up-spiderplan 0.3.4

Spiderplan engine for the Unified Planning Library

up-spiderplan

A constraint-based planning engine for unified planning.

Try it out!

Note: This will become more compact later.

Note: This requires a docker and docker-compose to be installed.

Create and activate a Python 3.7 environment. Here we use conda:

conda create --name up-sp-test python=3.7
conda activate up-sp-test

Install the Unified Planning library with the TAMP branch:

git clone https://github.com/aiplan4eu/unified-planning.git
cd unified-planning
git checkout add-tamp
pip install -e .
cd ..

Install up-spiderplan from pypi test repository:

pip install -i https://test.pypi.org/simple/ --extra-index-url https://pypi.org/simple up-spiderplan

Clone the up-spiderplan repository to get a test case:

git clone https://github.com/aiplan4eu/up-spiderplan.git
cd up-spiderplan
pip install -r requirements.txt

Finally, we can run the test:

python up_spiderplan/test.py

This will build and run a docker container that hosts the spiderplan server. Therefore it will take a bit of time on the first run.

Roadmap

0.1.0 Basic UP Support

• UP problems can be converted to constraint databases
  • Classical plannning
• Call spiderplan to produce a solution/failure
• Answer translated to a UP result

0.2.0 Motion Planning

• Motion planning constraints extracted from UP problem
• Solve problem with motion constraints and get a plan with paths
• Fix Spiderplan motion planner to use correct motion model
• Allow configuration with available motion planning algorithms
• Convert plan into UP plan with motion

0.3.0 Running the Engine in the UP

• Fix spiderplan grpc server in docker
• Use docker to run server through up-spiderplan

Issues

• Waiting for docker container does not work