py-trees 2.3.0__tar.gz → 2.4.0__tar.gz

{py_trees-2.3.0 → py_trees-2.4.0}/PKG-INFO

@@ -1,8 +1,9 @@
-Metadata-Version: 2.3
+Metadata-Version: 2.4
 Name: py_trees
-Version: 2.3.0
+Version: 2.4.0
 Summary: pythonic implementation of behaviour trees
 License: BSD
+License-File: LICENSE
 Keywords: py_trees,py-trees,behaviour-trees
 Author: Daniel Stonier
 Maintainer: Daniel Stonier
@@ -19,9 +20,9 @@ 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 :: Libraries
-Requires-Dist: py (>=1.11.0,<2.0.0)
 Requires-Dist: pydot (>=1.4)
 Project-URL: Documentation, https://py-trees.readthedocs.io/en/devel/
 Project-URL: Homepage, https://github.com/splintered-reality/py_trees
@@ -48,11 +49,13 @@ Brief feature list:
 
 ## What's New?
 
+* [2025-11-13] New `ForEach` decorator.
+* [2025-11-13] New `CompareBlackboardVariables` behaviour, with comparison expressions that allow callables.
 * [2025-01-11] Support for Python 3.12 was added, and Python 3.8 was dropped.
 
 ## Documentation
 
-[![devel][docs-devel-image]][docs-devel] [![2.3.x][docs-2.3.x-image]][docs-2.3.x] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x]
+[![devel][docs-devel-image]][docs-devel] [![2.4.x][docs-2.4.x-image]][docs-2.4.x] [![2.3.x][docs-2.3.x-image]][docs-2.3.x] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x]
 
 ## Getting Started
 
@@ -115,6 +118,7 @@ Robotics:
 
 ## Releases
 
+* `2.4.x` - New ForEach decorator, new CompareBlackboardVariables behaviour, and callables in comparison expressions.
 * `2.3.x` - Support for Python 3.12 was added, and Python 3.8 was dropped.
 * `2.2.x` - Selectors, Sequences with and without memory. Improved testing and style/type checking.
 * `2.1.x` - Chooser deprecated. API housekeeping.
@@ -124,12 +128,12 @@ Robotics:
 * `1.0.x` - Behaviours, Decorators, Composites, Blackboards, Tree Management and Viz tools.
 * `0.y.x` - First open source pre-releases.
 
-| | Devel | 2.3.x | 2.2.x | 2.1.x | 2.0.x | 1.2.x |
+| | Devel | 2.4.x | 2.3.x | 2.2.x | 2.1.x | 2.0.x |
 |:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-| Sources | [![devel][sources-devel-image]][sources-devel] | [![2.3.x][sources-2.3.x-image]][sources-2.3.x] | [![2.2.x][sources-2.2.x-image]][sources-2.2.x] | [![2.1.x][sources-2.1.x-image]][sources-2.1.x] | [![2.0.x][sources-2.0.x-image]][sources-2.0.x] | [![1.2.x][sources-1.2.x-image]][sources-1.2.x] |
-| Compatibility | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.10][python310-image]][python310-docs]<br/>[![Python 3.8][python38-image]][python38-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] |
-| CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.3.x-Status][2.3.x-build-status-image]][2.3.x-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - | - |
-| Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![2.3.x-Docs][rtd-2.3.x-image]][docs-2.3.x] | [![2.2.x-Docs][rtd-2.2.x-image]][docs-2.2.x] | [![2.1.x-Docs][rtd-2.1.x-image]][docs-2.1.x] | [![2.0.x-Docs][rtd-2.0.x-image]][docs-2.0.x] | [![1.2.x-Docs][rtd-1.2.x-image]][docs-1.2.x] |
+| Sources | [![devel][sources-devel-image]][sources-devel] | [![2.4.x][sources-2.4.x-image]][sources-2.4.x] | [![2.3.x][sources-2.3.x-image]][sources-2.3.x] | [![2.2.x][sources-2.2.x-image]][sources-2.2.x] | [![2.1.x][sources-2.1.x-image]][sources-2.1.x] | [![2.0.x][sources-2.0.x-image]][sources-2.0.x] |
+| Compatibility | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.10][python310-image]][python310-docs]<br/>[![Python 3.8][python38-image]][python38-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] |
+| CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.4.x-Status][2.4.x-build-status-image]][2.4.x-build-status] | [![2.3.x-Status][2.3.x-build-status-image]][2.3.x-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - |
+| Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![2.4.x-Docs][rtd-2.4.x-image]][docs-2.4.x] | [![2.3.x-Docs][rtd-2.3.x-image]][docs-2.3.x] | [![2.2.x-Docs][rtd-2.2.x-image]][docs-2.2.x] | [![2.1.x-Docs][rtd-2.1.x-image]][docs-2.1.x] | [![2.0.x-Docs][rtd-2.0.x-image]][docs-2.0.x] |
 
 
 [license-image]: https://img.shields.io/badge/License-BSD%203--Clause-orange.svg?style=plastic
@@ -146,12 +150,15 @@ Robotics:
 
 [devel-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg
 [devel-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
+[2.4.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.4.x
+[2.4.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
 [2.3.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.3.x
 [2.3.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
 [2.2.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.2.x
 [2.2.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
 
 [docs-devel]: http://py-trees.readthedocs.io/
+[docs-2.4.x]: http://py-trees.readthedocs.io/en/release-2.4.x/
 [docs-2.3.x]: http://py-trees.readthedocs.io/en/release-2.3.x/
 [docs-2.2.x]: http://py-trees.readthedocs.io/en/release-2.2.x/
 [docs-2.1.x]: http://py-trees.readthedocs.io/en/release-2.1.x/
@@ -163,6 +170,7 @@ Robotics:
 [docs-0.5.x]: http://docs.ros.org/kinetic/api/py_trees/html/
 
