CN112749098A - Debugging method, device and medium of behavior tree - Google Patents
Debugging method, device and medium of behavior tree Download PDFInfo
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Abstract
The invention discloses a method, equipment and a medium for a behavior tree debugging method, wherein the method comprises the following steps: sequentially operating each node in the behavior tree; when a currently running node is a breakpoint, sending breakpoint information corresponding to the node to a client so that the client can output breakpoint prompt information according to the breakpoint information; and when the node operation is detected to be finished, outputting a node operation report to the client, wherein the node operation report comprises a node operation route map, node data and node operation summary. The technical problem that debugging efficiency of the behavior tree is low in the prior art is solved, and the technical effect of improving the debugging efficiency of the behavior tree is achieved.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method, an apparatus, and a medium for debugging a behavior tree.
Background
At present, in the prior art, in the process of game planning or intelligent home development, the implementation of Artificial Intelligence (AI) is concerned with various interactive experiences of users and home appliances, and is a core module in a game planning or intelligent home development system. Common implementation manners of artificial intelligence in an intelligent home commonly include a state machine, a decision tree, a neural network, a behavior tree and the like, wherein an implementation manner of the behavior tree AI is configured by means of an editor, but one disadvantage of the configuration of the behavior tree AI is that the configuration is limited by personnel, because the configuration of the behavior tree requires that a planning personnel has a strong logic idea and a professional understanding of a behavior tree configuration principle, when the configured AI behaviors are complex, the behavior tree hierarchy is deep, and the number of nodes is large, a situation that an actual operation effect of the AI is inconsistent with an expected effect easily occurs when the related planning personnel configures the behavior tree AI. When the actual operation effect of the behavior tree AI is inconsistent with the configuration expectation, a debugging method in the prior art is to receive behavior tree information of a game object sent by a server, and draw a corresponding tree structure diagram according to the behavior tree information, wherein the behavior tree information includes structure information of the behavior tree and information of each node in the behavior tree; receiving operation information acquired by a server when a behavior tree is called; and updating the tree structure diagram according to the operation information so as to visually display the operation information on the tree structure diagram.
However, in the behavior tree debugging process, the server-side operation drawing tree structure chart is used, so that the server-side operation amount and the communication data amount are large, the node data cannot be modified in real time, a debugging report cannot be generated, and the modification during debugging needs manual recording, so that the debugging efficiency of the behavior tree is low.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, and a medium for debugging a behavior tree, and aim to solve the technical problem in the prior art that the debugging efficiency of the behavior tree is low.
In order to achieve the above object, an embodiment of the present invention provides a method for debugging a behavior tree, which is applied to a server, where the method for debugging a behavior tree includes the following steps:
sequentially operating each node in the behavior tree;
when a currently running node is a breakpoint, sending breakpoint information corresponding to the node to a client so that the client can output breakpoint prompt information according to the breakpoint information;
and when the node operation is detected to be finished, outputting a node operation report to the client, wherein the node operation report comprises a node operation route map, node data and node operation summary.
Optionally, after the step of sequentially running each node in the behavior tree, the method further includes:
and when the currently running node is not a breakpoint, sending the running information of the node to the client so that the client can display the running information of the node.
Optionally, the step of sequentially running each node in the behavior tree includes:
when a node operation instruction is received, determining a node operation type according to the node operation instruction, wherein the node operation type comprises single step execution in a node and single step execution in a behavior tree;
and sequentially operating each node in the behavior tree according to the node operation type.
Optionally, the method for debugging a behavior tree further includes:
outputting a node data modification interface when receiving a node data modification instruction;
and modifying the node data according to the operation data received by the node data modification interface.
In order to achieve the above object, an embodiment of the present invention provides a method for debugging a behavior tree, which is applied to a client, where the method for debugging a behavior tree includes:
when breakpoint information sent by a server side is received, breakpoint prompt information is output according to the breakpoint information;
and when the node operation report is received, displaying the content of the node operation report.
Optionally, the step of outputting breakpoint prompt information according to the breakpoint information when receiving the breakpoint information sent by the server includes:
when breakpoint information sent by a server side is received, displaying node information of the current node according to a first display parameter;
and when receiving the running information of the node, displaying the node information of the current node according to a second display parameter, wherein the first display parameter is different from the second display parameter.
Optionally, the method for debugging a behavior tree further includes:
and when a node data viewing request is received, displaying the node data corresponding to the node data viewing request.
