beehave-bt 0.1.0__tar.gz

beehave_bt-0.1.0/LICENSE

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beehave_bt-0.1.0/NOTICE

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+Beehave
+Copyright 2026 Erwin Lejeune and the Beehave contributors
+
+This product includes software developed by the Beehave contributors
+(https://github.com/guilyx/beehave).
+
+Test fixtures under tests/fixtures/public/ are third-party files distributed
+under their own licenses; see tests/fixtures/public/README.md.

beehave_bt-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: beehave-bt
+Version: 0.1.0
+Summary: Reads robot behavior trees (BehaviorTree.CPP v3 and v4, py_trees) and shows only the actions your robot can take, in order, with the conditions that lead to each one.
+Keywords: behavior-tree,behaviortree-cpp,py-trees,robotics,ros2,nav2,static-analysis,mermaid,graphviz
+Author: Erwin Lejeune
+License-Expression: Apache-2.0
+License-File: LICENSE
+License-File: NOTICE
+Classifier: Development Status :: 3 - Alpha
+Classifier: Environment :: Console
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3.14
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Software Development :: Quality Assurance
+Classifier: Typing :: Typed
+Requires-Dist: pyyaml>=6.0
+Requires-Dist: py-trees>=2.2 ; extra == 'py-trees'
+Requires-Python: >=3.10
+Project-URL: Homepage, https://guilyx.github.io/beehave/
+Project-URL: Documentation, https://guilyx.github.io/beehave/
+Project-URL: Source, https://github.com/guilyx/beehave
+Project-URL: Issues, https://github.com/guilyx/beehave/issues
+Project-URL: Changelog, https://github.com/guilyx/beehave/blob/main/CHANGELOG.md
+Provides-Extra: py-trees
+Description-Content-Type: text/markdown
+
+<p align="center">
+  <picture>
+    <source media="(prefers-color-scheme: dark)" srcset=".branding/logo/lockup-horizontal-dark.svg">
+    <img alt="Beehave" src=".branding/logo/lockup-horizontal.svg" width="360">
+  </picture>
+</p>
+
+<p align="center">
+  <b>The small branch that matters.</b><br>
+  Beehave reads a robot behavior tree (BehaviorTree.CPP v3 or v4, or py_trees)
+  and shows only the actions your robot can take, in order, with the
+  conditions that lead to each one.
+</p>
+
+<p align="center">
+  <a href="https://github.com/guilyx/beehave/actions/workflows/ci.yml"><img alt="CI" src="https://github.com/guilyx/beehave/actions/workflows/ci.yml/badge.svg"></a>
+  <a href="https://guilyx.github.io/beehave/"><img alt="Docs" src="https://img.shields.io/badge/docs-guilyx.github.io%2Fbeehave-1b1813"></a>
+  <img alt="Python 3.10+" src="https://img.shields.io/badge/python-3.10%2B-1b1813">
+  <a href="LICENSE"><img alt="License: Apache-2.0" src="https://img.shields.io/badge/license-Apache--2.0-1b1813"></a>
+  <img alt="Status: alpha" src="https://img.shields.io/badge/status-alpha%20·%20phase%201-fcc50e">
+</p>
+
+---
+
+> **Not the Godot addon.** This Beehave is a static analysis tool for robot
+> behavior trees written for [BehaviorTree.CPP](https://www.behaviortree.dev/)
+> or [py_trees](https://github.com/splintered-reality/py_trees) (ROS 2, Nav2:
+> drones, mobile robots, manipulators). It is unrelated to the Beehave addon
+> for the Godot game engine.
+
+## Why
+
+A behavior tree decides what a robot does next, and the file that holds it is
+written for the executor, not for people. What happens when a step fails is
+spread over fallbacks, decorators, reactive nodes, subtrees in other files or
+ROS packages, and blackboard remapping. To answer *"what does the robot do if
+this step fails halfway through the task?"*, whether it flies, drives or
+grasps, you tick the tree in your head. So does every reviewer, every time.
+
+The tools around behavior trees answer other questions:
+
+- editors and monitors (Groot, Groot2) show the tree as written, or as it runs
+  on a robot;
+- renderers (`py-trees-render`, Nav2's `bt2img.py`) draw the parent/child
+  structure;
+- model checkers (BehaVerify and others) need the tree rewritten in their own
+  language first.
