# Py Trees
[[About](#about)] [[What's New?](#whats-new)] [[Documentation](#documentation)] [[Getting Started](#getting-started)] [[Next Steps](#next-steps)] [[Releases](#releases)] [[Developers](#developers)]
----
## 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?
* [2023-01-28] The [2.2.x Release][new-2.2.x] is out! Sequences and Selectors with AND without memory.
* [2023-01-28] [Get Started](#getting-started) with py_trees in under 5mins.
* [2023-01-28] This is now a `poetry` project with configuration governed by `pyproject.toml`.
* The vestigial `setup.py` is only to assist distribution where [PEP-517](https://peps.python.org/pep-0517/) is not yet well supported.
## Documentation
[![devel][docs-devel-image]][docs-devel] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x] [![0.7.x][docs-0.7.x-image]][docs-0.7.x] [![0.6.x][docs-0.6.x-image]][docs-0.6.x]
## Getting Started
You can get started on CodeSpaces (with no mismatched environment issues and in under 5mins) [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-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-<tab>-<tab>
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-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-blackboard
...
(py-trees-py3.8) (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
py38 py310 format check mypy38 mypy310
(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e format
...
(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e py38
...
(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/release-2.0.x/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
* `2.2.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 | 2.2.x | 2.1.x | 2.0.x | 1.2.x | 0.7.x | 0.6.x |
|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
| Sources | [![devel][sources-devel-image]][sources-devel] | [![2.1.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] | [![0.7.x][sources-0.7.x-image]][sources-0.7.x] | [![0.6.x][sources-0.6.x-image]][sources-0.6.x]
| Compatibility | [![Python 3.10][python310-image]][python310-docs] [![Python 3.8][python38-image]][python38-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] | [![Python 2.7][python27-image]][python27-docs]
| CI | [![devel-Status][devel-build-status-image]][devel-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] | [![2.2.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] | [![0.7.x-Docs][rtd-0.7.x-image]][docs-0.7.x] | [![0.6.x-Docs][rtd-0.6.x-image]][docs-0.6.x]
## Developers
### Format, Check, MyPy, Test
Check against at least one of py38 / py310 [1].
```
# Auto-format your code (if using VSCode, install the ufmt extension)
$ poetry run tox -e format
# Style, Format
$ poetry run tox -e check
# Type-Check
$ poetry run mypy38
# Tests
$ poetry run tox -e py38
```
[1] CI will test against both python versions for you, but should you wish to do so locally, open up two VSCode windows, one with the project opened in the default [py38 devcontainer](.devcontainer) and the other with the [py310 devcontainer](.devcontainer/py310).
### Generate Documentation
Generate the docs, view them from `./docs/html` in a browser.
```
# Install dependencies
$ poetry install --with docs
# Build
$ poetry run make -C docs html
```
On Doc dependency changes, export the requirements for ReadTheDocs
```
$ poetry export -f requirements.txt --with docs -o docs/requirements.txt
```
### Publish to PyPi
If you have permission to publish on pypi:
```
$ poetry config http-basic.pypi ${POETRY_HTTP_BASIC_PYPI_USERNAME} ${POETRY_HTTP_BASIC_PYPI_PASSWORD}
$ poetry publish
```
[license-image]: https://img.shields.io/badge/License-BSD%203--Clause-orange.svg?style=plastic
[license]: LICENSE
