Common Python utilities for the Princeton Robot Planning and Learning lab.
Project description
PRPL Utils
Miscellaneous Python utilities from the Princeton Robot Planning and Learning group.
- Motion planning: RRT, BiRRT
- PDDL planning: interfaces to pyperplan, Fast Downward
- Heuristic search: A*, GBFS, hill-climbing, policy-guided A*
- Gymnasium: agent interface, helper spaces
- Other: a few other miscellaneous utils
Requirements
- Python 3.10+
- Tested on MacOS Monterey and Ubuntu 22.04
Installation
- Recommended: create and source a virtualenv.
pip install -e ".[develop]"
Check Installation
Run ./run_ci_checks.sh. It should complete with all green successes in 5-10 seconds.
Contributing
Pull requests welcome. Note that this is meant to be a lightweight package. For example, it should be safe to use in homework assignments with minimal assumptions about the user's setup. Do not add heavy-duty dependencies.
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