def __init__(self, name, model):
super().__init__(name, model)
self.wealth = 1
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
# Defining the composite behavior
explore = Explore('Explore')
# Setup for the behavior
explore.setup(0, self, None)
# This behavior is just defined to check if the composite tree
# can be combined with other primite behaviors
is_carrying = IsCarrying('IsCarrying')
is_carrying.setup(0, self, 'Food')
seq = py_trees.composites.Sequence('Seq')
seq.add_children([explore, is_carrying])
# Since its root is a sequence, we can use it directly
self.behaviour_tree = py_trees.trees.BehaviourTree(seq)
def __init__(self, name, model):
super().__init__(name, model)
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
# self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
root = py_trees.composites.Sequence("Sequence")
# Sensing the environemnt to find object to carry
lowest = NeighbourObjects('0')
lowest.setup(0, self, 'Food')
# First check if the item is carrable?
carryable = IsCarryable('SC_IsCarryable_1')
carryable.setup(0, self, 'Food')
# Then check if the item can be carried by a single agent
issinglecarry = IsSingleCarry('SC_IsSingleCarry_2')
issinglecarry.setup(0, self, 'Food')
# Finally, carry the object
singlecarry = SingleCarry('SC_SingleCarry_3')
singlecarry.setup(0, self, 'Food')
# Define a sequence to combine the primitive behavior
sc_sequence = py_trees.composites.Sequence('SC_SEQUENCE')
sc_sequence.add_children([carryable, issinglecarry, singlecarry])
# Creating composite single carry object
# singlecarry = CompositeSingleCarry('SingleCarry')
# singlecarry.setup(0, self, 'Food')
high = Explore('Explore')
high.setup(0, self)
root.add_children([lowest, sc_sequence, high])
self.behaviour_tree = py_trees.trees.BehaviourTree(root)
def __init__(self, name, model):
super().__init__(name, model)
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
# self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
self.shared_content['Hub'] = {model.hub}
self.shared_content['Sites'] = {model.site}
# Drop branch
dseq = py_trees.composites.Sequence('DSequence')
iscarrying = IsInPartialAttached('8')
iscarrying.setup(0, self, 'Food')
# If near hub and carrying food with other agents drop
neighhub = NeighbourObjects('2')
neighhub.setup(0, self, 'Hub')
drop = CompositeDropPartial('4')
drop.setup(0, self, 'Food')
dseq.add_children([neighhub, drop])
# Carry branch
cseq = py_trees.composites.Sequence('CSequence')
# neighsite = NeighbourObjects('5')
# neighsite.setup(0, self, 'Sites')
neighhub = py_trees.meta.inverter(NeighbourObjects)('40')
neighhub.setup(0, self, 'Hub')
neighfood = NeighbourObjects('50')
neighfood.setup(0, self, 'Food')
invcarrying = py_trees.meta.inverter(IsInPartialAttached)('8')
invcarrying.setup(0, self, 'Food')
carry = CompositeMultipleCarry('9')
carry.setup(0, self, 'Food')
# Move to hub
hubseq = py_trees.composites.Sequence('HubSeq')
# If carrying something to go to hub
gotohub = MoveTowards('10')
gotohub.setup(0, self, 'Hub')
hubseq.add_children([iscarrying, gotohub])
cseq.add_children([neighhub, neighfood, carry, hubseq])
# Locomotion branch
# Move to site
siteseq = py_trees.composites.Sequence('SiteSeq')
# If site already found and not carrying anything go to site
sitefound = IsVisitedBefore('7')
sitefound.setup(0, self, 'Sites')
gotosite = MoveTowards('9')
gotosite.setup(0, self, 'Sites')
siteseq.add_children([sitefound, invcarrying, gotosite])
# Do Random walk
explore = Explore('12')
explore.setup(0, self)
randwalk = py_trees.composites.Sequence('Randwalk')
randwalk.add_children([explore])
# Try to got to site and hub if not explore
locoselect = py_trees.composites.Selector('Move')
