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