RAMP Benchmark Planner 2023

A collaboration between the Manufacturing Technology Centre and Oxford Robotics Institute. For more information please see the RAMP benchmark.

Planning Module for the RAMP Assembly Benchmark

1. Installation

Tested on ubuntu 22.04.02 LTS

1. Install Dependencies

java runtime environment

• install via apt

sudo apt install default-jre

clingo

• Add potassco stable ppa to apt and install clingo

sudo add-apt-repository  ppa:potassco/stable
sudo apt update
sudo apt install clingo

SPARC

• Clone SPARC to ASP translator repo (https://github.com/iensen/sparc/)
• Set environment variable

  echo 'export SPARC_PATH=path/to/sparc/folder' >> ~/.bashrc

Python distutils

• if not included with your python build can be installed using apt, we use python3.10 but this should also work for other versions.

sudo apt install python3.10-distutils

2. Download this Repo and configure
   • Clone this repo

     git clone [email protected]:applied-ai-lab/ramp-planner.git

   • Set PLANNER_PATH environment variable

     echo 'export PLANNER_PATH=path/to/repo/folder' >> ~/.bashrc

   • Change to repo base directory

     cd ramp-planner

   • Install python dependencies

     python3 -m pip install -r requirements.txt

   • Install python modules (may vary depening on your python install)

     python3 setup.py build
     sudo python3 setup.py install

2. Usage

1. Run example planner with

   cd ramp-planner
   python3 -m sparc_planning.src.main