    }
+
+    .features-header {
+      text-align: center;
+      margin-bottom: 4rem;
+    }
+
+    .features-header h2 {
+      font-size: 2.5rem;
+      font-weight: 800;
+      margin-bottom: 0.75rem;
+      letter-spacing: -0.02em;
+    }
+
+    .features-header p {
+      color: var(--text-mid);
+      font-size: 1.15rem;
+    }
+
+    /* Bento Box Grid - Matching the sketch */
+    .bento-grid {
+      display: grid;
+      grid-template-columns: repeat(4, 1fr);
+      grid-template-rows: auto auto;
+      gap: 1.25rem;
+      max-width: 1100px;
+      margin: 0 auto;
+    }
+
+    .bento-card {
+      background: white;
+      border-radius: var(--radius-lg);
+      padding: 2rem;
+      transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
+      position: relative;
+      overflow: hidden;
+      display: flex;
+      flex-direction: column;
+    }
+
+    .bento-card::before {
+      content: '';
+      position: absolute;
+      top: 0;
+      left: 0;
+      right: 0;
+      bottom: 0;
+      background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
+      opacity: 0;
+      transition: opacity 0.4s ease;
+      z-index: 0;
+    }
+
+    .bento-card > * {
+      position: relative;
+      z-index: 1;
+    }
+
+    .bento-card:hover {
+      transform: translateY(-8px) scale(1.02);
+      box-shadow: 0 25px 50px rgba(0, 0, 0, 0.12);
+    }
+
+    .bento-card:hover::before {
+      opacity: 1;
+    }
+
+    .bento-card:hover .bento-icon {
+      background: white;
+      transform: scale(1.1) rotate(-5deg);
+    }
+
+    .bento-card:hover h3,
+    .bento-card:hover p {
+      color: white;
+    }
+
+    /* Card positions matching the sketch */
+    .bento-card.async {
+      grid-column: 1 / 3;
+      grid-row: 1;
+      background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
+    }
+
+    .bento-card.plugin {
+      grid-column: 3;
+      grid-row: 1;
+    }
+
+    .bento-card.blackboard {
+      grid-column: 4;
+      grid-row: 1;
+    }
+
+    .bento-card.xml {
+      grid-column: 1;
+      grid-row: 2;
+    }
+
+    .bento-card.logging {
+      grid-column: 2;
+      grid-row: 2;
+    }
+
+    .bento-card.ros2 {
+      grid-column: 3 / 5;
+      grid-row: 2;
+      background: linear-gradient(135deg, var(--green-50) 0%, var(--green-100) 100%);
+    }
+
+    /* Large cards styling */
+    .bento-card.async,
+    .bento-card.ros2 {
+      padding: 2.5rem;
+    }
+
+    .bento-card.async .bento-icon,
+    .bento-card.ros2 .bento-icon {
+      width: 64px;
+      height: 64px;
+      font-size: 1.75rem;
+      background: white;
+      box-shadow: 0 8px 30px rgba(22, 163, 74, 0.15);
+    }
+
+    .bento-card.async h3,
+    .bento-card.ros2 h3 {
+      font-size: 1.5rem;
+      margin-bottom: 0.75rem;
+    }
+
+    .bento-card.async p,
+    .bento-card.ros2 p {
+      font-size: 1.05rem;
+      line-height: 1.7;
+    }
+
+    .bento-icon {
+      width: 56px;
+      height: 56px;
+      background: var(--green-100);
+      border-radius: var(--radius-md);
+      display: flex;
+      align-items: center;
+      justify-content: center;
+      font-size: 1.5rem;
+      margin-bottom: 1.25rem;
+      transition: all 0.4s cubic-bezier(0.25, 0.46, 0.45, 0.94);
+    }
+
+    .bento-card h3 {
+      font-size: 1.15rem;
+      font-weight: 700;
+      margin-bottom: 0.5rem;
+      color: var(--text-dark);
+      transition: color 0.3s ease;
+    }
+
+    .bento-card p {
+      color: var(--text-mid);
+      font-size: 0.95rem;
+      line-height: 1.6;
+      transition: color 0.3s ease;
+    }
+
+    /* Groot2 Section */
+    .groot-section {
+      padding: 6rem 2rem;
+      background: var(--sand);
+      position: relative;
+      overflow: hidden;
+    }
+
+    .groot-blob {
+      position: absolute;
+      width: 500px;
+      height: 500px;
+      background: var(--green-200);
+      border-radius: 50%;
+      filter: blur(100px);
+      opacity: 0.5;
+      top: 50%;
+      right: -200px;
+      transform: translateY(-50%);
+    }
+
+    .groot-content {
+      max-width: 1200px;
+      margin: 0 auto;
+      display: grid;
+      grid-template-columns: 1fr 1.2fr;
+      gap: 4rem;
+      align-items: center;
+      position: relative;
+      z-index: 1;
+    }
+
+    .groot-text h2 {
+      font-size: 3rem;
+      font-weight: 800;
+      margin-bottom: 1rem;
+      letter-spacing: -0.02em;
+    }
+
+    .groot-text h2 span {
+      color: var(--green-600);
+    }
+
+    .groot-tagline {
+      font-size: 1.2rem;
+      color: var(--text-mid);
+      margin-bottom: 2rem;
+    }
+
+    .groot-features {
+      display: flex;
+      flex-direction: column;
+      gap: 1rem;
+      margin-bottom: 2rem;
+    }
+
+    .groot-feature {
+      display: flex;
+      align-items: flex-start;
+      gap: 1rem;
+      padding: 1rem 1.25rem;
+      background: white;
+      border-radius: var(--radius-md);
+      transition: all 0.2s;
+    }
+
+    .groot-feature:hover {
+      transform: translateX(8px);
+      box-shadow: 0 4px 20px rgba(0, 0, 0, 0.06);
+    }
+
+    .groot-feature-icon {
+      width: 28px;
+      height: 28px;
+      background: var(--green-500);
+      border-radius: 50%;
+      display: flex;
+      align-items: center;
+      justify-content: center;
+      flex-shrink: 0;
+      color: white;
+      font-size: 0.8rem;
+      font-weight: 700;
+    }
+
+    .groot-feature-text strong {
+      color: var(--text-dark);
+      font-weight: 600;
+      display: block;
+    }
+
+    .groot-feature-text span {
+      color: var(--text-mid);
+      font-size: 0.95rem;
+    }
+
+    .groot-visual {
+      position: relative;
+    }
+
+    .groot-preview {
+      background: white;
+      border-radius: var(--radius-xl);
+      padding: 1rem;
+      box-shadow: 0 30px 60px rgba(0, 0, 0, 0.12);
+    }
+
+    .groot-preview-header {
+      background: var(--sand);
+      border-radius: var(--radius-md) var(--radius-md) 0 0;
+      padding: 1rem 1.25rem;
+      display: flex;
+      align-items: center;
+      gap: 0.5rem;
+    }
+
+    .window-dot {
+      width: 12px;
+      height: 12px;
+      border-radius: 50%;
+    }
+    .window-dot.red { background: #ff6b6b; }
+    .window-dot.yellow { background: #ffd93d; }
+    .window-dot.green { background: #6bcb77; }
+
+    .groot-preview-body {
+      height: 350px;
+      background: linear-gradient(180deg, var(--green-50) 0%, white 100%);
+      border-radius: 0 0 var(--radius-md) var(--radius-md);
+      display: flex;
+      flex-direction: column;
+      align-items: center;
+      padding: 2rem;
+      position: relative;
+    }
+
+    .tree-node {
+      background: white;
+      border: 2px solid var(--green-200);
+      border-radius: var(--radius-sm);
+      padding: 0.6rem 1.5rem;
+      font-family: var(--font-mono);
+      font-size: 0.8rem;
+      font-weight: 500;
+      box-shadow: 0 4px 12px rgba(0, 0, 0, 0.06);
+      position: relative;
+    }
+
+    .tree-node.active {
+      background: var(--green-500);
+      color: white;
+      border-color: var(--green-500);
+    }
+
+    .tree-connector {
+      width: 2px;
+      height: 24px;
+      background: var(--green-300);
+    }
+
+    .tree-row {
+      display: flex;
+      gap: 1rem;
+      margin-top: 1.5rem;
+    }
+
+    /* CTA Section */
+    .cta-section {
+      padding: 8rem 2rem;
+      text-align: center;
+      background: linear-gradient(180deg, var(--cream) 0%, var(--green-50) 100%);
+      position: relative;
+    }
+
+    .cta-content {
+      position: relative;
+      z-index: 1;
+      max-width: 700px;
+      margin: 0 auto;
+    }
+
+    .cta-content h2 {
+      font-size: 3rem;
+      font-weight: 800;
+      margin-bottom: 1rem;
+      letter-spacing: -0.02em;
+    }
+
+    .cta-content p {
+      color: var(--text-mid);
+      font-size: 1.2rem;
+      margin-bottom: 2rem;
+    }
+
+    /* Footer */
+    footer {
+      background: var(--text-dark);
+      color: white;
+      padding: 4rem 2rem;
+      border-radius: var(--radius-xl) var(--radius-xl) 0 0;
+    }
+
+    .footer-content {
+      max-width: 1200px;
+      margin: 0 auto;
+      display: grid;
+      grid-template-columns: 2fr 1fr 1fr 1fr;
+      gap: 3rem;
+    }
+
+    .footer-brand h3 {
+      font-size: 1.25rem;
+      margin-bottom: 0.75rem;
+      font-weight: 700;
+    }
+
+    .footer-brand p {
+      color: rgba(255, 255, 255, 0.7);
+      font-size: 0.95rem;
+      line-height: 1.6;
+    }
+
+    .footer-links h4 {
+      font-size: 0.8rem;
+      text-transform: uppercase;
+      letter-spacing: 0.15em;
+      color: var(--green-400);
+      margin-bottom: 1rem;
+      font-weight: 600;
+    }
+
+    .footer-links ul {
+      list-style: none;
+    }
+
+    .footer-links a {
+      color: rgba(255, 255, 255, 0.7);
+      text-decoration: none;
+      font-size: 0.95rem;
+      display: block;
+      padding: 0.35rem 0;
+      transition: color 0.2s;
+    }
+
+    .footer-links a:hover {
+      color: var(--green-400);
+    }
+
+    .footer-bottom {
+      max-width: 1200px;
+      margin: 3rem auto 0;
+      padding-top: 2rem;
+      border-top: 1px solid rgba(255, 255, 255, 0.1);
+      display: flex;
+      justify-content: space-between;
+      align-items: center;
+      color: rgba(255, 255, 255, 0.5);
+      font-size: 0.9rem;
+    }
+
+    /* Responsive */
+    @media (max-width: 1024px) {
+      .groot-content {
+        grid-template-columns: 1fr;
+        gap: 3rem;
+      }
+
+      .bento-grid {
+        grid-template-columns: repeat(2, 1fr);
+      }
+
+      .bento-card.async {
+        grid-column: 1 / 3;
+        grid-row: 1;
+      }
+
+      .bento-card.plugin {
+        grid-column: 1;
+        grid-row: 2;
+      }
+
+      .bento-card.blackboard {
+        grid-column: 2;
+        grid-row: 2;
+      }
+
+      .bento-card.xml {
+        grid-column: 1;
+        grid-row: 3;
+      }
+
+      .bento-card.logging {
+        grid-column: 2;
+        grid-row: 3;
+      }
+
+      .bento-card.ros2 {
+        grid-column: 1 / 3;
+        grid-row: 4;
+      }
+      
+      .footer-content {
+        grid-template-columns: 1fr 1fr;
+      }
+    }
+
+    @media (max-width: 768px) {
+      nav {
+        padding: 0.75rem 1rem;
+      }
+
+      .nav-links a:not(.github-link) {
+        display: none;
+      }
+
+      .nav-version {
+        display: none;
+      }
+      
+      .hero-stats {
+        flex-direction: column;
+        gap: 1.5rem;
+      }
+      
+      .trust-logos {
+        gap: 1.5rem;
+      }
+
+      .bento-grid {
+        grid-template-columns: 1fr;
+      }
+
+      .bento-card.async,
+      .bento-card.plugin,
+      .bento-card.blackboard,
+      .bento-card.xml,
+      .bento-card.logging,
+      .bento-card.ros2 {
+        grid-column: 1;
+        grid-row: auto;
+      }
+      
+      .footer-content {
+        grid-template-columns: 1fr;
+      }
+      
+      .footer-bottom {
+        flex-direction: column;
+        gap: 1rem;
+        text-align: center;
+      }
+
+      .hero h1 {
+        font-size: 2.5rem;
+      }
+
+      .groot-text h2,
+      .cta-content h2 {
+        font-size: 2rem;
+      }
+    }
+  </style>
+</head>
+<body>
+  <!-- Navigation - Matching original behaviortree.dev -->
+  <nav>
+    <div class="nav-content">
+      <a href="#" class="logo">
+        <div class="logo-icon">
+          <svg viewBox="0 0 100 100" fill="none" xmlns="http://www.w3.org/2000/svg">
+            <circle cx="50" cy="50" r="45" fill="#22c55e"/>
+            <path d="M50 20 L50 45 M50 45 L30 65 M50 45 L70 65 M30 65 L30 80 M70 65 L70 80" stroke="white" stroke-width="6" stroke-linecap="round"/>
+          </svg>
+        </div>
+        BehaviorTree
+      </a>
+      <div class="nav-links">
+        <a href="/docs/intro">Docs</a>
+        <a href="/groot">Groot2</a>
+        <div class="nav-version">
+          4.8
+          <svg viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2">
+            <path d="M6 9l6 6 6-6"/>
+          </svg>
+        </div>
+        <a href="/blog">Blog</a>
+        <a href="https://github.com/BehaviorTree/BehaviorTree.CPP" class="github-link">
+          <svg viewBox="0 0 24 24" fill="currentColor">
+            <path d="M12 0C5.37 0 0 5.37 0 12c0 5.31 3.435 9.795 8.205 11.385.6.105.825-.255.825-.57 0-.285-.015-1.23-.015-2.235-3.015.555-3.795-.735-4.035-1.41-.135-.345-.72-1.41-1.23-1.695-.42-.225-1.02-.78-.015-.795.945-.015 1.62.87 1.845 1.23 1.08 1.815 2.805 1.305 3.495.99.105-.78.42-1.305.765-1.605-2.67-.3-5.46-1.335-5.46-5.925 0-1.305.465-2.385 1.23-3.225-.12-.3-.54-1.53.12-3.18 0 0 1.005-.315 3.3 1.23.96-.27 1.98-.405 3-.405s2.04.135 3 .405c2.295-1.56 3.3-1.23 3.3-1.23.66 1.65.24 2.88.12 3.18.765.84 1.23 1.905 1.23 3.225 0 4.605-2.805 5.625-5.475 5.925.435.375.81 1.095.81 2.22 0 1.605-.015 2.895-.015 3.3 0 .315.225.69.825.57A12.02 12.02 0 0024 12c0-6.63-5.37-12-12-12z"/>
+          </svg>
+          GitHub
+        </a>
+      </div>
+    </div>
+  </nav>
+
+  <!-- Hero Section -->
+  <section class="hero">
+    <div class="blob blob-1"></div>
+    <div class="blob blob-2"></div>
+    <div class="blob blob-3"></div>
+    
+    <div class="hero-content">
+      <div class="hero-badge">
+        <span></span>
+        Powering Nav2 and 100+ robotics companies
+      </div>
+      <h1>The Industry Standard for <span class="highlight">Robot Intelligence</span></h1>
+      <p class="hero-sub">
+        BehaviorTree.CPP is the most advanced, production-ready framework for building 
+        reactive, modular, and debuggable robot behaviors. Design in XML, execute in C++.
+      </p>
+      <div class="hero-ctas">
+        <a href="/docs/intro" class="btn btn-primary">
+          Get Started Free →
+        </a>
+        <a href="#groot" class="btn btn-secondary">
+          Try Groot2 IDE
+        </a>
+      </div>
+      <div class="hero-stats">
+        <div class="stat">
+          <div class="stat-value">3.7k+</div>
+          <div class="stat-label">GitHub Stars</div>
+        </div>
+        <div class="stat">
+          <div class="stat-value">100+</div>
+          <div class="stat-label">Companies</div>
+        </div>
+        <div class="stat">
+          <div class="stat-value">10+</div>
+          <div class="stat-label">Years Active</div>
+        </div>
+      </div>
+    </div>
+  </section>
+
+  <!-- Trust Bar -->
+  <section class="trust-bar">
+    <p>Trusted by teams building autonomous systems</p>
+    <div class="trust-logos">
+      <span class="trust-logo">Nav2 / ROS2</span>
+      <span class="trust-logo">MoveIt2</span>
+      <span class="trust-logo">NVIDIA Isaac</span>
+      <span class="trust-logo">Open Navigation</span>
+      <span class="trust-logo">Husarion</span>
+    </div>
+  </section>
+
+  <!-- Features Section - Bento Grid -->
+  <section class="features-section" id="features">
+    <div class="features-header">
+      <h2>Why BehaviorTree.CPP?</h2>
+      <p>Built for real-world robotics, not just demos</p>
+    </div>
+    
+    <div class="bento-grid">
+      <!-- Row 1: Large left + 2 small right -->
+      <div class="bento-card scalable">
+        <div class="bento-icon">⚡</div>
+        <h3>Async-First Design</h3>
+        <p>Non-blocking actions as first-class citizens. Build reactive behaviors that execute concurrently, making your robots responsive and efficient in complex real-world scenarios.</p>
+      </div>
+      
+      <div class="bento-card plugin">
+        <div class="bento-icon">🔌</div>
+        <h3>Plugin Architecture</h3>
+        <p>Load custom nodes at runtime. Separate behavior design from implementation.</p>
+      </div>
+      
+      <div class="bento-card blackboard">
+        <div class="bento-icon">📊</div>
+        <h3>Type-Safe Blackboard</h3>
+        <p>Strongly-typed data flow between nodes. Catch errors at compile time.</p>
+      </div>
+      
+      <!-- Row 2: 2 small left + Large right -->
+      <div class="bento-card xml">
+        <div class="bento-icon">📝</div>
+        <h3>XML-Defined Trees</h3>
+        <p>Modify behaviors without recompiling. Perfect for field engineers.</p>
+      </div>
+      
+      <div class="bento-card logging">
+        <div class="bento-icon">🔍</div>
+        <h3>Built-in Logging</h3>
+        <p>Record, replay, and analyze state transitions with confidence.</p>
+      </div>
+      
+      <div class="bento-card ros2">
+        <div class="bento-icon">🤖</div>
+        <h3>ROS2 Integration</h3>
+        <p>Official wrappers for actions, services, and topics. Powers the Nav2 navigation stack trusted by hundreds of robots and engineering teams worldwide.</p>
+      </div>
+    </div>
+  </section>
+
+  <!-- Groot2 Section -->
+  <section class="groot-section" id="groot">
+    <div class="groot-blob"></div>
+    <div class="groot-content">
+      <div class="groot-text">
+        <h2>Meet <span>Groot2</span></h2>
+        <p class="groot-tagline">The IDE for Behavior Trees. Design, debug, and deploy with confidence.</p>
+        
+        <div class="groot-features">
+          <div class="groot-feature">
+            <div class="groot-feature-icon">✓</div>
+            <div class="groot-feature-text">
+              <strong>Visual Editor</strong>
+              <span>Drag-and-drop interface for rapid prototyping</span>
+            </div>
+          </div>
+          <div class="groot-feature">
+            <div class="groot-feature-icon">✓</div>
+            <div class="groot-feature-text">
+              <strong>Real-time Monitoring</strong>
+              <span>Watch your tree execute live on your robot</span>
+            </div>
+          </div>
+          <div class="groot-feature">
+            <div class="groot-feature-icon">✓</div>
+            <div class="groot-feature-text">
+              <strong>Log Replay & Analysis</strong>
+              <span>Debug past runs with full state reconstruction</span>
+            </div>
+          </div>
+          <div class="groot-feature">
+            <div class="groot-feature-icon">✓</div>
+            <div class="groot-feature-text">
+              <strong>Breakpoints & Fault Injection</strong>
+              <span>Pause execution and simulate failures</span>
+            </div>
+          </div>
+        </div>
+        
+        <a href="/groot" class="btn btn-primary">Learn More About Groot2</a>
+      </div>
+      
+      <div class="groot-visual">
+        <div class="groot-preview">
+          <div class="groot-preview-header">
+            <span class="window-dot red"></span>
+            <span class="window-dot yellow"></span>
+            <span class="window-dot green"></span>
+          </div>
+          <div class="groot-preview-body">
+            <div class="tree-node active">Sequence</div>
+            <div class="tree-connector"></div>
+            <div class="tree-row">
+              <div class="tree-node">Fallback</div>
+              <div class="tree-node">Navigate</div>
+            </div>
+            <div class="tree-connector"></div>
+            <div class="tree-row">
+              <div class="tree-node">Check</div>
+              <div class="tree-node active">Pick</div>
+              <div class="tree-node">Place</div>
+            </div>
+          </div>
+        </div>
+      </div>
+    </div>
+  </section>
+
+  <!-- CTA Section -->
+  <section class="cta-section">
+    <div class="cta-content">
+      <h2>Ready to Build Smarter Robots?</h2>
+      <p>Join thousands of engineers using BehaviorTree.CPP to build production-grade autonomous systems.</p>
+      <div class="hero-ctas">
+        <a href="/docs/intro" class="btn btn-primary">Start the Tutorial</a>
+        <a href="mailto:dfaconti@aurynrobotics.com" class="btn btn-secondary">Contact for Enterprise</a>
+      </div>
+    </div>
+  </section>
+
+  <!-- Footer -->
+  <footer>
+    <div class="footer-content">
+      <div class="footer-brand">
+        <h3>BehaviorTree.CPP</h3>
+        <p>The industry standard for robot intelligence. Open source, professionally supported.</p>
+      </div>
+      
+      <div class="footer-links">
+        <h4>Documentation</h4>
+        <ul>
+          <li><a href="/docs/intro">Tutorials</a></li>
+          <li><a href="https://behaviortree.github.io/BehaviorTree.CPP/">API Reference</a></li>
+          <li><a href="/docs/ros2_integration">ROS2 Integration</a></li>
+        </ul>
+      </div>
+      
+      <div class="footer-links">
+        <h4>Community</h4>
+        <ul>
+          <li><a href="https://github.com/BehaviorTree/BehaviorTree.CPP/discussions">Forum</a></li>
+          <li><a href="https://github.com/BehaviorTree/BehaviorTree.CPP">GitHub</a></li>
+          <li><a href="/blog">Blog</a></li>
+        </ul>
+      </div>
+      
+      <div class="footer-links">
+        <h4>Company</h4>
+        <ul>
+          <li><a href="mailto:dfaconti@aurynrobotics.com">Contact</a></li>
+          <li><a href="#">Support</a></li>
+          <li><a href="#">Enterprise</a></li>
+        </ul>
+      </div>
+    </div>
+    
+    <div class="footer-bottom">
+      <span>© 2025 Auryn Robotics. All rights reserved.</span>
+      <span>Made with ❤️ for the robotics community</span>
+    </div>
+  </footer>
+</body>
+</html>
diff --git a/src/pages/index.js b/src/pages/index.js
index c67d47d..48f518e 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -1,30 +1,142 @@
-import React from "react";
+import React, { useState } from "react";
 import Link from "@docusaurus/Link";
-import useDocusaurusContext from "@docusaurus/useDocusaurusContext";
 import useBaseUrl from "@docusaurus/useBaseUrl";
-
 import Layout from "@theme/Layout";
+import Head from "@docusaurus/Head";
 import clsx from "clsx";
+import "react-responsive-carousel/lib/styles/carousel.min.css";
+import { Carousel } from "react-responsive-carousel";
 
 import styles from "./index.module.css";
 import EditorVideo from "@site/static/img/groot2_editor.mp4";
-import Head from "@docusaurus/Head";
-import "react-responsive-carousel/lib/styles/carousel.min.css";
-import { Carousel } from "react-responsive-carousel";
+import ContactFormModal from "../components/ContactFormModal";
 
-// import 'bootstrap/dist/css/bootstrap.min.css';
+// Feature data for bento grid
+const features = [
+  {
+    id: "scalable",
+    icon: "🌳",
+    title: "More scalable than State Machines",
+    description:
+      "Behavior Trees enable complex behaviors with less code and more modularity, making them easier to maintain and extend that Finite State Machines.",
+    large: true,
+  },
+  {
+    id: "async",
+    icon: "⚡",
+    title: "Async Actions",
+    description:
+      "Non-blocking actions and reactive behaviors as first-class citizens.",
+  },
+  {
+    id: "plugin",
+    icon: "🧩",
+    title: "Modular Architecture",
+    description:
+      "Load custom nodes at runtime, build reusable building blocks.",
+  },
+  {
+    id: "xml",
+    icon: "📝",
+    title: "XML-Defined Trees",
+    description:
+      "Separation of concerns between logic and implementation.",
+  },
+  {
+    id: "logging",
+    icon: "🔍",
+    title: "Built-in Logging",
+    description:
+      "Record, replay, and analyze state transitions for easier debugging.",
+  },
+  {
+    id: "ros2",
+    icon: "🤖",
+    title: "ROS2 Integration",
+    description:
+      "Official wrappers for ROS2. Powers the Nav2 navigation stack trusted by hundreds of robots and engineering teams worldwide.",
+    large: true,
+  },
+];
 
+// Groot2 features
+const grootFeatures = [
+  {
+    title: "Visual Editor",
+    description: "Drag-and-drop interface for rapid prototyping",
+  },
+  {
+    title: "Real-time Monitoring",
+    description: "Watch your tree execute live on your robot",
+  },
+  {
+    title: "Log Replay & Analysis",
+    description: "Debug past runs with full state reconstruction",
+  },
+  {
+    title: "Breakpoints & Fault Injection",
+    description: "Pause execution and simulate failures",
+  },
+];
+
+// Trust bar logos
+const trustLogos = [
+  "Nav2",
+  "MoveIt",
+];
+
+function BentoCard({ id, icon, title, description, large }) {
+  const cardClass = clsx(
+    styles.bentoCard,
+    styles[`bentoCard${id.charAt(0).toUpperCase() + id.slice(1)}`],
+    { [styles.bentoCardLarge]: large }
+  );
+
+  return (
+    <div className={cardClass}>
+      <div className={styles.bentoHeader}>
+        <div className={styles.bentoIcon}>{icon}</div>
+        <h3>{title}</h3>
+      </div>
+      <p>{description}</p>
+    </div>
+  );
+}
+
+function GrootFeature({ title, description }) {
+  return (
+    <div className={styles.grootFeature}>
+      <div className={styles.grootFeatureIcon}>✓</div>
+      <div className={styles.grootFeatureText}>
+        <strong>{title}</strong>
+        <span>{description}</span>
+      </div>
+    </div>
+  );
+}
 
 function Home() {
-  const context = useDocusaurusContext();
-  const { siteConfig = {} } = context;
+  const [openContactModal, setOpenContactModal] = useState(false);
 
   return (
     <Layout
       permalink={"/"}
       description={"The leading C++ BehaviorTree Library."}
     >
+      {openContactModal && (
+        <ContactFormModal handleClose={() => setOpenContactModal(false)} />
+      )}
       <Head>
+        <link rel="preconnect" href="https://fonts.googleapis.com" />
+        <link
+          rel="preconnect"
+          href="https://fonts.gstatic.com"
+          crossOrigin="anonymous"
+        />
+        <link
+          href="https://fonts.googleapis.com/css2?family=Outfit:wght@400;500;600;700;800&family=JetBrains+Mono:wght@400;500&display=swap"
+          rel="stylesheet"
+        />
         <script
           async
           defer
@@ -36,180 +148,154 @@ function Home() {
           data-website-id="419144d798774876bcfcd1e1f0b6a2ad"
         ></script>
       </Head>
-      <div className={clsx("hero hero--light", styles.heroBanner)}>
-        <div className="container ">
-          <div className="row align-items-center">
-            <div className="col col--6">
-              <div className={clsx(styles.heroText)}>
-                <h1 className="hero__title ">BehaviorTree.CPP 4.8</h1>
-                <p className="hero__subtitle">
-                  The C++ library to build Behavior Trees.
-                  <br />
-                  Batteries included.
-                </p>
-                <div>
-                  <Link
-                    className="button button--outline button--primary button--lg"
-                    to={useBaseUrl("docs/intro")}
-                  >
-                    Tutorials
-                  </Link>
-                </div>
-              </div>
+
+      {/* Hero Section */}
+      <section className={styles.hero}>
+        <div className={clsx(styles.blob, styles.blob1)}></div>
+        <div className={clsx(styles.blob, styles.blob2)}></div>
+        <div className={clsx(styles.blob, styles.blob3)}></div>
+
+        <div className={styles.heroInner}>
+          <div className={styles.heroContent}>
+            <h1 className={styles.heroTitle}>
+              The Industry Standard for{" "}
+              <span className={styles.heroTitleHighlight}>Robot Intelligence</span>
+            </h1>
+            <p className={styles.heroSub}>
+              BehaviorTree.CPP is the most popular, production-ready framework
+              for building reactive, modular, and debuggable robot behaviors.
+            </p>
+            <div className={styles.heroCtas}>
+              <Link
+                className={clsx(styles.btn, styles.btnPrimary)}
+                to={useBaseUrl("docs/intro")}
+              >
+                Documentation
+              </Link>
+              <Link
+                className={clsx(styles.btn, styles.btnSecondary)}
+                to={useBaseUrl("/groot")}
+              >
+                Try Groot2
+              </Link>
+              <button
+                className={clsx(styles.btn, styles.btnSecondary)}
+                onClick={() => setOpenContactModal(true)}
+              >
+                Contact Us
+              </button>
             </div>
-            <div className="col col--5">
-              <img
-                className={clsx(styles.heroSvg)}
-                alt="behavior tree animation"
-                src={useBaseUrl("img/animated.svg")}
-              />
+            <div className={styles.heroStats}>
+              <div className={styles.stat}>
+                <div className={styles.statValue}>MIT</div>
+                <div className={styles.statLabel}>Open-Source License</div>
+              </div>
+              <div className={styles.stat}>
+                <div className={styles.statValue}>3.7k+</div>
+                <div className={styles.statLabel}>GitHub Stars</div>
+              </div>
+              <div className={styles.stat}>
+                <div className={styles.statValue}>100+</div>
+                <div className={styles.statLabel}>Companies</div>
+              </div>
             </div>
           </div>
-        </div>
-      </div>
 
-      <div className={styles.features}>
-        <div className="container">
-          <div className="row">
-            <div className={clsx("col col--4", styles.feature)}>
-              <h3>
-                Think in terms of Actions,
-                <br /> not states
-              </h3>
-              <p>
-                Unlike state machines, behavior trees emphasize executing
-                actions, not transitioning between states.
-              </p>
-            </div>
-            <div className={clsx("col col--4", styles.feature)}>
-              <h3>
-                Build extensible and <br /> hierarchical behaviors
-              </h3>
-              <p>
-                Behavior Trees are <b>composable</b>. You can build complex
-                behaviors reusing simpler ones.
-              </p>
-            </div>
-            <div className={clsx("col col--4", styles.feature)}>
-              <h3>
-                The power of C++,
-                <br />
-                the flexibility of scripting
-              </h3>
-              <p>
-                Implement your Actions in C++ and assemble them into trees using
-                a scripting language based on XML.
-              </p>
-            </div>
+          <div className={styles.heroCarousel}>
+            <Carousel
+              autoPlay
+              showThumbs={false}
+              infiniteLoop={true}
+              showStatus={false}
+              interval={4000}
+            >
+              <div>
+                <img src={useBaseUrl("img/image_agv.webp")} alt="Automated Ground Vehicles" />
+              </div>
+              <div>
+                <img src={useBaseUrl("img/image_quadruped.webp")} alt="Quadruped Robots" />
+              </div>
+              <div>
+                <img src={useBaseUrl("img/image_drone.jpg")} alt="Autonomous Drones" />
+              </div>
+              <div>
+                <img src={useBaseUrl("img/image_arm.jpg")} alt="Robotic Arms" />
+              </div>
+            </Carousel>
           </div>
         </div>
-      </div>
+      </section>
 
-      <div className={styles.sectionText}>
-        <div className="container padding-vert--xl text--left {styles.sectionText}">
-          <div className="row">
-            <div className="col col--6">
-              <h2>
-                Perfect for robotics
-                <br />
-                and automation
-              </h2>
-              <p>
-                <b>BehaviorTree.CPP</b> is increasingly used to implement{" "}
-                <b>Task Planning</b> in a large variety of robotics systems,
-                including:
-              </p>
-              <ul>
-                <li>Automated Ground Vehicles</li>
-                <li>Robotic Manipulators</li>
-                <li>Humanoid and Quadruped robots</li>
-                <li>Semi-autonomous drones</li>
-                <li>Social Robots</li>
-              </ul>
-            </div>
-            <div className="col col--5 col--offset-1">
-              <Carousel autoPlay showThumbs={false} infiniteLoop={true}>
-                <div>
-                  <img src={useBaseUrl("img/image_agv.webp")} alt="robots" />
-                </div>
-                <div>
-                  <img src={useBaseUrl("img/image_quadruped.webp")} alt="quadrupeds" />
-                </div>
-                <div>
-                  <img src={useBaseUrl("img/image_drone.jpg")} alt="robots" />
-                </div>
-                <div>
-                  <img src={useBaseUrl("img/image_arm.jpg")} alt="robots" />
-                </div>
-              </Carousel>
-            </div>
-          </div>
+      {/* Trust Bar */}
+      <section className={styles.trustBar}>
+        <p className={styles.trustBarTitle}>
+          Used bysome of the most popular open-source robotics frameworks:
+        </p>
+        <div className={styles.trustLogos}>
+          {trustLogos.map((logo, idx) => (
+            <span key={idx} className={styles.trustLogo}>
+              {logo}
+            </span>
+          ))}
         </div>
-      </div>
+      </section>
 
-      <div className={styles.sectionText}>
-        <div className="container padding-vert--xl text--left">
-          <div className="row">
-            <div className="col col--5">
-              <video src={EditorVideo} muted autoPlay width="100%"></video>
-            </div>
-            <div className="col col--6 col--offset-1">
-              <h2>Visual Editing and Monitoring</h2>
-              <p>
-                <b>Groot2</b> is our "IDE for Behavior Trees".
-                <br />
-                It allows users to visualize, create and edit Behavior Trees,
-                using a simple drag and drop interface. <br />
-                Trees can be monitored in real-time
-              </p>
-              <Link
-                className="button button--outline button--primary button--lg"
-                to={useBaseUrl("/groot")}
-              >
-                About Groot2
-              </Link>
-            </div>
-          </div>
+      {/* Features Section - Bento Grid */}
+      <section className={styles.featuresSection} id="features">
+        <div className={styles.featuresHeader}>
+          <h2 className={styles.featuresTitle}>Why BehaviorTree.CPP?</h2>
+          <p className={styles.featuresSubtitle}>
+            Built for real-world robotics, not just demos
+          </p>
         </div>
-      </div>
 
-      <div className={styles.supportFrame}>
-        <div className="container">
-          <div className="row">
-            <div className={styles.sectionText}>
-              <div className="col col--9">
-                <h1>Software and Technical Support</h1>
-                <p>
-                  <b>BehaviorTree.CPP</b> is Open Source software and can be
-                  download for free on
-                  <a href="https://github.com/BehaviorTree/BehaviorTree.CPP">
-                    {" "}
-                    Github.
-                  </a>
-                  <br />
-                  You can ask questions and reach other users in our
-                  <a href="https://github.com/BehaviorTree/BehaviorTree.CPP/discussions/">
-                    {" "}
-                    community forum.
-                  </a>
-                  <br />
-                  If you are using BehaviorTree.CPP in your commercial product
-                  and you need support,
-                  <a href="mailto:dfaconti@aurynrobotics.com"> contact us!</a>
-                </p>
+        <div className={styles.bentoGrid}>
+          {features.map((feature) => (
+            <BentoCard key={feature.id} {...feature} />
+          ))}
+        </div>
+      </section>
+
+      {/* Groot2 Section */}
+      <section className={styles.grootSection} id="groot">
+        <div className={styles.grootBlob}></div>
+        <div className={styles.grootContent}>
+          <div className={styles.grootHeader}>
+            <h2>
+              Boost your productivity with{" "}
+              <span className={styles.grootTextHighlight}>Groot2</span>
+            </h2>
+          </div>
+
+          <div className={styles.grootBody}>
+            <div className={styles.grootText}>
+              <div className={styles.grootFeatures}>
+                {grootFeatures.map((feature, idx) => (
+                  <GrootFeature key={idx} {...feature} />
+                ))}
               </div>
             </div>
-            <div className="col col--3 ">
-              <img
-                alt="behavior tree animation"
-                src={useBaseUrl("img/support.svg")}
-              />
+
+            <div className={styles.grootVisual}>
+              <div className={styles.grootPreview}>
+                <video src={EditorVideo} muted autoPlay loop playsInline />
+              </div>
             </div>
           </div>
+
+          <div className={styles.grootCta}>
+            <Link
+              className={clsx(styles.btn, styles.btnPrimary)}
+              to={useBaseUrl("/groot")}
+            >
+              Learn More About Groot2
+            </Link>
+          </div>
         </div>
-      </div>
+      </section>
+
     </Layout>
   );
 }
 
-export default Home;
+export default Home;
\ No newline at end of file

From 91beb2bbb84454cff7659b5edc4cdbcffe0e136c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 15:10:10 +0100
Subject: [PATCH 54/80] updated

---
 src/css/custom.css         |  37 ++-
 src/pages/groot.js         | 626 ++++++++++++++---------------------
 src/pages/groot.module.css | 639 ++++++++++++++++++------------------
 src/pages/index.js         |  33 +-
 src/pages/index.module.css | 649 +++++++++++++++++++++++++++++++++----
 5 files changed, 1189 insertions(+), 795 deletions(-)

diff --git a/src/css/custom.css b/src/css/custom.css
index 467b6f3..ebaf02d 100644
--- a/src/css/custom.css
+++ b/src/css/custom.css
@@ -6,6 +6,29 @@
 
  @import url('https://fonts.googleapis.com/css2?family=Open+Sans&display=swap');
 
+/* Global font sizes for docs and site content */
+h1 {
+  font-size: 42px;
+  padding: 0.5rem 0;
+}
+
+h2 {
+  font-size: 36px;
+  padding: 0.5rem 0;
+}
+
+h3 {
+  font-size: 26px;
+}
+
+p {
+  font-size: 21px;
+}
+
+li {
+  font-size: 21px;
+}
+
 /* You can override the default Infima variables here. */
 :root {
   --ifm-font-family-base: 'Open Sans';
@@ -20,11 +43,21 @@
   --docusaurus-highlighted-code-line-bg: rgb(180, 251, 169);
 
   --doc-sidebar-width: 350px !important;
-  --ifm--sidebar-font-size: 14px;
+  --ifm--sidebar-font-size: 18px;
+
+}
+
+/* Header font sizes */
+.navbar__title {
+  font-size: 1.4rem;
+}
+
+.navbar__link {
+  font-size: 1.3rem;
 }
 
 article {
-  max-width: 900px;
+  max-width: 1200px;
   margin-left: auto;
   margin-right: auto;
 }
diff --git a/src/pages/groot.js b/src/pages/groot.js
index 9b9b381..6f512e8 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -1,436 +1,280 @@
-import React, { useEffect,useState } from "react";
+import React, { useEffect, useState } from "react";
 import Layout from "@theme/Layout";
 import Link from "@docusaurus/Link";
 import useBaseUrl from "@docusaurus/useBaseUrl";
-import styles from "./groot.module.css";
-import Table from "react-bootstrap/Table";
-import { OverlayTrigger, Tooltip } from "react-bootstrap";
-import Head from "@docusaurus/Head";
 import clsx from "clsx";
 
+import styles from "./groot.module.css";
 import EditorVideo from "@site/static/img/groot2_editor.mp4";
 import MonitorVideo from "@site/static/img/groot2_monitor.mp4";
 import LogVideo from "@site/static/img/groot2_log.mp4";
-import ContactUSFormModal from "../components/ContactFormModal";
+import ContactFormModal from "../components/ContactFormModal";
+
+// Pricing plans data
+const pricingPlans = [
+  {
+    name: "Basic",
+    price: "Free",
+    period: "",
+    features: [
+      "Full Behavior Tree Editor",
+      "Monitor and Log Visualizer limited to 20 Nodes",
+    ],
+    buttonText: "Download",
+    action: "download",
+  },
+  {
+    name: "PRO (floating license)",
+    price: "€690",
+    period: " / year",
+    features: [
+      "Search Nodes in large trees",
+      "Unlimited Nodes in Monitor and Log Visualizer",
+      "Interactive real-time debugger",
+    ],
+    buttonText: "Buy now",
+    action: "checkout",
+  },
+  {
+    name: "Training",
+    price: "€1,800",
+    period: " / month",
+    features: [
+      "Includes 1 PRO license (1 year)",
+      "Up to 12 hours per month",
+      "Learn how to use BT.CPP effectively",
+    ],
+    buttonText: "Contact us",
+    action: "contact",
+  },
+];
 
-function Check(props) {
-  return <img src={useBaseUrl("img/check.png")} width='15' alt='yes' />;
+// Feature sections data
+const features = [
+  {
+    title: "BT Editor",
+    items: [
+      "Create and edit trees, using a simple drag and drop interface.",
+      "Manage large projects using multiple files.",
+      "Compatible with both BT.CPP 3 and 4.",
+      "Split view to visualize two trees at once.",
+      "Preview the XML in real-time.",
+      "<b>PRO:</b> search Nodes in large trees.",
+    ],
+    video: EditorVideo,
+  },
+  {
+    title: "Real-time Monitor",
+    items: [
+      "Connect to a running BT.CPP executor and visualize the state of the tree in real-time.",
+      "Record all transitions into a log file, that you can analyze later.",
+      "<b>PRO:</b> Visualize the content of the blackboard.",
+      "<b>PRO:</b> Add interactive breakpoints and fault injection.",
+      "<b>PRO:</b> Substitute any Nodes with dummy ones, at run-time.",
+    ],
+    video: MonitorVideo,
+    reverse: true,
+  },
+  {
+    title: "Log Visualization",
+    items: [
+      "Open logs and replay the execution of the tree at different speeds.",
+      "Visualize how long a Node was in the RUNNING state and how many times it returned a new status.",
+      "Filter transitions by name or time range.",
+    ],
+    video: LogVideo,
+  },
+];
+
+function FeatureSection({ title, items, video, reverse }) {
+  return (
+    <section className={styles.featureSection}>
+      <div className={clsx(styles.featureInner, { [styles.reverse]: reverse })}>
+        <div className={styles.featureContent}>
+          <h2>{title}</h2>
+          <ul>
+            {items.map((item, idx) => (
+              <li key={idx} dangerouslySetInnerHTML={{ __html: item }} />
+            ))}
+          </ul>
+        </div>
+        <div className={styles.featureVideo}>
+          <video src={video} muted loop autoPlay playsInline />
+        </div>
+      </div>
+    </section>
+  );
 }
-function Cross(props) {
-  return <img src={useBaseUrl("img/cross.png")} width='15' alt='no' />;
+
+function PricingCard({ plan, onDownload, onContact }) {
+  const handleClick = () => {
+    if (plan.action === "download") {
+      onDownload();
+    } else if (plan.action === "contact") {
+      onContact();
+    }
+  };
+
+  return (
+    <div className={styles.pricingCard}>
+      <h3>{plan.name}</h3>
+      <div className={styles.pricingPrice}>
+        <span className={styles.pricingAmount}>{plan.price}</span>
+        <span className={styles.pricingPeriod}>{plan.period}</span>
+      </div>
+      <ul className={styles.pricingFeatures}>
+        {plan.features.map((feature, idx) => (
+          <li key={idx}>{feature}</li>
+        ))}
+      </ul>
+      <div className={styles.pricingCta}>
+        {plan.action === "checkout" ? (
+          <a
+            className={clsx(styles.btn, styles.btnPrimary)}
+            href="javascript:void(0)"
+            data-cb-type="checkout"
+            data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
+            data-cb-item-0-quantity="1"
+          >
+            {plan.buttonText}
+          </a>
+        ) : (
+          <button
+            className={clsx(styles.btn, styles.btnPrimary)}
+            onClick={handleClick}
+          >
+            {plan.buttonText}
+          </button>
+        )}
+      </div>
+    </div>
+  );
 }
 
 export default function Groot() {
-
   const [chargebeeInitialized, setChargebeeInitialized] = useState(false);
-  const [openContactUsModal, setOpenContactUsModal] = useState(false);
+  const [openContactModal, setOpenContactModal] = useState(false);
 
   useEffect(() => {
     if (!chargebeeInitialized) {
-      const chargeBeeScript = document.getElementById("chargebeeScript");
+      const existingScript = document.getElementById("chargebeeScript");
 
