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https://github.com/splintered-reality/py_trees

Python implementation of behaviour trees.
https://github.com/splintered-reality/py_trees
behaviour-trees python robotics
Last synced: 6 days ago
JSON representation
Python implementation of behaviour trees.
Host: GitHub
URL: https://github.com/splintered-reality/py_trees
Owner: splintered-reality
License: other
Created: 2016-05-31T03:08:03.000Z (over 8 years ago)
Default Branch: devel
Last Pushed: 2025-01-13T13:02:47.000Z (22 days ago)
Last Synced: 2025-01-15T20:16:32.746Z (20 days ago)
Topics: behaviour-trees, python, robotics
Language: Python
Homepage:
Size: 11.2 MB
Stars: 455
Watchers: 19
Forks: 153
Open Issues: 30
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- Contributing: CONTRIBUTING.md
- License: LICENSE
Awesome Lists containing this project

README

        # PyTrees

[[About](#about)] [[What's New?](#whats-new)] [[Documentation](#documentation)] [[Getting Started](#getting-started)] [[Next Steps](#next-steps)] [[Releases](#releases)]

----

## About

PyTrees is a Python implementation of behaviour trees designed to facilitate the rapid development of medium sized decision making engines for use in fields like robotics.

Brief feature list:

* Behaviours, Decorators, Sequences, Selectors, Parallels and BehaviourTree.

* Blackboards for data sharing.

* A useful library of behaviours, decorators, and idioms.

* Serialise to a dot graph or render to ascii/unicode in a terminal.

* Tested on Linux and Mac (YMMV with Windows).

## What's New?

* [2025-01-11] Support for Python 3.12 was added, and Python 3.8 was dropped.

## Documentation

[![devel][docs-devel-image]][docs-devel] [![2.3.x][docs-2.3.x-image]][docs-2.3.x] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x]

## Getting Started

You can get started on Codespaces (with no mismatched environment issues and in under 5 minutes) [1]:

1. Fork the project to your personal account

2. Click on Code -> Codespaces -> + Create a Codespace

3. Enter the Terminal

```

# Install Dependencies

(docker) zen@py_trees:/workspaces/py_trees$ poetry install

# Explore the demos

(docker) zen@py_trees:/workspaces/py_trees$ poetry shell

(py-trees-py3.10) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo--

py-trees-demo-action-behaviour            py-trees-demo-context-switching           py-trees-demo-logging

py-trees-demo-behaviour-lifecycle         py-trees-demo-display-modes               py-trees-demo-pick-up-where-you-left-off

py-trees-demo-blackboard                  py-trees-demo-dot-graphs                  py-trees-demo-selector

py-trees-demo-blackboard-namespaces       py-trees-demo-either-or                   py-trees-demo-sequence

py-trees-demo-blackboard-remappings       py-trees-demo-eternal-guard               py-trees-demo-tree-stewardship

(py-trees-py3.10) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-blackboard

...

(py-trees-py3.10) (docker) zen@py_trees:/workspaces/py_trees$ exit

# Hack some Code

# Run the Formatter, Tests, Linters and Mypy

(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -l

py310 py312 format check mypy310 mypy312

(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e format

...

(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e py310

...

(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e check

...

# Contribute a PR!

# https://github.com/splintered-reality/py_trees/blob/devel/CONTRIBUTING.md

```

[1] All of the above will, of course, work in a local environment if you have `poetry` installed.

If you're using `VSCode` you don't even need that, just reopen the project in the [devcontainer](.devcontainer/devcontainer.json) and be froody.

## Next Steps

On PyPi:

* [py_trees](https://pypi.org/project/py-trees/)

* [py_trees_js](https://pypi.org/project/py-trees-js/)

Examples:

* [ReadTheDocs - PyTrees ROS Tutorials](https://py-trees-ros-tutorials.readthedocs.io/en/devel/index.html) - significantly more edifying than the demos, these incrementally walk through the process of building a decision making layer for a robot. These use ROS2 (sparsely), but merely browsing should be enlightening regardless.

