From 6e1d34b28a1723e743a1040298a70815740b1c5f Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 11:42:00 -0400
Subject: [PATCH 01/25] set python to inherit

---
 .idea/misc.xml               | 2 +-
 .idea/social-norms-trees.iml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.idea/misc.xml b/.idea/misc.xml
index 39365f40..d2e56a2f 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -6,5 +6,5 @@
   <component name="MarkdownSettingsMigration">
     <option name="stateVersion" value="1" />
   </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.11 (social-norms-trees)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.12 (social-norms-trees)" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file
diff --git a/.idea/social-norms-trees.iml b/.idea/social-norms-trees.iml
index 524e18fb..af3ee449 100644
--- a/.idea/social-norms-trees.iml
+++ b/.idea/social-norms-trees.iml
@@ -5,7 +5,7 @@
       <sourceFolder url="file://$MODULE_DIR$/src" isTestSource="false" />
       <excludeFolder url="file://$MODULE_DIR$/.venv" />
     </content>
-    <orderEntry type="jdk" jdkName="Python 3.11 (social-norms-trees)" jdkType="Python SDK" />
+    <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
   <component name="PyDocumentationSettings">

From 19ac2d1559fd3fdd900b3966cf76f98a94bf3e04 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 11:42:15 -0400
Subject: [PATCH 02/25] add start of chat module

---
 src/social_norms_trees/chat.py | 5 +++++
 1 file changed, 5 insertions(+)
 create mode 100644 src/social_norms_trees/chat.py

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
new file mode 100644
index 00000000..d5a4540b
--- /dev/null
+++ b/src/social_norms_trees/chat.py
@@ -0,0 +1,5 @@
+
+
+
+if __name__ == "__main__":
+    pass
\ No newline at end of file

From 8eaccc217c8b00ee4d9d2d03b14407bc1ef5c679 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 12:46:58 -0400
Subject: [PATCH 03/25] =?UTF-8?q?add=20framework=20for=20chat=20module=20?=
 =?UTF-8?q?=E2=80=93=20can=20do=20updates=20to=20behavior=20list?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 pyproject.toml                 |  4 +-
 src/social_norms_trees/chat.py | 99 +++++++++++++++++++++++++++++++++-
 2 files changed, 101 insertions(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index de793197..2373b03e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -78,7 +78,9 @@ classifiers = [  # Optional
 
 dependencies = [ # Optional
   "py_trees",
-  "websockets"
+  "websockets",
+  "click",
+  "typer",
 ]
 
 # List additional groups of dependencies here (e.g. development
diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index d5a4540b..6f5fc199 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -1,5 +1,102 @@
+import time
+from dataclasses import dataclass, replace
+import itertools
+from collections import namedtuple
+from pprint import pprint
+from typing import Callable, List, Iterable, Optional
 
+import click
 
 
+@dataclass
+class World:
+    state: int
+    behavior: List["Behavior"]
+
+
+@dataclass
+class Behavior:
+    name: str
+    message: str
+    callback: Callable[["World"], "World"]
+
+
+all_behaviors = [
+    Behavior("add_one", "Add one to the state", add_one := lambda w: replace(w, state=w.state + 1)),
+    Behavior("add_two", "Add two to the state", add_two := lambda w: replace(w, state=w.state + 2)),
+]
+
+
+def get_behavior_name(callback: Callable[["World"], "World"]) -> str:
+    name = callback.__name__
+    return name
+
+
+def get_behavior_message(callback: Callable[["World"], "World"]) -> str:
+    try:
+        message = str.split(callback.__doc__, "\n")[0]
+        assert message != ""
+    except (IndexError, TypeError, AssertionError):  # docstring is empty or non-existent
+        message = get_behavior_name(callback)
+
+    return message
+
+
+def register_behavior(callback: Callable[["World"], "World"]):
+    """Register a behavior to the list of all behaviors
+
+    Introspects to get the message to be included with the behavior from the top line of the
+    docstring.
+    """
+    name = get_behavior_name(callback)
+    message = get_behavior_message(callback)
+    all_behaviors.append(Behavior(name, message, callback))
+    return callback
+
+
+@register_behavior
+def add_behavior(world: World, behavior: Optional[Behavior] = None, index: Optional[int] = None):
+    """Add a behavior"""
+    if behavior is None:
+        behavior_text = click.prompt(text="Which behavior would you like to add?",
+                                     type=click.Choice([b.message for b in all_behaviors]))
+        behavior = next(b for b in all_behaviors if b.message == behavior_text)
+    if index is None:
+        index = click.prompt(text="Where would you like to insert it?", type=int)
+
+    new_behavior = world.behavior[:index] + [behavior.callback] + world.behavior[index:]
+    new_world = replace(world, behavior=new_behavior)
+    return new_world
+
+
+@register_behavior
+def remove_behavior(world: World, index: Optional[int] = None):
+    """Remove a behavior"""
+    if index is None:
+        behavior_listing = "\n".join([f"{i}: {get_behavior_message(b)}" for i, b in enumerate(
+            world.behavior)])
+        index = click.prompt(text="Which behavior would you like to remove?\n" + behavior_listing
+                                  +"\n",
+                             type=int)
+    new_behavior = world.behavior[:index] + world.behavior[index + 1:]
+    new_world = replace(world, behavior=new_behavior)
+    return new_world
+
+@register_behavior
+def print_world(world: World):
+    """"""
+
+    pprint(world)
+    return
+
+def main(world):
+    while True:
+        for behavior in world.behavior:
+            result = behavior(world)
+            if result is not None and isinstance(result, type(world)):
+                world = result
+                print_world(world)
+
 if __name__ == "__main__":
-    pass
\ No newline at end of file
+    world = World(state=0, behavior=[remove_behavior, add_one, add_behavior])
+    main(world)

From 5fdb462c4cb5f2ec8a984cb450e48181c9f4ab35 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 12:50:52 -0400
Subject: [PATCH 04/25] reformatc

---
 src/social_norms_trees/chat.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index 6f5fc199..dae3ca1c 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -75,13 +75,14 @@ def remove_behavior(world: World, index: Optional[int] = None):
     if index is None:
         behavior_listing = "\n".join([f"{i}: {get_behavior_message(b)}" for i, b in enumerate(
             world.behavior)])
-        index = click.prompt(text="Which behavior would you like to remove?\n" + behavior_listing
-                                  +"\n",
+        text = "Which behavior would you like to remove?\n" + behavior_listing + "\n"
+        index = click.prompt(text=text,
                              type=int)
     new_behavior = world.behavior[:index] + world.behavior[index + 1:]
     new_world = replace(world, behavior=new_behavior)
     return new_world
 
+
 @register_behavior
 def print_world(world: World):
     """"""
@@ -89,6 +90,7 @@ def print_world(world: World):
     pprint(world)
     return
 
+
 def main(world):
     while True:
         for behavior in world.behavior:
@@ -97,6 +99,7 @@ def main(world):
                 world = result
                 print_world(world)
 
+
 if __name__ == "__main__":
     world = World(state=0, behavior=[remove_behavior, add_one, add_behavior])
     main(world)

From afa3e15b5765f9bfba5892185323b20a665a7338 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 12:51:27 -0400
Subject: [PATCH 05/25] always use black

---
 .idea/misc.xml                 |  6 +++++-
 src/social_norms_trees/chat.py | 38 ++++++++++++++++++++++++----------
 2 files changed, 32 insertions(+), 12 deletions(-)

diff --git a/.idea/misc.xml b/.idea/misc.xml
index d2e56a2f..f8e8589b 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,7 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="Black">
-    <option name="sdkName" value="Python 3.11 (social-norms-trees)" />
+    <option name="enabledOnReformat" value="true" />
+    <option name="enabledOnSave" value="true" />
+    <option name="executionMode" value="BINARY" />
+    <option name="pathToExecutable" value="/opt/homebrew/bin/black" />
+    <option name="sdkName" value="Python 3.12 (social-norms-trees)" />
   </component>
   <component name="MarkdownSettingsMigration">
     <option name="stateVersion" value="1" />
diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index dae3ca1c..df8b8016 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -22,8 +22,16 @@ class Behavior:
 
 
 all_behaviors = [
-    Behavior("add_one", "Add one to the state", add_one := lambda w: replace(w, state=w.state + 1)),
-    Behavior("add_two", "Add two to the state", add_two := lambda w: replace(w, state=w.state + 2)),
+    Behavior(
+        "add_one",
+        "Add one to the state",
+        add_one := lambda w: replace(w, state=w.state + 1),
+    ),
+    Behavior(
+        "add_two",
+        "Add two to the state",
+        add_two := lambda w: replace(w, state=w.state + 2),
+    ),
 ]
 
 
@@ -36,7 +44,11 @@ def get_behavior_message(callback: Callable[["World"], "World"]) -> str:
     try:
         message = str.split(callback.__doc__, "\n")[0]
         assert message != ""
-    except (IndexError, TypeError, AssertionError):  # docstring is empty or non-existent
+    except (
+        IndexError,
+        TypeError,
+        AssertionError,
+    ):  # docstring is empty or non-existent
         message = get_behavior_name(callback)
 
     return message
@@ -55,11 +67,15 @@ def register_behavior(callback: Callable[["World"], "World"]):
 
 
 @register_behavior
-def add_behavior(world: World, behavior: Optional[Behavior] = None, index: Optional[int] = None):
+def add_behavior(
+    world: World, behavior: Optional[Behavior] = None, index: Optional[int] = None
+):
     """Add a behavior"""
     if behavior is None:
-        behavior_text = click.prompt(text="Which behavior would you like to add?",
-                                     type=click.Choice([b.message for b in all_behaviors]))
+        behavior_text = click.prompt(
+            text="Which behavior would you like to add?",
+            type=click.Choice([b.message for b in all_behaviors]),
+        )
         behavior = next(b for b in all_behaviors if b.message == behavior_text)
     if index is None:
         index = click.prompt(text="Where would you like to insert it?", type=int)
@@ -73,12 +89,12 @@ def add_behavior(world: World, behavior: Optional[Behavior] = None, index: Optio
 def remove_behavior(world: World, index: Optional[int] = None):
     """Remove a behavior"""
     if index is None:
-        behavior_listing = "\n".join([f"{i}: {get_behavior_message(b)}" for i, b in enumerate(
-            world.behavior)])
+        behavior_listing = "\n".join(
+            [f"{i}: {get_behavior_message(b)}" for i, b in enumerate(world.behavior)]
+        )
         text = "Which behavior would you like to remove?\n" + behavior_listing + "\n"
-        index = click.prompt(text=text,
-                             type=int)
-    new_behavior = world.behavior[:index] + world.behavior[index + 1:]
+        index = click.prompt(text=text, type=int)
+    new_behavior = world.behavior[:index] + world.behavior[index + 1 :]
     new_world = replace(world, behavior=new_behavior)
     return new_world
 

