Problem kind's versioning and Numeric kind's update

.github/workflows/test.yml

@@ -8,11 +8,11 @@ on:
         type: string
 
 env:
-  up_tamer_commit: "08ddcc5a5518b1d86916d9fdcca90500fec58048"
-  up_pyperplan_commit: "23639395b661a768ba78832c0750ce417c7dc16a"
+  up_tamer_commit: "db6709d7c465d52db6d1522206b199e30aed23a1"
+  up_pyperplan_commit: "d6d54f8a8b67e7653599e007a8373245fb2fffd3"
   up_fast_downward_commit: "a5d2e211c95aba896c03aa3499a4961f3e1956cf"
-  up_enhsp_commit: "10e2d8451c24114be4f98e96ac2e6dbaafeb00a6"
-  up_fmap_commit: "d0e3c0c920b3a515486ae7526c0fba51c75361e1"
+  up_enhsp_commit: "af93cd799974626ac17b8aaf1a83975f75c073ab"
+  up_fmap_commit: "3dd40496277e65af574ce24724b573b90a86464f"
 
 jobs:
   basic-check:

docs/notebooks/09-multiagent-planning-simple.ipynb

@@ -391,7 +391,7 @@
    ],
    "source": [
     "with OneshotPlanner(name='fmap') as planner:\n",
-    "    result = planner.solve(problem, None, \"1\")\n",
+    "    result = planner.solve(problem, \"1\")\n",
     "    if result.status == up.engines.PlanGenerationResultStatus.SOLVED_SATISFICING:\n",
     "        print(\"%s Returned Sequential Plans object: %s\" % (planner.name, result.plan.all_sequential_plans()))\n",
     "        [print(f\"{idx} Sequential Plans: {seq_plan}\") for idx, seq_plan in enumerate(result.plan.all_sequential_plans())]\n",

docs/problem_representation.rst

@@ -69,12 +69,18 @@ Problem Kinds
    * -
      - FLUENTS_IN_DURATION
      - The duration of at least one action is specified using non-static fluents (that might change over the course of a plan).
+   * -
+     - INT_TYPE_DURATIONS
+     - The duration of at least one action is of int type; added in ProblemKind's version 2.
+   * -
+     - REAL_TYPE_DURATIONS
+     - The duration of at least one action is of real type; added in ProblemKind's version 2.
    * - NUMBERS
      - CONTINUOUS_NUMBERS
-     - The problem uses numbers ranging over continuous domains (e.g. reals).
+     - The problem uses numbers ranging over continuous domains (e.g. reals); deprecated in ProblemKind's version 2.
    * -
      - DISCRETE_NUMBERS
-     - The problem uses numbers ranging over discrete domains (e.g. integers).
+     - The problem uses numbers ranging over discrete domains (e.g. integers); deprecated in ProblemKind's version 2.
    * -
      - BOUNDED_TYPES
      - The problem uses bounded-domain numbers.
@@ -149,7 +155,13 @@ Problem Kinds
      - At least one action has a parameter of real type.
    * - FLUENTS_TYPE
      - NUMERIC_FLUENTS
-     - The problem has at least one fluent of numeric type.
+     - The problem has at least one fluent of numeric type; deprecated in ProblemKind's version 2.
+   * -
+     - INT_FLUENTS
+     - The problem has at least one fluent of integer type; added in ProblemKind's version 2.
+   * -
+     - REAL_FLUENTS
+     - The problem has at least one fluent of real type; added in ProblemKind's version 2.
    * -
      - OBJECT_FLUENTS
      - The problem has at least one finite-domain fluent (fluent of user-defined type).
@@ -171,6 +183,24 @@ Problem Kinds
    * -
      - TEMPORAL_OVERSUBSCRIPTION
      - The problem has a quality metric associating a positive value to some optional timed goal and the objective is to find the plan of maximal value.
+   * - ACTIONS_COST_KIND
+     - STATIC_FLUENTS_IN_ACTIONS_COST
+     - There is at least a static fluent in the Action's cost (that may never change).
+   * -
+     - FLUENTS_IN_ACTIONS_COST
+     - There is at least a non-static fluent in the Action's cost (that might change over the course of a plan).
+   * -
+     - INT_NUMBERS_IN_ACTIONS_COST
+     - There is at least one Action's cost in the ACTIONS_COST that is of int type; added in ProblemKind's version 2.
+   * -
+     - REAL_NUMBERS_IN_ACTIONS_COST
+     - There is at least one Action's cost in the ACTIONS_COST that is of real type; added in ProblemKind's version 2.
+   * - OVERSUBSCRIPTION_KIND
+     - INT_NUMBERS_IN_OVERSUBSCRIPTION
+     - There is at least one gain in the Oversubscription (or Temporal Oversubscription) metric that is of int type; added in ProblemKind's version 2.
+   * -
+     - REAL_NUMBERS_IN_OVERSUBSCRIPTION
+     - There is at least one gain in the Oversubscription (or Temporal Oversubscription) metric that is of real type; added in ProblemKind's version 2.
    * - SIMULATED_ENTITIES
      - SIMULATED_EFFECTS
      - The problem uses at least one simulated effect.