 [docs-devel-image]: http://img.shields.io/badge/docs-devel-brightgreen.svg?style=plastic
+[docs-2.4.x-image]: http://img.shields.io/badge/docs-2.4.x-brightgreen.svg?style=plastic
 [docs-2.3.x-image]: http://img.shields.io/badge/docs-2.3.x-brightgreen.svg?style=plastic
 [docs-2.2.x-image]: http://img.shields.io/badge/docs-2.2.x-brightgreen.svg?style=plastic
 [docs-2.1.x-image]: http://img.shields.io/badge/docs-2.1.x-brightgreen.svg?style=plastic
@@ -174,6 +182,7 @@ Robotics:
 [docs-0.5.x-image]: http://img.shields.io/badge/docs-0.5.x-brightgreen.svg?style=plastic
 
 [rtd-devel-image]: https://readthedocs.org/projects/py-trees/badge/?version=devel&style=plastic
+[rtd-2.4.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.4.x&style=plastic
 [rtd-2.3.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.3.x&style=plastic
 [rtd-2.2.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.2.x&style=plastic
 [rtd-2.1.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.1.x&style=plastic
@@ -186,6 +195,7 @@ Robotics:
 [not-available-docs-image]: http://img.shields.io/badge/docs-n/a-yellow.svg?style=plastic
 
 [sources-devel]: https://github.com/splintered-reality/py_trees/tree/devel
+[sources-2.4.x]: https://github.com/splintered-reality/py_trees/tree/release/2.4.x
 [sources-2.3.x]: https://github.com/splintered-reality/py_trees/tree/release/2.3.x
 [sources-2.2.x]: https://github.com/splintered-reality/py_trees/tree/release/2.2.x
 [sources-2.1.x]: https://github.com/splintered-reality/py_trees/tree/release/2.1.x
@@ -197,6 +207,7 @@ Robotics:
 [sources-0.5.x]: https://github.com/splintered-reality/py_trees/tree/release/0.5.x
 
 [sources-devel-image]: http://img.shields.io/badge/sources-devel-blue.svg?style=plastic
+[sources-2.4.x-image]: http://img.shields.io/badge/sources-2.4.x-blue.svg?style=plastic
 [sources-2.3.x-image]: http://img.shields.io/badge/sources-2.3.x-blue.svg?style=plastic
 [sources-2.2.x-image]: http://img.shields.io/badge/sources-2.2.x-blue.svg?style=plastic
 [sources-2.1.x-image]: http://img.shields.io/badge/sources-2.1.x-blue.svg?style=plastic

{py_trees-2.3.0 → py_trees-2.4.0}/README.md

@@ -18,11 +18,13 @@ Brief feature list:
 
 ## What's New?
 
+* [2025-11-13] New `ForEach` decorator.
+* [2025-11-13] New `CompareBlackboardVariables` behaviour, with comparison expressions that allow callables.
 * [2025-01-11] Support for Python 3.12 was added, and Python 3.8 was dropped.
 
 ## Documentation
 
-[![devel][docs-devel-image]][docs-devel] [![2.3.x][docs-2.3.x-image]][docs-2.3.x] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x]
+[![devel][docs-devel-image]][docs-devel] [![2.4.x][docs-2.4.x-image]][docs-2.4.x] [![2.3.x][docs-2.3.x-image]][docs-2.3.x] [![2.2.x][docs-2.2.x-image]][docs-2.2.x] [![2.1.x][docs-2.1.x-image]][docs-2.1.x]
 
 ## Getting Started
 
@@ -85,6 +87,7 @@ Robotics:
 
 ## Releases
 
+* `2.4.x` - New ForEach decorator, new CompareBlackboardVariables behaviour, and callables in comparison expressions.
 * `2.3.x` - Support for Python 3.12 was added, and Python 3.8 was dropped.
 * `2.2.x` - Selectors, Sequences with and without memory. Improved testing and style/type checking.
 * `2.1.x` - Chooser deprecated. API housekeeping.
@@ -94,12 +97,12 @@ Robotics:
 * `1.0.x` - Behaviours, Decorators, Composites, Blackboards, Tree Management and Viz tools.
 * `0.y.x` - First open source pre-releases.
 