Visualisation:

* [py_trees_js](https://github.com/splintered-reality/py_trees_js) - a javascript library for building your own runtime visualisation tool

Robotics:

* [py_trees_ros](https://github.com/splintered-reality/py_trees_ros) - a tree manager and behaviours designed for use specifically with `ROS2`

* [py_trees_ros_viewer](https://github.com/splintered-reality/py_trees_ros_viewer) - a `Qt/ROS2` implementation of `py_trees_js`

## Releases

* `2.3.x` - Support for Python 3.12 was added, and Python 3.8 was dropped.

* `2.2.x` - Selectors, Sequences with and without memory. Improved testing and style/type checking.

* `2.1.x` - Chooser deprecated. API housekeeping.

* `2.0.x` - Blackboards V2!

* `1.2.x` - Trees can now shutdown cleanly. StatusToBlackboard and EternalGuard, Visitors get finalise().

* `1.1.x` - Fixes for setup, tick-tock, viz.

* `1.0.x` - Behaviours, Decorators, Composites, Blackboards, Tree Management and Viz tools.

* `0.y.x` - First open source pre-releases.

| | Devel | 2.3.x | 2.2.x | 2.1.x | 2.0.x | 1.2.x |

|:---:|:---:|:---:|:---:|:---:|:---:|:---:|

| Sources | [![devel][sources-devel-image]][sources-devel] | [![2.3.x][sources-2.3.x-image]][sources-2.3.x] | [![2.2.x][sources-2.2.x-image]][sources-2.2.x] | [![2.1.x][sources-2.1.x-image]][sources-2.1.x] | [![2.0.x][sources-2.0.x-image]][sources-2.0.x] | [![1.2.x][sources-1.2.x-image]][sources-1.2.x] |

| Compatibility | [![Python 3.12][python312-image]][python312-docs]
[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]
[![Python 3.10][python310-image]][python310-docs] | [![Python 3.10][python310-image]][python310-docs]
[![Python 3.8][python38-image]][python38-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] |

| CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.3.x-Status][2.3.x-build-status-image]][2.3.x-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - | - |

| Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![2.3.x-Docs][rtd-2.3.x-image]][docs-2.3.x] | [![2.2.x-Docs][rtd-2.2.x-image]][docs-2.2.x] | [![2.1.x-Docs][rtd-2.1.x-image]][docs-2.1.x] | [![2.0.x-Docs][rtd-2.0.x-image]][docs-2.0.x] | [![1.2.x-Docs][rtd-1.2.x-image]][docs-1.2.x] |

[license-image]: https://img.shields.io/badge/License-BSD%203--Clause-orange.svg?style=plastic

[license]: LICENSE

[python312-image]: https://img.shields.io/badge/python-3.12-green.svg?style=plastic

[python312-docs]: https://docs.python.org/3.12/

[python310-image]: https://img.shields.io/badge/python-3.10-green.svg?style=plastic

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[python36-docs]: https://docs.python.org/3.6/

[devel-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg

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[docs-devel]: http://py-trees.readthedocs.io/

[docs-2.3.x]: http://py-trees.readthedocs.io/en/release-2.3.x/

[docs-2.2.x]: http://py-trees.readthedocs.io/en/release-2.2.x/

[docs-2.1.x]: http://py-trees.readthedocs.io/en/release-2.1.x/

[docs-2.0.x]: http://py-trees.readthedocs.io/en/release-2.0.x/

[docs-1.3.x]: http://py-trees.readthedocs.io/en/release-1.3.x/

[docs-1.2.x]: http://py-trees.readthedocs.io/en/release-1.2.x/

[docs-0.7.x]: http://py-trees.readthedocs.io/en/release-0.7.x/

[docs-0.6.x]: http://py-trees.readthedocs.io/en/release-0.6.x/

[docs-0.5.x]: http://docs.ros.org/kinetic/api/py_trees/html/

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[sources-devel]: https://github.com/splintered-reality/py_trees/tree/devel

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