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splintered-reality / py_trees

Python implementation of behaviour trees.
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Improve timing of tick_tock() and allow stopping on terminal state #444

Open sea-bass opened 1 month ago

sea-bass commented 1 month ago

This PR does a few improvements to the BehaviourTree.tick_tock() implementation:

  1. Changes the time.sleep() to more accurately account for the tick time.
  2. Adds a new stop_on_terminal_state option that will stop ticking once the tree leaves a RUNNING state.