-| | Devel | 2.3.x | 2.2.x | 2.1.x | 2.0.x | 1.2.x |
+| | Devel | 2.4.x | 2.3.x | 2.2.x | 2.1.x | 2.0.x |
 |:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-| Sources | [![devel][sources-devel-image]][sources-devel] | [![2.3.x][sources-2.3.x-image]][sources-2.3.x] | [![2.2.x][sources-2.2.x-image]][sources-2.2.x] | [![2.1.x][sources-2.1.x-image]][sources-2.1.x] | [![2.0.x][sources-2.0.x-image]][sources-2.0.x] | [![1.2.x][sources-1.2.x-image]][sources-1.2.x] |
-| Compatibility | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.10][python310-image]][python310-docs]<br/>[![Python 3.8][python38-image]][python38-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] |
-| CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.3.x-Status][2.3.x-build-status-image]][2.3.x-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - | - |
-| Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![2.3.x-Docs][rtd-2.3.x-image]][docs-2.3.x] | [![2.2.x-Docs][rtd-2.2.x-image]][docs-2.2.x] | [![2.1.x-Docs][rtd-2.1.x-image]][docs-2.1.x] | [![2.0.x-Docs][rtd-2.0.x-image]][docs-2.0.x] | [![1.2.x-Docs][rtd-1.2.x-image]][docs-1.2.x] |
+| Sources | [![devel][sources-devel-image]][sources-devel] | [![2.4.x][sources-2.4.x-image]][sources-2.4.x] | [![2.3.x][sources-2.3.x-image]][sources-2.3.x] | [![2.2.x][sources-2.2.x-image]][sources-2.2.x] | [![2.1.x][sources-2.1.x-image]][sources-2.1.x] | [![2.0.x][sources-2.0.x-image]][sources-2.0.x] |
+| Compatibility | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.12][python312-image]][python312-docs]<br/>[![Python 3.10][python310-image]][python310-docs] | [![Python 3.10][python310-image]][python310-docs]<br/>[![Python 3.8][python38-image]][python38-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] | [![Python 3.6][python36-image]][python36-docs] |
+| CI | [![devel-Status][devel-build-status-image]][devel-build-status] | [![2.4.x-Status][2.4.x-build-status-image]][2.4.x-build-status] | [![2.3.x-Status][2.3.x-build-status-image]][2.3.x-build-status] | [![2.2.x-Status][2.2.x-build-status-image]][2.2.x-build-status] | - | - | - | - |
+| Documentation | [![devel-Docs][rtd-devel-image]][docs-devel] | [![2.4.x-Docs][rtd-2.4.x-image]][docs-2.4.x] | [![2.3.x-Docs][rtd-2.3.x-image]][docs-2.3.x] | [![2.2.x-Docs][rtd-2.2.x-image]][docs-2.2.x] | [![2.1.x-Docs][rtd-2.1.x-image]][docs-2.1.x] | [![2.0.x-Docs][rtd-2.0.x-image]][docs-2.0.x] |
 
 
 [license-image]: https://img.shields.io/badge/License-BSD%203--Clause-orange.svg?style=plastic
@@ -116,12 +119,15 @@ Robotics:
 
 [devel-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg
 [devel-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
+[2.4.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.4.x
+[2.4.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
 [2.3.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.3.x
 [2.3.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
 [2.2.x-build-status-image]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml/badge.svg??branch=release/2.2.x
 [2.2.x-build-status]: https://github.com/splintered-reality/py_trees/actions/workflows/pre-merge.yaml
 
 [docs-devel]: http://py-trees.readthedocs.io/
+[docs-2.4.x]: http://py-trees.readthedocs.io/en/release-2.4.x/
 [docs-2.3.x]: http://py-trees.readthedocs.io/en/release-2.3.x/
 [docs-2.2.x]: http://py-trees.readthedocs.io/en/release-2.2.x/
 [docs-2.1.x]: http://py-trees.readthedocs.io/en/release-2.1.x/
@@ -133,6 +139,7 @@ Robotics:
 [docs-0.5.x]: http://docs.ros.org/kinetic/api/py_trees/html/
 
 [docs-devel-image]: http://img.shields.io/badge/docs-devel-brightgreen.svg?style=plastic
+[docs-2.4.x-image]: http://img.shields.io/badge/docs-2.4.x-brightgreen.svg?style=plastic
 [docs-2.3.x-image]: http://img.shields.io/badge/docs-2.3.x-brightgreen.svg?style=plastic
 [docs-2.2.x-image]: http://img.shields.io/badge/docs-2.2.x-brightgreen.svg?style=plastic
 [docs-2.1.x-image]: http://img.shields.io/badge/docs-2.1.x-brightgreen.svg?style=plastic
@@ -144,6 +151,7 @@ Robotics:
 [docs-0.5.x-image]: http://img.shields.io/badge/docs-0.5.x-brightgreen.svg?style=plastic
 
 [rtd-devel-image]: https://readthedocs.org/projects/py-trees/badge/?version=devel&style=plastic
+[rtd-2.4.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.4.x&style=plastic
 [rtd-2.3.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.3.x&style=plastic
 [rtd-2.2.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.2.x&style=plastic
 [rtd-2.1.x-image]: https://readthedocs.org/projects/py-trees/badge/?version=release-2.1.x&style=plastic
@@ -156,6 +164,7 @@ Robotics:
 [not-available-docs-image]: http://img.shields.io/badge/docs-n/a-yellow.svg?style=plastic
 
 [sources-devel]: https://github.com/splintered-reality/py_trees/tree/devel
+[sources-2.4.x]: https://github.com/splintered-reality/py_trees/tree/release/2.4.x
 [sources-2.3.x]: https://github.com/splintered-reality/py_trees/tree/release/2.3.x
 [sources-2.2.x]: https://github.com/splintered-reality/py_trees/tree/release/2.2.x
 [sources-2.1.x]: https://github.com/splintered-reality/py_trees/tree/release/2.1.x
@@ -167,6 +176,7 @@ Robotics:
 [sources-0.5.x]: https://github.com/splintered-reality/py_trees/tree/release/0.5.x
 
 [sources-devel-image]: http://img.shields.io/badge/sources-devel-blue.svg?style=plastic
+[sources-2.4.x-image]: http://img.shields.io/badge/sources-2.4.x-blue.svg?style=plastic
 [sources-2.3.x-image]: http://img.shields.io/badge/sources-2.3.x-blue.svg?style=plastic
 [sources-2.2.x-image]: http://img.shields.io/badge/sources-2.2.x-blue.svg?style=plastic
 [sources-2.1.x-image]: http://img.shields.io/badge/sources-2.1.x-blue.svg?style=plastic

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/behaviour.py

@@ -146,7 +146,7 @@ class Behaviour(abc.ABC):
 