setup.py

@@ -23,24 +23,24 @@
         "dev": ["tarski[arithmetic]", "pytest", "pytest-cov", "mypy"],
         "grpc": ["grpcio", "grpcio-tools", "grpc-stubs"],
         "tarski": ["tarski[arithmetic]"],
-        "pyperplan": ["up-pyperplan==1.0.0.1.dev1"],
-        "tamer": ["up-tamer==1.0.0.2.dev1"],
-        "enhsp": ["up-enhsp==0.0.19"],
+        "pyperplan": ["up-pyperplan==1.0.0.4.dev1"],
+        "tamer": ["up-tamer==1.0.0.4.dev1"],
+        "enhsp": ["up-enhsp==0.0.21"],
         "fast-downward": ["up-fast-downward==0.3.1"],
         "lpg": ["up-lpg==0.0.7"],
-        "fmap": ["up-fmap==0.0.7"],
-        "aries": ["up-aries>=0.0.8"],
-        "symk": ["up-symk>=0.0.3"],
+        "fmap": ["up-fmap==0.0.9"],
+        "aries": ["up-aries>=0.2.0"],
+        "symk": ["up-symk>=1.0.1"],
         "engines": [
             "tarski[arithmetic]",
-            "up-pyperplan==1.0.0.1.dev1",
-            "up-tamer==1.0.0.2.dev1",
-            "up-enhsp==0.0.19",
+            "up-pyperplan==1.0.0.4.dev1",
+            "up-tamer==1.0.0.4.dev1",
+            "up-enhsp==0.0.21",
             "up-fast-downward==0.3.1",
             "up-lpg==0.0.7",
-            "up-fmap==0.0.7",
-            "up-aries>=0.0.8",
-            "up-symk>=0.0.3",
+            "up-fmap==0.0.9",
+            "up-aries>=0.2.0",
+            "up-symk>=1.0.1",
         ],
         "plot": [
             "plotly",

unified_planning/engines/compilers/bounded_types_remover.py

@@ -22,6 +22,7 @@
 from unified_planning.model import Problem, ProblemKind, Fluent, FNode
 from unified_planning.model.fluent import get_all_fluent_exp
 from unified_planning.model.types import _RealType, _IntType
+from unified_planning.model.problem_kind_versioning import LATEST_PROBLEM_KIND_VERSION
 from unified_planning.model.walkers import FluentsSubstituter
 from unified_planning.engines.compilers.utils import (
     add_invariant_condition_apply_function_to_problem_expressions,
@@ -58,7 +59,7 @@ def name(self):
 
