splintered-reality/py_trees

Python implementation of behaviour trees.

What it solves

PyTrees simplifies the creation of medium-sized decision-making engines, particularly for robotics, by providing a structured way to organize complex behaviors into manageable trees.

How it works

It implements behavior trees, allowing developers to build logic using a variety of components:

  • Core Components: Uses Behaviours, Decorators, Sequences, Selectors, and Parallels to define logic flow.
  • Data Management: Employs Blackboards for sharing data across different parts of the tree.
  • Declarative Definitions: Supports an XML parser and a ports API for defining behaviors through configuration rather than just code.
  • Visualization: Can render trees as ASCII/Unicode in the terminal or serialize them into dot graphs for visual analysis.

Who it’s for

It is designed for developers building decision-making layers for robots or other systems requiring structured, hierarchical control logic.

Highlights

  • Comprehensive library of built-in behaviors, decorators, and idioms.
  • Support for typed input/output ports.
  • Ability to define behavior trees via XML.
  • Integration options for ROS 2 via companion libraries.

Related

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    A collection of autonomous behavior demonstrations for TurtleBot3 and TurtleBot 4 using behavior trees in ROS 2, featuring both Python and C++ implementations.

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    A Rust and Python implementation of Behavior Trees for creating modular and reactive AI and robotics control systems.

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    ros2/rclpy

    A ROS 2 client library for Python that enables developers to build and integrate robotic software components using the Python language.

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    unitreerobotics/unitree_sdk2_python

    A Python interface for the Unitree SDK2 that enables high-level behavioral control, low-level motor management, and peripheral access for Unitree robots.

  • Project
    BehaviorTree/BehaviorTree.CPP

    A C++ 17 library for creating Behavior Trees to manage complex decision-making in robotics and game AI, offering a reactive and flexible alternative to Finite State Machines.