+
+Beehave reads the file you ship, with nothing built and no robot running, and
+answers three questions at a glance:
+
+- **Which actions exist** in this tree?
+- **What has to be true** for each one to run?
+- **What runs next** on success, and what runs next on failure?
+
+The [prior art survey](https://guilyx.github.io/beehave/research/prior-art/)
+compares the existing tools in detail.
+
+## What it does
+
+A 22-node drone mission in, a 10-action graph out. Control nodes become
+arrows, conditions become arrow labels, subtrees are inlined, retries become
+notes.
+
+```console
+$ beehave graph examples/aerial/drone_mission.xml -f mermaid
+```
+
+```mermaid
+---
+config:
+  theme: base
+  themeVariables:
+    edgeLabelBackground: "#f5f0e9"
+    lineColor: "#1b1813"
+---
+%% Beehave action graph: DroneMission (btcpp-v3)
+flowchart TD
+    start(("START"))
+    a1["LandNow"]
+    a2["Arm"]
+    a3["TakeOff"]
+    a4["FlyToWaypoint<br/><small>retry ×3</small>"]
+    a5["CaptureImage"]
+    a6["FlyHome"]
+    a7["FindLandingSpot"]
+    a8["FlyToLandingSpot"]
+    a9["Land"]
+    a10["Disarm"]
+    success(["SUCCESS"])
+    failure(["FAILURE"])
+    start -->|"IsBatteryCritical"| a1
+    start -->|"not IsBatteryCritical"| a2
+    a1 -->|"success"| success
+    a1 -.->|"failure"| a2
+    a2 -->|"success"| a3
+    a2 -.->|"failure"| failure
+    a3 -->|"success and IsBatteryOK"| a4
+    a3 -->|"success and not IsBatteryOK"| a6
+    a3 -.->|"failure"| failure
+    a4 -->|"success"| a5
+    a4 -.->|"failure"| a6
+    a5 -->|"success"| a6
+    a5 -.->|"failure"| a6
+    a6 -->|"success"| a9
+    a6 -.->|"failure"| a7
+    a7 -->|"success"| a8
+    a7 -.->|"failure"| failure
+    a8 -->|"success"| a9
+    a8 -.->|"failure"| failure
+    a9 -->|"success"| a10
+    a9 -.->|"failure"| failure
+    a10 -->|"success"| success
+    a10 -.->|"failure"| failure
+    classDef start fill:#1b1813,stroke:#1b1813,stroke-width:1.5px,color:#f5f0e9
+    classDef action fill:#fdfbf9,stroke:#1b1813,stroke-width:1.5px,color:#1b1813
+    classDef success fill:#107550,stroke:#fdfbf9,stroke-width:2px,color:#fdfbf9
+    classDef failure fill:#b93917,stroke:#fdfbf9,stroke-width:2px,color:#fdfbf9
+    class start start
+    class a1,a2,a3,a4,a5,a6,a7,a8,a9,a10 action
+    class success success
+    class failure failure
+    linkStyle 0,1 stroke:#1b1813,stroke-width:1.75px
+    linkStyle 2,4,6,7,9,11,13,15,17,19,21 stroke:#107550,stroke-width:1.75px
+    linkStyle 3,5,8,10,12,14,16,18,20,22 stroke:#b93917,stroke-width:1.75px,stroke-dasharray:7 4
+```
+
+"What if the emergency landing fails?" now takes one arrow to answer, and the
+answer is a gap: `LandNow` fails over to `Arm`, so the drone would start the
+mission again.
+
+The same works for any robot. The [`examples/`](examples/) folder has three
+generic trees:
+
+| Example | Robot | Tree → graph |
+| --- | --- | --- |
+| [Drone survey mission](examples/aerial/drone_mission.xml) | Multirotor | 22 nodes → 10 actions |
+| [Navigate to a goal, with recovery and docking](examples/mobile/navigate_to_goal.xml) | Mobile base | 23 nodes → 11 actions |
+| [Pick and place](examples/manipulation/pick_and_place.xml) | Arm and gripper | 24 nodes → 13 actions |
+
+Each one is also written in BehaviorTree.CPP v4 (`*_v4.xml`) and in py_trees
+(`*.py`), and every version gives the same graph. The one exception is
+instructive: py_trees has no `IfThenElse`, and the usual py_trees way to write
+the mobile robot's "charge or navigate" lets a failed dock fall through to
+navigation. Beehave shows it as three extra arrows.
