Planning and Learning is an ecosystem of C++ libraries and Python packages for integrating learning with planning-based systems.

The projects provide efficient C++ implementations, Python bindings, and pip-installable packages for downstream use. Currently, the ecosystem consists of four projects that build upon one another.

• yggdrasil provides shared third-party native dependencies used by the other projects. Its Python distribution is published as pyyggdrasil.
• loki provides PDDL parsing, normalization, and translation utilities. Its Python distribution is published as pypddl.
• tyr provides planning data structures, ground and lifted successor generation, search algorithms, and Python bindings. Its Python distribution is published as pytyr.
• runir provides representations for generalized planning, including task classes, state and equivalence graphs, description-logic feature languages, and rule-based policy tooling. Its Python distribution is published as pyrunir.

The packages are layered, so installing a downstream package pulls in the native packages it needs:

pip install pyyggdrasil pypddl pytyr pyrunir

For local development, clone the repositories into a shared planning-and-learning workspace so that dependent projects can refer to each other as sibling checkouts:

planning-and-learning/
  yggdrasil/
  loki/
  tyr/
  runir/
  learning-general-policies/
  planning-benchmarks/

Python projects can depend on a sibling checkout by using a relative path in requirements.txt or pyproject.toml. For example, a project that should use the local runir checkout can depend on:

../runir

Installing the requirements then builds and installs the local package instead of downloading the latest released wheel:

python -m pip install -r requirements.txt

C++ projects can consume the native prefixes provided by the Python packages. For local development, install the sibling Python packages into the active environment, then pass their native_prefix() locations to CMake through CMAKE_PREFIX_PATH.

For example, a project that consumes runir can configure CMake with:

python -m pip install ../yggdrasil ../loki ../tyr ../runir

cmake -S . -B build \
  -DCMAKE_PREFIX_PATH="$(python -c 'import os, pyyggdrasil, pypddl, pytyr, pyrunir; print(os.pathsep.join(map(str, [pyyggdrasil.native_prefix(), pypddl.native_prefix(), pytyr.native_prefix(), pyrunir.native_prefix()])))')"
cmake --build build

Each Python package exposes a native_prefix() helper that points to the installed C++ headers, shared libraries, and CMake package configuration files. Downstream CMake projects can use these prefixes through CMAKE_PREFIX_PATH.

For example, to consume runir from an installed pyrunir package, include the native prefixes of pyrunir and its native package dependencies:

python -m pip install pyrunir

cmake -S . -B build \
  -DCMAKE_PREFIX_PATH="$(python -c 'import os, pyyggdrasil, pypddl, pytyr, pyrunir; print(os.pathsep.join(map(str, [pyyggdrasil.native_prefix(), pypddl.native_prefix(), pytyr.native_prefix(), pyrunir.native_prefix()])))')"
cmake --build build

A downstream CMakeLists.txt can then use the exported targets:

cmake_minimum_required(VERSION 3.21)

project(example LANGUAGES CXX)

find_package(runir CONFIG REQUIRED COMPONENTS core)

add_executable(example main.cpp)
target_link_libraries(example PRIVATE runir::core)

For package-specific CMake targets, use the corresponding package config:

find_package(loki CONFIG REQUIRED)
find_package(tyr CONFIG REQUIRED)
find_package(runir CONFIG REQUIRED COMPONENTS core)

runir exports runir::core as the aggregate target, plus component targets such as runir::graphs, runir::datasets, and runir::kr.