     @staticmethod
     def supported_kind() -> ProblemKind:
-        supported_kind = ProblemKind()
+        supported_kind = ProblemKind(version=LATEST_PROBLEM_KIND_VERSION)
         supported_kind.set_problem_class("ACTION_BASED")
         supported_kind.set_typing("FLAT_TYPING")
         supported_kind.set_typing("HIERARCHICAL_TYPING")
@@ -68,12 +69,11 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_parameters("BOUNDED_INT_ACTION_PARAMETERS")
         supported_kind.set_parameters("UNBOUNDED_INT_ACTION_PARAMETERS")
         supported_kind.set_parameters("REAL_ACTION_PARAMETERS")
-        supported_kind.set_numbers("CONTINUOUS_NUMBERS")
-        supported_kind.set_numbers("DISCRETE_NUMBERS")
         supported_kind.set_numbers("BOUNDED_TYPES")
         supported_kind.set_problem_type("SIMPLE_NUMERIC_PLANNING")
         supported_kind.set_problem_type("GENERAL_NUMERIC_PLANNING")
-        supported_kind.set_fluents_type("NUMERIC_FLUENTS")
+        supported_kind.set_fluents_type("INT_FLUENTS")
+        supported_kind.set_fluents_type("REAL_FLUENTS")
         supported_kind.set_fluents_type("OBJECT_FLUENTS")
         supported_kind.set_conditions_kind("NEGATIVE_CONDITIONS")
         supported_kind.set_conditions_kind("DISJUNCTIVE_CONDITIONS")
@@ -98,6 +98,10 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_time("TIMED_GOALS")
         supported_kind.set_time("DURATION_INEQUALITIES")
         supported_kind.set_time("SELF_OVERLAPPING")
+        supported_kind.set_expression_duration("STATIC_FLUENTS_IN_DURATIONS")
+        supported_kind.set_expression_duration("FLUENTS_IN_DURATIONS")
+        supported_kind.set_expression_duration("INT_TYPE_DURATIONS")
+        supported_kind.set_expression_duration("REAL_TYPE_DURATIONS")
         supported_kind.set_simulated_entities("SIMULATED_EFFECTS")
         supported_kind.set_constraints_kind("STATE_INVARIANTS")
         supported_kind.set_quality_metrics("ACTIONS_COST")
@@ -108,6 +112,10 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_quality_metrics("TEMPORAL_OVERSUBSCRIPTION")
         supported_kind.set_quality_metrics("MAKESPAN")
         supported_kind.set_quality_metrics("FINAL_VALUE")
+        supported_kind.set_actions_cost_kind("INT_NUMBERS_IN_ACTIONS_COST")
+        supported_kind.set_actions_cost_kind("REAL_NUMBERS_IN_ACTIONS_COST")
+        supported_kind.set_oversubscription_kind("INT_NUMBERS_IN_OVERSUBSCRIPTION")
+        supported_kind.set_oversubscription_kind("REAL_NUMBERS_IN_OVERSUBSCRIPTION")
         return supported_kind
 
     @staticmethod
@@ -122,7 +130,7 @@ def supports_compilation(compilation_kind: CompilationKind) -> bool:
     def resulting_problem_kind(
         problem_kind: ProblemKind, compilation_kind: Optional[CompilationKind] = None
     ) -> ProblemKind:
-        new_kind = ProblemKind(problem_kind.features)
+        new_kind = problem_kind.clone()
         if new_kind.has_bounded_types():
             new_kind.unset_numbers("BOUNDED_TYPES")
         return new_kind

unified_planning/engines/compilers/conditional_effects_remover.py

@@ -32,6 +32,7 @@
     DurativeAction,
     AbstractProblem,
 )
+from unified_planning.model.problem_kind_versioning import LATEST_PROBLEM_KIND_VERSION
 from unified_planning.engines.compilers.utils import (
     get_fresh_name,
     check_and_simplify_preconditions,
@@ -73,7 +74,7 @@ def name(self):
 