locoselect.add_children([iscarrying, siteseq, explore])
# First try to drop then collect or explore
select = py_trees.composites.Selector('Main')
select.add_children([dseq, cseq, locoselect])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)
def __init__(self, name, model, xmlstring=None):
super().__init__(name, model)
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
self.carryable = False
# Define a BTContruct object
self.bt = BTConstruct(None, self)
class DummyIndividual:
def __init__(self):
self.phenotype = None
dummyind = DummyIndividual()
self.individual = [dummyind]
self.individual[0].phenotype = xmlstring
# self.bt.xmlstring = xmlstring
# self.bt.construct()
# Drop branch
dseq = py_trees.composites.Sequence('DSequence')
iscarrying = IsCarrying('IsCarrying_Food')
iscarrying.setup(0, self, 'Food')
neighhub = NeighbourObjects('NeighbourObjects_Hub')
neighhub.setup(0, self, 'Hub')
notneighhub = py_trees.meta.inverter(NeighbourObjects)(
'NeighbourObjects_Hub')
notneighhub.setup(0, self, 'Hub')
drop = CompositeDrop('CompositeDrop_Food')
drop.setup(0, self, 'Food')
dseq.add_children([neighhub, drop])
# Carry branch
cseq = py_trees.composites.Sequence('CSequence')
neighsite = NeighbourObjects('NeighbourObjects_Sites')
neighsite.setup(0, self, 'Sites')
neighfood = NeighbourObjects('NeighbourObjects_Food')
neighfood.setup(0, self, 'Food')
invcarrying = py_trees.meta.inverter(IsCarrying)('IsCarrying_Food')
invcarrying.setup(0, self, 'Food')
carry = CompositeSingleCarry('CompositeSingleCarry_Food')
carry.setup(0, self, 'Food')
cseq.add_children([neighsite, neighfood, invcarrying, carry])
# Locomotion branch
# Move to site
siteseq = py_trees.composites.Sequence('SiteSeq')
sitefound = IsVisitedBefore('IsVisitedBefore_Sites')
sitefound.setup(0, self, 'Sites')
gotosite = MoveTowards('MoveTowards_Sites')
gotosite.setup(0, self, 'Sites')
siteseq.add_children([sitefound, invcarrying, gotosite])
# siteseq.add_children([invcarrying])
# Move to hub
hubseq = py_trees.composites.Sequence('HubSeq')
gotohub = MoveTowards('MoveTowards_Hub')
gotohub.setup(0, self, 'Hub')
hubseq.add_children([iscarrying, gotohub])
sitenotfound = py_trees.meta.inverter(IsVisitedBefore)(
'IsVisitedBefore_Sites')
sitenotfound.setup(0, self, 'Sites')
explore = Explore('Explore')
explore.setup(0, self)
randwalk = py_trees.composites.Sequence('Randwalk')
randwalk.add_children([sitenotfound, explore])
locoselect = py_trees.composites.Selector('Move')
# locoselect.add_children([siteseq, hubseq, explore])
locoselect.add_children([hubseq, randwalk])
select = py_trees.composites.Selector('Main')
select.add_children([dseq, cseq, locoselect])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)
py_trees.display.render_dot_tree(self.behaviour_tree.root,
name=model.pname + '/forgehc')
def __init__(self, name, model, xmlstring=None):
super().__init__(name, model)
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
self.carryable = False
# Define a BTContruct object
self.bt = BTConstruct(None, self)
class DummyIndividual:
def __init__(self):
self.phenotype = None
dummyind = DummyIndividual()
self.individual = [dummyind]
self.individual[0].phenotype = xmlstring
# self.bt.xmlstring = xmlstring
# self.bt.construct()
# self.shared_content['Hub'] = {model.hub}
# self.shared_content['Sites'] = {model.site}
# Drop branch
dseq = py_trees.composites.Sequence('DSequence')
iscarrying = IsInPartialAttached('IsInPartialAttached_Food')
iscarrying.setup(0, self, 'Food')
# If near hub and carrying food with other agents drop
neighhub = NeighbourObjects('NeighbourObjects_Hub')
neighhub.setup(0, self, 'Hub')
drop = CompositeDropPartial('CompositeDropPartial_Food')
drop.setup(0, self, 'Food')
