An implementation of STRIPStream that uses PDDL for the specifiation of actions and streams.

This repository is the "third version" of the STRIPStream framework, intended to replace the previous versions:

1. https://github.com/caelan/stripstream
2. https://github.com/caelan/ss

$ git clone https://github.com/caelan/pddlstream.git
$ cd pddlstream
$ git submodule update --init --recursive
$ ./FastDownward/build.py

If ./FastDownward/build.py fails, install FastDownward's dependencies using your package manager:

• APT (Linux): $ sudo apt-get install cmake g++ g++-multilib make python

If necessary, see FastDownward's documentation for more detailed installation instructions.

• PDDLStream Tutorial
• Planning Domain Description Language (PDDL)
• Derived Predicates

These are simple examples that can be run without additional depedencies:

• Blocksworld: $ python -m examples.blocksworld.blocksworld
• Blocksworld with Derived Predicates: $ python -m examples.blocksworld.blocksworld_derived
• Discrete Belief Space: $ python -m examples.discrete_belief.run
• Kitchen (debug streams): python -m examples.kitchen.run

Install numpy and Python TKinter on Linux using:

$ pip install numpy
$ sudo apt-get install python-tk

Examples:

• Discrete TAMP: $ python -m examples.discrete_tamp.run
• Discrete TAMP with pushing: $ python -m examples.discrete_tamp.run
• 1D Continuous TAMP: $ python -m examples.continuous_tamp.run
• 2D Motion Planning: $ python -m examples.motion.run

• Action Description Language (ADL): $ python -m examples.adl.run
• Exogenous streams (observations): $ python -m examples.exogenous.run
• Fluent stream inputs: $ python -m examples.fluent.run

• Rovers: $ python -m examples.ipc.rovers.run
• Satellites: $ python -m examples.ipc.satellites.run

Install PyBullet on OS X or Linux using:

$ pip install numpy pybullet

Examples:

• Kuka IIWA task and motion planning - python -m examples.pybullet.kuka.run
• PR2 task and motion planning - python -m examples.pybullet.pr2.run
• PR2 planning and execution - python -m examples.pybullet.pr2_belief.run

See https://github.com/caelan/ss-pybullet for more information.

Install Drake on OS X or Ubuntu by following the following instructions: http://drake.mit.edu/installation.html.

Alternatively, install Drake through docker by following the following instructions: http://manipulation.csail.mit.edu/install_drake_docker.html. Use the appropriate docker_run_bash script with docker tag drake-20181128.

Examples:

• Kuka IIWA task and motion planning - python -m examples.drake.run

Additional PDDLStream + Drake examples can be found at: https://github.com/RobotLocomotion/6-881-examples.

• PDDLStream: Integrating Symbolic Planners and Blackbox Samplers
• STRIPStream: Planning In Infinite Domains

Caelan R. Garrett, Tomas Lozano-Perez, Leslie P. Kaelbling. PDDLStream: Integrating Symbolic Planners and Blackbox Samplers, 2018.