     @staticmethod
     def supported_kind() -> ProblemKind:
-        supported_kind = ProblemKind()
+        supported_kind = ProblemKind(version=LATEST_PROBLEM_KIND_VERSION)
         supported_kind.set_problem_class("ACTION_BASED")
         supported_kind.set_typing("FLAT_TYPING")
         supported_kind.set_typing("HIERARCHICAL_TYPING")
@@ -83,12 +84,11 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_parameters("BOUNDED_INT_ACTION_PARAMETERS")
         supported_kind.set_parameters("UNBOUNDED_INT_ACTION_PARAMETERS")
         supported_kind.set_parameters("REAL_ACTION_PARAMETERS")
-        supported_kind.set_numbers("CONTINUOUS_NUMBERS")
-        supported_kind.set_numbers("DISCRETE_NUMBERS")
         supported_kind.set_numbers("BOUNDED_TYPES")
         supported_kind.set_problem_type("SIMPLE_NUMERIC_PLANNING")
         supported_kind.set_problem_type("GENERAL_NUMERIC_PLANNING")
-        supported_kind.set_fluents_type("NUMERIC_FLUENTS")
+        supported_kind.set_fluents_type("INT_FLUENTS")
+        supported_kind.set_fluents_type("REAL_FLUENTS")
         supported_kind.set_fluents_type("OBJECT_FLUENTS")
         supported_kind.set_conditions_kind("NEGATIVE_CONDITIONS")
         supported_kind.set_conditions_kind("DISJUNCTIVE_CONDITIONS")
@@ -113,6 +113,10 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_time("TIMED_GOALS")
         supported_kind.set_time("DURATION_INEQUALITIES")
         supported_kind.set_time("SELF_OVERLAPPING")
+        supported_kind.set_expression_duration("STATIC_FLUENTS_IN_DURATIONS")
+        supported_kind.set_expression_duration("FLUENTS_IN_DURATIONS")
+        supported_kind.set_expression_duration("INT_TYPE_DURATIONS")
+        supported_kind.set_expression_duration("REAL_TYPE_DURATIONS")
         supported_kind.set_simulated_entities("SIMULATED_EFFECTS")
         supported_kind.set_constraints_kind("STATE_INVARIANTS")
         supported_kind.set_quality_metrics("ACTIONS_COST")
@@ -123,6 +127,10 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_quality_metrics("TEMPORAL_OVERSUBSCRIPTION")
         supported_kind.set_quality_metrics("MAKESPAN")
         supported_kind.set_quality_metrics("FINAL_VALUE")
+        supported_kind.set_actions_cost_kind("INT_NUMBERS_IN_ACTIONS_COST")
+        supported_kind.set_actions_cost_kind("REAL_NUMBERS_IN_ACTIONS_COST")
+        supported_kind.set_oversubscription_kind("INT_NUMBERS_IN_OVERSUBSCRIPTION")
+        supported_kind.set_oversubscription_kind("REAL_NUMBERS_IN_OVERSUBSCRIPTION")
         return supported_kind
 
     @staticmethod
@@ -137,7 +145,7 @@ def supports_compilation(compilation_kind: CompilationKind) -> bool:
     def resulting_problem_kind(
         problem_kind: ProblemKind, compilation_kind: Optional[CompilationKind] = None
     ) -> ProblemKind:
-        new_kind = ProblemKind(problem_kind.features)
+        new_kind = problem_kind.clone()
         if new_kind.has_conditional_effects():
             new_kind.unset_effects_kind("CONDITIONAL_EFFECTS")
             new_kind.set_conditions_kind("NEGATIVE_CONDITIONS")

unified_planning/engines/compilers/disjunctive_conditions_remover.py

@@ -39,6 +39,7 @@
     Oversubscription,
     TemporalOversubscription,
 )
+from unified_planning.model.problem_kind_versioning import LATEST_PROBLEM_KIND_VERSION
 from unified_planning.model.walkers import Dnf
 from typing import Iterator, List, Optional, Tuple, Dict, cast
 from itertools import product
@@ -68,7 +69,7 @@ def name(self):
 