dseq.add_children([neighhub, drop])
# Carry branch
cseq = py_trees.composites.Sequence('CSequence')
# neighsite = NeighbourObjects('5')
# neighsite.setup(0, self, 'Sites')
neighhub = py_trees.meta.inverter(NeighbourObjects)(
'NeighbourObjects_Hub')
neighhub.setup(0, self, 'Hub')
neighfood = NeighbourObjects('NeighbourObjects_Food')
neighfood.setup(0, self, 'Food')
invcarrying = py_trees.meta.inverter(IsInPartialAttached)(
'IsInPartialAttached_Food')
invcarrying.setup(0, self, 'Food')
carry = CompositeMultipleCarry('CompositeMultipleCarry_Food')
carry.setup(0, self, 'Food')
# Move to hub
hubseq = py_trees.composites.Sequence('HubSeq')
# If carrying something to go to hub
gotohub = MoveTowards('MoveTowards_Hub')
gotohub.setup(0, self, 'Hub')
hubseq.add_children([iscarrying, gotohub])
cseq.add_children([neighhub, neighfood, carry, hubseq])
# Locomotion branch
# Move to site
siteseq = py_trees.composites.Sequence('SiteSeq')
# If site already found and not carrying anything go to site
sitefound = IsVisitedBefore('IsVisitedBefore_Sites')
sitefound.setup(0, self, 'Sites')
gotosite = MoveTowards('MoveTowards_Sites')
gotosite.setup(0, self, 'Sites')
siteseq.add_children([sitefound, invcarrying, gotosite])
# Do Random walk
explore = Explore('Explore')
explore.setup(0, self)
randwalk = py_trees.composites.Sequence('Randwalk')
randwalk.add_children([explore])
# Try to got to site and hub if not explore
locoselect = py_trees.composites.Selector('Move')
locoselect.add_children([iscarrying, siteseq, explore])
# First try to drop then collect or explore
select = py_trees.composites.Selector('Main')
select.add_children([dseq, cseq, locoselect])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)
py_trees.display.render_dot_tree(self.behaviour_tree.root,
name=model.pname + '/cthc')
def __init__(self, name, model):
super().__init__(name, model)
self.location = ()
self.direction = model.random.rand() * (2 * np.pi)
self.speed = 2
self.radius = 3
self.moveable = True
self.shared_content = dict()
self.shared_content['Hub'] = {model.hub}
# Drop branch
dseq = py_trees.composites.Sequence('DSequence')
iscarrying = IsCarrying('1')
iscarrying.setup(0, self, 'Food')
neighhub = NeighbourObjects('2')
neighhub.setup(0, self, 'Hub')
drop = CompositeDrop('4')
drop.setup(0, self, 'Food')
dseq.add_children([neighhub, drop])
# Carry branch
cseq = py_trees.composites.Sequence('CSequence')
neighsite = NeighbourObjects('5')
neighsite.setup(0, self, 'Sites')
neighfood = NeighbourObjects('50')
neighfood.setup(0, self, 'Food')
invcarrying = py_trees.meta.inverter(IsCarrying)('8')
invcarrying.setup(0, self, 'Food')
carry = CompositeSingleCarry('6')
carry.setup(0, self, 'Food')
cseq.add_children([neighsite, neighfood, invcarrying, carry])
# Locomotion branch
# Move to site
siteseq = py_trees.composites.Sequence('SiteSeq')
sitefound = IsVisitedBefore('7')
sitefound.setup(0, self, 'Sites')
gotosite = MoveTowards('9')
gotosite.setup(0, self, 'Sites')
siteseq.add_children([sitefound, invcarrying, gotosite])
# Move to hub
hubseq = py_trees.composites.Sequence('HubSeq')
gotohub = MoveTowards('10')
gotohub.setup(0, self, 'Hub')
hubseq.add_children([iscarrying, gotohub])
sitenotfound = py_trees.meta.inverter(IsVisitedBefore)('11')
sitenotfound.setup(0, self, 'Sites')
explore = Explore('12')
explore.setup(0, self)
randwalk = py_trees.composites.Sequence('Randwalk')
randwalk.add_children([explore])
locoselect = py_trees.composites.Selector('Move')
locoselect.add_children([siteseq, hubseq, explore])
select = py_trees.composites.Selector('Main')
select.add_children([dseq, cseq, locoselect])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)
def construct_bt(self):
"""Construct BT."""
