gtpyhop 1.8.0

A Goal-Task-Network planning package written in Python

GTPyhop version 1.8.0

GTPyhop is an HTN planning system based on Pyhop, but generalized to plan for both goals and tasks.

Dana Nau is the original author of GTPyhop.

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Table of Contents

1. Installation
2. Testing Your Installation
3. Quick Start Tutorial
4. Thread-Safe Sessions
5. Examples
6. Documentation
7. New Features
8. Project Structure

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The pip Branch

This pip branch is forked from Dana Nau's GTPyhop main branch and refactored for PyPI distribution, thread-safe sessions, new domain and problems file structure to facilitate LibCST parsing, new example structure to facilitate benchmarking, and documentation.

Installation

From PyPI (Recommended)

GTPyhop 1.8.0 is the latest version with memory tracking, enhanced MCP orchestration examples, Opentrons Flex domains, and comprehensive style guides.

pip install gtpyhop>=1.8.0

For basic single-threaded planning, any version works:

pip install gtpyhop

uv can of course be used if you prefer:

uv pip install gtpyhop

From GitHub

Alternatively, you can directly install from GitHub:

git clone -b pip https://github.com/PCfVW/GTPyhop.git
cd GTPyhop
pip install .

Testing Your Installation

We suggest you give gtpyhop a try straight away; open a terminal and start an interactive python session:

python

.. and import gtpyhop to run the regression tests:

# Import the main GTPyhop planning system
import gtpyhop

The following should be printed in your terminal:

Imported GTPyhop version 1.8.0
Messages from find_plan will be prefixed with 'FP>'.
Messages from run_lazy_lookahead will be prefixed with 'RLL>'.
Using session-based architecture with structured logging.

Now import the regression tests module:

from gtpyhop.examples import regression_tests

Be prepared to see a lot of information on the screen about the examples and how to solve them, with different levels of verbosity; with this in mind, run the regression tests:

# Run legacy regression tests (backward compatible)
regression_tests.main()

# Or run session-based regression tests (recommended for 1.3.0+)
regression_tests.main_session()

The last line printed in your terminal should be:

Finished without error.

For GTPyhop 1.3.0+: You can also run regression tests from the command line:

# Legacy mode
python -m gtpyhop.examples.regression_tests

# Session mode (thread-safe)
python -m gtpyhop.examples.regression_tests --session

Happy Planning!

Let's HTN Start!

You have successfully installed and tested gtpyhop; it's time to declare your own planning problems in gtpyhop.

Very First HTN Example

The key pattern is: create a Domain -> define actions/methods -> declare them -> define initial state -> use gtpyhop.find_plan() to solve problems.

1. Create a Domain

import gtpyhop

# Create a Domain
gtpyhop.Domain('my_domain')

2. Define Actions

Actions are atomic operations that directly modify a state. They are Python functions where the first argument is the current state, and the others are the action's arguments.

def my_action(state, arg1, arg2):
    # Check preconditions
    if state.pos[arg1] == arg2:
        # Modify state
        state.pos[arg1] = 'new_location'
        state.status[arg2] = 'updated'
        return state  # Success
    return False  # Failure

# Declare actions
gtpyhop.declare_actions(my_action, another_action)

3. Define Task Methods

Task methods decompose compound tasks into subtasks and actions.

def method_for_task(state, arg1, arg2):
    # Check if this method is applicable
    if some_condition:
        # Return list of subtasks/actions
        return [('subtask1', arg1), ('action1', arg2)]
    return False  # Method not applicable

# Declare task methods
gtpyhop.declare_task_methods('task_name', method_for_task, alternative_method)

4. Define Initial State

initial_state = gtpyhop.State('initial_state')
initial_state.pos = {'obj1': 'loc1', 'obj2': 'loc2'}

5. Complete Example

import gtpyhop

# Domain creation
gtpyhop.Domain('my_domain')

# Actions
def move(state, obj, target):
    if obj in state.pos:
        state.pos[obj] = target
        return state
    return False

gtpyhop.declare_actions(move)

