The RAFCON Task Planner Plugin (RTPP) is a plugin to interface arbitrary pddl planner and automate the state machine generation process.
Project description
Rafcon Task Planner Plugin
Overview
The Rafcon Task Planner Plugin is a RAFCON plugin to interface arbitrary Pddl planner such as the Fast-Downward planning System.
Its purpose is to use such planners to plan a predefined scenario, and generate a Rafcon State machine out of the found plan.
To achieve this, the plugin extends RAFCON, so that a state's semantic can be expressed via a PDDL Action. Subsequently, a set of such PDDL annotated states can be used to auto-generate a Domain file, find a plan for a handwritten problem and generate a state machine based on the solution.
One important aspect is that the Task Planner should be able to interface abritrary Planner. Therefore new Planners can be quickly integrated using a python script.
Installation
To install the Plugin two steps are required:
git clone https://github.com/DLR-RM/rafcon-task-planner-plugin.git
- Add the Plugin Path to Rafcons PLUGIN_PATH Variable. (see RAFCON Doc)
RAFCON_PLUGIN_PATH=$RAFCON_PLUGIN_PATH:[repository_path]/source/rafcontpp
Plugin Webpage
Documentation as well as some tutorials are available at the Plugin's Website
Project details
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