-      if (!chargeBeeScript) {
-        const el = document.createElement("script");
-        el.onload = () => {
-          Chargebee?.init({
-            site: "aurynrobotics",
-          });
-          Chargebee?.registerAgain();
+      if (!existingScript) {
+        const script = document.createElement("script");
+        script.id = "chargebeeScript";
+        script.src = "https://js.chargebee.com/v2/chargebee.js";
+        script.onload = () => {
+          window.Chargebee?.init({ site: "aurynrobotics" });
+          window.Chargebee?.registerAgain();
           setChargebeeInitialized(true);
         };
-        el.setAttribute("src", "https://js.chargebee.com/v2/chargebee.js");
-        el.setAttribute("id", "chargebeeScript");
-        document.body?.appendChild(el);
+        document.body.appendChild(script);
       } else {
-        Chargebee.init({
-          site: "aurynrobotics",
-        });
-        Chargebee?.registerAgain();
+        window.Chargebee?.init({ site: "aurynrobotics" });
+        window.Chargebee?.registerAgain();
         setChargebeeInitialized(true);
       }
     }
   }, [chargebeeInitialized]);
 
-  const handleClickBasic = () => {
-    scrollToSection('sectionDownload')
-  }
-
-  const handleClickPro = () => {
+  const scrollToDownload = () => {
+    document.getElementById("download")?.scrollIntoView({ behavior: "smooth" });
   };
 
-  const handleClickContact = () => {
-    setOpenContactUsModal(true)
-    // window.location.href = 'mailto:license@aurynrobotics.com'
-  }
-
-  const obj = [
-    {
-      name: "Basic",
-      price: "Free",
-      durance: "",
-      points: [
-        "Full Behavior Tree Editor",
-        "Monitor and Log Visualizer limited to 20 Nodes",
-      ],
-      btn: "Download",
-      onclick:() => handleClickBasic()
-    },
-    {
-      name: "PRO (floating license)",
-      price: "€690",
-      durance: " / year",
-      points: [
-        "Search Nodes in large trees",
-        "Unlimited Number of Nodes in Monitor and Log Visualizer",
-        "Interactive real-time debugger"
-      ],
-      btn: "Buy now",
-      onclick:() => handleClickPro()
-    },
-    {
-      name: "Training",
-      price: "€1,800",
-      durance: " / month",
-      points: [
-        "Includes 1 PRO license (1 year)",
-        "Up to 12 hours per month",
-        "Learn how to use BT.CPP effectively or improve your current implementation",
-      ],
-      btn: "Contact us",
-      onclick:() => handleClickContact()
-    },
-  ];
-
-  const renderTooltip = (message, props) => {
-    return (
-      <Tooltip id='button-tooltip' className={styles.toolTip} {...props}>
-        {message}
-      </Tooltip>
-    );
-  };
-
-  const openPopup = () => {
-    if (!window.mootrack) {
-      !(function (t, n, e, o, a) {
-        function d(t) {
-          var n = ~~(Date.now() / 3e5),
-            o = document.createElement(e);
-          (o.async = !0), (o.src = t + "?ts=" + n);
-          var a = document.getElementsByTagName(e)[0];
-          a.parentNode.insertBefore(o, a);
-        }
-        (t.MooTrackerObject = a),
-          (t[a] =
-            t[a] ||
-            function () {
-              return t[a].q
-                ? void t[a].q.push(arguments)
-                : void (t[a].q = [arguments]);
-            }),
-          window.attachEvent
-            ? window.attachEvent("onload", d.bind(this, o))
-            : window.addEventListener("load", d.bind(this, o), !1);
-      })(
-        window,
-        document,
-        "script",
-        "https://cdn.stat-track.com/statics/moosend-tracking.min.js",
-        "mootrack"
-      );
-    }
-    {
-      (" ");
-    }
-    mootrack("loadForm", "419144d798774876bcfcd1e1f0b6a2ad");
-  };
-
-  const scrollToSection = (sectionId) => {
-    const section = document.getElementById(sectionId);
-    if (section) {
-      section.scrollIntoView({ behavior: "smooth" });
-    }
-  };
-
-  const handleCloseUsModal = () => setOpenContactUsModal(false)
-
   return (
-    <>
-      <Layout title='Groot' description='Groot Editor'>
-        {/* groot intro */}
-      {openContactUsModal && (
-         <ContactUSFormModal handleClose={handleCloseUsModal}/>
+    <Layout title="Groot2" description="The IDE for Behavior Trees">
+      {openContactModal && (
+        <ContactFormModal handleClose={() => setOpenContactModal(false)} />
       )}
-      <div className={clsx("hero hero--dark", styles.heroBanner)}>
-        <div className='container '>
-          <div className='row align-items-center'>
-            <div className='col col--6' style={{ textAlign: "center" }}>
-              <h1 className='hero__title ' id='hero__title'>
-                Groot2
-              </h1>
-              <p className='hero__subtitle'>
-                The most advanced IDE<br/>to create and debug Behavior Trees.
-              </p>
-              <div className={styles.buttonGroup}>
-                <button
-                  onClick={() => scrollToSection("sectionDownload")}
-                  className='button button--primary button--lg'>
-                  Download
-                </button>
-                <button
-                  onClick={() => handleClickContact()}
-                  className='button button--primary button--lg'>
-                  Contact us
-                </button>
-              </div>
-            </div>
-            <div className='col col--6'>
-              <img src={useBaseUrl("img/groot2.png")} />
-            </div>
-          </div>
-        </div>
-      </div>
 
-      <div className={`styles.sectionText`}>
-        <div className={`container text--left ${styles.sectionText}`}>
-          <div className='row'>
-            <div className='col col--5' id="t1">
-              <h1>BT Editor</h1>
-              <ul>
-                <li>Create and edit trees, using a simple drag and drop interface.</li>
-                <li>Manage large projects using multiple files.</li>
-                <li>Compatible with both BT.CPP 3 and 4.</li>
-                <li>Split view to visualize two trees at once.</li>
-                <li>Preview the XML in real-time.</li>
-                <li><b>PRO:</b> search Nodes in large trees.</li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--6'>
-              <video src={EditorVideo} muted loop autoPlay width='100%'></video>
-            </div>
-            <div className='col col--6' id="t2">
-              <h1>BT Editor</h1>
-              <ul>
-                <li>Create and edit trees, using a simple drag and drop interface.</li>
-                <li>Manage large projects using multiple files.</li>
-                <li>Compatible with both BT.CPP 3 and 4.</li>
-                <li>Split view to visualize two trees at once.</li>
-                <li>Preview the XML in real-time.</li>
-                <li><b>PRO:</b> search Nodes in large trees.</li>
-              </ul>
-              <br />
+      {/* Hero Section */}
+      <section className={styles.hero}>
+        <div className={styles.heroInner}>
+          <div className={styles.heroContent}>
+            <h1 className={styles.heroTitle}>Groot2</h1>
+            <p className={styles.heroSubtitle}>
+              The most advanced IDE to create and debug Behavior Trees.
+            </p>
+            <div className={styles.buttonGroup}>
+              <button
+                className={clsx(styles.btn, styles.btnPrimary)}
+                onClick={scrollToDownload}
+              >
+                Download
+              </button>
+              <button
+                className={clsx(styles.btn, styles.btnSecondary)}
+                onClick={() => setOpenContactModal(true)}
+              >
+                Contact us
+              </button>
             </div>
           </div>
         </div>
-      </div>
+      </section>
 
-      <div className={`styles.sectionText`}>
-        <div className={`container text--left ${styles.sectionText}`}>
-          <div className='row'>
-            <div className='col col--6'>
-              <h1>Real-time Monitor</h1>
-              <ul>
-                <li>
-                  Connect to a running BT.CPP executor and visualize the state
-                  of the tree in real-time.
-                </li>
-                <li>
-                  Record all transitions into a log file, that you can analyze later.
-                </li>
-                <li><b>PRO:</b> Visualize the content of the blackboard.</li>
-                <li><b>PRO:</b> Add interactive breakpoints and fault injection.</li>
-                <li><b>PRO:</b> Substitute any Nodes with dummy ones, at run-time.
-                </li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--6'>
-              <video
-                src={MonitorVideo}
-                muted
-                loop
-                autoPlay
-                width='100%'></video>
-            </div>
-          </div>
-        </div>
-      </div>
+      {/* Feature Sections */}
+      {features.map((feature, idx) => (
+        <FeatureSection key={idx} {...feature} />
+      ))}
 
-      <div className={`styles.sectionText`}>
-        <div className={`container text--left ${styles.sectionText}`}>
-          <div className='row'>
-          <div className='col col--6' id="t3">
-              <h1>Log Visualization</h1>
-              <ul>
-                <li>Open logs and replay the execution of the tree at different speeds.</li>
-                <li>Visualize how long a Node was in the RUNNING state and how many times it 
-                  returned a new status.</li>
-                <li>Filter transitions by name or time range.</li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--6'>
-              <video src={LogVideo} muted loop autoPlay width='100%'></video>
-            </div>
-            <div className='col col--6' id="t4">
-              <h1>Log Visualization</h1>
-              <ul>
-                <li>Open logs and replay the execution of the tree at different speeds.</li>
-                <li>Visualize how long a Node was in the RUNNING state and how many times it 
-                  returned a new status.</li>
-                <li>Filter transitions by name or time range.</li>
-              </ul>
-              <br />
-            </div>
-          </div>
+      {/* Pricing Section */}
+      <div className={styles.sectionSeparator}>Pricing</div>
+      <section className={styles.pricingSection}>
+        <div className={styles.pricingGrid}>
+          {pricingPlans.map((plan, idx) => (
+            <PricingCard
+              key={idx}
+              plan={plan}
+              onDownload={scrollToDownload}
+              onContact={() => setOpenContactModal(true)}
+              chargebeeReady={chargebeeInitialized}
+            />
+          ))}
         </div>
-      </div>
-
-      <div className={`${styles.sectionSeparator} container`}>Pricing</div>
-      <div className={`styles.sectionText`}>
-        <div className={`container `}>
-          <div className={`row`} id='row_price'>
-              {obj?.map((item, index) => (
-                <div
-                  className='col col--4 '
-                  id='card_col'
-                  style={{
-                    display: "flex",
-                    justifyContent: "center",
-                  }}>
-                  <div id="card">
-                    <div id="card_header">{item.name}</div>
-                    <div id="price_row">
-                      <div id="price">{item.price}</div>
-                      <div id="durance">{item.durance}</div>
-                    </div>
-                    <div id="sub_durance">{item.sub_durance}</div>
-                    <ul id="point_stack" as="ul">
-                      {item.points.map((p) => (
-                        <li id="point" as="li">
-                          {p}
-                        </li>
-                      ))}
-                    </ul>
-                    <div style={{ display: "flex", justifyContent: "center" }}>
-                      {index == 1 ? (
-                        <a
-                          id="btn"
-                          className="button button--primary button--md"
-                          href="javascript:void(0)"
-                          data-cb-type="checkout"
-                          data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
-                          data-cb-item-0-quantity="1"
-                        >
-                          {item.btn}
-                        </a>
-                      ) : index == 2 ? (
-                        <button
-                          id="btn"
-                          className="button button--primary button--md"
-                          onClick={item.onclick}
-                        >
-                          {item?.btn}
-                        </button>
-                      ) : (
-                        <button
-                          id="btn"
-                          className="button button--primary button--md"
-                          onClick={item.onclick}
-                        >
-                          {item?.btn}
-                        </button>
-                      )}
-                    </div>
-                  </div>
-                </div>
-              ))}
-            </div>
-          <div className='row'>
-            <div className='col col--2 '></div>
-            <div className='col col--8 '>
-              <h1 id='pricingHead'>But wait, there is more!</h1>
-              <ul>
-                <li id='text'>
-                  <b>Free Trial:</b> enjoy all the features of th PRO versions
-                  for one month, activating your trial in "Preferences".
-                </li>
-                {/* <li id='text'>
-                  <b>Discounts:</b> a price discount is automatically applied
-                  when purchasing multiple licenses (3+ or 5+).
-                </li> 
-                <li id='text'>
-                <b>Free for individual researchers:</b> if you are a student or researcher,
-                  you can receive a complimentary 1 year license (node-locked). 
-                  <a href="https://airtable.com/appqTlC23AiSoB4Fd/shrsC33d8feHZmKXs" target="_blank"> Fill this form</a>
-                  &ensp;and tell us more about your project.
-                </li> */}
+      </section>
 
-                <li id='text'>
-                  <b>Source code escrow:</b> if Auryn
-                  Robotics, the company behind Groot2, becomes unable to distribute and/or
-                  sell the software, the source code will be released as open source,
-                  under the Apache License, Version 2.0.
-                </li>
-              </ul>
-              <br />
-            </div>
-            <div className='col col--2 '></div>
-          </div>
-        </div>
-      </div>
-      {/* groot download  */}
-      <div id='sectionDownload' className={`${styles.sectionSeparator} container`}>
+      {/* Download Section */}
+      <div id="download" className={styles.sectionSeparator}>
         Download
       </div>
-
-      <div
-        className={`${styles.sectionText} container ${styles.flexCol} gap-5 `}>
-        <h3>Latest release: 1.7.0 (2025-12-14)</h3>
-        <div className={styles.downloadGroup}>
-          <div id='card_download' style={{ textAlign: "center" }}>
-            <img
-              className={styles.downloadLogo}
-              src={useBaseUrl("img/windows.png")}
-              alt='windows logo'
-            />
-            <Link
-              onclick="fathom.trackGoal('I8XXZTK4', 0);"
-              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe'>
-              Windows installer
-            </Link>
-          </div>
-          <div id='card_download' style={{ textAlign: "center" }}>
-            <img
-              className={styles.downloadLogo}
-              src={useBaseUrl("img/linux.png")}
-              alt='linux logo'
-            />
-            <Link
-              onclick="fathom.trackGoal('VGT2ANC4', 0);"
-              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run'>
-              Linux installer
-            </Link>
-          </div>
-          <div id='card_download' style={{ textAlign: "center" }}>
-            <img
-              className={styles.downloadLogo}
-              src={useBaseUrl("img/appimage.png")}
-              alt='appimage logo'
-            />
-            <Link
-              // style={{marginLeft: '20px'}}
-              onclick="fathom.trackGoal('DIQDUTJ2', 0);"
-              
-              to='https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage'>
-              AppImage (Linux)
-            </Link>
+      <section className={styles.downloadSection}>
+        <div className={styles.downloadInner}>
+          <h3>Latest release: 1.7.0 (2025-12-14)</h3>
+          <div className={styles.downloadGrid}>
+            <div className={styles.downloadCard}>
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/windows.png")}
+                alt="Windows"
+              />
+              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe">
+                Windows installer
+              </Link>
+            </div>
+            <div className={styles.downloadCard}>
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/linux.png")}
+                alt="Linux"
+              />
+              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run">
+                Linux installer
+              </Link>
+            </div>
+            <div className={styles.downloadCard}>
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/appimage.png")}
+                alt="AppImage"
+              />
+              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage">
+                AppImage (Linux)
+              </Link>
+            </div>
           </div>
         </div>
-      </div>
+      </section>
     </Layout>
-  </>
   );
 }
-
-
diff --git a/src/pages/groot.module.css b/src/pages/groot.module.css
index d3ad81e..9403de0 100644
--- a/src/pages/groot.module.css
+++ b/src/pages/groot.module.css
@@ -1,406 +1,415 @@
-h1 {
-  font-size: 38px;
-  padding: 0.5rem 0;
-}
-[id="text"] {
-  color: #3b3b3b;
-  font-size: 18px;
-  padding: 5px 0px;
+/* Design System - scoped to avoid affecting docs */
+.hero,
+.featureSection,
+.sectionSeparator,
+.pricingSection,
+.downloadSection {
+  --green-50: #f0fdf4;
+  --green-100: #dcfce7;
+  --green-200: #bbf7d0;
+  --green-400: #4ade80;
+  --green-500: #22c55e;
+  --green-600: #16a34a;
+  --green-700: #15803d;
+  --cream: #fdfcfa;
+  --warm-white: #fffef9;
+  --sand: #f5f3ef;
+  --text-dark: #1c1917;
+  --text-mid: #44403c;
+  --text-light: #78716c;
+  --radius-sm: 12px;
+  --radius-md: 20px;
+  --radius-lg: 32px;
 }
 
-[id="text_head"] {
-  font-weight: 600;
+/* Hero Section */
+.hero {
+  padding: 5rem 1rem 4rem;
+  background: linear-gradient(180deg, var(--warm-white) 0%, var(--cream) 100%);
+  position: relative;
+  overflow: hidden;
 }
 
-h1[id="pricingHead"] {
-  font-size: 36px;
-  font-weight: 700;
-  color: #3b3b3b;
+.heroInner {
+  max-width: 800px;
+  margin: 0 auto;
   text-align: center;
 }
 
-[id="row_price"] {
-  display: flex;
-  width: 85%;
-  margin: 0 auto 50px auto;
-  justify-content: space-between;
+.heroContent {
+  text-align: center;
 }
 
-[id="card_col"] {
-  /* margin-left: 3%; */
-  /* border: 2px solid red; */
-  /* justify-content: center; */
+.heroTitle {
+  font-size: 4rem;
+  font-weight: 800;
+  color: var(--green-500);
+  margin-bottom: 1rem;
+  letter-spacing: -0.03em;
 }
-[id="card"] {
-  height: 400px;
-  width: 320px;
 
-  position: relative;
-  border-radius: 15px;
-  padding: 20px;
-  border: 2px solid #f2f2f2;
-  background: #fafafa;
-  box-shadow: 0 10px 15px rgb(0 0 0 / 5%);
+.heroSubtitle {
+  font-size: 1.5rem;
+  color: var(--text-mid);
+  margin-bottom: 2rem;
+  line-height: 1.6;
 }
 
-[id="card_header"] {
+.buttonGroup {
   display: flex;
+  gap: 1rem;
+  flex-wrap: wrap;
   justify-content: center;
-  font-size: 23px;
+}
+
+.btn {
+  padding: 1rem 2rem;
+  border-radius: 100px;
   font-weight: 600;
-  line-height: 1.5em;
-  color: rgb(73, 73, 73);
+  font-size: 1.25rem;
+  text-decoration: none;
+  transition: all 0.3s ease;
+  display: inline-flex;
+  align-items: center;
+  gap: 0.5rem;
+  cursor: pointer;
+  border: none;
 }
-[id="price_row"] {
-  display: flex;
-  justify-content: center;
+
+.btnPrimary {
+  background: var(--green-600);
+  color: white;
+  box-shadow: 0 4px 20px rgba(22, 163, 74, 0.3);
 }
-[id="durance"] {
-  margin-top: 30px;
-  margin-left: 10px;
-  font-size: 24px;
-  font-weight: 600;
-  line-height: 1.5em;
-  color: rgb(73, 73, 73);
+
+.btnPrimary:hover {
+  background: var(--green-700);
+  transform: translateY(-2px);
+  box-shadow: 0 8px 30px rgba(22, 163, 74, 0.4);
 }
 
-[id="sub_durance"] {
-  margin-top: 5px;
-  margin-left: 10px;
-  font-size: 18px;
-  font-weight: 600;
-  line-height: 1.5em;
-  text-align: center;
-  color: rgb(73, 73, 73);
+.btnSecondary {
+  background: white;
+  color: var(--text-dark);
+  box-shadow: 0 4px 20px rgba(0, 0, 0, 0.08);
 }
 
-[id="price"] {
-  margin-top: 20px;
-  font-size: 46px;
-  font-weight: 600;
-  line-height: 1em;
-  color: rgb(21, 193, 79);
+.btnSecondary:hover {
+  background: var(--green-50);
+  transform: translateY(-2px);
 }
-[id="point_stack"] {
-  margin-top: 22px;
-  text-align: left;
+
+/* Feature Sections */
+.featureSection {
+  padding: 4rem 1rem;
+  background: var(--cream);
 }
-[id="point"] {
-  font-size: 15px;
-  font-weight: 600;
-  line-height: 2.0em;
-  color: rgb(73, 73, 73);
-}
-[id="btn"] {
-  /* background-color: #222; */
-  /* text-align: center; */
-  /* justify-content: center; */
-  /* margin-left: 20%; */
-  margin-top: 10px;
-  position: absolute;
-  bottom: 2rem;
-  box-shadow: 0 0.7065919983928324px 0.7065919983928324px -0.625px #00000026,
-    0 1.8065619053231785px 1.8065619053231785px -1.25px #00000025,
-    0 3.6217592146567767px 3.6217592146567767px -1.875px #00000023,
-    0 6.8655999097303715px 6.8655999097303715px -2.5px #00000020,
-    0 13.646761411524492px 13.646761411524492px -3.125px #0000001b,
-    0 30px 30px -3.75px #0000000d;
-}
-/* :hover[id="btn"] {
-  color: #222;
-  background-color: #dfdcdc;
-  transition: 1s;
-} */
-
-[id="card_download"] {
-  height: 200px;
-  width: 320px;
 
-  position: relative;
-  border-radius: 15px;
-  padding: 20px;
-  border: 2px solid #f2f2f2;
-  background: #fafafa;
-  box-shadow: 0 10px 15px rgb(0 0 0 / 5%);
-}
-:hover[id="card_download"] {
-  transform: scale(1.1);
-  transition: 0.5s;
-}
-[id="hero__title"]{
-  font-size: 80px;
-  font-weight: 400;
-  text-align: center;
-  color: #0dbb5b;
+.featureSection:nth-child(even) {
+  background: var(--sand);
 }
 
-h2 {
-  font-size: 32px;
-  padding: 0.5rem 0;
+.featureInner {
+  max-width: 1300px;
+  margin: 0 auto;
+  display: grid;
+  grid-template-columns: 1fr 1.5fr;
+  gap: 2.5rem;
+  align-items: center;
 }
 
-h3 {
-  font-size: 24px;
+.featureInner.reverse {
+  grid-template-columns: 1.5fr 1fr;
 }
 
+.featureInner.reverse .featureContent {
+  order: 2;
+}
 
-.sectionText {
-  padding: 0.5rem 0px;
-  display: flex;
-  align-items: center;
-  justify-content: center;
-  color: #3b3b3b;
-  font-size: 18px;
-  margin-bottom: 30px;
+.featureInner.reverse .featureVideo {
+  order: 1;
+}
+
+.featureContent h2 {
+  font-size: 2.5rem;
+  font-weight: 700;
+  color: var(--text-dark);
+  margin-bottom: 1.5rem;
 }
-.sectionText:first-child {
-  margin-top: 40px;
+
+.featureContent ul {
+  list-style: none;
+  padding: 0;
+  margin: 0;
+}
+
+.featureContent li {
+  font-size: 1.2rem;
+  color: var(--text-mid);
+  padding: 0.6rem 0;
+  padding-left: 1.75rem;
+  position: relative;
+  line-height: 1.6;
+}
+
+.featureContent li::before {
+  content: "✓";
+  position: absolute;
+  left: 0;
+  color: var(--green-500);
+  font-weight: bold;
 }
 
-.sectionText h1 {
-  padding-top: 2.0rem;
-  font-size: 42px;
+.featureContent li b {
+  color: var(--green-600);
 }
 
-.sectionText h3 {
-  font-size: 26px;
+.featureVideo {
+  border-radius: var(--radius-sm);
+  overflow: hidden;
+  box-shadow: 0 8px 30px rgba(0, 0, 0, 0.1);
 }
 
-.sectionText li {
-  font-size: 18px;
+.featureVideo video {
+  width: 100%;
+  height: auto;
+  display: block;
 }
 
+/* Section Separator */
 .sectionSeparator {
-  padding: 30px;
-  display: flex;
-  align-items: center;
-  justify-content: center;
-  color: rgb(21, 193, 79);
-  font-weight: 700;
-  font-size: 48px;
+  padding: 3rem 1rem;
+  text-align: center;
+  font-size: 2.5rem;
+  font-weight: 800;
+  color: var(--green-600);
+  background: var(--cream);
 }
 
+/* Pricing Section */
+.pricingSection {
+  padding: 2rem 1rem 4rem;
+  background: var(--cream);
+}
 
-table,
-th,
-td {
-  font-size: 14px;
-  border: 1px solid;
+.pricingGrid {
+  max-width: 1100px;
+  margin: 0 auto;
+  display: grid;
+  grid-template-columns: repeat(3, 1fr);
+  gap: 1.5rem;
 }
 
-.comparisionSection {
-  padding-left: 0;
-  padding-right: 0;
+.pricingCard {
+  background: white;
+  border-radius: var(--radius-md);
+  padding: 2rem;
+  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.04);
+  display: flex;
+  flex-direction: column;
+  min-height: 380px;
 }
-.comparisionSection .h1 {
-  padding-left: 15px;
-  padding-right: 15px;
+
+.pricingCard h3 {
+  font-size: 1.4rem;
+  font-weight: 600;
+  color: var(--text-dark);
+  text-align: center;
+  margin-bottom: 1rem;
 }
-.sectionText p {
-  font-size: 16px;
+
+.pricingPrice {
+  text-align: center;
+  margin-bottom: 1.5rem;
 }
-.grootImg {
-  box-shadow: 0 10px 15px rgba(0 0 0 / 0.2);
+
+.pricingAmount {
+  font-size: 2.5rem;
+  font-weight: 700;
+  color: var(--green-500);
 }
-.grootCardWrapper {
-  gap: 40px;
+
+.pricingPeriod {
+  font-size: 1.1rem;
+  color: var(--text-mid);
 }
-.grootCard {
-  overflow: hidden;
-  flex-grow: 1;
-  width: 100%;
-  border-radius: 15px;
-  padding: 20px;
-  border: 2px solid #f2f2f2;
-  background: #fafafa;
-  box-shadow: 0 10px 15px rgb(0 0 0 / 5%);
-}
-.grootFeatureTableWrapper {
-  padding-left: 0;
-  padding-right: 0;
-  border-radius: 15px;
-  overflow: hidden;
+
+.pricingFeatures {
+  flex: 1;
+  list-style: none;
+  padding: 0;
+  margin: 0 0 1.5rem 0;
 }
-.grootFeatureTable {
-  border: 2px solid #f2f2f2;
-  background: #fafafa;
-  text-align: left;
-  width: 100%;
-  display: table;
+
+.pricingFeatures li {
+  font-size: 1.1rem;
+  color: var(--text-mid);
+  padding: 0.6rem 0;
+  border-bottom: 1px solid var(--green-50);
+  line-height: 1.5;
 }
-.grootCard h2 {
-  display: flex;
-  align-items: center;
-  gap: 6px;
+
+.pricingFeatures li:last-child {
+  border-bottom: none;
 }
-.grootFeatureTable th ul {
-  padding-top: 8px;
-  padding-bottom: 8px;
+
+.pricingCta {
+  text-align: center;
+  margin-top: auto;
 }
-.grootFeatureTable th ul li {
-  font-size: 14px;
-  font-weight: 500;
-  line-height: 1.8;
+
+/* Pricing Note */
+.pricingNote {
+  max-width: 800px;
+  margin: 3rem auto 0;
+  padding: 0 2rem;
 }
-.grootFeatureTable tbody td {
+
+.pricingNote h3 {
+  font-size: 1.5rem;
+  font-weight: 700;
+  color: var(--text-dark);
   text-align: center;
+  margin-bottom: 1rem;
 }
-.flexCol {
-  flex-direction: column;
+
+.pricingNote ul {
+  list-style: none;
+  padding: 0;
 }
 
-.buttonGroup {
-  display: flex;
-  width: 100%;
-  justify-content: center;
-  gap: 20px;
+.pricingNote li {
+  font-size: 1.15rem;
+  color: var(--text-mid);
+  padding: 0.75rem 0;
+  line-height: 1.6;
 }
 
-.downloadGroup {
-  display: flex;
-  width: 100%;
-  justify-content: space-around;
-  gap: 30px;
-  margin-bottom: 30px;
-  margin-top: 40px;
-  flex-wrap: wrap;
+.pricingNote b {
+  color: var(--text-dark);
 }
-.downloadLogo {
-  height: 100px;
-  max-width: 100%;
-  object-fit: cover;
-  margin: 0 auto 20px;
-  display: block;
+
+/* Download Section */
+.downloadSection {
+  padding: 2rem 1rem 5rem;
+  background: var(--cream);
 }
-.tooltipTrigger {
-  background-color: #333333;
-  padding: 0;
-  color: white;
-  width: 18px;
-  height: 18px;
-  font-size: 14px;
-  border-radius: 50%;
-  margin-left: 5px;
-  border: 0;
-  transition: all 300ms;
-}
-.tooltipTrigger:hover {
-  background-color: var(--ifm-color-primary);
-  color: white;
+
+.downloadInner {
+  max-width: 900px;
+  margin: 0 auto;
+  text-align: center;
 }
-.toolTip {
-  max-width: 200px;
-  padding: 0.25rem 0.5rem;
+
+.downloadInner h3 {
+  font-size: 1.25rem;
+  color: var(--text-mid);
+  margin-bottom: 2.5rem;
+}
+
+.downloadGrid {
+  display: flex;
+  justify-content: center;
+  gap: 2rem;
+  flex-wrap: wrap;
+}
+
+.downloadCard {
+  background: white;
+  border-radius: var(--radius-md);
+  padding: 2rem;
+  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.04);
+  transition: all 0.3s ease;
   text-align: center;
-  border: 2px solid #dfdede;
-  background-color: #fafafa;
-  box-shadow: 0 10px 15px rgb(0 0 0 / 5%);
-  border-radius: 0.375rem;
-  font-size: 12px;
-  font-weight: bold;
+  min-width: 200px;
 }
-.whitespaceNoWrap {
-  white-space: nowrap;
+
+.downloadCard:hover {
+  transform: translateY(-4px);
+  box-shadow: 0 8px 24px rgba(0, 0, 0, 0.08);
 }
-[id="t1"]{
-  display: none;
+
+.downloadLogo {
+  height: 80px;
+  width: auto;
+  margin-bottom: 1rem;
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
 }
-[id="t3"]{
-  display: none;
+
+.downloadCard a {
+  color: var(--green-600);
+  font-weight: 600;
+  text-decoration: none;
 }
 
-@media screen and (max-width: 996px) {
-  [id="t2"]{
-    display: none;
-  }
-  [id="t1"]{
-    display: block;
-  }
-  [id="t4"]{
-    display: none;
-  }
-  [id="t3"]{
-    display: block;
-  }
-  .heroBanner {
-    padding: 2rem;
-  }
-  
-  .buttonGroup{
-    margin-bottom: 25px;
-  }
-  [id="card"] {
-    margin-top: 25px;
-  }
+.downloadCard a:hover {
+  color: var(--green-700);
+  text-decoration: underline;
 }
 
-@media (max-width: 767px) {
-  .grootCardWrapper {
-    flex-direction: column;
-  }
-  .downloadGroup > div {
+/* Responsive */
+@media (max-width: 1024px) {
+  .featureInner,
+  .featureInner.reverse {
+    grid-template-columns: 1fr;
+    gap: 2rem;
     text-align: center;
   }
-  .comparisionSection .container {
-    padding-left: 0;
-    padding-right: 0;
-  }
-  [id="card"] {
-    margin-top: 25px;
-  }
-}
 
-@media (max-width: 567px) {
-  .sectionText {
-    margin-bottom: 10px;
+  .featureContent,
+  .featureInner.reverse .featureContent {
+    order: 1;
   }
-  .sectionText h1 {
-    font-size: 24px;
-  }
-  .sectionText h3 {
-    font-size: 16px;
-  }
-  .sectionText h2 {
-    font-size: 18px;
-  }
-  .sectionText p,
-  .sectionText li {
-    font-size: 14px;
+
+  .featureVideo,
+  .featureInner.reverse .featureVideo {
+    order: 2;
+    max-width: 700px;
+    margin: 0 auto;
   }
-  .downloadGroup > div > a {
-    font-size: 14px;
-    padding: 8px 16px;
+
+  .pricingGrid {
+    grid-template-columns: 1fr;
+    max-width: 400px;
   }
-  [id="card"] {
-    margin-top: 25px;
+
+  .heroTitle {
+    font-size: 3rem;
   }
 }
-@media (max-width: 1439px) {
-  [id="row_price"] {
-    width: 90%;
-  }
-  [id="point"] {
-    word-wrap: break-word;
-    word-break: break-all;
+
+@media (max-width: 768px) {
+  .heroTitle {
+    font-size: 2.5rem;
   }
-  [id="price"] {
-    font-size: 40px;
+
+  .heroSubtitle {
+    font-size: 1.1rem;
   }
-  [id="card_col"] {
+
+  .featureContent h2 {
+    font-size: 1.5rem;
   }
-  [id="card"] {
-    margin-top: 25px;
-    height: 450px;
+
+  .sectionSeparator {
+    font-size: 2rem;
   }
-  [id="durance"] {
-    margin-top: 35px;
+
+  .buttonGroup {
+    flex-direction: column;
+    align-items: center;
   }
-}
-@media (max-width: 1100px) {
-  [id="row_price"] {
+
+  .btn {
     width: 100%;
+    max-width: 280px;
+    justify-content: center;
   }
-  [id="durance"] {
-    margin-top: 35px;
+
+  .downloadGrid {
+    flex-direction: column;
+    align-items: center;
   }
 }
diff --git a/src/pages/index.js b/src/pages/index.js
index 48f518e..02e1417 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -18,8 +18,7 @@ const features = [
     icon: "🌳",
     title: "More scalable than State Machines",
     description:
-      "Behavior Trees enable complex behaviors with less code and more modularity, making them easier to maintain and extend that Finite State Machines.",
-    large: true,
+      "Behavior Trees enable complex behaviors with less code and more modularity, making them easier to maintain and extend.",
   },
   {
     id: "async",
@@ -54,8 +53,7 @@ const features = [
     icon: "🤖",
     title: "ROS2 Integration",
     description:
-      "Official wrappers for ROS2. Powers the Nav2 navigation stack trusted by hundreds of robots and engineering teams worldwide.",
-    large: true,
+      "Official wrappers for ROS2. Powers the Nav2 navigation stack.",
   },
 ];
 
@@ -85,15 +83,9 @@ const trustLogos = [
   "MoveIt",
 ];
 
-function BentoCard({ id, icon, title, description, large }) {
-  const cardClass = clsx(
-    styles.bentoCard,
-    styles[`bentoCard${id.charAt(0).toUpperCase() + id.slice(1)}`],
-    { [styles.bentoCardLarge]: large }
-  );
-
+function BentoCard({ icon, title, description }) {
   return (
-    <div className={cardClass}>
+    <div className={styles.bentoCard}>
       <div className={styles.bentoHeader}>
         <div className={styles.bentoIcon}>{icon}</div>
         <h3>{title}</h3>
@@ -159,7 +151,7 @@ function Home() {
           <div className={styles.heroContent}>
             <h1 className={styles.heroTitle}>
               The Industry Standard for{" "}
-              <span className={styles.heroTitleHighlight}>Robot Intelligence</span>
+              <span className={styles.heroTitleHighlight}>Robot Behaviors</span>
             </h1>
             <p className={styles.heroSub}>
               BehaviorTree.CPP is the most popular, production-ready framework
@@ -274,6 +266,12 @@ function Home() {
                   <GrootFeature key={idx} {...feature} />
                 ))}
               </div>
+              <Link
+                className={clsx(styles.btn, styles.btnPrimary)}
+                to={useBaseUrl("/groot")}
+              >
+                Learn More About Groot2
+              </Link>
             </div>
 
             <div className={styles.grootVisual}>
@@ -282,15 +280,6 @@ function Home() {
               </div>
             </div>
           </div>
-
-          <div className={styles.grootCta}>
-            <Link
-              className={clsx(styles.btn, styles.btnPrimary)}
-              to={useBaseUrl("/groot")}
-            >
-              Learn More About Groot2
-            </Link>
-          </div>
         </div>
       </section>
 
diff --git a/src/pages/index.module.css b/src/pages/index.module.css
index baf9f17..245edd4 100644
--- a/src/pages/index.module.css
+++ b/src/pages/index.module.css
@@ -1,102 +1,621 @@
+/* Design System Variables - scoped to avoid affecting docs */
+.hero,
+.trustBar,
+.featuresSection,
+.grootSection {
+  --green-50: #f0fdf4;
+  --green-100: #dcfce7;
+  --green-200: #bbf7d0;
+  --green-400: #4ade80;
+  --green-500: #22c55e;
+  --green-600: #16a34a;
+  --green-700: #15803d;
+  --cream: #fdfcfa;
+  --warm-white: #fffef9;
+  --sand: #f5f3ef;
+  --text-dark: #1c1917;
+  --text-mid: #44403c;
+  --text-light: #78716c;
+  --radius-sm: 12px;
+  --radius-md: 20px;
+  --radius-lg: 32px;
+  --radius-xl: 48px;
+}
 
-h1 {
-    font-size: 38px;
-    padding: 0.5rem 0;
+/* Hero Section */
+.hero {
+  min-height: 90vh;
+  display: flex;
+  flex-direction: column;
+  justify-content: center;
+  align-items: center;
+  padding: 6rem 1rem 4rem;
+  position: relative;
+  overflow: hidden;
+  background: linear-gradient(180deg, var(--warm-white) 0%, var(--cream) 100%);
 }
 
-h2 {
-    font-size: 32px;
-    padding: 0.5rem 0;
+.heroInner {
+  display: grid;
+  grid-template-columns: 1.1fr 0.9fr;
+  gap: 4rem;
+  align-items: center;
+  max-width: 1400px;
+  width: 100%;
+  position: relative;
+  z-index: 1;
 }
 
-h3{
-    font-size: 24px;
+/* Floating organic shapes */
+.blob {
+  position: absolute;
+  border-radius: 50%;
+  filter: blur(80px);
+  opacity: 0.6;
+  animation: float 20s ease-in-out infinite;
 }
 
-p{
-    font-size: 18px;
+.blob1 {
+  width: 600px;
+  height: 600px;
+  background: var(--green-200);
+  top: -200px;
+  right: -100px;
+  animation-delay: 0s;
 }
 
-li{
-    font-size: 18px;
+.blob2 {
+  width: 400px;
+  height: 400px;
+  background: var(--green-100);
+  bottom: -100px;
+  left: -100px;
+  animation-delay: -5s;
 }
 
-.heroBanner {
-    padding: 2.5rem 0;
-    text-align: center;
-    position: relative;
-    overflow: hidden;
-    display: flex;
-    align-items: center;
-    justify-content: center;
+.blob3 {
+  width: 300px;
+  height: 300px;
+  background: var(--green-200);
+  top: 40%;
+  left: 10%;
+  animation-delay: -10s;
 }
 
-.heroBanner h1{
-    padding: 0.5rem 0;
-    font-size: 48px;
+@keyframes float {
+  0%, 100% { transform: translate(0, 0) scale(1); }
+  25% { transform: translate(30px, -30px) scale(1.05); }
+  50% { transform: translate(-20px, 20px) scale(0.95); }
+  75% { transform: translate(20px, 10px) scale(1.02); }
 }
 
-.heroText {
-    color: #3b3b3b;
-    padding: 3.5rem 0;
+.heroContent {
+  text-align: left;
 }
 
-.heroSvg {
-    max-width: 550px;
-    max-height: 550px;
+/* Hero Carousel */
+.heroCarousel {
+  position: relative;
+  border-radius: var(--radius-xl);
+  overflow: hidden;
+  box-shadow: 0 30px 60px rgba(0, 0, 0, 0.15);
+  animation: fadeInUp 0.8s ease-out 0.5s both;
 }
 
-@media screen and (max-width: 966px) {
-    .heroBanner {
-        padding: 2rem;
-    }
+.heroCarousel img {
+  border-radius: var(--radius-lg);
+  object-fit: cover;
 }
 
-.sectionText {
-    display: flex;
-    align-items: center;
-    justify-content: center;
-    color: #3b3b3b;
+.heroTitle {
+  font-size: clamp(3rem, 7vw, 4.5rem);
+  font-weight: 800;
+  line-height: 1.1;
+  margin-bottom: 1.5rem;
+  letter-spacing: -0.03em;
+  animation: fadeInUp 0.8s ease-out 0.1s both;
+  color: var(--text-dark);
 }
 
-.sectionText p{
-    font-size: 20px;
+.heroTitleHighlight {
+  background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
+  -webkit-background-clip: text;
+  -webkit-text-fill-color: transparent;
+  background-clip: text;
 }
 
-.sectionText li{
-    font-size: 20px;
+.heroSub {
+  font-size: 1.5rem;
+  color: var(--text-mid);
+  max-width: 600px;
+  margin: 0 auto 2.5rem;
+  animation: fadeInUp 0.8s ease-out 0.2s both;
+  line-height: 1.6;
 }
 
-.features {
-    display: flex;
-    align-items: center;
-    padding: 4rem 0;
-    width: 100%;
-    background-color: #383838;
-    color: white;
+.heroCtas {
+  display: flex;
+  gap: 1rem;
+  justify-content: flex-start;
+  flex-wrap: wrap;
+  animation: fadeInUp 0.8s ease-out 0.3s both;
 }
 
-.features h3 {
-    color: rgb(0, 217, 94);
+.btn {
+  padding: 1rem 2rem;
+  border-radius: 100px;
+  font-weight: 600;
+  font-size: 1.25rem;
+  text-decoration: none;
+  transition: all 0.3s ease;
+  display: inline-flex;
+  align-items: center;
+  gap: 0.5rem;
+  cursor: pointer;
+  border: none;
 }
 
-.features p {
-    font-size: 20px;
+.btnPrimary {
+  background: var(--green-600);
+  color: white;
+  box-shadow: 0 4px 20px rgba(22, 163, 74, 0.3);
 }
 
-.supportFrame {
-    display: flex;
-    align-items: center;
-    padding: 2rem 0;
-    width: 100%;
-    color: rgb(53, 53, 53);
-    background-image: linear-gradient(to bottom, #00a639, #1eb645, #30c651, 
-    #3fd65d, #4de769, #4eef69, #4ff669, #51fe68, #46fe59, #39ff47, #2bff30, #17ff00);
+.btnPrimary:hover {
+  background: var(--green-700);
+  transform: translateY(-2px);
+  box-shadow: 0 8px 30px rgba(22, 163, 74, 0.4);
+  color: white;
+  text-decoration: none;
+}
+
+.btnSecondary {
+  background: white;
+  color: var(--text-dark);
+  box-shadow: 0 4px 20px rgba(0, 0, 0, 0.08);
+}
+
+.btnSecondary:hover {
+  background: var(--green-50);
+  transform: translateY(-2px);
+  color: var(--text-dark);
+  text-decoration: none;
+}
+
+.heroStats {
+  display: flex;
+  gap: 3rem;
+  justify-content: flex-start;
+  margin-top: 3rem;
+  animation: fadeInUp 0.8s ease-out 0.4s both;
+}
+
+.stat {
+  text-align: center;
+}
+
+.statValue {
+  font-size: 2.5rem;
+  font-weight: 800;
+  color: var(--green-600);
+  line-height: 1;
+}
+
+.statLabel {
+  font-size: 1.0rem;
+  color: var(--text-light);
+  margin-top: 0.25rem;
+}
+
+@keyframes fadeInUp {
+  from {
+    opacity: 0;
+    transform: translateY(30px);
+  }
+  to {
+    opacity: 1;
+    transform: translateY(0);
+  }
+}
+
+/* Trust Bar */
+.trustBar {
+  padding: 3rem 1rem;
+  text-align: center;
+  background: var(--text-dark);
+}
+
+.trustBarTitle {
+  color: rgba(255, 255, 255, 0.5);
+  font-size: 1.0rem;
+  margin-bottom: 1.5rem;
+  text-transform: uppercase;
+  letter-spacing: 0.15em;
+  font-weight: 600;
+}
+
+.trustLogos {
+  display: flex;
+  justify-content: center;
+  align-items: center;
+  gap: 3rem;
+  flex-wrap: wrap;
+}
+
+.trustLogo {
+  color: rgba(255, 255, 255, 0.85);
+  font-family: 'JetBrains Mono', monospace;
+  font-size: 1.25rem;
+  font-weight: 600;
+  transition: color 0.2s;
+  cursor: default;
+}
+
+.trustLogo:hover {
+  color: var(--green-400);
+}
 
