ai-planning/planutils

General library for setting up linux-based environments for developing, running, and evaluating planners.

planutils's Issues

Describe the purpose

There are a variety of ways to use this project, and they should be clearly articulated.

Upgrade misses new packages

The upgrade script just upgrades the installed planners. When there is a new version of planutils installed (e.g., using pip install --upgrade planutils), then a planutils setup is required to create the missing bash scripts.

Fix should be for the upgrade script to create those missing bash script files.

Numeric planners

Hello, does any of these planners do numeric planning? I checked downward and related and they do not.

Installing smtplan... FATAL: Unable to get library client configuration: remote has no library client

(planutils) root@e502d9d6e5d5:~$ smtplan

Package not installed!
  Download & install? [Y/n] y
smtplan will be installed.

About to install the following packages: smtplan (148M)
  Proceed? [Y/n] y
Installing smtplan...
FATAL:   Unable to get library client configuration: remote has no library client

Error installing smtplan. Rolling back changes...
rm: cannot remove 'smtplan.sif': No such file or directory

(planutils) root@e502d9d6e5d5:~$

(planutils) root@e502d9d6e5d5:~$ singularity remote login DefaultRemote
Generate an access token at https://cloud.apptainer.org/auth/tokens, and paste it here.
Token entered will be hidden for security.
Access Token: 

However, going to https://cloud.apptainer.org/auth/tokens times out, as does any other URL from that domain.

Avoid flooding the PATH

Instead of adding to the ~/.bashrc for getting the path updated, do the following:

• Have a planutils run {package} functionality (closed with #49 )
• Have a planutils activate that places adds the generic bin folder to the PATH variable.

Non privileged docker

docker with the --privileged option

That requirement it's blocking my full use of planutils in heavily containerized contexts.

Not all the tools here require that, but it's friction.

It seems the solution would be to maintain both singularity and docker images. Right? I'd pay the price

Scrub http in lieu of https

We don't want unsecure installation of planners.

Lacks separation between "force" and "assume yes" option

See that in apt-get and other package managers the semantics of user query and forced install are separated:

• "-y" / yes option --- assume all confirmations as "yes" for batch processing
• "-f" / force option --- force reinstalling the package for whatever reasons (e.g. for fixing a partially broken installation)

Currently, install command lacks this separation. It can choose to force the installation, but its true meaning is yes.

"planutils run" Fails if Package Not Installed

Example error:

$ planutils run enhsp
FATAL:   could not open image /root/.planutils/packages/enhsp-2019/enhsp-2019.sif: failed to retrieve path for /root/.planutils/packages/enhsp-2019/enhsp-2019.sif: lstat /usr/local/lib/python3.6/dist-packages/planutils-0.2.12-py3.6.egg/planutils/packages/enhsp-2019/enhsp-2019.sif: no such file or directory

pyperplan package

Docker recipe that can be adapted:

#################################
# Download and Install Pyperplan
#################################
ENV PYPERPLAN_URL=https://github.com/aibasel/pyperplan/archive/master.tar.gz
RUN curl -SL $PYPERPLAN_URL | tar -xz \
        && mv pyperplan-* pyperplan
RUN echo 'alias pyperplan="python3 ${BASE_DIR}/pyperplan/src/pyperplan.py"' >> ~/.bashrc

Scripts for ENHSP

Hello Christian! Following-up our discussion on the other repository, I tried creating the scripts for an ENHSP package based on your TEMPLATE scripts. I am not sure if the commands I am executing respect the working directory in which you will be executing the script from (please review that if you can). Also, I am not sure how you will set the variables for setting the domain and problem in the run script. Here they go:

install.sh (notice that I need sudo for installing packages and changing permissions)

#!/bin/bash

# To use if root is required
[ "$UID" -eq 0 ] || (echo "installation requires root access"; exec sudo "$0" "$@")

# Install general linux dependencies
sudo apt install openjdk-8-jre openjdk-8-jdk

# General setup / configuration
wget https://gitlab.com/enricos83/ENHSP-Public/-/archive/master/ENHSP-Public-master.zip
unzip ENHSP-Public-master.zip
rm ENHSP-Public-master.zip
mv ENHSP-Public-master/ enhsp
cd enhsp
./compile
./install
sudo chmod +x enhsp

run.sh (you can set the heuristic using the flag -h)