[python310-image]: https://img.shields.io/badge/python-3.10-green.svg?style=plastic
[python310-docs]: https://docs.python.org/3.10/
[python38-image]: https://img.shields.io/badge/python-3.8-green.svg?style=plastic
[python38-docs]: https://docs.python.org/3.8/
[python36-image]: https://img.shields.io/badge/python-3.6-green.svg?style=plastic
[python36-docs]: https://docs.python.org/3.6/
[python27-image]: https://img.shields.io/badge/python-2.7-green.svg?style=plastic
[python27-docs]: https://docs.python.org/2.7/
[devel-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg
[devel-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
[2.2.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.2.x
[2.2.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
[new-2.2.x]: https://github.com/splintered-reality/py_trees/blob/devel/CHANGELOG.rst#22x-2023-01-23---sequences-and-selectors-with-and-without-memory
[docs-devel]: http://py-trees.readthedocs.io/
[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/
[docs-devel-image]: http://img.shields.io/badge/docs-devel-brightgreen.svg?style=plastic
[docs-2.2.x-image]: http://img.shields.io/badge/docs-2.2.x-brightgreen.svg?style=plastic
[docs-2.1.x-image]: http://img.shields.io/badge/docs-2.1.x-brightgreen.svg?style=plastic
[docs-2.0.x-image]: http://img.shields.io/badge/docs-2.0.x-brightgreen.svg?style=plastic
[docs-1.3.x-image]: http://img.shields.io/badge/docs-1.3.x-brightgreen.svg?style=plastic
[docs-1.2.x-image]: http://img.shields.io/badge/docs-1.2.x-brightgreen.svg?style=plastic
[docs-0.7.x-image]: http://img.shields.io/badge/docs-0.7.x-brightgreen.svg?style=plastic
[docs-0.6.x-image]: http://img.shields.io/badge/docs-0.6.x-brightgreen.svg?style=plastic
[docs-0.5.x-image]: http://img.shields.io/badge/docs-0.5.x-brightgreen.svg?style=plastic
[rtd-devel-image]: https://readthedocs.org/projects/py-trees/badge/?version=devel&style=plastic
[rtd-2.2.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.2.x&style=plastic
[rtd-2.1.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.1.x&style=plastic
[rtd-2.0.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.0.x&style=plastic
[rtd-1.3.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-1.3.x&style=plastic
[rtd-1.2.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-1.2.x&style=plastic
[rtd-0.7.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-0.7.x&style=plastic
[rtd-0.6.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-0.6.x&style=plastic
[rtd-0.5.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-0.5.x&style=plastic
[not-available-docs-image]: http://img.shields.io/badge/docs-n/a-yellow.svg?style=plastic
[sources-devel]: https://github.com/splintered-reality/py_trees/tree/devel
[sources-2.2.x]: https://github.com/splintered-reality/py_trees/tree/release/2.2.x
[sources-2.1.x]: https://github.com/splintered-reality/py_trees/tree/release/2.1.x
[sources-2.0.x]: https://github.com/splintered-reality/py_trees/tree/release/2.0.x
[sources-1.3.x]: https://github.com/splintered-reality/py_trees/tree/release/1.3.x
[sources-1.2.x]: https://github.com/splintered-reality/py_trees/tree/release/1.2.x
[sources-0.7.x]: https://github.com/splintered-reality/py_trees/tree/release/0.7.x
[sources-0.6.x]: https://github.com/splintered-reality/py_trees/tree/release/0.6.x
[sources-0.5.x]: https://github.com/splintered-reality/py_trees/tree/release/0.5.x
[sources-devel-image]: http://img.shields.io/badge/sources-devel-blue.svg?style=plastic
[sources-2.2.x-image]: http://img.shields.io/badge/sources-2.2.x-blue.svg?style=plastic
[sources-2.1.x-image]: http://img.shields.io/badge/sources-2.1.x-blue.svg?style=plastic
[sources-2.0.x-image]: http://img.shields.io/badge/sources-2.0.x-blue.svg?style=plastic