+/* Features Section - Bento Grid */
+.featuresSection {
+  padding: 6rem 1rem;
+  background: var(--cream);
 }
-.supportFrame a
-{
-    font-weight: bold;
-    color: rgb(13, 47, 65);
+
+.featuresHeader {
+  text-align: center;
+  margin-bottom: 4rem;
+}
+
+.featuresTitle {
+  font-size: 3.5rem;
+  font-weight: 800;
+  margin-bottom: 0.75rem;
+  letter-spacing: -0.02em;
+  color: var(--text-dark);
+}
+
+.featuresSubtitle {
+  color: var(--text-mid);
+  font-size: 1.8rem;
+}
+
+/* Bento Box Grid */
+.bentoGrid {
+  display: grid;
+  grid-template-columns: repeat(7, 1fr);
+  grid-template-rows: auto auto;
+  gap: 1.25rem;
+  max-width: 1400px;
+  margin: 0 auto;
+}
+
+/* Card positions - large boxes 3/7, small boxes 2/7 */
+.bentoCard:nth-child(1) {
+  grid-column: 1 / 4;
 }
 
+.bentoCard:nth-child(2) {
+  grid-column: 4 / 6;
+}
+
+.bentoCard:nth-child(3) {
+  grid-column: 6 / 8;
+}
+
+.bentoCard:nth-child(4) {
+  grid-column: 1 / 3;
+}
+
+.bentoCard:nth-child(5) {
+  grid-column: 3 / 5;
+}
+
+.bentoCard:nth-child(6) {
+  grid-column: 5 / 8;
+}
+
+.bentoCard {
+  background: white;
+  border-radius: var(--radius-md);
+  padding: 2rem;
+  transition: all 0.3s ease;
+  display: flex;
+  flex-direction: column;
+  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.04), 0 1px 4px rgba(0, 0, 0, 0.02);
+}
+
+.bentoCard:hover {
+  transform: translateY(-4px);
+  box-shadow: 0 8px 24px rgba(0, 0, 0, 0.08), 0 2px 8px rgba(0, 0, 0, 0.04);
+}
+
+.bentoCard:hover .bentoIcon {
+  transform: scale(1.1);
+  background: var(--green-500);
+  color: white;
+}
+
+
+.bentoHeader {
+  display: flex;
+  align-items: center;
+  gap: 0.75rem;
+  margin-bottom: 0.75rem;
+}
+
+.bentoIcon {
+  width: 60px;
+  height: 60px;
+  background: var(--green-100);
+  border-radius: var(--radius-sm);
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  font-size: 1.2rem;
+  flex-shrink: 0;
+  transition: all 0.3s ease;
+}
+
+.bentoCard h3 {
+  font-size: 1.4rem;
+  font-weight: 700;
+  margin: 0;
+  color: var(--text-dark);
+  transition: color 0.3s ease;
+}
+
+.bentoCard p {
+  color: var(--text-mid);
+  font-size: 1.1rem;
+  line-height: 1.6;
+  transition: color 0.3s ease;
+  margin: 0;
+}
+
+/* Groot2 Section */
+.grootSection {
+  padding: 6rem 1rem;
+  background: var(--sand);
+  position: relative;
+  overflow: hidden;
+}
+
+.grootBlob {
+  position: absolute;
+  width: 500px;
+  height: 500px;
+  background: var(--green-200);
+  border-radius: 50%;
+  filter: blur(100px);
+  opacity: 0.5;
+  top: 50%;
+  right: -200px;
+  transform: translateY(-50%);
+}
+
+.grootContent {
+  max-width: 1400px;
+  margin: 0 auto;
+  position: relative;
+  z-index: 1;
+}
+
+.grootHeader {
+  text-align: center;
+  margin-bottom: 3rem;
+}
+
+.grootHeader h2 {
+  font-size: 3.5rem;
+  font-weight: 800;
+  letter-spacing: -0.02em;
+  color: var(--text-dark);
+}
+
+.grootBody {
+  display: grid;
+  grid-template-columns: 0.9fr 1.5fr;
+  gap: 3rem;
+  align-items: center;
+}
+
+.grootTextHighlight {
+  color: var(--green-600);
+}
+
+.grootFeatures {
+  display: flex;
+  flex-direction: column;
+  gap: 1rem;
+  margin-bottom: 2rem;
+}
+
+.grootFeature {
+  display: flex;
+  align-items: flex-start;
+  gap: 1rem;
+  padding: 1rem 1.25rem;
+  background: white;
+  border-radius: var(--radius-md);
+  transition: all 0.2s;
+}
+
+.grootFeature:hover {
+  transform: translateX(8px);
+  box-shadow: 0 4px 20px rgba(0, 0, 0, 0.06);
+}
+
+.grootFeatureIcon {
+  width: 28px;
+  height: 28px;
+  background: var(--green-500);
+  border-radius: 50%;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  flex-shrink: 0;
+  color: white;
+  font-size: 0.8rem;
+  font-weight: 700;
+}
+
+.grootFeatureText strong {
+  color: var(--text-dark);
+  font-weight: 600;
+  display: block;
+}
+
+.grootFeatureText span {
+  color: var(--text-mid);
+  font-size: 1.1rem;
+}
+
+.grootVisual {
+  position: relative;
+}
+
+.grootPreview {
+  border-radius: var(--radius-sm);
+  overflow: hidden;
+  box-shadow: 0 30px 60px rgba(0, 0, 0, 0.12);
+}
+
+.grootPreview video {
+  width: 100%;
+  display: block;
+}
+
+.grootText {
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+}
+
+.grootText .btn {
+  margin-top: 1rem;
+}
+
+/* Responsive */
+@media (max-width: 1024px) {
+  .heroInner {
+    grid-template-columns: 1fr;
+    gap: 3rem;
+    text-align: center;
+  }
+
+  .heroContent {
+    text-align: center;
+    order: 1;
+  }
+
+  .heroCarousel {
+    order: 2;
+    max-width: 500px;
+    margin: 0 auto;
+  }
+
+  .heroCtas {
+    justify-content: center;
+  }
+
+  .heroStats {
+    justify-content: center;
+  }
+
+  .grootBody {
+    grid-template-columns: 1fr;
+    gap: 3rem;
+  }
+
+  .grootHeader h2 {
+    font-size: 2.5rem;
+  }
+
+  .bentoGrid {
+    grid-template-columns: 1fr 1fr;
+  }
+
+  .bentoCard:nth-child(1) {
+    grid-column: 1 / 3;
+  }
+
+  .bentoCard:nth-child(2) {
+    grid-column: 1;
+  }
+
+  .bentoCard:nth-child(3) {
+    grid-column: 2;
+  }
+
+  .bentoCard:nth-child(4) {
+    grid-column: 1;
+  }
+
+  .bentoCard:nth-child(5) {
+    grid-column: 2;
+  }
+
+  .bentoCard:nth-child(6) {
+    grid-column: 1 / 3;
+  }
+}
+
+@media (max-width: 768px) {
+  .heroStats {
+    flex-direction: row;
+    gap: 1.5rem;
+    flex-wrap: wrap;
+  }
+
+  .heroCarousel {
+    max-width: 100%;
+  }
+
+  .trustLogos {
+    gap: 1.5rem;
+  }
+
+  .bentoGrid {
+    grid-template-columns: 1fr;
+  }
+
+  .bentoCard:nth-child(1),
+  .bentoCard:nth-child(2),
+  .bentoCard:nth-child(3),
+  .bentoCard:nth-child(4),
+  .bentoCard:nth-child(5),
+  .bentoCard:nth-child(6) {
+    grid-column: 1;
+  }
+
+  .heroTitle {
+    font-size: 2.5rem;
+  }
+
+  .grootText h2 {
+    font-size: 2rem;
+  }
+
+  .grootText {
+    text-align: center;
+  }
+
+  .grootHeader h2 {
+    font-size: 2rem;
+  }
+
+  .grootFeature {
+    text-align: left;
+  }
+
+  .heroCtas {
+    flex-direction: column;
+    align-items: center;
+  }
+
+  .btn {
+    width: 100%;
+    max-width: 280px;
+    justify-content: center;
+  }
+}
\ No newline at end of file

From 700c8829062c94fd23e76455e910c2bf558ca949 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 15:35:19 +0100
Subject: [PATCH 55/80] redesign completed

---
 docusaurus.config.js       |   2 +-
 src/pages/groot.js         | 209 +++++++++++++----------
 src/pages/groot.module.css | 335 +++++++++++++++++++++++++++++--------
 src/pages/index.js         |   2 +-
 src/pages/index.module.css |   8 +-
 5 files changed, 392 insertions(+), 164 deletions(-)

diff --git a/docusaurus.config.js b/docusaurus.config.js
index 707d161..166915c 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -104,7 +104,7 @@ const config = {
         },
         items: [
           {
-            type: 'doc', label: 'Docs', docId: 'intro', position: 'left'
+            type: 'doc', label: 'Documentation', docId: 'intro', position: 'left'
           },
           {
             position: 'left',
diff --git a/src/pages/groot.js b/src/pages/groot.js
index 6f512e8..4d85ae1 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -10,43 +10,42 @@ import MonitorVideo from "@site/static/img/groot2_monitor.mp4";
 import LogVideo from "@site/static/img/groot2_log.mp4";
 import ContactFormModal from "../components/ContactFormModal";
 
-// Pricing plans data
-const pricingPlans = [
+// Pricing comparison features
+const pricingFeatures = [
+  { name: "Full Behavior Tree Editor", free: true, pro: true },
+  { name: "Real-time XML Preview", free: true, pro: true },
+  { name: "Multi-file Project Support", free: true, pro: true },
+  { name: "Split View", free: true, pro: true },
+  { name: "Monitor & Log Visualizer", free: "20 nodes", pro: "Unlimited" },
+  { name: "Search Nodes in Large Trees", free: false, pro: true },
+  { name: "Blackboard Visualization", free: false, pro: true },
+  { name: "Interactive Breakpoints", free: false, pro: true },
+  { name: "Fault Injection", free: false, pro: true },
+  { name: "Node Substitution at Runtime", free: false, pro: true },
+];
+
+// FAQ data
+const faqItems = [
   {
-    name: "Basic",
-    price: "Free",
-    period: "",
-    features: [
-      "Full Behavior Tree Editor",
-      "Monitor and Log Visualizer limited to 20 Nodes",
-    ],
-    buttonText: "Download",
-    action: "download",
+    question: "What is a floating license?",
+    answer:
+      "A floating license can be used on any machine, but only one at a time. When you close Groot2 on one computer, you can open it on another. This is ideal for teams where multiple people need occasional access.",
   },
   {
-    name: "PRO (floating license)",
-    price: "€690",
-    period: " / year",
-    features: [
-      "Search Nodes in large trees",
-      "Unlimited Nodes in Monitor and Log Visualizer",
-      "Interactive real-time debugger",
-    ],
-    buttonText: "Buy now",
-    action: "checkout",
+    question: "Do you have a Trial version of Groot2 PRO?",
+    answer:
+      "Yes, you can activate 30 days of trial for the PRO version in Preferences -> License.",
   },
   {
-    name: "Training",
-    price: "€1,800",
-    period: " / month",
-    features: [
-      "Includes 1 PRO license (1 year)",
-      "Up to 12 hours per month",
-      "Learn how to use BT.CPP effectively",
-    ],
-    buttonText: "Contact us",
-    action: "contact",
+    question: "What payment methods do you accept?",
+    answer:
+      "We accept all major credit cards (Visa, MasterCard, American Express). Contact us if you prefer wire transfer",
   },
+  {
+    question: "Can I use Groot2 offline?",
+    answer:
+      "Yes, Groot2 works offline. The PRO license requires an internet connection only for initial activation and periodic validation (once every 7 days). If you are in a air-gapped environment, please contact us for offline activation options.",
+  }
 ];
 
 // Feature sections data
@@ -106,47 +105,24 @@ function FeatureSection({ title, items, video, reverse }) {
   );
 }
 
-function PricingCard({ plan, onDownload, onContact }) {
-  const handleClick = () => {
-    if (plan.action === "download") {
-      onDownload();
-    } else if (plan.action === "contact") {
-      onContact();
-    }
-  };
+function PricingFeatureValue({ value }) {
+  if (value === true) {
+    return <span className={styles.checkMark}>✓</span>;
+  } else if (value === false) {
+    return <span className={styles.crossMark}>—</span>;
+  } else {
+    return <span className={styles.textValue}>{value}</span>;
+  }
+}
 
+function FaqItem({ question, answer, isOpen, onClick }) {
   return (
-    <div className={styles.pricingCard}>
-      <h3>{plan.name}</h3>
-      <div className={styles.pricingPrice}>
-        <span className={styles.pricingAmount}>{plan.price}</span>
-        <span className={styles.pricingPeriod}>{plan.period}</span>
-      </div>
-      <ul className={styles.pricingFeatures}>
-        {plan.features.map((feature, idx) => (
-          <li key={idx}>{feature}</li>
-        ))}
-      </ul>
-      <div className={styles.pricingCta}>
-        {plan.action === "checkout" ? (
-          <a
-            className={clsx(styles.btn, styles.btnPrimary)}
-            href="javascript:void(0)"
-            data-cb-type="checkout"
-            data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
-            data-cb-item-0-quantity="1"
-          >
-            {plan.buttonText}
-          </a>
-        ) : (
-          <button
-            className={clsx(styles.btn, styles.btnPrimary)}
-            onClick={handleClick}
-          >
-            {plan.buttonText}
-          </button>
-        )}
-      </div>
+    <div className={clsx(styles.faqItem, { [styles.faqItemOpen]: isOpen })}>
+      <button className={styles.faqQuestion} onClick={onClick}>
+        <span>{question}</span>
+        <span className={styles.faqIcon}>{isOpen ? "−" : "+"}</span>
+      </button>
+      {isOpen && <div className={styles.faqAnswer}>{answer}</div>}
     </div>
   );
 }
@@ -154,6 +130,7 @@ function PricingCard({ plan, onDownload, onContact }) {
 export default function Groot() {
   const [chargebeeInitialized, setChargebeeInitialized] = useState(false);
   const [openContactModal, setOpenContactModal] = useState(false);
+  const [openFaqIndex, setOpenFaqIndex] = useState(null);
 
   useEffect(() => {
     if (!chargebeeInitialized) {
@@ -219,27 +196,69 @@ export default function Groot() {
       ))}
 
       {/* Pricing Section */}
-      <div className={styles.sectionSeparator}>Pricing</div>
       <section className={styles.pricingSection}>
-        <div className={styles.pricingGrid}>
-          {pricingPlans.map((plan, idx) => (
-            <PricingCard
-              key={idx}
-              plan={plan}
-              onDownload={scrollToDownload}
-              onContact={() => setOpenContactModal(true)}
-              chargebeeReady={chargebeeInitialized}
-            />
-          ))}
+        <div className={styles.pricingInner}>
+          <h2 className={styles.pricingTitle}>Pricing</h2>
+          <div className={styles.pricingTable}>
+            {/* Header */}
+            <div className={styles.pricingHeader}>
+              <div className={styles.pricingFeatureCol}>Features</div>
+              <div className={styles.pricingPlanCol}>
+                <div className={styles.planName}>Free</div>
+                <div className={styles.planPrice}>€0</div>
+              </div>
+              <div className={clsx(styles.pricingPlanCol, styles.proPlan)}>
+                <div className={styles.planName}>PRO<br />Floating License</div>
+                <div className={styles.planPrice}>
+                  €690<span className={styles.planPeriod}>/year</span>
+                </div>
+              </div>
+            </div>
+
+            {/* Feature Rows */}
+            {pricingFeatures.map((feature, idx) => (
+              <div key={idx} className={styles.pricingRow}>
+                <div className={styles.pricingFeatureCol}>{feature.name}</div>
+                <div className={styles.pricingPlanCol}>
+                  <PricingFeatureValue value={feature.free} />
+                </div>
+                <div className={clsx(styles.pricingPlanCol, styles.proPlan)}>
+                  <PricingFeatureValue value={feature.pro} />
+                </div>
+              </div>
+            ))}
+
+            {/* CTA Row */}
+            <div className={styles.pricingCta}>
+              <div className={styles.pricingFeatureCol}></div>
+              <div className={styles.pricingPlanCol}>
+                <button
+                  className={clsx(styles.btn, styles.btnSecondary)}
+                  onClick={scrollToDownload}
+                >
+                  Download
+                </button>
+              </div>
+              <div className={clsx(styles.pricingPlanCol, styles.proPlan)}>
+                <a
+                  className={clsx(styles.btn, styles.btnPrimary)}
+                  href="javascript:void(0)"
+                  data-cb-type="checkout"
+                  data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
+                  data-cb-item-0-quantity="1"
+                >
+                  Buy PRO
+                </a>
+              </div>
+            </div>
+          </div>
         </div>
       </section>
 
       {/* Download Section */}
-      <div id="download" className={styles.sectionSeparator}>
-        Download
-      </div>
-      <section className={styles.downloadSection}>
+      <section id="download" className={styles.downloadSection}>
         <div className={styles.downloadInner}>
+          <h2 className={styles.downloadTitle}>Download</h2>
           <h3>Latest release: 1.7.0 (2025-12-14)</h3>
           <div className={styles.downloadGrid}>
             <div className={styles.downloadCard}>
@@ -275,6 +294,26 @@ export default function Groot() {
           </div>
         </div>
       </section>
+
+      {/* FAQ Section */}
+      <section className={styles.faqSection}>
+        <div className={styles.faqInner}>
+          <h2 className={styles.faqTitle}>Frequently Asked Questions</h2>
+          <div className={styles.faqList}>
+            {faqItems.map((item, idx) => (
+              <FaqItem
+                key={idx}
+                question={item.question}
+                answer={item.answer}
+                isOpen={openFaqIndex === idx}
+                onClick={() =>
+                  setOpenFaqIndex(openFaqIndex === idx ? null : idx)
+                }
+              />
+            ))}
+          </div>
+        </div>
+      </section>
     </Layout>
   );
 }
diff --git a/src/pages/groot.module.css b/src/pages/groot.module.css
index 9403de0..fd35272 100644
--- a/src/pages/groot.module.css
+++ b/src/pages/groot.module.css
@@ -3,7 +3,8 @@
 .featureSection,
 .sectionSeparator,
 .pricingSection,
-.downloadSection {
+.downloadSection,
+.faqSection {
   --green-50: #f0fdf4;
   --green-100: #dcfce7;
   --green-200: #bbf7d0;
@@ -41,7 +42,7 @@
 }
 
 .heroTitle {
-  font-size: 4rem;
+  font-size: 5rem;
   font-weight: 800;
   color: var(--green-500);
   margin-bottom: 1rem;
@@ -182,119 +183,185 @@
   text-align: center;
   font-size: 2.5rem;
   font-weight: 800;
-  color: var(--green-600);
-  background: var(--cream);
+  color: var(--green-400);
+  background: var(--text-dark);
 }
 
 /* Pricing Section */
 .pricingSection {
-  padding: 2rem 1rem 4rem;
-  background: var(--cream);
+  padding: 5rem 1rem;
+  background: var(--text-dark);
 }
 
-.pricingGrid {
-  max-width: 1100px;
+.pricingInner {
+  max-width: 900px;
   margin: 0 auto;
-  display: grid;
-  grid-template-columns: repeat(3, 1fr);
-  gap: 1.5rem;
 }
 
-.pricingCard {
-  background: white;
+.pricingTitle {
+  font-size: 3.5rem;
+  font-weight: 800;
+  color: white;
+  text-align: center;
+  margin-bottom: 0.5rem;
+}
+
+.pricingSubtitle {
+  font-size: 1.25rem;
+  color: rgba(255, 255, 255, 0.6);
+  text-align: center;
+  margin-bottom: 3rem;
+}
+
+.pricingTable {
+  background: rgba(255, 255, 255, 0.05);
   border-radius: var(--radius-md);
-  padding: 2rem;
-  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.04);
+  overflow: hidden;
+  border: 1px solid rgba(255, 255, 255, 0.1);
+}
+
+.pricingHeader {
+  display: grid;
+  grid-template-columns: 1.5fr 1fr 1fr;
+  background: rgba(255, 255, 255, 0.08);
+  border-bottom: 1px solid rgba(255, 255, 255, 0.1);
+}
+
+.pricingRow {
+  display: grid;
+  grid-template-columns: 1.5fr 1fr 1fr;
+  border-bottom: 1px solid rgba(255, 255, 255, 0.06);
+}
+
+.pricingRow:last-child {
+  border-bottom: none;
+}
+
+.pricingFeatureCol {
+  padding: 0.75rem 1.5rem;
+  color: rgba(255, 255, 255, 0.9);
+  font-size: 1.2rem;
+  display: flex;
+  align-items: center;
+}
+
+.pricingPlanCol {
+  padding: 0.75rem 1.5rem;
+  text-align: center;
   display: flex;
   flex-direction: column;
-  min-height: 380px;
+  align-items: center;
+  justify-content: center;
 }
 
-.pricingCard h3 {
-  font-size: 1.4rem;
+.pricingHeader .pricingPlanCol {
+  padding: 1.25rem 1rem;
+}
+
+.proPlan {
+  background: rgba(34, 197, 94, 0.1);
+  position: relative;
+}
+
+.planBadge {
+  position: absolute;
+  top: -1px;
+  left: 50%;
+  transform: translateX(-50%);
+  background: var(--green-500);
+  color: white;
+  font-size: 1rem;
   font-weight: 600;
-  color: var(--text-dark);
-  text-align: center;
-  margin-bottom: 1rem;
+  padding: 0.25rem 0.75rem;
+  border-radius: 0 0 8px 8px;
+  text-transform: uppercase;
+  letter-spacing: 0.05em;
 }
 
-.pricingPrice {
-  text-align: center;
-  margin-bottom: 1.5rem;
+.planName {
+  font-size: 1.4rem;
+  font-weight: 700;
+  color: white;
+  margin-top: 0.5rem;
 }
 
-.pricingAmount {
+.planPrice {
   font-size: 2.5rem;
-  font-weight: 700;
-  color: var(--green-500);
+  font-weight: 800;
+  color: var(--green-400);
+  line-height: 1.2;
 }
 
-.pricingPeriod {
-  font-size: 1.1rem;
-  color: var(--text-mid);
+.planPeriod {
+  font-size: 1rem;
+  font-weight: 400;
+  color: rgba(255, 255, 255, 0.5);
 }
 
-.pricingFeatures {
-  flex: 1;
-  list-style: none;
-  padding: 0;
-  margin: 0 0 1.5rem 0;
+.checkMark {
+  color: var(--green-400);
+  font-size: 1.25rem;
+  font-weight: 700;
 }
 
-.pricingFeatures li {
-  font-size: 1.1rem;
-  color: var(--text-mid);
-  padding: 0.6rem 0;
-  border-bottom: 1px solid var(--green-50);
-  line-height: 1.5;
+.crossMark {
+  color: rgba(255, 255, 255, 0.3);
+  font-size: 1.25rem;
 }
 
-.pricingFeatures li:last-child {
-  border-bottom: none;
+.textValue {
+  color: rgba(255, 255, 255, 0.7);
+  font-size: 1rem;
 }
 
 .pricingCta {
-  text-align: center;
-  margin-top: auto;
+  display: grid;
+  grid-template-columns: 1.5fr 1fr 1fr;
+  padding: 1.5rem 0;
+  background: rgba(255, 255, 255, 0.03);
+  border-top: 1px solid rgba(255, 255, 255, 0.1);
 }
 
-/* Pricing Note */
-.pricingNote {
-  max-width: 800px;
-  margin: 3rem auto 0;
-  padding: 0 2rem;
+.pricingCta .pricingPlanCol {
+  padding: 0.5rem 1rem;
 }
 
-.pricingNote h3 {
-  font-size: 1.5rem;
-  font-weight: 700;
-  color: var(--text-dark);
-  text-align: center;
-  margin-bottom: 1rem;
+.pricingCta .btn {
+  width: 100%;
+  max-width: 160px;
 }
 
-.pricingNote ul {
-  list-style: none;
-  padding: 0;
+.pricingCta .btnSecondary {
+  background: rgba(255, 255, 255, 0.1);
+  color: white;
+  border: 1px solid rgba(255, 255, 255, 0.2);
 }
 
-.pricingNote li {
-  font-size: 1.15rem;
-  color: var(--text-mid);
-  padding: 0.75rem 0;
-  line-height: 1.6;
+.pricingCta .btnSecondary:hover {
+  background: rgba(255, 255, 255, 0.2);
 }
 
-.pricingNote b {
-  color: var(--text-dark);
+.pricingNote {
+  text-align: center;
+  color: rgba(255, 255, 255, 0.5);
+  font-size: 1rem;
+  margin-top: 2rem;
 }
 
 /* Download Section */
 .downloadSection {
-  padding: 2rem 1rem 5rem;
+  padding: 4rem 1rem 5rem;
   background: var(--cream);
 }
 
+.downloadTitle {
+  font-size: 3.5rem;
+  font-weight: 800;
+  color: var(--green-600);
+  text-align: center;
+  margin-bottom: 0.5rem;
+}
+
 .downloadInner {
   max-width: 900px;
   margin: 0 auto;
@@ -302,7 +369,7 @@
 }
 
 .downloadInner h3 {
-  font-size: 1.25rem;
+  font-size: 1.4rem;
   color: var(--text-mid);
   margin-bottom: 2.5rem;
 }
@@ -321,7 +388,7 @@
   box-shadow: 0 2px 12px rgba(0, 0, 0, 0.04);
   transition: all 0.3s ease;
   text-align: center;
-  min-width: 200px;
+  min-width: 250px;
 }
 
 .downloadCard:hover {
@@ -330,7 +397,7 @@
 }
 
 .downloadLogo {
-  height: 80px;
+  height: 180px;
   width: auto;
   margin-bottom: 1rem;
   display: block;
@@ -341,6 +408,7 @@
 .downloadCard a {
   color: var(--green-600);
   font-weight: 600;
+  font-size: 1.4rem;
   text-decoration: none;
 }
 
@@ -349,6 +417,82 @@
   text-decoration: underline;
 }
 
+/* FAQ Section */
+.faqSection {
+  padding: 5rem 1rem;
+  background: var(--sand);
+}
+
+.faqInner {
+  max-width: 1000px;
+  margin: 0 auto;
+}
+
+.faqTitle {
+  font-size: 3.5rem;
+  font-weight: 800;
+  color: var(--text-dark);
+  text-align: center;
+  margin-bottom: 3rem;
+}
+
+.faqList {
+  display: flex;
+  flex-direction: column;
+  gap: 1rem;
+}
+
+.faqItem {
+  background: white;
+  border-radius: var(--radius-sm);
+  overflow: hidden;
+  box-shadow: 0 2px 8px rgba(0, 0, 0, 0.04);
+  transition: box-shadow 0.2s ease;
+}
+
+.faqItem:hover {
+  box-shadow: 0 4px 16px rgba(0, 0, 0, 0.08);
+}
+
+.faqItemOpen {
+  box-shadow: 0 4px 16px rgba(0, 0, 0, 0.08);
+}
+
+.faqQuestion {
+  width: 100%;
+  padding: 1.25rem 1.5rem;
+  background: none;
+  border: none;
+  cursor: pointer;
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  text-align: left;
+  font-size: 1.15rem;
+  font-weight: 600;
+  color: var(--text-dark);
+  transition: color 0.2s ease;
+}
+
+.faqQuestion:hover {
+  color: var(--green-600);
+}
+
+.faqIcon {
+  font-size: 1.5rem;
+  font-weight: 300;
+  color: var(--green-500);
+  flex-shrink: 0;
+  margin-left: 1rem;
+}
+
+.faqAnswer {
+  padding: 0 1.5rem 1.5rem;
+  font-size: 1.1rem;
+  color: var(--text-mid);
+  line-height: 1.7;
+}
+
 /* Responsive */
 @media (max-width: 1024px) {
   .featureInner,
@@ -370,9 +514,8 @@
     margin: 0 auto;
   }
 
-  .pricingGrid {
-    grid-template-columns: 1fr;
-    max-width: 400px;
+  .pricingTitle {
+    font-size: 2.5rem;
   }
 
   .heroTitle {
@@ -408,8 +551,54 @@
     justify-content: center;
   }
 
+  .pricingTitle {
+    font-size: 2rem;
+  }
+
+  .pricingHeader,
+  .pricingRow,
+  .pricingCta {
+    grid-template-columns: 2fr 1fr 1fr;
+  }
+
+  .pricingFeatureCol {
+    font-size: 0.95rem;
+    padding: 0.75rem 1rem;
+  }
+
+  .pricingPlanCol {
+    padding: 0.75rem 0.5rem;
+  }
+
+  .planPrice {
+    font-size: 1.75rem;
+  }
+
+  .planName {
+    font-size: 1rem;
+  }
+
+  .pricingCta .btn {
+    font-size: 0.9rem;
+    padding: 0.75rem 1rem;
+  }
+
   .downloadGrid {
     flex-direction: column;
     align-items: center;
   }
+
+  .faqTitle {
+    font-size: 2rem;
+  }
+
+  .faqQuestion {
+    font-size: 1rem;
+    padding: 1rem 1.25rem;
+  }
+
+  .faqAnswer {
+    font-size: 1rem;
+    padding: 0 1.25rem 1.25rem;
+  }
 }
diff --git a/src/pages/index.js b/src/pages/index.js
index 02e1417..127a061 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -221,7 +221,7 @@ function Home() {
       {/* Trust Bar */}
       <section className={styles.trustBar}>
         <p className={styles.trustBarTitle}>
-          Used bysome of the most popular open-source robotics frameworks:
+          Used by some of the most popular robotics frameworks:
         </p>
         <div className={styles.trustLogos}>
           {trustLogos.map((logo, idx) => (
diff --git a/src/pages/index.module.css b/src/pages/index.module.css
index 245edd4..151f312 100644
--- a/src/pages/index.module.css
+++ b/src/pages/index.module.css
@@ -136,7 +136,7 @@
 .heroCtas {
   display: flex;
   gap: 1rem;
-  justify-content: flex-start;
+  justify-content: center;
   flex-wrap: wrap;
   animation: fadeInUp 0.8s ease-out 0.3s both;
 }
@@ -185,7 +185,7 @@
 .heroStats {
   display: flex;
   gap: 3rem;
-  justify-content: flex-start;
+  justify-content: center;
   margin-top: 3rem;
   animation: fadeInUp 0.8s ease-out 0.4s both;
 }
@@ -227,7 +227,7 @@
 
 .trustBarTitle {
   color: rgba(255, 255, 255, 0.5);
-  font-size: 1.0rem;
+  font-size: 1.4rem;
   margin-bottom: 1.5rem;
   text-transform: uppercase;
   letter-spacing: 0.15em;
@@ -245,7 +245,7 @@
 .trustLogo {
   color: rgba(255, 255, 255, 0.85);
   font-family: 'JetBrains Mono', monospace;
-  font-size: 1.25rem;
+  font-size: 2.0rem;
   font-weight: 600;
   transition: color 0.2s;
   cursor: default;

From 1821f4f9c92d22830a1ef8d27dd614df260943f1 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 15:38:21 +0100
Subject: [PATCH 56/80] cleanup

---
 src/pages/groot.module.css | 59 +++++---------------------------------
 1 file changed, 7 insertions(+), 52 deletions(-)

diff --git a/src/pages/groot.module.css b/src/pages/groot.module.css
index fd35272..c79ecf5 100644
--- a/src/pages/groot.module.css
+++ b/src/pages/groot.module.css
@@ -1,7 +1,6 @@
 /* Design System - scoped to avoid affecting docs */
 .hero,
 .featureSection,
-.sectionSeparator,
 .pricingSection,
 .downloadSection,
 .faqSection {
@@ -177,16 +176,6 @@
   display: block;
 }
 
-/* Section Separator */
-.sectionSeparator {
-  padding: 3rem 1rem;
-  text-align: center;
-  font-size: 2.5rem;
-  font-weight: 800;
-  color: var(--green-400);
-  background: var(--text-dark);
-}
-
 /* Pricing Section */
 .pricingSection {
   padding: 5rem 1rem;
@@ -203,14 +192,7 @@
   font-weight: 800;
   color: white;
   text-align: center;
-  margin-bottom: 0.5rem;
-}
-
-.pricingSubtitle {
-  font-size: 1.25rem;
-  color: rgba(255, 255, 255, 0.6);
-  text-align: center;
-  margin-bottom: 3rem;
+  margin-bottom: 2rem;
 }
 
 .pricingTable {
@@ -260,22 +242,6 @@
 
 .proPlan {
   background: rgba(34, 197, 94, 0.1);
-  position: relative;
-}
-
-.planBadge {
-  position: absolute;
-  top: -1px;
-  left: 50%;
-  transform: translateX(-50%);
-  background: var(--green-500);
-  color: white;
-  font-size: 1rem;
-  font-weight: 600;
-  padding: 0.25rem 0.75rem;
-  border-radius: 0 0 8px 8px;
-  text-transform: uppercase;
-  letter-spacing: 0.05em;
 }
 
 .planName {
@@ -341,13 +307,6 @@
   background: rgba(255, 255, 255, 0.2);
 }
 
-.pricingNote {
-  text-align: center;
-  color: rgba(255, 255, 255, 0.5);
-  font-size: 1rem;
-  margin-top: 2rem;
-}
-
 /* Download Section */
 .downloadSection {
   padding: 4rem 1rem 5rem;
@@ -536,10 +495,6 @@
     font-size: 1.5rem;
   }
 
-  .sectionSeparator {
-    font-size: 2rem;
-  }
-
   .buttonGroup {
     flex-direction: column;
     align-items: center;
@@ -562,16 +517,16 @@
   }
 
   .pricingFeatureCol {
-    font-size: 0.95rem;
-    padding: 0.75rem 1rem;
+    font-size: 1rem;
+    padding: 0.5rem 0.75rem;
   }
 
   .pricingPlanCol {
-    padding: 0.75rem 0.5rem;
+    padding: 0.5rem 0.25rem;
   }
 
   .planPrice {
-    font-size: 1.75rem;
+    font-size: 1.5rem;
   }
 
   .planName {
@@ -579,8 +534,8 @@
   }
 
   .pricingCta .btn {
-    font-size: 0.9rem;
-    padding: 0.75rem 1rem;
+    font-size: 1rem;
+    padding: 0.5rem 0.75rem;
   }
 
   .downloadGrid {

From 09c11ce8948d7b54ba53c0db7c8f9a4a4e0550d3 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 15:44:23 +0100
Subject: [PATCH 57/80] fix

---
 src/pages/groot.module.css | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/pages/groot.module.css b/src/pages/groot.module.css
index c79ecf5..ea4d859 100644
--- a/src/pages/groot.module.css
+++ b/src/pages/groot.module.css
@@ -307,6 +307,10 @@
   background: rgba(255, 255, 255, 0.2);
 }
 
+.pricingCta .proPlan {
+  background: transparent;
+}
+
 /* Download Section */
 .downloadSection {
   padding: 4rem 1rem 5rem;

From f1fde7782b746cae066574496e665d07e7d7482e Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 15:54:33 +0100
Subject: [PATCH 58/80] fix

---
 src/pages/groot.js         | 22 ++++++++++++++++------
 src/pages/index.module.css |  2 +-
 2 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 4d85ae1..32ad900 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -27,24 +27,34 @@ const pricingFeatures = [
 // FAQ data
 const faqItems = [
   {
-    question: "What is a floating license?",
+    question: "What does \"floating license\" mean?",
     answer:
-      "A floating license can be used on any machine, but only one at a time. When you close Groot2 on one computer, you can open it on another. This is ideal for teams where multiple people need occasional access.",
+      "A floating license can be used on a single machine, but it can be migrated from one machine to another an unlimited number of times.",
   },
   {
-    question: "Do you have a Trial version of Groot2 PRO?",
+    question: "How many users can use a floating license?",
     answer:
-      "Yes, you can activate 30 days of trial for the PRO version in Preferences -> License.",
+      "There is no limitation based on the number of users. The license is tied to a single machine.",
+  },
+  {
+    question: "Can I try Groot2 PRO?",
+    answer:
+      "Yes, you can activate a 30-day free trial for the PRO version in Preferences -> License.",
   },
   {
     question: "What payment methods do you accept?",
     answer:
-      "We accept all major credit cards (Visa, MasterCard, American Express). Contact us if you prefer wire transfer",
+      "We accept all major credit cards (Visa, MasterCard, American Express). Contact us if you prefer a wire transfer.",
   },
   {
     question: "Can I use Groot2 offline?",
     answer:
-      "Yes, Groot2 works offline. The PRO license requires an internet connection only for initial activation and periodic validation (once every 7 days). If you are in a air-gapped environment, please contact us for offline activation options.",
+      "Yes, Groot2 works offline. The PRO license requires an internet connection only for initial activation and periodic validation (once every 7 days). If you are in an air-gapped environment, please contact us for offline activation options.",
+  },
+  {
+    question: "What happens if your company goes out of business?",
+    answer:
+      "We use an escrow service to guarantee that, if Auryn Robotics goes out of business, Groot2 will be released under the Apache 2.0 license.",
   }
 ];
 
diff --git a/src/pages/index.module.css b/src/pages/index.module.css
index 151f312..55999a0 100644
--- a/src/pages/index.module.css
+++ b/src/pages/index.module.css
@@ -108,7 +108,7 @@
 }
 
 .heroTitle {
-  font-size: clamp(3rem, 7vw, 4.5rem);
+  font-size: clamp(3rem, 7vw, 4.0rem);
   font-weight: 800;
   line-height: 1.1;
   margin-bottom: 1.5rem;

From bc16522aead42d90e6884da3824b6f12e818df6c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 15:58:40 +0100
Subject: [PATCH 59/80] count stars

---
 src/pages/index.js | 25 +++++++++++++++++++++++--
 1 file changed, 23 insertions(+), 2 deletions(-)

diff --git a/src/pages/index.js b/src/pages/index.js
index 127a061..7aa4fd9 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -1,4 +1,4 @@
-import React, { useState } from "react";
+import React, { useState, useEffect } from "react";
 import Link from "@docusaurus/Link";
 import useBaseUrl from "@docusaurus/useBaseUrl";
 import Layout from "@theme/Layout";
@@ -107,8 +107,29 @@ function GrootFeature({ title, description }) {
   );
 }
 
+function formatStars(count) {
+  if (count >= 1000) {
+    return (count / 1000).toFixed(1).replace(/\.0$/, '') + 'k+';
+  }
+  return count.toString();
+}
+
 function Home() {
   const [openContactModal, setOpenContactModal] = useState(false);
+  const [githubStars, setGithubStars] = useState("3.7k+");
+
+  useEffect(() => {
+    fetch("https://api.github.com/repos/BehaviorTree/BehaviorTree.CPP")
+      .then((res) => res.json())
+      .then((data) => {
+        if (data.stargazers_count) {
+          setGithubStars(formatStars(data.stargazers_count));
+        }
+      })
+      .catch(() => {
+        // Keep default value on error
+      });
+  }, []);
 
   return (
     <Layout
@@ -183,7 +204,7 @@ function Home() {
                 <div className={styles.statLabel}>Open-Source License</div>
               </div>
               <div className={styles.stat}>
-                <div className={styles.statValue}>3.7k+</div>
+                <div className={styles.statValue}>{githubStars}</div>
                 <div className={styles.statLabel}>GitHub Stars</div>
               </div>
               <div className={styles.stat}>

From d46489d6082352d7252d90acfb279f20c2617e01 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 16:05:16 +0100
Subject: [PATCH 60/80] final touch

---
 src/pages/groot.module.css | 6 +++---
 src/pages/index.js         | 8 ++++----
 src/pages/index.module.css | 4 ++--
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/pages/groot.module.css b/src/pages/groot.module.css
index ea4d859..1be2a93 100644
--- a/src/pages/groot.module.css
+++ b/src/pages/groot.module.css
@@ -188,7 +188,7 @@
 }
 
 .pricingTitle {
-  font-size: 3.5rem;
+  font-size: 3.0rem;
   font-weight: 800;
   color: white;
   text-align: center;
@@ -318,7 +318,7 @@
 }
 
 .downloadTitle {
-  font-size: 3.5rem;
+  font-size: 3.0rem;
   font-weight: 800;
   color: var(--green-600);
   text-align: center;
@@ -392,7 +392,7 @@
 }
 
 .faqTitle {
-  font-size: 3.5rem;
+  font-size: 3.0rem;
   font-weight: 800;
   color: var(--text-dark);
   text-align: center;
diff --git a/src/pages/index.js b/src/pages/index.js
index 7aa4fd9..706d1cf 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -18,7 +18,7 @@ const features = [
     icon: "🌳",
     title: "More scalable than State Machines",
     description:
-      "Behavior Trees enable complex behaviors with less code and more modularity, making them easier to maintain and extend.",
+      "Behavior Trees enable complex behaviors with less code and more modularity, making them easier to maintain and extend, compared to traditional state machines.",
   },
   {
     id: "async",
@@ -32,14 +32,14 @@ const features = [
     icon: "🧩",
     title: "Modular Architecture",
     description:
-      "Load custom nodes at runtime, build reusable building blocks.",
+      "Build reusable building blocks, load custom nodes at runtime.",
   },
   {
     id: "xml",
     icon: "📝",
     title: "XML-Defined Trees",
     description:
-      "Separation of concerns between logic and implementation.",
+      "Separation of concerns between logic (XML) and implementation (C++).",
   },
   {
     id: "logging",
@@ -53,7 +53,7 @@ const features = [
     icon: "🤖",
     title: "ROS2 Integration",
     description:
-      "Official wrappers for ROS2. Powers the Nav2 navigation stack.",
+      "The most widely used Robot Deliberation library in the ROS2 ecosystem. The main library is ROS-agnostic, but we provide seamless ROS2 integration.",
   },
 ];
 
diff --git a/src/pages/index.module.css b/src/pages/index.module.css
index 55999a0..008db33 100644
--- a/src/pages/index.module.css
+++ b/src/pages/index.module.css
@@ -267,7 +267,7 @@
 }
 
 .featuresTitle {
-  font-size: 3.5rem;
+  font-size: 3.0rem;
   font-weight: 800;
   margin-bottom: 0.75rem;
   letter-spacing: -0.02em;
@@ -406,7 +406,7 @@
 }
 
 .grootHeader h2 {
-  font-size: 3.5rem;
+  font-size: 3.0rem;
   font-weight: 800;
   letter-spacing: -0.02em;
   color: var(--text-dark);

From 1f00784cd5523e7ff04f400b98b2e227ef370289 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 16:11:38 +0100
Subject: [PATCH 61/80] omit blog

---
 docusaurus.config.js | 1 -
 1 file changed, 1 deletion(-)

diff --git a/docusaurus.config.js b/docusaurus.config.js
index 166915c..9363c15 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -116,7 +116,6 @@ const config = {
             position: 'right',
             dropdownActiveClassDisabled: true,
           },
-          {to: '/blog', label: 'Blog', position: 'right'},
           {
             href: 'https://github.com/BehaviorTree/BehaviorTree.CPP',
             label: 'GitHub',

From e1772adda2e8842aaf27c615362103f381217b73 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 30 Dec 2025 17:30:17 +0100
Subject: [PATCH 62/80] some refiniment

---
 docusaurus.config.js       | 12 ++++----
 src/pages/groot.module.css |  6 ++--
 src/pages/index.js         | 62 +++++++++++++++++++++++++++++++++-----
 src/pages/index.module.css | 23 ++++++++------
 4 files changed, 77 insertions(+), 26 deletions(-)

diff --git a/docusaurus.config.js b/docusaurus.config.js
index 9363c15..50dd764 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -36,7 +36,7 @@ const config = {
       },
     },
   },
-  
+
   plugins: [],
 
   themes: [
@@ -103,13 +103,13 @@ const config = {
           src: 'img/logo.png',
         },
         items: [
-          {
-            type: 'doc', label: 'Documentation', docId: 'intro', position: 'left'
-          },
           {
             position: 'left',
             label: 'Groot2',
-            to: '/groot', 
+            to: '/groot',
+          },
+          {
+            type: 'doc', label: 'Documentation', docId: 'intro', position: 'left'
           },
           {
             type: 'docsVersionDropdown',
@@ -167,7 +167,7 @@ const config = {
       },
     }),
 
-  scripts: [{src: 'https://cdn.usefathom.com/script.js', defer: true, 'data-site': 'SIFIKCAM'}],
+  scripts: [{ src: 'https://cdn.usefathom.com/script.js', defer: true, 'data-site': 'SIFIKCAM' }],
 