     @staticmethod
     def supported_kind() -> ProblemKind:
-        supported_kind = ProblemKind()
+        supported_kind = ProblemKind(version=LATEST_PROBLEM_KIND_VERSION)
         supported_kind.set_problem_class("ACTION_BASED")
         supported_kind.set_typing("FLAT_TYPING")
         supported_kind.set_typing("HIERARCHICAL_TYPING")
@@ -78,12 +79,11 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_parameters("BOUNDED_INT_ACTION_PARAMETERS")
         supported_kind.set_parameters("UNBOUNDED_INT_ACTION_PARAMETERS")
         supported_kind.set_parameters("REAL_ACTION_PARAMETERS")
-        supported_kind.set_numbers("CONTINUOUS_NUMBERS")
-        supported_kind.set_numbers("DISCRETE_NUMBERS")
         supported_kind.set_numbers("BOUNDED_TYPES")
         supported_kind.set_problem_type("SIMPLE_NUMERIC_PLANNING")
         supported_kind.set_problem_type("GENERAL_NUMERIC_PLANNING")
-        supported_kind.set_fluents_type("NUMERIC_FLUENTS")
+        supported_kind.set_fluents_type("INT_FLUENTS")
+        supported_kind.set_fluents_type("REAL_FLUENTS")
         supported_kind.set_fluents_type("OBJECT_FLUENTS")
         supported_kind.set_conditions_kind("NEGATIVE_CONDITIONS")
         supported_kind.set_conditions_kind("DISJUNCTIVE_CONDITIONS")
@@ -108,6 +108,10 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_time("TIMED_GOALS")
         supported_kind.set_time("DURATION_INEQUALITIES")
         supported_kind.set_time("SELF_OVERLAPPING")
+        supported_kind.set_expression_duration("STATIC_FLUENTS_IN_DURATIONS")
+        supported_kind.set_expression_duration("FLUENTS_IN_DURATIONS")
+        supported_kind.set_expression_duration("INT_TYPE_DURATIONS")
+        supported_kind.set_expression_duration("REAL_TYPE_DURATIONS")
         supported_kind.set_simulated_entities("SIMULATED_EFFECTS")
         supported_kind.set_quality_metrics("ACTIONS_COST")
         supported_kind.set_actions_cost_kind("STATIC_FLUENTS_IN_ACTIONS_COST")
@@ -117,6 +121,10 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_quality_metrics("TEMPORAL_OVERSUBSCRIPTION")
         supported_kind.set_quality_metrics("MAKESPAN")
         supported_kind.set_quality_metrics("FINAL_VALUE")
+        supported_kind.set_actions_cost_kind("INT_NUMBERS_IN_ACTIONS_COST")
+        supported_kind.set_actions_cost_kind("REAL_NUMBERS_IN_ACTIONS_COST")
+        supported_kind.set_oversubscription_kind("INT_NUMBERS_IN_OVERSUBSCRIPTION")
+        supported_kind.set_oversubscription_kind("REAL_NUMBERS_IN_OVERSUBSCRIPTION")
         return supported_kind
 
     @staticmethod
@@ -131,7 +139,7 @@ def supports_compilation(compilation_kind: CompilationKind) -> bool:
     def resulting_problem_kind(
         problem_kind: ProblemKind, compilation_kind: Optional[CompilationKind] = None
     ) -> ProblemKind:
-        new_kind = ProblemKind(problem_kind.features)
+        new_kind = problem_kind.clone()
         new_kind.unset_conditions_kind("DISJUNCTIVE_CONDITIONS")
         return new_kind
 

unified_planning/engines/compilers/grounder.py

@@ -31,6 +31,7 @@
 )
 from unified_planning.model.types import domain_size, domain_item
 from unified_planning.model.walkers import Simplifier
+from unified_planning.model.problem_kind_versioning import LATEST_PROBLEM_KIND_VERSION
 from unified_planning.engines.compilers.utils import (
     lift_action_instance,
     create_action_with_given_subs,
@@ -245,20 +246,19 @@ def name(self):
 