         Args:
             **kwargs: distribute arguments to this
-               behaviour and in turn, all of it's children
+               behaviour and in turn, all of its children
 
         Raises:
             Exception: if this behaviour has a fault in construction or configuration
@@ -261,7 +261,7 @@ class Behaviour(abc.ABC):
     ############################################
 
     def setup_with_descendants(self) -> None:
-        """Call setup on this child, it's children (it's children's children, )."""
+        """Call setup on this child, its children (its children's children, )."""
         for child in self.children:
             for node in child.iterate():
                 node.setup()
@@ -321,7 +321,7 @@ class Behaviour(abc.ABC):
 
     def iterate(self, direct_descendants: bool = False) -> typing.Iterator[Behaviour]:
         """
-        Iterate over this child and it's children.
+        Iterate over this child and its children.
 
         This utilises python generators for looping. To traverse the entire tree:
 
@@ -334,7 +334,7 @@ class Behaviour(abc.ABC):
             direct_descendants (:obj:`bool`): only yield children one step away from this behaviour.
 
         Yields:
-            :class:`~py_trees.behaviour.Behaviour`: one of it's children
+            :class:`~py_trees.behaviour.Behaviour`: one of its children
         """
         for child in self.children:
             if not direct_descendants:

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/behaviours.py

@@ -109,7 +109,7 @@ Crash test dummy used for anything dangerous.
 
 class Periodic(behaviour.Behaviour):
     """
-    Simply periodically rotates it's status over all each status.
+    Simply periodically rotates its status over all each status.
 
     That is, :data:`~py_trees.common.Status.RUNNING` for N ticks,
     :data:`~py_trees.common.Status.SUCCESS` for N ticks,
@@ -210,7 +210,7 @@ class SuccessEveryN(behaviour.Behaviour):
     """
     Non-blocking, periodic success.
 
-    This behaviour updates it's status with :data:`~py_trees.common.Status.SUCCESS`
+    This behaviour updates its status with :data:`~py_trees.common.Status.SUCCESS`
     once every N ticks, :data:`~py_trees.common.Status.FAILURE` otherwise.
 
     Args:
@@ -570,10 +570,10 @@ class CheckBlackboardVariableValue(behaviour.Behaviour):
         """
         self.logger.debug("%s.update()" % self.__class__.__name__)
         try:
-            value = self.blackboard.get(self.key)
+            lhs_value = self.blackboard.get(self.key)
             if self.key_attributes:
                 try:
-                    value = operator.attrgetter(self.key_attributes)(value)
+                    lhs_value = operator.attrgetter(self.key_attributes)(lhs_value)
                 except AttributeError:
                     self.feedback_message = (
                         "blackboard key-value pair exists, but the value does not "
@@ -588,20 +588,95 @@ class CheckBlackboardVariableValue(behaviour.Behaviour):
             )
             return common.Status.FAILURE
 
-        success = self.check.operator(value, self.check.value)
+        rhs_value = self.check.value_generator()
+        success = self.check.operator(lhs_value, rhs_value)
 
         if success:
             self.feedback_message = "'%s' comparison succeeded [v: %s][e: %s]" % (
                 self.check.variable,
-                value,
-                self.check.value,
+                lhs_value,
+                rhs_value,
             )
             return common.Status.SUCCESS
         else:
             self.feedback_message = "'%s' comparison failed [v: %s][e: %s]" % (
                 self.check.variable,
-                value,
-                self.check.value,
+                lhs_value,
+                rhs_value,
+            )
+            return common.Status.FAILURE
+
+
+class CompareBlackboardVariables(behaviour.Behaviour):
+    """
+    Non-blocking comparison between two blackboard variables.
+
+    Gets two blackboard variables and applies the given operator between them,
+    returning SUCCESS if the comparison holds.
+    This is non-blocking, so it will always tick with
+    :data:`~py_trees.common.Status.SUCCESS` or
+    :data:`~py_trees.common.Status.FAILURE`.
+
+    Args:
+        name: name of the behaviour
+        var1_key: blackboard key for the first variable
+        var2_key: blackboard key for the second variable
+        operator: a callable comparison operator
+
+    .. note::
+        If the variables do not yet exist on the blackboard, the behaviour will
+        return with status :data:`~py_trees.common.Status.FAILURE`.
+
+    .. tip::
+        The python `operator module`_ includes many useful comparison operations.
+    """
+
+    def __init__(
+        self,
+        name: str,
+        var1_key: str,
+        var2_key: str,
+        operator: typing.Callable[[common.ComparisonV, common.ComparisonV], bool],
+    ):
+        super().__init__(name=name)
+
+        self.var1_key = var1_key
+        self.var2_key = var2_key
+        self.operator = operator
+        self.blackboard = self.attach_blackboard_client()
+        self.blackboard.register_key(key=self.var1_key, access=common.Access.READ)
+        self.blackboard.register_key(key=self.var2_key, access=common.Access.READ)
+
+    def update(self) -> common.Status:
+        """
+        Check for the two variables and applies the operator between them.
+
+        Returns:
+             :class:`~py_trees.common.Status`: :data:`~py_trees.common.Status.FAILURE`
+                 if not matched, :data:`~py_trees.common.Status.SUCCESS` otherwise.
+        """
+        self.logger.debug("%s.update()" % self.__class__.__name__)
+        try:
+            lhs_value = self.blackboard.get(self.var1_key)
+            rhs_value = self.blackboard.get(self.var2_key)
+        except KeyError as err:
+            self.logger.error(str(err))
+            return common.Status.FAILURE
+
+        if self.operator(lhs_value, rhs_value):
+            self.feedback_message = "'%s, %s' comparison succeeded [v1: %s][v2: %s]" % (
+                self.var1_key,
+                self.var2_key,
+                lhs_value,
+                rhs_value,
+            )
+            return common.Status.SUCCESS
+        else:
+            self.feedback_message = "'%s, %s' comparison failed [v1: %s][v2: %s]" % (
+                self.var1_key,
+                self.var2_key,
+                lhs_value,
+                rhs_value,
             )
             return common.Status.FAILURE
 
