19 lines
524 B
Python
19 lines
524 B
Python
import py_trees as ptree
|
|
from robowaiter.behavior_tree.ptml import ptmlCompiler
|
|
|
|
|
|
def load_bt_from_ptml(scene, ptml_path, behavior_lib_path):
|
|
ptml_bt = ptmlCompiler.load(scene, ptml_path, behavior_lib_path)
|
|
bt = ptree.trees.BehaviourTree(ptml_bt)
|
|
|
|
with open(ptml_path, 'r') as f:
|
|
ptml = f.read()
|
|
|
|
print(f'BT loaded: \n {ptml}')
|
|
|
|
# print(ptree.display.unicode_tree(root=bt.root, show_status=True))
|
|
return bt
|
|
|
|
# class BehaviorTree(ptree):
|
|
# def __init__(self):
|
|
# super().__init__() |