In order to achieve the above object, an embodiment of the present invention provides a method for debugging a behavior tree, where the apparatus includes a memory, a processor, and a debugging program of the behavior tree, which is stored in the memory and is executable on the processor, and the debugging program of the behavior tree, when executed by the processor, implements the method for debugging the behavior tree as described above.
To achieve the above object, an embodiment of the present invention provides a computer-readable storage medium, in which a debugging program of a behavior tree is stored, and the debugging program of the behavior tree, when executed by a processor, implements the behavior tree debugging method as described above.
The embodiment of the invention provides a method, equipment and a medium for debugging a behavior tree, wherein the debugging equipment of the behavior tree sequentially operates each node in the behavior tree, and sends breakpoint information corresponding to the node to a client when the currently operated node is a breakpoint so that the client can output breakpoint prompt information according to the breakpoint information to display the operation condition of the current breakpoint; and when the node operation is detected to be finished, outputting a node operation report to the client, wherein the node operation report comprises a node operation route map, node data and node operation summary. Therefore, the behavior tree debugging equipment can quickly verify the correctness of the behavior tree logic according to the display parameters of the nodes, quickly position abnormal data of the behavior tree, and output the operation report of the behavior tree nodes after the debugging is finished, so that a user can check the historical operation data of the behavior tree later, and the behavior tree logic can be better debugged. The debugging efficiency of the behavior tree is improved.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for debugging a behavior tree according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a method for debugging a behavior tree according to the present invention;
FIG. 4 is a schematic diagram of a client end of the debugging process of the behavior tree according to the present invention.
Detailed Description
In the prior art, the behavior tree debugging process uses a server-side operation drawing tree structure diagram, so that the server-side operation amount and the communication data amount are large, node data cannot be modified in real time, testing is not flexible enough, a debugging report cannot be generated, modification during debugging needs manual recording, the debugging process has no interactive process, debugging efficiency is influenced, and the practicability is low. In order to solve the above problem, the present invention provides a method for debugging a behavior tree, where the method includes: sequentially operating each node in the behavior tree; when a currently running node is a breakpoint, sending breakpoint information corresponding to the node to a client so that the client can output breakpoint prompt information according to the breakpoint information; and when the node operation is detected to be finished, outputting a node operation report to the client, wherein the node operation report comprises a node operation route map, node data and node operation summary. The debugging efficiency of the behavior tree is improved.
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As an implementation, the debugging device of the behavior tree may be as shown in fig. 1.
The embodiment of the invention relates to a debugging device of a behavior tree, which comprises: a processor 101, e.g. a CPU, a memory 102, a communication bus 103. Wherein a communication bus 103 is used for enabling the connection communication between these components.
The memory 102 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). As shown in FIG. 1, a debugger for a behavior tree may be included in memory 102, which is a type of computer storage medium; and processor 101 may be configured to invoke a debugger of the behavior tree stored in memory 102 and perform the following operations:
sequentially operating each node in the behavior tree;
when a currently running node is a breakpoint, sending breakpoint information corresponding to the node to a client so that the client can output breakpoint prompt information according to the breakpoint information;
and when the node operation is detected to be finished, outputting a node operation report to the client, wherein the node operation report comprises a node operation route map, node data and node operation summary.
Further, the processor 101 may be configured to call a debugger of the behavior tree stored in the memory 102, and perform the following operations:
and when the currently running node is not a breakpoint, sending the running information of the node to the client so that the client can display the running information of the node.
Further, the processor 101 may be configured to call a debugger of the behavior tree stored in the memory 102, and perform the following operations:
when a node operation instruction is received, determining a node operation type according to the node operation instruction, wherein the node operation type comprises single step execution in a node and single step execution in a behavior tree;
and sequentially operating each node in the behavior tree according to the node operation type.
Further, the processor 101 may be configured to call a debugger of the behavior tree stored in the memory 102, and perform the following operations:
outputting a node data modification interface when receiving a node data modification instruction;
and modifying the node data according to the operation data received by the node data modification interface.
Further, the processor 101 may be configured to call a debugger of the behavior tree stored in the memory 102, and perform the following operations:
when breakpoint information sent by a server side is received, breakpoint prompt information is output according to the breakpoint information;
and when the node operation report is received, displaying the content of the node operation report.
Further, the processor 101 may be configured to call a debugger of the behavior tree stored in the memory 102, and perform the following operations:
when breakpoint information sent by a server side is received, displaying node information of the current node according to a first display parameter;
and when receiving the running information of the node, displaying the node information of the current node according to a second display parameter, wherein the first display parameter is different from the second display parameter.