     @staticmethod
     def supported_kind() -> ProblemKind:
-        supported_kind = ProblemKind()
+        supported_kind = ProblemKind(version=LATEST_PROBLEM_KIND_VERSION)
         supported_kind.set_problem_class("ACTION_BASED")
         supported_kind.set_typing("FLAT_TYPING")
         supported_kind.set_typing("HIERARCHICAL_TYPING")
         supported_kind.set_parameters("BOOL_FLUENT_PARAMETERS")
         supported_kind.set_parameters("BOUNDED_INT_FLUENT_PARAMETERS")
         supported_kind.set_parameters("BOOL_ACTION_PARAMETERS")
         supported_kind.set_parameters("BOUNDED_INT_ACTION_PARAMETERS")
-        supported_kind.set_numbers("CONTINUOUS_NUMBERS")
-        supported_kind.set_numbers("DISCRETE_NUMBERS")
         supported_kind.set_numbers("BOUNDED_TYPES")
         supported_kind.set_problem_type("SIMPLE_NUMERIC_PLANNING")
         supported_kind.set_problem_type("GENERAL_NUMERIC_PLANNING")
-        supported_kind.set_fluents_type("NUMERIC_FLUENTS")
+        supported_kind.set_fluents_type("INT_FLUENTS")
+        supported_kind.set_fluents_type("REAL_FLUENTS")
         supported_kind.set_fluents_type("OBJECT_FLUENTS")
         supported_kind.set_conditions_kind("NEGATIVE_CONDITIONS")
         supported_kind.set_conditions_kind("DISJUNCTIVE_CONDITIONS")
@@ -285,17 +285,23 @@ def supported_kind() -> ProblemKind:
         supported_kind.set_time("SELF_OVERLAPPING")
         supported_kind.set_expression_duration("STATIC_FLUENTS_IN_DURATIONS")
         supported_kind.set_expression_duration("FLUENTS_IN_DURATIONS")
+        supported_kind.set_expression_duration("INT_TYPE_DURATIONS")
+        supported_kind.set_expression_duration("REAL_TYPE_DURATIONS")
         supported_kind.set_simulated_entities("SIMULATED_EFFECTS")
         supported_kind.set_constraints_kind("STATE_INVARIANTS")
         supported_kind.set_constraints_kind("TRAJECTORY_CONSTRAINTS")
         supported_kind.set_quality_metrics("ACTIONS_COST")
-        supported_kind.set_actions_cost_kind("STATIC_FLUENTS_IN_ACTIONS_COST")
-        supported_kind.set_actions_cost_kind("FLUENTS_IN_ACTIONS_COST")
         supported_kind.set_quality_metrics("PLAN_LENGTH")
         supported_kind.set_quality_metrics("OVERSUBSCRIPTION")
         supported_kind.set_quality_metrics("TEMPORAL_OVERSUBSCRIPTION")
         supported_kind.set_quality_metrics("MAKESPAN")
         supported_kind.set_quality_metrics("FINAL_VALUE")
+        supported_kind.set_actions_cost_kind("STATIC_FLUENTS_IN_ACTIONS_COST")
+        supported_kind.set_actions_cost_kind("FLUENTS_IN_ACTIONS_COST")
+        supported_kind.set_actions_cost_kind("INT_NUMBERS_IN_ACTIONS_COST")
+        supported_kind.set_actions_cost_kind("REAL_NUMBERS_IN_ACTIONS_COST")
+        supported_kind.set_oversubscription_kind("INT_NUMBERS_IN_OVERSUBSCRIPTION")
+        supported_kind.set_oversubscription_kind("REAL_NUMBERS_IN_OVERSUBSCRIPTION")
         return supported_kind
 
     @staticmethod
@@ -310,7 +316,7 @@ def supports_compilation(compilation_kind: CompilationKind) -> bool:
     def resulting_problem_kind(
         problem_kind: ProblemKind, compilation_kind: Optional[CompilationKind] = None
     ) -> ProblemKind:
-        return ProblemKind(problem_kind.features)
+        return problem_kind.clone()
 
     def _compile(
         self,

unified_planning/engines/compilers/ma_disjunctive_conditions_remover.py

@@ -71,7 +71,7 @@ def supports(problem_kind):
     def resulting_problem_kind(
         problem_kind: ProblemKind, compilation_kind: Optional[CompilationKind] = None
     ) -> ProblemKind:
-        new_kind = ProblemKind(problem_kind.features)
+        new_kind = problem_kind.clone()
         new_kind.unset_conditions_kind("DISJUNCTIVE_CONDITIONS")
         return new_kind