[sources-1.3.x-image]: http://img.shields.io/badge/sources-1.3.x-blue.svg?style=plastic
[sources-1.2.x-image]: http://img.shields.io/badge/sources-1.2.x-blue.svg?style=plastic
[sources-0.7.x-image]: http://img.shields.io/badge/sources-0.7.x-blue.svg?style=plastic
[sources-0.6.x-image]: http://img.shields.io/badge/sources-0.6.x-blue.svg?style=plastic
[sources-0.5.x-image]: http://img.shields.io/badge/sources-0.5.x-blue.svg?style=plastic
Raw data
{
"_id": null,
"home_page": "https://github.com/splintered-reality/py_trees",
"name": "py-trees",
"maintainer": "Daniel Stonier",
"docs_url": null,
"requires_python": ">=3.8,<4.0",
"maintainer_email": "d.stonier@gmail.com",
"keywords": "py_trees,py-trees,behaviour-trees",
"author": "Daniel Stonier",
"author_email": "",
"download_url": "https://files.pythonhosted.org/packages/29/57/03dc256d51e1daf80be6f098e82154676bf90003e5db7e17b130b3300611/py_trees-2.2.3.tar.gz",
"platform": null,
"description": "# Py Trees\n\n[[About](#about)] [[What's New?](#whats-new)] [[Documentation](#documentation)] [[Getting Started](#getting-started)] [[Next Steps](#next-steps)] [[Releases](#releases)] [[Developers](#developers)]\n\n----\n\n## About\n\nPyTrees 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:\n\n* Behaviours, Decorators, Sequences, Selectors, Parallels and BehaviourTree.\n* Blackboards for data sharing.\n* A useful library of behaviours, decorators and idioms.\n* Serialise to a dot graph or render to ascii/unicode in a terminal.\n* Tested on Linux and Mac (YMMV with Windows).\n\n## What's New?\n\n* [2023-01-28] The [2.2.x Release][new-2.2.x] is out! Sequences and Selectors with AND without memory.\n* [2023-01-28] [Get Started](#getting-started) with py_trees in under 5mins.\n* [2023-01-28] This is now a `poetry` project with configuration governed by `pyproject.toml`.\n * The vestigial `setup.py` is only to assist distribution where [PEP-517](https://peps.python.org/pep-0517/) is not yet well supported.\n\n## Documentation\n\n[![devel][docs-devel-image]][docs-devel] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x] [![0.7.x][docs-0.7.x-image]][docs-0.7.x] [![0.6.x][docs-0.6.x-image]][docs-0.6.x]\n\n## Getting Started\n\nYou can get started on CodeSpaces (with no mismatched environment issues and in under 5mins) [1]:\n\n1. Fork the project to your personal account\n2. Click on Code -> Codespaces -> + Create a Codespace\n3. Enter the Terminal\n\n```\n# Install Dependencies\n(docker) zen@py_trees:/workspaces/py_trees$ poetry install\n\n# Explore the demos\n(docker) zen@py_trees:/workspaces/py_trees$ poetry shell\n(py-trees-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-<tab>-<tab>\npy-trees-demo-action-behaviour py-trees-demo-context-switching py-trees-demo-logging\npy-trees-demo-behaviour-lifecycle py-trees-demo-display-modes py-trees-demo-pick-up-where-you-left-off\npy-trees-demo-blackboard py-trees-demo-dot-graphs py-trees-demo-selector\npy-trees-demo-blackboard-namespaces py-trees-demo-either-or py-trees-demo-sequence\npy-trees-demo-blackboard-remappings py-trees-demo-eternal-guard py-trees-demo-tree-stewardship\n(py-trees-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ py-trees-demo-blackboard\n...\n(py-trees-py3.8) (docker) zen@py_trees:/workspaces/py_trees$ exit\n\n# Hack some Code\n\n# Run the Formatter, Tests, Linters and Mypy\n(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -l\npy38 py310 format check mypy38 mypy310\n(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e format\n...\n(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e py38\n...\n(docker) zen@py_trees:/workspaces/py_trees$ poetry run tox -e check\n...\n\n# Contribute a PR!