robokudo.display¶

Visualization utilities for behavior trees in RoboKudo.

This module provides functionality to visualize behavior trees using dot graphs. It is adapted from py_trees and enhanced with RoboKudo-specific features like timing information for annotators.

The module supports:

Generating dot graphs from behavior trees
Rendering trees to various output formats (dot, png)
Adding timing information for annotators
Customizing node appearance based on node type and status

Functions¶

`generate_pydot_graph`(...)	Generate a pydot graph representation of a behavior tree.
`stringify_dot_tree`(→ str)	Generate dot tree graphs and return a string representation
`render_dot_tree`(→ None)	Render the dot tree to .dot, .svg, .png files in the current
`write_timing_info_to_csv`(→ None)	Write timing information for annotators to a CSV file.

Module Contents¶

robokudo.display.generate_pydot_graph(root: py_trees.behaviour.Behaviour, visibility_level: py_trees.common.VisibilityLevel, collapse_decorators: bool = False) → typing_extensions.Tuple[pydot.Dot, typing_extensions.Dict]¶

Generate a pydot graph representation of a behavior tree.

Creates a visual representation of a behavior tree using pydot. The graph includes:

Nodes for each behavior tree component
Edges showing parent-child relationships
Visual attributes (shape, color) based on node type and status
Timing information for annotator nodes

The graph can be customized by:

Collapsing subtrees based on visibility level
Collapsing decorator nodes
Using different visual attributes for different node types
Including timing information for annotators

Parameters:

root – The root node of the tree or subtree to visualize
visibility_level – Level at which to collapse subtrees
collapse_decorators – Whether to collapse decorator nodes, defaults to False

Returns:

Tuple of (pydot graph object, timing information dictionary)

robokudo.display.stringify_dot_tree(root: py_trees.behaviour.Behaviour) → str¶

Generate dot tree graphs and return a string representation of the dot graph.

Parameters:: root – The root of a tree, or subtree
Returns:: Dot graph as a string

robokudo.display.render_dot_tree(root: py_trees.behaviour.Behaviour, visibility_level: py_trees.common.VisibilityLevel = VisibilityLevel.DETAIL, collapse_decorators: bool = False, name: typing_extensions.Optional[str] = None, threadpool_executor: typing_extensions.Optional[concurrent.futures.ThreadPoolExecutor] = None, path_prefix: typing_extensions.Optional[str] = None) → None¶

Render the dot tree to .dot, .svg, .png files in the current working directory. These will be named with the root behaviour name.

Parameters:

root – The root of a tree, or subtree
visibility_level – Collapse subtrees at or under this level
collapse_decorators – Only show the decorator (not the child)
name – Name to use for the created files (defaults to the root behaviour name)
threadpool_executor – ThreadPoolExecutor for file writing
path_prefix – String to be put before the filename

Example:

Render a simple tree to dot/svg/png file:

root = py_trees.composites.Sequence("Sequence")
for job in ["Action 1", "Action 2", "Action 3"]:
    success_after_two = py_trees.behaviours.Count(name=job,
                                                  fail_until=0,
                                                  running_until=1,
                                                  success_until=10)
    root.add_child(success_after_two)
py_trees.display.render_dot_tree(root)

Tip

A good practice is to provide a command line argument for optional rendering of a program so users can quickly visualise what tree the program will execute.

robokudo.display.write_timing_info_to_csv(filename_wo_extension: str, timing_info_dict: typing_extensions.Dict) → None¶

Write timing information for annotators to a CSV file.

Creates a CSV file containing the runtime information for each annotator in the behavior tree. The CSV has two columns: AnnotatorName and Runtime.

Parameters:

filename_wo_extension – Base filename without extension to write the CSV to
timing_info_dict – Dictionary mapping annotator names to their runtime in seconds