 };
 
diff --git a/src/pages/groot.module.css b/src/pages/groot.module.css
index 1be2a93..b728df3 100644
--- a/src/pages/groot.module.css
+++ b/src/pages/groot.module.css
@@ -348,15 +348,15 @@
   background: white;
   border-radius: var(--radius-md);
   padding: 2rem;
-  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.04);
+  border: 1px solid #d1d5db;
   transition: all 0.3s ease;
   text-align: center;
   min-width: 250px;
 }
 
 .downloadCard:hover {
-  transform: translateY(-4px);
-  box-shadow: 0 8px 24px rgba(0, 0, 0, 0.08);
+  transform: translateY(-2px);
+  border: 2px solid var(--green-400);
 }
 
 .downloadLogo {
diff --git a/src/pages/index.js b/src/pages/index.js
index 706d1cf..4ab0017 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -11,46 +11,94 @@ import styles from "./index.module.css";
 import EditorVideo from "@site/static/img/groot2_editor.mp4";
 import ContactFormModal from "../components/ContactFormModal";
 
+// SVG Icons
+const Icons = {
+  tree: (
+    <svg width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="2" strokeLinecap="round" strokeLinejoin="round">
+      <rect x="8" y="2" width="8" height="6" rx="1" />
+      <path d="M12 8v4" />
+      <path d="M5 12h14" />
+      <path d="M5 12v3" />
+      <path d="M19 12v3" />
+      <rect x="1" y="15" width="8" height="6" rx="1" />
+      <rect x="15" y="15" width="8" height="6" rx="1" />
+    </svg>
+  ),
+  bolt: (
+    <svg width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="2" strokeLinecap="round" strokeLinejoin="round">
+      <path d="M13 2L3 14h9l-1 8 10-12h-9l1-8z" />
+    </svg>
+  ),
+  puzzle: (
+    <svg width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="2" strokeLinecap="round" strokeLinejoin="round">
+      <path d="M19.439 7.85c-.049.322.059.648.289.878l1.568 1.568c.47.47.706 1.087.706 1.704s-.235 1.233-.706 1.704l-1.611 1.611a.98.98 0 0 1-.837.276c-.47-.07-.802-.48-.968-.925a2.501 2.501 0 1 0-3.214 3.214c.446.166.855.497.925.968a.979.979 0 0 1-.276.837l-1.61 1.61a2.404 2.404 0 0 1-1.705.707 2.402 2.402 0 0 1-1.704-.706l-1.568-1.568a1.026 1.026 0 0 0-.877-.29c-.493.074-.84.504-1.02.968a2.5 2.5 0 1 1-3.237-3.237c.464-.18.894-.527.967-1.02a1.026 1.026 0 0 0-.289-.877l-1.568-1.568A2.402 2.402 0 0 1 1.998 12c0-.617.236-1.234.706-1.704L4.315 8.68c.24-.24.581-.353.917-.303.515.077.877.528 1.073 1.01a2.5 2.5 0 1 0 3.259-3.259c-.482-.196-.933-.558-1.01-1.073-.05-.336.062-.676.303-.917l1.611-1.611a2.404 2.404 0 0 1 1.704-.706c.617 0 1.234.236 1.704.706l1.568 1.568c.23.23.556.338.877.29.493-.074.84-.504 1.02-.968a2.5 2.5 0 1 1 3.237 3.237c-.464.18-.894.527-.967 1.02Z" />
+    </svg>
+  ),
+  code: (
+    <svg width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="2" strokeLinecap="round" strokeLinejoin="round">
+      <path d="M14.5 2H6a2 2 0 0 0-2 2v16a2 2 0 0 0 2 2h12a2 2 0 0 0 2-2V7.5L14.5 2z" />
+      <polyline points="14 2 14 8 20 8" />
+      <path d="m10 13-2 2 2 2" />
+      <path d="m14 17 2-2-2-2" />
+    </svg>
+  ),
+  search: (
+    <svg width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="2" strokeLinecap="round" strokeLinejoin="round">
+      <circle cx="11" cy="11" r="8" />
+      <path d="m21 21-4.3-4.3" />
+    </svg>
+  ),
+  robot: (
+    <svg width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="2" strokeLinecap="round" strokeLinejoin="round">
+      <rect width="18" height="10" x="3" y="11" rx="2" />
+      <circle cx="12" cy="5" r="2" />
+      <path d="M12 7v4" />
+      <line x1="8" x2="8" y1="16" y2="16" />
+      <line x1="16" x2="16" y1="16" y2="16" />
+    </svg>
+  ),
+};
+
 // Feature data for bento grid
 const features = [
   {
     id: "scalable",
-    icon: "🌳",
+    icon: Icons.tree,
     title: "More scalable than State Machines",
     description:
       "Behavior Trees enable complex behaviors with less code and more modularity, making them easier to maintain and extend, compared to traditional state machines.",
   },
   {
     id: "async",
-    icon: "⚡",
+    icon: Icons.bolt,
     title: "Async Actions",
     description:
       "Non-blocking actions and reactive behaviors as first-class citizens.",
   },
   {
     id: "plugin",
-    icon: "🧩",
+    icon: Icons.puzzle,
     title: "Modular Architecture",
     description:
       "Build reusable building blocks, load custom nodes at runtime.",
   },
   {
     id: "xml",
-    icon: "📝",
+    icon: Icons.code,
     title: "XML-Defined Trees",
     description:
       "Separation of concerns between logic (XML) and implementation (C++).",
   },
   {
     id: "logging",
-    icon: "🔍",
+    icon: Icons.search,
     title: "Built-in Logging",
     description:
       "Record, replay, and analyze state transitions for easier debugging.",
   },
   {
     id: "ros2",
-    icon: "🤖",
+    icon: Icons.robot,
     title: "ROS2 Integration",
     description:
       "The most widely used Robot Deliberation library in the ROS2 ecosystem. The main library is ROS-agnostic, but we provide seamless ROS2 integration.",
@@ -256,7 +304,7 @@ function Home() {
       {/* Features Section - Bento Grid */}
       <section className={styles.featuresSection} id="features">
         <div className={styles.featuresHeader}>
-          <h2 className={styles.featuresTitle}>Why BehaviorTree.CPP?</h2>
+          <h2 className={styles.featuresTitle}>Why <span className={styles.highlight}>BehaviorTree.CPP</span>?</h2>
           <p className={styles.featuresSubtitle}>
             Built for real-world robotics, not just demos
           </p>
diff --git a/src/pages/index.module.css b/src/pages/index.module.css
index 008db33..6cc9778 100644
--- a/src/pages/index.module.css
+++ b/src/pages/index.module.css
@@ -222,7 +222,7 @@
 .trustBar {
   padding: 3rem 1rem;
   text-align: center;
-  background: var(--text-dark);
+  background: #303846;
 }
 
 .trustBarTitle {
@@ -279,6 +279,10 @@
   font-size: 1.8rem;
 }
 
+.highlight {
+  color: var(--green-500);
+}
+
 /* Bento Box Grid */
 .bentoGrid {
   display: grid;
@@ -321,18 +325,16 @@
   transition: all 0.3s ease;
   display: flex;
   flex-direction: column;
-  box-shadow: 0 2px 12px rgba(0, 0, 0, 0.04), 0 1px 4px rgba(0, 0, 0, 0.02);
+  border: 1px solid #d1d5db;
 }
 
 .bentoCard:hover {
-  transform: translateY(-4px);
-  box-shadow: 0 8px 24px rgba(0, 0, 0, 0.08), 0 2px 8px rgba(0, 0, 0, 0.04);
+  transform: translateY(-2px);
+  border: 2px solid var(--green-400);
 }
 
 .bentoCard:hover .bentoIcon {
-  transform: scale(1.1);
-  background: var(--green-500);
-  color: white;
+  transform: scale(1.05);
 }
 
 
@@ -344,9 +346,9 @@
 }
 
 .bentoIcon {
-  width: 60px;
-  height: 60px;
-  background: var(--green-100);
+  width: 48px;
+  height: 48px;
+  background: var(--green-500);
   border-radius: var(--radius-sm);
   display: flex;
   align-items: center;
@@ -354,6 +356,7 @@
   font-size: 1.2rem;
   flex-shrink: 0;
   transition: all 0.3s ease;
+  color: white;
 }
 
 .bentoCard h3 {

From ffb137c4c9559f995ec778dca1157bca13e83f8c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 31 Dec 2025 11:05:03 +0100
Subject: [PATCH 63/80] fix priceing table

---
 src/pages/groot.js | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 32ad900..5e4d594 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -13,15 +13,13 @@ import ContactFormModal from "../components/ContactFormModal";
 // Pricing comparison features
 const pricingFeatures = [
   { name: "Full Behavior Tree Editor", free: true, pro: true },
-  { name: "Real-time XML Preview", free: true, pro: true },
   { name: "Multi-file Project Support", free: true, pro: true },
-  { name: "Split View", free: true, pro: true },
   { name: "Monitor & Log Visualizer", free: "20 nodes", pro: "Unlimited" },
   { name: "Search Nodes in Large Trees", free: false, pro: true },
   { name: "Blackboard Visualization", free: false, pro: true },
   { name: "Interactive Breakpoints", free: false, pro: true },
   { name: "Fault Injection", free: false, pro: true },
-  { name: "Node Substitution at Runtime", free: false, pro: true },
+  { name: "Technical Support", free: "community", pro: "priority" },
 ];
 
 // FAQ data

From d5956361c782b8b050c4e549ace452c0db1bc086 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 31 Dec 2025 11:05:38 +0100
Subject: [PATCH 64/80] minor change

---
 src/pages/groot.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 5e4d594..cd4de5f 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -19,7 +19,7 @@ const pricingFeatures = [
   { name: "Blackboard Visualization", free: false, pro: true },
   { name: "Interactive Breakpoints", free: false, pro: true },
   { name: "Fault Injection", free: false, pro: true },
-  { name: "Technical Support", free: "community", pro: "priority" },
+  { name: "Technical Support", free: "Community", pro: "Priority" },
 ];
 
 // FAQ data
@@ -32,7 +32,7 @@ const faqItems = [
   {
     question: "How many users can use a floating license?",
     answer:
-      "There is no limitation based on the number of users. The license is tied to a single machine.",
+      "There is no limitation based on the number of users. The license is tied to a single machine.", git pus
   },
   {
     question: "Can I try Groot2 PRO?",

From 33ec085de1d99f0cf2c57a35b3afd76ee48a1a1c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 4 Jan 2026 15:25:58 +0100
Subject: [PATCH 65/80] Update groot.js

---
 src/pages/groot.js | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index cd4de5f..afee105 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -267,7 +267,7 @@ export default function Groot() {
       <section id="download" className={styles.downloadSection}>
         <div className={styles.downloadInner}>
           <h2 className={styles.downloadTitle}>Download</h2>
-          <h3>Latest release: 1.7.0 (2025-12-14)</h3>
+          <h3>Latest release: 1.7.1 (2026-01-04)</h3>
           <div className={styles.downloadGrid}>
             <div className={styles.downloadCard}>
               <img
@@ -275,7 +275,7 @@ export default function Groot() {
                 src={useBaseUrl("img/windows.png")}
                 alt="Windows"
               />
-              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-windows-installer.exe">
+              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.1-windows-installer.exe">
                 Windows installer
               </Link>
             </div>
@@ -285,7 +285,7 @@ export default function Groot() {
                 src={useBaseUrl("img/linux.png")}
                 alt="Linux"
               />
-              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-linux-installer.run">
+              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.1-linux-installer.run">
                 Linux installer
               </Link>
             </div>
@@ -295,7 +295,7 @@ export default function Groot() {
                 src={useBaseUrl("img/appimage.png")}
                 alt="AppImage"
               />
-              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.0-x86_64.AppImage">
+              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.1-x86_64.AppImage">
                 AppImage (Linux)
               </Link>
             </div>
@@ -325,3 +325,4 @@ export default function Groot() {
     </Layout>
   );
 }
+

From 96bb684b2e57aac289f6d97c2cf25f05daeabb96 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 4 Jan 2026 15:36:17 +0100
Subject: [PATCH 66/80] fix build

---
 src/pages/groot.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index afee105..15cce23 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -32,7 +32,7 @@ const faqItems = [
   {
     question: "How many users can use a floating license?",
     answer:
-      "There is no limitation based on the number of users. The license is tied to a single machine.", git pus
+      "There is no limitation based on the number of users. The license is tied to a single machine.",
   },
   {
     question: "Can I try Groot2 PRO?",

From 32a469134f857739ddbf11fda0b21560b5d1af53 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 4 Jan 2026 16:35:08 +0100
Subject: [PATCH 67/80] add download stats

---
 netlify/functions/track-download.js | 38 +++++++++++++++++++++++++++++
 src/pages/groot.js                  | 33 ++++++++++++++++++++++---
 2 files changed, 67 insertions(+), 4 deletions(-)
 create mode 100644 netlify/functions/track-download.js

diff --git a/netlify/functions/track-download.js b/netlify/functions/track-download.js
new file mode 100644
index 0000000..92581f1
--- /dev/null
+++ b/netlify/functions/track-download.js
@@ -0,0 +1,38 @@
+import { neon } from '@netlify/neon';
+
+export default async (req) => {
+  // Only allow POST requests
+  if (req.method !== 'POST') {
+    return new Response('Method not allowed', { status: 405 });
+  }
+
+  try {
+    const { file, platform, version } = await req.json();
+
+    if (!file || !platform) {
+      return new Response('Missing required fields', { status: 400 });
+    }
+
+    const sql = neon();
+
+    await sql`
+      INSERT INTO downloads (file, platform, version, downloaded_at)
+      VALUES (${file}, ${platform}, ${version || null}, NOW())
+    `;
+
+    return new Response(JSON.stringify({ success: true }), {
+      status: 200,
+      headers: { 'Content-Type': 'application/json' }
+    });
+  } catch (error) {
+    console.error('Download tracking error:', error);
+    return new Response(JSON.stringify({ error: 'Failed to track download' }), {
+      status: 500,
+      headers: { 'Content-Type': 'application/json' }
+    });
+  }
+};
+
+export const config = {
+  path: '/api/track-download'
+};
diff --git a/src/pages/groot.js b/src/pages/groot.js
index 15cce23..30a3bdb 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -135,6 +135,22 @@ function FaqItem({ question, answer, isOpen, onClick }) {
   );
 }
 
+const CURRENT_VERSION = "1.7.1";
+
+// Track download event
+const trackDownload = async (file, platform) => {
+  try {
+    await fetch('/api/track-download', {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body: JSON.stringify({ file, platform, version: CURRENT_VERSION })
+    });
+  } catch (error) {
+    // Don't block download if tracking fails
+    console.error('Failed to track download:', error);
+  }
+};
+
 export default function Groot() {
   const [chargebeeInitialized, setChargebeeInitialized] = useState(false);
   const [openContactModal, setOpenContactModal] = useState(false);
@@ -267,7 +283,7 @@ export default function Groot() {
       <section id="download" className={styles.downloadSection}>
         <div className={styles.downloadInner}>
           <h2 className={styles.downloadTitle}>Download</h2>
-          <h3>Latest release: 1.7.1 (2026-01-04)</h3>
+          <h3>Latest release: {CURRENT_VERSION} (2026-01-04)</h3>
           <div className={styles.downloadGrid}>
             <div className={styles.downloadCard}>
               <img
@@ -275,7 +291,10 @@ export default function Groot() {
                 src={useBaseUrl("img/windows.png")}
                 alt="Windows"
               />
-              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.1-windows-installer.exe">
+              <Link
+                to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-windows-installer.exe`}
+                onClick={() => trackDownload('windows-installer.exe', 'windows')}
+              >
                 Windows installer
               </Link>
             </div>
@@ -285,7 +304,10 @@ export default function Groot() {
                 src={useBaseUrl("img/linux.png")}
                 alt="Linux"
               />
-              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.1-linux-installer.run">
+              <Link
+                to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-linux-installer.run`}
+                onClick={() => trackDownload('linux-installer.run', 'linux')}
+              >
                 Linux installer
               </Link>
             </div>
@@ -295,7 +317,10 @@ export default function Groot() {
                 src={useBaseUrl("img/appimage.png")}
                 alt="AppImage"
               />
-              <Link to="https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v1.7.1-x86_64.AppImage">
+              <Link
+                to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-x86_64.AppImage`}
+                onClick={() => trackDownload('x86_64.AppImage', 'linux')}
+              >
                 AppImage (Linux)
               </Link>
             </div>

From 136210a770b12521c33e40d160af57d32c1fdc58 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 4 Jan 2026 16:40:06 +0100
Subject: [PATCH 68/80] try fix

---
 CLAUDE.md            | 2 +-
 docusaurus.config.js | 3 ---
 package.json         | 1 +
 3 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index c58edc4..fba9e0c 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -43,5 +43,5 @@ npm run clear      # Clear Docusaurus cache
 ### Key Technical Details
 - Prism syntax highlighting configured for `cpp` and `xml-doc`
 - Bootstrap 5 + React Bootstrap for UI components
-- Fathom Analytics for tracking
+- Download tracking via Netlify Functions + Neon PostgreSQL database
 - Dark mode disabled (light mode only)
\ No newline at end of file
diff --git a/docusaurus.config.js b/docusaurus.config.js
index 50dd764..a401da6 100644
--- a/docusaurus.config.js
+++ b/docusaurus.config.js
@@ -166,9 +166,6 @@ const config = {
         additionalLanguages: ['cpp', 'xml-doc'],
       },
     }),
-
-  scripts: [{ src: 'https://cdn.usefathom.com/script.js', defer: true, 'data-site': 'SIFIKCAM' }],
-
 };
 
 module.exports = config;
diff --git a/package.json b/package.json
index 085df36..3c52352 100644
--- a/package.json
+++ b/package.json
@@ -14,6 +14,7 @@
     "write-heading-ids": "docusaurus write-heading-ids"
   },
   "dependencies": {
+    "@netlify/neon": "^0.1.0",
     "@docusaurus/core": "^3.6.3",
     "@docusaurus/plugin-ideal-image": "^3.6.3",
     "@docusaurus/preset-classic": "^3.6.3",

From 4c26ca003bcc8e8ca99935777964c1da80a16d50 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 7 Jan 2026 12:42:17 +0100
Subject: [PATCH 69/80] new download links

---
 .gitignore                 |   1 +
 package.json               |   5 +-
 src/pages/groot.js         |  89 +++++++++++++++++++++---------
 src/pages/groot.module.css | 107 ++++++++++++++++++++++++++-----------
 4 files changed, 144 insertions(+), 58 deletions(-)

diff --git a/.gitignore b/.gitignore
index 4ebe8e7..06f9b89 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@
 /package-lock.json
 /.docusaurus/
 /build/
+.vscode/*
diff --git a/package.json b/package.json
index 3c52352..b9772a5 100644
--- a/package.json
+++ b/package.json
@@ -14,13 +14,13 @@
     "write-heading-ids": "docusaurus write-heading-ids"
   },
   "dependencies": {
-    "@netlify/neon": "^0.1.0",
     "@docusaurus/core": "^3.6.3",
     "@docusaurus/plugin-ideal-image": "^3.6.3",
     "@docusaurus/preset-classic": "^3.6.3",
     "@easyops-cn/docusaurus-search-local": "^0.52.2",
     "@emailjs/browser": "^3.11.0",
     "@mdx-js/react": "^3.0.0",
+    "@netlify/neon": "^0.1.0",
     "autoprefixer": "^10.4.13",
     "bootstrap": "^5.2.3",
     "clsx": "^2.1.0",
@@ -33,7 +33,8 @@
     "react-responsive-carousel": "^3.2.23"
   },
   "devDependencies": {
-    "@docusaurus/module-type-aliases": "^3.6.3"
+    "@docusaurus/module-type-aliases": "^3.6.3",
+    "puppeteer": "^24.34.0"
   },
   "browserslist": {
     "production": [
diff --git a/src/pages/groot.js b/src/pages/groot.js
index 30a3bdb..0be1bc7 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -282,46 +282,85 @@ export default function Groot() {
       {/* Download Section */}
       <section id="download" className={styles.downloadSection}>
         <div className={styles.downloadInner}>
-          <h2 className={styles.downloadTitle}>Download</h2>
-          <h3>Latest release: {CURRENT_VERSION} (2026-01-04)</h3>
-          <div className={styles.downloadGrid}>
-            <div className={styles.downloadCard}>
-              <img
-                className={styles.downloadLogo}
-                src={useBaseUrl("img/windows.png")}
-                alt="Windows"
-              />
+          <div className={styles.downloadHeader}>
+            <h2 className={styles.downloadTitle}>Download</h2>
+            <p className={styles.downloadVersion}>Latest release: {CURRENT_VERSION} (2026-01-04)</p>
+          </div>
+
+          {/* Installers Group */}
+          <div className={styles.downloadGroup}>
+            <h3 className={styles.downloadGroupTitle}>Installers</h3>
+            <div className={styles.downloadGrid}>
               <Link
+                className={styles.downloadCard}
                 to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-windows-installer.exe`}
                 onClick={() => trackDownload('windows-installer.exe', 'windows')}
               >
-                Windows installer
+                <img
+                  className={styles.downloadLogo}
+                  src={useBaseUrl("img/windows.png")}
+                  alt="Windows"
+                />
+                <div className={styles.downloadInfo}>
+                  <span className={styles.downloadName}>Windows</span>
+                  <span className={styles.downloadArch}>x86_64</span>
+                </div>
+                <span className={styles.downloadBtn}>Download</span>
               </Link>
-            </div>
-            <div className={styles.downloadCard}>
-              <img
-                className={styles.downloadLogo}
-                src={useBaseUrl("img/linux.png")}
-                alt="Linux"
-              />
               <Link
+                className={styles.downloadCard}
                 to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-linux-installer.run`}
                 onClick={() => trackDownload('linux-installer.run', 'linux')}
               >
-                Linux installer
+                <img
+                  className={styles.downloadLogo}
+                  src={useBaseUrl("img/linux.png")}
+                  alt="Linux"
+                />
+                <div className={styles.downloadInfo}>
+                  <span className={styles.downloadName}>Linux</span>
+                  <span className={styles.downloadArch}>x86_64</span>
+                </div>
+                <span className={styles.downloadBtn}>Download</span>
               </Link>
             </div>
-            <div className={styles.downloadCard}>
-              <img
-                className={styles.downloadLogo}
-                src={useBaseUrl("img/appimage.png")}
-                alt="AppImage"
-              />
+          </div>
+
+          {/* AppImage Group */}
+          <div className={styles.downloadGroup}>
+            <h3 className={styles.downloadGroupTitle}>Portable (AppImage)</h3>
+            <div className={styles.downloadGrid}>
               <Link
+                className={styles.downloadCard}
                 to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-x86_64.AppImage`}
                 onClick={() => trackDownload('x86_64.AppImage', 'linux')}
               >
-                AppImage (Linux)
+                <img
+                  className={styles.downloadLogo}
+                  src={useBaseUrl("img/appimage.png")}
+                  alt="AppImage"
+                />
+                <div className={styles.downloadInfo}>
+                  <span className={styles.downloadName}>AppImage</span>
+                  <span className={styles.downloadArch}>x86_64</span>
+                </div>
+                <span className={styles.downloadBtn}>Download</span>
+              </Link>
+              <Link
+                className={styles.downloadCard}
+                to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-aarch64.AppImage`}
+                onClick={() => trackDownload('aarch64.AppImage', 'linux')}
+              >
+                <img
+                  className={styles.downloadLogo}
+                  src={useBaseUrl("img/appimage.png")}
+                  alt="AppImage"
+                />
+                <div className={styles.downloadInfo}>
+                  <span className={styles.downloadName}>AppImage</span>
+                  <span className={styles.downloadArch}>aarch64</span>
+                </div>
+                <span className={styles.downloadBtn}>Download</span>
               </Link>
             </div>
           </div>
diff --git a/src/pages/groot.module.css b/src/pages/groot.module.css
index b728df3..ceac673 100644
--- a/src/pages/groot.module.css
+++ b/src/pages/groot.module.css
@@ -313,71 +313,116 @@
 
 /* Download Section */
 .downloadSection {
-  padding: 4rem 1rem 5rem;
-  background: var(--cream);
+  padding: 4rem 1rem;
+  background: linear-gradient(180deg, var(--sand) 0%, var(--cream) 100%);
 }
 
 .downloadTitle {
   font-size: 3.0rem;
   font-weight: 800;
-  color: var(--green-600);
   text-align: center;
-  margin-bottom: 0.5rem;
+  margin: 0 0 0.25rem 0;
+}
+
+.downloadVersion {
+  font-size: 1.4rem;
+  color: var(--text-mid);
+  text-align: center;
+  margin: 0 0 1.0rem 0;
 }
 
 .downloadInner {
   max-width: 900px;
   margin: 0 auto;
+  display: flex;
+  flex-wrap: wrap;
+  gap: 2rem;
+  justify-content: center;
+}
+
+.downloadHeader {
+  width: 100%;
   text-align: center;
 }
 
-.downloadInner h3 {
-  font-size: 1.4rem;
-  color: var(--text-mid);
-  margin-bottom: 2.5rem;
+.downloadGroup {
+  flex: 1;
+  min-width: 280px;
+  max-width: 400px;
+}
+
+.downloadGroupTitle {
+  font-size: 1.25rem;
+  font-weight: 800;
+  color: var(--text-light);
+  letter-spacing: 0.08em;
+  margin-bottom: 1rem;
+  padding-left: 1.5rem;
 }
 
 .downloadGrid {
   display: flex;
-  justify-content: center;
-  gap: 2rem;
-  flex-wrap: wrap;
+  flex-direction: column;
+  gap: 0.75rem;
 }
 
 .downloadCard {
+  display: flex;
+  align-items: center;
+  gap: 1rem;
+  padding: 1rem 1.25rem;
   background: white;
-  border-radius: var(--radius-md);
-  padding: 2rem;
-  border: 1px solid #d1d5db;
-  transition: all 0.3s ease;
-  text-align: center;
-  min-width: 250px;
+  border-radius: 12px;
+  border: 1px solid rgba(0, 0, 0, 0.06);
+  text-decoration: none;
+  transition: all 0.2s ease;
+  box-shadow: 0 1px 3px rgba(0, 0, 0, 0.04);
 }
 
 .downloadCard:hover {
+  border-color: var(--green-400);
+  box-shadow: 0 4px 12px rgba(22, 163, 74, 0.15);
   transform: translateY(-2px);
-  border: 2px solid var(--green-400);
 }
 
 .downloadLogo {
-  height: 180px;
-  width: auto;
-  margin-bottom: 1rem;
-  display: block;
-  margin-left: auto;
-  margin-right: auto;
+  height: 80px;
+  width: 80px;
+  object-fit: contain;
+  flex-shrink: 0;
 }
 
-.downloadCard a {
-  color: var(--green-600);
+.downloadInfo {
+  display: flex;
+  flex-direction: column;
+  flex-grow: 1;
+  text-align: left;
+}
+
+.downloadName {
+  font-size: 1.25rem;
   font-weight: 600;
-  font-size: 1.4rem;
-  text-decoration: none;
+  color: var(--text-dark);
+}
+
+.downloadArch {
+  font-size: 1.1rem;
+  color: var(--text-light);
+}
+
+.downloadBtn {
+  padding: 0.6rem 1.5rem;
+  background: var(--green-600);
+  color: white;
+  border-radius: 100px;
+  font-size: 1rem;
+  font-weight: 600;
+  flex-shrink: 0;
+  transition: background 0.2s ease;
 }
 
-.downloadCard a:hover {
-  color: var(--green-700);
-  text-decoration: underline;
+.downloadCard:hover .downloadBtn {
+  background: var(--green-700);
 }
 
 /* FAQ Section */

From 36ad6b307152199ae705b9e723ecd2809cadd4e7 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Thu, 8 Jan 2026 16:22:24 +0100
Subject: [PATCH 70/80] Update groot.js

---
 src/pages/groot.js | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 0be1bc7..98f1960 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -234,7 +234,7 @@ export default function Groot() {
               <div className={clsx(styles.pricingPlanCol, styles.proPlan)}>
                 <div className={styles.planName}>PRO<br />Floating License</div>
                 <div className={styles.planPrice}>
-                  €690<span className={styles.planPeriod}>/year</span>
+                  €590<span className={styles.planPeriod}>/year</span>
                 </div>
               </div>
             </div>
@@ -390,3 +390,4 @@ export default function Groot() {
   );
 }
 
+

From 11c033fd9db06801d740faff24d0a2ead4afbfff Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Fri, 9 Jan 2026 15:12:33 +0100
Subject: [PATCH 71/80] Improve homepage and groot page design
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- Enhanced typography: larger hero titles, tighter letter-spacing
- Added dark theme to Groot2 section on homepage
- Redesigned groot.js download section (2-column layout)
- Redesigned FAQ section with dark theme and two-column layout
- Fixed Chargebee checkout to open as modal (layout: in_app)
- Updated PRO price to €590/year

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
---
 src/pages/groot.js         | 189 ++++++++++++----------
 src/pages/groot.module.css | 318 +++++++++++++++++++++++++------------
 src/pages/index.js         |   5 +-
 src/pages/index.module.css | 106 ++++++++-----
 4 files changed, 388 insertions(+), 230 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 98f1960..afc3eb4 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -165,14 +165,18 @@ export default function Groot() {
         script.id = "chargebeeScript";
         script.src = "https://js.chargebee.com/v2/chargebee.js";
         script.onload = () => {
-          window.Chargebee?.init({ site: "aurynrobotics" });
-          window.Chargebee?.registerAgain();
+          window.Chargebee?.init({
+            site: "aurynrobotics",
+            isItemsModel: true
+          });
           setChargebeeInitialized(true);
         };
         document.body.appendChild(script);
       } else {
-        window.Chargebee?.init({ site: "aurynrobotics" });
-        window.Chargebee?.registerAgain();
+        window.Chargebee?.init({
+          site: "aurynrobotics",
+          isItemsModel: true
+        });
         setChargebeeInitialized(true);
       }
     }
@@ -182,6 +186,23 @@ export default function Groot() {
     document.getElementById("download")?.scrollIntoView({ behavior: "smooth" });
   };
 
+  const openCheckout = () => {
+    try {
+      const cbInstance = window.Chargebee.getInstance();
+      cbInstance.openCheckout({
+        hostedPage: () => {
+          return Promise.resolve({
+            url: 'https://aurynrobotics.chargebee.com/hosted_pages/checkout?subscription_items[item_price_id][0]=Floating-License-fixed2-EUR-Yearly&subscription_items[quantity][0]=1',
+            state: 'created'
+          });
+        },
+        layout: 'in_app'
+      });
+    } catch (error) {
+      console.error("Chargebee checkout error:", error);
+    }
+  };
+
   return (
     <Layout title="Groot2" description="The IDE for Behavior Trees">
       {openContactModal && (
@@ -264,15 +285,12 @@ export default function Groot() {
                 </button>
               </div>
               <div className={clsx(styles.pricingPlanCol, styles.proPlan)}>
-                <a
+                <button
                   className={clsx(styles.btn, styles.btnPrimary)}
-                  href="javascript:void(0)"
-                  data-cb-type="checkout"
-                  data-cb-item-0="Floating-License-fixed2-EUR-Yearly"
-                  data-cb-item-0-quantity="1"
+                  onClick={openCheckout}
                 >
-                  Buy PRO
-                </a>
+                  Subscribe
+                </button>
               </div>
             </div>
           </div>
@@ -287,82 +305,67 @@ export default function Groot() {
             <p className={styles.downloadVersion}>Latest release: {CURRENT_VERSION} (2026-01-04)</p>
           </div>
 
-          {/* Installers Group */}
-          <div className={styles.downloadGroup}>
-            <h3 className={styles.downloadGroupTitle}>Installers</h3>
-            <div className={styles.downloadGrid}>
-              <Link
-                className={styles.downloadCard}
-                to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-windows-installer.exe`}
-                onClick={() => trackDownload('windows-installer.exe', 'windows')}
-              >
-                <img
-                  className={styles.downloadLogo}
-                  src={useBaseUrl("img/windows.png")}
-                  alt="Windows"
-                />
-                <div className={styles.downloadInfo}>
-                  <span className={styles.downloadName}>Windows</span>
-                  <span className={styles.downloadArch}>x86_64</span>
-                </div>
-                <span className={styles.downloadBtn}>Download</span>
-              </Link>
-              <Link
-                className={styles.downloadCard}
-                to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-linux-installer.run`}
-                onClick={() => trackDownload('linux-installer.run', 'linux')}
-              >
-                <img
-                  className={styles.downloadLogo}
-                  src={useBaseUrl("img/linux.png")}
-                  alt="Linux"
-                />
-                <div className={styles.downloadInfo}>
-                  <span className={styles.downloadName}>Linux</span>
-                  <span className={styles.downloadArch}>x86_64</span>
-                </div>
-                <span className={styles.downloadBtn}>Download</span>
-              </Link>
-            </div>
-          </div>
-
-          {/* AppImage Group */}
-          <div className={styles.downloadGroup}>
-            <h3 className={styles.downloadGroupTitle}>Portable (AppImage)</h3>
-            <div className={styles.downloadGrid}>
-              <Link
-                className={styles.downloadCard}
-                to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-x86_64.AppImage`}
-                onClick={() => trackDownload('x86_64.AppImage', 'linux')}
-              >
-                <img
-                  className={styles.downloadLogo}
-                  src={useBaseUrl("img/appimage.png")}
-                  alt="AppImage"
-                />
-                <div className={styles.downloadInfo}>
-                  <span className={styles.downloadName}>AppImage</span>
-                  <span className={styles.downloadArch}>x86_64</span>
-                </div>
-                <span className={styles.downloadBtn}>Download</span>
-              </Link>
-              <Link
-                className={styles.downloadCard}
-                to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-aarch64.AppImage`}
-                onClick={() => trackDownload('aarch64.AppImage', 'linux')}
-              >
-                <img
-                  className={styles.downloadLogo}
-                  src={useBaseUrl("img/appimage.png")}
-                  alt="AppImage"
-                />
-                <div className={styles.downloadInfo}>
-                  <span className={styles.downloadName}>AppImage</span>
-                  <span className={styles.downloadArch}>aarch64</span>
-                </div>
-                <span className={styles.downloadBtn}>Download</span>
-              </Link>
-            </div>
+          <div className={styles.downloadGrid}>
+            <Link
+              className={styles.downloadCard}
+              to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-windows-installer.exe`}
+              onClick={() => trackDownload('windows-installer.exe', 'windows')}
+            >
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/windows.png")}
+                alt="Windows"
+              />
+              <div className={styles.downloadInfo}>
+                <span className={styles.downloadName}>Windows</span>
+                <span className={styles.downloadArch}>x86_64 Installer</span>
+              </div>
+            </Link>
+            <Link
+              className={styles.downloadCard}
+              to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-linux-installer.run`}
+              onClick={() => trackDownload('linux-installer.run', 'linux')}
+            >
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/linux.png")}
+                alt="Linux"
+              />
+              <div className={styles.downloadInfo}>
+                <span className={styles.downloadName}>Linux</span>
+                <span className={styles.downloadArch}>x86_64 Installer</span>
+              </div>
+            </Link>
+            <Link
+              className={styles.downloadCard}
+              to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-x86_64.AppImage`}
+              onClick={() => trackDownload('x86_64.AppImage', 'linux')}
+            >
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/appimage.png")}
+                alt="AppImage"
+              />
+              <div className={styles.downloadInfo}>
+                <span className={styles.downloadName}>AppImage</span>
+                <span className={styles.downloadArch}>x86_64 Portable</span>
+              </div>
+            </Link>
+            <Link
+              className={styles.downloadCard}
+              to={`https://pub-32cef6782a9e411e82222dee82af193e.r2.dev/Groot2-v${CURRENT_VERSION}-aarch64.AppImage`}
+              onClick={() => trackDownload('aarch64.AppImage', 'linux')}
+            >
+              <img
+                className={styles.downloadLogo}
+                src={useBaseUrl("img/appimage.png")}
+                alt="AppImage"
+              />
+              <div className={styles.downloadInfo}>
+                <span className={styles.downloadName}>AppImage</span>
+                <span className={styles.downloadArch}>aarch64 Portable</span>
+              </div>
+            </Link>
           </div>
         </div>
       </section>
@@ -370,7 +373,17 @@ export default function Groot() {
       {/* FAQ Section */}
       <section className={styles.faqSection}>
         <div className={styles.faqInner}>
-          <h2 className={styles.faqTitle}>Frequently Asked Questions</h2>
+          <div className={styles.faqHeader}>
+            <h2 className={styles.faqTitle}>Frequently Asked Questions</h2>
+            <p className={styles.faqSubtitle}>
+              Everything you need to know about Groot2 licensing and features.
+            </p>
+            <div className={styles.faqDecoration}>
+              <span className={styles.faqDecorationDot}></span>
+              <span className={styles.faqDecorationDot}></span>
+              <span className={styles.faqDecorationDot}></span>
+            </div>
+          </div>
           <div className={styles.faqList}>
             {faqItems.map((item, idx) => (
               <FaqItem
diff --git a/src/pages/groot.module.css b/src/pages/groot.module.css
index ceac673..b57d265 100644
--- a/src/pages/groot.module.css
+++ b/src/pages/groot.module.css
@@ -41,18 +41,23 @@
 }
 
 .heroTitle {
-  font-size: 5rem;
+  font-size: clamp(3.5rem, 8vw, 5.5rem);
   font-weight: 800;
-  color: var(--green-500);
+  background: linear-gradient(135deg, #047857 0%, #059669 50%, #10b981 100%);
+  -webkit-background-clip: text;
+  -webkit-text-fill-color: transparent;
+  background-clip: text;
   margin-bottom: 1rem;
-  letter-spacing: -0.03em;
+  letter-spacing: -0.04em;
+  line-height: 1.0;
 }
 
 .heroSubtitle {
-  font-size: 1.5rem;
+  font-size: 1.35rem;
   color: var(--text-mid);
   margin-bottom: 2rem;
-  line-height: 1.6;
+  line-height: 1.5;
+  font-weight: 400;
 }
 
 .buttonGroup {
@@ -132,9 +137,10 @@
 
 .featureContent h2 {
   font-size: 2.5rem;
-  font-weight: 700;
+  font-weight: 800;
   color: var(--text-dark);
   margin-bottom: 1.5rem;
+  letter-spacing: -0.02em;
 }
 
 .featureContent ul {
@@ -188,11 +194,12 @@
 }
 
 .pricingTitle {
-  font-size: 3.0rem;
+  font-size: 3.5rem;
   font-weight: 800;
   color: white;
   text-align: center;
   margin-bottom: 2rem;
+  letter-spacing: -0.03em;
 }
 
 .pricingTable {
@@ -313,157 +320,203 @@
 
 /* Download Section */
 .downloadSection {
-  padding: 4rem 1rem;
+  padding: 5rem 1rem;
   background: linear-gradient(180deg, var(--sand) 0%, var(--cream) 100%);
 }
 
-.downloadTitle {
-  font-size: 3.0rem;
-  font-weight: 800;
-  text-align: center;
-  margin: 0 0 0.25rem 0;
-}
-
-.downloadVersion {
-  font-size: 1.4rem;
-  color: var(--text-mid);
-  text-align: center;
-  margin: 0 0 1.0rem 0;
-}
-
 .downloadInner {
-  max-width: 900px;
+  max-width: 1100px;
   margin: 0 auto;
-  display: flex;
-  flex-wrap: wrap;
-  gap: 2rem;
-  justify-content: center;
+  display: grid;
+  grid-template-columns: 1fr 1.5fr;
+  gap: 3rem;
+  align-items: center;
 }
 
 .downloadHeader {
-  width: 100%;
-  text-align: center;
+  text-align: left;
 }
 
-.downloadGroup {
-  flex: 1;
-  min-width: 280px;
-  max-width: 400px;
+.downloadTitle {
+  font-size: 3.5rem;
+  font-weight: 800;
+  margin: 0 0 0.5rem 0;
+  letter-spacing: -0.03em;
+  color: var(--text-dark);
 }
 
-.downloadGroupTitle {
-  font-size: 1.25rem;
-  font-weight: 800;
-  color: var(--text-light);
-  letter-spacing: 0.08em;
-  margin-bottom: 1rem;
-  padding-left: 1.5rem;
+.downloadVersion {
+  font-size: 1.4rem;
+  color: var(--text-mid);
+  margin: 0;
+  font-weight: 500;
 }
 
+
 .downloadGrid {
-  display: flex;
-  flex-direction: column;
-  gap: 0.75rem;
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 1rem;
 }
 
 .downloadCard {
   display: flex;
+  flex-direction: column;
   align-items: center;
-  gap: 1rem;
-  padding: 1rem 1.25rem;
+  gap: 0.75rem;
+  padding: 1.5rem 1rem;
   background: white;
-  border-radius: 12px;
+  border-radius: var(--radius-md);
   border: 1px solid rgba(0, 0, 0, 0.06);
   text-decoration: none;
   transition: all 0.2s ease;
-  box-shadow: 0 1px 3px rgba(0, 0, 0, 0.04);
+  box-shadow: 0 2px 8px rgba(0, 0, 0, 0.04);
+  text-align: center;
 }
 
 .downloadCard:hover {
   border-color: var(--green-400);
-  box-shadow: 0 4px 12px rgba(22, 163, 74, 0.15);
-  transform: translateY(-2px);
+  box-shadow: 0 8px 24px rgba(22, 163, 74, 0.15);
+  transform: translateY(-4px);
 }
 
 .downloadLogo {
-  height: 80px;
-  width: 80px;
+  height: 96px;
+  width: 96px;
   object-fit: contain;
-  flex-shrink: 0;
 }
 
 .downloadInfo {
   display: flex;
   flex-direction: column;
-  flex-grow: 1;
-  text-align: left;
+  text-align: center;
 }
 
 .downloadName {
-  font-size: 1.25rem;
+  font-size: 1.2rem;
   font-weight: 600;
   color: var(--text-dark);
 }
 
 .downloadArch {
-  font-size: 1.1rem;
+  font-size: 0.95rem;
   color: var(--text-light);
 }
 
-.downloadBtn {
-  padding: 0.6rem 1.5rem;
-  background: var(--green-600);
-  color: white;
-  border-radius: 100px;
-  font-size: 1rem;
-  font-weight: 600;
-  flex-shrink: 0;
-  transition: background 0.2s ease;
+/* FAQ Section */
+.faqSection {
+  padding: 6rem 1rem;
+  background: var(--text-dark);
+  position: relative;
+  overflow: hidden;
 }
 
-.downloadCard:hover .downloadBtn {
-  background: var(--green-700);
+.faqSection::before {
+  content: "";
+  position: absolute;
+  top: -200px;
+  right: -200px;
+  width: 500px;
+  height: 500px;
+  background: radial-gradient(circle, rgba(34, 197, 94, 0.15) 0%, transparent 70%);
+  pointer-events: none;
 }
 
-/* FAQ Section */
-.faqSection {
-  padding: 5rem 1rem;
-  background: var(--sand);
+.faqSection::after {
+  content: "";
+  position: absolute;
+  bottom: -150px;
+  left: -150px;
+  width: 400px;
+  height: 400px;
+  background: radial-gradient(circle, rgba(34, 197, 94, 0.1) 0%, transparent 70%);
+  pointer-events: none;
 }
 
 .faqInner {
-  max-width: 1000px;
+  max-width: 1200px;
   margin: 0 auto;
+  display: grid;
+  grid-template-columns: 0.8fr 1.2fr;
+  gap: 4rem;
+  align-items: start;
+  position: relative;
+  z-index: 1;
+}
+
+.faqHeader {
+  position: sticky;
+  top: 2rem;
 }
 
 .faqTitle {
-  font-size: 3.0rem;
+  font-size: 3.5rem;
   font-weight: 800;
-  color: var(--text-dark);
-  text-align: center;
-  margin-bottom: 3rem;
+  color: white;
+  text-align: left;
+  margin-bottom: 1rem;
+  letter-spacing: -0.03em;
+  line-height: 1.1;
+}
+
+.faqSubtitle {
+  font-size: 1.2rem;
+  color: rgba(255, 255, 255, 0.6);
+  line-height: 1.6;
+  margin-bottom: 2rem;
+}
+
+.faqDecoration {
+  display: flex;
+  gap: 0.5rem;
+  margin-top: 2rem;
+}
+
+.faqDecorationDot {
+  width: 12px;
+  height: 12px;
+  border-radius: 50%;
+  background: var(--green-500);
+  opacity: 0.8;
+}
+
+.faqDecorationDot:nth-child(2) {
+  opacity: 0.5;
+  animation: pulse 2s ease-in-out infinite 0.2s;
+}
+
+.faqDecorationDot:nth-child(3) {
+  opacity: 0.3;
+  animation: pulse 2s ease-in-out infinite 0.4s;
+}
+
+@keyframes pulse {
+  0%, 100% { transform: scale(1); opacity: 0.3; }
+  50% { transform: scale(1.2); opacity: 0.6; }
 }
 
