Example of Python/PDDL workflow to specify robot, request plan, and execute plan?

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I'm familiar with Python and PDDL. I'm new to ROS. I've looked over the documentation and tutorials for rospy and the Python library for rosplan. Is there an example of a 100% Python workflow for specifying a simple actor (robot), generating a problem based on a rosplan knowledge-base and PDDL domain file, receiving a plan, and executing a plan?