From 0ae711ae159e744fd4845a577ae4e79117b6ec80 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 13:00:28 -0400
Subject: [PATCH 06/25] update to use available behaviors in the world object

---
 src/social_norms_trees/chat.py | 44 ++++++++++++++++++++++++++++++----
 1 file changed, 39 insertions(+), 5 deletions(-)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index df8b8016..54f92f46 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -2,6 +2,7 @@
 from dataclasses import dataclass, replace
 import itertools
 from collections import namedtuple
+from functools import partial
 from pprint import pprint
 from typing import Callable, List, Iterable, Optional
 
@@ -12,6 +13,7 @@
 class World:
     state: int
     behavior: List["Behavior"]
+    available_behaviors: List["Behavior"]
 
 
 @dataclass
@@ -35,6 +37,19 @@ class Behavior:
 ]
 
 
+def add_x(w: World, x: int = 1) -> World:
+    new_world = replace(w, state=w.state + x)
+    return new_world
+
+
+def add_one(w: World) -> World:
+    return add_x(w, 1)
+
+
+def add_two(w: World) -> World:
+    return add_x(w, 2)
+
+
 def get_behavior_name(callback: Callable[["World"], "World"]) -> str:
     name = callback.__name__
     return name
@@ -54,7 +69,9 @@ def get_behavior_message(callback: Callable[["World"], "World"]) -> str:
     return message
 
 
-def register_behavior(callback: Callable[["World"], "World"]):
+def register_behavior(
+    callback: Callable[["World"], "World"], behavior_list=all_behaviors
+):
     """Register a behavior to the list of all behaviors
 
     Introspects to get the message to be included with the behavior from the top line of the
@@ -62,7 +79,7 @@ def register_behavior(callback: Callable[["World"], "World"]):
     """
     name = get_behavior_name(callback)
     message = get_behavior_message(callback)
-    all_behaviors.append(Behavior(name, message, callback))
+    behavior_list.append(Behavior(name, message, callback))
     return callback
 
 
@@ -71,12 +88,19 @@ def add_behavior(
     world: World, behavior: Optional[Behavior] = None, index: Optional[int] = None
 ):
     """Add a behavior"""
+
     if behavior is None:
         behavior_text = click.prompt(
             text="Which behavior would you like to add?",
-            type=click.Choice([b.message for b in all_behaviors]),
+            type=click.Choice(
+                [get_behavior_message(b) for b in world.available_behaviors]
+            ),
+        )
+        behavior = next(
+            b
+            for b in world.available_behaviors
+            if get_behavior_message(b) == behavior_text
         )
-        behavior = next(b for b in all_behaviors if b.message == behavior_text)
     if index is None:
         index = click.prompt(text="Where would you like to insert it?", type=int)
 
@@ -117,5 +141,15 @@ def main(world):
 
 
 if __name__ == "__main__":
-    world = World(state=0, behavior=[remove_behavior, add_one, add_behavior])
+    world = World(
+        state=0,
+        behavior=[print_world, remove_behavior, add_one, add_behavior],
+        available_behaviors=[
+            print_world,
+            add_behavior,
+            remove_behavior,
+            add_one,
+            add_two,
+        ],
+    )
     main(world)

From ab57b50e2849891a538f38dadadb44f7dfba2f61 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 13:05:23 -0400
Subject: [PATCH 07/25] add doctest to add_behavior

---
 src/social_norms_trees/chat.py | 53 ++++++++++------------------------
 1 file changed, 16 insertions(+), 37 deletions(-)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index 54f92f46..72801b77 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -1,5 +1,5 @@
 import time
-from dataclasses import dataclass, replace
+from dataclasses import dataclass, replace, field
 import itertools
 from collections import namedtuple
 from functools import partial
@@ -11,9 +11,9 @@
 
 @dataclass
 class World:
-    state: int
-    behavior: List["Behavior"]
-    available_behaviors: List["Behavior"]
+    state: int = field(default=0)
+    behavior: List["Behavior"] = field(default_factory=list)
+    available_behaviors: List["Behavior"] = field(default_factory=list)
 
 
 @dataclass
@@ -23,20 +23,6 @@ class Behavior:
     callback: Callable[["World"], "World"]
 
 
-all_behaviors = [
-    Behavior(
-        "add_one",
-        "Add one to the state",
-        add_one := lambda w: replace(w, state=w.state + 1),
-    ),
-    Behavior(
-        "add_two",
-        "Add two to the state",
-        add_two := lambda w: replace(w, state=w.state + 2),
-    ),
-]
-
-
 def add_x(w: World, x: int = 1) -> World:
     new_world = replace(w, state=w.state + x)
     return new_world
@@ -69,25 +55,20 @@ def get_behavior_message(callback: Callable[["World"], "World"]) -> str:
     return message
 
 
-def register_behavior(
-    callback: Callable[["World"], "World"], behavior_list=all_behaviors
-):
-    """Register a behavior to the list of all behaviors
-
-    Introspects to get the message to be included with the behavior from the top line of the
-    docstring.
-    """
-    name = get_behavior_name(callback)
-    message = get_behavior_message(callback)
-    behavior_list.append(Behavior(name, message, callback))
-    return callback
-
-
-@register_behavior
 def add_behavior(
     world: World, behavior: Optional[Behavior] = None, index: Optional[int] = None
 ):
-    """Add a behavior"""
+    """Add a behavior
+
+    Examples:
+        An empty world has no behaviors:
+        >>> World()  # doctest: +ELLIPSIS
+        World(..., behavior=[], ...)
+
+        We can add a behavior to the world:
+        >>> add_behavior(World(), add_one, 0)  # doctest: +ELLIPSIS
+        World(..., behavior=[<function add_one at 0x...>], ...)
+    """
 
     if behavior is None:
         behavior_text = click.prompt(
@@ -104,12 +85,11 @@ def add_behavior(
     if index is None:
         index = click.prompt(text="Where would you like to insert it?", type=int)
 
-    new_behavior = world.behavior[:index] + [behavior.callback] + world.behavior[index:]
+    new_behavior = world.behavior[:index] + [behavior] + world.behavior[index:]
     new_world = replace(world, behavior=new_behavior)
     return new_world
 
 
-@register_behavior
 def remove_behavior(world: World, index: Optional[int] = None):
     """Remove a behavior"""
     if index is None:
@@ -123,7 +103,6 @@ def remove_behavior(world: World, index: Optional[int] = None):
     return new_world
 
 
-@register_behavior
 def print_world(world: World):
     """"""
 

From cbfe062a3bba76fe5095d22a8ac1576521542bba Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 13:11:47 -0400
Subject: [PATCH 08/25] =?UTF-8?q?simplify=20Behavior=20=E2=80=93=20it's=20?=
 =?UTF-8?q?just=20a=20callable=20now?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/social_norms_trees/chat.py | 46 ++++++++++++++++++++++++----------
 1 file changed, 33 insertions(+), 13 deletions(-)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index 72801b77..81fb1448 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -1,10 +1,6 @@
-import time
 from dataclasses import dataclass, replace, field
-import itertools
-from collections import namedtuple
-from functools import partial
 from pprint import pprint
-from typing import Callable, List, Iterable, Optional
+from typing import Callable, List, Optional, TypeVar
 
 import click
 
@@ -16,11 +12,9 @@ class World:
     available_behaviors: List["Behavior"] = field(default_factory=list)
 
 
-@dataclass
-class Behavior:
-    name: str
-    message: str
-    callback: Callable[["World"], "World"]
+W = TypeVar("W", bound=World)
+
+Behavior = Callable[[W], W]
 
 
 def add_x(w: World, x: int = 1) -> World:
@@ -36,12 +30,12 @@ def add_two(w: World) -> World:
     return add_x(w, 2)
 
 
-def get_behavior_name(callback: Callable[["World"], "World"]) -> str:
+def get_behavior_name(callback: Behavior) -> str:
     name = callback.__name__
     return name
 
 
-def get_behavior_message(callback: Callable[["World"], "World"]) -> str:
+def get_behavior_message(callback: Behavior) -> str:
     try:
         message = str.split(callback.__doc__, "\n")[0]
         assert message != ""
@@ -91,7 +85,33 @@ def add_behavior(
 
 
 def remove_behavior(world: World, index: Optional[int] = None):
-    """Remove a behavior"""
+    """Remove a behavior
+
+    Examples:
+        An empty world has no behaviors:
+        >>> World()  # doctest: +ELLIPSIS
+        World(..., behavior=[], ...)
+
+        If we try to remove a behavior from an empty world, nothing happens:
+        >>> remove_behavior(World(), index=0)  # doctest: +ELLIPSIS
+        World(..., behavior=[], available_behaviors=[])
+
+        >>> remove_behavior(World(), index=1)  # doctest: +ELLIPSIS
+        World(..., behavior=[], available_behaviors=[])
+
+        If we have a world with some behaviors:
+        >>> World(behavior=[add_one, add_two])  # doctest: +ELLIPSIS
+        World(... behavior=[<function add_one at 0x...>, <function add_two at 0x...>], ...)
+
+        ... we can remove one:
+        >>> remove_behavior(World(behavior=[add_one, add_two]), index=1)  # doctest: +ELLIPSIS
+        World(..., behavior=[<function add_one at 0x...>], ...)
+
+        Trying to remove one beyond the limits of the list leaves the world unchanged:
+        >>> remove_behavior(World(behavior=[add_one, add_two]), index=3)  # doctest: +ELLIPSIS
+        World(... behavior=[<function add_one at 0x...>, <function add_two at 0x...>], ...)
+
+    """
     if index is None:
         behavior_listing = "\n".join(
             [f"{i}: {get_behavior_message(b)}" for i, b in enumerate(world.behavior)]

From 03a328c00f85b505eedc2c40c947865d9e064696 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 13:15:20 -0400
Subject: [PATCH 09/25] move integer world bits into separate class

---
 src/social_norms_trees/chat.py | 50 ++++++++++++++++++----------------
 1 file changed, 27 insertions(+), 23 deletions(-)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index 81fb1448..32adf3b4 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -7,7 +7,6 @@
 
 @dataclass
 class World:
-    state: int = field(default=0)
     behavior: List["Behavior"] = field(default_factory=list)
     available_behaviors: List["Behavior"] = field(default_factory=list)
 
@@ -17,19 +16,6 @@ class World:
 Behavior = Callable[[W], W]
 
 
-def add_x(w: World, x: int = 1) -> World:
-    new_world = replace(w, state=w.state + x)
-    return new_world
-
-
-def add_one(w: World) -> World:
-    return add_x(w, 1)
-
-
-def add_two(w: World) -> World:
-    return add_x(w, 2)
-
-
 def get_behavior_name(callback: Behavior) -> str:
     name = callback.__name__
     return name
@@ -57,11 +43,11 @@ def add_behavior(
     Examples:
         An empty world has no behaviors:
         >>> World()  # doctest: +ELLIPSIS
-        World(..., behavior=[], ...)
+        World(behavior=[], ...)
 