+
+## Where it helps
+
+### Reviewing a change
+
+An XML diff shows which tags moved, not what the robot now does. Removing the
+`ForceSuccess` around the drone's survey is a two-line change that looks like
+a clean-up:
+
+```diff
+         <TakeOff altitude="{cruise_altitude}"/>
+-        <ForceSuccess>
+           <Sequence name="survey">
+             ...
+           </Sequence>
+-        </ForceSuccess>
+         <SubTreePlus ID="ReturnToLaunch" __autoremap="true"/>
+```
+
+The graph diff shows what it changes:
+
+```diff
+-TakeOff --[success and not IsBatteryOK]--> FlyHome
++TakeOff --[success and not IsBatteryOK]--> FAILURE
+-FlyToWaypoint --[failure]--> FlyHome
++FlyToWaypoint --[failure]--> FAILURE
+-CaptureImage --[failure]--> FlyHome
++CaptureImage --[failure]--> FAILURE
+```
+
+When the battery is low after take-off, or the survey fails, the drone no
+longer flies home: the tree ends in `FAILURE` with the drone in the air.
+Commit the text graph next to the tree and this diff shows up in the pull
+request, where reviewers already look.
+
+### Safety and failure reviews
+
+Every failure transition is listed, with the conditions that lead to it. A
+hazard review (an FMEA, a test-flight briefing) can walk them one by one
+instead of rebuilding them from the XML. That is how the `LandNow` gap above
+shows up. Safety engineers, test pilots and operators can read the graph
+without reading the XML.
+
+### A CI check that needs no robot
+
+No ROS install, no C++ build, no plugins. Beehave exits with an error when the
+XML is malformed or a subtree cannot be found, across files, `<include>`s and
+ROS packages. Committed graphs fail CI when the tree changes and the graph was
+not updated ([how](https://guilyx.github.io/beehave/guide/cli/#use-in-ci)).
+
+### Migrations
+
+Moving from BT.CPP v3 to v4 (as Nav2 did between Humble and Jazzy), or porting
+a tree between BT.CPP and py_trees: the same tree must give the same graph, so
+comparing the two graphs checks the port. Beehave's own tests hold its
+examples and public BT.CPP v3/v4 pairs to that rule.
+
+### Diagrams that stay true
+
+Mermaid output renders on GitHub, GitLab and most docs sites. Generate the
+diagram from the tree and it cannot drift from what the robot runs.
+
+### Input for other tools
+
+`-f json` gives every action with its ports and source line, every transition
+with a structured guard, and every warning. Build a test plan from it (one
+simulation scenario per failure transition), check a naming rule, or feed an
+operator UI.
+
+## What it is not
+
+- **Not an editor or a runtime monitor.** Groot2 does that.
+- **Not a proof.** The graph shows what the tree can do; temporal-logic checks
+  are an optional later phase.
+- **Not exact everywhere yet.** Reactive nodes, loops and `Parallel` are
+  approximated, and every approximation is printed as a warning.
+
+## Install
+
+```console
+$ pip install beehave-bt                # or: uv tool install beehave-bt
+$ pip install 'beehave-bt[py-trees]'    # to read py_trees trees too
+```
+
+The PyPI package is `beehave-bt`; the command and the module are `beehave`.
+Python 3.10+ (ROS 2 Humble and newer). Under ROS 2, skip the extra and use the
+py_trees of your distribution.
+
+## Use
+
+```console
+$ beehave graph mission.xml                       # transitions as text
+$ beehave graph mission.xml -f mermaid -o mission.mmd
+$ beehave graph mission.xml -f dot | dot -Tsvg > mission.svg
+$ beehave graph mission.xml -f json               # for other tools
+$ beehave stats mission.xml                       # size, reduction, breakage
+$ beehave trees mission.xml                       # list the trees
+$ beehave graph behavior_trees/ -t NavigateToPose  # every tree in a folder
+$ beehave graph --py-trees robot.trees:create_root  # a py_trees tree
+```
+
+BT.CPP v3 and v4 files are told apart automatically. Subtrees are inlined
+wherever they live: in the same file, in an `<include>`, in a ROS package
+(`ros_pkg`), or in a folder of trees registered from code. `--py-trees` imports
+your module and calls the function, so it runs that code: only point it at
+code you would run yourself.