# Task methods
def transport(state, obj, destination):
    current = state.pos[obj]
    if current != destination:
        return [('move', obj, destination)]
    return []

gtpyhop.declare_task_methods('transport', transport)

# Define initial state
initial_state = gtpyhop.State('initial_state')
initial_state.pos = {'obj1': 'loc1', 'obj2': 'loc2'}

# Find plan
gtpyhop.set_verbose_level(1)
plan = gtpyhop.find_plan(initial_state, [('transport', 'obj1', 'loc2')])
print(plan)

Put this code in a file, say my_very_first_htn_example.py, and run it:

python my_very_first_htn_example.py

Increase the verbosity level to 2 or 3 to see more information about the planning process.

Session-Based Version (Recommended for 1.3.0+)

For better isolation and thread safety:

import gtpyhop

# Domain creation
my_domain = gtpyhop.Domain('my_domain')
state = gtpyhop.State('initial_state')
state.pos = {'obj1': 'loc1', 'obj2': 'loc2'}

# Define actions and methods (same as above)
def move(state, obj, target):
    if obj in state.pos:
        state.pos[obj] = target
        return state
    return False

gtpyhop.declare_actions(move)

def transport(state, obj, destination):
    current = state.pos[obj]
    if current != destination:
        return [('move', obj, destination)]
    return []

gtpyhop.declare_task_methods('transport', transport)

# Use session-based planning
with gtpyhop.PlannerSession(domain=my_domain, verbose=1) as session:
    with session.isolated_execution():
        result = session.find_plan(state, [('transport', 'obj1', 'loc2')])
        if result.success:
            print("Plan found:", result.plan)
            print("Planning stats:", result.stats)

Additional Resources

Please read Dana's additional information for detailed explanations of:

• States
• Actions
• Tasks and task methods
• Goals and goal methods

Thread-Safe Sessions (1.3.0+)

GTPyhop 1.3.0 introduces session-based, thread-safe planning that enables reliable concurrent execution and isolated planning contexts. This is a major architectural enhancement while maintaining 100% backward compatibility.

Key Benefits

• Thread-safe concurrent planning: Multiple planners can run simultaneously
• Isolated execution contexts: Each session has its own configuration, logs, and statistics
• Structured logging system: Programmatic access to planning traces
• Timeout management: Built-in timeout enforcement and resource management
• Session persistence: Save and restore planning sessions

Quick Start with Sessions

import gtpyhop

my_domain = gtpyhop.Domain('my_domain')
# ... define actions and methods ...

with gtpyhop.PlannerSession(domain=my_domain, verbose=1) as session:
    with session.isolated_execution():
        result = session.find_plan(state, [('transport', 'obj1', 'loc2')])
        if result.success:
            print(result.plan)

For detailed documentation, see Thread-Safe Sessions Guide

Migration from Pre-1.3.0

Existing code continues to work unchanged - 100% backward compatible.

# Before (still works)
plan = gtpyhop.find_plan(state, tasks)

# After (recommended)
with gtpyhop.PlannerSession(domain=my_domain) as session:
    with session.isolated_execution():
        result = session.find_plan(state, tasks)
        plan = result.plan if result.success else None

Version Selection Guide

Use Case	Recommended Version
New projects	1.8.0+
Memory tracking & benchmarking	1.8.0+
MCP integration	1.8.0+
Concurrent/parallel planning	1.8.0+
Production systems	1.8.0+
Educational/simple scripts	Any version

Examples

GTPyhop includes comprehensive examples demonstrating various planning techniques. All examples support both legacy and session modes.

