Learn Task Planning

This is a simple educational repository to introduce automated task planning.

For more information, refer to my blog posts on this topic:

• Task Planning in Robotics
• Integrated Task and Motion Planning in Robotics

To illustrate these concepts, we will use the Unified Planning library.

By Sebastian Castro, 2025.

Simple Examples

The basic examples are directly runnable as Jupyter notebooks.

All you need to do is install Unified Planning along with at least one planner. For example:

pip install unified_planning[tamer]

will install with the Tamer planner.

ROS 2 Example

To get the ROS 2 examples running, you should place this repository into a valid ROS 2 workspace.

mkdir -p ~/up_ws/src
cd ~/up_ws/src
git clone https://github.com/sea-bass/learn-task-planning.git

Then, ensure you also clone the UP4ROS2 repo.

cd ~/up_ws/src
git clone https://github.com/aiplan4eu/UP4ROS2

Finally, you can build this workspace:

cd ~/up_ws
source /opt/ros/$ROS_DISTRO/setup.bash
colcon build
source install/setup.bash

At this point, you can execute the ROS 2 example.

python3 03_intro_up4ros2.py