#!/bin/bash

./enhsp --domain $1 --problem $2

uninstall.sh

#!/bin/bash

rm -rf enhsp/

manifest.json

{
    "name": "ENHSP",
    "description": "Expressive Numeric Heuristic Search Planner (https://gitlab.com/enricos83/ENHSP-Public)",
    "dependencies": []
}

check-installed does not consider multi-users systems

The current check-installed implementation does only verify if a planner has been installed by the current user:

planutils/planutils/package_installation.py

Lines 31 to 32 in ef05ad6

	def check_installed(target):
	return target in settings.load()['installed']

As the planners are installed globally in /usr/local/lib/python3.7/dist-packages/planutils-0.2.6-py3.7.egg/planutils/packages, a planner will always been installed for every user, but the corresponding name is only inserted in the settings.json of the user, who issued the install command.

I do suggest either move the settings.json to the global directory (at least the installed part) or add individual "check-installed" scripts to the planner folders in /usr/local/lib/python3.7/dist-packages/planutils-0.2.6-py3.7.egg/planutils/packages,
e.g. [...]/planutils/packages/enhsp-2020/check-install

#!/bin/bash
test -f "$(dirname $0)/enhsp-2020.sif"
exit $? #Return return code of test

PS: As installing planners requires root permissions, but executing is file with user permissions, I had to modify my setting.json manually at the moment.

planutils development container

While testing, I was confused why my changes weren't reflected by building the default Dockerfile. An additional Dockerfile with a COPY instruction rather than a pypi install would be helpful. Arguably, this could be a better default build because you are cutting out the pypi middleman.

Should this go in the "environments" directory?

This is different than #9 because it specifically focuses on planutils. I'm not sure what more is needed in the environment to cover #9

Add VAL package

Can use this as the latest binary to extract: https://dev.azure.com/schlumberger/4e6bcb11-cd68-40fe-98a2-e3777bfec0a6/_apis/build/builds/48/artifacts?artifactName=linux64&api-version=5.1&%24format=zip

Uninstall/upgrade functionality

planutils --remove planner

Shift to planning-specific singularity hub

Since singularity seems to be the leading virtualization technique for high-performance planning, and since the original hub has been discontinued, it's probably worth our while to have a community-led effort to host planners and planning-related software somewhere. Ala https://singularityhub.github.io/sregistry/

@FlorianPommerening : This something you guys would be interested in maintaining from Basel?

Allow for custom PLANUTILS_PREFIX

Would require some way for the package to store the prefix location so the python scripts can find it.

GitHub Action to Test Packages

To make sure we don't break something, there should be some recipe to test each and every package.

Perhaps a test script in the package folder that prints ok or anything else depending.

Idea is that we'd make sure every package has their test file run cleanly before merging.

Evaluation environment

Environment to setup things for running evaluations (benchmarks, lab, etc).

Remote mirror

planutils remote ... should operate the same as planutils run ..., except call the planner-as-a-service server (only working for those packages that are deployed).

`docker build` fails on Mac M1

Trying to build the docker image with:

docker build -t planutils:latest .

I get the following error:

#6 2.523  27000K .......... .......... .......... .......... .......... 99% 14.1M 0s
#6 2.526  27050K ......                                                100%  276M=1.7s
#6 2.526 
#6 2.526 2022-07-05 15:15:43 (15.8 MB/s) - 'apptainer_1.0.2_amd64.deb' saved [27705364/27705364]
#6 2.526 
#6 2.538 dpkg: error processing archive apptainer_1.0.2_amd64.deb (--install):
#6 2.538  package architecture (amd64) does not match system (arm64)
#6 2.542 Errors were encountered while processing:
#6 2.542  apptainer_1.0.2_amd64.deb
------
executor failed running [/bin/sh -c wget https://github.com/apptainer/apptainer/releases/download/v1.0.2/apptainer_1.0.2_amd64.deb     && dpkg -i apptainer_1.0.2_amd64.deb     && rm apptainer_1.0.2_amd64.deb]: exit code: 1
Arrêt du processus de terminal "/bin/zsh '-c', 'docker build --pull --rm -f "Dockerfile" -t planutils:latest "."'". Code de sortie : 1.

