PDSim Backend

Using Unified Planning Library to parse PDDL and generate plans for PDSim

Availbale planners:

• FastDownward
• Tamer
• Pyperplan

Install

• Get the project

  git clone https://github.com/Cryoscopic-E/PDSim-Backend.git

• Move to project folder

  cd PDSim-Backend

• Activate environment (optional)

  python -m venv venv

  • Linux: source myvenv/bin/activate
  • Windows (Powereshell): .\venv\Scripts\activate.ps1
  • Windows (CMD): .\venv\Scripts\activate.bat

• Install requirements

  python -m pip install -r requirements.txt

Usage

• Run in cli mode providing your domain and problem files.

python pdsim_unity.py --domain <domain_path> --problem <problem_path>

You can provide an optional --planner flag, by default it'll use fast-downward, but the user will be prompted which planner is available for a specific problem.

• Embed pdsim server in your up problem definition.

from pdsim_unity import pdsim_upf

< your  problem definition >

pdsim_upf(up_problem, planner_name)

This will create a server to communicate with unity and serve the protobuf representation of the problem and the generated plan.