@@ -722,7 +797,7 @@ class CheckBlackboardVariableValues(behaviour.Behaviour):
                     )
                 )
                 return common.Status.FAILURE
-            results.append(check.operator(value, check.value))
+            results.append(check.operator(value, check.value_generator()))
         if self.blackboard_results is not None:
             for counter in range(1, len(results) + 1):
                 self.blackboard_results.set(str(counter), results[counter - 1])

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/blackboard.py

@@ -188,7 +188,7 @@ class Blackboard(object):
     Centralised key-value store for sharing data between behaviours.
 
     This class is a coat-hanger for the centralised data store, metadata
-    for it's administration and static methods for interacting with it.
+    for its administration and static methods for interacting with it.
 
     This api is intended for authors of debugging and introspection
     tools on the blackboard. Users should make use of the :class:`Client`.
@@ -234,7 +234,7 @@ class Blackboard(object):
             variable_name: of the variable to get, can be nested, e.g. battery.percentage
 
         Raises:
-            KeyError: if the variable or it's nested attributes do not yet exist on the blackboard
+            KeyError: if the variable or its nested attributes do not yet exist on the blackboard
 
         Return:
             The stored value for the given variable
@@ -528,7 +528,7 @@ class Blackboard(object):
             variable_name: blackboard variable name - can be nested, e.g. battery.percentage
 
         Returns:
-            a tuple consisting of the key and it's attributes (in string form)
+            a tuple consisting of the key and its attributes (in string form)
         """
         name_components = variable_name.split(".")
         key = name_components[0]
@@ -986,7 +986,7 @@ class Client(object):
         opportunity followed by higher priority behaviours in the tree and so forth.
         Lower priority behaviours would use this to respect the pre-configured
         setting and at most, just validate that it is acceptable to the functionality
-        of it's own behaviour.
+        of its own behaviour.
 
         Args:
             name: name of the variable to set
@@ -1092,7 +1092,7 @@ class Client(object):
 
         Raises:
             AttributeError: if the client does not have read access to the variable
-            KeyError: if the variable or it's nested attributes do not yet exist on the blackboard
+            KeyError: if the variable or its nested attributes do not yet exist on the blackboard
         """
         # key attributes is an empty string if not a nested variable name
         name_components = name.split(".")

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/common.py

@@ -195,7 +195,7 @@ class ComparisonExpression(object):
 
     Args:
         variable: name of the variable to compare
-        value: value to compare against
+        value: value or callable to compare against
         operator: a callable comparison operator
 
     .. tip::
@@ -206,27 +206,27 @@ class ComparisonExpression(object):
 
         check = ComparisonExpression(
             variable="foo",
-            value= 5,
+            value=5,
             operator=operator.eq
         )
-        success = check.operator(blackboard[check.variable], check.value)
+        success = check.operator(blackboard[check.variable], check.value_generator())
     """
 
     def __init__(
         self,
         variable: str,
-        value: ComparisonV,
+        value: typing.Union[ComparisonV, typing.Callable[[], ComparisonV]],
         operator: typing.Callable[[ComparisonV, ComparisonV], bool],
     ):
         """Initialise variables.
 
         Args:
             variable: the variable name to use
-            value: the value to use on the RHS of the expression
+            value: the value to use on the RHS of the expression (can also be a callable that returns the value)
             operator: a logical operator to enable comparisons
         """
         self.variable = variable
-        self.value = value
+        self.value_generator = value if callable(value) else lambda: value
         self.operator = operator
 
 

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/composites.py

@@ -120,7 +120,7 @@ class Composite(behaviour.Behaviour, abc.ABC):
         behaviours do the real work.
 
         Such flows are a consequence of how the composite
-        interacts with it's children. The success of
+        interacts with its children. The success of
         behaviour trees depends on this logic being simple,
         well defined and limited to a few well established
         patterns - this is what ensures that visualising
@@ -391,7 +391,7 @@ class Selector(Composite):
         Customise the tick behaviour for a selector.
 
         This implements priority-interrupt style handling amongst the selector's children.
-        The selector's status is always a reflection of it's children's status.
+        The selector's status is always a reflection of its children's status.
 
         Yields:
             :class:`~py_trees.behaviour.Behaviour`: a reference to itself or one of its children
@@ -427,7 +427,8 @@ class Selector(Composite):
             # clear out preceding status' - not actually necessary but helps
             # visualise the case of memory vs no memory
             for child in itertools.islice(self.children, None, index):
-                child.stop(common.Status.INVALID)
+                if child.status != common.Status.INVALID:
+                    child.stop(common.Status.INVALID)
         else:
             index = 0
 