I am working on a Mac M1, hence it works with arm64 instead of amd64.

delfi run problem conflicting local python setup

While running delfi I bumed in this problem:

shell > delfi Examples/blocks-domain-complete.pddl Examples/blocks-problem1.pddl
Traceback (most recent call last):
  File "/workspace/delfi/plan-ipc.py", line 13, in <module>
    from dl_model import selector
  File "/workspace/delfi/dl_model/selector.py", line 4, in <module>
    from keras.models import model_from_json
  File "/usr/local/lib/python2.7/dist-packages/keras/__init__.py", line 3, in <module>
    from . import utils
  File "/usr/local/lib/python2.7/dist-packages/keras/utils/__init__.py", line 2, in <module>
    from . import np_utils
  File "/usr/local/lib/python2.7/dist-packages/keras/utils/np_utils.py", line 6, in <module>
    import numpy as np
  File "/home/marco/.local/lib/python3.8/site-packages/numpy/__init__.py", line 132
    raise ImportError(msg) from e

It seems that it tries to use my local version of numpy instead of using the one in the local internal to the singularity/docker image. TO have it running I had to unset the PYTHONPATH environment variable. May be one can specify to then run in a fresh environment by passing -e flag to the run singularity command i.e. singularity run -e $(dirname $0)/delfi.sif $@

Create Docker Wrapper

Should be minimal and reflect the vagrant one.

Migrate to Anaconda

Idea would be to lean on a pre-existing package manager to deal with the web of dependencies, versioning, etc.

(from @jendrikseipp )

Install planutils as a thin wrapper to Anaconda:

pip install planutils

Install conda, create and activate new environment into which packages will be installed, add conda package repository with conda packages for planners:

planutils setup

Ask user whether to install lama conda package, then possibly run lama:

lama domain.pddl problem.pddl

Added benefits of having minimal impact on .bashrc edits and a sandboxed environment for the planning stuff.

Install things in a smart order

Both upgrade and multi-package installation might be broken if the order comes in wrong. Instead, it should be re-ordered to follow a topological sort. Also need to consider what to do with cyclic dependencies (if we choose to allow them).

Bug: dual-bfws-ffparser fail in server

How to reproduce:

1. Build docker: environments/server/setup.sh
2. Start in privileged mode: docker run -p 5555:5555 --privileged -d planutils-server
3. Try server. For instance, following https://github.com/AI-Planning/planning-as-a-service#example-use

import requests
import time
from pprint import pprint

req_body = {
"domain":"(define (domain BLOCKS) (:requirements :strips) (:predicates (on ?x ?y) (ontable ?x) (clear ?x) (handempty) (holding ?x) ) (:action pick-up :parameters (?x) :precondition (and (clear ?x) (ontable ?x) (handempty)) :effect (and (not (ontable ?x)) (not (clear ?x)) (not (handempty)) (holding ?x))) (:action put-down :parameters (?x) :precondition (holding ?x) :effect (and (not (holding ?x)) (clear ?x) (handempty) (ontable ?x))) (:action stack :parameters (?x ?y) :precondition (and (holding ?x) (clear ?y)) :effect (and (not (holding ?x)) (not (clear ?y)) (clear ?x) (handempty) (on ?x ?y))) (:action unstack :parameters (?x ?y) :precondition (and (on ?x ?y) (clear ?x) (handempty)) :effect (and (holding ?x) (clear ?y) (not (clear ?x)) (not (handempty)) (not (on ?x ?y)))))",
"problem":"(define (problem BLOCKS-4-0) (:domain BLOCKS) (:objects D B A C ) (:INIT (CLEAR C) (CLEAR A) (CLEAR B) (CLEAR D) (ONTABLE C) (ONTABLE A) (ONTABLE B) (ONTABLE D) (HANDEMPTY)) (:goal (AND (ON D C) (ON C B) (ON B A))) )"
}

solve_request=requests.post(f"http://localhost:5555/package/{planner}/solve", json=req_body).json()
print(solve_request)