         We can add a behavior to the world:
         >>> add_behavior(World(), add_one, 0)  # doctest: +ELLIPSIS
-        World(..., behavior=[<function add_one at 0x...>], ...)
+        World(behavior=[<function add_one at 0x...>], ...)
     """
 
     if behavior is None:
@@ -90,26 +76,26 @@ def remove_behavior(world: World, index: Optional[int] = None):
     Examples:
         An empty world has no behaviors:
         >>> World()  # doctest: +ELLIPSIS
-        World(..., behavior=[], ...)
+        World(behavior=[], ...)
 
         If we try to remove a behavior from an empty world, nothing happens:
         >>> remove_behavior(World(), index=0)  # doctest: +ELLIPSIS
-        World(..., behavior=[], available_behaviors=[])
+        World(behavior=[], available_behaviors=[])
 
         >>> remove_behavior(World(), index=1)  # doctest: +ELLIPSIS
-        World(..., behavior=[], available_behaviors=[])
+        World(behavior=[], available_behaviors=[])
 
         If we have a world with some behaviors:
         >>> World(behavior=[add_one, add_two])  # doctest: +ELLIPSIS
-        World(... behavior=[<function add_one at 0x...>, <function add_two at 0x...>], ...)
+        World(behavior=[<function add_one at 0x...>, <function add_two at 0x...>], ...)
 
         ... we can remove one:
         >>> remove_behavior(World(behavior=[add_one, add_two]), index=1)  # doctest: +ELLIPSIS
-        World(..., behavior=[<function add_one at 0x...>], ...)
+        World(behavior=[<function add_one at 0x...>], ...)
 
         Trying to remove one beyond the limits of the list leaves the world unchanged:
         >>> remove_behavior(World(behavior=[add_one, add_two]), index=3)  # doctest: +ELLIPSIS
-        World(... behavior=[<function add_one at 0x...>, <function add_two at 0x...>], ...)
+        World(behavior=[<function add_one at 0x...>, <function add_two at 0x...>], ...)
 
     """
     if index is None:
@@ -130,6 +116,24 @@ def print_world(world: World):
     return
 
 
+@dataclass
+class IntWorld(World):
+    state: int = field(default=0)
+
+
+def add_x(w: IntWorld, x: int = 1) -> IntWorld:
+    new_world = replace(w, state=w.state + x)
+    return new_world
+
+
+def add_one(w: IntWorld) -> IntWorld:
+    return add_x(w, 1)
+
+
+def add_two(w: IntWorld) -> IntWorld:
+    return add_x(w, 2)
+
+
 def main(world):
     while True:
         for behavior in world.behavior:
@@ -140,7 +144,7 @@ def main(world):
 
 
 if __name__ == "__main__":
-    world = World(
+    world = IntWorld(
         state=0,
         behavior=[print_world, remove_behavior, add_one, add_behavior],
         available_behaviors=[

From 0472cf84009d016b718791e1ba728023f1858366 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 13:33:11 -0400
Subject: [PATCH 10/25] add function for updating behavior

---
 src/social_norms_trees/chat.py | 66 +++++++++++++++++++++++++++-------
 1 file changed, 53 insertions(+), 13 deletions(-)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index 32adf3b4..c3ad7f51 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -1,6 +1,7 @@
 from dataclasses import dataclass, replace, field
 from pprint import pprint
-from typing import Callable, List, Optional, TypeVar
+from time import sleep
+from typing import Callable, List, Optional, TypeVar, Literal
 
 import click
 
@@ -35,6 +36,13 @@ def get_behavior_message(callback: Behavior) -> str:
     return message
 
 
+def list_behavior(world: World) -> str:
+    behavior_listing = "\n".join(
+        [f"{i}: {get_behavior_message(b)}" for i, b in enumerate(world.behavior)]
+    )
+    return behavior_listing
+
+
 def add_behavior(
     world: World, behavior: Optional[Behavior] = None, index: Optional[int] = None
 ):
@@ -48,6 +56,8 @@ def add_behavior(
         We can add a behavior to the world:
         >>> add_behavior(World(), add_one, 0)  # doctest: +ELLIPSIS
         World(behavior=[<function add_one at 0x...>], ...)
+
+
     """
 
     if behavior is None:
@@ -63,7 +73,10 @@ def add_behavior(
             if get_behavior_message(b) == behavior_text
         )
     if index is None:
-        index = click.prompt(text="Where would you like to insert it?", type=int)
+        index = click.prompt(
+            text=f"Where would you like to insert it?\n{list_behavior(world)}\n",
+            type=int,
+        )
 
     new_behavior = world.behavior[:index] + [behavior] + world.behavior[index:]
     new_world = replace(world, behavior=new_behavior)
@@ -99,18 +112,38 @@ def remove_behavior(world: World, index: Optional[int] = None):
 
     """
     if index is None:
-        behavior_listing = "\n".join(
-            [f"{i}: {get_behavior_message(b)}" for i, b in enumerate(world.behavior)]
-        )
-        text = "Which behavior would you like to remove?\n" + behavior_listing + "\n"
+        text = f"Which behavior would you like to remove?\n{list_behavior(world)}\n"
         index = click.prompt(text=text, type=int)
     new_behavior = world.behavior[:index] + world.behavior[index + 1 :]
     new_world = replace(world, behavior=new_behavior)
     return new_world
 
 
+def update_behavior(
+    world: World,
+    action: Optional[Literal["add", "remove", "skip"]] = None,
+    behavior: Optional[Behavior] = None,
+    index: Optional[int] = None,
+) -> World:
+    """Update a behavior"""
+    if action is None:
+        action = click.prompt(
+            text="How would you like to update the behaviors?",
+            default="skip",
+            type=click.Choice(["add", "remove", "skip"]),
+        )
+    match action:
+        case "add":
+            new_world = add_behavior(world, behavior, index)
+        case "remove":
+            new_world = remove_behavior(world, index)
+        case "skip":
+            new_world = world
+    return new_world
+
+
 def print_world(world: World):
-    """"""
+    """Display the world"""
 
     pprint(world)
     return
@@ -135,20 +168,27 @@ def add_two(w: IntWorld) -> IntWorld:
 
 
 def main(world):
+    i = 0
     while True:
-        for behavior in world.behavior:
-            result = behavior(world)
-            if result is not None and isinstance(result, type(world)):
-                world = result
-                print_world(world)
+        behavior = world.behavior[i]
+        result = behavior(world)
+        if result is not None and isinstance(result, type(world)):
+            world = result
+            print_world(world)
+
+        sleep(0.1)
+        i += 1
+        if i >= len(world.behavior):  # Loop back once we've done all the behaviors
+            i = 0
 
 
 if __name__ == "__main__":
     world = IntWorld(
         state=0,
-        behavior=[print_world, remove_behavior, add_one, add_behavior],
+        behavior=[print_world, add_one, update_behavior],
         available_behaviors=[
             print_world,
+            update_behavior,
             add_behavior,
             remove_behavior,
             add_one,

From 8e3aea8224d71217048ee4075ec24619cf3db28d Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 13:35:34 -0400
Subject: [PATCH 11/25] add catchall to end of case match

---
 src/social_norms_trees/chat.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index c3ad7f51..b424e9c0 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -137,8 +137,9 @@ def update_behavior(
             new_world = add_behavior(world, behavior, index)
         case "remove":
             new_world = remove_behavior(world, index)
-        case "skip":
+        case "skip" | _:
             new_world = world
+
     return new_world
 
 

From de68bd9a7d613a9469763135c5016dffa90b65ca Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 13:40:07 -0400
Subject: [PATCH 12/25] add docstrings

---
 src/social_norms_trees/chat.py | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index b424e9c0..734e3d6f 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -1,3 +1,5 @@
+"""Module for worlds which have mutable behaviors"""
+
 from dataclasses import dataclass, replace, field
 from pprint import pprint
 from time import sleep
@@ -8,6 +10,8 @@
 
 @dataclass
 class World:
+    """Class which holds a list of active and available behaviors."""
+
     behavior: List["Behavior"] = field(default_factory=list)
     available_behaviors: List["Behavior"] = field(default_factory=list)
 
