up-spiderplan

A constraint-based planning engine for unified planning.

Try it out!

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 up-spiderplan:

pip install up-spiderplan

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

git clone https://github.com/aiplan4eu/up-spiderplan.git
cd up-spiderplan

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

  • [x] UP problems can be converted to constraint databases

    • [x] Classical plannning

  • [x] Call spiderplan to produce a solution/failure

  • [x] Answer translated to a UP result

0.2.0 Motion Planning

  • [x] Motion planning constraints extracted from UP problem

  • [x] Solve problem with motion constraints and get a plan with paths

  • [x] Fix Spiderplan motion planner to use correct motion model

  • [x] Allow configuration with available motion planning algorithms

  • [x] Convert plan into UP plan with motion

0.3.0 Running the Engine in the UP

  • [x] Fix spiderplan grpc server in docker

  • [x] Use docker to run server through up-spiderplan

Issues

  • [x] Waiting for docker container does not work