kissBT: A Very Basic Behavior Tree Framework

This is a very basic Behavior Tree framework for Python. In case you're searching for a BT library with rich features, we recommend you take a look at py_trees. However, if you want a basic library where you can easily understand the overall behavior or want to change some behavior/code without digging too deep, you might be served well here.

Installation

Install kissBT via the following command:

pip3 install git+https://github.com/UniBwTAS/kissBT.git#egg=kissBT

or

python3 -m pip install git+https://github.com/UniBwTAS/kissBT.git#egg=kissBT

Included

The implementation provides:

• Nodes
  • Control nodes
    • Sequence
    • Selector
    • ParallelSequence
  • Leaves
    • Conditions
    • Actions
  • Decorators
    • Inverter
• Unicode Behavior Tree
  • Tree structure
  • Status feedback (with color)
  • Highlighting of running actions

[⦿][→] ROOT
 ┊   [⦿][?] Dodging
 ┊    ┊   [⦿][δ] Inverter
 ┊    ┊    ┊   [⦿] <StaticObstacleAhead>?
 ┊    ┊   [ ] DodgeStaticObstacle
 ┊   [⦿] FollowLane <---- RUNNING

• Blackboard
  • Activity monitoring

>> WRITE [FollowLane].......... distance_to_goal : 1.0
>> READ  [FollowLane].......... distance_to_goal
>> READ  [<<NoMember>>]........ distance_to_goal
>> READ  [FollowLane].......... distance_to_goal
>> WRITE [FollowLane].......... distance_to_goal : 0.0
>> READ  [FollowLane].......... distance_to_goal
>> WRITE [FollowLane].......... goal_reached : True

Example

You can find a small example here.

Final Words

If you have any ideas/suggestions on how to improve this project while keeping it simple, I would be glad if you share your opinion with me.