SpaTiaL

SpaTiaL is a framework to specify spatial and temporal relations between objects.

Installation

spatial-spec is distributed on PyPI.

We use MONA to convert LTLf formulae to DFA. If you want to use the automaton-based planning, install it first. Check the website for installation instructions or try to install with apt. We are using ltlf2dfa to call MONA in python. That library currently does not work with Windows.

sudo apt install mona

Reproducing Paper Results

The experiments use poetry to handle dependencies. Please make sure you have poetry and MONA installed. Clone the repository and install dependencies:

git clone https://github.com/KTH-RPL-Planiacs/SpaTiaL.git
cd SpaTiaL
cd spatial-experiments
poetry install

You should now be able to run the planning examples:

poetry run planning_push

or

poetry run planning_grasp

Repository Structure

• spatial-lib: source code for the library itself
• spatial-experiments: scripts to reproduce the experiments presented in our article
• docs: Generated docs