PDDLViz.jl
A library for visualizing, animating, and interacting with PDDL domains, built on top of Makie.jl.
Installation
Press ] at the Julia REPL to enter the package manager, then install this package along with PDDL and a Makie backend of your choice (e.g. GLMakie):
add PDDLViz
add PDDL GLMakie
To install the development version, replace PDDLViz above with https://github.com/JuliaPlanners/PDDLViz.jl.git.
Usage
PDDLViz.jl provides a number of built-in renderer types for certain classes of domains, such as GridworldRenderer or GraphworldRenderer. Each renderer can be customized for a specific domain by passing in options to its constructor:
using PDDLViz, GLMakie
# Construct gridworld renderer
gem_colors = PDDLViz.colorschemes[:vibrant]
renderer = GridworldRenderer(
resolution = (600, 700),
agent_renderer = (d, s) -> HumanGraphic(color=:black),
obj_renderers = Dict(
:key => (d, s, o) -> KeyGraphic(
visible=!s[Compound(:has, [o])]
),
:door => (d, s, o) -> LockedDoorGraphic(
visible=s[Compound(:locked, [o])]
),
:gem => (d, s, o) -> GemGraphic(
visible=!s[Compound(:has, [o])],
color=gem_colors[parse(Int, string(o.name)[end])]
)
),
show_inventory = true,
inventory_fns = [(d, s, o) -> s[Compound(:has, [o])]],
inventory_types = [:item]
)A renderer can then be used to render PDDL states:
using PDDL, PlanningDomains
# Load example gridworld domain and problem
domain = load_domain(:doors_keys_gems)
problem = load_problem(:doors_keys_gems, 3)
# Load array extension to PDDL
PDDL.Arrays.register!()
# Construct initial state from domain and problem
state = initstate(domain, problem)
# Render initial state
canvas = renderer(domain, state)
# Save rendered canvas to file
save("gridworld.png", canvas)The rendered image is below:
Renderers can also be used to create animations as well:
See test/gridworld/test.jl for examples of how to render plans, trajectories and planner solutions, how to animate trajectories, and how to enable interactive controls.