+
+```python
+import beehave
+
+result = beehave.analyze("mission.xml")
+print(beehave.to_mermaid(result.graph))
+print(result.stats.reduction)
+```
+
+Custom nodes are actions unless the XML or a small `beehave.yaml` says they
+are conditions:
+
+```yaml
+conditions: [BatteryOK, IsEmergency]
+```
+
+## Status
+
+Beehave moves along eight tracks, in six milestones
+([roadmap](https://guilyx.github.io/beehave/design/roadmap/)).
+
+**Phases** — what the graph says:
+
+| Phase | What | Status |
+| --- | --- | --- |
+| 1. Action graph | Parse, flatten subtrees, walk, render | **done**, readability gate open |
+| 2. Guards and metrics | Simplified guards, exact Reactive/Retry/Parallel, gap report | planned (M3) |
+| 3. Operator view | Operator labels, phase view, JSON for ground-control UIs, live status | planned (M5) |
+| 4a. Graph safety rules | Safety rules checked on the graph, with witness paths | planned (M4) |
+| 4b. Model checking | Temporal-logic rules through BehaVerify | optional (M6) |
+
+**Formats** — what Beehave reads:
+
+| Format | Status |
+| --- | --- |
+| BehaviorTree.CPP v3 | **supported** |
+| BehaviorTree.CPP v4 | **supported**, including `SKIPPED` and pre-conditions |
+| py_trees (2.2 and newer) | **supported** |
+| Nav2 presets, per ROS distro | planned (M1, M3) |
+| Groot2 projects, AutoAPMS, BehaviorTree.ROS2 | planned (M1, M3) |
+| State machines (YASMIN, SMACH…) | later (M6) |
+
+**Checks against the graph** — six more tracks:
+
+| Track | What it adds | Starts in |
+| --- | --- | --- |
+| Foundations | Runtime IDs that match BT.CPP's, a graph hash, a JSON Schema | M1 |
+| Integrations | SARIF, GitHub annotations and Action, pre-commit, MCP server, `ros2 beehave` | M1 |
+| Quality | `beehave lint`, a quality report, `beehave diff`, grading generated trees | M1 |
+| Safety | An evidence manifest, graph safety rules, FMEA and assurance-case exports | M1 |
+| Runs | Read BT.CPP logs and Nav2 bags: timelines, edge coverage, conformance | M2 |
+| Tests | Coverage criteria, `beehave plan`, mock files for BT.CPP and py_trees | M2 |
+
+Nodes Beehave cannot model exactly yet (reactive nodes, loops, Parallel,
+unknown custom nodes) are approximated **and always reported**, never
+silently. See the
+[node support table](https://guilyx.github.io/beehave/design/phase-1/#node-support).
+
+## Learn more
+
+- 📖 [Documentation](https://guilyx.github.io/beehave/)
+- 🧭 [Design: architecture, Phase 1 spec, ADRs](https://guilyx.github.io/beehave/design/)
+- 🔬 [Research: BT.CPP semantics, prior art, literature](https://guilyx.github.io/beehave/research/)
+- 🗺️ [Roadmap](https://guilyx.github.io/beehave/design/roadmap/)
+
+## Contributing
+
+Contributions are welcome: bug reports with a minimal tree, new node rules,
+docs. We work test-first, and every walk rule is checked against a reference
+interpreter with property-based tests. Start with
+[CONTRIBUTING.md](CONTRIBUTING.md) and the
+[good first issues](https://github.com/guilyx/beehave/labels/good%20first%20issue).
+
+Please follow the [Code of Conduct](CODE_OF_CONDUCT.md). Report security
+issues privately, as described in [SECURITY.md](SECURITY.md).
+
+## License
+
+[Apache-2.0](LICENSE). The brand (logo, palette, type, graph style) is
+documented in [`.branding/`](.branding/README.md); its assets have their own
+[license](.branding/LICENSE.md). If you use Beehave in research, see
+[CITATION.cff](CITATION.cff).