import asyncio from abtree import BehaviorTree, Sequence, Selector, Action, Condition from abtree.core import Status # Define action nodes class OpenDoor(Action): async def execute(self): print("Opening door") return Status.SUCCESS class CloseDoor(Action): async def execute(self): print("Closing door") return Status.SUCCESS # Define condition nodes class IsDoorOpen(Condition): async def evaluate(self): return self.blackboard.get("door_open", False) # Build behavior tree root = Selector("Robot Decision") root.add_child(Sequence("Door Control Sequence")) root.children[0].add_child(IsDoorOpen("Check Door Status")) root.children[0].add_child(CloseDoor("Close Door")) # Create behavior tree instance tree = BehaviorTree() tree.load_from_node(root) # Execute async def main(): blackboard = tree.blackboard blackboard.set("door_open", True) result = await tree.tick() print(f"Execution result: {result}") asyncio.run(main())

import asyncio from abtree import load_from_xml_string # Declarative XML: Express behavior logic in a readable, structured format xml_string = ''' <BehaviorTree name="Robot Decision">  <Sequence name="Door Control Sequence">  <CheckBlackboard name="Check Door Status" key="door_open" expected_value="true" />  <Log name="Close Door Log" message="Door detected open, preparing to close" />  <Wait name="Close Door Wait" duration="1.0" />  </Sequence> </BehaviorTree>''' # Load behavior tree from declarative XML configuration tree = load_from_xml_string(xml_string) # Execute async def main(): blackboard = tree.blackboard blackboard.set("door_open", True) result = await tree.tick() print(f"Execution result: {result}") asyncio.run(main())

import asyncio from abtree import ( BehaviorForest, ForestNode, ForestNodeType, BehaviorTree, Sequence, Selector, Action, Condition ) from abtree.core import Status # Simple robot action node class RobotAction(Action): def __init__(self, name: str, action_type: str): super().__init__(name) self.action_type = action_type async def execute(self): print(f"Robot {self.action_type}") if self.action_type == "cleaning": self.blackboard.set("cleaning_needed", False) return Status.SUCCESS # Simple condition node class SimpleCondition(Condition): def __init__(self, name: str, key: str, default: bool = True): super().__init__(name) self.key = key self.default = default async def evaluate(self): return self.blackboard.get(self.key, self.default) def create_robot_tree(robot_id: str) -> BehaviorTree: """Create a simple robot behavior tree""" root = Selector(f"Robot_{robot_id}") # Cleaning sequence cleaning_seq = Sequence("Cleaning") cleaning_seq.add_child(SimpleCondition("Check Cleaning", "cleaning_needed")) cleaning_seq.add_child(RobotAction("Clean", "cleaning")) cleaning_seq.add_child(RobotAction("Navigate", "navigating")) root.add_child(cleaning_seq) tree = BehaviorTree() tree.load_from_node(root) return tree async def main(): # Create behavior forest forest = BehaviorForest("Robot Forest") # Add robot nodes for robot_id in ["R1", "R2", "R3"]: tree = create_robot_tree(robot_id) node = ForestNode( name=f"Robot_{robot_id}", tree=tree, node_type=ForestNodeType.WORKER, capabilities={"cleaning", "navigation"} ) forest.add_node(node) # Start forest await forest.start() # Execute ticks for i in range(3): results = await forest.tick() print(f"Tick {i+1}: {results}") await asyncio.sleep(0.5) await forest.stop() if __name__ == "__main__": asyncio.run(main())