Integration of Spiderplan with the Unified Planning Library

A constraint-based planning engine for unified planning.

Try it out!

Note: This requires docker desktop >= 4.0.0 to be installed (this means that docker compose V2 should be available via docker compose rather than the stand-alone docker-compose).

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 tests/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.

Default Configuration

Spiderplan solves hybrid planning problems by combining preprocessors, propagators and solvers for all required constraint types. Temporal propgatation is needed even for classical planning because under the hood Spiderplan is a temporal interval based planner.

• Search space: graph
• Heuristic: Fast forward
• Preprocessors: temporal propagation, constraints processing and operator grounding.
• Propagators: pruning, domain constraints, temporal constraints, motion planning
• Solvers: constraint processing, forward goal resolver

Planning Approaches of UP supported

Combined task and motion planning with Reeds Shepp car motion model.

Operation Modes

Oneshot planning

Version History

0.6.4 Added Docker Overhead to Result Object

• Measuring docker overhead for AIPlan4EU evaluation
• Moving measurement of internal engine time

0.6.3 Fixed non-existing folder bug

• The gRPC server is now stopped from withing the correct folder if build_docker is set to false.
• Added a verbose option

0.6.2 run_docker option used again

• Removed issue where the run_rocker option was ignored for testing purposes
• Added option to set build_docker to true to force building docker instead of using the image from docker hub

0.6.1 docker-compose backwards compatability

• Fixed usage of docker compose to docker-compose which should work (see https://docs.docker.com/compose/migrate/)

0.6.0 Running SpiderPlan from docker image

• Fixed issue where the internal engine time would be wrong run
• Using image on docker.io instead of building container to reduce time to run for the first time

0.5.1 Fixes

• Removed letter 's' from reported times
• Fixed issue with new UP test cases

0.5.0 Added Internal Engine Time to Result Metric

• Adding internal engine time to result metric

0.4.0 Fixes for Unified Planning 1.0.0 and UP test cases

• UP dependency
• Removed circular dependency which makes it impossible to load up-spiderplan as a up engine.
• Fixed EngineImpl to extend OneShotMixin

0.3.0 Running the Engine in the UP

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

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

0.1.0 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

Issues

• Waiting for docker container does not work