 .faqList {
   display: flex;
   flex-direction: column;
-  gap: 1rem;
+  gap: 0.75rem;
 }
 
 .faqItem {
-  background: white;
-  border-radius: var(--radius-sm);
+  background: rgba(255, 255, 255, 0.03);
+  border-radius: var(--radius-md);
   overflow: hidden;
-  box-shadow: 0 2px 8px rgba(0, 0, 0, 0.04);
-  transition: box-shadow 0.2s ease;
+  border: 1px solid rgba(255, 255, 255, 0.08);
+  transition: all 0.3s ease;
 }
 
 .faqItem:hover {
-  box-shadow: 0 4px 16px rgba(0, 0, 0, 0.08);
+  background: rgba(255, 255, 255, 0.06);
+  border-color: rgba(34, 197, 94, 0.3);
 }
 
 .faqItemOpen {
-  box-shadow: 0 4px 16px rgba(0, 0, 0, 0.08);
+  background: rgba(34, 197, 94, 0.08);
+  border-color: rgba(34, 197, 94, 0.4);
 }
 
 .faqQuestion {
@@ -476,29 +529,49 @@
   justify-content: space-between;
   align-items: center;
   text-align: left;
-  font-size: 1.15rem;
-  font-weight: 600;
-  color: var(--text-dark);
-  transition: color 0.2s ease;
+  font-size: 1.1rem;
+  font-weight: 500;
+  color: rgba(255, 255, 255, 0.9);
+  transition: all 0.2s ease;
 }
 
 .faqQuestion:hover {
-  color: var(--green-600);
+  color: var(--green-400);
 }
 
 .faqIcon {
-  font-size: 1.5rem;
-  font-weight: 300;
-  color: var(--green-500);
+  width: 28px;
+  height: 28px;
+  border-radius: 50%;
+  background: rgba(34, 197, 94, 0.2);
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  font-size: 1.25rem;
+  font-weight: 400;
+  color: var(--green-400);
   flex-shrink: 0;
   margin-left: 1rem;
+  transition: all 0.3s ease;
+}
+
+.faqItemOpen .faqIcon {
+  background: var(--green-500);
+  color: white;
+  transform: rotate(45deg);
 }
 
 .faqAnswer {
   padding: 0 1.5rem 1.5rem;
-  font-size: 1.1rem;
-  color: var(--text-mid);
+  font-size: 1.05rem;
+  color: rgba(255, 255, 255, 0.65);
   line-height: 1.7;
+  animation: fadeIn 0.3s ease;
+}
+
+@keyframes fadeIn {
+  from { opacity: 0; transform: translateY(-8px); }
+  to { opacity: 1; transform: translateY(0); }
 }
 
 /* Responsive */
@@ -526,16 +599,35 @@
     font-size: 2.5rem;
   }
 
-  .heroTitle {
-    font-size: 3rem;
+  .downloadInner {
+    grid-template-columns: 1fr;
+    gap: 2rem;
   }
-}
 
-@media (max-width: 768px) {
-  .heroTitle {
-    font-size: 2.5rem;
+  .downloadHeader {
+    text-align: center;
+  }
+
+  .faqInner {
+    grid-template-columns: 1fr;
+    gap: 2rem;
+  }
+
+  .faqHeader {
+    position: static;
+    text-align: center;
+  }
+
+  .faqTitle {
+    text-align: center;
+  }
+
+  .faqDecoration {
+    justify-content: center;
   }
+}
 
+@media (max-width: 768px) {
   .heroSubtitle {
     font-size: 1.1rem;
   }
@@ -587,13 +679,27 @@
     padding: 0.5rem 0.75rem;
   }
 
+  .downloadInner {
+    grid-template-columns: 1fr;
+    text-align: center;
+  }
+
+  .downloadHeader {
+    text-align: center;
+  }
+
   .downloadGrid {
-    flex-direction: column;
-    align-items: center;
+    grid-template-columns: 1fr 1fr;
+    max-width: 400px;
+    margin: 0 auto;
   }
 
   .faqTitle {
-    font-size: 2rem;
+    font-size: 2.5rem;
+  }
+
+  .faqSubtitle {
+    font-size: 1rem;
   }
 
   .faqQuestion {
@@ -602,7 +708,13 @@
   }
 
   .faqAnswer {
-    font-size: 1rem;
+    font-size: 0.95rem;
     padding: 0 1.25rem 1.25rem;
   }
+
+  .faqIcon {
+    width: 24px;
+    height: 24px;
+    font-size: 1rem;
+  }
 }
diff --git a/src/pages/index.js b/src/pages/index.js
index 4ab0017..3efdb27 100644
--- a/src/pages/index.js
+++ b/src/pages/index.js
@@ -219,7 +219,8 @@ function Home() {
         <div className={styles.heroInner}>
           <div className={styles.heroContent}>
             <h1 className={styles.heroTitle}>
-              The Industry Standard for{" "}
+              The Industry Standard for
+              <br />
               <span className={styles.heroTitleHighlight}>Robot Behaviors</span>
             </h1>
             <p className={styles.heroSub}>
@@ -249,7 +250,7 @@ function Home() {
             <div className={styles.heroStats}>
               <div className={styles.stat}>
                 <div className={styles.statValue}>MIT</div>
-                <div className={styles.statLabel}>Open-Source License</div>
+                <div className={styles.statLabel}><b>OSS</b> License</div>
               </div>
               <div className={styles.stat}>
                 <div className={styles.statValue}>{githubStars}</div>
diff --git a/src/pages/index.module.css b/src/pages/index.module.css
index 6cc9778..5de5569 100644
--- a/src/pages/index.module.css
+++ b/src/pages/index.module.css
@@ -108,35 +108,42 @@
 }
 
 .heroTitle {
-  font-size: clamp(3rem, 7vw, 4.0rem);
+  font-size: clamp(3.5rem, 8vw, 5.5rem);
   font-weight: 800;
-  line-height: 1.1;
-  margin-bottom: 1.5rem;
-  letter-spacing: -0.03em;
+  line-height: 1.0;
+  margin-bottom: 1.25rem;
+  letter-spacing: -0.04em;
   animation: fadeInUp 0.8s ease-out 0.1s both;
   color: var(--text-dark);
 }
 
 .heroTitleHighlight {
-  background: linear-gradient(135deg, var(--green-500) 0%, var(--green-400) 100%);
+  background: linear-gradient(135deg, #047857 0%, #059669 50%, #10b981 100%);
   -webkit-background-clip: text;
   -webkit-text-fill-color: transparent;
   background-clip: text;
+  animation: shimmer 3s ease-in-out infinite;
+}
+
+@keyframes shimmer {
+  0%, 100% { filter: brightness(1); }
+  50% { filter: brightness(1.15); }
 }
 
 .heroSub {
-  font-size: 1.5rem;
+  font-size: 1.35rem;
   color: var(--text-mid);
-  max-width: 600px;
-  margin: 0 auto 2.5rem;
+  max-width: 540px;
+  margin: 0 0 2rem;
   animation: fadeInUp 0.8s ease-out 0.2s both;
-  line-height: 1.6;
+  line-height: 1.5;
+  font-weight: 400;
 }
 
 .heroCtas {
   display: flex;
   gap: 1rem;
-  justify-content: center;
+  justify-content: flex-start;
   flex-wrap: wrap;
   animation: fadeInUp 0.8s ease-out 0.3s both;
 }
@@ -185,26 +192,30 @@
 .heroStats {
   display: flex;
   gap: 3rem;
-  justify-content: center;
+  justify-content: flex-start;
   margin-top: 3rem;
   animation: fadeInUp 0.8s ease-out 0.4s both;
 }
 
 .stat {
-  text-align: center;
+  text-align: left;
 }
 
 .statValue {
-  font-size: 2.5rem;
+  font-size: 3rem;
   font-weight: 800;
   color: var(--green-600);
   line-height: 1;
+  letter-spacing: -0.02em;
 }
 
 .statLabel {
-  font-size: 1.0rem;
+  font-size: 0.875rem;
   color: var(--text-light);
-  margin-top: 0.25rem;
+  margin-top: 0.5rem;
+  text-transform: uppercase;
+  letter-spacing: 0.05em;
+  font-weight: 500;
 }
 
 @keyframes fadeInUp {
@@ -267,16 +278,17 @@
 }
 
 .featuresTitle {
-  font-size: 3.0rem;
+  font-size: 3.5rem;
   font-weight: 800;
-  margin-bottom: 0.75rem;
-  letter-spacing: -0.02em;
+  margin-bottom: 0.5rem;
+  letter-spacing: -0.03em;
   color: var(--text-dark);
 }
 
 .featuresSubtitle {
   color: var(--text-mid);
-  font-size: 1.8rem;
+  font-size: 1.4rem;
+  font-weight: 400;
 }
 
 .highlight {
@@ -378,22 +390,35 @@
 /* Groot2 Section */
 .grootSection {
   padding: 6rem 1rem;
-  background: var(--sand);
+  background: var(--text-dark);
   position: relative;
   overflow: hidden;
 }
 
-.grootBlob {
+.grootSection::before {
+  content: "";
   position: absolute;
+  top: -200px;
+  left: -200px;
   width: 500px;
   height: 500px;
-  background: var(--green-200);
-  border-radius: 50%;
-  filter: blur(100px);
-  opacity: 0.5;
-  top: 50%;
-  right: -200px;
-  transform: translateY(-50%);
+  background: radial-gradient(circle, rgba(34, 197, 94, 0.15) 0%, transparent 70%);
+  pointer-events: none;
+}
+
+.grootSection::after {
+  content: "";
+  position: absolute;
+  bottom: -150px;
+  right: -150px;
+  width: 400px;
+  height: 400px;
+  background: radial-gradient(circle, rgba(34, 197, 94, 0.1) 0%, transparent 70%);
+  pointer-events: none;
+}
+
+.grootBlob {
+  display: none;
 }
 
 .grootContent {
@@ -409,10 +434,10 @@
 }
 
 .grootHeader h2 {
-  font-size: 3.0rem;
+  font-size: 3.5rem;
   font-weight: 800;
-  letter-spacing: -0.02em;
-  color: var(--text-dark);
+  letter-spacing: -0.03em;
+  color: white;
 }
 
 .grootBody {
@@ -423,7 +448,7 @@
 }
 
 .grootTextHighlight {
-  color: var(--green-600);
+  color: var(--green-400);
 }
 
 .grootFeatures {
@@ -438,14 +463,16 @@
   align-items: flex-start;
   gap: 1rem;
   padding: 1rem 1.25rem;
-  background: white;
+  background: rgba(255, 255, 255, 0.03);
+  border: 1px solid rgba(255, 255, 255, 0.08);
   border-radius: var(--radius-md);
   transition: all 0.2s;
 }
 
 .grootFeature:hover {
   transform: translateX(8px);
-  box-shadow: 0 4px 20px rgba(0, 0, 0, 0.06);
+  background: rgba(255, 255, 255, 0.06);
+  border-color: rgba(34, 197, 94, 0.3);
 }
 
 .grootFeatureIcon {
@@ -463,13 +490,13 @@
 }
 
 .grootFeatureText strong {
-  color: var(--text-dark);
+  color: rgba(255, 255, 255, 0.9);
   font-weight: 600;
   display: block;
 }
 
 .grootFeatureText span {
-  color: var(--text-mid);
+  color: rgba(255, 255, 255, 0.6);
   font-size: 1.1rem;
 }
 
@@ -480,7 +507,8 @@
 .grootPreview {
   border-radius: var(--radius-sm);
   overflow: hidden;
-  box-shadow: 0 30px 60px rgba(0, 0, 0, 0.12);
+  box-shadow: 0 30px 60px rgba(0, 0, 0, 0.4);
+  border: 1px solid rgba(255, 255, 255, 0.1);
 }
 
 .grootPreview video {
@@ -525,6 +553,10 @@
     justify-content: center;
   }
 
+  .stat {
+    text-align: center;
+  }
+
   .grootBody {
     grid-template-columns: 1fr;
     gap: 3rem;

From 657caaeb17bbc826f3daa93100918971b3eb8911 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Fri, 9 Jan 2026 15:21:09 +0100
Subject: [PATCH 72/80] Add animated green gradients to Groot2 section

- Enhanced gradient visibility and positioning
- Added slow floating animation with significant movement

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
---
 auryn.png                  | Bin 0 -> 4301 bytes
 src/pages/index.module.css |  33 +++++++++++++++++++++++++--------
 2 files changed, 25 insertions(+), 8 deletions(-)
 create mode 100644 auryn.png

diff --git a/auryn.png b/auryn.png
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diff --git a/src/pages/index.module.css b/src/pages/index.module.css
index 5de5569..158cc4d 100644
--- a/src/pages/index.module.css
+++ b/src/pages/index.module.css
@@ -399,22 +399,39 @@
   content: "";
   position: absolute;
   top: -200px;
-  left: -200px;
-  width: 500px;
-  height: 500px;
-  background: radial-gradient(circle, rgba(34, 197, 94, 0.15) 0%, transparent 70%);
+  right: -200px;
+  width: 600px;
+  height: 600px;
+  background: radial-gradient(circle, rgba(34, 197, 94, 0.2) 0%, transparent 70%);
   pointer-events: none;
+  animation: floatGlow 20s ease-in-out infinite;
 }
 
 .grootSection::after {
   content: "";
   position: absolute;
   bottom: -150px;
-  right: -150px;
-  width: 400px;
-  height: 400px;
-  background: radial-gradient(circle, rgba(34, 197, 94, 0.1) 0%, transparent 70%);
+  left: -150px;
+  width: 500px;
+  height: 500px;
+  background: radial-gradient(circle, rgba(34, 197, 94, 0.15) 0%, transparent 70%);
   pointer-events: none;
+  animation: floatGlow 25s ease-in-out infinite reverse;
+}
+
+@keyframes floatGlow {
+  0%, 100% {
+    transform: translate(0, 0) scale(1);
+  }
+  25% {
+    transform: translate(150px, 100px) scale(1.2);
+  }
+  50% {
+    transform: translate(-100px, 150px) scale(0.9);
+  }
+  75% {
+    transform: translate(100px, -80px) scale(1.15);
+  }
 }
 
 .grootBlob {

From a05d3b0fce217bcf40d683429869def7292fd258 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 18 Jan 2026 16:28:50 +0100
Subject: [PATCH 73/80] Upgrade Groot component to version 1.8.0

Updated the Groot component to version 1.8.0, including changes to the FAQ section, pricing features, and download options.
---
 src/pages/groot.js | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index afc3eb4..04b8d1b 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -135,7 +135,7 @@ function FaqItem({ question, answer, isOpen, onClick }) {
   );
 }
 
-const CURRENT_VERSION = "1.7.1";
+const CURRENT_VERSION = "1.8.0";
 
 // Track download event
 const trackDownload = async (file, platform) => {
@@ -302,7 +302,7 @@ export default function Groot() {
         <div className={styles.downloadInner}>
           <div className={styles.downloadHeader}>
             <h2 className={styles.downloadTitle}>Download</h2>
-            <p className={styles.downloadVersion}>Latest release: {CURRENT_VERSION} (2026-01-04)</p>
+            <p className={styles.downloadVersion}>Latest release: {CURRENT_VERSION} (2026-01-18)</p>
           </div>
 
           <div className={styles.downloadGrid}>
@@ -404,3 +404,4 @@ export default function Groot() {
 }
 
 
+

From c82aa68f1fb7d5360c7b93f947f63def0da294fc Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 19 Jan 2026 23:07:32 +0100
Subject: [PATCH 74/80] Update groot.js

---
 src/pages/groot.js | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 04b8d1b..6ab90c2 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -135,7 +135,7 @@ function FaqItem({ question, answer, isOpen, onClick }) {
   );
 }
 
-const CURRENT_VERSION = "1.8.0";
+const CURRENT_VERSION = "1.8.1";
 
 // Track download event
 const trackDownload = async (file, platform) => {
@@ -302,7 +302,7 @@ export default function Groot() {
         <div className={styles.downloadInner}>
           <div className={styles.downloadHeader}>
             <h2 className={styles.downloadTitle}>Download</h2>
-            <p className={styles.downloadVersion}>Latest release: {CURRENT_VERSION} (2026-01-18)</p>
+            <p className={styles.downloadVersion}>Latest release: {CURRENT_VERSION} (2026-01-19)</p>
           </div>
 
           <div className={styles.downloadGrid}>
@@ -405,3 +405,4 @@ export default function Groot() {
 
 
 
+

From eaeae7debfe5bea64c1392befe281815cb09dc4b Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 2 Feb 2026 09:05:10 +0100
Subject: [PATCH 75/80] docs: add missing node documentation and improve
 existing pages

- Improve Repeat/RetryUntilSuccessful with port tables, XML examples,
  SKIPPED status handling, and infinite loop docs (#988)
- Add Timeout decorator documentation (#933)
- Create Parallel and ParallelAll node page (#185)
- Create IfThenElse and WhileDoElse page (#657)
- Create Switch node page (#499)
- Add BidirectionalPort section to ports tutorial (#664)
- Update cross-reference disclaimers across existing pages (#649)

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
---
 docs/nodes-library/ConditionalControlNodes.md | 66 +++++++++++++++
 docs/nodes-library/DecoratorNode.md           | 74 ++++++++++++++---
 docs/nodes-library/FallbackNode.md            |  2 +-
 docs/nodes-library/ParallelNode.md            | 82 +++++++++++++++++++
 docs/nodes-library/SequenceNode.md            |  2 +-
 docs/nodes-library/SwitchNode.md              | 46 +++++++++++
 .../tutorial_02_basic_ports.md                | 55 +++++++++++++
 7 files changed, 313 insertions(+), 14 deletions(-)
 create mode 100644 docs/nodes-library/ConditionalControlNodes.md
 create mode 100644 docs/nodes-library/ParallelNode.md
 create mode 100644 docs/nodes-library/SwitchNode.md

diff --git a/docs/nodes-library/ConditionalControlNodes.md b/docs/nodes-library/ConditionalControlNodes.md
new file mode 100644
index 0000000..61e6240
--- /dev/null
+++ b/docs/nodes-library/ConditionalControlNodes.md
@@ -0,0 +1,66 @@
+---
+sidebar_position: 5
+sidebar_label: Conditional Control Nodes
+---
+
+# Conditional Control Nodes
+
+These control nodes select which child to execute based on the result of a condition (the first child).
+
+Currently the framework provides two kinds:
+
+- IfThenElse
+- WhileDoElse
+
+Both must have exactly **2 or 3 children**.
+
+## IfThenElse
+
+IfThenElse is a **non-reactive** conditional node.
+
+- The **1st child** is the condition ("if").
+- The **2nd child** is executed if the condition returns SUCCESS ("then").
+- The **3rd child** (optional) is executed if the condition returns FAILURE ("else").
+
+If only 2 children are provided and the condition returns FAILURE, the node returns FAILURE
+(equivalent to having `AlwaysFailure` as the 3rd child).
+
+The condition is evaluated **only once**. If the 2nd or 3rd child returns RUNNING,
+the condition is **not** re-evaluated on subsequent ticks.
+
+```xml
+<IfThenElse>
+    <IsDoorOpen/>          <!-- condition -->
+    <WalkThrough/>         <!-- then branch -->
+    <TryAnotherPath/>      <!-- else branch (optional) -->
+</IfThenElse>
+```
+
+## WhileDoElse
+
+WhileDoElse is the **reactive** variant of IfThenElse. It re-evaluates the condition
+at **every tick**.
+
+- The **1st child** is the condition, evaluated on every tick ("while").
+- The **2nd child** is executed while the condition returns SUCCESS ("do").
+- The **3rd child** (optional) is executed while the condition returns FAILURE ("else").
+
+If the 2nd or 3rd child is RUNNING and the condition result **changes**, the running
+child is **halted** before switching to the other branch.
+
+```xml
+<WhileDoElse>
+    <IsBatteryOK/>         <!-- condition, re-evaluated each tick -->
+    <ContinueMission/>     <!-- do branch -->
+    <GoToChargingStation/> <!-- else branch (optional) -->
+</WhileDoElse>
+```
+
+## IfThenElse vs WhileDoElse
+
+| Feature | IfThenElse | WhileDoElse |
+|---------|------------|-------------|
+| Re-evaluates condition? | No | Yes (every tick) |
+| Reactive | No | Yes |
+| Halts running child on condition change? | N/A | Yes |
+| Use case | One-time branching | Continuous monitoring |
diff --git a/docs/nodes-library/DecoratorNode.md b/docs/nodes-library/DecoratorNode.md
index a77e94c..2cd9ebb 100644
--- a/docs/nodes-library/DecoratorNode.md
+++ b/docs/nodes-library/DecoratorNode.md
@@ -5,7 +5,7 @@ A decorator is a node that must have a single child.
 It is up to the Decorator to decide if, when and how many times the child should be
 ticked.
 
-> Some nodes are not listed yet. See [decorators](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/master/include/behaviortree_cpp/decorators) on Github for complete definitions.
+> For the complete list of built-in nodes, see the other pages in this section and the [source code](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/master/include/behaviortree_cpp) on Github.
 
 ## Inverter
 
@@ -28,24 +28,45 @@ Otherwise, it returns always FAILURE.
 
 ## Repeat
 
-Tick the child up to N times (within one of its tick), where N is passed as [Input Port](tutorial-basics/tutorial_02_basic_ports.md) `num_cycles`,
-as long as the child returns SUCCESS.
-Return SUCCESS after the N repetitions in the case that the child always returned SUCCESS.
-If `num_cycles` is -1, repeat indefinitely.
+Tick the child up to N times, as long as the child returns SUCCESS.
 
-Interrupt the loop if the child returns FAILURE and, in that case, return FAILURE too.
+| Port | Type | Default | Description |
+|------|------|---------|-------------|
+| `num_cycles` | InputPort\<int\> | (required) | Number of repetitions. Use `-1` for infinite loop. |
 
-If the child returns RUNNING, this node returns RUNNING too and the repetitions will continue without incrementing on the next tick of the Repeat node.
+- Returns **SUCCESS** after all N repetitions complete successfully.
+- Returns **FAILURE** immediately if the child returns FAILURE (loop is interrupted).
+- Returns **RUNNING** if the child returns RUNNING; the counter is **not** incremented and the same iteration resumes on the next tick.
+- If the child returns **SKIPPED**, the child is reset but the counter is not incremented.
+
+```xml
+<Repeat num_cycles="3">
+    <ClapYourHandsOnce/>
+</Repeat>
+```
 
 ## RetryUntilSuccessful
 
-Tick the child up to N times, where N is passed as [Input Port](tutorial-basics/tutorial_02_basic_ports.md) `num_attempts`,
-as long as the child returns FAILURE.
-Return FAILURE after the N attempts in the case that the child always returned FAILURE.
+Tick the child up to N times, as long as the child returns FAILURE.
+
+| Port | Type | Default | Description |
+|------|------|---------|-------------|
+| `num_attempts` | InputPort\<int\> | (required) | Number of attempts. Use `-1` for infinite retries. |
+
+- Returns **SUCCESS** immediately if the child returns SUCCESS (loop is interrupted).
+- Returns **FAILURE** after all N attempts are exhausted.
+- Returns **RUNNING** if the child returns RUNNING; the attempt counter is **not** incremented and the same iteration resumes on the next tick.
+- If the child returns **SKIPPED**, the child is reset and SKIPPED is returned.
 
-Interrupt the loop if the child returns SUCCESS and, in that case, return SUCCESS too.
+```xml
+<RetryUntilSuccessful num_attempts="3">
+    <OpenDoor/>
+</RetryUntilSuccessful>
+```
 
-If the child returns RUNNING, this node returns RUNNING too and the attempts will continue without incrementing on the next tick of the RetryUntilSuccessful node.
+:::note
+The deprecated name `RetryUntilSuccesful` (single 's') is still supported for backward compatibility but should not be used in new trees.
+:::
 
 ## KeepRunningUntilFailure
 
@@ -55,6 +76,35 @@ The KeepRunningUntilFailure node returns always FAILURE (FAILURE in child) or RU
 
 Tick the child after a specified time has passed. The delay is specified as [Input Port](tutorial-basics/tutorial_02_basic_ports.md) `delay_msec`. If the child returns RUNNING, this node returns RUNNING too and will tick the child on next tick of the Delay node. Otherwise, return the status of the child node.
 
+## Timeout
+
+Halt a running child if it has been RUNNING longer than a given duration. This is the opposite of Delay: while Delay waits *before* ticking the child, Timeout interrupts a child that takes *too long*.
+
+| Port | Type | Default | Description |
+|------|------|---------|-------------|
+| `msec` | InputPort\<unsigned\> | (required) | Timeout duration in milliseconds. |
+
+- If the child completes (SUCCESS or FAILURE) before the timeout, its status is returned.
+- If the child is still RUNNING when the timeout expires, it is halted and **FAILURE** is returned.
+
+```xml
+<Timeout msec="5000">
+    <KeepYourBreath/>
+</Timeout>
+```
+
+:::tip
+Combine Timeout with RetryUntilSuccessful for a robust retry-with-timeout pattern:
+
+```xml
+<RetryUntilSuccessful num_attempts="3">
+    <Timeout msec="5000">
+        <LongRunningAction/>
+    </Timeout>
+</RetryUntilSuccessful>
+```
+:::
+
 ## RunOnce
 
 The RunOnce node is used when you want to execute the child only once.
diff --git a/docs/nodes-library/FallbackNode.md b/docs/nodes-library/FallbackNode.md
index 54639ed..4de6c54 100644
--- a/docs/nodes-library/FallbackNode.md
+++ b/docs/nodes-library/FallbackNode.md
@@ -36,7 +36,7 @@ To understand how the two ControlNodes differ, refer to the following table:
   same child is ticked again. Previous siblings, which returned FAILURE already,
   are not ticked again.
 
-> Some nodes are not listed yet. See [controls](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/master/include/behaviortree_cpp/controls) on Github for complete definitions.
+> For the complete list of built-in nodes, see the other pages in this section and the [source code](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/master/include/behaviortree_cpp) on Github.
 
 ## Fallback
 
diff --git a/docs/nodes-library/ParallelNode.md b/docs/nodes-library/ParallelNode.md
new file mode 100644
index 0000000..0f68ef4
--- /dev/null
+++ b/docs/nodes-library/ParallelNode.md
@@ -0,0 +1,82 @@
+---
+sidebar_position: 4
+sidebar_label: Parallel Nodes
+---
+
+# Parallel Nodes
+
+Parallel nodes execute all their children **concurrently**, but **not** in separate threads.
+All children are ticked in sequence within a single tick of the tree, and multiple children
+may be in the RUNNING state at the same time.
+
+:::caution
+"Parallel" refers to the fact that multiple children can be RUNNING simultaneously.
+The children are still ticked sequentially within the same thread.
+For actual multi-threaded execution, children must be asynchronous nodes internally.
+:::
+
+Currently the framework provides two kinds of nodes:
+
+- Parallel
+- ParallelAll
+
+## Parallel
+
+The ParallelNode is the **only** node that can have multiple children RUNNING at the same time.
+It is completed when either the SUCCESS or FAILURE threshold is reached. Any remaining
+running children are halted.
+
+| Port | Type | Default | Description |
+|------|------|---------|-------------|
+| `success_count` | InputPort\<int\> | -1 | Number of children that must succeed to return SUCCESS. |
+| `failure_count` | InputPort\<int\> | 1 | Number of children that must fail to return FAILURE. |
+
+Threshold values support **Python-style negative indexing**: `-1` is equivalent to the
+total number of children. For example, with 4 children, `success_count="-1"` means all 4
+must succeed.
+
+**Default behavior** (success_count=-1, failure_count=1): all children must succeed; if any
+single child fails, the node returns FAILURE.
+
+```xml
+<Parallel success_count="2" failure_count="2">
+    <ActionA/>
+    <ActionB/>
+    <ActionC/>
+</Parallel>
+```
+
+In this example with 3 children:
+- If 2 children return SUCCESS (before 2 fail), the node returns SUCCESS.
+- If 2 children return FAILURE (before 2 succeed), the node returns FAILURE.
+- Remaining RUNNING children are halted when either threshold is reached.
+
+## ParallelAll
+
+Unlike Parallel, the ParallelAll node **always executes ALL children to completion**.
+It never halts children early. This is useful when you need all side effects to complete.
+
+| Port | Type | Default | Description |
+|------|------|---------|-------------|
+| `max_failures` | InputPort\<int\> | 1 | Maximum number of child failures allowed before returning FAILURE. |
+
+- Returns **SUCCESS** if the number of FAILUREs is **less than** `max_failures`.
+- Returns **FAILURE** if the number of FAILUREs **equals or exceeds** `max_failures`.
+- Use `max_failures="-1"` (number of children) to always return SUCCESS regardless of child results.
+
+```xml
+<ParallelAll max_failures="2">
+    <ActionA/>
+    <ActionB/>
+    <ActionC/>
+</ParallelAll>
+```
+
+## Parallel vs ParallelAll
+
+| Feature | Parallel | ParallelAll |
+|---------|----------|-------------|
+| Early termination | Yes (halts children when threshold reached) | No (always runs all children) |
+| Success threshold | Configurable (`success_count`) | All non-failed children |
+| Failure threshold | Configurable (`failure_count`) | Configurable (`max_failures`) |
+| Use case | Race conditions, N-of-M success | All tasks must attempt completion |
diff --git a/docs/nodes-library/SequenceNode.md b/docs/nodes-library/SequenceNode.md
index 73e8fc5..2b8b5fa 100644
--- a/docs/nodes-library/SequenceNode.md
+++ b/docs/nodes-library/SequenceNode.md
@@ -34,7 +34,7 @@ To understand how the three ControlNodes differ, refer to the following table:
   same child is ticked again. Previous siblings, which returned SUCCESS already,
   are not ticked again.
 
-> Some nodes are not listed yet. See [controls](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/master/include/behaviortree_cpp/controls) on Github for complete definitions.
+> For the complete list of built-in nodes, see the other pages in this section and the [source code](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/master/include/behaviortree_cpp) on Github.
 
 ## Sequence
 
diff --git a/docs/nodes-library/SwitchNode.md b/docs/nodes-library/SwitchNode.md
new file mode 100644
index 0000000..1d7b1d4
--- /dev/null
+++ b/docs/nodes-library/SwitchNode.md
@@ -0,0 +1,46 @@
+---
+sidebar_position: 6
+sidebar_label: Switch Node
+---
+
+# Switch Node
+
+The SwitchNode is equivalent to a `switch` statement: it selects which child to
+execute based on the value of a blackboard variable.
+
+Available variants: `Switch2`, `Switch3`, `Switch4`, `Switch5`, `Switch6`, where the
+number indicates how many case branches are supported.
+
+A SwitchN node must have exactly **N + 1 children**: N case branches plus one **default**
+branch (always the last child).
+
+| Port | Type | Description |
+|------|------|-------------|
+| `variable` | InputPort\<string\> | The blackboard variable to compare against cases. |
+| `case_1` | InputPort\<string\> | Value to match for the 1st child. |
+| `case_2` | InputPort\<string\> | Value to match for the 2nd child. |
+| ... | ... | Additional cases up to N. |
+
+The `variable` value is compared to each `case_N` string in order. The child
+corresponding to the first match is executed. If no case matches, the **last child**
+(the default branch) is executed.
+
+Comparison supports strings, integers, and doubles. Enum values registered via
+`ScriptingEnumsRegistry` are also supported.
+
+```xml
+<Switch3 variable="{robot_state}" case_1="IDLE" case_2="WORKING" case_3="ERROR">
+    <HandleIdle/>          <!-- executed when robot_state == "IDLE" -->
+    <HandleWorking/>       <!-- executed when robot_state == "WORKING" -->
+    <HandleError/>         <!-- executed when robot_state == "ERROR" -->
+    <HandleUnknownState/>  <!-- default: executed when no case matches -->
+</Switch3>
+```
+
+If a previously matched child is RUNNING and the `variable` value changes on a subsequent
+tick, the running child is **halted** before the newly matched child is executed.
+
+:::tip
+The same behavior can be achieved using multiple Sequences, Fallbacks, and Conditions,
+but Switch is more concise and readable.
+:::
diff --git a/docs/tutorial-basics/tutorial_02_basic_ports.md b/docs/tutorial-basics/tutorial_02_basic_ports.md
index f446f4c..a850112 100644
--- a/docs/tutorial-basics/tutorial_02_basic_ports.md
+++ b/docs/tutorial-basics/tutorial_02_basic_ports.md
@@ -167,6 +167,61 @@ If you are migrating from BT.CPP 3.X, __Script__ is a drop-in replacement
 for __SetBlackboard__, which is now discouraged.
 :::
 
+## Bidirectional ports
+
+Sometimes a node needs to both **read and modify** a value on the blackboard.
+For these cases, use `BidirectionalPort<T>`.
+
+A bidirectional port combines the capabilities of InputPort and OutputPort. This is
+particularly useful when a node needs to modify a shared data structure in place
+(e.g., appending to a vector).
+
+``` cpp
+class PushIntoVector : public SyncActionNode
+{
+public:
+  PushIntoVector(const std::string& name, const NodeConfig& config)
+    : SyncActionNode(name, config)
+  { }
+
+  static PortsList providedPorts()
+  {
+    return { BidirectionalPort<std::vector<int>>("vector"),
+             InputPort<int>("value") };
+  }
+
+  NodeStatus tick() override
+  {
+    const int number = getInput<int>("value").value();
+
+    // Use getLockedPortContent() for thread-safe read+write access
+    if(auto any_ptr = getLockedPortContent("vector"))
+    {
+      if(any_ptr->empty())
+      {
+        any_ptr.assign(std::vector<int>{ number });
+      }
+      else if(auto* vect = any_ptr->castPtr<std::vector<int>>())
+      {
+        vect->push_back(number);
+      }
+      return NodeStatus::SUCCESS;
+    }
+    return NodeStatus::FAILURE;
+  }
+};
+```
+
+``` xml
+<PushIntoVector vector="{vect}" value="3"/>
+<PushIntoVector vector="{vect}" value="5"/>
+```
+
+:::tip
+Use `getLockedPortContent()` instead of `getInput()`/`setOutput()` when you need
+atomic read-modify-write access to a blackboard entry.
+:::
+
 ## A complete example
 
 In this example, a Sequence of 3 Actions is executed:

From 7c08068d60ec33cdca7a2cc32a1b08bf53f36212 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 2 Feb 2026 09:19:56 +0100
Subject: [PATCH 76/80] docs: add AsyncSequence/AsyncFallback and simplify
 BidirectionalPort

- Add AsyncSequence and AsyncFallback to Sequence and Fallback pages
  with sync vs async explanation, comparison tables, and XML examples
- Simplify BidirectionalPort section in tutorial 02 to reference
  Tutorial 13 instead of duplicating the getLockedPortContent example
- Minor wording fix in ParallelNode.md

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
---
 docs/nodes-library/FallbackNode.md            | 57 ++++++++++++++---
 docs/nodes-library/ParallelNode.md            |  5 +-
 docs/nodes-library/SequenceNode.md            | 61 +++++++++++++++----
 .../tutorial_02_basic_ports.md                | 52 +++-------------
 4 files changed, 108 insertions(+), 67 deletions(-)

diff --git a/docs/nodes-library/FallbackNode.md b/docs/nodes-library/FallbackNode.md
index 4de6c54..582199e 100644
--- a/docs/nodes-library/FallbackNode.md
+++ b/docs/nodes-library/FallbackNode.md
@@ -5,9 +5,10 @@ in other frameworks.
 
 Their purpose is to try different strategies, until we find one that "works".
 
-Currently the framework provides two kinds of nodes:
+Currently the framework provides three kinds of nodes:
 
 - Fallback
+- AsyncFallback
 - ReactiveFallback
 
 They share the following rules:
@@ -18,21 +19,36 @@ They share the following rules:
 
 - If the __last__ child returns __FAILURE__ too, all the children are halted and
  the fallback returns __FAILURE__.
- 
+
 - If a child returns __SUCCESS__, it stops and returns __SUCCESS__.
-  All the children are halted. 
+  All the children are halted.
+
+### Synchronous vs Asynchronous
+
+`Fallback` and `AsyncFallback` share the same logic, but differ in how they
+handle the transition between children:
 
-To understand how the two ControlNodes differ, refer to the following table:
+- **Fallback** ticks all children in a single tick of the tree. When a child
+  returns FAILURE, the next child is ticked immediately within the same call.
+- **AsyncFallback** yields execution back to the tree after each child fails,
+  returning RUNNING and emitting a wake-up signal. This makes the fallback
+  **interruptible** between children, allowing other parts of the tree (e.g., a
+  ReactiveSequence parent) to re-evaluate conditions before the next child starts.
 
-| Type of ControlNode | Child returns RUNNING |
-|---|:---:|
-| Fallback | Tick again  |
-| ReactiveFallback  |  Restart |
+### Comparison table
 
-- "__Restart__" means that the entire fallback is restarted from the first 
+To understand how the three ControlNodes differ, refer to the following table:
+
+| Type of ControlNode | Child returns RUNNING | Yields between children |
+|---|:---:|:---:|
+| Fallback | Tick again  | No |
+| AsyncFallback | Tick again | Yes |
+| ReactiveFallback  |  Restart | No |
+
+- "__Restart__" means that the entire fallback is restarted from the first
   child of the list.
 
-- "__Tick again__" means that the next time the fallback is ticked, the 
+- "__Tick again__" means that the next time the fallback is ticked, the
   same child is ticked again. Previous siblings, which returned FAILURE already,
   are not ticked again.
 
@@ -45,6 +61,27 @@ Check first (and once) if the door is open.
 
 ![FallbackNode](images/FallbackSimplified.png)
 
+## AsyncFallback
+
+AsyncFallback behaves like Fallback, but **yields execution** back to the tree
+after each child returns FAILURE. It returns RUNNING and emits a wake-up signal,
+allowing a reactive parent to re-evaluate conditions before the next child is ticked.
+
+```xml
+<ReactiveSequence>
+    <IsRobotHungry/>
+    <AsyncFallback>
+        <FindFoodInBackpack/>
+        <FindNearbyRestaurant/>
+        <OrderFoodDelivery/>
+    </AsyncFallback>
+</ReactiveSequence>
+```
+
+In this example, `IsRobotHungry` is re-checked between each attempt of the
+AsyncFallback. If the robot is no longer hungry after `FindFoodInBackpack` fails,
+the fallback is interrupted before `FindNearbyRestaurant` starts.
+
 ## ReactiveFallback
 
 This ControlNode is used when we want to interrupt an __asynchronous__
diff --git a/docs/nodes-library/ParallelNode.md b/docs/nodes-library/ParallelNode.md
index 0f68ef4..e7ca49d 100644
--- a/docs/nodes-library/ParallelNode.md
+++ b/docs/nodes-library/ParallelNode.md
@@ -10,7 +10,7 @@ All children are ticked in sequence within a single tick of the tree, and multip
 may be in the RUNNING state at the same time.
 
 :::caution
-"Parallel" refers to the fact that multiple children can be RUNNING simultaneously.
+"Parallel" refers to the fact that multiple children can be RUNNING **concurrently**.
 The children are still ticked sequentially within the same thread.
 For actual multi-threaded execution, children must be asynchronous nodes internally.
 :::
@@ -20,9 +20,10 @@ Currently the framework provides two kinds of nodes:
 - Parallel
 - ParallelAll
 
+The Parallel Nodes are the **only** ones that can have multiple children RUNNING at the same time.
+
 ## Parallel
 
-The ParallelNode is the **only** node that can have multiple children RUNNING at the same time.
 It is completed when either the SUCCESS or FAILURE threshold is reached. Any remaining
 running children are halted.
 
diff --git a/docs/nodes-library/SequenceNode.md b/docs/nodes-library/SequenceNode.md
index 2b8b5fa..6ae8410 100644
--- a/docs/nodes-library/SequenceNode.md
+++ b/docs/nodes-library/SequenceNode.md
@@ -1,11 +1,12 @@
 # Sequences
 
-A __Sequence__ ticks all its children as long as 
+A __Sequence__ ticks all its children as long as
 they return SUCCESS. If any child returns FAILURE, the sequence is aborted.
 
-Currently the framework provides three kinds of nodes:
+Currently the framework provides four kinds of nodes:
 
 - Sequence
+- AsyncSequence
 - SequenceWithMemory
 - ReactiveSequence
 
@@ -18,19 +19,36 @@ They share the following rules:
 - If the __last__ child returns __SUCCESS__ too, all the children are halted and
  the sequence returns __SUCCESS__.
 
-To understand how the three ControlNodes differ, refer to the following table:
+### Synchronous vs Asynchronous
 
- 
-| Type of ControlNode | Child returns FAILURE  |  Child returns RUNNING |
-|---|:---:|:---:|
-| Sequence | Restart  | Tick again  |
-| ReactiveSequence  | Restart  |  Restart |
-| SequenceWithMemory | Tick again  | Tick again  |
+`Sequence` and `AsyncSequence` share the same logic, but differ in how they
+handle the transition between children:
 
-- "__Restart__" means that the entire sequence is restarted from the first 
+- **Sequence** ticks all children in a single tick of the tree. When a child
+  returns SUCCESS, the next child is ticked immediately within the same call.
+- **AsyncSequence** yields execution back to the tree after each child succeeds,
+  returning RUNNING and emitting a wake-up signal. This makes the sequence
+  **interruptible** between children, allowing other parts of the tree (e.g., a
+  ReactiveSequence parent) to re-evaluate conditions before the next child starts.
+
+Use `AsyncSequence` when the sequence is inside a reactive parent and you need
+conditions to be re-checked between each step.
+
+### Comparison table
+
+To understand how the four ControlNodes differ, refer to the following table:
+
+| Type of ControlNode | Child returns FAILURE  |  Child returns RUNNING | Yields between children |
+|---|:---:|:---:|:---:|
+| Sequence | Restart  | Tick again  | No |
+| AsyncSequence | Restart | Tick again | Yes |
+| ReactiveSequence  | Restart  |  Restart | No |
+| SequenceWithMemory | Tick again  | Tick again  | No |
+
+- "__Restart__" means that the entire sequence is restarted from the first
   child of the list.
 
-- "__Tick again__" means that the next time the sequence is ticked, the 
+- "__Tick again__" means that the next time the sequence is ticked, the
   same child is ticked again. Previous siblings, which returned SUCCESS already,
   are not ticked again.
 