@@ -18,11 +22,13 @@ class World:
 
 
 def get_behavior_name(callback: Behavior) -> str:
+    """Get the name of a callable Behavior"""
     name = callback.__name__
     return name
 
 
 def get_behavior_message(callback: Behavior) -> str:
+    """Get the top line of the docstring of a callable Behavior, or (if missing) its name"""
     try:
         message = str.split(callback.__doc__, "\n")[0]
         assert message != ""
@@ -37,6 +43,7 @@ def get_behavior_message(callback: Behavior) -> str:
 
 
 def list_behavior(world: World) -> str:
+    """List all the behaviors and their indices"""
     behavior_listing = "\n".join(
         [f"{i}: {get_behavior_message(b)}" for i, b in enumerate(world.behavior)]
     )
@@ -156,19 +163,23 @@ class IntWorld(World):
 
 
 def add_x(w: IntWorld, x: int = 1) -> IntWorld:
+    """Add x to the state of the world"""
     new_world = replace(w, state=w.state + x)
     return new_world
 
 
 def add_one(w: IntWorld) -> IntWorld:
+    """Add 1 to the state of the world"""
     return add_x(w, 1)
 
 
 def add_two(w: IntWorld) -> IntWorld:
+    """Add 2 to the state of the world"""
     return add_x(w, 2)
 
 
 def main(world):
+    """Run the world's behaviors in a loop"""
     i = 0
     while True:
         behavior = world.behavior[i]

From 26eba21aadb3121b60e3416179782286ee0c9807 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 13:40:35 -0400
Subject: [PATCH 13/25] fix name shadowing

---
 src/social_norms_trees/chat.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index 734e3d6f..19607bbe 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -195,7 +195,7 @@ def main(world):
 
 
 if __name__ == "__main__":
-    world = IntWorld(
+    world_ = IntWorld(
         state=0,
         behavior=[print_world, add_one, update_behavior],
         available_behaviors=[
@@ -207,4 +207,4 @@ def main(world):
             add_two,
         ],
     )
-    main(world)
+    main(world_)

From fa979df71489894670dbb5ee90a3a05a913b743d Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 13:41:25 -0400
Subject: [PATCH 14/25] update code inspection ignores for black formatting

---
 .idea/inspectionProfiles/profiles_settings.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml
index 105ce2da..dd4c951e 100644
--- a/.idea/inspectionProfiles/profiles_settings.xml
+++ b/.idea/inspectionProfiles/profiles_settings.xml
@@ -1,5 +1,6 @@
 <component name="InspectionProjectProfileManager">
   <settings>
+    <option name="PROJECT_PROFILE" value="Default" />
     <option name="USE_PROJECT_PROFILE" value="false" />
     <version value="1.0" />
   </settings>

From c4881620c79e59b236f8325e5ab026ad55314d5f Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 14:29:07 -0400
Subject: [PATCH 15/25] move intworld to a separate file

---
 src/social_norms_trees/chat.py          | 37 ++++++-------------
 src/social_norms_trees/intworld_chat.py | 49 +++++++++++++++++++++++++
 2 files changed, 60 insertions(+), 26 deletions(-)
 create mode 100644 src/social_norms_trees/intworld_chat.py

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
index 19607bbe..aadd7d79 100644
--- a/src/social_norms_trees/chat.py
+++ b/src/social_norms_trees/chat.py
@@ -60,6 +60,10 @@ def add_behavior(
         >>> World()  # doctest: +ELLIPSIS
         World(behavior=[], ...)
 
+        >>> def add_one(world):
+        ...     # Dummy Behavior
+        ...     return world
+
         We can add a behavior to the world:
         >>> add_behavior(World(), add_one, 0)  # doctest: +ELLIPSIS
         World(behavior=[<function add_one at 0x...>], ...)
@@ -106,6 +110,11 @@ def remove_behavior(world: World, index: Optional[int] = None):
         World(behavior=[], available_behaviors=[])
 
         If we have a world with some behaviors:
+        >>> def add_one(world):
+        ...     return world
+        >>> def add_two(world):
+        ...     return world
+
         >>> World(behavior=[add_one, add_two])  # doctest: +ELLIPSIS
         World(behavior=[<function add_one at 0x...>, <function add_two at 0x...>], ...)
 
@@ -157,27 +166,6 @@ def print_world(world: World):
     return
 
 
-@dataclass
-class IntWorld(World):
-    state: int = field(default=0)
-
-
-def add_x(w: IntWorld, x: int = 1) -> IntWorld:
-    """Add x to the state of the world"""
-    new_world = replace(w, state=w.state + x)
-    return new_world
-
-
-def add_one(w: IntWorld) -> IntWorld:
-    """Add 1 to the state of the world"""
-    return add_x(w, 1)
-
-
-def add_two(w: IntWorld) -> IntWorld:
-    """Add 2 to the state of the world"""
-    return add_x(w, 2)
-
-
 def main(world):
     """Run the world's behaviors in a loop"""
     i = 0
@@ -195,16 +183,13 @@ def main(world):
 
 
 if __name__ == "__main__":
-    world_ = IntWorld(
-        state=0,
-        behavior=[print_world, add_one, update_behavior],
+    world_ = World(
+        behavior=[print_world, update_behavior],
         available_behaviors=[
             print_world,
             update_behavior,
             add_behavior,
             remove_behavior,
-            add_one,
-            add_two,
         ],
     )
     main(world_)
diff --git a/src/social_norms_trees/intworld_chat.py b/src/social_norms_trees/intworld_chat.py
new file mode 100644
index 00000000..26dc7d84
--- /dev/null
+++ b/src/social_norms_trees/intworld_chat.py
@@ -0,0 +1,49 @@
+"""Example of using worlds with just an integer for the state of the world"""
+
+from dataclasses import dataclass, field, replace
+
+from social_norms_trees.chat import (
+    World,
+    print_world,
+    update_behavior,
+    add_behavior,
+    remove_behavior,
+    main,
+)
+
+
+@dataclass
+class IntWorld(World):
+    state: int = field(default=0)
+
+
+def add_x(w: IntWorld, x: int = 1) -> IntWorld:
+    """Add x to the state of the world"""
+    new_world = replace(w, state=w.state + x)
+    return new_world
+
+
+def add_one(w: IntWorld) -> IntWorld:
+    """Add 1 to the state of the world"""
+    return add_x(w, 1)
+
+
+def add_two(w: IntWorld) -> IntWorld:
+    """Add 2 to the state of the world"""
+    return add_x(w, 2)
+
+
+if __name__ == "__main__":
+    world_ = IntWorld(
+        state=0,
+        behavior=[print_world, add_one, update_behavior],
+        available_behaviors=[
+            print_world,
+            update_behavior,
+            add_behavior,
+            remove_behavior,
+            add_one,
+            add_two,
+        ],
+    )
+    main(world_)

From 25212473be791fa4d933d359230111f45af6ce88 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 16:00:19 -0400
Subject: [PATCH 16/25] add a behavior tree world where you can change the
 behavior by adding new nodes

---
 .../behaviortreeworld_chat.py                 | 209 ++++++++++++++++++
 1 file changed, 209 insertions(+)
 create mode 100644 src/social_norms_trees/behaviortreeworld_chat.py

