From 7d3d907feabdcafc6662cb042f49fbf797870404 Mon Sep 17 00:00:00 2001
From: wanfeng <42433161+starrye@users.noreply.github.com>
Date: Tue, 3 Sep 2024 19:26:13 +0800
Subject: [PATCH] [composites] Reduce circulation when the parallel node policy
 is SuccessOnOne (#440)

---
 py_trees/composites.py | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/py_trees/composites.py b/py_trees/composites.py
index 83c65725..6326cb48 100644
--- a/py_trees/composites.py
+++ b/py_trees/composites.py
@@ -731,14 +731,11 @@ def tick(self) -> typing.Iterator[behaviour.Behaviour]:
                     new_status = common.Status.SUCCESS
                     self.current_child = self.children[-1]
             elif type(self.policy) is common.ParallelPolicy.SuccessOnOne:
-                successful = [
-                    child
-                    for child in self.children
-                    if child.status == common.Status.SUCCESS
-                ]
-                if successful:
-                    new_status = common.Status.SUCCESS
-                    self.current_child = successful[-1]
+                for child in reversed(self.children):
+                    if child.status == common.Status.SUCCESS:
+                        new_status = common.Status.SUCCESS
+                        self.current_child = child
+                        break
             elif type(self.policy) is common.ParallelPolicy.SuccessOnSelected:
                 if all(
                     [c.status == common.Status.SUCCESS for c in self.policy.children]