@@ -43,6 +61,27 @@ This tree represents the behavior of a sniper in a computer game.
 ![SequenceNode](images/SequenceNode.svg)
 
 
+## AsyncSequence
+
+AsyncSequence behaves like Sequence, but **yields execution** back to the tree
+after each child returns SUCCESS. It returns RUNNING and emits a wake-up signal,
+allowing a reactive parent to re-evaluate conditions before the next child is ticked.
+
+```xml
+<ReactiveSequence>
+    <IsEnemyVisible/>
+    <AsyncSequence>
+        <AimWeapon/>
+        <FireWeapon/>
+        <ReloadWeapon/>
+    </AsyncSequence>
+</ReactiveSequence>
+```
+
+In this example, `IsEnemyVisible` is re-checked between each step of the
+AsyncSequence. If the enemy disappears after `AimWeapon` succeeds, the sequence
+is interrupted before `FireWeapon` starts.
+
 ## ReactiveSequence
 
 This node is particularly useful to continuously check Conditions; but 
diff --git a/docs/tutorial-basics/tutorial_02_basic_ports.md b/docs/tutorial-basics/tutorial_02_basic_ports.md
index a850112..3046952 100644
--- a/docs/tutorial-basics/tutorial_02_basic_ports.md
+++ b/docs/tutorial-basics/tutorial_02_basic_ports.md
@@ -170,57 +170,21 @@ for __SetBlackboard__, which is now discouraged.
 ## Bidirectional ports
 
 Sometimes a node needs to both **read and modify** a value on the blackboard.
-For these cases, use `BidirectionalPort<T>`.
-
-A bidirectional port combines the capabilities of InputPort and OutputPort. This is
-particularly useful when a node needs to modify a shared data structure in place
-(e.g., appending to a vector).
+For these cases, use `BidirectionalPort<T>`, which combines the capabilities of
+InputPort and OutputPort.
 
 ``` cpp
-class PushIntoVector : public SyncActionNode
+static PortsList providedPorts()
 {
-public:
-  PushIntoVector(const std::string& name, const NodeConfig& config)
-    : SyncActionNode(name, config)
-  { }
-
-  static PortsList providedPorts()
-  {
     return { BidirectionalPort<std::vector<int>>("vector"),
              InputPort<int>("value") };
-  }
-
-  NodeStatus tick() override
-  {
-    const int number = getInput<int>("value").value();
-
-    // Use getLockedPortContent() for thread-safe read+write access
-    if(auto any_ptr = getLockedPortContent("vector"))
-    {
-      if(any_ptr->empty())
-      {
-        any_ptr.assign(std::vector<int>{ number });
-      }
-      else if(auto* vect = any_ptr->castPtr<std::vector<int>>())
-      {
-        vect->push_back(number);
-      }
-      return NodeStatus::SUCCESS;
-    }
-    return NodeStatus::FAILURE;
-  }
-};
-```
-
-``` xml
-<PushIntoVector vector="{vect}" value="3"/>
-<PushIntoVector vector="{vect}" value="5"/>
+}
 ```
 
-:::tip
-Use `getLockedPortContent()` instead of `getInput()`/`setOutput()` when you need
-atomic read-modify-write access to a blackboard entry.
-:::
+A bidirectional port is typically used with `getLockedPortContent()` for
+thread-safe read-modify-write access to the blackboard entry.
+See [Tutorial 13: Access a port by reference](../tutorial-advanced/tutorial_13_blackboard_reference.md)
+for a complete explanation and examples.
 
 ## A complete example
 

From 458bfe24036694398f03f4bdb88804ca51ee7b03 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 2 Feb 2026 12:26:19 +0100
Subject: [PATCH 77/80] docs: fix issues #61, #60, #55, #57 and close #50, #39

- Add precondition evaluation order note (#61)
- Fix ConsumeQueue link to t18_waypoints.cpp and add deprecation notice (#60)
- Fix admonition syntax for ROS users note (#55)
- Rewrite JsonExporter section with BT_JSON_CONVERTER macro (#57)

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
---
 docs/guides/pre_post_conditions.md         |  5 ++
 docs/learn-the-basics/xml_format.md        |  5 +-
 docs/nodes-library/DecoratorNode.md        |  6 +-
 docs/tutorial-basics/tutorial_11_groot2.md | 80 +++++++++++++---------
 4 files changed, 58 insertions(+), 38 deletions(-)

diff --git a/docs/guides/pre_post_conditions.md b/docs/guides/pre_post_conditions.md
index c7cb8fb..d9685a3 100644
--- a/docs/guides/pre_post_conditions.md
+++ b/docs/guides/pre_post_conditions.md
@@ -32,6 +32,11 @@ reconsider your decision to use them.
 | **_successIf** |  Skip and return SUCCESS, if the condition is true |
 | **_while**     |  Same as _skipIf, but may also interrupt a RUNNING Node if the condition becomes false. |
 
+:::note
+Pre conditions are evaluated in this order: `_failureIf` -> `_successIf` -> `_skipIf` -> `_while`.
+The first condition that is satisfied will determine the result.
+:::
+
 ### Example
 
 In previous tutorials, we saw how to build an if-then-else
diff --git a/docs/learn-the-basics/xml_format.md b/docs/learn-the-basics/xml_format.md
index a2143da..a9d279e 100644
--- a/docs/learn-the-basics/xml_format.md
+++ b/docs/learn-the-basics/xml_format.md
@@ -197,9 +197,8 @@ using the previous example, we may split the two behavior trees into two files:
  </root>
 ```
 
-:::note
-Note "Note for ROS users"
-If you want to find a file inside a [ROS package](http://wiki.ros.org/Packages), 
+:::note[Note for ROS users]
+If you want to find a file inside a [ROS package](http://wiki.ros.org/Packages),
 you can use this syntax:
 :::
 
diff --git a/docs/nodes-library/DecoratorNode.md b/docs/nodes-library/DecoratorNode.md
index 2cd9ebb..ee9db7a 100644
--- a/docs/nodes-library/DecoratorNode.md
+++ b/docs/nodes-library/DecoratorNode.md
@@ -127,12 +127,16 @@ Cf. [Compose behaviors using Subtrees](../tutorial-basics/tutorial_05_subtrees).
 
 ### ConsumeQueue
 
+:::caution Deprecated
+ConsumeQueue is deprecated. Use `LoopNode` instead (see [Tutorial 13](../tutorial-advanced/tutorial_13_blackboard_reference.md)).
+:::
+
 Execute the child node as long as the queue is not empty.
 At each iteration, an item of type T is popped from the "queue" and inserted in "popped_item".
 
 An empty queue will return SUCCESS
 
-Register for example with `factory.registerNodeType<ConsumeQueue<Pose2D>>("ConsumeQueue");` Cf. [ex04_waypoints.cpp](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/examples/ex04_waypoints.cpp).
+Register for example with `factory.registerNodeType<ConsumeQueue<Pose2D>>("ConsumeQueue");` Cf. [t18_waypoints.cpp](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/examples/t18_waypoints.cpp).
 
 ### SimpleDecoratorNode
 
diff --git a/docs/tutorial-basics/tutorial_11_groot2.md b/docs/tutorial-basics/tutorial_11_groot2.md
index e77de34..f600d20 100644
--- a/docs/tutorial-basics/tutorial_11_groot2.md
+++ b/docs/tutorial-basics/tutorial_11_groot2.md
@@ -146,62 +146,74 @@ int main()
 
 The content inside the blackboard is sent to Groot2 using a JSON format.
 
-To add a new type, and allow Groot2 to visualize them, you should 
-follow the instructions here:
+Basic types (integers, reals, strings) are supported out of the box. To allow
+Groot2 to visualize your own custom types, you need to include
+**behaviortree_cpp/json_export.h** and define a JSON converter.
 
-https://json.nlohmann.me/features/arbitrary_types/
+### Using the BT_JSON_CONVERTER macro (recommended)
 
-For instance, given a user-defined type:
+The simplest approach is to use the `BT_JSON_CONVERTER` macro.
+Given a user-defined type:
 
 ```cpp
-struct Pose2D {
-    double x;
-    double y;
-    double theta;
-}
+struct Position2D
+{
+  double x;
+  double y;
+};
 ```
 
-You will need to include **behaviortree_cpp/json_export.h** and follow these 
-instructions, based on your BT.CPP version.
+Define the converter at file scope (outside any function):
 
+```cpp
+#include "behaviortree_cpp/json_export.h"
 
-### Version 4.3.5 or earlier
+BT_JSON_CONVERTER(Position2D, pos)
+{
+  add_field("x", &pos.x);
+  add_field("y", &pos.y);
+}
+```
 
-Implement the function `nlohmann::to_json()`:
+This works with nested types too:
 
 ```cpp
-namespace nlohmann {
-  void to_json(nlohmann::json& dest, const Pose2D& pose) {
-    dest["x"] = pose.x;
-    dest["y"] = pose.y;
-    dest["theta"] = pose.theta;
-  }
+struct Waypoint
+{
+  std::string name;
+  Position2D position;
+  double speed = 1.0;
+};
+
+BT_JSON_CONVERTER(Waypoint, wp)
+{
+  add_field("name", &wp.name);
+  add_field("position", &wp.position);
+  add_field("speed", &wp.speed);
 }
 ```
 
-Then, register the function adding this to your **main**:
+Then, register the types in your **main** (before creating the tree):
 
 ```cpp
-BT::JsonExporter::get().addConverter<Pose2D>();
+BT::RegisterJsonDefinition<Position2D>();
+BT::RegisterJsonDefinition<Waypoint>();
 ```
 
-### Version 4.3.6 or later
+See the full example in [t11_groot_howto.cpp](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/examples/t11_groot_howto.cpp).
 
-The implementation of the "to_json" function can have any name or namespace, 
-but it must conform to the function signature `void(nlohmann::json&, const T&)`.
+### Manual converter (alternative)
 
-For instance:
+If you need more control over the JSON serialization, you can write
+a conversion function with the signature `void(nlohmann::json&, const T&)` and
+register it explicitly:
 
 ```cpp
-void PoseToJson(nlohmann::json& dest, const Pose2D& pose) {
-  dest["x"] = pose.x;
-  dest["y"] = pose.y;
-  dest["theta"] = pose.theta;
+void PositionToJson(nlohmann::json& dest, const Position2D& pos) {
+  dest["x"] = pos.x;
+  dest["y"] = pos.y;
 }
-```
-
-Register the function adding this to your **main**:
 
-```cpp
-BT::RegisterJsonDefinition<Pose2D>(PoseToJson);
+// in main()
+BT::RegisterJsonDefinition<Position2D>(PositionToJson);
 ```
\ No newline at end of file

From bac6afd2a81ec0a7fab5e80dbc91bf87cdc36a6d Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 3 Feb 2026 11:52:23 +0100
Subject: [PATCH 78/80] add some more details about pre-conditions

---
 docs/guides/pre_post_conditions.md  | 54 +++++++++++++++++++++++++----
 docs/nodes-library/DecoratorNode.md | 43 +++++++++++++++++------
 2 files changed, 80 insertions(+), 17 deletions(-)

diff --git a/docs/guides/pre_post_conditions.md b/docs/guides/pre_post_conditions.md
index d9685a3..cf41de8 100644
--- a/docs/guides/pre_post_conditions.md
+++ b/docs/guides/pre_post_conditions.md
@@ -25,14 +25,25 @@ reconsider your decision to use them.
 
 ## Pre conditions
 
-| Name | Description |
-|-------------|---------|
-| **_skipIf**    |  Skip the execution of this Node, if the condition is true   |
-| **_failureIf** |  Skip and return FAILURE, if the condition is true |
-| **_successIf** |  Skip and return SUCCESS, if the condition is true |
-| **_while**     |  Same as _skipIf, but may also interrupt a RUNNING Node if the condition becomes false. |
+| Name | Description | When Evaluated |
+|-------------|---------|----------------|
+| **_skipIf**    |  Skip the execution of this Node, if the condition is true   | IDLE only (once) |
+| **_failureIf** |  Skip and return FAILURE, if the condition is true | IDLE only (once) |
+| **_successIf** |  Skip and return SUCCESS, if the condition is true | IDLE only (once) |
+| **_while**     |  If false when IDLE, skip. If false when RUNNING, halt the node and return SKIPPED. | IDLE and RUNNING (every tick) |
+
+:::caution Important: One-time vs. Continuous Evaluation
+**`_skipIf`, `_failureIf`, and `_successIf` are evaluated only once** when the node
+transitions from IDLE to another state. They are **NOT re-evaluated** while the node
+is RUNNING.
+
+Only **`_while`** is checked on every tick, including while the node is running.
+
+If you need a condition to be re-evaluated on every tick, use the `<Precondition>`
+decorator node with `else="RUNNING"` instead of these attributes.
+:::
 
-:::note
+:::note Evaluation Order
 Pre conditions are evaluated in this order: `_failureIf` -> `_successIf` -> `_skipIf` -> `_while`.
 The first condition that is satisfied will determine the result.
 :::
@@ -64,6 +75,35 @@ we can store a boolean in an entry called `door_closed`, the XML can be rewritte
 <OpenDoor _skipIf="!door_closed"/>
 ```
 
+### Using `<Precondition>` for Per-Tick Evaluation
+
+When you need a condition to be checked on **every tick** (not just when the node starts),
+use the `<Precondition>` decorator node instead of inline attributes.
+
+This is particularly useful in **ReactiveSequence** or **ReactiveFallback** where you want
+the condition to be re-evaluated each time the running child is ticked:
+
+``` xml
+<!-- This checks the condition on every tick -->
+<Precondition if="battery_ok" else="RUNNING">
+    <MoveToGoal/>
+</Precondition>
+```
+
+With `else="RUNNING"`, if the condition becomes false while the child is running,
+the decorator returns RUNNING (keeping the tree alive) instead of immediately
+returning FAILURE or SKIPPED.
+
+Compare this to the inline attribute:
+
+``` xml
+<!-- This checks the condition ONLY when MoveToGoal starts -->
+<MoveToGoal _successIf="battery_ok"/>
+```
+
+The inline `_successIf` is evaluated once when `MoveToGoal` transitions from IDLE.
+If `battery_ok` changes while `MoveToGoal` is RUNNING, the change is ignored.
+
 ## Post conditions
 
 | Name | Description |
diff --git a/docs/nodes-library/DecoratorNode.md b/docs/nodes-library/DecoratorNode.md
index ee9db7a..b0d408a 100644
--- a/docs/nodes-library/DecoratorNode.md
+++ b/docs/nodes-library/DecoratorNode.md
@@ -115,24 +115,47 @@ After that first execution, you can set value of the [Input Port](tutorial-basic
 - TRUE (default), the node will be skipped in the future.
 - FALSE, return synchronously the same status returned by the child, forever.
 
-## PreCondition
+## Precondition
 
-Cf. [Introduction to the Scripting language](../tutorial-basics/tutorial_09_scripting.md#script-and-precondition-nodes)
+The Precondition decorator evaluates a script condition before ticking its child.
 
-## SubTree
+| Port | Type | Default | Description |
+|------|------|---------|-------------|
+| `if` | InputPort\<std::string\> | (required) | Script condition to evaluate |
+| `else` | InputPort\<NodeStatus\> | FAILURE | Status to return if condition is false |
 
-Cf. [Compose behaviors using Subtrees](../tutorial-basics/tutorial_05_subtrees).
+- If the condition is **true**, the child is ticked.
+- If the condition is **false**, the node returns the status specified in `else`.
+- Once the child starts (returns RUNNING), the condition is **not re-evaluated** until the child completes.
 
-## Other decorators requiring registration in C++
+```xml
+<Precondition if="battery_level > 20" else="FAILURE">
+    <MoveToGoal/>
+</Precondition>
+```
+
+:::tip Per-Tick Evaluation
+If you need the condition to be checked on every tick while the child is running
+(e.g., to interrupt a running action when a condition changes), use `else="RUNNING"`:
 
-### ConsumeQueue
+```xml
+<Precondition if="battery_ok" else="RUNNING">
+    <LongRunningAction/>
+</Precondition>
+```
 
-:::caution Deprecated
-ConsumeQueue is deprecated. Use `LoopNode` instead (see [Tutorial 13](../tutorial-advanced/tutorial_13_blackboard_reference.md)).
+With `else="RUNNING"`, if the condition becomes false, the decorator returns RUNNING
+instead of FAILURE, allowing the tree to continue ticking and re-check the condition.
 :::
 
-Execute the child node as long as the queue is not empty.
-At each iteration, an item of type T is popped from the "queue" and inserted in "popped_item".
+For more details, see [Pre and Post conditions](../guides/pre_post_conditions.md) and
+[Introduction to the Scripting language](../tutorial-basics/tutorial_09_scripting.md#script-and-precondition-nodes).
+
+## SubTree
+
+Cf. [Compose behaviors using Subtrees](../tutorial-basics/tutorial_05_subtrees).
+
+## Other decorators requiring registration in C++
 
 An empty queue will return SUCCESS
 

From 5537cec95cae7d20bdb3f2cc744f91db9c2b7613 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 4 Feb 2026 12:47:57 +0100
Subject: [PATCH 79/80] docs: fix v3.8 SubTree port remapping syntax and remove
 v4.0.2 docs

Fix issue #840: v3.8 SubTree port remapping uses syntax without curly
braces (target="move_goal") unlike v4 which requires braces.

