Thing Description to PDDL Mapper (TD2P)

This software provides a tool for mapping Thing Descriptions (TDs) to PDDL (Planning Domain Definition Language) domain and problem definitions. It is designed for compatibility with standard PDDL 2.1 compliant problem solvers. By using the spa ontology for annotating TDs with preconditions and effects, users can seamlessly convert their device descriptions into a format that is readily usable with a variety of planning and problem-solving frameworks.

Features

• Convert Thing Descriptions to PDDL: Maps TDs to PDDL domain and problem definitions for use in planning algorithms.
• Link Following: Follows links inside TDs to discover related TDs and create a combined planning problem.
• Compatibility with Standard PDDL Solvers: Designed to work with PDDL 2.1 compliant solvers, broadening the range of applicable planning tools. If the ENHSP-19 planner is found in the root directory of the project and java is installed, the TD2P processor will automatically generate an executable WoT program.

Installation

1. Ensure you have Node.js installed on your system. This software has been tested with Node 20.10.0 on Ubuntu 22.04 LTS.

2. Clone the repository.

3. Install the packages using npm:

   npm install

Usage

To start the mapping process, adjust the IP of the initial Thing Description and run the mapper script with Node.js:

node TD2P_processor.js

Example Scenario

The scenario involves two devices: a power supply capable of providing between -10 and 10 V, and an automatic door that can open and close. To open the door, the power supply must be set to 5V, and the door must be currently closed. Our mapper simplifies the planning process by requiring only the final goal (the door being open) to be specified. The PDDL planner then determines all necessary steps to achieve this goal.

Example

The included example demonstrates how to map TDs for a power supply and a door device to PDDL definitions. Follow these steps to test it yourself:

1. Make sure the devices.js and TD2P_processor.js use correct IP adresses. The default is localhost.
2. Start the simulated devices:

node devices.js

2. Run the mapper to generate the PDDL domain and problem definitions:

node TD2P_processor.js

3. Use the generated PDDL files with a PDDL solver of your choice. The example has been tested with the ENHSP-19 planner. If all files related to the ENHSP-19 planner are in ./nbdist/ and the enhsp-19.jar can be located, the output is parsed and translated into a WoT program.

Demo

The demo video shows the example where the goal is to open the automatic door by setting the WoT property voltageOutput of the power supply to 5 volts and invoking the open WoT action on the door controller. The WoT program is generated automatically because the ENHSP-19 planner is located in the same directory and java is installed on the system. If one of the components is missing, only the planning problem will be generated.

RoboterVideo.mp4

Contributing

Contributions to improve the Thing Description to PDDL Mapper are welcome. Please feel free to submit pull requests or open issues to discuss potential improvements or report bugs.