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Description:

plan4past 0.1.0

Classical and FOND Planning for Pure-Past Linear Temporal Logic Goals.
Installation

from PyPI:

pip install plan4past

from source (main branch):

pip install git+https://github.com/whitemech/Plan4Past.git

or, clone the repository and install:
git clone https://github.com/whitemech/Plan4Past.git
cd Plan4Past
pip install .

Quickstart
You can use the plan4past package in two ways: as a library, and as a CLI tool.
As a library
This is an example of how you can encode a PPLTL goal formula into a PDDL domain and problem programmatically.
from pathlib import Path
from pddl.formatter import domain_to_string, problem_to_string
from pddl.parser.domain import DomainParser
from pddl.parser.problem import ProblemParser
from pylogics.parsers import parse_pltl
from plan4past.compiler import Compiler

formula = "on_b_a & O(ontable_c)"
domain_parser = DomainParser()
problem_parser = ProblemParser()

domain = domain_parser(Path("examples/pddl/domain.pddl").read_text(encoding="utf-8"))
problem = problem_parser(Path("examples/pddl/p-0.pddl").read_text(encoding="utf-8"))
goal = parse_pltl(formula)

compiler = Compiler(domain, problem, goal)
compiler.compile()
compiled_domain, compiled_problem = compiler.result

try:
with open("./new-domain.pddl", "w+", encoding="utf-8") as d:
d.write(domain_to_string(compiled_domain))
with open("./new-problem.pddl", "w+", encoding="utf-8") as p:
p.write(problem_to_string(compiled_problem))
except Exception as e:
raise IOError(
"[ERROR]: Something wrong occurred while writing the compiled domain and problem."
) from e

By executing the code above, you will obtain a new-domain.pddl as well as a new-problem.pddl in output.
As a CLI tool
The package can also be used as a CLI tool. The supported command is:
plan4past -d DOMAIN_FILE -p PROBLEM_FILE -g "PPLTL_FORMULA" [-m MAPPING]

where DOMAIN_FILE and PROBLEM_FILE are the PDDL domain and problem files, respectively, and PPLTL_FORMULA is the
goal formula expressed in Pure-Past Linear Temporal Logic.
The optional MAPPING file is a mapping between the PDDL objects and the PPLTL formula's atomic propositions.
For instance:
plan4past -d examples/pddl/domain.pddl -p examples/pddl/p-0.pddl -g "ontable_c & O(on_b_a)"

Docker & Apptainer images
A Docker image as well as an Apptainer image are available for Plan4Past.

To use Docker:
docker build -t plan4past . and docker run --rm -it plan4past

To use Apptainer:

apptainer build plan4past.sif plan4past.def

# to launch the tool:
./plan4past.sif -d examples/pddl/domain.pddl -p examples/pddl/p-0.pddl -g "ontable_c & O(on_b_a)"

Development
If you want to contribute, set up your development environment as follows:

Intall Poetry
Clone the repository: git clone https://github.com/whitemech/Plan4Past.git && cd Plan4Past
Install the dependencies: poetry shell && poetry install

Docs
To build the docs: mkdocs build
To view documentation in a browser: mkdocs serve
and then go to http://localhost:8000
License
Plan4Past is released under the GNU Lesser General Public License v3.0 or later (LGPLv3+).
Copyright 2021 -- 2023 WhiteMech
Citing
If you use Plan4Past in your research, please consider citing the following paper:
@inproceedings{icaps2023bdffgs,
author = {Luigi Bonassi and
Giuseppe {De Giacomo} and
Marco Favorito and
Francesco Fuggitti and
{Alfonso Emilio} Gerevini and
Enrico Scala},
title = {Planning for Temporally Extended Goals in Pure-Past Linear Temporal Logic},
booktitle = {{ICAPS}},
volume = {33},
url = {https://ojs.aaai.org/index.php/ICAPS/article/view/27179},
doi = {10.1609/icaps.v33i1.27179},
number = {1},
month = {Jul.},
pages = {61-69},
year = {2023},
}

Acknowledgements
Plan4Past has been partially supported by the EU H2020 project AIPlan4EU (No. 101016442), the ERC-ADG WhiteMech
(No. 834228), the EU ICT-48 2020 project TAILOR (No. 952215), the PRIN project RIPER (No. 20203FFYLK), and the PNRR MUR
project FAIR (No. PE0000013).