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")
self.blackboard = Blackboard()
self.blackboard.shared_content = dict()
name = type(model.target).__name__
self.shared_content[name] = {model.target}
low = GoTo('1')
low.setup(0, self, name)
mid = Away('2')
mid.setup(0, self)
high = Move('3')
high.setup(0, self)
root.add_children([low, mid, high])
self.behaviour_tree = py_trees.trees.BehaviourTree(root)
def __init__(self, name, model):
"""Initialize the agent methods."""
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}
# Just checking the randomwalk behavior with many agent
# how much they explore the environment
r1 = RandomWalk('1')
r1.setup(0, self, None)
m1 = Move('2')
m1.setup(0, self, None)
randseq = py_trees.composites.Sequence('RSequence')
randseq.add_children([r1, m1])
self.behaviour_tree = py_trees.trees.BehaviourTree(randseq)
def setup(self, timeout, agent, item):
"""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 goto primitive behavior
goto = GoTo('MA_GOTO_1')
goto.setup(0, self.agent, self.item)
# Define away behavior
away = Away('MA_Away_2')
away.setup(0, self.agent)
# Define move behavior
move = Move('MA_MOVE_3')
move.setup(0, self.agent)
# Define a sequence to combine the primitive behavior
mt_sequence = Sequence('MA_SEQUENCE')
mt_sequence.add_children([goto, away, move])
self.behaviour_tree = BehaviourTree(mt_sequence)
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.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()
root = py_trees.composites.Sequence("Sequence")
low = RandomWalk('1')
low.setup(0, self)
high = Move('2')
high.setup(0, self)
root.add_children([low, high])
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("Ex_Sequence")
low = RandomWalk('Ex_RandomWalk')
low.setup(0, self.agent)
high = Move('Ex_Move')
high.setup(0, self.agent)
root.add_children([low, high])
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
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()
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)