\n# https://github.com/splintered-reality/py_trees/blob/devel/CONTRIBUTING.md\n```\n\n[1] All of the above will, of course, work in a local environment if you have `poetry` installed. If you're using `VSCode`\nyou don't even need that, just reopen the project in the [devcontainer](.devcontainer/devcontainer.json) and be froody.\n\n## Next Steps\n\nOn PyPi:\n* [py_trees](https://pypi.org/project/py-trees/)\n* [py_trees_js](https://pypi.org/project/py-trees-js/)\n\nExamples:\n* [ReadTheDocs - PyTrees ROS Tutorials](https://py-trees-ros-tutorials.readthedocs.io/en/release-2.0.x/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.\n\nVisualisation:\n* [py_trees_js](https://github.com/splintered-reality/py_trees_js) - a javascript library for building your own runtime visualisation tool\n\nRobotics:\n* [py_trees_ros](https://github.com/splintered-reality/py_trees_ros) - a tree manager and behaviours designed for use specifically with `ROS2`\n* [py_trees_ros_viewer](https://github.com/splintered-reality/py_trees_ros_viewer) - a `Qt/ROS2` implementation of `py_trees_js`\n\n## Releases\n\n* `2.2.x` - Selectors, Sequences with and without memory. Improved testing and style/type checking.\n* `2.1.x` - Chooser deprecated. API housekeeping.\n* `2.0.x` - Blackboards V2!\n* `1.2.x` - Trees can now shutdown cleanly. StatusToBlackboard and EternalGuard, Visitors get finalise().\n* `1.1.x` - Fixes for setup, tick-tock, viz.\n* `1.0.x` - Behaviours, Decorators, Composites, Blackboards, Tree Management and Viz tools.\n* `0.y.x` - First open source pre-releases.\n\n| | Devel | 2.2.x | 2.1.x | 2.0.x | 1.2.x | 0.7.x | 0.6.x |\n|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|\n| Sources | [![devel][sources-devel-image]][sources-devel] | [![2.1.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] | [![0.7.x][sources-0.7.x-image]][sources-0.7.x] | [![0.6.x][sources-0.6.x-image]][sources-0.6.x]\n| Compatibility | [![Python 3.10][python310-image]][python310-docs] [![Python 3.8][python38-image]][python38-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] | [![Python 2.7][python27-image]][python27-docs]\n| CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - | - | \n| Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![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] | [![0.7.x-Docs][rtd-0.7.x-image]][docs-0.7.x] | [![0.6.x-Docs][rtd-0.6.x-image]][docs-0.6.x]\n\n## Developers\n\n### Format, Check, MyPy, Test\n\nCheck against at least one of py38 / py310 [1].\n\n```\n# Auto-format your code (if using VSCode, install the ufmt extension)\n$ poetry run tox -e format\n\n# Style, Format\n$ poetry run tox -e check\n\n# Type-Check\n$ poetry run mypy38\n\n# Tests\n$ poetry run tox -e py38\n```\n\n[1] CI will test against both python versions for you, but should you wish to do so locally, open up two VSCode windows, one with the project opened in the default [py38 devcontainer](.devcontainer) and the other with the [py310 devcontainer](.devcontainer/py310).\n\n### Generate Documentation\n\nGenerate the docs, view them from `./docs/html` in a browser.\n\n```\n# Install dependencies\n$ poetry install --with docs\n\n# Build\n$ poetry run make -C docs html\n```\n\nOn Doc dependency changes, export the requirements for ReadTheDocs\n\n```\n$ poetry export -f requirements.txt --with docs -o docs/requirements.txt\n```\n\n### Publish to PyPi\n\nIf you have permission to publish on pypi:\n\n```\n$ poetry config http-basic.pypi ${POETRY_HTTP_BASIC_PYPI_USERNAME} ${POETRY_HTTP_BASIC_PYPI_PASSWORD}\n$ poetry publish\n```\n\n[license-image]: https://img.shields.io/badge/License-BSD%203--Clause-orange.svg?style=plastic\n[license]: LICENSE\n\n[python310-image]: 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