Further, the processor 101 may be configured to call a debugger of the behavior tree stored in the memory 102, and perform the following operations:
and when a node data viewing request is received, displaying the node data corresponding to the node data viewing request.
According to the scheme, the debugging equipment of the behavior tree sequentially runs each node in the behavior tree, and sends breakpoint information corresponding to the node to the client when the currently running node is a breakpoint, so that the client outputs breakpoint prompt information according to the breakpoint information to display the running condition of the current breakpoint; and when the node operation is detected to be finished, outputting a node operation report to the client, wherein the node operation report comprises a node operation route map, node data and node operation summary. Therefore, the behavior tree debugging equipment can quickly verify the correctness of the behavior tree logic according to the display parameters of the nodes, quickly position abnormal data of the behavior tree, and output the operation report of the behavior tree nodes after the debugging is finished, so that a user can check the historical operation data of the behavior tree later, and the behavior tree logic can be better debugged. The debugging efficiency of the behavior tree is improved.
Based on the hardware architecture of the debugging equipment of the behavior tree, the embodiment of the debugging method of the behavior tree is provided.
Referring to fig. 2, fig. 2 is a first embodiment of a method for debugging a behavior tree according to the present invention, where the method for debugging a behavior tree includes the following steps:
step S10, sequentially operating each node in the behavior tree;
optionally, before the step S10, the method further includes:
when a node operation instruction is received, determining a node operation type according to the node operation instruction, wherein the node operation type comprises single step execution in a node and single step execution in a behavior tree;
and sequentially operating each node in the behavior tree according to the node operation type.
In the debugging process of the behavior tree of the intelligent home, the behavior tree debugging equipment is connected with the intelligent home, so that the running condition of the behavior tree and the data of the current node can be checked in real time, the running type of the node can be set, the running type of the node comprises single-step running in the node and single-step running in the behavior tree, and the running result does not accord with the expected condition in the running process of the behavior tree, so that a user can set breakpoint information in the node needing to be debugged. When the debugging equipment of the behavior tree receives the node operation instruction, when the type of the node operation instruction is single step execution in the node, the current node of the behavior tree is taken as a starting point, the child nodes of the current node are sequentially single step executed, and when the type of the node operation instruction is single step execution in the behavior tree, the nodes with the same level as the current node are sequentially single step executed by taking the current node as the starting point. And when receiving a debugging request, namely a node operation instruction, a server side of the debugging equipment of the behavior tree sequentially operates each node of the behavior tree according to the node operation type, and reports a node operation message to a client side when entering each node.
Step S20, when the currently running node is a breakpoint, sending breakpoint information corresponding to the node to a client, so that the client can output breakpoint prompt information according to the breakpoint information;
further, when the currently running node is not a breakpoint, sending the running information of the node to the client, so that the client can display the running information of the node.
The method comprises the steps that a server side of debugging equipment of the behavior tree detects whether a currently running node is provided with breakpoint information, when the currently running node is detected to be a breakpoint, breakpoint information corresponding to the node is sent to a client side so that the client side can output breakpoint prompt information according to the breakpoint information, the breakpoint prompt information can be a node with the breakpoint information displayed according to a first display parameter, the node stops running, a new operation instruction is waited, and the first display parameter is composed of a preset first color parameter and a first brightness parameter. And when the currently running node is not a breakpoint, sending running information of the node to the client so that the client can display the running information of the node, wherein the running information of the node can include the running type of the node, a second display parameter corresponding to the running of the node and the like, and the second display parameter comprises a preset second color parameter and a second brightness parameter. For example, when the currently running node is a breakpoint, the display area corresponding to the current node is displayed as red prompt information and the running of the node is stopped, and when the currently running node is not a breakpoint, the display area corresponding to the current node is displayed as green and the node is continuously run.
Optionally, in step S40, when the node data modification instruction is received, outputting a node data modification interface;
and step S50, modifying the node data according to the operation data received by the node data modification interface.
When the currently running node is a breakpoint and needs to modify parameters, a user can click the current node, the server outputs a node data modification interface to the client according to the received node data modification instruction, and modifies the data of the node according to the received operation data received by the node data modification interface, wherein the data of the node comprises the node type, the node identification information and the node parameters corresponding to the node, such as a node sharing parameter, a node result parameter, a node request parameter and the like.
And step S30, when the node operation is detected to be finished, outputting a node operation report to the client, wherein the node operation report comprises a node operation route map, node data and node operation summary.
