[ajayjain]

I used this article (and some other pieces) to help with some robotics research in Python a few months ago. Behavior trees are fantastic abstractions that definitely simplify FSM code, but I found that working within the constraints of decorators could really complicate behavior architectures that can instead be implemented more linearly. Specifically, I wanted to have an overall obstacle avoidance behavior separated from individual movements, but ended up implementing an obstacle avoidance function library totally separate from the BT.

[seivan]

Does that mean you still used FSM inside the sequences or selectors?

Or you used FSM for less than you usually would. Like pure state based use-cases instead of shoe-horning it. Which I did, heh.