Returns

{'stderr': '/root/.planutils/packages/dual-bfws-ffparser/run: line 2: lapkt: command not found\n', 'stdout': ''}

Fold in upgrade methods

The planutils upgrade should be called whenever a new version is upgraded from pip and the like.

OPTIC not available for arm64

Using Docker on a Mac M1 (arm64), I try to run OPTIC:

(planutils) root@8f6fe7a98cf4:~$ optic

Package not installed!
  Download & install? [Y/n] y
optic will be installed.

About to install the following packages: optic (297MB)
  Proceed? [Y/n] 
Installing optic...
INFO:    Downloading network image
296.5MiB / 296.5MiB [=================================================================================================================================================================================================================] 100 % 24.6 MiB/s 0s
Finished installing optic (size: 297M)
Successfully installed optic!

Original command: optic 
  Re-run command? [Y/n] 
FATAL:   could not open image /root/.planutils/packages/optic/optic.sif: the image's architecture (amd64) could not run on the host's (arm64)

It fails because the binary package downloaded by planutils is for amd64.

Advanced upgrade functionality

Currently it just deletes/installs the package again. We probably want to have packages provide upgrade scripts, and keep versions in the manifest.

• Ability to upgrade individual packages
• Ability to upgrade planutils in general
• Both of the previous, without wiping everything and installing from scratch

Create help interface

Something like this...

planutils help <tool>

...should spit out a help message defined in the package manifest.

Package up something with preferences and constraints

Not sure what the best planner would be, but it's a requested feature for the online solver so we should include one.

Rename main branch

master -> main

Break all the things...

Question/enhancement request: ability to run planning in one bash command (without entering the activate mode)

I am trying to see how we could use planners installed by planutils from within VS Code (besides the planning-as-a-service, which will eventually also solve it). Today, the instructions say make two calls:

planutils activate
lama domain.pddl problem.pddl

The activation feels natural for the hands on phase, just after planutils installation, when the environment needs to be setup by a series of command-line calls. But beyond that to be able to interact with the planners from scripts (or from VS Code in this case), could we have a single line syntax such as this?

planutils some-switch lama domain.pddl problem.pddl

Add `singularity` dependency

• Should check to see if it's installed and has the right version/privileges required to run the planners that need it.
• Warn the user (fail to install) if it's not setup right
• Planners that use singularity should have this package as a dependency

using planutils from pip install rather than docker build

I am trying to use planutils, rather than cloning it and building it first. The package appears to be pushed to https://pypi.org/project/planutils/. How do I use it from there? If I figured it out, I would like to update the README.md and then I would automate the setup by the VS Code extension.

Here is what I tried (and failed):

user@computer:~/c/github/vscode-pddl-samples$ pip install planutils
Collecting planutils
  Downloading planutils-0.7.6-py3-none-any.whl (52 kB)
     |████████████████████████████████| 52 kB 633 kB/s 
Requirement already satisfied: requests in /usr/lib/python3/dist-packages (from planutils) (2.22.0)
Installing collected packages: planutils
Successfully installed planutils-0.7.6
user@computer:~/c/github/vscode-pddl-samples$ planutils activate
planutils: command not found

I am on Ubuntu 20.04 running as WSL on Windows.

Insert optic as a possible backend

It would be nice to integrate and made available the optic temporal planner in the planutils framework.

I've finished setting up singularity for optic.

You can find all here: https://github.com/roveri-marco/optic/tree/singularity-build-and-release
waiting to merge in the master branch of the repository. The singularity sif file is created as well with github workflows
and can be downloaded directly from there.

How can I contribute adding also the plautils part? I've downloaded the repo and created a branch, but I'm not able to push.

