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()
# name = type(model.target).__name__
# self.shared_content[name] = {model.target}
root = py_trees.composites.Selector("Selector")
left_sequence = py_trees.composites.Sequence("LSequence")
right_sequence = py_trees.composites.Sequence("RSequence")
low = RandomWalk('1')
low.setup(0, self)
# low1 = IsMoveable('2')
# low1.setup(0, self,)
low2 = Move('3')
low2.setup(0, self)
medium = NeighbourObjects('4')
medium.setup(0, self, 'Sites')
high = DoNotMove('5')
high.setup(0, self)
left_sequence.add_children([medium, high])
right_sequence.add_children([low, low2])
# medium = GoTo('2')
# medium.setup(0, self, self.attached_objects['Sites'][0])
root.add_children([left_sequence, right_sequence])
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()
root = py_trees.composites.Sequence("Sequence")
sense = NeighbourObjects('Sense')
sense.setup(0, self, 'Debris')
multiple_carry = CompositeMultipleCarry('MultipleCarry')
multiple_carry.setup(0, self, 'Debris')
move = Move('Move')
move.setup(0, self)
root.add_children([sense, multiple_carry, move])
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()
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()
root = py_trees.composites.Sequence("Sequence")
# Sensing the environemnt to find object to carry
lowest = NeighbourObjects('0')
lowest.setup(0, self, 'Debris')
# Creating composite single carry object
singlecarry = CompositeSingleCarry('SingleCarry')
singlecarry.setup(0, self, 'Debris')
root.add_children([lowest, singlecarry])
self.behaviour_tree = py_trees.trees.BehaviourTree(root)
def setup(self, timeout, agent, item=None):
"""Have defined the setup method.
This method defines the other objects required for the
behavior. Agent is the actor in the environment,
item is the name of the item we are trying to find in the
environment and timeout defines the execution time for the
behavior.
"""
self.agent = agent
self.item = item
# Define the root for the BT
root = Sequence('CPC_Sequence')
c1 = NeighbourObjects('CPS_SearchCue')
c1.setup(0, self.agent, 'Cue')
c2 = PickCue('CPS_PickCue')
c2.setup(0, self.agent, 'Cue')
root.add_children([c1, c2])
self.behaviour_tree = BehaviourTree(root)
def setup(self, timeout, agent, item=None):
"""Have defined the setup method.
This method defines the other objects required for the
behavior. Agent is the actor in the environment,
item is the name of the item we are trying to find in the
environment and timeout defines the execution time for the
behavior.
"""
self.agent = agent
self.item = item
# Define the root for the BT
root = Sequence('CRS_Sequence')
s1 = NeighbourObjects('CRS_NeighbourObjects')
s1.setup(0, self.agent, 'Signal')
s2 = ReceiveSignal('CRS_ReceiveSignal')
s2.setup(0, self.agent, 'Signal')
root.add_children([s1, s2])
self.behaviour_tree = 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
# self.shared_content['Sites'] = model.site
self.shared_content['Hub'] = {model.hub}
# root = py_trees.composites.Sequence("Sequence")
# root = py_trees.composites.Selector('Selector')
mseq = py_trees.composites.Sequence('MSequence')
nseq = py_trees.composites.Sequence('NSequence')
select = py_trees.composites.Selector('RSelector')
carryseq = py_trees.composites.Sequence('CSequence')
dropseq = py_trees.composites.Sequence('DSequence')
lowest1 = py_trees.meta.inverter(NeighbourObjects)('00')
lowest1.setup(0, self, 'Hub')
lowest11 = NeighbourObjects('0')
lowest11.setup(0, self, 'Sites')
lowest = NeighbourObjects('0')
lowest.setup(0, self, 'Food')
low = IsCarryable('1')
low.setup(0, self, 'Food')
medium = IsSingleCarry('2')
medium.setup(0, self, 'Food')
high = SingleCarry('3')
high.setup(0, self, 'Food')
carryseq.add_children([lowest1, lowest11, lowest, low, medium, high])
repeathub = RepeatUntilFalse("RepeatSeqHub")
repeatsite = RepeatUntilFalse("RepeatSeqSite")
high1 = py_trees.meta.inverter(NeighbourObjects)('4')
# high1 = NeighbourObjects('4')
high1.setup(0, self, 'Hub')
med1 = GoTo('5')
med1.setup(0, self, 'Hub')
# low1 = py_trees.meta.inverter(Move)('6')
low1 = Move('6')
low1.setup(0, self, None)
high2 = py_trees.meta.inverter(NeighbourObjects)('12')
# high2 = NeighbourObjects('12')
high2.setup(0, self, 'Sites')
# med2 = py_trees.meta.inverter(GoTo)('13')
med2 = GoTo('13')
med2.setup(0, self, 'Sites')
# low1 = py_trees.meta.inverter(Move)('6')
low2 = Move('14')
low2.setup(0, self, None)
# Drop
dropseq = py_trees.composites.Sequence('DSequence')
c1 = IsCarrying('7')
c1.setup(0, self, 'Food')
d1 = IsDropable('8')
d1.setup(0, self, 'Hub')
d2 = Drop('9')
d2.setup(0, self, 'Food')
dropseq.add_children([c1, d1, d2])
repeathub.add_children([high1, med1, low1])
repeatsite.add_children([high2, med2, low2])
mseq.add_children([carryseq, repeathub])
nseq.add_children([dropseq, repeatsite])
# For randomwalk to work the agents shouldn't know the location of Site
v1 = py_trees.meta.inverter(IsVisitedBefore)('15')
v1.setup(0, self, 'Sites')
r1 = RandomWalk('16')
r1.setup(0, self, None)
m1 = Move('17')
m1.setup(0, self, None)
randseq = py_trees.composites.Sequence('RSequence')
randseq.add_children([v1, r1, m1])
select.add_children([nseq, mseq, randseq])
self.behaviour_tree = py_trees.trees.BehaviourTree(select)
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 __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.Selector("Selector")
left_sequence = py_trees.composites.Sequence("LSequence")
right_sequence = py_trees.composites.Sequence("RSequence")
hub_sequence = py_trees.composites.RepeatUntilFalse("L1Sequence")
right_selector = py_trees.composites.Selector("RSelector")
right1_sequence = py_trees.composites.Sequence("R1Sequence")
self.blackboard = Blackboard()
self.blackboard.shared_content = dict()
name = type(model.hub).__name__
self.shared_content[name] = {model.hub}
# self.blackboard.shared_content[
# type(model.hub).__name__] = [model.hub]
hub_dnm = NeighbourObjects('5')
hub_dnm.setup(0, self, 'Hub')
dmn = DoNotMove('6')
dmn.setup(0, self)
low = RandomWalk('7')
low.setup(0, self)
# low1 = IsMoveable('8')
# low1.setup(0, self)
low2 = Move('9')
low2.setup(0, self)
medium = NeighbourObjects('1')
medium.setup(0, self, 'Sites')
high = GoTo('2')
high.setup(0, self, type(model.hub).__name__)
highm = Move('3')
highm.setup(0, self)
high1 = py_trees.meta.inverter(NeighbourObjects)('4')
high1.setup(0, self, 'Hub')
hub_sequence.add_children([high, highm, high1])
left_sequence.add_children([medium, hub_sequence])
right1_sequence.add_children([hub_dnm, dmn])
right_sequence.add_children([low, low2])
right_selector.add_children([right1_sequence, right_sequence])
root.add_children([left_sequence, right_selector])
self.behaviour_tree = py_trees.trees.BehaviourTree(root)
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)