PDSim: Planning Domain Simulation

Visualization and animation of PDDL plans.

Use PDDL domain and problem files to setup a simulation.

Installation: Unity Package (finally)

You can now install PDSim as Unity package and download the samples from the Unity Package manager.

• Open the Package Manager from the Unity Editor:

From the top bar Window > Package Manager

• Click on the plus button on the Top Left and selct

Add Package from GIT url

• Paste the following url:

https://github.com/Cryoscopic-E/PDSim.git?path=/Packages/com.cryoscopic-e.pdsim

Using the samples

Once installed you can check and import the sample visualisation scenes that comes with PDSim.

Available (for now):

• blocks world
• sokoban 2D

More to come later!

Installation: Back-End

PDSim use a back-end server to generate the Unity's components used for the simulation, install it from here

Assets for your Visualisation

PDSim actively support the amazing work of [Kenney] (https://twitter.com/KenneyNL)

You can find tons of CC0 2D and 3D assets for you visualisations here: https://kenney.nl/assets

Additional resources:

• https://itch.io/game-assets
• https://polyhaven.com/models
• https://www.blenderkit.com/

Project

• PDDL predicates are used to define animation in Unity using the built-in visual scripting language.
• PDDL types is defined are use to create objects prefab of a particular category. Import all the models you want to repesent PDDL types.
• PDDL actions' effects and init are the main animated component. Interact with the UI to get info about the state of the environment and each component with the built-in UI

Example with Blocks World:

Documentation

Check the wiki here

Acknowledgement

PDSim is being developed for the AIPlan4EU H2020 project (https://aiplan4eu-project.eu)

@aiplan4eu for the Unified Planning Library

Publication

If you are using PDSim in your work please cite it:

@inproceedings{de2024planning,
  title={Planning Domain Simulation: An Interactive System for Plan Visualisation},
  author={De Pellegrin, Emanuele and Petrick, Ronald PA},
  booktitle={Proceedings of the International Conference on Automated Planning and Scheduling},
  volume={34},
  pages={133--141},
  year={2024}
}