add initial ui_script prototype #10

jashlu · 2024-08-07T19:46:13Z

This is an example of a basic interaction where the user chooses 1 of 3 different behaviors to add to the behavior tree.
The user also chooses where (in front of which existing behavior) to add the new behavior.

Lastly, the updated behavior tree is displayed to the user

jashlu · 2024-08-07T19:47:54Z

zzaydin · 2024-08-07T21:08:44Z

norms/ui_script.py

+    approach_door = py_trees.behaviours.Success(name="approach_door")
+
+    #go_through_door
+    go_through_door = py_trees.behaviours.Dummy(name="go_through_door")


Why is approaching the door is "success" but not going through? We won't be changing this behavior, right? We are just adding another one in between? Is the "dummy" there because they will shift down in the three?

Hey thanks for taking a look at the code, that is actually my fault. approach_door should actually be a Dummy like go_through_door. I just forgot to change it.

To give a little more context, we are just trying to demonstrate what it would look like communicating a change to the behavior tree by choosing a new behavior and adding it somewhere inside the behavior tree. If you look at the rest of the code, you will notice I don't actually call the "tick()" function which is what runs the behavior tree, so we're not even running the behavior tree yet in this script. I think we just wanted to show an example of what it would be like for the user to go through the process of making an update to the tree. Correct me if i'm wrong @hollandjg

zzaydin · 2024-08-07T21:48:21Z

norms/ui_script.py

+
+    # Get user input to decide which behavior to add
+    print("1. Knock on door")
+    print("2. Sound siren")


If the user chooses 2 or 3, will we accept it or claim that it is not appropriate for the situation (or some type of other error message)?

We haven't gotten that far yet, but that could definitely be something we add next. I think at this point we could go in multiple directions, such as working on the error checking like you said, or simulating "what comes next" after you make a change to the tree. I think we could have a great discussion about this on Monday, after showing Bertram this basic but important first part of the prototype

zzaydin

Thanks for the explanations, @jashlu!

hollandjg

Hey Josh, thanks for putting this together! I've got some suggestions for simplifications and a couple of UI bugs I found.

hollandjg · 2024-08-12T13:01:09Z

norms/ui_script.py

+import py_trees
+
+
+def main(tick_time: float = 1):


I don't think we're using this variable, so should we remove it?

Suggested change

def main(tick_time: float = 1):

def main():

hollandjg · 2024-08-12T13:01:43Z

norms/ui_script.py

+
+    root = py_trees.composites.Sequence(name="Sequence", memory=False)
+
+    #approach_door


I think this comment is redundant – the following line says the same thing.

hollandjg · 2024-08-12T13:01:52Z

norms/ui_script.py

+    #approach_door
+    approach_door = py_trees.behaviours.Dummy(name="approach_door")
+
+    #go_through_door


Same with this one

hollandjg · 2024-08-12T13:03:57Z

norms/ui_script.py

+    # Get user input to decide which behavior to add
+    print("1. Knock on door")
+    print("2. Sound siren")
+    print("3. Turn around")
+    behavior_choice = input("Enter the number of which behavior to add to the tree: ")
+
+    if behavior_choice == "1":
+        new_behavior = py_trees.behaviours.Dummy(name="knock_on_door")
+    elif behavior_choice == "2":
+        new_behavior = py_trees.behaviours.Dummy(name="sound_siren")
+    elif behavior_choice == "3":
+        new_behavior = py_trees.behaviours.Dummy(name="turn_around")


This feels to me like a lot of duplication of the names like "knock on door" / "knock_on_door". Is there a way we could abstract it?

hollandjg · 2024-08-12T13:05:04Z

norms/ui_script.py

+    # Get user to decide where to place new behavior in the tree
+    index_choice = input("Enter the number of which behavior to place the new behavior in front of: ")
+
+    if index_choice:


Can you say something about this line? What's the check you're doing here? What happens if the user doesn't give an index?

