rafcon-task-planner-plugin 1.5.0

The RAFCON Task Planner Plugin (RTPP) is a plugin to interface arbitrary pddl planner and automate the state machine generation process.

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:

1. git clone https://github.com/DLR-RM/rafcon-task-planner-plugin.git
2. 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