@@ -442,7 +443,6 @@ class Selector(Composite):
                         or node.status == common.Status.SUCCESS
                     ):
                         self.current_child = child
-                        self.status = node.status
                         if previous is None or previous != self.current_child:
                             # we interrupted, invalidate everything at a lower priority
                             passed = False
@@ -451,10 +451,18 @@ class Selector(Composite):
                                     if child.status != common.Status.INVALID:
                                         child.stop(common.Status.INVALID)
                                 passed = True if child == self.current_child else passed
+
+                        # terminate the selector if a terminal state was reached
+                        if node.status == common.Status.SUCCESS:
+                            self.stop(node.status)
+                        else:
+                            self.status = node.status
+
                         yield self
                         return
+
         # all children failed, set failure ourselves and current child to the last bugger who failed us
-        self.status = common.Status.FAILURE
+        self.stop(common.Status.FAILURE)
         try:
             self.current_child = self.children[-1]
         except IndexError:
@@ -539,10 +547,9 @@ class Sequence(Composite):
                 if child.status != common.Status.INVALID:
                     child.stop(common.Status.INVALID)
             self.initialise()  # user specific initialisation
-        elif self.memory and common.Status.RUNNING:
-            assert self.current_child is not None  # should never be true, help mypy out
+        elif self.memory and self.current_child is not None:
             index = self.children.index(self.current_child)
-        elif not self.memory and common.Status.RUNNING:
+        elif not self.memory:
             self.current_child = self.children[0] if self.children else None
         else:
             # previous conditional checks should cover all variations
@@ -560,13 +567,19 @@ class Sequence(Composite):
             for node in child.tick():
                 yield node
                 if node is child and node.status != common.Status.SUCCESS:
-                    self.status = node.status
                     if not self.memory:
                         # invalidate the remainder of the sequence
                         # i.e. kill dangling runners
                         for child in itertools.islice(self.children, index + 1, None):
                             if child.status != common.Status.INVALID:
                                 child.stop(common.Status.INVALID)
+
+                    # stop the sequence if a terminal (non-success) state was reached
+                    if node.status != common.Status.RUNNING:
+                        self.stop(node.status)
+                    else:
+                        self.status = node.status
+
                     yield self
                     return
             try:
@@ -660,13 +673,13 @@ class Parallel(Composite):
         super(Parallel, self).__init__(name, children)
         self.policy = policy
 
-    def setup(self, **kwargs: int) -> None:
+    def setup(self, **kwargs: typing.Any) -> None:
         """
         Detect before ticking whether the policy configuration is invalid.
 
         Args:
             **kwargs (:obj:`dict`): distribute arguments to this
-               behaviour and in turn, all of it's children
+               behaviour and in turn, all of its children
 
         Raises:
             RuntimeError: if the parallel's policy configuration is invalid
@@ -726,17 +739,17 @@ class Parallel(Composite):
             self.current_child = failed_child
             new_status = common.Status.FAILURE
         except StopIteration:
-            if type(self.policy) is common.ParallelPolicy.SuccessOnAll:
-                if all([c.status == common.Status.SUCCESS for c in self.children]):
+            if isinstance(self.policy, common.ParallelPolicy.SuccessOnAll):
+                if all(c.status == common.Status.SUCCESS for c in self.children):
                     new_status = common.Status.SUCCESS
                     self.current_child = self.children[-1]
-            elif type(self.policy) is common.ParallelPolicy.SuccessOnOne:
+            elif isinstance(self.policy, common.ParallelPolicy.SuccessOnOne):
                 for child in reversed(self.children):
                     if child.status == common.Status.SUCCESS:
                         new_status = common.Status.SUCCESS
                         self.current_child = child
                         break
-            elif type(self.policy) is common.ParallelPolicy.SuccessOnSelected:
+            elif isinstance(self.policy, common.ParallelPolicy.SuccessOnSelected):
                 if all(
                     [c.status == common.Status.SUCCESS for c in self.policy.children]
                 ):
@@ -770,7 +783,7 @@ class Parallel(Composite):
         # clean up dangling (running) children
         for child in self.children:
             if child.status == common.Status.RUNNING:
-                # this unfortunately knocks out it's running status for introspection
+                # this unfortunately knocks out its running status for introspection
                 # but logically is the correct thing to do, see #132.
                 child.stop(common.Status.INVALID)
         Composite.stop(self, new_status)
@@ -786,7 +799,7 @@ class Parallel(Composite):
         Raises:
             RuntimeError: if policy configuration was invalid
         """
-        if type(self.policy) is common.ParallelPolicy.SuccessOnSelected:
+        if isinstance(self.policy, common.ParallelPolicy.SuccessOnSelected):
             if not self.policy.children:
                 error_message = (
                     "policy SuccessOnSelected requires a non-empty "

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/decorators.py

@@ -36,6 +36,7 @@ Decorators with specific functionality:
 * :class:`py_trees.decorators.Condition`
 * :class:`py_trees.decorators.Count`
 * :class:`py_trees.decorators.EternalGuard`
+* :class:`py_trees.decorators.ForEach`
 * :class:`py_trees.decorators.Inverter`
 * :class:`py_trees.decorators.OneShot`
 * :class:`py_trees.decorators.Repeat`
@@ -61,7 +62,7 @@ or  :data:`~py_trees.common.Status.FAILURE`.
 
 A decorator, such as :func:`py_trees.decorators.RunningIsSuccess` on
 a blocking behaviour will immediately terminate the underlying child and
-re-intialise on it's next tick. This is often surprising (to the user) but
+re-intialise on its next tick. This is often surprising (to the user) but
 is necessary to ensure the underlying child isn't left in a dangling state (i.e.
 :data:`~py_trees.common.Status.RUNNING`) as subsequent ticks move on to other
 parts of the tree.
@@ -80,6 +81,7 @@ import functools
 import inspect
 import time
 import typing
+from collections.abc import Iterable
 
 from . import behaviour, blackboard, common
 
@@ -473,7 +475,7 @@ class Timeout(Decorator):
     :meth:`~py_trees.behaviour.Behaviour.stop` method is called with
     status :data:`~py_trees.common.Status.FAILURE` otherwise it will
     simply directly tick and return with the same status
-    as that of it's encapsulated behaviour.
+    as that of its encapsulated behaviour.
     """
 
     def __init__(self, name: str, child: behaviour.Behaviour, duration: float = 5.0):
@@ -528,10 +530,10 @@ class Timeout(Decorator):
 
 class Count(Decorator):
     """
-    Count the number of times it's child has been ticked.
+    Count the number of times its child has been ticked.
 
