This is the code for task planning designed in PDDL
You need to install ROS kinetic first http://wiki.ros.org/kinetic/Installation/Ubuntu
To run the planner do:
- Install Fast Forward (FF) planner
sudo apt-get install ros-kinetic-ffha
- Install ROSPlan https://github.com/KCL-Planning/ROSPlan
If you want to run task planning, please run Task_planner.py
You can generate problem file by running problem_generator.py. The example of problem file is shown in generate_p.pddl.
You can generate domain file by running domain_generator.py. The instance of domain file is shown in generate_d.pddl.
The instance of obtained a task plan is depicted in plan.pddl
The code is explained here https://www.notion.so/Task-Planning-For-Stacking-Manipulation-Problem-2d50c0327f554d12983ab44591a39173.