diff --git a/src/social_norms_trees/behaviortreeworld_chat.py b/src/social_norms_trees/behaviortreeworld_chat.py
new file mode 100644
index 00000000..b14e6eb7
--- /dev/null
+++ b/src/social_norms_trees/behaviortreeworld_chat.py
@@ -0,0 +1,209 @@
+"""Example of using worlds with just an integer for the state of the world"""
+
+from dataclasses import dataclass, field, replace
+from functools import partial, wraps
+from itertools import islice
+from typing import TypeVar, Optional
+
+import click
+import py_trees
+
+from social_norms_trees.chat import (
+    World,
+    update_behavior,
+    main,
+)
+
+from pprint import pformat
+
+
+@dataclass
+class BehaviorTreeWorld(World):
+    tree: py_trees.behaviour.Behaviour = field(
+        default_factory=py_trees.behaviours.Dummy
+    )
+
+
+def print_world(world: BehaviorTreeWorld):
+    tree_display = py_trees.display.unicode_tree(world.tree)
+    print(f"{pformat(world)}\n\ntree:\n{tree_display}")
+
+
+T = TypeVar("T", bound=py_trees.behaviour.Behaviour)
+
+
+def print_tree(tree: py_trees.behaviour.Behaviour):
+    tree_display = py_trees.display.unicode_tree(tree)
+    print(tree_display)
+
+
+def iterate_nodes(tree: py_trees.behaviour.Behaviour):
+    """
+
+    Examples:
+        >>> list(iterate_nodes(py_trees.behaviours.Dummy()))  # doctest: +ELLIPSIS
+        [<py_trees.behaviours.Dummy object at 0x...>]
+
+        >>> list(iterate_nodes(
+        ...     py_trees.composites.Sequence("", False, children=[
+        ...         py_trees.behaviours.Dummy(),
+        ... ])))  # doctest: +ELLIPSIS +NORMALIZE_WHITESPACE
+        [<py_trees.composites.Sequence object at 0x...>,
+         <py_trees.behaviours.Dummy object at 0x...>]
+
+        >>> list(iterate_nodes(
+        ...     py_trees.composites.Sequence("", False, children=[
+        ...         py_trees.behaviours.Dummy(),
+        ...         py_trees.behaviours.Dummy(),
+        ...         py_trees.composites.Sequence("", False, children=[
+        ...             py_trees.behaviours.Dummy(),
+        ...         ]),
+        ... ])))  # doctest: +ELLIPSIS +NORMALIZE_WHITESPACE
+        [<py_trees.composites.Sequence object at 0x...>,
+         <py_trees.behaviours.Dummy object at 0x...>,
+         <py_trees.behaviours.Dummy object at 0x...>,
+         <py_trees.composites.Sequence object at 0x...>,
+         <py_trees.behaviours.Dummy object at 0x...>]
+
+    """
+    yield tree
+    for child in tree.children:
+        yield from iterate_nodes(child)
+
+
+def enumerate_nodes(tree: py_trees.behaviour.Behaviour):
+    """
+
+    Examples:
+        >>> list(enumerate_nodes(py_trees.behaviours.Dummy()))  # doctest: +ELLIPSIS
+        [(0, <py_trees.behaviours.Dummy object at 0x...>)]
+
+        >>> list(enumerate_nodes(
+        ...     py_trees.composites.Sequence("", False, children=[
+        ...         py_trees.behaviours.Dummy(),
+        ... ])))  # doctest: +ELLIPSIS +NORMALIZE_WHITESPACE
+        [(0, <py_trees.composites.Sequence object at 0x...>),
+         (1, <py_trees.behaviours.Dummy object at 0x...>)]
+
+        >>> list(enumerate_nodes(
+        ...     py_trees.composites.Sequence("s1", False, children=[
+        ...         py_trees.behaviours.Dummy(),
+        ...         py_trees.behaviours.Success(),
+        ...         py_trees.composites.Sequence("s2", False, children=[
+        ...             py_trees.behaviours.Dummy(),
+        ...         ]),
+        ...         py_trees.composites.Sequence("", False, children=[
+        ...             py_trees.behaviours.Failure(),
+        ...             py_trees.behaviours.Periodic("p", n=1),
+        ...         ]),
+        ... ])))  # doctest: +ELLIPSIS +NORMALIZE_WHITESPACE
+        [(0, <py_trees.composites.Sequence object at 0x...>),
+         (1, <py_trees.behaviours.Dummy object at 0x...>),
+         (2, <py_trees.behaviours.Success object at 0x...>),
+         (3, <py_trees.composites.Sequence object at 0x...>),
+         (4, <py_trees.behaviours.Dummy object at 0x...>),
+         (5, <py_trees.composites.Sequence object at 0x...>),
+         (6, <py_trees.behaviours.Failure object at 0x...>),
+         (7, <py_trees.behaviours.Periodic object at 0x...>)]
+
+    """
+    return enumerate(iterate_nodes(tree))
+
+
+def format_tree_with_indices(tree: py_trees.behaviour.Behaviour):
+    """
+    Examples:
+        >>> print(format_tree_with_indices(py_trees.behaviours.Dummy()))
+        0: --> Dummy
+    """
+
+    index_strings = [str(i) for i, _ in enumerate_nodes(tree)]
+    max_len = max([len(s) for s in index_strings])
+    padded_index_strings = [s.rjust(max_len) for s in index_strings]
+
+    tree_representation = py_trees.display.unicode_tree(tree)
+    tree_representation_lines = tree_representation.split("\n")
+    enumerated_tree_representation_lines = [
+        f"{i}: {t}" for i, t in zip(padded_index_strings, tree_representation_lines)
+    ]
+
+    output = "\n".join(enumerated_tree_representation_lines)
+    return output
+
+
+def say(message):
+    print(message)
+
+
+def add_child(
+    tree: T,
+    parent: Optional[py_trees.composites.Composite] = None,
+    child: Optional[py_trees.behaviour.Behaviour] = None,
+) -> T:
+    if parent is None:
+        parent_index = click.prompt(
+            text=f"{format_tree_with_indices(tree)}\n"
+            f"Which parent node do you want to add the child to?",
+            type=int,
+        )
+        parent = next(islice(iterate_nodes(tree), parent_index, parent_index + 1))
+    if child is None:
+        child_key = click.prompt(
+            text="What should the child do?", type=click.Choice(["say something"])
+        )
+        match child_key:
+            case "say something":
+                message = click.prompt(text="What should it say?", type=str)
+
+                child_function = wraps(say)(partial(say, message))
+                child_type = py_trees.meta.create_behaviour_from_function(
+                    child_function
+                )
+                child = child_type()
+            case _:
+                raise NotImplementedError()
+    parent.add_child(child)
+    return tree
+
+
+if __name__ == "__main__":
+
+    # main(world_)
+    tree = py_trees.composites.Sequence(
+        "",
+        False,
+        children=[
+            py_trees.behaviours.Dummy(),
+            py_trees.behaviours.Dummy(),
+            py_trees.composites.Sequence(
+                "",
+                False,
+                children=[
+                    py_trees.behaviours.Success(),
+                    py_trees.behaviours.Dummy(),
+                ],
+            ),
+            py_trees.composites.Sequence(
+                "",
+                False,
+                children=[
+                    py_trees.behaviours.Dummy(),
+                    py_trees.behaviours.Failure(),
+                    py_trees.behaviours.Dummy(),
+                    py_trees.behaviours.Running(),
+                ],
+            ),
+        ],
+    )
+
+    print(py_trees.display.ascii_tree(tree))
+    print(format_tree_with_indices(tree))
+    add_child(tree)
+    print(format_tree_with_indices(tree))
+    pass
+
+    world_ = BehaviorTreeWorld(
+        behavior=[print_world, update_behavior, add_child],
+        available_behaviors=[print_world, add_child],
+    )
+    print_world(world_)

From 9de965d38074290140fe8c68ab3abf92585fba8c Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Mon, 22 Jul 2024 16:11:49 -0400
Subject: [PATCH 17/25] add a function to remove a node

---
 .../behaviortreeworld_chat.py                 | 45 +++++++++++++++----
 1 file changed, 37 insertions(+), 8 deletions(-)

diff --git a/src/social_norms_trees/behaviortreeworld_chat.py b/src/social_norms_trees/behaviortreeworld_chat.py
index b14e6eb7..030a74a2 100644
--- a/src/social_norms_trees/behaviortreeworld_chat.py
+++ b/src/social_norms_trees/behaviortreeworld_chat.py
@@ -1,5 +1,6 @@
 """Example of using worlds with just an integer for the state of the world"""
 
+import warnings
 from dataclasses import dataclass, field, replace
 from functools import partial, wraps
 from itertools import islice
@@ -135,24 +136,32 @@ def say(message):
     print(message)
 
 
+def prompt_identify_node(
+    tree: py_trees.behaviour.Behaviour, message: str = "Which node?"
+) -> py_trees.behaviour.Behaviour:
+    node_index = click.prompt(
+        text=f"{format_tree_with_indices(tree)}\n{message}",
+        type=int,
+    )
+    node = next(islice(iterate_nodes(tree), node_index, node_index + 1))
+    return node
+
+
 def add_child(
     tree: T,
     parent: Optional[py_trees.composites.Composite] = None,
     child: Optional[py_trees.behaviour.Behaviour] = None,
 ) -> T:
     if parent is None:
-        parent_index = click.prompt(
-            text=f"{format_tree_with_indices(tree)}\n"
-            f"Which parent node do you want to add the child to?",
-            type=int,
+        parent = prompt_identify_node(
+            tree, f"Which parent node do you want to add the child to?"
         )
-        parent = next(islice(iterate_nodes(tree), parent_index, parent_index + 1))
     if child is None:
         child_key = click.prompt(
-            text="What should the child do?", type=click.Choice(["say something"])
+            text="What should the child do?", type=click.Choice(["say"])
         )
         match child_key:
-            case "say something":
+            case "say":
                 message = click.prompt(text="What should it say?", type=str)
 
                 child_function = wraps(say)(partial(say, message))
@@ -166,6 +175,22 @@ def add_child(
     return tree
 
 
+def remove_node(tree: T, node: Optional[py_trees.behaviour.Behaviour] = None) -> T:
+    if node is None:
+        node = prompt_identify_node(tree, f"Which node do you want to remove?")
+    parent_node = node.parent
+    if parent_node is None:
+        warnings.warn(
+            f"{node}'s parent is None, so we can't remove it. You can't remove the root node."
+        )
+        return tree
+    elif isinstance(parent_node, py_trees.composites.Composite):
+        parent_node.remove_child(node)
+    else:
+        raise NotImplementedError()
+    return tree
+
+
 if __name__ == "__main__":
 
     # main(world_)
@@ -198,8 +223,12 @@ def add_child(
 
     print(py_trees.display.ascii_tree(tree))
     print(format_tree_with_indices(tree))
-    add_child(tree)
+    remove_node(tree)
     print(format_tree_with_indices(tree))
+    remove_node(tree)
+    print(format_tree_with_indices(tree))
+    remove_node(tree)
+
     pass
 
     world_ = BehaviorTreeWorld(

From a26e7a7e0a4749b185e7615a704c2fcc76f6da96 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Tue, 23 Jul 2024 08:28:20 -0400
Subject: [PATCH 18/25] add doctests

---
 .../behaviortreeworld_chat.py                 | 30 +++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/src/social_norms_trees/behaviortreeworld_chat.py b/src/social_norms_trees/behaviortreeworld_chat.py
index 030a74a2..f33e5741 100644
--- a/src/social_norms_trees/behaviortreeworld_chat.py
+++ b/src/social_norms_trees/behaviortreeworld_chat.py
@@ -152,6 +152,19 @@ def add_child(
     parent: Optional[py_trees.composites.Composite] = None,
     child: Optional[py_trees.behaviour.Behaviour] = None,
 ) -> T:
+    """Add a behaviour to the tree
+
+    Examples:
+        >>> tree = py_trees.composites.Sequence("", False, children=[])
+        >>> print(py_trees.display.ascii_tree(tree))  # doctest: +NORMALIZE_WHITESPACE
+        [-]
+
+        >>> print(py_trees.display.ascii_tree(add_child(tree, py_trees.behaviours.Success())))
+        ... # doctest: +NORMALIZE_WHITESPACE
+        [-]
+            --> Success
+
+    """
     if parent is None:
         parent = prompt_identify_node(
             tree, f"Which parent node do you want to add the child to?"
@@ -176,6 +189,23 @@ def add_child(
 
 
 def remove_node(tree: T, node: Optional[py_trees.behaviour.Behaviour] = None) -> T:
+    """Remove a behaviour from the tree
+
+    Examples:
+        >>> tree = py_trees.composites.Sequence("", False, children=[
+        ...    py_trees.behaviours.Success(),
+        ...    failure_node := py_trees.behaviours.Failure()])
+        >>> print(py_trees.display.ascii_tree(tree))  # doctest: +NORMALIZE_WHITESPACE
+        [-]
+            --> Success
+            --> Failure
+
+        >>> print(py_trees.display.ascii_tree(remove_node(tree, failure_node)))
+        ... # doctest: +NORMALIZE_WHITESPACE
+        [-]
+            --> Success
+
+    """
     if node is None:
         node = prompt_identify_node(tree, f"Which node do you want to remove?")
     parent_node = node.parent

From bd4a88e43f40b37a68200eae8845f54b46250434 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Tue, 23 Jul 2024 09:26:53 -0400
Subject: [PATCH 19/25] add move node and exchange node functions