     This increments counters tracking the total number of times
-    it's child has been ticked as well as the number of times it
+    its child has been ticked as well as the number of times it
     has landed in each respective state.
 
     It will always re-zero counters on
@@ -560,7 +562,7 @@ class Count(Decorator):
         self.running_count = 0
         self.interrupt_count = 0
 
-    def setup(self, **kwargs: int) -> None:
+    def setup(self, **kwargs: typing.Any) -> None:
         """Reset the counters."""
         self.total_tick_count = 0
         self.failure_count = 0
@@ -619,7 +621,7 @@ class OneShot(Decorator):
 
     This decorator ensures that the underlying child is ticked through
     to completion just once and while doing so, will return
-    with the same status as it's child. Thereafter it will return
+    with the same status as its child. Thereafter it will return
     with the final status of the underlying child.
 
     Completion status is determined by the policy given on construction.
@@ -664,7 +666,7 @@ class OneShot(Decorator):
         Tick the child or bounce back with the original status if already completed.
 
         Yields:
-            a reference to itself or a behaviour in it's child subtree
+            a reference to itself or a behaviour in its child subtree
         """
         if self.final_status:
             # ignore the child
@@ -856,7 +858,7 @@ class Condition(Decorator):
     """
     A blocking conditional decorator.
 
-    Encapsulates a behaviour and wait for it's status to flip to the
+    Encapsulates a behaviour and wait for its status to flip to the
     desired state. This behaviour will tick with
     :data:`~py_trees.common.Status.RUNNING` while waiting and
     :data:`~py_trees.common.Status.SUCCESS` when the flip occurs.
@@ -920,3 +922,74 @@ class PassThrough(Decorator):
             the behaviour's new status :class:`~py_trees.common.Status`
         """
         return self.decorated.status
+
+
+class ForEach(Decorator):
+    """
+    Run the child behavior for each item in an iterable.
+
+    On initialization, the iterable is loaded from the blackboard and an
+    iterator is created. Every time the child succeeds, we advance to
+    the next item. We keep running until the iterable is exhausted.
+    """
+
+    def __init__(
+        self, name: str, child: behaviour.Behaviour, source_key: str, target_key: str
+    ):
+        """
+        Initialise the ForEach decorator.
+
+        Args:
+            name (:obj:`str`): name of the behaviour
+            child (:obj:`Behaviour`): the child behaviour to decorate
+            source_key (:obj:`str`): blackboard key to read the input iterable
+            target_key (:obj:`str`): blackboard key to set for each iteration
+        """
+        super().__init__(name=name, child=child)
+        self.source_key = source_key
+        self.target_key = target_key
+        self.blackboard = blackboard.Client(name=name)
+        self.blackboard.register_key(key=self.source_key, access=common.Access.READ)
+        self.blackboard.register_key(key=self.target_key, access=common.Access.WRITE)
+        self._iterator: typing.Iterator | None = None
+        self._current_item: typing.Any | None = None
+
+    def initialise(self) -> None:
+        """Reset iteration on first tick."""
+        iterable = self.blackboard.get(self.source_key) or []
+        if not isinstance(iterable, Iterable):
+            raise TypeError(
+                f"[{self.name}] source_key '{self.source_key}' is not an iterable"
+            )
+        self._iterator = iter(iterable)
+        self._advance()
+
+    def _advance(self) -> None:
+        """Advance to the next item in the iterator, or mark as finished."""
+        try:
+            if self._iterator is not None:
+                self._current_item = next(self._iterator)
+                self.blackboard.set(self.target_key, self._current_item)
+        except StopIteration:
+            self._current_item = None
+
+    def update(self) -> common.Status:
+        """Execute the child for the current item and manage iteration state."""
+        if self._current_item is None:
+            # no more items left
+            return common.Status.SUCCESS
+
+        child_status = self.decorated.status
+
+        if child_status == common.Status.SUCCESS:
+            # move to next item
+            self._advance()
+            if self._current_item is not None:
+                return common.Status.RUNNING
+
+        return child_status
+
+    def terminate(self, new_status: common.Status) -> None:
+        """Reset on termination."""
+        self._iterator = None
+        self._current_item = None

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/action.py

@@ -144,7 +144,7 @@ class Action(py_trees.behaviour.Behaviour):
         super(Action, self).__init__(name)
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
 
-    def setup(self, **kwargs: int) -> None:
+    def setup(self, **kwargs: typing.Any) -> None:
         """Kickstart the separate process this behaviour will work with.
 