Also remove outdated version-4.0.2 documentation.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
---
 .../tutorial_06_subtree_ports.md              |    4 +-
 versioned_docs/version-4.0.2/intro.md         |   97 --
 .../version-4.0.2/intro_build_trees.svg       |   11 -
 .../learn-the-basics/BT_basics.md             |  204 ---
 .../learn-the-basics/_category_.json          |    8 -
 .../learn-the-basics/images/BT.png            |  Bin 2046 -> 0 bytes
 .../images/CrossDoorSubtree.png               |  Bin 19431 -> 0 bytes
 .../images/DecoratorEnterRoom.svg             | 1113 -----------------
 .../learn-the-basics/images/FallbackBasic.png |  Bin 4105 -> 0 bytes
 .../learn-the-basics/images/FallbackBasic.svg |    1 -
 .../learn-the-basics/images/FetchBeer.png     |  Bin 3898 -> 0 bytes
 .../learn-the-basics/images/FetchBeer.svg     |  183 ---
 .../learn-the-basics/images/FetchBeer2.png    |  Bin 3310 -> 0 bytes
 .../learn-the-basics/images/FetchBeer2.svg    |    1 -
 .../images/FetchBeerFails.png                 |  Bin 1522 -> 0 bytes
 .../images/FetchBeerFails.svg                 |    1 -
 .../images/LeafToComponentCommunication.png   |  Bin 6609 -> 0 bytes
 .../learn-the-basics/images/ReadTheDocs.png   |  Bin 5024 -> 0 bytes
 .../learn-the-basics/images/RunningTree.svg   |    1 -
 .../learn-the-basics/images/SequenceAll.png   |  Bin 4828 -> 0 bytes
 .../learn-the-basics/images/SequenceBasic.png |  Bin 1392 -> 0 bytes
 .../learn-the-basics/images/SequenceBasic.svg |    1 -
 .../learn-the-basics/images/TypeHierarchy.png |  Bin 8937 -> 0 bytes
 .../learn-the-basics/images/lego.jpg          |  Bin 103954 -> 0 bytes
 .../images/sequence_animation.svg             |   17 -
 .../learn-the-basics/main_concepts.md         |   96 --
 .../learn-the-basics/xml_format.md            |  219 ----
 .../nodes-library/DecoratorNode.md            |   45 -
 .../nodes-library/FallbackNode.md             |   57 -
 .../nodes-library/SequenceNode.md             |   77 --
 .../nodes-library/_category_.json             |    8 -
 .../images/FallbackSimplified.png             |  Bin 5689 -> 0 bytes
 .../nodes-library/images/ReactiveFallback.png |  Bin 5868 -> 0 bytes
 .../nodes-library/images/ReactiveSequence.svg |    1 -
 .../nodes-library/images/SequenceNode.svg     |    1 -
 .../images/SequenceWithMemory.svg             |    4 -
 .../tutorial-advanced/_category_.json         |    8 -
 .../tutorial-advanced/asynchronous_nodes.md   |  265 ----
 .../tutorial-advanced/images/RunningTree.svg  |    1 -
 .../tutorial-advanced/images/error_codes.svg  |    1 -
 .../tutorial-advanced/images/landing.svg      |    1 -
 .../tutorial-advanced/images/post_example.svg |    1 -
 .../images/skipIf_example.svg                 |    1 -
 .../tutorial-advanced/pre_post_conditions.md  |  149 ---
 .../tutorial-advanced/scripting.md            |  189 ---
 .../tutorial-basics/_category_.json           |    8 -
 .../tutorial-basics/images/Tutorial1.svg      |    1 -
 .../images/crossdoor_subtree.svg              |    1 -
 .../tutorial-basics/images/port_remapping.svg |    1 -
 .../tutorial-basics/images/t06_remapping.png  |  Bin 7496 -> 0 bytes
 .../images/tutorial_blackboard.svg            |    1 -
 .../tutorial-basics/tutorial_01_first_tree.md |  190 ---
 .../tutorial_02_basic_ports.md                |  226 ----
 .../tutorial_03_generic_ports.md              |  177 ---
 .../tutorial-basics/tutorial_04_sequence.md   |  275 ----
 .../tutorial-basics/tutorial_05_subtrees.md   |  144 ---
 .../tutorial_06_subtree_ports.md              |  105 --
 .../tutorial_07_multiple_xml.md               |  138 --
 .../tutorial_08_additional_args.md            |  133 --
 versions.json                                 |    1 -
 60 files changed, 2 insertions(+), 4165 deletions(-)
 delete mode 100644 versioned_docs/version-4.0.2/intro.md
 delete mode 100644 versioned_docs/version-4.0.2/intro_build_trees.svg
 delete mode 100644 versioned_docs/version-4.0.2/learn-the-basics/BT_basics.md
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 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/images/crossdoor_subtree.svg
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/images/port_remapping.svg
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/images/t06_remapping.png
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/images/tutorial_blackboard.svg
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/tutorial_01_first_tree.md
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/tutorial_02_basic_ports.md
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/tutorial_03_generic_ports.md
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/tutorial_04_sequence.md
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/tutorial_05_subtrees.md
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/tutorial_06_subtree_ports.md
 delete mode 100644 versioned_docs/version-4.0.2/tutorial-basics/tutorial_07_multiple_xml.md
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diff --git a/versioned_docs/version-3.8/tutorial-basics/tutorial_06_subtree_ports.md b/versioned_docs/version-3.8/tutorial-basics/tutorial_06_subtree_ports.md
index 221867b..fb37f54 100644
--- a/versioned_docs/version-3.8/tutorial-basics/tutorial_06_subtree_ports.md
+++ b/versioned_docs/version-3.8/tutorial-basics/tutorial_06_subtree_ports.md
@@ -30,8 +30,8 @@ Let's consider this Behavior Tree.
         <Sequence>
             <SetBlackboard   output_key="move_goal" value="-1;3" />
             // highlight-start
-            <SubTree ID="MoveRobot" target="{move_goal}" 
-                                    result="{move_result}" />
+            <SubTree ID="MoveRobot" target="move_goal"
+                                    result="move_result" />
             // highlight-end
             <SaySomething message="{move_result}"/>
         </Sequence>
diff --git a/versioned_docs/version-4.0.2/intro.md b/versioned_docs/version-4.0.2/intro.md
deleted file mode 100644
index 90a9422..0000000
--- a/versioned_docs/version-4.0.2/intro.md
+++ /dev/null
@@ -1,97 +0,0 @@
----
-sidebar_position: 1
----
-
-# About
-
-## About this library
-
-This  __C++__ library provides a framework to create **BehaviorTrees**. 
-It is designed to be flexible, easy to use and fast.
-
-Even if our main use-case is __robotics__, you can use this library to build
-__AI for games__, or to replace Finite State Machines in your application.
-
-__BehaviorTree.CPP__ has many interesting features, when compared to other implementations:
-
-- It makes __asynchronous Actions__, i.e. non-blocking routines, a first-class citizen.
-- Trees are created at run-time, using an __interpreted language__ (based on XML).
-- It includes a __logging/profiling__ infrastructure that allows the user 
-to visualize, record, replay and analyze state transitions.
-- You can link statically your custom TreeNodes or convert them into plugins
-which are loaded at run-time.
-
-
-## What is a Behavior Tree?
-
-A Behavior Tree (__BT__) is a way to structure the switching between different 
-tasks in an autonomous agent, such as a robot or a virtual entity in a computer game.
-
-BTs are a very efficient way of creating complex systems that are both modular and reactive. 
-These properties are crucial in many applications, which has led to the spread 
-of BT from computer game programming to many branches of AI and Robotics. 
- 
-If you are already familiar with Finite State Machines (__FSM__), you will
-easily grasp most of the concepts but, hopefully, you will find that BTs
-are more expressive and easier to reason about.
-
-Think about the __Nodes of the tree__ as a set of building blocks.
-These blocks are implemented in C++ and are "composable": in other words, they can be 
-"assembled" to build behaviors.
-
-![](intro_build_trees.svg)
-
-In the image above, you can see as we are arranging these actions in a simple Sequence;
-actions will be executed in order from left to right. To learn more, visit the page 
-[Introduction to BTs](learn-the-basics/BT_basics.md).
-
-### Main Advantages of Behavior Trees
-
-- __They are intrinsically hierarchical__: we can _compose_
-complex behaviors, including entire trees as sub-branches of a bigger tree. 
-For instance, the behavior "Fetch Beer" may reuse the tree
-"Grasp Object".
-
-- __Their graphical representation has a semantic meaning__: it is easier to 
-"read" a BT and understand the corresponding workflow. 
-State transitions in FSMs, by comparisons, are harder to understand
-both in their textual and graphical representation.    
-
-- __They are more expressive__: Ready to use ControlNodes and DecoratorNodes
-make it possible to express more complex control flows. The user can extend the
-"vocabulary" with his/her own custom nodes.
-
-
-## "Ok, but WHY do we need BehaviorTrees (or FSM)?"
-
-Many software systems, robotics being a notable example, are inherently
-complex.
-
-The usual approach to manage complexity, heterogeneity and scalability is to 
-use the concept of 
-[Component Based Software Engineering](https://en.wikipedia.org/wiki/Component-based_software_engineering).
-
-Any existing middleware for robotics took this approach either informally or formally,
-being [ROS](http://www.ros.org), [YARP](http://www.yarp.it) and 
-[SmartSoft](http://www.servicerobotik-ulm.de) some notable examples.
-
-A "good" software architecture should have the following characteristics:
-
-- Modularity.
-- Reusability of components.
-- Composability.
-- Good separation of concerns. 
-
-If we don't keep these concepts in mind from the very beginning, we create 
-software that is tightly coupled and less reusable.
-
-Frequently, the business logic of a software system is "spread" into many 
-components and it is __hard for the developer
-to reason about it and to debug errors__.
-
-To achieve a strong separation of concerns, it is better to centralize
-the business logic in a single location. 
-
-__Finite State Machines__ were created specifically with this goal in mind, but in
-recent years,  __Behavior Trees__ gained popularity, especially in the game industry.
-
diff --git a/versioned_docs/version-4.0.2/intro_build_trees.svg b/versioned_docs/version-4.0.2/intro_build_trees.svg
deleted file mode 100644
index 08b82c6..0000000
--- a/versioned_docs/version-4.0.2/intro_build_trees.svg
+++ /dev/null
@@ -1,11 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" id="eVJEWx2Tf4o1" shape-rendering="geometricPrecision" text-rendering="geometricPrecision" viewBox="0 0 600 250"><style>@keyframes eVJEWx2Tf4o2_c_o{0%,40%{opacity:0}60%{opacity:1}}@keyframes eVJEWx2Tf4o11_to__to{0%,20%{transform:translate(213.525643px,76.292562px)}40%{transform:translate(225.132126px,217.054738px)}}@keyframes eVJEWx2Tf4o15_to__to{0%,20%{transform:translate(151.368461px,165.61177px)}40%{transform:translate(515.155477px,216.6599px)}}@keyframes eVJEWx2Tf4o19_to__to{0%,20%{transform:translate(354.992561px,196.482623px)}40%{transform:translate(363.805682px,216.659891px)}}@keyframes eVJEWx2Tf4o23_to__to{0%,20%{transform:translate(485.759004px,20.884034px)}40%{transform:translate(100.195028px,114.037066px)}}#eVJEWx2Tf4o2{animation:eVJEWx2Tf4o2_c_o 7042.253521126761ms linear infinite normal forwards}#eVJEWx2Tf4o11_to{animation:eVJEWx2Tf4o11_to__to 7042.253521126761ms linear infinite normal forwards}#eVJEWx2Tf4o15_to{animation:eVJEWx2Tf4o15_to__to 7042.253521126761ms linear infinite normal forwards}#eVJEWx2Tf4o19_to{animation:eVJEWx2Tf4o19_to__to 7042.253521126761ms linear infinite normal forwards}#eVJEWx2Tf4o23_to{animation:eVJEWx2Tf4o23_to__to 7042.253521126761ms linear infinite normal forwards}</style><g id="eVJEWx2Tf4o2" opacity="0" transform="matrix(1.04 0 0 1-11.868808 0)"><path fill="none" stroke="#3f5787" stroke-width="2" d="M300,54.613485v64.398484" transform="translate(-.737881-35.065194)"/><ellipse stroke-width="0" rx="6.584" ry="5.957" transform="matrix(1 0 0 1.071993 300 19.548291)"/><path fill="none" stroke="#3f5787" stroke-width="2" d="M364.543532,242.567146l-64.543575-73.770295l215.893349,73.770212" transform="matrix(.993164 0 0 1.000002 2.050868-46.084851)"/><path fill="none" stroke="#3f5787" stroke-width="2" d="M300.737856,168.796851q-.737899,0-74.867873,73.770295" transform="translate(-.737855-46.084437)"/><path fill="none" stroke="#3f5787" stroke-width="2" d="M299.999957,168.796851L79.760772,242.567063" transform="translate(-.737856-46.08444)"/><rect width="193.237" height="92.754" fill="#fff" stroke="#000" stroke-width="2" rx="20" ry="20" transform="matrix(.715852 0 0 0.417942 230.835555 83.946774)"/><text stroke-width="0" dx="0" dy="0" font-family="&quot;eVJEWx2Tf4o1:::Roboto&quot;" font-size="30" font-weight="400" transform="matrix(.877426 0 0 0.891243 243.714101 111.812127)"><tspan y="0" stroke-width="0" font-weight="400"><![CDATA[
-Sequence
-]]></tspan></text></g><g id="eVJEWx2Tf4o11_to"><g transform="translate(213.525643,76.292562) scale(0.908943,0.961611) translate(-298.733498,-303.496399)"><rect width="193.237" height="92.754" fill="#fff" stroke="#000" stroke-width="2" rx="20" ry="20" transform="matrix(.707775 0 0 0.45244 230.34944 282.103015)"/><text stroke-width="0" dx="0" dy="0" font-family="&quot;eVJEWx2Tf4o1:::Roboto&quot;" font-size="30" font-weight="400" transform="matrix(.822786 0 0 0.660431 241.724885 309.87671)"><tspan y="0" stroke-width="0" font-weight="400"><![CDATA[
-Find(Beer) 
-]]></tspan></text></g></g><g id="eVJEWx2Tf4o15_to"><g transform="translate(151.368461,165.61177) scale(0.900352,0.999999) translate(-474.867203,-303.496399)"><rect width="193.237" height="92.754" fill="#fff" stroke="#000" stroke-width="2" rx="20" ry="20" transform="matrix(.860248 0 0 0.435071 391.751424 283.319189)"/><text stroke-width="0" dx="0" dy="0" font-family="&quot;eVJEWx2Tf4o1:::Roboto&quot;" font-size="30" font-weight="400" transform="matrix(.772786 0 0 0.604094 407.843777 309.287943)"><tspan y="0" stroke-width="0" font-weight="400"><![CDATA[
-Close(fridge) 
-]]></tspan></text></g></g><g id="eVJEWx2Tf4o19_to"><g transform="translate(354.992561,196.482623) translate(-298.733498,-303.496399)"><rect width="193.237" height="92.754" fill="#fff" stroke="#000" stroke-width="2" rx="20" ry="20" transform="matrix(.637313 0 0 0.435071 237.157357 283.319189)"/><text stroke-width="0" dx="0" dy="0" font-family="&quot;eVJEWx2Tf4o1:::Roboto&quot;" font-size="30" font-weight="400" transform="matrix(.740095 0 0 0.646246 245.794591 309.711499)"><tspan y="0" stroke-width="0" font-weight="400"><![CDATA[
-Grab(Beer) 
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format(&apos;truetype&apos;)}</style></svg>
\ No newline at end of file
diff --git a/versioned_docs/version-4.0.2/learn-the-basics/BT_basics.md b/versioned_docs/version-4.0.2/learn-the-basics/BT_basics.md
deleted file mode 100644
index a117f63..0000000
--- a/versioned_docs/version-4.0.2/learn-the-basics/BT_basics.md
+++ /dev/null
@@ -1,204 +0,0 @@
-# Introduction to BTs
-
-Unlike a Finite State Machine, a behavior Tree is a __tree of hierarchical nodes__ 
-that controls the flow of execution of "tasks". 
-
-## Basic Concepts
-
-- A signal called "__tick__" is sent to the root of the tree
-and propagates through the tree until it reaches a leaf node.
-
-- Any TreeNode that receives a __tick__ signal executes its callback.
-  This callback must return either
-
-    - **SUCCESS**
-    - **FAILURE**
-    - **RUNNING**
-
-- RUNNING means that the action needs 
-more time to return a valid result.
-
-- If a TreeNode has one or more children, it is its
-responsibility to propagate the tick; each Node type may
-have different rules about if, when, and how many times children are ticked.
-
- - The __LeafNodes__, those TreeNodes which don't have any children,
-   are the actual commands, i.e. the Nodes where the behavior tree
-   interacts with the rest of the system.
-   __Action__ nodes are the most common type of LeafNodes.
-
-:::tip
-The word __tick__ will be often used as a *verb* (to tick / to be ticked)
-and it means:
-
-    "To invoke the callback `tick()` of a `TreeNode`".
-:::
-
-In a service-oriented architecture, the leaves would contain
-the "client" code that communicates with the "server",
-that performs the actual operation.
-
-## How tick works
-
-To mentally visualize how ticking the tree works, consider the example below.
-
-![basic sequence](images/sequence_animation.svg)
-
-A __Sequence__ is the simplest __ControlNode__: it executes 
-its children one after the other and, if they all Succeed,
-it returns SUCCESS too.
-
-1. The first tick sets the Sequence node to RUNNING (orange).
-2. Sequence ticks the first child, "OpenDoor", that eventually returns SUCCESS.
-3. As a result, the second child "Walk" and later "CloseDoor"
-are ticked.
-4. Once the last child is completed, the entire Sequence 
-switches from RUNNING to SUCCESS.
-
-## Types of nodes
-
-![UML hierarchy](images/TypeHierarchy.png)
-
-| Type of TreeNode  | Children Count     | Notes              |
-| -----------       | ------------------ | ------------------ |
-| ControlNode       | 1...N | Usually, ticks a child based on the result of its siblings or/and its own state.        |
-| DecoratorNode     | 1     | Among other things, it may alter the result of its child or tick it multiple times.
-| ConditionNode     | 0     | Should not alter the system. Shall not return RUNNING. |
-| ActionNode        | 0     | This is the Node that "does something"   |
-
-
-In the context of __ActionNodes__, we may further distinguish between
-synchronous and asynchronous nodes.
-
-The former are executed atomically and block the tree until a SUCCESS or FAILURE is returned.
-
-Asynchronous actions, instead, may return RUNNING to communicate that
-the action is still being executed.
-
-We need to tick them again, until SUCCESS or FAILURE is eventually returned.
-
-# Examples
-
-To better understand how BehaviorTrees work, let's focus on some practical
-examples. For the sake of simplicity we will not take into account what happens when an action returns RUNNING.
-
-We will assume that each Action is executed atomically and synchronously.
-
-
-### First ControlNode: Sequence
-
-Let's illustrate how a BT works using the most basic and frequently used 
-ControlNode: the [SequenceNode](nodes-library/SequenceNode.md).
-
-The children of a ControlNode are always __ordered__; in the graphical 
-representation, the order of execution is __from left to right__.
-
-![Simple Sequence: fridge](images/SequenceBasic.svg)
-
-
-In short:
-
-- If a child returns SUCCESS, tick the next one.
-- If a child returns FAILURE, then no more children are ticked, and the Sequence returns FAILURE.
-- If __all__ the children return SUCCESS, then the Sequence returns SUCCESS too.
-
-:::caution Find the BUG!
-
-If the action __GrabBeer__ fails, the door of the 
-fridge will remain open since the last action __CloseFridge__ is skipped.
-:::
-
-### Decorators
-
-Depending on the type of [DecoratorNode](nodes-library/DecoratorNode.md), the goal of
-this node could be either:
-
-- to transform the result it received from the child.
-- to halt the execution of the child.
-- to repeat ticking the child, depending on the type of Decorator.
-
-
-![Simple Decorator: Enter Room](images/DecoratorEnterRoom.svg)
-
-The node __Inverter__ is a Decorator that inverts 
-the result returned by its child; An Inverter followed by the node called
-__isDoorOpen__ is, therefore, equivalent to 
-
-    "Is the door closed?".
-
-The node __Retry__ will repeat ticking the child up to __num_attempts__ times (5 in this case)
-if the child returns FAILURE.
-
-__Apparently__, the branch on the left side means:
-
-    If the door is closed, then try to open it.
-    Try up to 5 times, otherwise give up and return FAILURE.
-    
-But...
-    
-:::caution Find the BUG!
-If __isDoorOpen__ returns FAILURE, we have the desired behavior.
-But if it returns SUCCESS, the left branch fails, and the entire Sequence
-is interrupted.
-:::
-    
-
-### Second ControlNode: Fallback
-
-[FallbackNodes](nodes-library/FallbackNode.md), also known as __"Selectors"__,
-are nodes that can express, as the name suggests, fallback strategies, 
-i.e. what to do next if a child returns FAILURE.
-
-It ticks the children in order and:
-
-- If a child returns FAILURE, tick the next one.
-- If a child returns SUCCESS, then no more children are ticked and the 
-   Fallback returns SUCCESS.
-- If all the children return FAILURE, then the Fallback returns FAILURE too.
-
-In the next example, you can see how Sequences and Fallbacks can be combined:
-    
-![FallbackNodes](images/FallbackBasic.svg)  
-
-
-> Is the door open?
->
-> If not, try to open the door.
->
-> Otherwise, if you have a key, unlock and open the door.
->
-> Otherwise, smash the door. 
->
-> If __any__ of these actions succeeded, then enter the room.
-
-### "Fetch me a beer" revisited
-
-We can now improve the "Fetch Me a Beer" example, which left the door open 
-if the beer was not inside the fridge.
-
-We use the color "green" to represent nodes which return
-SUCCESS and "red" for those which return FAILURE. Black nodes haven't
-been executed. 
-
-![FetchBeer failure](images/FetchBeerFails.svg)
-
-Let's create an alternative tree that closes the door even when __GrabBeer__ 
-returns FAILURE.
-
-
-![FetchBeer failure](images/FetchBeer.svg)
-
-Both these trees will close the door of the fridge, eventually, but:
-
-- the tree on the __left__ side will always return SUCCESS, no matter if
-we have actually grabbed the beer.
- 
-- the tree on the __right__ side would return SUCCESS if the beer was there, 
-FAILURE otherwise.
-
-Everything works as expected if __GrabBeer__ returns SUCCESS.
-
-![FetchBeer success](images/FetchBeer2.svg)
-
-
-
diff --git a/versioned_docs/version-4.0.2/learn-the-basics/_category_.json b/versioned_docs/version-4.0.2/learn-the-basics/_category_.json
deleted file mode 100644
index 97d3fb8..0000000
--- a/versioned_docs/version-4.0.2/learn-the-basics/_category_.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-  "label": "Learn the Basic Concepts",
-  "position": 2,
-  "link": {
-    "type": "generated-index",
-    "description": "Learn what Behavior Trees are and how to use them."
-  }
-}
diff --git a/versioned_docs/version-4.0.2/learn-the-basics/images/BT.png b/versioned_docs/version-4.0.2/learn-the-basics/images/BT.png
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deleted file mode 100644
index aaca63d..0000000
--- a/versioned_docs/version-4.0.2/learn-the-basics/images/FetchBeer2.svg
+++ /dev/null
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format('truetype');}
-]]></style>
-</svg>
diff --git a/versioned_docs/version-4.0.2/learn-the-basics/main_concepts.md b/versioned_docs/version-4.0.2/learn-the-basics/main_concepts.md
deleted file mode 100644
index b453ae7..0000000
--- a/versioned_docs/version-4.0.2/learn-the-basics/main_concepts.md
+++ /dev/null
@@ -1,96 +0,0 @@
-# Main Concepts
-
-__BehaviorTree.CPP__ is a C++ library that can be easily integrated into
-your favourite distributed middleware, such as __ROS__ or __SmartSoft__.
-
-You can statically link it into your application (for example a game).
-
-These are the main concepts which you need to understand first.
-
-## Nodes vs Trees
-
-The user must create his/her own ActionNodes and ConditionNodes (LeafNodes);
-this library helps you to compose them easily into trees. 
-
-Think about the LeafNodes as the building blocks which you need to compose a complex system. If Nodes were **lego bricks**, your trees would be lego sets.
-
-![](images/lego.jpg) 
-
-
-By definition, your custom Nodes are (or should be) highly __reusable__.
-
-## Instantiate trees at run-time using the XML format
-
-Despite the fact that the library is written in C++, trees themselves
-can be created and composed at _run-time_, more specifically, at _deployment-time_, using an XML base scripting language.
-
-An XML format is described in details [here](xml_format.md), but the best way to
-learn the syntax is following the tutorials.
-
-## The tick() callbacks
-
-Any TreeNode can be seen as a mechanism to invoke a __callback__, i.e. to 
-__run a piece of code__. What this callback does is up to you.
-
-In most of the following tutorials, our Actions will simply
-print messages on console or sleep for a certain amount of time to simulate
-a long calculation.
-
-In production code, especially in Model Driven Development and Component 
-Based Software Engineering, an Action/Condition would probably communicate
-to other _components_ or _services_ of the system.
-
-``` cpp
-// The simplest callback you can wrap into a BT Action
-NodeStatus HelloTick()
-{
-  std::cout << "Hello World\n"; 
-  return NodeStatus::SUCCESS;
-}
-
-// Allow the library to create Actions that invoke HelloTick()
-// (explained in the tutorials)
-factory.registerSimpleAction("Hello", std::bind(HelloTick));
-```
-
-::::tip
-The factory may create multiple instances of the node __Hello__.
-::::
-
-## Create custom nodes with inheritance
-
-In the example above, a specific type of TreeNodes which invoke
-`HelloTick` was created using a __function pointer__ (dependency injection).
-
-Generally, to define a custom TreeNode, you should inherit from the 
-class `TreeNode` or, more specifically, its derived classes:
-
-- `ActionNodeBase`
-- `ConditionNode`
-- `DecoratorNode`
-
-As a reference please look at the [first tutorial](tutorial-basics/tutorial_01_first_tree.md).
-
-## Dataflow, Ports and Blackboard
-
-Ports are explained in detail in the [second](tutorial-basics/tutorial_02_basic_ports.md)
-and [third](tutorial-basics/tutorial_03_generic_ports.md) tutorials.
-
-For the time being, it is important to know that:
-
-- A __Blackboard__ is a _key/value_ storage shared by all the Nodes of a Tree.
-
-- __Ports__ are a mechanism that Nodes can use to exchange information between
-  each other.
- 
-- Ports are _"connected"_ using the same _key_ of the blackboard.
-
-- The number, name and kind of ports of a Node must be known at _compilation-time_ (C++); 
-  connections between ports are done at _deployment-time_ (XML).  
-
-- You can store as value any C++ type (we use a _type erasure_ technique
-similar to [std::any](https://www.fluentcpp.com/2021/02/05/how-stdany-works/)).
-
-
-
-
diff --git a/versioned_docs/version-4.0.2/learn-the-basics/xml_format.md b/versioned_docs/version-4.0.2/learn-the-basics/xml_format.md
deleted file mode 100644
index a2143da..0000000
--- a/versioned_docs/version-4.0.2/learn-the-basics/xml_format.md
+++ /dev/null
@@ -1,219 +0,0 @@
-
-# The XML schema
-
-In the [first tutorial](tutorial-basics/tutorial_01_first_tree.md) this simple tree
-was presented.
-
-``` XML
- <root BTCPP_format="4">
-     <BehaviorTree ID="MainTree">
-        <Sequence name="root_sequence">
-            <SaySomething   name="action_hello" message="Hello"/>
-            <OpenGripper    name="open_gripper"/>
-            <ApproachObject name="approach_object"/>
-            <CloseGripper   name="close_gripper"/>
-        </Sequence>
-     </BehaviorTree>
- </root>
-```
-
-You may notice that:
-
-- The first tag of the tree is `<root>`. It should contain __1 or more__ tags `<BehaviorTree>`.
-
-- The tag `<BehaviorTree>` should have the attribute `[ID]`.
-
-- The tag `<root>` should contain the attribute `[BTCPP_format]`.
-
-- Each TreeNode is represented by a single tag. In particular:
-
-     - The name of the tag is the __ID__ used to register the TreeNode in the factory.
-     - The attribute `[name]` refers to the name of the instance and is __optional__.
-     - Ports are configured using attributes. In the previous example, the action 
-     `SaySomething` requires the input port `message`.
-
-- In terms of number of children:
-
-     - `ControlNodes` contain __1 to N children__.
-     - `DecoratorNodes` and Subtrees contain __only 1 child__.
-     - `ActionNodes` and `ConditionNodes` have __no child__. 
-
-## Ports Remapping and pointers to Blackboards entries
-
-As explained in the [second tutorial](tutorial-basics/tutorial_02_basic_ports.md)
-input/output ports can be remapped using the name of an entry in the
-Blackboard, in other words, the __key__ of a __key/value__ pair of the BB.
-
-A BB key is represented using this syntax: `{key_name}`.
-
-In the following example:
-
-- the first child of the Sequence prints "Hello",
-- the second child reads and writes the value contained in the entry of 
-  the blackboard called "my_message"; 
-
-``` XML
- <root BTCPP_format="4" >
-     <BehaviorTree ID="MainTree">
-        <Sequence name="root_sequence">
-            <SaySomething message="Hello"/>
-            <SaySomething message="{my_message}"/>
-        </Sequence>
-     </BehaviorTree>
- </root>
-```
-     
-
-## Compact vs Explicit representation
-
-The following two syntaxes are both valid:
-
-``` XML
- <SaySomething               name="action_hello" message="Hello World"/>
- <Action ID="SaySomething"   name="action_hello" message="Hello World"/>
-```
-
-We will call the former syntax "__compact__" and the latter "__explicit__".
-The first example represented with the explicit syntax would become:
-
-``` XML
- <root BTCPP_format="4" >
-     <BehaviorTree ID="MainTree">
-        <Sequence name="root_sequence">
-           <Action ID="SaySomething"   name="action_hello" message="Hello"/>
-           <Action ID="OpenGripper"    name="open_gripper"/>
-           <Action ID="ApproachObject" name="approach_object"/>
-           <Action ID="CloseGripper"   name="close_gripper"/>
-        </Sequence>
-     </BehaviorTree>
- </root>
-```
-
-Even if the compact syntax is more convenient and easier to write, it provides 
-too little information about the model of the TreeNode. Tools like __Groot__ require either
-the _explicit_ syntax or additional information.
-This information can be added using the tag `<TreeNodeModel>`.
-
-To make the compact version of our tree compatible with Groot, the XML 
-must be modified as follows:
-
-
-``` XML
- <root BTCPP_format="4" >
-     <BehaviorTree ID="MainTree">
-        <Sequence name="root_sequence">
-           <SaySomething   name="action_hello" message="Hello"/>
-           <OpenGripper    name="open_gripper"/>
-           <ApproachObject name="approach_object"/>
-           <CloseGripper   name="close_gripper"/>
-        </Sequence>
-    </BehaviorTree>
-	
-	<!-- the BT executor don't require this, but Groot does --> 	
-    <TreeNodeModel>
-        <Action ID="SaySomething">
-            <input_port name="message" type="std::string" />
-        </Action>
-        <Action ID="OpenGripper"/>
-        <Action ID="ApproachObject"/>
-        <Action ID="CloseGripper"/>      
-    </TreeNodeModel>
- </root>
-```
-
-## Subtrees
-
-As we saw in [this tutorial](tutorial-basics/tutorial_06_subtree_ports.md), it is possible to include
-a Subtree inside another tree to avoid "copy and pasting" the same tree in
-multiple location and to reduce complexity.
-
-Let's say that we want to encapsulate a few actions into the behaviorTree "__GraspObject__" 
-(being optional, attributes [name] are omitted for simplicity).
-
-``` XML
- <root BTCPP_format="4" >
- 
-     <BehaviorTree ID="MainTree">
-        <Sequence>
-           <Action  ID="SaySomething"  message="Hello World"/>
-           // highlight-next-line
-           <SubTree ID="GraspObject"/>
-        </Sequence>
-     </BehaviorTree>
-     
-     <BehaviorTree ID="GraspObject">
-        <Sequence>
-           <Action ID="OpenGripper"/>
-           <Action ID="ApproachObject"/>
-           <Action ID="CloseGripper"/>
-        </Sequence>
-     </BehaviorTree>  
- </root>
-```
-
-We may notice that the entire tree "GraspObject" is executed after "SaySomething".
-
-## Include external files
-
-__Since version 2.4__.
-
-You can include external files in a way that is similar to '__#include \<file\>__' in C++.
-We can do this easily using the tag:
-
-``` XML
-  <include path="relative_or_absolute_path_to_file">
-``` 
-
-using the previous example, we may split the two behavior trees into two files:
-
-
-``` XML hl_lines="5"
- <!-- file maintree.xml -->
-
- <root BTCPP_format="4" >
-	 
-	 <include path="grasp.xml"/>
-	 
-     <BehaviorTree ID="MainTree">
-        <Sequence>
-           <Action  ID="SaySomething"  message="Hello World"/>
-           <SubTree ID="GraspObject"/>
-        </Sequence>
-     </BehaviorTree>
-  </root>
-``` 
-
-``` XML
- <!-- file grasp.xml -->
-
- <root BTCPP_format="4" >
-     <BehaviorTree ID="GraspObject">
-        <Sequence>
-           <Action ID="OpenGripper"/>
-           <Action ID="ApproachObject"/>
-           <Action ID="CloseGripper"/>
-        </Sequence>
-     </BehaviorTree>  
- </root>
-```
-
-:::note
-Note "Note for ROS users"
-If you want to find a file inside a [ROS package](http://wiki.ros.org/Packages), 
-you can use this syntax:
-:::
-
-``` XML
-<include ros_pkg="name_package"  path="path_relative_to_pkg/grasp.xml"/>
-``` 
-
-
-
- 
-
-
-
-
-
-       
-
diff --git a/versioned_docs/version-4.0.2/nodes-library/DecoratorNode.md b/versioned_docs/version-4.0.2/nodes-library/DecoratorNode.md
deleted file mode 100644
index f1f1b80..0000000
--- a/versioned_docs/version-4.0.2/nodes-library/DecoratorNode.md
+++ /dev/null
@@ -1,45 +0,0 @@
-# Decorators
-
-A decorator is a node that can have only a single child.
-
-It is up to the Decorator to decide if, when and how many times the child should be
-ticked.
-
-## InverterNode
-
-Tick the child once and return SUCCESS if the child failed or FAILURE if
-the child succeeded.
-
-If the child returns RUNNING, this node returns RUNNING too.
-
-## ForceSuccessNode
-
-If the child returns RUNNING, this node returns RUNNING too. 
-
-Otherwise, it returns always SUCCESS.
-
-## ForceFailureNode
-
-If the child returns RUNNING, this node returns RUNNING too. 
-
-Otherwise, it returns always FAILURE.
-
-## RepeatNode
-
-Tick the child up to N times, where N is passed as a [Input Port](tutorial-basics/tutorial_02_basic_ports.md),
-as long as the child returns SUCCESS.
-
-Interrupt the loop if the child returns FAILURE and, in that case, return FAILURE too.
-
-If the child returns RUNNING, this node returns RUNNING too.
-
-## RetryNode
-
-Tick the child up to N times, where N is passed as a [Input Port](tutorial-basics/tutorial_02_basic_ports.md),
-as long as the child returns FAILURE.
-
-Interrupt the loop if the child returns SUCCESS and, in that case, return SUCCESS too.
-
-If the child returns RUNNING, this node returns RUNNING too.
-
-
diff --git a/versioned_docs/version-4.0.2/nodes-library/FallbackNode.md b/versioned_docs/version-4.0.2/nodes-library/FallbackNode.md
deleted file mode 100644
index 85639f7..0000000
--- a/versioned_docs/version-4.0.2/nodes-library/FallbackNode.md
+++ /dev/null
@@ -1,57 +0,0 @@
-# Fallbacks
-
-This family of nodes are known as "Selector" or "Priority"
-in other frameworks.
-
-Their purpose is to try different strategies, until we find one that "works".
-
-Currently the framework provides two kinds of nodes:
-
-- Fallback
-- ReactiveFallback
-
-They share the following rules:
-
-- Before ticking the first child, the node status becomes __RUNNING__.
-
-- If a child returns __FAILURE__, the fallback ticks the next child.
-
-- If the __last__ child returns __FAILURE__ too, all the children are halted and
- the fallback returns __FAILURE__.
- 
-- If a child returns __SUCCESS__, it stops and returns __SUCCESS__.
-  All the children are halted. 
-
-To understand how the two ControlNodes differ, refer to the following table:
-
-| Type of ControlNode | Child returns RUNNING |
-|---|:---:|
-| Fallback | Tick again  |
-| ReactiveFallback  |  Restart |
-
-- "__Restart__" means that the entire fallback is restarted from the first 
-  child of the list.
-
-- "__Tick again__" means that the next time the fallback is ticked, the 
-  same child is ticked again. Previous siblings, which returned FAILURE already,
-  are not ticked again.
-
-## Fallback
-
-In this example, we try different strategies to open the door. 
-Check first (and once) if the door is open.
-
-![FallbackNode](images/FallbackSimplified.png)
-
-## ReactiveFallback
-
-This ControlNode is used when we want to interrupt an __asynchronous__
-child if one of the previous Conditions changes its state from 
-FAILURE to SUCCESS.
-
-In the following example, the character will sleep *up to* 8 hours. If he/she has fully rested, then the node `areYouRested?` will return SUCCESS and the asynchronous nodes `Timeout (8 hrs)` and `Sleep` will be interrupted.
-
-![ReactiveFallback](images/ReactiveFallback.png)
-
-
- 
diff --git a/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md b/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md
deleted file mode 100644
index 6dcdb2e..0000000
--- a/versioned_docs/version-4.0.2/nodes-library/SequenceNode.md
+++ /dev/null
@@ -1,77 +0,0 @@
-# Sequences
-
-A __Sequence__ ticks all its children as long as 
-they return SUCCESS. If any child returns FAILURE, the sequence is aborted.
-
-Currently the framework provides three kinds of nodes:
-
-- Sequence
-- SequenceWithMemory
-- ReactiveSequence
-
-They share the following rules:
-
-- Before ticking the first child, the node status becomes __RUNNING__.
-
-- If a child returns __SUCCESS__, it ticks the next child.
-
-- If the __last__ child returns __SUCCESS__ too, all the children are halted and
- the sequence returns __SUCCESS__.
-
-To understand how the three ControlNodes differ, refer to the following table:
-
- 
-| Type of ControlNode | Child returns FAILURE  |  Child returns RUNNING |
-|---|:---:|:---:|
-| Sequence | Restart  | Tick again  |
-| ReactiveSequence  | Restart  |  Restart |
-| SequenceWithMemory | Tick again  | Tick again  |
-
-- "__Restart__" means that the entire sequence is restarted from the first 
-  child of the list.
-
-- "__Tick again__" means that the next time the sequence is ticked, the 
-  same child is ticked again. Previous siblings, which returned SUCCESS already,
-  are not ticked again.
-
-## Sequence
-
-This tree represents the behavior of a sniper in a computer game.
-
-![SequenceNode](images/SequenceNode.svg)
-
-
-## ReactiveSequence
-
-This node is particularly useful to continuously check Conditions; but 
-the user should also be careful when using asynchronous children, to be
-sure that they are not ticked more often than expected.
-
-Let's take a look at another example:
-
-![ReactiveSequence](images/ReactiveSequence.svg)
-
-`ApproachEnemy` is an __asynchronous__ action that returns RUNNING until
-it is, eventually, completed.
-
-The condition `isEnemyVisible` will be called many times and, 
-if it becomes false (i,e, "FAILURE"), `ApproachEnemy` is halted. 
-
-
-## SequenceWithMemory
-
-Use this ControlNode when you don't want to tick children again that 
-already returned SUCCESS.
-
-__Example__:
-
-This is a patrolling agent/robot that must visit locations A, B and C __only once__.
-If the action __GoTo(B)__ fails, __GoTo(A)__ will not be ticked again.
-
-On the other hand, __isBatteryOK__ must be checked at every tick, 
-for this reason its parent must be a `ReactiveSequence`.
-
-![SequenceWithMemory](images/SequenceWithMemory.svg)
-
-
- 
diff --git a/versioned_docs/version-4.0.2/nodes-library/_category_.json b/versioned_docs/version-4.0.2/nodes-library/_category_.json
deleted file mode 100644
index b5efacf..0000000
--- a/versioned_docs/version-4.0.2/nodes-library/_category_.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-  "label": "Nodes Library",
-  "position": 10,
-  "link": {
-    "type": "generated-index",
-    "description": "List of TreeNodes natively implemented by the library"
-  }
-}
diff --git a/versioned_docs/version-4.0.2/nodes-library/images/FallbackSimplified.png b/versioned_docs/version-4.0.2/nodes-library/images/FallbackSimplified.png
deleted file mode 100644
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diff --git a/versioned_docs/version-4.0.2/tutorial-advanced/_category_.json b/versioned_docs/version-4.0.2/tutorial-advanced/_category_.json
deleted file mode 100644
index 07dbbc6..0000000
--- a/versioned_docs/version-4.0.2/tutorial-advanced/_category_.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-  "label": "Tutorial - Advanced",
-  "position": 4,
-  "link": {
-    "type": "generated-index",
-    "description": "Become a behavior tree whisperer"
-  }
-}
diff --git a/versioned_docs/version-4.0.2/tutorial-advanced/asynchronous_nodes.md b/versioned_docs/version-4.0.2/tutorial-advanced/asynchronous_nodes.md
deleted file mode 100644
index 81ab2f1..0000000
--- a/versioned_docs/version-4.0.2/tutorial-advanced/asynchronous_nodes.md
+++ /dev/null
@@ -1,265 +0,0 @@
----
-sidebar_position: 3
----
-
-# Asynchronous Actions
-
-When designing reactive Behavior Trees, it is important to understand two main concepts:
-
-- what we mean by **"Asynchronous"** Actions VS **"Synchronous"** ones.
-- The difference between **Concurrency** and **Parallelism** in the context of BT.CPP.
-
-## Concurrency vs Parallelism
-
-If you google these words, you will read many good articles about this topic.
-
-:::info
-**Concurrency** is when two or more tasks can start, run, and complete in overlapping time periods.
-It doesn't necessarily mean they'll ever both be running at the same instant. 
-
-**Parallelism** is when tasks run at the same time in different threads, e.g., on a multicore processor.
-:::
-
-BT.CPP executes all the nodes **concurrently**. In other words:
-
-- The Tree execution engine is **single-threaded**.
-- All the `tick()` methods are executed **sequentially**.
-- If any `tick()` method is blocking, the entire flow of execution will be blocked.
-
-We achieve reactive behaviors through "concurrency" and asynchronous execution.
-
-In other words, an Action that takes a long time to execute should
-return as soon as possible the state RUNNING.
-
-This tells the tree executor that the action was started and needs more time to return
-the state SUCCESS or FAILURE.
-We need to tick that Node again to know if the state changed or not (polling).
-
-An Asynchronous node may delegate this long execution either to another process
-(using inter-process communication) or another thread.
-
-## Asynchronous vs Synchronous
-
-In general, an Asynchronous Node is one that:
-
-- May return RUNNING instead of SUCCESS or FAILURE, when ticked.
-- Can be stopped as fast as possible when the method `halt()` is invoked.
-
-Frequently, the method **halt()** must be implemented by the developer.
-
-When your Tree executes an Asynchronous Action that returns RUNNING,
-that state is usually **propagated backward** and the entire Tree is considered
-in the RUNNING state.
-
-In the example below, "ActionE" is asynchronous and RUNNING; when
-a node is RUNNING, usually, its parent returns RUNNING too.
-
-![tree in running state](images/RunningTree.svg)
-
-Let's consider a simple "SleepNode". A good template to get started is 
-the __StatefulActionNode__.
-
-``` cpp
-
-using namespace std::chrono;
-
-// Example of Asynchronous node that uses StatefulActionNode as base class
-class SleepNode : public BT::StatefulActionNode
-{
-  public:
-    SleepNode(const std::string& name, const BT::NodeConfig& config)
-      : BT::StatefulActionNode(name, config)
-    {}
-
-    static BT::PortsList providedPorts()
-    {
-      // amount of milliseconds that we want to sleep
-      return{ BT::InputPort<int>("msec") };
-    }
-
-    NodeStatus onStart() override
-    {
-      int msec = 0;
-      getInput("msec", msec);
-
-      if( msec <= 0 ) {
-        // No need to go into the RUNNING state
-        return NodeStatus::SUCCESS;
-      }
-      else {
-        // once the deadline is reached, we will return SUCCESS.
-        deadline_ = system_clock::now() + milliseconds(msec);
-        return NodeStatus::RUNNING;
-      }
-    }
-
-    /// method invoked by an action in the RUNNING state.
-    NodeStatus onRunning() override
-    {
-      if ( system_clock::now() >= deadline_ ) {
-        return NodeStatus::SUCCESS;
-      }
-      else {
-        return NodeStatus::RUNNING;
-      }
-    }
-
-    void onHalted() override
-    {
-      // nothing to do here...
-      std::cout << "SleepNode interrupted" << std::endl;
-    }
-
-  private:
-    system_clock::time_point deadline_;
-};
-```
-
-In the code above:
-
-1. When the SleepNode is ticked the first time, the `onStart()` method is executed.
-This may return SUCCESS immediately if the sleep time is 0 or will return RUNNING otherwise.
-2. We should continue ticking the tree in a loop. This will invoke the method
-`onRunning()` that may return RUNNING again or, eventually, SUCCESS.
-3. Another node might trigger a `halt()` signal. In this case, the `onHalted()` method is invoked.
-
-## Avoid blocking the execution of the tree
-
-A **wrong** way to implement the `SleepNode` would be this one:
-
-```cpp
-// This is the synchronous version of the Node. Probably not what we want.
-class BadSleepNode : public BT::ActionNodeBase
-{
-  public:
-    BadSleepNode(const std::string& name, const BT::NodeConfig& config)
-      : BT::ActionNodeBase(name, config)
-    {}
-
-    static BT::PortsList providedPorts()
-    {
-      return{ BT::InputPort<int>("msec") };
-    }
-
-    NodeStatus tick() override
-    {  
-      int msec = 0;
-      getInput("msec", msec);
-      // This blocking function will FREEZE the entire tree :(
-      std::this_thread::sleep_for( milliseconds(msec) );
-      return NodeStatus::SUCCESS;
-     }
-
-    void halt() override
-    {
-      // No one can invoke this method because I froze the tree.
-      // Even if this method COULD be executed, there is no way I can
-      // interrupt std::this_thread::sleep_for()
-    }
-};
-```
-
-## The problem with multi-threading
-
-In the early days of this library (version 1.x), spawning a new thread
-looked like a good solution to build asynchronous Actions.
-
-That was a bad idea, for multiple reasons:
-
-- Accessing the blackboard in a thread-safe way is harder (more about this later).
-- You probably don't need to.
-- People think that this will magically make the Action "asynchronous", but they 
-forget that it is still **their responsibility** to stop that thread "somehow" and **fast** when 
-the `halt()` method is invoked.
-
-For this reason, users are usually discouraged from using `BT::ThreadedAction` as a
-base class. Let's have a look again at the SleepNode.
-
-```cpp
-// This will spawn its own thread. But it still has problems when halted
-class BadSleepNode : public BT::ThreadedAction
-{
-  public:
-    BadSleepNode(const std::string& name, const BT::NodeConfig& config)
-      : BT::ActionNodeBase(name, config)
-    {}
-
-    static BT::PortsList providedPorts()
-    {
-      return{ BT::InputPort<int>("msec") };
-    }
-
-    NodeStatus tick() override
-    {  
-      // This code runs in its own thread, therefore the Tree is still running.
-      // This seems good but the thread still can't be aborted
-      int msec = 0;
-      getInput("msec", msec);
-      std::this_thread::sleep_for( std::chrono::milliseconds(msec) );
-      return NodeStatus::SUCCESS;
-    }
-    // The halt() method can not kill the spawned thread :(
-};
-```
-
-A correct version would be:
-
-```cpp
-// I will create my own thread here, for no good reason
-class ThreadedSleepNode : public BT::ThreadedAction
-{
-  public:
-    ThreadedSleepNode(const std::string& name, const BT::NodeConfig& config)
-      : BT::ActionNodeBase(name, config)
-    {}
-
-    static BT::PortsList providedPorts()
-    {
-      return{ BT::InputPort<int>("msec") };
-    }
-
-    NodeStatus tick() override
-    {  
-      // This code runs in its own thread, therefore the Tree is still running.
-      int msec = 0;
-      getInput("msec", msec);
-
-      using namespace std::chrono;
-      const auto deadline = system_clock::now() + milliseconds(msec);
-
-      // Periodically check isHaltRequested() 
-      // and sleep for a small amount of time only (1 millisecond)
-      while( !isHaltRequested() && system_clock::now() < deadline )
-      {
-        std::this_thread::sleep_for( std::chrono::milliseconds(1) );
-      }
-      return NodeStatus::SUCCESS;
-    }
-
-    // The halt() method will set isHaltRequested() to true 
-    // and stop the while loop in the spawned thread.
-};
-```
-
-As you can see, this looks more complicated than the version we implemented
-first, using `BT::StatefulActionNode`.
-This pattern can still be useful in some case, but you must remember that introducing 
-multi-threading makes things more complicated and **should be avoided by default**. 
-
-## Advanced example: client / server communication
-
-Frequently, people using BT.CPP execute the actual task in a different process.
-
-A typical (and recommended) way to do this in ROS is using [ActionLib](http://wiki.ros.org/actionlib).
-
-ActionLib provides exactly the kind of API that we need to implement correctly an asynchronous behavior:
-
-1. A non-blocking function to start the Action.
-2. A way to monitor the current state of execution of the Action.
-3. A way to retrieve the result or the error messages.
-4. The ability to preempt/abort an action that is being executed.
-
-None of these operations is "blocking", therefore we don't need to spawn our own thread.
-
-More generally, we may assume that the developer has their own inter-process communication, 
-with a client/server relationship between the BT executor and the actual service provider.
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transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe flex-end;justify-content:unsafe center;width:188px;height:1px;padding-top:197px;margin-left:213px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:none;white-space:normal;overflow-wrap:normal">RecoveryOne</div></div></div></foreignObject><text x="307" y="197" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">RecoveryOne</text></switch></g><rect width="170" height="30" x="222" y="131" fill="#fff2cc" stroke="#d6b656" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe center;width:168px;height:1px;padding-top:146px;margin-left:223px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:none;white-space:normal;overflow-wrap:normal"><font style="font-size:15px">_skipIf = &quot;error_code!=1&quot;</font></div></div></div></foreignObject><text x="307" y="151" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">_skipIf = &quot;error_co...</text></switch></g><rect width="190" height="90" x="422" y="121" fill="#FFF" stroke="#000" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe flex-end;justify-content:unsafe center;width:188px;height:1px;padding-top:197px;margin-left:423px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:none;white-space:normal;overflow-wrap:normal">RecoveryTwo</div></div></div></foreignObject><text x="517" y="197" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">RecoveryTwo</text></switch></g><rect width="170" height="30" x="432" y="131" fill="#fff2cc" stroke="#d6b656" pointer-events="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe center;width:168px;height:1px;padding-top:146px;margin-left:433px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:none;white-space:normal;overflow-wrap:normal"><font style="font-size:15px">_skipIf = &quot;error_code!=2&quot;</font></div></div></div></foreignObject><text x="517" y="151" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">_skipIf = &quot;error_co...</text></switch></g></g></svg>
\ No newline at end of file
diff --git a/versioned_docs/version-4.0.2/tutorial-advanced/images/landing.svg b/versioned_docs/version-4.0.2/tutorial-advanced/images/landing.svg
deleted file mode 100644
index 9b0f94b..0000000
--- a/versioned_docs/version-4.0.2/tutorial-advanced/images/landing.svg
+++ /dev/null
@@ -1 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="394" height="204" content="&lt;mxfile host=&quot;app.diagrams.net&quot; modified=&quot;2022-10-10T08:40:47.785Z&quot; agent=&quot;5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/103.0.0.0 Safari/537.36&quot; version=&quot;20.4.0&quot; etag=&quot;xbTIKMOfPzaSxu-_brGA&quot; type=&quot;google&quot;&gt;&lt;diagram id=&quot;-hZhTJRB6uEA6XxRk6F6&quot;&gt;1VbJbtswEP2WHoQkhwRaLNlX23LTAGmK1i16NGiLWhBJdCk6tvv15TKkSC9IUMQFeompNwuHM29m4kXTZndP0br8TDJce6Gf7bwo9cIwiOOY/whkr5BBMFJAQasMlHpgXv3GAPqAbqoMd44iI6Rm1doFV6Rt8Yo5GKKUbF21nNTurWtU4CNgvkL1Mfqzylip0FHs9/gnXBWlvjnwQdIgrQxAV6KMbC0omnnRlBLC1KnZTXEtkqfzouw+npGawChu2VsMQmXwguoNvM0Lk5qbTpb8UIjDI9liOubJZZsMayn3aBSMBT1EcsKj4I9ke8hc8mtDtOC2k3Udc4UgXu+UGcjPu84oafECmXB84Xc4McAwtUJU918opm6N2pOOVqQmVDmhxRJd8wpM+fng50a68uWtOWqqeq9MGtIS7nqFLXkflQ9B+Qzv2C2qq6JVgo4hyk7GqxJz2I0x5wP/o6hmvjQ/YskQjqTiLDgUC2bEnEev6QZGV9Pwr9yEvRtFTiMRf0QFOADFjHUVtI5KgVZQ6eNfY6kqCytkrqb8KtR50T1X64dcqhunvqvPE87wBym9ehw/pQ9P94tvs68/ZvPvs/TqhIEdt8yBDl7f2r/YfU1IyabNsEqOjGeyLSuG55IlAtzywkq8ZI2sbRqY18/h8amYsQKr6noqGar9R3meh6sVvIqSZ3wgz5JlEidSrhgnJDXOIRE8jKotHuE7HR485gVTTtY3EcSIDDfuMWkwo3upbjkJB8O7uHe0t3wkw55n/laOZyOMAsuoVCO6F1p2qOvxworhkL3y01DYBt3GAr2jDjSjSk2T1wbq0UwLnQlkmCJ44rAEOAIMEfyw2CG5EU1EoSq+5MZqqqRNlWU1NtdAHc/tmcBsL7tqPhiEA1h4sPGDJAFg2y/QaAhYaS/PEYAIlnZfjn6veaYIp9dcdHbNvXkdDM6sAzMr5CYSTa81YEJEafplARPCMb9sRQee3evCl+5zt8ulBDpc9zd0t9vborPfiQuydx02DE+wIQ61ms2H6B3oMLggHdakY+fIoMBr+7+XMEGNqKIig5T7d8GN9MDnjC+IM5Ou9Jpn+B+yaPQ/sWjkX5JFHsz0XmZN82j2Bw==&lt;/diagram&gt;&lt;/mxfile&gt;" version="1.1" viewBox="-0.5 -0.5 394 204" style="background-color:#fff"><g><rect width="370" height="180" x="11" y="11" fill="#FFF" stroke="#000" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe center;width:368px;height:1px;padding-top:101px;margin-left:12px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal"><b>LowerAltitude</b><br/><font style="font-size:15px"><br/>drone_altitude ={altitude}</font><font style="font-size:15px"><span style="color:transparent;font-family:monospace;font-size:0;text-align:start">titude3CmxGraphModel%3E%3Croot%3E%3CmxCell%20id%3D%220%22%2F%3E%3CmxCell%20id%3D%221%22%20parent%3D%220%22%2F%3E%3CmxCell%20id%3D%222%22%20value%3D%22%26lt%3Bfont%20style%3D%26quot%3Bfont-size%3A%2015px%3B%26quot%3B%26gt%3B_skipIf%20%3D%20%26quot%3Bstate!%3D&apos;LANDING_REQUESTED&apos;%20%26quot%3B%26lt%3B%2Ffont%26gt%3B%22%20style%3D%22rounded%3D0%3BwhiteSpace%3Dwrap%3Bhtml%3D1%3BfontSize%3D18%3BfillColor%3D%23fff2cc%3BstrokeColor%3D%23d6b656%3Balign%3Dleft%3BspacingLeft%3D7%3B%22%20vertex%3D%221%22%20parent%3D%221%22%3E%3CmxGeometry%20x%3D%22247.5%22%20y%3D%221670%22%20width%3D%22315%22%20height%3D%2230%22%20as%3D%22geometry%22%2F%3E%3C%2FmxCell%3E%3C%2Froot%3E%3C%2FmxGraphModel%3E</span><br/></font></div></div></div></foreignObject><text x="196" y="106" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">LowerAltitude...</text></switch></g><rect width="352.5" height="30" x="18.5" y="21" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe flex-start;width:344px;height:1px;padding-top:36px;margin-left:28px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:left"><div style="display:inline-block;font-size:14px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal"><font style="font-size:14px">_skipIf = &quot;state!=DO_LANDING&quot;</font></div></div></div></foreignObject><text x="28" y="40" fill="#000" font-family="Helvetica" font-size="14">_skipIf = &quot;state!=DO_LANDING&quot;</text></switch></g><rect width="352.5" height="30" x="18.5" y="151" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe flex-start;width:344px;height:1px;padding-top:166px;margin-left:28px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:left"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal"><font style="font-size:14px">_post = &quot;state= (altitude &lt;= 0.1) ? LANDED : state&quot;</font></div></div></div></foreignObject><text x="28" y="171" fill="#000" font-family="Helvetica" font-size="18">_post = &quot;state= (altitude &lt;= 0.1) ? LA...</text></switch></g></g></svg>
\ No newline at end of file
diff --git a/versioned_docs/version-4.0.2/tutorial-advanced/images/post_example.svg b/versioned_docs/version-4.0.2/tutorial-advanced/images/post_example.svg
deleted file mode 100644
index 903335c..0000000
--- a/versioned_docs/version-4.0.2/tutorial-advanced/images/post_example.svg
+++ /dev/null
@@ -1 +0,0 @@
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version="1.1" viewBox="-0.5 -0.5 918 288" style="background-color:#fff"><g><path fill="none" stroke="#000" stroke-miterlimit="10" d="M 156 121 L 233 165.8" pointer-events="stroke"/><path fill="#000" stroke="#000" stroke-miterlimit="10" d="M 237.53 168.44 L 229.72 167.94 L 233 165.8 L 233.24 161.89 Z" pointer-events="all"/><path fill="none" stroke="#000" stroke-miterlimit="10" d="M 156 121 L 80.78 165.74" pointer-events="stroke"/><path fill="#000" stroke="#000" stroke-miterlimit="10" d="M 76.27 168.43 L 80.5 161.84 L 80.78 165.74 L 84.08 167.86 Z" pointer-events="all"/><rect width="120" height="40" x="96" y="81" fill="#FFF" stroke="#000" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe center;width:118px;height:1px;padding-top:101px;margin-left:97px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal">Sequence</div></div></div></foreignObject><text x="156" y="106" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">Sequence</text></switch></g><rect width="128.62" height="80" x="11" y="169" fill="#FFF" stroke="#000" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe flex-start;justify-content:unsafe center;width:127px;height:1px;padding-top:176px;margin-left:12px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal"><b>MoveBase<br/></b><br/><font style="font-size:15px">goal={<font color="#00f"><b>target</b></font>}</font></div></div></div></foreignObject><text x="75" y="194" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">MoveBase...</text></switch></g><rect width="165" height="107" x="156" y="169" fill="#FFF" stroke="#000" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe flex-start;justify-content:unsafe center;width:163px;height:1px;padding-top:176px;margin-left:157px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal"><font style="font-size:15px"><b><span style="font-size:18px">SetBlackboard<br/></span><br/></b>output_key={<font color="#00f"><b>result</b></font>}<br/>value=0<br/></font></div></div></div></foreignObject><text x="239" y="194" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">SetBlackboard...</text></switch></g><path fill="none" stroke="#000" stroke-miterlimit="10" d="M 291 51 L 162.22 79.62" pointer-events="stroke"/><path fill="#000" stroke="#000" stroke-miterlimit="10" d="M 157.09 80.76 L 163.17 75.82 L 162.22 79.62 L 164.68 82.66 Z" pointer-events="all"/><path fill="none" stroke="#000" stroke-miterlimit="10" d="M 291 51 L 414.8 79.57" 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font-family="Helvetica" font-size="18" text-anchor="middle">Fallback</text></switch></g><path fill="none" stroke="#000" stroke-miterlimit="10" d="M 421 121 L 421 162.63" pointer-events="stroke"/><path fill="#000" stroke="#000" stroke-miterlimit="10" d="M 421 167.88 L 417.5 160.88 L 421 162.63 L 424.5 160.88 Z" pointer-events="all"/><rect width="120" height="40" x="361" y="81" fill="#FFF" stroke="#000" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe center;width:118px;height:1px;padding-top:101px;margin-left:362px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal">ForceFailure</div></div></div></foreignObject><text x="421" y="106" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">ForceFailure</text></switch></g><rect width="290" height="190" x="616" y="36" fill="#FFF" stroke="#000" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe flex-start;justify-content:unsafe center;width:288px;height:1px;padding-top:49px;margin-left:617px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal"><b><font style="font-size:20px">MoveBase</font><br/></b><span style="font-size:15px"><br/>goal={</span><font color="#00f" style="font-size:15px"><b>target</b></font><span style="font-size:15px">}</span><b><br/></b></div></div></div></foreignObject><text x="761" y="67" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">MoveBase...</text></switch></g><rect width="270" height="30" x="626" y="136" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe 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\ No newline at end of file
diff --git a/versioned_docs/version-4.0.2/tutorial-advanced/images/skipIf_example.svg b/versioned_docs/version-4.0.2/tutorial-advanced/images/skipIf_example.svg
deleted file mode 100644
index cb9f58a..0000000
--- a/versioned_docs/version-4.0.2/tutorial-advanced/images/skipIf_example.svg
+++ /dev/null
@@ -1 +0,0 @@
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style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal">Fallback</div></div></div></foreignObject><text x="160" y="36" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">Fallback</text></switch></g><path fill="none" stroke="#000" stroke-miterlimit="10" d="M 86 141 L 86 161.63" pointer-events="stroke"/><path fill="#000" stroke="#000" stroke-miterlimit="10" d="M 86 166.88 L 82.5 159.88 L 86 161.63 L 89.5 159.88 Z" pointer-events="all"/><rect width="120" height="40" x="26" y="101" fill="#FFF" stroke="#000" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe center;width:118px;height:1px;padding-top:121px;margin-left:27px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal">Inverter</div></div></div></foreignObject><text x="86" y="126" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">Inverter</text></switch></g><rect width="190" height="90" x="381" y="11" fill="#FFF" stroke="#000" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe flex-end;justify-content:unsafe center;width:188px;height:1px;padding-top:87px;margin-left:382px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal">OpenDoor</div></div></div></foreignObject><text x="476" y="87" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">OpenDoor</text></switch></g><rect width="170" height="30" x="391" y="21" fill="#fff2cc" stroke="#d6b656" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject width="100%" height="100%" pointer-events="none" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow:visible;text-align:left"><div xmlns="http://www.w3.org/1999/xhtml" style="display:flex;align-items:unsafe center;justify-content:unsafe center;width:168px;height:1px;padding-top:36px;margin-left:392px"><div data-drawio-colors="color: rgb(0, 0, 0);" style="box-sizing:border-box;font-size:0;text-align:center"><div style="display:inline-block;font-size:18px;font-family:Helvetica;color:#000;line-height:1.2;pointer-events:all;white-space:normal;overflow-wrap:normal"><font style="font-size:15px">_skipIf = &quot;!door_closed&quot;</font></div></div></div></foreignObject><text x="476" y="41" fill="#000" font-family="Helvetica" font-size="18" text-anchor="middle">_skipIf = &quot;!door_cl...</text></switch></g></g></svg>
\ No newline at end of file
diff --git a/versioned_docs/version-4.0.2/tutorial-advanced/pre_post_conditions.md b/versioned_docs/version-4.0.2/tutorial-advanced/pre_post_conditions.md
deleted file mode 100644
index a62233d..0000000
--- a/versioned_docs/version-4.0.2/tutorial-advanced/pre_post_conditions.md
+++ /dev/null
@@ -1,149 +0,0 @@
----
-sidebar_position: 2
----
-
-# Pre and Post conditions
-
-Leveraging the power of the scripting language
-introduced in the [previous tutorial](tutorial-advanced/scripting.md),
-BT.CPP 4.x introduces the concept of Pre and Post Conditions,
-i.e scripts that can run either before or after the actual 
-__tick()__ of a Node.
-
-Pre and Post conditions are supported by __all__ the nodes and
- don't need any modifications in your C++ code.
-
-:::caution
-The goal of scripting is __not__ to write complex code,
-but only to improve the readability of the tree and 
-reduce the need for custom C++ Nodes in very simple 
-use cases.
-
-If your scripts become too long, you may want to 
-reconsider your decision to use them.
-:::
-
-## Pre conditions
-
-| Name | Description |
-|-------------|---------|
-| **_skipIf**    |  Skip the execution of this Node, if the condition is true   |
-| **_failureIf** |  Skip and return FAILURE, if the condition is true |
-| **_successIf** |  Skip and return SUCCESS, if the condition is true |
-| **_while**     |  Same as _skipIf, but may also interrupt a RUNNING Node if the condition becomes false. |
-
-### Example
-
-In previous tutorials, we saw how to build an if-then-else
-logic in the tree using a fallback.
-
-The new syntax is much more compact:
-
-![](images/skipIf_example.svg)
-
-Previous approach:
-
-``` xml
-<Fallback>
-    <Inverter>
-        <IsDoorClosed/>
-    </Inverter>
-    <OpenDoor/>
-</Fallback>
-```
-
-If, instead of using a custom ConditionNode __IsDoorOpen__,
-we can store a boolean in an entry called `door_closed`, the XML can be rewritten as:
-
-``` xml
-<OpenDoor _skipIf="!door_closed"/>
-```
-
-## Post conditions
-
-| Name | Description |
-|-------------|---------|
-| **_onSuccess** | Execute this script, if the Node returned SUCCESS |
-| **_onFailure** | Execute this script, if the Node returned FAILURE  |
-| **_post**      | Execute this script, if the Node returned either SUCCESS or FAILURE |
-| **_onHalted**  | Script executed if a RUNNING Node was halted |
-
-
-### Example
-
-In a [tutorial about subtrees](tutorial-basics/tutorial_06_subtree_ports.md),
- we saw how a specific blackboard variable was written based on the result
- of __MoveBase__. 
-
-On the left side, you can see how this logic would be
-implemented in BT.CPP 3.x and how much simpler it is to use post conditions instead.
-Additionally, the new syntax supports **enums**.
-
-![](images/post_example.svg)
-
-Previous version:
-
-``` xml
-<Fallback>
-    <Sequence>
-        <MoveBase  goal="{target}"/>
-        <SetBlackboard output_key="result" value="0" />
-    </Sequence>
-    <ForceFailure>
-        <SetBlackboard output_key="result" value="-1" />
-    </ForceFailure>
-</Fallback>
-```
-
-New implementation:
-
-``` xml
-<MoveBase goal="{target}" 
-          _onSuccess="result:=OK"
-          _onFailure="result:=ERROR"/>
-```
-
-# Design pattern: error codes
-
-One of the areas where Behavior Trees may struggle, when 
-compared to State Machines, is in those patterns where
-a different strategy should be executed based on the 
-result of an Action. 
-
-Since BTs are limited to SUCCESS and FAILURE, that could 
-be unintuitive.
-
-A solution is storing the __result / error code__ in the
-blackboard, but that was cumbersome in version 3.X.
-
-Pre conditions can help us implement more readable code, like this one:
-
-![error_codes.svg](images/error_codes.svg)
-
-In the tree above, we added an Output port __return__ to
-__MoveBase__ and we conditionally take the second or third branch
-of the Sequence based on the value of `error_code`.
-
-# Design pattern: states and declarative trees
-
-Even if the promise of Behavior Tree is to free us from 
-the tyranny of states, but the truth is that sometimes it is
-hard to reason about our application without states.
-
-Using states can make our Tree easier. For instance, we can 
-take a certain branch of the tree only when the robot
-(or a subsystem) is in a particular state.
-
-Consider this Node and its pre/post conditions:
-
-![landing.svg](images/landing.svg)
-
-This node will be executed only if the state is equal to **DO_LANDING** and, once the value of `altitude` is small
-enough, the state is changed to **LANDED**.
-
-Note as DO_LANDING and LANDED are enums, not strings
-
-:::tip
-A surprising side effect of this pattern is that we made our
-Node more __declarative__ i.e. it is easier to move this specific Node/Subtree into a different portion of the tree.
-:::
diff --git a/versioned_docs/version-4.0.2/tutorial-advanced/scripting.md b/versioned_docs/version-4.0.2/tutorial-advanced/scripting.md
deleted file mode 100644
index ac052fe..0000000
--- a/versioned_docs/version-4.0.2/tutorial-advanced/scripting.md
+++ /dev/null
@@ -1,189 +0,0 @@
----
-sidebar_position: 1
----
-
-# Introduction to Scripting
-
-Behavior Tree 4.X introduces a simple but powerful new concept:
-a scripting language with XML.
-
-The implemented scripting language has a familiar syntax; it allows the user to quickly
-read from / write to the variables of the blackboard.
-
-The simpler way to learn how scripting works is using the built-in action __Script__,
-which was introduced in the [second tutorial](tutorial-basics/tutorial_02_basic_ports.md)
-
-## Assignment operators, strings and numbers
-
-Example:
-
-```
-param_A := 42
-param_B = 3.14
-message = 'hello world'
-```
-
-- The first line assigns the number 42 to the blackboard entry __param_A__.
-- The second line assigns the number 3.14 to the blackboard entry __param_B__.
-- The third line assigns the string "hello world" to the blackboard entry __message__.
-
-:::tip
-The difference between the operator __":="__ and __"="__ is that the former
-may create a new entry in the blackboard, if it doesn't exist, whilst the latter will throw
-an exception if the blackboard doesn't contain the entry.
-:::
-
-You can also use __semicolons__ to add multiple
-commands in a single script.
-
-```
-A:= 42; B:=24
-```
-
-### Arithmetic operators and parenthesis 
-
-Example:
-
-```
-param_A := 7
-param_B := 5
-param_B *= 2
-param_C := (param_A * 3) + param_B
-```
-
-The resulting values of `param_B` is 10 and `param_C` is 31. 
-
-The following operators are supported:
-
-| Operator | Assign Operator  | Description |
-|----------|---------|---------|
-| +        |  +=     | Add      |
-| -        |  -=     | Subtract |
-| *        |  *=     | Multiply |
-| /        |  /=     | Divide   |
-
-Note that the addition operator is the only one that also works with string (used to concatenate two strings).
-
-## Bitwise operator and hexadecimal numbers
-
-These operators work only if the value can be cast to
-an integer number.
-
-Using them with a string or real number will
-cause an exception.
-
-Example:
-
-```
-value:= 0x7F
-val_A:= value & 0x0F
-val_B:= value | 0xF0
-```
-
-The value of `val_A` is 0x0F (or 15); `val_B` is 0xFF (or 255). 
-
-| Binary Operators | Description |
-|----------|---------|
-| \|       |  Bitwise or   |
-| &        |  Bitwise and |
-| ^        |  Bitwise xor |
-
-| Unary Operators | Description |
-|----------|---------|
-| ~        |  Negate   |
-
-## Logic and comparison operators
-
-Operators which return a boolean.
-
-Example:
-
-```
-val_A := true
-val_B := 5 > 3
-val_C := (val_A == val_B)
-val_D := (val_A && val_B) || !val_C
-```
-
-| Operators | Description |
-|----------|---------|
-| true/false |  Booleans. Castable to 1 and 0 respectively   |
-| `&&`       |  Logic and |
-| `\|\|`     |  Logic or |
-| `!`        |  Negation |
-| `==`       |  Equality |
-| `!=`       |  Inequality |
-| `<`        |  Less |
-| `<=`       |  Less equal |
-| `>`        |  Greater |
-| `>=`       |  Greater equal |
-
-
-### Ternary operator **if-then-else**
-
-Example:
-
-```
-val_B = (val_A > 1) ? 42 : 24
-```
-
-## C++ example
-
-Demonstration of the scripting language, including how to use enums to 
-represent **integer values**.
-
-The XML:
-
-``` xml
-<root >
-    <BehaviorTree>
-        <Sequence>
-            <Script code=" msg:='hello world' " />
-            <Script code=" A:=THE_ANSWER; B:=3.14; color:=RED " />
-            <Precondition if="A>B && color!=BLUE" else="FAILURE">
-                <Sequence>
-                  <SaySomething message="{A}"/>
-                  <SaySomething message="{B}"/>
-                  <SaySomething message="{msg}"/>
-                  <SaySomething message="{color}"/>
-                </Sequence>
-            </Precondition>
-        </Sequence>
-    </BehaviorTree>
-</root>
-```
-
-The C++ code to register the Nodes and the enums:
-
-``` cpp
-int main()
-{
-  // Simple tree: a sequence of two asynchronous actions,
-  // but the second will be halted because of the timeout.
-
-  BehaviorTreeFactory factory;
-  factory.registerNodeType<SaySomething>("SaySomething");
-
-  enum Color { RED=1, BLUE=2, GREEN=3 };
-  // We can add these enums to the scripting language
-  factory.registerScriptingEnums<Color>();
-
-  // Or we can do it manually
-  factory.registerScriptingEnum("THE_ANSWER", 42);
-
-  auto tree = factory.createTreeFromText(xml_text);
-  tree.tickWhileRunning();
-  return 0;
-}
-```
-
-Expected output:
-
-```
-Robot says: 42.000000
-Robot says: 3.140000
-Robot says: hello world
-Robot says: 1.000000
-```
-
-Note as, under the hood, an ENUM is always interpreted as its numerical value.
diff --git a/versioned_docs/version-4.0.2/tutorial-basics/_category_.json b/versioned_docs/version-4.0.2/tutorial-basics/_category_.json
deleted file mode 100644
index 40e3530..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/_category_.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-  "label": "Tutorial - Basics",
-  "position": 3,
-  "link": {
-    "type": "generated-index",
-    "description": "5 minutes to learn the most important Docusaurus concepts."
-  }
-}
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deleted file mode 100644
index 9246de0..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/images/Tutorial1.svg
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deleted file mode 100644
index 5bd40f9..0000000
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deleted file mode 100644
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diff --git a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_01_first_tree.md b/versioned_docs/version-4.0.2/tutorial-basics/tutorial_01_first_tree.md
deleted file mode 100644
index 98d15e8..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_01_first_tree.md
+++ /dev/null
@@ -1,190 +0,0 @@
----
-sidebar_position: 1
-sidebar_label: 01. Your first Behavior Tree
----
-
-# Your first Behavior Tree
-
-Behavior Trees, similar to State Machines, are nothing more than a mechanism
-to invoke __callbacks__ at the right time under the right conditions. 
-What happens inside these callbacks is up to you.
-
-We will use the expression  __"to invoke the callback"__ and __"to tick"__ interchangeably.
-
-In this tutorial series, most of the time our dummy Actions will simply
-print some information on the console,
-but keep in mind that real "production" code would probably do something
-more complicated.
-
-Further, we will create this simple tree:
-
-![Tutorial1](images/Tutorial1.svg)
-
-## How to create your own ActionNodes
-
-The default (and recommended) way to create a TreeNode is by inheritance.
-
-``` cpp
-// Example of custom SyncActionNode (synchronous action)
-// without ports.
-class ApproachObject : public BT::SyncActionNode
-{
-public:
-  ApproachObject(const std::string& name) :
-      BT::SyncActionNode(name, {})
-  {}
-
-  // You must override the virtual function tick()
-  BT::NodeStatus tick() override
-  {
-    std::cout << "ApproachObject: " << this->name() << std::endl;
-    return BT::NodeStatus::SUCCESS;
-  }
-};
-``` 
-
-As you can see:
-
-- Any instance of a TreeNode has a `name`. This identifier is meant to be 
-  human-readable and it __doesn't__ need to be unique.
- 
-- The method __tick()__ is the place where the actual Action takes place.
-  It must always return a `NodeStatus`, i.e. RUNNING, SUCCESS or FAILURE. 
-
-Alternatively, we can use __dependency injection__ to create a TreeNode given 
-a function pointer (i.e. "functor"). 
-
-The only requirement of the functor is to have either one of these signatures:
-
-``` cpp
-BT::NodeStatus myFunction()
-BT::NodeStatus myFunction(BT::TreeNode& self) 
-```
-
-For example:
-
-``` cpp
-using namespace BT;
-
-// Simple function that return a NodeStatus
-BT::NodeStatus CheckBattery()
-{
-  std::cout << "[ Battery: OK ]" << std::endl;
-  return BT::NodeStatus::SUCCESS;
-}
-
-// We want to wrap into an ActionNode the methods open() and close()
-class GripperInterface
-{
-public:
-  GripperInterface(): _open(true) {}
-    
-  NodeStatus open() 
-  {
-	_open = true;
-	std::cout << "GripperInterface::open" << std::endl;
-	return NodeStatus::SUCCESS;
-  }
-
-  NodeStatus close() 
-  {
-    std::cout << "GripperInterface::close" << std::endl;
-	_open = false;
-	return NodeStatus::SUCCESS;
-  }
-
-private:
-  bool _open; // shared information
-};
-
-``` 
-
-We can build a `SimpleActionNode` from any of these functors:
-
-- CheckBattery()
-- GripperInterface::open()
-- GripperInterface::close()
-
-## Create a tree dynamically with an XML
-
-Let's consider the following XML file named __my_tree.xml__:
-
-
-``` xml
- <root BTCPP_format="4" >
-     <BehaviorTree ID="MainTree">
-        <Sequence name="root_sequence">
-            <CheckBattery   name="check_battery"/>
-            <OpenGripper    name="open_gripper"/>
-            <ApproachObject name="approach_object"/>
-            <CloseGripper   name="close_gripper"/>
-        </Sequence>
-     </BehaviorTree>
- </root>
-```
-
-:::tip
-You can find more details about the XML schema [here](learn-the-basics/xml_format.md).
-:::
-
-We must first register our custom TreeNodes into the `BehaviorTreeFactory`
- and then load the XML from file or text.
-
-The identifier used in the XML must coincide with those used to register
-the TreeNodes.
-
-The attribute "name" represents the name of the instance; **it is optional**.
-
-
-``` cpp
-#include "behaviortree_cpp/bt_factory.h"
-
-// file that contains the custom nodes definitions
-#include "dummy_nodes.h"
-using namespace DummyNodes;
-
-int main()
-{
-    // We use the BehaviorTreeFactory to register our custom nodes
-  BehaviorTreeFactory factory;
-
-  // The recommended way to create a Node is through inheritance.
-  factory.registerNodeType<ApproachObject>("ApproachObject");
-
-  // Registering a SimpleActionNode using a function pointer.
-  // Here we prefer to use a lambda,but you can use std::bind too
-  factory.registerSimpleCondition("CheckBattery", [&](){ return CheckBattery(); });
-
-  // You can also create SimpleActionNodes using methods of a class.
-  GripperInterface gripper;
-  factory.registerSimpleAction("OpenGripper", [&](){ return gripper.open(); } );
-  factory.registerSimpleAction("CloseGripper", [&](){ return gripper.close(); } );
-
-  // Trees are created at deployment-time (i.e. at run-time, but only 
-  // once at the beginning). 
-    
-  // IMPORTANT: when the object "tree" goes out of scope, all the 
-  // TreeNodes are destroyed
-   auto tree = factory.createTreeFromFile("./my_tree.xml");
-
-  // To "execute" a Tree you need to "tick" it.
-  // The tick is propagated to the children based on the logic of the tree.
-  // In this case, the entire sequence is executed, because all the children
-  // of the Sequence return SUCCESS.
-  tree.tickWhileRunning();
-
-  return 0;
-}
-
-/* Expected output:
-*
-  [ Battery: OK ]
-  GripperInterface::open
-  ApproachObject: approach_object
-  GripperInterface::close
-*/
-
-``` 
-
-
-
diff --git a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_02_basic_ports.md b/versioned_docs/version-4.0.2/tutorial-basics/tutorial_02_basic_ports.md
deleted file mode 100644
index d046eff..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_02_basic_ports.md
+++ /dev/null
@@ -1,226 +0,0 @@
----
-sidebar_position: 2
-sidebar_label: 02. Blackboard and ports
----
-
-# Blackboard and ports
-
-As we explained earlier, custom TreeNodes can be used to execute an arbitrarily
-simple or complex piece of software. Their goal is to provide an interface
-with a __higher level of abstraction__.
-
-For this reason, they are not conceptually different from __functions__.
-
-Similar to functions, we often want to:
-
- - pass arguments/parameters to a Node (__inputs__)
- - get some kind of information out from a Node (__outputs__).
- - The outputs of a Node can be the inputs of another node. 
-
-BehaviorTree.CPP provides a basic mechanism of __dataflow__
-through __ports__, that is simple to use but also flexible and type-safe.
-
-In this tutorial, we will create the following tree:
-
-![Tutorial2](images/tutorial_blackboard.svg)
-
-:::tip Main Concepts
-- A "Blackboard" is a simple __key/value storage__ shared by all the nodes
-of the Tree. 
-- An "entry" of the Blackboard is a __key/value pair__.
-- An __Input port__ can read an entry in the Blackboard, whilst an __Output port__
-can write into an entry.
-:::
-
-## Inputs ports
-
-A valid input can be either:
-
-- a __static string__ that the Node will read and parse, or
-- a "pointer" to an entry of the Blackboard, identified by a __key__.
-
-Let's suppose that we want to create an ActionNode called `SaySomething`, 
-that should print a given string on `std::cout`.
-
-To pass this string, we will use an input port called __message__.
-
-Consider these alternative XML syntaxes:
-
-``` xml
-<SaySomething name="fist"   message="hello world" />
-<SaySomething name="second" message="{greetings}" />
-```
-
-- In the __first__ node, the port receives the string "hello world";
-- The __second__ node, instead, is asked to find the value in the blackboard,
-using the entry "greetings".
-
-:::caution
-The value of the entry "greetings" can (and probably will) change at run-time.
-:::
-
-The ActionNode `SaySomething` can be implemented as follows:
-
-``` cpp
-// SyncActionNode (synchronous action) with an input port.
-class SaySomething : public SyncActionNode
-{
-public:
-  // If your Node has ports, you must use this constructor signature 
-  SaySomething(const std::string& name, const NodeConfig& config)
-    : SyncActionNode(name, config)
-  { }
-
-  // It is mandatory to define this STATIC method.
-  static PortsList providedPorts()
-  {
-    // This action has a single input port called "message"
-    return { InputPort<std::string>("message") };
-  }
-
-  // Override the virtual function tick()
-  NodeStatus tick() override
-  {
-    Expected<std::string> msg = getInput<std::string>("message");
-    // Check if expected is valid. If not, throw its error
-    if (!msg)
-    {
-      throw BT::RuntimeError("missing required input [message]: ", 
-                              msg.error() );
-    }
-    // use the method value() to extract the valid message.
-    std::cout << "Robot says: " << msg.value() << std::endl;
-    return NodeStatus::SUCCESS;
-  }
-};
-```
-
-When a custom TreeNode has input and/or output ports, these ports must be 
-declared in the __static__ method:
-
-``` cpp
-static MyCustomNode::PortsList providedPorts();
-```
-
-The input from the port `message` can be read using the template method 
-`TreeNode::getInput<T>(key)`.
-
-This method may fail for multiple reasons. It is up to the user to
-check the validity of the returned value and to decide what to do:
-
-- Return `NodeStatus::FAILURE`?
-- Throw an exception?
-- Use a different default value?
-
-:::caution Important
-It is __always__ recommended to call the method `getInput()` inside the 
-`tick()`, and __not__ in the constructor of the class.
-     
-The C++ code should expect the actual value of the input
-to __change at run-time__, and for this reason, it should be updated 
-periodically. 
-:::
-
-## Output ports
-
-An input port pointing to the entry of the blackboard will be valid only
-if another node has already written "something" inside that same entry.
-
-`ThinkWhatToSay` is an example of Node that uses an __output port__ to write a 
-string into an entry.
-
-``` cpp
-class ThinkWhatToSay : public SyncActionNode
-{
-public:
-  ThinkWhatToSay(const std::string& name, const NodeConfig& config)
-    : SyncActionNode(name, config)
-  { }
-
-  static PortsList providedPorts()
-  {
-    return { OutputPort<std::string>("text") };
-  }
-
-  // This Action writes a value into the port "text"
-  NodeStatus tick() override
-  {
-    // the output may change at each tick(). Here we keep it simple.
-    setOutput("text", "The answer is 42" );
-    return NodeStatus::SUCCESS;
-  }
-};
-```
-
-Alternatively, most of the time for debugging purposes, it is possible to write a
-static value into an entry using the built-in Actions called `Script`.
-
-``` xml
-<Script code=" the_answer:='The answer is 42' " />
-```
-
-We will talk more about the Action __Script__ in the tutorial
-about the [new scripting language inside BT.CPP](tutorial-advanced/scripting.md)
-
-:::tip
-If you are migrating from BT.CPP 3.X, __Script__ is a drop-in replacement
-for __SetBlackboard__, which is now discouraged.
-:::
-
-## A complete example
-
-In this example, a Sequence of 3 Actions is executed:
-
-- Action 1 reads the input `message` from a static string.
-
-- Action 2 writes something into the entry of the blackboard called `the_answer`.
-
-- Action 3 read the input `message` from an entry in the blackboard called `the_answer`.
-
-``` xml
-<root BTCPP_format="4" >
-    <BehaviorTree ID="MainTree">
-       <Sequence name="root_sequence">
-           <SaySomething     message="hello" />
-           <ThinkWhatToSay   text="{the_answer}"/>
-           <SaySomething     message="{the_answer}" />
-       </Sequence>
-    </BehaviorTree>
-</root>
-```
-
-The C++ code to register and execute the tree:
-
-``` cpp
-#include "behaviortree_cpp/bt_factory.h"
-
-// file that contains the custom nodes definitions
-#include "dummy_nodes.h"
-using namespace DummyNodes;
-
-int main()
-{  
-  BehaviorTreeFactory factory;
-  factory.registerNodeType<SaySomething>("SaySomething");
-  factory.registerNodeType<ThinkWhatToSay>("ThinkWhatToSay");
-
-  auto tree = factory.createTreeFromFile("./my_tree.xml");
-  tree.tickWhileRunning();
-  return 0;
-}
-
-/*  Expected output:
-  Robot says: hello
-  Robot says: The answer is 42
-*/
-```
-
-We "connect" output ports to input ports using the same key (`the_answer`);
-in other words, they "point" to the same entry of the blackboard.
-
-These ports can be connected to each other because their type is the same,
-i.e. `std::string`. if you try to connect ports with different types, 
-the method `factory.createTreeFromFile` will throw an exception.
-
-
-
diff --git a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_03_generic_ports.md b/versioned_docs/version-4.0.2/tutorial-basics/tutorial_03_generic_ports.md
deleted file mode 100644
index 957705e..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_03_generic_ports.md
+++ /dev/null
@@ -1,177 +0,0 @@
----
-sidebar_position: 3
-sidebar_label: 03. Ports with generic types
----
-
-# Ports with generic types
-
-In the previous tutorials we introduced input and output ports, where the
-type of the port was a `std::string`.
-
-Next, we will show how to assign generic C++ types to your ports.
-
-## Parsing a string
-
-__BehaviorTree.CPP__ supports the automatic conversion of strings into common
-types, such as `int`, `long`, `double`, `bool`, `NodeStatus`, etc.
-User-defined types can be supported easily as well. 
-
-For instance:
-
-``` cpp
-// We want to use this custom type
-struct Position2D 
-{ 
-  double x;
-  double y; 
-};
-```
-
-To allow the XML loader to instantiate a `Position2D` from a string,
-we need to provide a template 
-specialization of `BT::convertFromString<Position2D>(StringView)`.
-
-It is up to you how `Position2D` is serialized into a string; in this case, 
-we simply separate two numbers with a _semicolon_.
-
-``` cpp
-// Template specialization to converts a string to Position2D.
-namespace BT
-{
-    template <> inline Position2D convertFromString(StringView str)
-    {
-        // We expect real numbers separated by semicolons
-        auto parts = splitString(str, ';');
-        if (parts.size() != 2)
-        {
-            throw RuntimeError("invalid input)");
-        }
-        else
-        {
-            Position2D output;
-            output.x     = convertFromString<double>(parts[0]);
-            output.y     = convertFromString<double>(parts[1]);
-            return output;
-        }
-    }
-} // end namespace BT
-```
-
-- `StringView` is a C++11 version of [std::string_view](https://en.cppreference.com/w/cpp/header/string_view). 
-   You can pass either a `std::string` or a `const char*`.
--  The library provides a simple `splitString` function. Feel free to use another
-   one, like [boost::algorithm::split](https://www.boost.org/doc/libs/1_80_0/doc/html/boost/algorithm/split.html).
--  We can use the specialization `convertFromString<double>()`.  
-   
-## Example
-
-As we did in the previous tutorial, we can create two custom Actions,
-one will write into a port and the other will read from a port.
-
-``` cpp
-class CalculateGoal: public SyncActionNode
-{
-  public:
-    CalculateGoal(const std::string& name, const NodeConfig& config):
-      SyncActionNode(name,config)
-    {}
-
-    static PortsList providedPorts()
-    {
-      return { OutputPort<Position2D>("goal") };
-    }
-
-    NodeStatus tick() override
-    {
-      Position2D mygoal = {1.1, 2.3};
-      setOutput<Position2D>("goal", mygoal);
-      return NodeStatus::SUCCESS;
-    }
-};
-
-class PrintTarget: public SyncActionNode
-{
-  public:
-    PrintTarget(const std::string& name, const NodeConfig& config):
-        SyncActionNode(name,config)
-    {}
-
-    static PortsList providedPorts()
-    {
-      // Optionally, a port can have a human readable description
-      const char*  description = "Simply print the goal on console...";
-      return { InputPort<Position2D>("target", description) };
-    }
-      
-    NodeStatus tick() override
-    {
-      auto res = getInput<Position2D>("target");
-      if( !res )
-      {
-        throw RuntimeError("error reading port [target]:", res.error());
-      }
-      Position2D target = res.value();
-      printf("Target positions: [ %.1f, %.1f ]\n", target.x, target.y );
-      return NodeStatus::SUCCESS;
-    }
-};
-```   
-
-We can now connect input/output ports as usual, pointing to the same 
-entry of the Blackboard.
-
-The tree in the next example is a Sequence of 4 actions:
-
-- Store a value of `Position2D` in the entry __GoalPosition__,
-  using the action `CalculateGoal`.
-
-- Call `PrintTarget`. The input "target" will be read from the Blackboard
-  entry __GoalPosition__.
-
-- Use the built-in action `Script` to assign the string "-1;3" to the key __OtherGoal__.
-  The conversion from string to `Position2D` will be done automatically.
-
-- Call `PrintTarget` again. The input "target" will be read from the
-  entry __OtherGoal__.
-
-
-``` cpp  
-static const char* xml_text = R"(
-
- <root BTCPP_format="4" >
-     <BehaviorTree ID="MainTree">
-        <Sequence name="root">
-            <CalculateGoal goal="{GoalPosition}" />
-            <PrintTarget   target="{GoalPosition}" />
-            <Script        code=" OtherGoal:='-1;3' " />
-            <PrintTarget   target="{OtherGoal}" />
-        </Sequence>
-     </BehaviorTree>
- </root>
- )";
-
-int main()
-{
-  BT::BehaviorTreeFactory factory;
-  factory.registerNodeType<CalculateGoal>("CalculateGoal");
-  factory.registerNodeType<PrintTarget>("PrintTarget");
-
-  auto tree = factory.createTreeFromText(xml_text);
-  tree.tickWhileRunning();
-
-  return 0;
-}
-/* Expected output:
-
-    Target positions: [ 1.1, 2.3 ]
-    Converting string: "-1;3"
-    Target positions: [ -1.0, 3.0 ]
-*/
-```  
-
-
-
-
-
-
-   
diff --git a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_04_sequence.md b/versioned_docs/version-4.0.2/tutorial-basics/tutorial_04_sequence.md
deleted file mode 100644
index 5fd424f..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_04_sequence.md
+++ /dev/null
@@ -1,275 +0,0 @@
----
-sidebar_position: 4
-sidebar_label: 04. Reactive behaviors
----
-
-# Reactive and Asynchronous behaviors
-
-The next example shows the difference between a `SequenceNode` and a 
-`ReactiveSequence`.
-
-We will implement an __Asynchronous Action__, i.e. an action that
-takes a long time to be completed and will return RUNNING while
-the completion criterias are not met.
-
-An Asynchronous Action has the following requirements:
-
-- It should not block in the method `tick()` too much time.
-The flow of execution should be returned as fast as possible.
-
-- It should be aborted as fast as possible, if the `halt()` method is called.
-
-:::caution 
-### Learn more about Asynchronous Actions
-
-Users should fully understand how Concurrency is achieved in BT.CPP
-and learn best practices about how to develop their own Asynchronous
-Actions. You will find an extensive article 
-[here](tutorial-advanced/asynchronous_nodes.md).
-:::
-
-## StatefulActionNode
-
-The __StatefulActionNode__ is the preferred way to implement asynchronous Actions.
-
-It is particularly useful when your code contains a __request-reply pattern__,
-i.e. when the action sends an asynchronous request to another process,
-and checks periodically if the reply has been received.
-
-Based on that reply, it may return SUCCESS or FAILURE.
-
-If instead of communicating with an external process, you are performing some
-computation that takes a long time, you may want to split it into small "chunks" 
-or you may want to move that computation to another thread 
-(see [AsyncThreadedAction](tutorial-advanced/asynchronous_nodes.md) tutorial).
-
-A derived class of __StatefulActionNode__ must override the following virtual methods,
-instead of `tick()`:
-
-- `NodeStatus onStart()`: called when the Node was in IDLE state.
-It may succeed or fail immediately or return RUNNING. In the latter case,
-the next time the tick is received the method `onRunning` will be executed.
-
-- `NodeStatus onRunning()`: called when the Node is in RUNNING state.
-  Return the new status.
-
-- `void onHalted()`: called when this Node was aborted by another Node
-in the tree.
-
-Let's create a dummy Node called __MoveBaseAction__:
-
-``` cpp
-// Custom type
-struct Pose2D
-{
-    double x, y, theta;
-};
-
-namespace chr = std::chrono;
-
-class MoveBaseAction : public BT::StatefulActionNode
-{
-  public:
-    // Any TreeNode with ports must have a constructor with this signature
-    MoveBaseAction(const std::string& name, const BT::NodeConfig& config)
-      : StatefulActionNode(name, config)
-    {}
-
-    // It is mandatory to define this static method.
-    static BT::PortsList providedPorts()
-    {
-        return{ BT::InputPort<Pose2D>("goal") };
-    }
-
-    // this function is invoked once at the beginning.
-    BT::NodeStatus onStart() override;
-
-    // If onStart() returned RUNNING, we will keep calling
-    // this method until it return something different from RUNNING
-    BT::NodeStatus onRunning() override;
-
-    // callback to execute if the action was aborted by another node
-    void onHalted() override;
-
-  private:
-    Pose2D _goal;
-    chr::system_clock::time_point _completion_time;
-};
-
-//-------------------------
-
-BT::NodeStatus MoveBaseAction::onStart()
-{
-  if ( !getInput<Pose2D>("goal", _goal))
-  {
-    throw BT::RuntimeError("missing required input [goal]");
-  }
-  printf("[ MoveBase: SEND REQUEST ]. goal: x=%f y=%f theta=%f\n",
-         _goal.x, _goal.y, _goal.theta);
-
-  // We use this counter to simulate an action that takes a certain
-  // amount of time to be completed (200 ms)
-  _completion_time = chr::system_clock::now() + chr::milliseconds(220);
-
-  return BT::NodeStatus::RUNNING;
-}
-
-BT::NodeStatus MoveBaseAction::onRunning()
-{
-  // Pretend that we are checking if the reply has been received
-  // you don't want to block inside this function too much time.
-  std::this_thread::sleep_for(chr::milliseconds(10));
-
-  // Pretend that, after a certain amount of time,
-  // we have completed the operation
-  if(chr::system_clock::now() >= _completion_time)
-  {
-    std::cout << "[ MoveBase: FINISHED ]" << std::endl;
-    return BT::NodeStatus::SUCCESS;
-  }
-  return BT::NodeStatus::RUNNING;
-}
-
-void MoveBaseAction::onHalted()
-{
-  printf("[ MoveBase: ABORTED ]");
-}
-```
-
-## Sequence VS ReactiveSequence
-
-The following example should use a simple `SequenceNode`.
-
-``` xml hl_lines="3"
- <root BTCPP_format="4">
-     <BehaviorTree>
-        <Sequence>
-            <BatteryOK/>
-            <SaySomething   message="mission started..." />
-            <MoveBase           goal="1;2;3"/>
-            <SaySomething   message="mission completed!" />
-        </Sequence>
-     </BehaviorTree>
- </root>
-```
-
-``` cpp
-int main()
-{
-  BT::BehaviorTreeFactory factory;
-  factory.registerSimpleCondition("BatteryOK", std::bind(CheckBattery));
-  factory.registerNodeType<MoveBaseAction>("MoveBase");
-  factory.registerNodeType<SaySomething>("SaySomething");
-
-  auto tree = factory.createTreeFromText(xml_text);
- 
-  // Here, instead of tree.tickWhileRunning(),
-  // we prefer our own loop.
-  std::cout << "--- ticking\n";
-  status = tree.tickOnce();
-  std::cout << "--- status: " << toStr(status) << "\n\n";
-
-  while(status == NodeStatus::RUNNING) 
-  {
-    // Sleep to avoid busy loops.
-    // do NOT use other sleep functions!
-    // Small sleep time is OK, here we use a large one only to
-    // have less messages on the console.
-    tree.sleep(std::chrono::milliseconds(100));
-
-    std::cout << "--- ticking\n";
-    status = tree.tickOnce();
-    std::cout << "--- status: " << toStr(status) << "\n\n";
-  }
-
-  return 0;
-}
-```
-
-Expected output:
-
-``` 
---- ticking
-[ Battery: OK ]
---- status: RUNNING
-
---- ticking
-Robot says: mission started...
---- status: RUNNING
-
---- ticking
-[ MoveBase: SEND REQUEST ]. goal: x=1.0 y=2.0 theta=3.0
---- status: RUNNING
-
---- ticking
---- status: RUNNING
-
---- ticking
-[ MoveBase: FINISHED ]
-Robot says: mission completed!
---- status: SUCCESS
-```
-
-You may have noticed that when `executeTick()` was called, `MoveBase` returned
-__RUNNING__ the 1st and 2nd time, and eventually __SUCCESS__ the 3rd time.
-
-`BatteryOK` is executed only once. 
-
-If we use a `ReactiveSequence` instead, when the child `MoveBase` returns RUNNING,
-the sequence is restarted and the condition `BatteryOK` is executed __again__.
-
-If at any point, `BatteryOK` returned __FAILURE__, the `MoveBase` action
-would be _interrupted_ (_halted_, to be specific).
-
-``` xml hl_lines="3"
- <root>
-     <BehaviorTree>
-        <ReactiveSequence>
-            <BatteryOK/>
-            <Sequence>
-                <SaySomething   message="mission started..." />
-                <MoveBase           goal="1;2;3"/>
-                <SaySomething   message="mission completed!" />
-            </Sequence>
-        </ReactiveSequence>
-     </BehaviorTree>
- </root>
-```
-
-Expected output:
-
-``` 
---- ticking
-[ Battery: OK ]
-Robot says: mission started...
---- status: RUNNING
-
---- ticking
-[ Battery: OK ]
-[ MoveBase: SEND REQUEST ]. goal: x=1.0 y=2.0 theta=3.0
---- status: RUNNING
-
---- ticking
-[ Battery: OK ]
---- status: RUNNING
-
---- ticking
-[ Battery: OK ]
-[ MoveBase: FINISHED ]
-Robot says: mission completed!
---- status: SUCCESS
-```
-
-## Event Driven trees?
-
-:::tip
-We used the command `tree.sleep()` instead of `std::this_thread::sleep_for()` for a reason!!!
-:::
-
-The method `Tree::sleep()` should be preferred, because it can be interrupted by a Node in the tree when
-"something changed".
-
-`Tree::sleep()` will be interrupted when the method `TreeNode::emitStateChanged()` is invoked.
-
-
-
diff --git a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_05_subtrees.md b/versioned_docs/version-4.0.2/tutorial-basics/tutorial_05_subtrees.md
deleted file mode 100644
index c085655..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_05_subtrees.md
+++ /dev/null
@@ -1,144 +0,0 @@
----
-sidebar_position: 5
-sidebar_label: 05. Using SubTrees
----
-
-# Compose behaviors using Subtrees 
-
-We can build large-scale behavior by inserting smaller and reusable
-behaviors into larger ones.
-
-In other words, we want to create __hierarchical__ behavior trees and make 
-our trees __composable__. 
-
-This can be achieved by defining multiple trees in the XML and using the
-node __SubTree__ to include one tree into the other.
-
-# CrossDoor behavior
-
-This example is inspired by a popular 
-[article about behavior trees](http://www.gamasutra.com/blogs/ChrisSimpson/20140717/221339/Behavior_trees_for_AI_How_they_work.php).
-
-It is also the first practical example that uses `Decorators` and `Fallback`.
-
-![crossdoor_subtree.svg](images/crossdoor_subtree.svg)
-
-``` xml
-<root BTCPP_format="4">
-
-    <BehaviorTree ID="MainTree">
-        <Sequence>
-            <Fallback>
-                <Inverter>
-                    <IsDoorClosed/>
-                </Inverter>
-                // highlight-next-line
-                <SubTree ID="DoorClosed"/>
-            </Fallback>
-            <PassThroughDoor/>
-        </Sequence>
-    </BehaviorTree>
-
-    <BehaviorTree ID="DoorClosed">
-        <Fallback>
-            <OpenDoor/>
-            <RetryUntilSuccessful num_attempts="5">
-                <PickLock/>
-            </RetryUntilSuccessful>
-            <SmashDoor/>
-        </Fallback>
-    </BehaviorTree>
-    
-</root>
-```
-
-The desired behavior is:
-
-- If the door is open, `PassThroughDoor`.
-- If the door is closed, try `OpenDoor`, or 
-try `PickLock` up to 5 times or, finally, `SmashDoor`.
-- If at least one of the actions in the `DoorClosed` subtree succeeded,
-then `PassThroughDoor`.
-
-
-## The CPP code
-
-We will not show the detailed implementation of the dummy actions
-in `CrossDoor`.
-
-The only interesting piece of code is probably `registerNodes`.
-
-``` cpp
-
-class CrossDoor
-{
-public:
-    void registerNodes(BT::BehaviorTreeFactory& factory);
-
-    // SUCCESS if _door_open == true
-    BT::NodeStatus isDoorClosed();
-
-    // SUCCESS if _door_open == true
-    BT::NodeStatus passThroughDoor();
-
-    // After 3 attempts, will open a locked door
-    BT::NodeStatus pickLock();
-
-    // FAILURE if door locked
-    BT::NodeStatus openDoor();
-
-    // WILL always open a door
-    BT::NodeStatus smashDoor();
-
-private:
-    bool _door_open   = false;
-    bool _door_locked = true;
-    int _pick_attempts = 0;
-};
-
-// Helper method to make registering less painful for the user
-void CrossDoor::registerNodes(BT::BehaviorTreeFactory &factory)
-{
-  factory.registerSimpleCondition(
-      "IsDoorClosed", std::bind(&CrossDoor::isDoorClosed, this));
-
-  factory.registerSimpleAction(
-      "PassThroughDoor", std::bind(&CrossDoor::passThroughDoor, this));
-
-  factory.registerSimpleAction(
-      "OpenDoor", std::bind(&CrossDoor::openDoor, this));
-
-  factory.registerSimpleAction(
-      "PickLock", std::bind(&CrossDoor::pickLock, this));
-
-  factory.registerSimpleCondition(
-      "SmashDoor", std::bind(&CrossDoor::smashDoor, this));
-}
-
-int main()
-{
-  BehaviorTreeFactory factory;
-
-  CrossDoor cross_door;
-  cross_door.registerNodes(factory);
-
-  // In this example a single XML contains multiple <BehaviorTree>
-  // To determine which one is the "main one", we should first register
-  // the XML and then allocate a specific tree, using its ID
-
-  factory.registerBehaviorTreeFromText(xml_text);
-  auto tree = factory.createTree("MainTree");
-
-  // helper function to print the tree
-  printTreeRecursively(tree.rootNode());
-
-  tree.tickWhileRunning();
-
-  return 0;
-}
-
-```
-
-
-
-
diff --git a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_06_subtree_ports.md b/versioned_docs/version-4.0.2/tutorial-basics/tutorial_06_subtree_ports.md
deleted file mode 100644
index 2afbc0d..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_06_subtree_ports.md
+++ /dev/null
@@ -1,105 +0,0 @@
----
-sidebar_position: 6
-sidebar_label: 06. Port Remapping 
----
-
-# Remapping ports of a SubTrees 
-
-In the CrossDoor example, we saw that a `SubTree` looks like a single
-leaf Node from the point of view of its parent tree.
-
-To avoid name clashing in very large trees, any tree and subtree
-use a different instance of the Blackboard.
-
-For this reason, we need to explicitly connect the ports of a tree to those
-of its subtrees.
-
-You __won't__ need to modify your C++ implementation since this 
-remapping is done entirely in the XML definition.
-
-## Example
-
-Let's consider this Behavior Tree.
-
-![port_remapping.svg](images/port_remapping.svg)
-
-``` xml
-<root BTCPP_format="4">
-
-    <BehaviorTree ID="MainTree">
-        <Sequence>
-            <Script script=" move_goal='1;2;3' " />
-            // highlight-start
-            <SubTree ID="MoveRobot" target="{move_goal}" 
-                                    result="{move_result}" />
-            // highlight-end
-            <SaySomething message="{move_result}"/>
-        </Sequence>
-    </BehaviorTree>
-
-    <BehaviorTree ID="MoveRobot">
-        <Fallback>
-            <Sequence>
-                <MoveBase  goal="{target}"/>
-                <Script script=" result:='goal reached' " />
-            </Sequence>
-            <ForceFailure>
-                <Script script=" result:='error' " />
-            </ForceFailure>
-        </Fallback>
-    </BehaviorTree>
-
-</root>
-```
-
-You may notice that:
-
-- We have a `MainTree` that includes a subtree called `MoveRobot`.
-- We want to "connect" (i.e. "remap") ports inside the `MoveRobot` subtree
-with other ports in the `MainTree`.
-- This is done with the syntax used in the example above.
-
-# The CPP code
-
-Not much to be done here. We use the `debugMessage` method to
-inspect the value of the blackboard.
-
-``` cpp
-int main()
-{
-  BT::BehaviorTreeFactory factory;
-
-  factory.registerNodeType<SaySomething>("SaySomething");
-  factory.registerNodeType<MoveBaseAction>("MoveBase");
-
-  factory.registerBehaviorTreeFromText(xml_text);
-  auto tree = factory.createTree("MainTree");
-
-  // Keep ticking until the end
-  tree.tickWhileRunning();
-
-  // let's visualize some information about the current state of the blackboards.
-  std::cout << "\n------ First BB ------" << std::endl;
-  tree.subtrees[0]->blackboard->debugMessage();
-  std::cout << "\n------ Second BB------" << std::endl;
-  tree.subtrees[1]->blackboard->debugMessage();
-
-  return 0;
-}
-
-/* Expected output:
-
------- First BB ------
-move_result (std::string)
-move_goal (Pose2D)
-
------- Second BB------
-[result] remapped to port of parent tree [move_result]
-[target] remapped to port of parent tree [move_goal]
-
-*/
-```
-
-
-
-
diff --git a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_07_multiple_xml.md b/versioned_docs/version-4.0.2/tutorial-basics/tutorial_07_multiple_xml.md
deleted file mode 100644
index ffc1c7d..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_07_multiple_xml.md
+++ /dev/null
@@ -1,138 +0,0 @@
----
-sidebar_position: 7
-sidebar_label: 07. Use multiple XML files
----
-
-# How to use multiple XML files
-
-In the examples we have presented, we always create an entire Tree
-and its SubTrees from a **single XML file**.
-
-But as the number of SubTrees grows, it is convenient to use multiple files.
-
-## Our subtrees
-
-File **subtree_A.xml**:
-
-``` xml
-<root>
-    <BehaviorTree ID="SubTreeA">
-        <SaySomething message="Executing Sub_A" />
-    </BehaviorTree>
-</root>
-```
-
-File **subtree_B.xml**:
-
-``` xml 
-<root>
-    <BehaviorTree ID="SubTreeB">
-        <SaySomething message="Executing Sub_B" />
-    </BehaviorTree>
-</root>
-```
-
-## Load multiple files manually (recommended)
-
-Let's consider a file **main_tree.xml** that should include the other 2 files:
-
-``` xml 
-<root>
-    <BehaviorTree ID="MainTree">
-        <Sequence>
-            <SaySomething message="starting MainTree" />
-            // highlight-start
-            <SubTree ID="SubTreeA" />
-            <SubTree ID="SubTreeB" />
-            // highlight-end
-        </Sequence>
-    </BehaviorTree>
-<root>
-```
-
-To load multiple files manually:
-
-``` cpp
-int main()
-{
-  BT::BehaviorTreeFactory factory;
-  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
-
-  // Find all the XML files in a folder and register all of them.
-  // We will use std::filesystem::directory_iterator
-  std::string search_directory = "./";
-
-  using std::filesystem::directory_iterator;
-  for (auto const& entry : directory_iterator(search_directory)) 
-  {
-    if( entry.path().extension() == ".xml")
-    {
-      factory.registerBehaviorTreeFromFile(entry.path().string());
-    }
-  }
-  // This, in our specific case, would be equivalent to
-  // factory.registerBehaviorTreeFromFile("./main_tree.xml");
-  // factory.registerBehaviorTreeFromFile("./subtree_A.xml");
-  // factory.registerBehaviorTreeFromFile("./subtree_B.xml");
-
-  // You can create the MainTree and the subtrees will be added automatically.
-  std::cout << "----- MainTree tick ----" << std::endl;
-  auto main_tree = factory.createTree("MainTree");
-  main_tree.tickWhileRunning();
-
-  // ... or you can create only one of the subtrees
-  std::cout << "----- SubA tick ----" << std::endl;
-  auto subA_tree = factory.createTree("SubTreeA");
-  subA_tree.tickWhileRunning();
-
-  return 0;
-}
-/* Expected output:
-
-Registered BehaviorTrees:
- - MainTree
- - SubTreeA
- - SubTreeB
------ MainTree tick ----
-Robot says: starting MainTree
-Robot says: Executing Sub_A
-Robot says: Executing Sub_B
------ SubA tick ----
-Robot says: Executing Sub_A
-```
-
-## Add multiple files with "include"
-
-If you prefer to move the information of the trees
-to include into the XML itself, you can modify **main_tree.xml** as shown below:
-
-
-``` xml
-<root BTCPP_format="4">
-    // highlight-start
-    <include path="./subtree_A.xml" />
-    <include path="./subtree_B.xml" />
-    <BehaviorTree ID="MainTree">
-    // highlight-end
-        <Sequence>
-            <SaySomething message="starting MainTree" />
-            <SubTree ID="SubTreeA" />
-            <SubTree ID="SubTreeB" />
-        </Sequence>
-    </BehaviorTree>
-<root>
-```
-
-As you may notice, we included two relative paths in **main_tree.xml**
-that tells `BehaviorTreeFactory` where to find the required dependencies.
-
-Paths are relative to **main_tree.xml**.
-
-We can now create the tree as usual:
-
-``` cpp
-factory.createTreeFromFile("main_tree.xml")
-```
-
-
-
diff --git a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_08_additional_args.md b/versioned_docs/version-4.0.2/tutorial-basics/tutorial_08_additional_args.md
deleted file mode 100644
index 3c16d75..0000000
--- a/versioned_docs/version-4.0.2/tutorial-basics/tutorial_08_additional_args.md
+++ /dev/null
@@ -1,133 +0,0 @@
----
-sidebar_position: 8
-sidebar_label: 08. Pass additional arguments
----
-
-# Pass additional arguments to your Nodes
-
-In every single example we explored so far, we were "forced" to provide a
-constructor with the following signature
-
-``` cpp
-MyCustomNode(const std::string& name, const NodeConfig& config);
-
-```
-
-In some cases, it is desirable to pass 
-additional arguments, parameters, pointers, references, etc,
-to the constructor of our class.
-
-:::caution
-Some people use blackboards to do that. **Don't**.
-:::
-
-We will just use the word _"arguments"_ for the rest of the tutorial.
-
-Even if, theoretically, these arguments **could** be passed using Input Ports,
-that would be the wrong way to do it if:
-
-- The arguments are known at _deployment-time_ (when building the tree).
-- The arguments don't change at _run-time_.
-- The arguments don't need to be set from the XML.
-
-If all these conditions are met, using ports or the blackboard is highly discouraged.
-
-## Add arguments to your constructor (recommended)
-
-Consider the following custom node called **Action_A**.
-
-We want to pass two additional arguments; they can be arbitrarily complex objects,
-you are not limited to built-in types.
-
-``` cpp
-// Action_A has a different constructor than the default one.
-class Action_A: public SyncActionNode
-{
-
-public:
-    // additional arguments passed to the constructor
-    Action_A(const std::string& name, const NodeConfig& config,
-             int arg_int, std::string arg_str):
-        SyncActionNode(name, config),
-        _arg1(arg_int),
-        _arg2(arg_str) {}
-
-    // this example doesn't require any port
-    static PortsList providedPorts() { return {}; }
-
-    // tick() can access the private members
-    NodeStatus tick() override;
-
-private:
-    int _arg1;
-    std::string _arg2;
-};
-```
-
-Registering this node and passing the known arguments is as easy as:
-
-``` cpp
-BT::BehaviorTreeFactory factory;
-factory.registerNodeType<Action_A>("Action_A", 42, "hello world");
-
-// If you prefer to specify the template parameters
-// factory.registerNodeType<Action_A, int, std::string>("Action_A", 42, "hello world");
-```
-
-## Use an "initialize" method
-
-If, for any reason, you need to pass different values to the
-individual instances of a Node type, you may want to consider this other pattern:
-
-
-``` cpp
-class Action_B: public SyncActionNode
-{
-
-public:
-    // The constructor looks as usual.
-    Action_B(const std::string& name, const NodeConfig& config):
-        SyncActionNode(name, config) {}
-
-    // We want this method to be called ONCE and BEFORE the first tick()
-    void initialize(int arg_int, const std::string& arg_str)
-    {
-        _arg1 = arg_int;
-        _arg2 = arg_str;
-    }
-
-    // this example doesn't require any port
-    static PortsList providedPorts() { return {}; }
-
-    // tick() can access the private members
-    NodeStatus tick() override;
-
-private:
-    int _arg1;
-    std::string _arg2;
-};
-```
-
-The way we register and initialize Action_B is different:
-
-``` cpp
-BT::BehaviorTreeFactory factory;
-
-// Register as usual, but we still need to initialize
-factory.registerNodeType<Action_B>("Action_B");
-
-// Create the whole tree. Instances of Action_B are not initialized yet
-auto tree = factory.createTreeFromText(xml_text);
-
-// visitor will initialize the instances of 
-auto visitor = [](TreeNode* node)
-{
-  if (auto action_B_node = dynamic_cast<Action_B*>(node))
-  {
-    action_B_node->initialize(69, "interesting_value");
-  }
-};
-
-// Apply the visitor to ALL the nodes of the tree
-tree.applyVisitor(visitor);
-```
diff --git a/versions.json b/versions.json
index 079d440..e2d64fc 100644
--- a/versions.json
+++ b/versions.json
@@ -1,4 +1,3 @@
 [
-  "4.0.2",
   "3.8"
 ]

