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Mimir: Planner library

Mimir is a C++20 planning library with Python bindings for grounded and lifted classical planning.

Focus on the intersection of planning and learning - search algorithms, parallel data processing, and knowledge representation languages.

  • Supports a rich fragment of PDDL in both the grounded and lifted planning setup - strips, typing, negative-preconditions, disjunctive-preconditions, equality, existential-preconditions, universal-preconditions, conditional-effects, derived-predicates, action-costs.
  • Fully written in C++ - no intermediate files.
  • Provides Python bindings that even allow you to write heuristics for AStar search directly in Python.
  • Provides a generic graph library that supports forward and backward traversal of edges with adapters to use the powerful Boost BGL library.
  • Uses the zero-copy serialization library Cista for efficient parallel data generation.

2. Getting Started (Python)

Mimir is available on pypi.

pip install pymimir

2.1. Example Python API

import pymimir as mm

parser = mm.PDDLParser("domain.pddl", "problem.pddl")
aag = mm.LiftedApplicableActionGenerator(parser.get_problem(), parser.get_pddl_factories())
brfs = mm.BrFSAlgorithm(aag)
status, plan = brfs.find_solution()

3. Getting Started (C++)

3.2. Installing the Dependencies

Mimir depends on the following set of libraries:

Run the following sequence of commands to download, configure, build, and install all dependencies:

  1. Configure the dependencies CMake project with the desired installation path:
cmake -S dependencies -B dependencies/build -DCMAKE_INSTALL_PREFIX=dependencies/installs
  1. Download, build, and install all dependencies:
cmake --build dependencies/build -j$(nproc)

3.3. Building Mimir

Run the following sequence of commands to configure, build, and install Mimir:

  1. Configure Mimir in the build directory build/ with the CMakePrefixPath pointing to the installation directory of the dependencies:
cmake -S . -B build -DCMAKE_PREFIX_PATH=${PWD}/dependencies/installs
  1. Build Mimir in the build directory:
cmake --build build -j$(nproc)
  1. (Optional) Install Mimir from the build directory to the desired installation prefix directory:
cmake --install build --prefix=<path/to/installation-directory>

3.1. Example C++ API

#include  <mimir/mimir.hpp>

const auto parser = PDDLParser("domain.pddl", "problem.pddl")
const auto aag = std::make_shared<LiftedApplicableActionGenerator>(parser.get_problem(), parser.get_pddl_factories())
const auto brfs = BrFSAlgorithm(aag)
const auto [status, plan] = brfs.find_solution()

4.For Developers

4.1. IDE Support

We developed Mimir in Visual Studio Code. We recommend installing the C/C++ and CMake Tools extensions by Microsoft. To get maximum IDE support, you should set the following Cmake: Configure Args in the CMake Tools extension settings under Workspace:

  • -DCMAKE_PREFIX_PATH=${workspaceFolder}/dependencies/installs

After running CMake: Configure in Visual Studio Code (ctrl + shift + p), you should see all include paths being correctly resolved.

Alternatively, you can create the file .vscode/settings.json with the content:

{
"cmake.configureArgs": [ "-DCMAKE_PREFIX_PATH=${workspaceFolder}/dependencies/installs" ]
}