crome-cgg

Contract-Based Goal Graph

The tool helps the designer model and deploy robotic missions using contracts. The designer can model the environment, and the goals that the robot must achieve using LTL or Specification Patterns. The tool analyze the goals, build the CGG (a graph of contracts) and realize the controllers via reactive synthesis and simulate the robotic mission.

Contract for System Design

Documentation available here.

Installation

We use pdm to most of the dependencies, and conda. Make sure they are installed on your system.

To setup the environment, simply run:

make setup

The setup script will:

Pull all the submodule dependencies
Install all the dependecies via pdm
Create a new conda environment and isntall the conda dependencies

NOTE: If it fails for some reason, you'll need to install PDM manually.

You can install it with:
python3 -m pip install --user pipx
pipx install pdm
Now you can try running make setup again, or simply pdm install.

NOTE: Conda for Mac with Apple Silicon

Some of the packages in conda do not support arm64 architecture. To install all the dependencies correctly on a Mac with Apple Silicon, make sure that you are running conda for x86_64 architecture.

You can install miniconda for MacOSX x86_64 by running the following commands
curl -L https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-x86_64.sh > Miniconda3-latest-MacOSX-x86_64.sh
sh Miniforge3-MacOSX-arm64.sh

Activate conda enviornmnet

conda activate ./.venv

NOTE: Working with PEP 582 With PEP 582, dependencies will be installed into pypackages directory under the project root. With PEP 582 enabled globally, you can also use the project interpreter to run scripts directly. Check pdm documentation on PEP 582. To configure VSCode to support PEP 582, open .vscode/settings.json (create one if it does not exist) and add the following entries:
{
  "python.autoComplete.extraPaths": ["__pypackages__/3.10/lib"],
  "python.analysis.extraPaths": ["__pypackages__/3.10/lib"]
}

Usage

Check the examples folder

Run make help to see all the available commands

Docker

You can directly run the project by running the docker image on any platform

docker run -it --platform linux/x86_64 pmallozzi/crome-cgg:latest

Building the image

To build the image you can run the following command

docker buildx build --platform linux/x86_64 -t [DOCKERUSERNAME]/[PROJECT]:[TAG] --push .

License

MIT

Features and Credits

Fully typed with annotations and checked with mypy, PEP561 compatible

pierg/crome-cgg