The node operation route map comprises a route log of nodes which finish operation according to a node operation sequence in the debugging process, the node data comprises node types, node identification information and node parameters corresponding to the nodes, and the node operation summary comprises node historical modification traces such as time points of node parameter adjustment, parameters before adjustment, parameters after adjustment, node parameter adjuster identity information and the like.
In the technical scheme provided by this embodiment, a debugging device of a behavior tree sequentially runs each node in the behavior tree, and when a currently running node is a breakpoint, breakpoint information corresponding to the node is sent to a client, so that the client outputs breakpoint prompt information according to the breakpoint information to display the running condition of the current breakpoint; and when the node operation is detected to be finished, outputting a node operation report to the client, wherein the node operation report comprises a node operation route map, node data and node operation summary. Therefore, the behavior tree debugging equipment can quickly verify the correctness of the behavior tree logic according to the display parameters of the nodes, quickly position abnormal data of the behavior tree, and output the operation report of the behavior tree nodes after the debugging is finished, so that a user can check the historical operation data of the behavior tree later, and the behavior tree logic can be better debugged. The debugging efficiency of the behavior tree is improved.
Referring to fig. 3, fig. 3 is a second embodiment of the method for debugging a behavior tree according to the present invention, which is applied to a client based on the first embodiment, and the method for debugging a behavior tree includes:
step S60, when receiving the breakpoint information sent by the server, outputting breakpoint prompt information according to the breakpoint information;
optionally, the step S60 includes: when breakpoint information sent by a server side is received, displaying node information of the current node according to a first display parameter;
and when receiving the running information of the node, displaying the node information of the current node according to a second display parameter, wherein the first display parameter is different from the second display parameter.
When the client receives breakpoint information sent by the server, the client outputs breakpoint prompt information according to the breakpoint information, that is, node information of a current node is displayed according to a first display parameter, where the node information includes identification information of the node and the like, for example, the current node is displayed in red to prompt a user to modify data of the current node. If the user does not modify the node operation instruction, the client sends the node operation instruction to the server, the server operates the node to be operated according to the type of the node operation instruction, the type of the node operation instruction comprises single step execution in the node and single step execution in a behavior tree, when the type of the node operation instruction is the single step execution in the node, the step of judging whether the current node has breakpoint information is returned to be executed after the node executes the next operation until the current node is executed, and the step of displaying the node information of the current node according to a second display parameter when the operation information of the node is received is executed. And when the node operation type is single-step execution in the behavior tree, displaying the node information of the current node according to a second display parameter when the operation information of the node is received after the operation of the current node is finished. And when the client receives the node operation information sent by the server, displaying the node information of the current node according to the node operation information and the second display parameter, for example, displaying the node as green to prompt a user that the current node operates normally.
Optionally, the method for debugging a behavior tree further includes:
and when a node data viewing request is received, displaying the node data corresponding to the node data viewing request.
The debugging equipment of the behavior tree can initialize, execute, close, perform counter-initialization and the like on the nodes according to the operation instructions of the user and request to view and/or modify the data of the previous node and/or the next node on the current node, wherein the data of the nodes comprises node types, node identification information and node parameters such as node sharing parameters, node result parameters, node request parameters and the like corresponding to the nodes.
And step S70, when the node operation report is received, displaying the content of the node operation report.
When a client in the debugging equipment of the behavior tree receives a node operation report sent by a server, the node operation report is displayed on a client display interface, the node operation report comprises a node operation route map and a path log, the path log comprises a node type, node identification information and node parameters, the node type, the node identification information and the node parameters correspond to each node, and the node operation summary comprises node history modification traces such as time points of node parameter adjustment, parameters before adjustment, parameters after adjustment, node parameter adjuster identity information and the like.
In the technical scheme provided by this embodiment, when receiving breakpoint information corresponding to a current node sent by a server, a client in a debugging device of a behavior tree outputs breakpoint prompt information according to the breakpoint information, and when receiving a node operation report after a node is operated, the client displays the content of the node operation report. Therefore, the behavior tree debugging equipment can quickly verify the correctness of the behavior tree logic according to the display parameters of the nodes, quickly position abnormal data of the behavior tree, and output the operation report of the behavior tree nodes after the debugging is finished, so that a user can check the historical operation data of the behavior tree later, and the behavior tree logic can be better debugged. The debugging efficiency of the behavior tree is improved.