Quick Example Run

# Legacy mode (backward compatible)
python -m gtpyhop.examples.simple_htn

# Session mode (thread-safe, recommended)
python -m gtpyhop.examples.simple_htn --session

For comprehensive example documentation, see All Examples Guide

Documentation

GTPyhop 1.8.0 includes comprehensive documentation organized in the docs/ folder:

Core Documentation

• All Examples Guide - Pedagogical details about all HTN planning examples
• Running Examples - Detailed instructions for executing examples
• Structured Logging - Comprehensive logging system documentation
• Thread-Safe Sessions - Complete guide to session-based architecture
• Version History - Complete changelog

Style Guides

• Example Style Guide - How to write GTPyhop examples (folder structure, required files)
• Domain Style Guide - Conventions for writing domain files (actions and methods)
• Problems Style Guide - Conventions for writing problem files

Example-Specific Documentation

Memory Tracking Examples (1.8.0+)

• Memory Tracking Overview - Memory tracking capabilities with psutil
• Scalable Data Processing - Memory scaling via data size (10K-1M items)
• Scalable Recursive Decomposition - Memory scaling via recursion depth (2^k tasks)
• Memory Benchmarking Quickstart - How to run memory benchmarks

IPC 2020 Total Order Domains

• Benchmarking Quickstart - Performance benchmarking guide
• Blocksworld-GTOHP - IPC 2020 Blocksworld domain
• Childsnack - IPC 2020 Childsnack domain

MCP Orchestration Examples (1.5.0+)

• MCP Benchmarking - MCP orchestration benchmarking guide
• Bio-Opentrons PCR Workflow - PCR workflow automation (6 scenarios)
• Cross-Server Orchestration - Multi-server coordination (2 scenarios)
• Drug Target Discovery - OpenTargets platform integration (3 scenarios)
• Omega HDQ DNA Extraction - DNA extraction workflow (3 scenarios)
• TNF Cancer Modelling - Multiscale cancer modeling (1 scenario)

External Resources

• Dana's Additional Information - Core GTPyhop concepts

New Features

Iterative Planning Strategy

This pip branch introduces a new iterative planning strategy (default) that enhances the planner's capabilities for large planning scenarios.

Aspect	Iterative (Default)	Recursive
Implementation	Explicit stack	Python call stack
Memory	More efficient	Stack frame per call
Limits	None	Python recursion limit
Use case	Large problems, production	Educational, debugging

# Switch to recursive strategy
gtpyhop.set_recursive_planning(True)

# Switch back to iterative strategy
gtpyhop.set_recursive_planning(False)

New Functions by Version

1.4.0 (Robustness & Benchmarking)

• validate_plan_from_goal - Plan validation from initial to goal state
• PlannerBenchmark - Comprehensive benchmarking with resource tracking

1.3.0 (Thread-Safe Sessions)

• PlannerSession - Isolated, thread-safe planning context
• create_session, get_session, destroy_session, list_sessions
• SessionSerializer, restore_session - Session persistence

1.2.1 (Iterative Planning)

• set_recursive_planning, get_recursive_planning
• seek_plan_iterative and related iterative functions

Project Structure

GTPyhop/
├── LICENSE.txt
├── pyproject.toml
├── README.md
├── docs/
│   ├── all_examples.md
│   ├── changelog.md
│   ├── gtpyhop_domain_style_guide.md
│   ├── gtpyhop_example_style_guide.md
│   ├── gtpyhop_problems_style_guide.md
│   ├── logging.md
│   ├── running_examples.md
│   └── thread_safe_sessions.md
└── src/gtpyhop/
    ├── __init__.py
    ├── main.py
    ├── logging_system.py
    ├── memory_tracking/
    │   ├── __init__.py
    │   ├── monitor.py
    │   └── tracker.py
    ├── examples/
    │   ├── __init__.py
    │   ├── regression_tests.py
    │   ├── simple_htn.py, simple_hgn.py, ...
    │   ├── blocks_htn/, blocks_hgn/, blocks_gtn/, blocks_goal_splitting/
    │   ├── ipc-2020-total-order/
    │   │   └── Blocksworld-GTOHP/, Childsnack/
    │   ├── mcp-orchestration/
    │   │   └── bio_opentrons/, cross_server/, drug_target_discovery/, omega_hdq_dna_bacteria_flex_96_channel/, tnf_cancer_modelling/
    │   └── memory_tracking/
    │       └── scalable_data_processing/, scalable_recursive_decomposition/
    └── test_harness/