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MarginallyClever / Robot-Overlord-App

Simulation and control software for robots
https://www.marginallyclever.com/
GNU General Public License v2.0
157 stars 48 forks source link

Building limb programs with Behavior Trees #255

Open i-make-robots opened 5 months ago

i-make-robots commented 5 months ago

This is a stub until I can fill out more details.

Basically... a set of custom nodes that contain some state information. They all have a return code (running, success, failure). on every update() the nodes are walked. running nodes know which child to call, if any. the process repeats until a node fails, which kicks up the tree, or success, which moves on to the next node (controlled by the parent). This is a more flexible version of the LimbPlanner that already exists in 2.105.0

i-make-robots commented 5 months ago

See also https://www.behaviortree.dev/

i-make-robots commented 5 months ago

This seems like a lot of work for not much benefit in the short term. Will close for now and reopen if there is need later.

i-make-robots commented 5 months ago

Well... ended up doing it because I couldn't find an easier way.

i-make-robots commented 5 months ago