Referring to fig. 4, fig. 4 is a schematic diagram of a client side of a debugging process of a behavior tree. Referring to fig. 4(a), when a node is running, when it is detected that a running program enters a current node, it is determined whether the current node has breakpoint information, when the current running node is not a breakpoint, a server side sends running information of the current node to a client side, and when the client side receives the running information of the node, the client side displays the node information of the current node according to a second display parameter, for example, displays a display area corresponding to the current node as green and continues to run the node. Referring to fig. 4(b), when it is detected that a currently running node is a breakpoint, sending breakpoint information corresponding to the node to a client, so that the client outputs breakpoint prompt information according to the breakpoint information, where the breakpoint prompt information may be a node that displays breakpoint information according to a first display parameter, and stops running the node, and waits for a new operation instruction, where the first display parameter is composed of a preset first color parameter and a first brightness parameter, for example, a display area corresponding to the current node is displayed as red prompt information and stops running the node. Referring to fig. 4(c), when a currently running node is a breakpoint and parameter modification is required, a user may click the current node, the server outputs a node data modification interface to the client according to the received node data modification instruction, and modifies data of the node according to operation data received by the node data modification interface, where the data of the node includes a node type, node identification information, and node parameters corresponding to the node, such as a node sharing parameter, a node result parameter, and a node request parameter.
In the technical scheme provided by this embodiment, when a client in a debugging device of a behavior tree receives breakpoint information corresponding to a current node sent by a server, breakpoint prompt information is output according to the breakpoint information, and node information of the current node is displayed according to a first display parameter. And when the currently running node is not a breakpoint, the server side sends the running information of the current node to the client side, and the client side displays the node information of the current node according to a second display parameter when receiving the running information of the node. Therefore, the behavior tree debugging equipment can quickly verify the correctness of the behavior tree logic according to the display parameters of the nodes, quickly position the abnormal data of the behavior tree and visually feed back the abnormal data to a user so that the user can debug more conveniently. The debugging efficiency of the behavior tree is improved.
The present invention also provides a computer readable storage medium storing a debugging program of a behavior tree, which when executed by a processor implements the behavior tree debugging method as described above.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A behavior tree debugging method is applied to a server side and comprises the following steps:
sequentially operating each node in the behavior tree;
when a currently running node is a breakpoint, sending breakpoint information corresponding to the node to a client so that the client can output breakpoint prompt information according to the breakpoint information;
and when the node operation is detected to be finished, outputting a node operation report to the client, wherein the node operation report comprises a node operation route map, node data and node operation summary.
2. The method for debugging a behavior tree as claimed in claim 1, wherein after the step of sequentially running the nodes in the behavior tree, the method further comprises:
and when the currently running node is not a breakpoint, sending the running information of the node to the client so that the client can display the running information of the node.
3. The method for debugging a behavior tree as claimed in claim 1, wherein the step of running the nodes in the behavior tree in sequence is preceded by:
when a node operation instruction is received, determining a node operation type according to the node operation instruction, wherein the node operation type comprises single step execution in a node and single step execution in a behavior tree;
and sequentially operating each node in the behavior tree according to the node operation type.
4. The method of debugging a behavior tree as claimed in claim 1, further comprising:
outputting a node data modification interface when receiving a node data modification instruction;
and modifying the node data according to the operation data received by the node data modification interface.
5. A behavior tree debugging method is applied to a client side and comprises the following steps:
when breakpoint information sent by a server side is received, breakpoint prompt information is output according to the breakpoint information;
and when the node operation report is received, displaying the content of the node operation report.
6. The method for debugging a behavior tree according to claim 5, wherein the step of outputting breakpoint prompt information according to the breakpoint information when receiving the breakpoint information sent by the server side comprises:
when breakpoint information sent by a server side is received, displaying node information of the current node according to a first display parameter;
and when receiving the running information of the node, displaying the node information of the current node according to a second display parameter, wherein the first display parameter is different from the second display parameter.
7. The method of debugging a behavior tree as claimed in claim 5, further comprising:
and when a node data viewing request is received, displaying the node data corresponding to the node data viewing request.
8. A behavior tree debugging device comprising a memory, a processor, and a behavior tree debugging program stored in the memory and executable on the processor, wherein the behavior tree debugging program when executed by the processor implements the behavior tree debugging method according to any one of claims 1 to 7.
9. A computer-readable storage medium storing a debugging program of a behavior tree, the debugging program of the behavior tree implementing the debugging method of the behavior tree according to any one of claims 1 to 7 when executed by a processor.
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