---
 .../behaviortreeworld_chat.py                 | 108 +++++++++++++++++-
 1 file changed, 105 insertions(+), 3 deletions(-)

diff --git a/src/social_norms_trees/behaviortreeworld_chat.py b/src/social_norms_trees/behaviortreeworld_chat.py
index f33e5741..f6a75a26 100644
--- a/src/social_norms_trees/behaviortreeworld_chat.py
+++ b/src/social_norms_trees/behaviortreeworld_chat.py
@@ -137,10 +137,16 @@ def say(message):
 
 
 def prompt_identify_node(
-    tree: py_trees.behaviour.Behaviour, message: str = "Which node?"
+    tree: py_trees.behaviour.Behaviour,
+    message: str = "Which node?",
+    display_nodes: bool = True,
 ) -> py_trees.behaviour.Behaviour:
+    if display_nodes:
+        text = f"{format_tree_with_indices(tree)}\n{message}"
+    else:
+        text = f"{message}"
     node_index = click.prompt(
-        text=f"{format_tree_with_indices(tree)}\n{message}",
+        text=text,
         type=int,
     )
     node = next(islice(iterate_nodes(tree), node_index, node_index + 1))
@@ -221,6 +227,102 @@ def remove_node(tree: T, node: Optional[py_trees.behaviour.Behaviour] = None) ->
     return tree
 
 
+def move_node(
+    tree: T,
+    node: Optional[py_trees.behaviour.Behaviour] = None,
+    new_parent: Optional[py_trees.behaviour.Behaviour] = None,
+    index: int = None,
+) -> T:
+    """Exchange two behaviours in the tree
+
+    Examples:
+        >>> tree = py_trees.composites.Sequence("", False, children=[])
+
+    """
+
+    if node is None:
+        node = prompt_identify_node(tree, f"Which node do you want to move?")
+    if new_parent is None:
+        new_parent = prompt_identify_node(
+            tree, f"What should its parent be?", display_nodes=False
+        )
+    if index is None:
+        index = click.prompt(f"What should its position be?", type=int)
+
+    assert isinstance(new_parent, py_trees.composites.Composite)
+    assert isinstance(node.parent, py_trees.composites.Composite)
+
+    node.parent.remove_child(node)
+    new_parent.insert_child(node, index)
+
+    return tree
+
+
+def exchange_nodes(
+    tree: T,
+    node0: Optional[py_trees.behaviour.Behaviour] = None,
+    node1: Optional[py_trees.behaviour.Behaviour] = None,
+) -> T:
+    """Exchange two behaviours in the tree
+
+    Examples:
+        >>> tree = py_trees.composites.Sequence("", False, children=[
+        ...     s:=py_trees.behaviours.Success(),
+        ...     f:=py_trees.behaviours.Failure(),
+        ... ])
+        >>> print(py_trees.display.ascii_tree(tree))  # doctest: +NORMALIZE_WHITESPACE
+        [-]
+            --> Success
+            --> Failure
+
+        >>> print(py_trees.display.ascii_tree(exchange_nodes(tree, s, f)))
+        ... # doctest: +NORMALIZE_WHITESPACE
+        [-]
+            --> Failure
+            --> Success
+
+        >>> tree = py_trees.composites.Sequence("", False, children=[
+        ...     a:= py_trees.composites.Sequence("A", False, children=[
+        ...         py_trees.behaviours.Dummy()
+        ...     ]),
+        ...     py_trees.composites.Sequence("B", False, children=[
+        ...         py_trees.behaviours.Success(),
+        ...         c := py_trees.composites.Sequence("C", False, children=[])
+        ...     ])
+        ... ])
+        >>> print(py_trees.display.ascii_tree(tree))  # doctest: +NORMALIZE_WHITESPACE
+        [-]
+            [-] A
+                --> Dummy
+            [-] B
+                --> Success
+                [-] C
+        >>> print(py_trees.display.ascii_tree(exchange_nodes(tree, a, c)))
+        ... # doctest: +NORMALIZE_WHITESPACE
+        [-]
+            [-] C
+            [-] B
+                --> Success
+                [-] A
+                    --> Dummy
+    """
+
+    if node0 is None:
+        node0 = prompt_identify_node(tree, f"Which node do you want to switch?")
+    if node1 is None:
+        node1 = prompt_identify_node(
+            tree, f"Which node do you want to switch?", display_nodes=False
+        )
+
+    node0_parent, node0_index = node0.parent, node0.parent.children.index(node0)
+    node1_parent, node1_index = node1.parent, node1.parent.children.index(node1)
+
+    tree = move_node(tree, node0, node1_parent, node1_index)
+    tree = move_node(tree, node1, node0_parent, node0_index)
+
+    return tree
+
+
 if __name__ == "__main__":
 
     # main(world_)
@@ -253,7 +355,7 @@ def remove_node(tree: T, node: Optional[py_trees.behaviour.Behaviour] = None) ->
 
     print(py_trees.display.ascii_tree(tree))
     print(format_tree_with_indices(tree))
-    remove_node(tree)
+    move_node(tree)
     print(format_tree_with_indices(tree))
     remove_node(tree)
     print(format_tree_with_indices(tree))

From 329bea9a7a0706f0bf411d37796d8294d21fd4ad Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Tue, 23 Jul 2024 09:51:11 -0400
Subject: [PATCH 20/25] add functions to identify a particular index for
 movement

---
 .../behaviortreeworld_chat.py                 | 127 +++++++++++++++---
 1 file changed, 111 insertions(+), 16 deletions(-)

diff --git a/src/social_norms_trees/behaviortreeworld_chat.py b/src/social_norms_trees/behaviortreeworld_chat.py
index f6a75a26..e042831d 100644
--- a/src/social_norms_trees/behaviortreeworld_chat.py
+++ b/src/social_norms_trees/behaviortreeworld_chat.py
@@ -4,7 +4,7 @@
 from dataclasses import dataclass, field, replace
 from functools import partial, wraps
 from itertools import islice
-from typing import TypeVar, Optional
+from typing import TypeVar, Optional, List
 
 import click
 import py_trees
@@ -111,24 +111,93 @@ def enumerate_nodes(tree: py_trees.behaviour.Behaviour):
     return enumerate(iterate_nodes(tree))
 
 
-def format_tree_with_indices(tree: py_trees.behaviour.Behaviour):
+def label_tree_lines(
+    tree: py_trees.behaviour.Behaviour,
+    labels: List[str],
+    representation=py_trees.display.unicode_tree,
+) -> str:
+    max_len = max([len(s) for s in labels])
+    padded_labels = [s.rjust(max_len) for s in labels]
+
+    tree_representation_lines = representation(tree).split("\n")
+    enumerated_tree_representation_lines = [
+        f"{i}: {t}" for i, t in zip(padded_labels, tree_representation_lines)
+    ]
+
+    output = "\n".join(enumerated_tree_representation_lines)
+    return output
+
+
+def format_children_with_indices(composite: py_trees.composites.Composite) -> str:
+    """
+    Examples:
+        >>> tree = py_trees.composites.Sequence("s1", False, children=[
+        ...         py_trees.behaviours.Dummy(),
+        ...         py_trees.behaviours.Success(),
+        ...         py_trees.composites.Sequence("s2", False, children=[
+        ...             py_trees.behaviours.Dummy(),
+        ...         ]),
+        ...         py_trees.composites.Sequence("", False, children=[
+        ...             py_trees.behaviours.Failure(),
+        ...             py_trees.behaviours.Periodic("p", n=1),
+        ...         ]),
+        ... ])
+        >>> print(format_children_with_indices(tree))  # doctest: +NORMALIZE_WHITESPACE
+        _:  [-] s1
+        0:     --> Dummy
+        1:     --> Success
+        2:     [-] s2
+        _:         --> Dummy
+        3:     [-]
+        _:         --> Failure
+        _:         --> p
+    """
+    index_strings = []
+    i = 0
+    for b in iterate_nodes(composite):
+        if b in composite.children:
+            index_strings.append(str(i))
+            i += 1
+        else:
+            index_strings.append("_")
+
+    output = label_tree_lines(composite, index_strings)
+    return output
+
+
+def format_tree_with_indices(tree: py_trees.behaviour.Behaviour) -> str:
     """
     Examples:
         >>> print(format_tree_with_indices(py_trees.behaviours.Dummy()))
         0: --> Dummy
+
+        >>> tree = py_trees.composites.Sequence("s1", False, children=[
+        ...         py_trees.behaviours.Dummy(),
+        ...         py_trees.behaviours.Success(),
+        ...         py_trees.composites.Sequence("s2", False, children=[
+        ...             py_trees.behaviours.Dummy(),
+        ...         ]),
+        ...         py_trees.composites.Sequence("", False, children=[
+        ...             py_trees.behaviours.Failure(),
+        ...             py_trees.behaviours.Periodic("p", n=1),
+        ...         ]),
+        ... ])
+        >>> print(format_tree_with_indices(tree))  # doctest: +NORMALIZE_WHITESPACE
+        0: [-] s1
+        1:     --> Dummy
+        2:     --> Success
+        3:     [-] s2
+        4:         --> Dummy
+        5:     [-]
+        6:         --> Failure
+        7:         --> p
+
     """
 
     index_strings = [str(i) for i, _ in enumerate_nodes(tree)]
-    max_len = max([len(s) for s in index_strings])
-    padded_index_strings = [s.rjust(max_len) for s in index_strings]
 
-    tree_representation = py_trees.display.unicode_tree(tree)
-    tree_representation_lines = tree_representation.split("\n")
-    enumerated_tree_representation_lines = [
-        f"{i}: {t}" for i, t in zip(padded_index_strings, tree_representation_lines)
-    ]
+    output = label_tree_lines(tree, index_strings)
 
