RAMP Benchmark Planner 2023

A collaboration between the Manufacturing Technology Centre and Oxford Robotics Institute. For more information please see the project website: https://sites.google.com/oxfordrobotics.institute/ramp

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 https://github.com/M-A-Robson/MTC_ORI_Collab.git

   • Set PLANNER_PATH environment variable

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

   • Change to repo base directory

     cd MTC_ORI_Collab

   • 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 MTC_ORI_Collab
   python3 sparc_planning/src/main.py