Daniel Stonier
Certainly looks like an inconsistency here, I'll delve into it when I've a little more time (soon). Resources: * Definitions - [Unified BT Framework](https://www.csc.kth.se/~almc/pdf/unified_bt_framework.pdf), [Wikipedia](https://en.wikipedia.org/wiki/Behavior_tree_(artificial_intelligence,_robotics_and_control)) * BehaviorTree.CPP - [ReactiveSequence](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/src/controls/reactive_sequence.cpp), [Fallback](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/src/controls/fallback_node.cpp)...
> I look at this in my thesis Sections 3.1.4-3.1.5 That's a great writeup on tree algorithms. Been too busy just making things work rather than analysing, so love this....
Aha, you've opened the door on a skeleton. We had the `update()` method call in there from day one, because, it probably should be there, but over the course of...
Some thoughts how I'd usually do things which may help. **Composite Customisation** The reason we have not customised composites is because they are critical to visualising (either in design or...
You could subclass `BehaviourTree` and write your own setup method that handles things as you need to. There's actually not much to the setup function, so this should not be...
If you decide on something generic that you think others might make use of, let me know - we can replace, or at least implement an alternative pathway for `setup`...
The aforementioned bug is fixed, so working for now. NB: `v1.8.5` is the default in `focal`, `v4.3.2` in `jammy`. Consider upgrading once I move my development environment over.
Aside from the boolean thing, these are examples of cases mypy missed when I ran it on the package (`mypy -p py_trees`). Not sure I understand why mypy missed them....
Also - should fix the typing for children regardless. It should be `typing.Optional[typing.List[behaviour.Behaviour]]`.