-    output = "\n".join(enumerated_tree_representation_lines)
     return output
 
 
@@ -141,6 +210,18 @@ def prompt_identify_node(
     message: str = "Which node?",
     display_nodes: bool = True,
 ) -> py_trees.behaviour.Behaviour:
+    node_index = prompt_identify_tree_iterator_index(
+        tree=tree, message=message, display_nodes=display_nodes
+    )
+    node = next(islice(iterate_nodes(tree), node_index, node_index + 1))
+    return node
+
+
+def prompt_identify_tree_iterator_index(
+    tree: py_trees.behaviour.Behaviour,
+    message: str = "Which position?",
+    display_nodes: bool = True,
+) -> int:
     if display_nodes:
         text = f"{format_tree_with_indices(tree)}\n{message}"
     else:
@@ -149,8 +230,23 @@ def prompt_identify_node(
         text=text,
         type=int,
     )
-    node = next(islice(iterate_nodes(tree), node_index, node_index + 1))
-    return node
+    return node_index
+
+
+def prompt_identify_child_index(
+    tree: py_trees.behaviour.Behaviour,
+    message: str = "Which position?",
+    display_nodes: bool = True,
+) -> int:
+    if display_nodes:
+        text = f"{format_children_with_indices(tree)}\n{message}"
+    else:
+        text = f"{message}"
+    node_index = click.prompt(
+        text=text,
+        type=int,
+    )
+    return node_index
 
 
 def add_child(
@@ -247,7 +343,7 @@ def move_node(
             tree, f"What should its parent be?", display_nodes=False
         )
     if index is None:
-        index = click.prompt(f"What should its position be?", type=int)
+        index = prompt_identify_child_index(new_parent)
 
     assert isinstance(new_parent, py_trees.composites.Composite)
     assert isinstance(node.parent, py_trees.composites.Composite)
@@ -354,12 +450,11 @@ def exchange_nodes(
     )
 
     print(py_trees.display.ascii_tree(tree))
-    print(format_tree_with_indices(tree))
     move_node(tree)
-    print(format_tree_with_indices(tree))
+    exchange_nodes(tree)
     remove_node(tree)
+
     print(format_tree_with_indices(tree))
-    remove_node(tree)
 
     pass
 

From 307f3cdc2ae6851e00a6645e80bdaff3b83098d1 Mon Sep 17 00:00:00 2001
From: John Gerrard Holland <john_holland1@brown.edu>
Date: Wed, 14 Aug 2024 18:19:59 +0000
Subject: [PATCH 21/25] rename chat to mutate_tree

---
 src/social_norms_trees/chat.py                | 195 ------------------
 src/social_norms_trees/intworld_chat.py       |  49 -----
 ...haviortreeworld_chat.py => mutate_tree.py} |  30 ---
 3 files changed, 274 deletions(-)
 delete mode 100644 src/social_norms_trees/chat.py
 delete mode 100644 src/social_norms_trees/intworld_chat.py
 rename src/social_norms_trees/{behaviortreeworld_chat.py => mutate_tree.py} (95%)

diff --git a/src/social_norms_trees/chat.py b/src/social_norms_trees/chat.py
deleted file mode 100644
index aadd7d79..00000000
--- a/src/social_norms_trees/chat.py
+++ /dev/null
@@ -1,195 +0,0 @@
-"""Module for worlds which have mutable behaviors"""
-
-from dataclasses import dataclass, replace, field
-from pprint import pprint
-from time import sleep
-from typing import Callable, List, Optional, TypeVar, Literal
-
-import click
-
-
-@dataclass
-class World:
-    """Class which holds a list of active and available behaviors."""
-
-    behavior: List["Behavior"] = field(default_factory=list)
-    available_behaviors: List["Behavior"] = field(default_factory=list)
-
-
-W = TypeVar("W", bound=World)
-
-Behavior = Callable[[W], W]
-
-
-def get_behavior_name(callback: Behavior) -> str:
-    """Get the name of a callable Behavior"""
-    name = callback.__name__
-    return name
-
-
-def get_behavior_message(callback: Behavior) -> str:
-    """Get the top line of the docstring of a callable Behavior, or (if missing) its name"""
-    try:
-        message = str.split(callback.__doc__, "\n")[0]
-        assert message != ""
-    except (
-        IndexError,
-        TypeError,
-        AssertionError,
-    ):  # docstring is empty or non-existent
-        message = get_behavior_name(callback)
-
-    return message
-
-
-def list_behavior(world: World) -> str:
-    """List all the behaviors and their indices"""
-    behavior_listing = "\n".join(
-        [f"{i}: {get_behavior_message(b)}" for i, b in enumerate(world.behavior)]
-    )
-    return behavior_listing
-
-
-def add_behavior(
-    world: World, behavior: Optional[Behavior] = None, index: Optional[int] = None
-):
-    """Add a behavior
-
-    Examples:
-        An empty world has no behaviors:
-        >>> World()  # doctest: +ELLIPSIS
-        World(behavior=[], ...)
-
-        >>> def add_one(world):
-        ...     # Dummy Behavior
-        ...     return world
-
-        We can add a behavior to the world:
-        >>> add_behavior(World(), add_one, 0)  # doctest: +ELLIPSIS
-        World(behavior=[<function add_one at 0x...>], ...)
-
-
-    """
-
-    if behavior is None:
-        behavior_text = click.prompt(
-            text="Which behavior would you like to add?",
-            type=click.Choice(
-                [get_behavior_message(b) for b in world.available_behaviors]
-            ),
-        )
-        behavior = next(
-            b
-            for b in world.available_behaviors
-            if get_behavior_message(b) == behavior_text
-        )
-    if index is None:
-        index = click.prompt(
-            text=f"Where would you like to insert it?\n{list_behavior(world)}\n",
-            type=int,
-        )
-
-    new_behavior = world.behavior[:index] + [behavior] + world.behavior[index:]
-    new_world = replace(world, behavior=new_behavior)
-    return new_world
-
-
-def remove_behavior(world: World, index: Optional[int] = None):
-    """Remove a behavior
-
-    Examples:
-        An empty world has no behaviors:
-        >>> World()  # doctest: +ELLIPSIS
-        World(behavior=[], ...)
-
-        If we try to remove a behavior from an empty world, nothing happens:
-        >>> remove_behavior(World(), index=0)  # doctest: +ELLIPSIS
-        World(behavior=[], available_behaviors=[])
-
-        >>> remove_behavior(World(), index=1)  # doctest: +ELLIPSIS
-        World(behavior=[], available_behaviors=[])
-
-        If we have a world with some behaviors:
-        >>> def add_one(world):
-        ...     return world
-        >>> def add_two(world):
-        ...     return world
-
-        >>> World(behavior=[add_one, add_two])  # doctest: +ELLIPSIS
-        World(behavior=[<function add_one at 0x...>, <function add_two at 0x...>], ...)
-
-        ... we can remove one:
-        >>> remove_behavior(World(behavior=[add_one, add_two]), index=1)  # doctest: +ELLIPSIS
-        World(behavior=[<function add_one at 0x...>], ...)
-
-        Trying to remove one beyond the limits of the list leaves the world unchanged:
-        >>> remove_behavior(World(behavior=[add_one, add_two]), index=3)  # doctest: +ELLIPSIS
-        World(behavior=[<function add_one at 0x...>, <function add_two at 0x...>], ...)
-
-    """
-    if index is None:
-        text = f"Which behavior would you like to remove?\n{list_behavior(world)}\n"
-        index = click.prompt(text=text, type=int)
-    new_behavior = world.behavior[:index] + world.behavior[index + 1 :]
-    new_world = replace(world, behavior=new_behavior)
-    return new_world
-
-
-def update_behavior(
-    world: World,
-    action: Optional[Literal["add", "remove", "skip"]] = None,
-    behavior: Optional[Behavior] = None,
-    index: Optional[int] = None,
-) -> World:
-    """Update a behavior"""
-    if action is None:
-        action = click.prompt(
-            text="How would you like to update the behaviors?",
-            default="skip",
-            type=click.Choice(["add", "remove", "skip"]),
-        )
-    match action:
-        case "add":
-            new_world = add_behavior(world, behavior, index)
-        case "remove":
-            new_world = remove_behavior(world, index)
-        case "skip" | _:
-            new_world = world
-
-    return new_world
-
-
-def print_world(world: World):
-    """Display the world"""
-
-    pprint(world)
-    return
-
-
-def main(world):
-    """Run the world's behaviors in a loop"""
-    i = 0
-    while True:
-        behavior = world.behavior[i]
-        result = behavior(world)
-        if result is not None and isinstance(result, type(world)):
-            world = result
-            print_world(world)
-
-        sleep(0.1)
-        i += 1
-        if i >= len(world.behavior):  # Loop back once we've done all the behaviors
-            i = 0
-
-
-if __name__ == "__main__":
-    world_ = World(
-        behavior=[print_world, update_behavior],
-        available_behaviors=[
-            print_world,
-            update_behavior,
-            add_behavior,
-            remove_behavior,
-        ],
-    )
-    main(world_)
diff --git a/src/social_norms_trees/intworld_chat.py b/src/social_norms_trees/intworld_chat.py
deleted file mode 100644
index 26dc7d84..00000000
--- a/src/social_norms_trees/intworld_chat.py
+++ /dev/null
@@ -1,49 +0,0 @@
-"""Example of using worlds with just an integer for the state of the world"""
-
-from dataclasses import dataclass, field, replace
-
-from social_norms_trees.chat import (
-    World,
-    print_world,
-    update_behavior,
-    add_behavior,
-    remove_behavior,
-    main,
-)
-
-
-@dataclass
-class IntWorld(World):
-    state: int = field(default=0)
-
-
-def add_x(w: IntWorld, x: int = 1) -> IntWorld:
-    """Add x to the state of the world"""
-    new_world = replace(w, state=w.state + x)
-    return new_world
-
-
-def add_one(w: IntWorld) -> IntWorld:
-    """Add 1 to the state of the world"""
-    return add_x(w, 1)
-
-
-def add_two(w: IntWorld) -> IntWorld:
-    """Add 2 to the state of the world"""
-    return add_x(w, 2)
-
-
-if __name__ == "__main__":
-    world_ = IntWorld(
-        state=0,
-        behavior=[print_world, add_one, update_behavior],
-        available_behaviors=[
-            print_world,
-            update_behavior,
-            add_behavior,
-            remove_behavior,
-            add_one,
-            add_two,
-        ],
-    )
-    main(world_)
diff --git a/src/social_norms_trees/behaviortreeworld_chat.py b/src/social_norms_trees/mutate_tree.py
similarity index 95%
rename from src/social_norms_trees/behaviortreeworld_chat.py
rename to src/social_norms_trees/mutate_tree.py
index e042831d..26da3d86 100644
--- a/src/social_norms_trees/behaviortreeworld_chat.py
+++ b/src/social_norms_trees/mutate_tree.py
@@ -1,7 +1,6 @@
 """Example of using worlds with just an integer for the state of the world"""
 
 import warnings
-from dataclasses import dataclass, field, replace
 from functools import partial, wraps
 from itertools import islice
 from typing import TypeVar, Optional, List
@@ -9,26 +8,6 @@
 import click
 import py_trees
 
