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intrinsic.solutions.behavior_tree.Retry

BT node of type Retry for behavior_tree_pb2.BehaviorTree.RetryNode.

Inherits From: Node

intrinsic.solutions.behavior_tree.Retry(
max_tries: int = 0,
child: Optional[Union['Node', actions.ActionBase]] = None,
recovery: Optional[Union['Node', actions.ActionBase]] = None,
name: Optional[str] = None,
retry_counter_key: Optional[str] = None
)

Runs the child node and retries if the child fails. After the given number of retries, the failure gets propagated up.

Attributes

child

The child node of this node that is to be retried upon failure.

recovery

An optional sub-tree that is executed if the child fails and there are still tries left to be performed. If the recovery fails, the retry node will fail immediately irrespective of the number of tries left.

max_tries

Maximal number of times to execute the child before propagating the failure up.

proto

The proto representation of the node.

node_type

A string label of the node type.

retry_counter

The key to access the retry counter on the blackboard, only available while inside the retry node.

breakpoint

decorators

execution_mode

name

node_id

Methods​

create_from_proto

View source 
@classmethodcreate_from_proto(
proto_object: behavior_tree_pb2.BehaviorTree.Node
) -> 'Node'

Instantiates a Node instance from a proto.

disable_execution

View source 
disable_execution(
result_state: Optional[intrinsic.solutions.behavior_tree.DisabledResultState] = None
) -> 'Node'

Disables a node, so that it is not executed and appears to be skipped.

Args

result_state

Optionally force the result of the execution to this state. If not set, the resulting state is automatically determined, so that the node is skipped.

Returns

Builder pattern, returns self.

dot_graph

View source 
dot_graph(
node_id_suffix: str = ''
) -> Tuple[graphviz.Digraph, str]

Generates a graphviz subgraph with a single node for self.

Args

node_id_suffix

A little string of form _1_2, which is just a suffix to make a unique node name in the graph. If the node names clash within the graph, they are merged into one, and we do not want to merge unrelated nodes.

node_label

The label is typically just the type of the node. To use a different value, this argument can be used.

name

name of the node as set by the user.

Returns

A tuple of the generated graphviz dot graph and the name of the graph's root node.

enable_execution

View source 
enable_execution() -> 'Node'

Enables a node, so that it will be executed.

Returns

Builder pattern, returns self.

generate_and_set_unique_id

View source 
generate_and_set_unique_id() -> int

Generates a new random id and sets it for this node.

set_breakpoint

View source 
set_breakpoint(
breakpoint_type: Optional['BreakpointType']
) -> 'Node'

Sets the breakpoint type on the decorator.

Args

breakpoint_type

desired breakpoint type, None to remove type.

Returns

Builder pattern, returns self.

set_child

View source 
set_child(
child: Union['Node', actions.ActionBase]
) -> 'Retry'

set_decorators

View source 
set_decorators(
decorators: Optional['Decorators']
) -> 'Node'

set_recovery

View source 
set_recovery(
recovery: Union['Node', actions.ActionBase]
) -> 'Retry'

show

View source 
show() -> None

visit

View source 
visit(
containing_tree: 'BehaviorTree',
callback: Callable[['BehaviorTree', Union['BehaviorTree', 'Node', 'Condition']], None]
) -> None