Multi-agent question with concurrent actions

[Kchu]

As a developer on specific cases, I would like to know how to define concurrent actions for multi-agent questions under the unified-planning framework. During this period, I found that there are some other codes [1] focusing on that. It would be perfect if someone could tell me how to design concurrent action with the unified planning framework!

[1]. https://github.com/aig-upf/universal-pddl-parser-multiagent