hollandjg · 2024-08-12T13:12:41Z

norms/ui_script.py

It might be good to run the black or ruff format on all our python files, so we have consistent new-lines and comment formatting – will reduce some of the noise in the PRs.

hollandjg · 2024-08-12T13:15:46Z

norms/ui_script.py

+        new_behavior = py_trees.behaviours.Dummy(name="sound_siren")
+    elif behavior_choice == "3":
+        new_behavior = py_trees.behaviours.Dummy(name="turn_around")
+


If I input something like e, it causes an error because new_behavior isn't defined. Any ideas how to fix that?

hollandjg · 2024-08-12T13:16:57Z

norms/ui_script.py

+    index = 1
+    for x in root.children:
+        print(f"{index}. {x.name}")
+        index += 1


You could use the enumerate builtin here to make this a bit simpler.

Suggested change

index = 1

for x in root.children:

print(f"{index}. {x.name}")

index += 1

for index, x in enumerate(root.children):

print(f"{index + 1}. {x.name}")

hollandjg · 2024-08-12T13:17:19Z

norms/ui_script.py

+        print(f"{index}. {x.name}")
+        index += 1
+    # Get user to decide where to place new behavior in the tree
+    index_choice = input("Enter the number of which behavior to place the new behavior in front of: ")


What if I want to put it at the end?

hollandjg · 2024-08-12T13:18:33Z

norms/ui_script.py

+        new_behavior = py_trees.behaviours.Dummy(name="sound_siren")
+    elif behavior_choice == "3":
+        new_behavior = py_trees.behaviours.Dummy(name="turn_around")
+


What happens if I input "4"? I think it'll crash.

Add-instructions

hollandjg

One more minor change, and then the README is good to merge!

hollandjg · 2024-09-16T17:46:41Z

README.md

+4. (Temporary) You may need to install the py trees library 
+```
+pip install py_trees
+```


This shouldn't be necessary – it's in the dependencies.

Suggested change

4. (Temporary) You may need to install the py trees library

```

pip install py_trees

```

hollandjg · 2024-09-16T17:46:54Z

README.md

-[rst]: http://docutils.sourceforge.net/rst.html
-[md]: https://tools.ietf.org/html/rfc7764#section-3.5 "CommonMark variant"
-[md use]: https://packaging.python.org/specifications/core-metadata/#description-content-type-optional
+5. Now you can navigate to the file you want to run, and press the triangle play button to run the py_tree file. 


Suggested change

5. Now you can navigate to the file you want to run, and press the triangle play button to run the py_tree file.

4. Now you can navigate to the file you want to run, and press the triangle play button to run the py_tree file.

hollandjg · 2024-09-24T13:18:33Z

Closing initial PRs – merged everything to main and starting over from there.

add initial ui_script prototype

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update comments

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jashlu requested review from hollandjg and zzaydin August 7, 2024 19:50

zzaydin reviewed Aug 7, 2024

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hollandjg and others added 2 commits August 8, 2024 08:10

Merge branch 'main' into ui-script

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fix node type

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zzaydin approved these changes Aug 8, 2024

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hollandjg requested changes Aug 12, 2024

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jashlu added 3 commits August 18, 2024 21:23

Add README instructions for setting up venv

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add screenshot

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Merge pull request #13 from brown-ccv/add-instructions

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Add-instructions

hollandjg requested changes Sep 16, 2024

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hollandjg closed this Sep 24, 2024

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add initial ui_script prototype #10

add initial ui_script prototype #10

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hollandjg commented Sep 24, 2024


		root = py_trees.composites.Sequence(name="Sequence", memory=False)

		#approach_door

	5. Now you can navigate to the file you want to run, and press the triangle play button to run the py_tree file.
	4. Now you can navigate to the file you want to run, and press the triangle play button to run the py_tree file.

add initial ui_script prototype #10

add initial ui_script prototype #10

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