         Ordinarily this process will be already running. In this case,

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/blackboard.py

@@ -218,7 +218,7 @@ class ParamsAndState(py_trees.behaviour.Behaviour):
 
 def create_root() -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/blackboard_namespaces.py

@@ -165,7 +165,7 @@ def main() -> None:
         "-------------------------------------------------------------------------------"
     )
     foo.awesome = True
-    # Only accessable via set since it's not in the namespace
+    # Only accessible via set since it's not in the namespace
     foo.set("/brilliant", False)
     # This will fail since it looks for the namespaced /foo/brilliant key
     # foo.brilliant = False

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/context_switching.py

@@ -163,7 +163,7 @@ class ContextSwitch(py_trees.behaviour.Behaviour):
 
 def create_root() -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/dot_graphs.py

@@ -140,7 +140,7 @@ def command_line_argument_parser() -> argparse.ArgumentParser:
 
 def create_tree(level: str) -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/either_or.py

@@ -147,7 +147,7 @@ def post_tick_handler(
 
 def create_root() -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/eternal_guard.py

@@ -142,7 +142,7 @@ def post_tick_handler(
 
 def create_root() -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/lifecycle.py

@@ -107,7 +107,7 @@ class Counter(py_trees.behaviour.Behaviour):
         super(Counter, self).__init__(name)
         self.logger.debug("%s.__init__()" % (self.__class__.__name__))
 
-    def setup(self, **kwargs: int) -> None:
+    def setup(self, **kwargs: typing.Any) -> None:
         """No delayed initialisation required for this example."""
         self.logger.debug("%s.setup()" % (self.__class__.__name__))
 

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/logging.py

@@ -167,7 +167,7 @@ def logger(
 
 def create_tree() -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/pick_up_where_you_left_off.py

@@ -146,7 +146,7 @@ def post_tick_handler(
 
 def create_root() -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/selector.py

@@ -104,7 +104,7 @@ def command_line_argument_parser() -> argparse.ArgumentParser:
 
 def create_root() -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/sequence.py

@@ -101,7 +101,7 @@ def command_line_argument_parser() -> argparse.ArgumentParser:
 
 def create_root() -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/demos/stewardship.py

@@ -203,7 +203,7 @@ class Finisher(py_trees.behaviour.Behaviour):
 
 def create_tree() -> py_trees.behaviour.Behaviour:
     """
-    Create the root behaviour and it's subtree.
+    Create the root behaviour and its subtree.
 
     Returns:
         the root behaviour

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/tests.py

@@ -86,7 +86,7 @@ def tick_tree(
         to_tick: with from_tick, used to determine the # ticks required
         visitors: a list of visitors to run on each tree tick
         print_snapshot: print ascii/unicode snapshots after each tick
-        print_blackboard: display the blackboard and it's update after each tick
+        print_blackboard: display the blackboard and its update after each tick
     """
     if visitors is None:
         visitors = []

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/trees.py

@@ -51,7 +51,7 @@ def setup(
     root: behaviour.Behaviour,
     timeout: typing.Union[float, common.Duration] = common.Duration.INFINITE,
     visitor: typing.Optional[visitors.VisitorBase] = None,
-    **kwargs: int,
+    **kwargs: typing.Any,
 ) -> None:
     """
     Crawl across a (sub)tree of behaviours calling :meth:`~py_trees.behaviour.Behaviour.setup` on each behaviour.
@@ -65,7 +65,7 @@ def setup(
     Args:
         root: unmanaged (sub)tree root behaviour
         timeout: time (s) to wait (use common.Duration.INFINITE to block indefinitely)
-        visitor: runnable entities on each node after it's setup
+        visitor: runnable entities on each node after its setup
         **kwargs: dictionary of args to distribute to all behaviours in the (sub)tree
 
     Raises:
@@ -355,7 +355,7 @@ class BehaviourTree(object):
         self,
         timeout: typing.Union[float, common.Duration] = common.Duration.INFINITE,
         visitor: typing.Optional[visitors.VisitorBase] = None,
-        **kwargs: int,
+        **kwargs: typing.Any,
     ) -> None:
         """
         Crawl across the tree calling :meth:`~py_trees.behaviour.Behaviour.setup` on each behaviour.
@@ -368,8 +368,8 @@ class BehaviourTree(object):
 
         Args:
             timeout: time (s) to wait (use common.Duration.INFINITE to block indefinitely)
-            visitor: runnable entities on each node after it's setup
-            **kwargs: distribute args to this behaviour and in turn, to it's children
+            visitor: runnable entities on each node after its setup
+            **kwargs: distribute args to this behaviour and in turn, to its children
 
         Raises:
             Exception: be ready to catch if any of the behaviours raise an exception

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/version.py

@@ -14,4 +14,4 @@
 
 # When changing, Also update setup.py and package.xml
 # TODO: use pkg_resources to fetch the version from setup.py
-__version__ = "2.3.0"
+__version__ = "2.4.0"

{py_trees-2.3.0 → py_trees-2.4.0}/py_trees/visitors.py

@@ -174,7 +174,7 @@ class SnapshotVisitor(VisitorBase):
 
 class DisplaySnapshotVisitor(SnapshotVisitor):
     """
-    Visit the tree, capturing the visited path, it's changes since the last tick.
+    Visit the tree, capturing the visited path and its changes since the last tick.
 
     Additionally print the snapshot to console.
 

{py_trees-2.3.0 → py_trees-2.4.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "py_trees"
-version = "2.3.0"
+version = "2.4.0"
 description = "pythonic implementation of behaviour trees"
 authors = ["Daniel Stonier", "Naveed Usmani", "Michal Staniaszek"]
 maintainers = ["Daniel Stonier <d.stonier@gmail.com>", "Sebastian Castro <sebas.a.castro@gmail.com>"]
@@ -25,7 +25,6 @@ keywords=["py_trees", "py-trees", "behaviour-trees"]
 [tool.poetry.dependencies]
 python = ">=3.9,<4.0"
 pydot = ">=1.4"
-py = "^1.11.0"
 
 [tool.poetry.group.dev.dependencies]
 tox = ">=3.26"