From 9cc7aadf176194aa19150d224f62368c9c7f81b0 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sat, 14 Feb 2026 18:07:18 +0100
Subject: [PATCH 80/80] Update Groot component to version 1.9.0

---
 src/pages/groot.js | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/pages/groot.js b/src/pages/groot.js
index 6ab90c2..9fce2db 100644
--- a/src/pages/groot.js
+++ b/src/pages/groot.js
@@ -135,7 +135,7 @@ function FaqItem({ question, answer, isOpen, onClick }) {
   );
 }
 
-const CURRENT_VERSION = "1.8.1";
+const CURRENT_VERSION = "1.9.0";
 
 // Track download event
 const trackDownload = async (file, platform) => {
@@ -302,7 +302,7 @@ export default function Groot() {
         <div className={styles.downloadInner}>
           <div className={styles.downloadHeader}>
             <h2 className={styles.downloadTitle}>Download</h2>
-            <p className={styles.downloadVersion}>Latest release: {CURRENT_VERSION} (2026-01-19)</p>
+            <p className={styles.downloadVersion}>Latest release: {CURRENT_VERSION} (2026-02-14)</p>
           </div>
 
           <div className={styles.downloadGrid}>
@@ -406,3 +406,4 @@ export default function Groot() {
 
 
 
+