Library to load XML behavior trees done using Groot GUI (https://github.com/BehaviorTree/Groot) into the py_trees library (https://github.com/splintered-reality/py_trees)
Project description
Import Groot XML files into py_trees
Groot is a Graphical Editor, written in C++ and Qt, to create BehaviorTrees. It is only compatible with BehaviorTree.CPP. This module is an attempt to use Groot to generate trees using py_trees instead of BehaviorTree.CPP.
Groot supported features
BehaviorTree.CPP and py_trees use different control sequences, decorators and tree leaves. This section explains the mapping between one and the other in order to use Groot in py_trees.
Control nodes to Composite nodes:
| Groot | py_trees |
|---|---|
| Sequence | Sequence with memory=True |
| ReactiveSequence | Sequence with memory=False |
| Fallback | Selector with memory=True |
| ReactiveFallback | Selector with memory=False |
Parallel with success_threshold=1 |
Parallel with policy=SuccessOnOne |
Parallel with success_threshold <> 1 |
Parallel with policy=SuccessOnAll |
| IfThenElse | not available |
| WhileDoElse | not available |
| SwitchX | not available |
Decorators to Decorators
| Groot | py_trees |
|---|---|
| Timeout | Timeout |
| ForceFailure | SuccessIsFailure |
| ForceSuccess | FailureIsSuccess |
| Inverter | Inverter |
| BlackboardCheckX | EternalGuard? |
| KeepRunningUntilFailure | Condition? |
| Repeat | not available |
| RetryUntilSuccessful | not available |
| Delay | not available |
| User defined Decorator | Decorator in decorators |
Additional py_trees decorators, both core defined as OneShot, StatusToBlackboard, FailureIsRunning, RunningIsSuccess... or newly created by the user, must be added in the decorators diccionare and pass to the load function to be used.
Actions and Conditions to Behaviors
| Groot | py_trees |
|---|---|
| AlwaysFailure | Failure |
| AlwaysSuccess | Success |
| SetBlackBoard | SetBlackboardVariable output_key=value |
| user defined Action | Behavior in user_behaviors |
| user defined Condition | Behavior in user_behaviors |
All manually defined Actions and Conditions in Groot have to be defined as py_trees behaviors and added into the behaviors list in function load to be used.
Example
from py_trees_meet_groot import groot_xml
all_behaviors = [behavior1, behavior2, ...]
all_decorators = [decorator1, decorato2, ...]
root = groot_xml.load("GROOT_XML_FILE_TO_LOAD.xml", behaviors=all_behaviors, decorators=all_decorators)
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