-from social_norms_trees.chat import (
-    World,
-    update_behavior,
-    main,
-)
-
-from pprint import pformat
-
-
-@dataclass
-class BehaviorTreeWorld(World):
-    tree: py_trees.behaviour.Behaviour = field(
-        default_factory=py_trees.behaviours.Dummy
-    )
-
-
-def print_world(world: BehaviorTreeWorld):
-    tree_display = py_trees.display.unicode_tree(world.tree)
-    print(f"{pformat(world)}\n\ntree:\n{tree_display}")
-
 
 T = TypeVar("T", bound=py_trees.behaviour.Behaviour)
 
@@ -421,7 +400,6 @@ def exchange_nodes(
 
 if __name__ == "__main__":
 
-    # main(world_)
     tree = py_trees.composites.Sequence(
         "",
         False,
@@ -453,13 +431,5 @@ def exchange_nodes(
     move_node(tree)
     exchange_nodes(tree)
     remove_node(tree)
-
     print(format_tree_with_indices(tree))
 
-    pass
-
-    world_ = BehaviorTreeWorld(
-        behavior=[print_world, update_behavior, add_child],
-        available_behaviors=[print_world, add_child],
-    )
-    print_world(world_)

From 7c59ab55c8b4f1fc6b4a9ca3671c452bf03a118e Mon Sep 17 00:00:00 2001
From: zaydin13 <zeynep_aydin@brown.edu>
Date: Fri, 23 Aug 2024 10:13:11 -0400
Subject: [PATCH 22/25] Test PR

---
 src/social_norms_trees/mutate_tree.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/social_norms_trees/mutate_tree.py b/src/social_norms_trees/mutate_tree.py
index 26da3d86..1b3461cc 100644
--- a/src/social_norms_trees/mutate_tree.py
+++ b/src/social_norms_trees/mutate_tree.py
@@ -400,6 +400,7 @@ def exchange_nodes(
 
 if __name__ == "__main__":
 
+    
     tree = py_trees.composites.Sequence(
         "",
         False,
@@ -432,4 +433,5 @@ def exchange_nodes(
     exchange_nodes(tree)
     remove_node(tree)
     print(format_tree_with_indices(tree))
+    print("Done with demo!")
 

From e5b18f00b934b4944f48519bdfa687d24247971a Mon Sep 17 00:00:00 2001
From: Josh <joshua_lu1@brown.edu>
Date: Wed, 28 Aug 2024 11:57:14 -0400
Subject: [PATCH 23/25] small adjustment to displaying tree

---
 src/social_norms_trees/mutate_tree.py | 24 +++++++++++++++++++-----
 1 file changed, 19 insertions(+), 5 deletions(-)

diff --git a/src/social_norms_trees/mutate_tree.py b/src/social_norms_trees/mutate_tree.py
index 1b3461cc..70c9d531 100644
--- a/src/social_norms_trees/mutate_tree.py
+++ b/src/social_norms_trees/mutate_tree.py
@@ -144,7 +144,7 @@ def format_children_with_indices(composite: py_trees.composites.Composite) -> st
     return output
 
 
-def format_tree_with_indices(tree: py_trees.behaviour.Behaviour) -> str:
+def format_tree_with_indices(tree: py_trees.behaviour.Behaviour, mode: str = "all") -> str:
     """
     Examples:
         >>> print(format_tree_with_indices(py_trees.behaviours.Dummy()))
@@ -172,8 +172,20 @@ def format_tree_with_indices(tree: py_trees.behaviour.Behaviour) -> str:
         7:         --> p
 
     """
+    index_strings = []
+    index = 0
+    for i, node in enumerate_nodes(tree):
+        if mode == "children" and node.children:
+            # Do not number parent nodes in 'children' mode
+            index_strings.append('_')
+        elif mode == "parents" and not node.children:
+            # Do not number child nodes in 'parents' mode
+            index_strings.append('_')
+        else:
+            # Number all nodes in 'all' mode
+            index_strings.append(str(index))
+        index += 1
 
-    index_strings = [str(i) for i, _ in enumerate_nodes(tree)]
 
     output = label_tree_lines(tree, index_strings)
 
@@ -188,9 +200,10 @@ def prompt_identify_node(
     tree: py_trees.behaviour.Behaviour,
     message: str = "Which node?",
     display_nodes: bool = True,
+    mode: str = "all"
 ) -> py_trees.behaviour.Behaviour:
     node_index = prompt_identify_tree_iterator_index(
-        tree=tree, message=message, display_nodes=display_nodes
+        tree=tree, message=message, display_nodes=display_nodes, mode=mode
     )
     node = next(islice(iterate_nodes(tree), node_index, node_index + 1))
     return node
@@ -200,9 +213,10 @@ def prompt_identify_tree_iterator_index(
     tree: py_trees.behaviour.Behaviour,
     message: str = "Which position?",
     display_nodes: bool = True,
+    mode: str = "all"
 ) -> int:
     if display_nodes:
-        text = f"{format_tree_with_indices(tree)}\n{message}"
+        text = f"{format_tree_with_indices(tree, mode)}\n{message}"
     else:
         text = f"{message}"
     node_index = click.prompt(
@@ -288,7 +302,7 @@ def remove_node(tree: T, node: Optional[py_trees.behaviour.Behaviour] = None) ->
 
     """
     if node is None:
-        node = prompt_identify_node(tree, f"Which node do you want to remove?")
+        node = prompt_identify_node(tree, f"Which node do you want to remove?", True, "children")
     parent_node = node.parent
     if parent_node is None:
         warnings.warn(

From fbfdbfedc73c2b4d137c2c5c09cf076d90e48bd0 Mon Sep 17 00:00:00 2001
From: Josh <joshua_lu1@brown.edu>
Date: Tue, 10 Sep 2024 09:58:32 -0400
Subject: [PATCH 24/25] Revert "Test PR"

This reverts commit 7c59ab55c8b4f1fc6b4a9ca3671c452bf03a118e.
---
 src/social_norms_trees/mutate_tree.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/social_norms_trees/mutate_tree.py b/src/social_norms_trees/mutate_tree.py
index 70c9d531..92607fab 100644
--- a/src/social_norms_trees/mutate_tree.py
+++ b/src/social_norms_trees/mutate_tree.py
@@ -414,7 +414,6 @@ def exchange_nodes(
 
 if __name__ == "__main__":
 
-    
     tree = py_trees.composites.Sequence(
         "",
         False,
@@ -447,5 +446,4 @@ def exchange_nodes(
     exchange_nodes(tree)
     remove_node(tree)
     print(format_tree_with_indices(tree))
-    print("Done with demo!")
 

From fb5483c1b65d5ad1234ba631ff5fa106b58f0693 Mon Sep 17 00:00:00 2001
From: Josh <joshua_lu1@brown.edu>
Date: Tue, 10 Sep 2024 09:59:35 -0400
Subject: [PATCH 25/25] Revert "small adjustment to displaying tree"

This reverts commit e5b18f00b934b4944f48519bdfa687d24247971a.
---
 src/social_norms_trees/mutate_tree.py | 24 +++++-------------------
 1 file changed, 5 insertions(+), 19 deletions(-)

diff --git a/src/social_norms_trees/mutate_tree.py b/src/social_norms_trees/mutate_tree.py
index 92607fab..26da3d86 100644
--- a/src/social_norms_trees/mutate_tree.py
+++ b/src/social_norms_trees/mutate_tree.py
@@ -144,7 +144,7 @@ def format_children_with_indices(composite: py_trees.composites.Composite) -> st
     return output
 
 
-def format_tree_with_indices(tree: py_trees.behaviour.Behaviour, mode: str = "all") -> str:
+def format_tree_with_indices(tree: py_trees.behaviour.Behaviour) -> str:
     """
     Examples:
         >>> print(format_tree_with_indices(py_trees.behaviours.Dummy()))
@@ -172,20 +172,8 @@ def format_tree_with_indices(tree: py_trees.behaviour.Behaviour, mode: str = "al
         7:         --> p
 
     """
-    index_strings = []
-    index = 0
-    for i, node in enumerate_nodes(tree):
-        if mode == "children" and node.children:
-            # Do not number parent nodes in 'children' mode
-            index_strings.append('_')
-        elif mode == "parents" and not node.children:
-            # Do not number child nodes in 'parents' mode
-            index_strings.append('_')
-        else:
-            # Number all nodes in 'all' mode
-            index_strings.append(str(index))
-        index += 1
 
+    index_strings = [str(i) for i, _ in enumerate_nodes(tree)]
 
     output = label_tree_lines(tree, index_strings)
 
@@ -200,10 +188,9 @@ def prompt_identify_node(
     tree: py_trees.behaviour.Behaviour,
     message: str = "Which node?",
     display_nodes: bool = True,
-    mode: str = "all"
 ) -> py_trees.behaviour.Behaviour:
     node_index = prompt_identify_tree_iterator_index(
-        tree=tree, message=message, display_nodes=display_nodes, mode=mode
+        tree=tree, message=message, display_nodes=display_nodes
     )
     node = next(islice(iterate_nodes(tree), node_index, node_index + 1))
     return node
@@ -213,10 +200,9 @@ def prompt_identify_tree_iterator_index(
     tree: py_trees.behaviour.Behaviour,
     message: str = "Which position?",
     display_nodes: bool = True,
-    mode: str = "all"
 ) -> int:
     if display_nodes:
-        text = f"{format_tree_with_indices(tree, mode)}\n{message}"
+        text = f"{format_tree_with_indices(tree)}\n{message}"
     else:
         text = f"{message}"
     node_index = click.prompt(
@@ -302,7 +288,7 @@ def remove_node(tree: T, node: Optional[py_trees.behaviour.Behaviour] = None) ->
 
     """
     if node is None:
-        node = prompt_identify_node(tree, f"Which node do you want to remove?", True, "children")
+        node = prompt_identify_node(tree, f"Which node do you want to remove?")
     parent_node = node.parent
     if parent_node is None:
         warnings.warn(