# Get the phenotype of the genome and store as xmlstring
# self.bt.xmlstring = self.xmlstring
# Drop branch
# Drop branch
dseq = py_trees.composites.Sequence('DSequence')
iscarrying = IsCarrying('IsCarrying_Debris')
iscarrying.setup(0, self, 'Debris')
neighhub = NeighbourObjects('NeighbourObjects')
neighhub.setup(0, self, 'Obstacles')
drop = CompositeDrop('CompositeDrop_Debris')
drop.setup(0, self, 'Debris')
dseq.add_children([neighhub, drop])
# Carry branch
cseq = py_trees.composites.Sequence('CSequence')
neighsite = py_trees.meta.inverter(NeighbourObjects)(
'NeighbourObjects')
neighsite.setup(0, self, 'Obstacles')
neighfood = NeighbourObjects('NeighbourObjects_Debris')
neighfood.setup(0, self, 'Debris')
invcarrying = py_trees.meta.inverter(IsCarrying)('IsCarrying_Debris')
invcarrying.setup(0, self, 'Debris')
carry = CompositeSingleCarry('CompositeSingleCarry_Debris')
carry.setup(0, self, 'Debris')
cseq.add_children([neighsite, neighfood, invcarrying, carry])
# Locomotion branch
# Move to site
siteseq = py_trees.composites.Sequence('SiteSeq')
sitefound = IsVisitedBefore('IsVisitedBefore')
sitefound.setup(0, self, 'Obstacles')
gotosite = MoveTowards('MoveTowards')
gotosite.setup(0, self, 'Obstacles')
siteseq.add_children([sitefound, iscarrying, gotosite])
# Move to hub
hubseq = py_trees.composites.Sequence('HubSeq')
gotohub = MoveTowards('MoveTowards_Hub')
gotohub.setup(0, self, 'Hub')
hubseq.add_children([iscarrying, gotohub])
sitenotfound = py_trees.meta.inverter(IsVisitedBefore)(
'IsVisitedBefore')
sitenotfound.setup(0, self, 'Obstacles')
explore = Explore('Explore')
explore.setup(0, self)
randwalk = py_trees.composites.Sequence('Randwalk')
randwalk.add_children([explore])
locoselect = py_trees.composites.Selector('Move')
locoselect.add_children([siteseq, explore])
select = py_trees.composites.Selector('Main')
select.add_children([dseq, cseq, locoselect])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)
def construct_bt(self):
"""Construct BT."""
# Get the phenotype of the genome and store as xmlstring
# self.bt.xmlstring = self.xmlstring
# Drop branch
dseq = py_trees.composites.Sequence('DSequence')
iscarrying = IsInPartialAttached('IsInPartialAttached_Food')
iscarrying.setup(0, self, 'Food')
# If near hub and carrying food with other agents drop
neighhub = NeighbourObjects('NeighbourObjects_Hub')
neighhub.setup(0, self, 'Hub')
drop = CompositeDropPartial('CompositeDropPartial_Food')
drop.setup(0, self, 'Food')
dseq.add_children([neighhub, drop])
# Carry branch
cseq = py_trees.composites.Sequence('CSequence')
# neighsite = NeighbourObjects('5')
# neighsite.setup(0, self, 'Sites')
neighhub = py_trees.meta.inverter(NeighbourObjects)(
'NeighbourObjects_Hub')
neighhub.setup(0, self, 'Hub')
neighfood = NeighbourObjects('NeighbourObjects_Food')
neighfood.setup(0, self, 'Food')
invcarrying = py_trees.meta.inverter(IsInPartialAttached)(
'IsInPartialAttached_Food')
invcarrying.setup(0, self, 'Food')
carry = CompositeMultipleCarry('CompositeMultipleCarry_Food')
carry.setup(0, self, 'Food')
# Move to hub
hubseq = py_trees.composites.Sequence('HubSeq')
# If carrying something to go to hub
gotohub = MoveTowards('MoveTowards_Hub')
gotohub.setup(0, self, 'Hub')
hubseq.add_children([iscarrying, gotohub])
cseq.add_children([neighhub, neighfood, carry, hubseq])
# Locomotion branch
# Move to site
siteseq = py_trees.composites.Sequence('SiteSeq')
# If site already found and not carrying anything go to site
sitefound = IsVisitedBefore('IsVisitedBefore_Sites')
sitefound.setup(0, self, 'Sites')
gotosite = MoveTowards('MoveTowards_Sites')
gotosite.setup(0, self, 'Sites')
siteseq.add_children([sitefound, invcarrying, gotosite])
# Do Random walk
explore = Explore('Explore')
explore.setup(0, self)
randwalk = py_trees.composites.Sequence('Randwalk')
randwalk.add_children([explore])
# Try to got to site and hub if not explore
locoselect = py_trees.composites.Selector('Move')
locoselect.add_children([iscarrying, siteseq, explore])
# First try to drop then collect or explore
select = py_trees.composites.Selector('Main')
select.add_children([dseq, cseq, locoselect])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)