rail_pyhop

RAIL fork of the pyHOP planner (Hierarchical Ordered HTN Planner) with examples

Concept Basics

• PyHOP represents state variables using binding to regular python variables instead of logic propositions. This makes writing and working with the state VERY easy.

• To write HTN operators and methods for PyHOP, you don't need to learn a specialized planning language. Instead, you write them as ordinary Python functions. The current state (e.g., s in the above example) is passed to them as an argument.

Installation

$ git clone https://github.com/GT-RAIL/rail_pyhop.git

HelloWorld

To run a basic example, see below:

$ cd rail_pyhop
$ python simple_travel.py

To Do List

• Improve plan failure outputs
• Add unittesting
• Add partial planning
• Modify logging to use colored logger

Repo Branch Structure

• master: used to release stable versions on rail_pyhop planners (must build and pass testing)
• dev: used to incrementally improve versions (must build)
• other(s): feature development and bug fix branches

Acknowledgement

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Based on the PyHOP planner released under Apache License, Version 2.0 at Dana S. Nau's BitBucket

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