Developer environment

Environment for setting up things for the development of planners and planning technology.

add installation instructions

It would be great if the README had some brief installation instructions. Is it possible to use pipx install planutils? In which ways is the bash environment altered?

Server environment

Environment for running planners and planning utilities as a local or remote server.

Allow for forced installation

In order to include planutils commands in scripts, it would be useful to have an optional argument to just auto-respond as "yes".

smtplan: remote has no library client

I'm using the Docker Image from the Docker Hub as mentioned here, I tried to use the smtplan planner and I have got this error:

(planutils) root@104582ad0e5f:~$ smtplan 

Package not installed!
  Download & install? [Y/n] Y
smtplan will be installed.

About to install the following packages: smtplan (148M)
  Proceed? [Y/n] Y
Installing smtplan...
FATAL:   Unable to get library client configuration: remote has no library client

Error installing smtplan. Rolling back changes...
rm: cannot remove 'smtplan.sif': No such file or directory

This issue didn't appear with optic planner for example. can you please help me resolve this issue? thanks in advance.

Create a version log

Perhaps tied to the issues closed, like the API repo does.

Request: `singularity` dependency for detecing that singularity-based planners can run

Context

• Some users might want to use planutils in Docker but with no privileged access
• Right now, only a few packages works, including VAL and pyperplan

Definition of done

• Installing "singularity" package check if singularity planners can run, reporting the need for privileged access
• Installing planners that use singularity would fail right away if
• Documentation specifies that singularity is needed for most plans, and that installing them fails quickly

Implementation idea

• “singularity” install pulls a tiny singularity image and attempt to run it
• first installation attempt use some bandwidth
• new calls would be faster because image is in singularity cache

Checklist

• Should check to see if it's installed and has the right version/privileges required to run the planners that need it.
• Warn the user (fail to install) if it's not setup right
• Planners that use singularity should have this package as a dependency

Create Vagrant Wrapper

Should be minimal, reflect the docker one, and should be done with the attached files in mind (issues with a Vagrant image used in Basel for teaching).

• Vagrantfile.txt
• Vagrantfile.issues.txt

Can't reproduce lama domain problem example

Thanks for the excellent docker image,

I tried to run the lama example lama domain.pddl problem.pddl, but I'm getting this error:

root@8155b66bf2c6:~# planutils activate

   Entering planutils environment...

(planutils) root@8155b66bf2c6:~$ lama domain.pddl problem.pddl

Package not installed!
  Download & install? [Y/n] Y
lama will be installed.

About to install the following packages: downward (36M), lama (20K)
  Proceed? [Y/n] Y
Installing downward...
FATAL:   While pulling shub image: error fetching image to cache: failed to get manifest for: shub://aibasel/downward: no response received from singularity hub

Error installing downward. Rolling back changes...
rm: cannot remove 'downward.sif': No such file or directory

The steps that I have followed to install the docker image:

$ docker pull aiplanning/planutils
$ docker run -it --privileged aiplanning/planutils bash
$ planutils activate
$ lama domain.pddl problem.pddl

Can you please tell me how to solve this issue please? thanks in advance.

HTNtranslate package

Singularity recipe can be found here:
https://github.com/ronwalf/HTN-Translation/blob/hpddl-stable/deploy/htntranslate-hpddl.def

Absolute paths failing for singularity planners

If the domain or problem file has a leading /, then it doesn't seem to pass the file in appropriately.

Improve the server call alignment

• Instead of counting the ' ' split or number of arguments on the server, the remote call from the command line should count the number of arguments specified like {this} in the call string.
• The remote call arguments should match the call string. It currently will not work if two arguments are combined in the package callstring (e.g., {arg1}-{arg2})

Macq is not installing

Fails because

• install needs chmod +x
• python in docker is 3.6

Improve size measurement

• Instead of just running du -sh . in the package directory (which only works if installing the package stores everything locally), get a measure of how much space was used pre/post installation.
• When installing a set of packages, sum the estimated size increase rather than just including them on a per-package basis.