[up] Support new finer grained problem types

plaans · Oct 10, 2023 · 3c94766 · 3c94766
1 parent 249bb82
commit 3c94766
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Showing 2 changed files with 22 additions and 6 deletions.
diff --git a/planning/unified/deps/unified-planning b/planning/unified/deps/unified-planning
diff --git a/planning/unified/plugin/up_aries/solver.py b/planning/unified/plugin/up_aries/solver.py
@@ -53,20 +53,22 @@
         "SIMPLE_NUMERIC_PLANNING",
         # "GENERAL_NUMERIC_PLANNING",
         # TIME
-        # "CONTINUOUS_TIME",
+        "CONTINUOUS_TIME",
         "DISCRETE_TIME",
         "INTERMEDIATE_CONDITIONS_AND_EFFECTS",
         "EXTERNAL_CONDITIONS_AND_EFFECTS",
         "TIMED_EFFECTS",
         "TIMED_EFFECT",  # backward compat
         "TIMED_GOALS",
         "DURATION_INEQUALITIES",
-        # "SELF_OVERLAPPING"
+        "SELF_OVERLAPPING"
         # EXPRESSION_DURATION
         "STATIC_FLUENTS_IN_DURATIONS",
         "STATIC_FLUENTS_IN_DURATION",  # backward compat
         "FLUENTS_IN_DURATIONS",
         "FLUENTS_IN_DURATION",  # backward compat
+        "INT_TYPE_DURATIONS",
+        # "REAL_TYPE_DURATIONS",
         # NUMBERS
         # "CONTINUOUS_NUMBERS",
         "DISCRETE_NUMBERS",
@@ -95,6 +97,8 @@
         # FLUENTS_TYPE
         "NUMERIC_FLUENTS",
         "OBJECT_FLUENTS",
+        "INT_FLUENTS",
+        # "REAL_FLUENTS",
         # PARAMETERS
         # "BOOL_FLUENT_PARAMETERS",
         # "BOUNDED_INT_FLUENT_PARAMETERS",
@@ -109,9 +113,13 @@
         "PLAN_LENGTH",
         # "OVERSUBSCRIPTION",
         # "TEMPORAL_OVERSUBSCRIPTION",
+        "INT_NUMBERS_IN_OVERSUBSCRIPTION",
+        "REAL_NUMBERS_IN_OVERSUBSCRIPTION",
         # ACTIONS_COST_KIND
-        # "STATIC_FLUENTS_IN_ACTIONS_COST",
-        # "FLUENTS_IN_ACTIONS_COST",
+        "STATIC_FLUENTS_IN_ACTIONS_COST",
+        "FLUENTS_IN_ACTIONS_COST",
+        "INT_NUMBERS_IN_ACTIONS_COST",
+        # "REAL_NUMBERS_IN_ACTIONS_COST",
         # SIMULATED_ENTITIES
         # "SIMULATED_EFFECTS",
         # CONSTRAINTS_KIND
@@ -146,12 +154,14 @@
         "TIMED_EFFECT",  # backward compat
         "TIMED_GOALS",
         "DURATION_INEQUALITIES",
-        # "SELF_OVERLAPPING"
+        "SELF_OVERLAPPING"
         # EXPRESSION_DURATION
         "STATIC_FLUENTS_IN_DURATIONS",
         "STATIC_FLUENTS_IN_DURATION",  # backward compat
         "FLUENTS_IN_DURATIONS",
         "FLUENTS_IN_DURATION",  # backward compat
+        "INT_TYPE_DURATIONS",
+        "REAL_TYPE_DURATIONS",
         # NUMBERS
         "CONTINUOUS_NUMBERS",
         "DISCRETE_NUMBERS",
@@ -180,6 +190,8 @@
         # FLUENTS_TYPE
         "NUMERIC_FLUENTS",
         "OBJECT_FLUENTS",
+        "INT_FLUENTS",
+        "REAL_FLUENTS",
         # PARAMETERS
         # "BOOL_FLUENT_PARAMETERS",
         # "BOUNDED_INT_FLUENT_PARAMETERS",
@@ -194,9 +206,13 @@
         "PLAN_LENGTH",
         "OVERSUBSCRIPTION",
         "TEMPORAL_OVERSUBSCRIPTION",
+        "INT_NUMBERS_IN_OVERSUBSCRIPTION",
+        "REAL_NUMBERS_IN_OVERSUBSCRIPTION",
         # ACTIONS_COST_KIND
         "STATIC_FLUENTS_IN_ACTIONS_COST",
         "FLUENTS_IN_ACTIONS_COST",
+        "INT_NUMBERS_IN_ACTIONS_COST",
+        "REAL_NUMBERS_IN_ACTIONS_COST",
         # SIMULATED_ENTITIES
         # "SIMULATED_EFFECTS",
         # CONSTRAINTS_KIND
+9 −9		.github/workflows/test.yml
+17 −0		docs/examples.rst
+1 −1		docs/notebooks/08-sequential-simulator.ipynb
+441 −0		docs/notebooks/12-plan-parsing-conversion.ipynb
+1 −1		docs/optimality.rst
+33 −3		docs/problem_representation.rst
+1 −1		plot-requirements.txt
+16 −9		setup.py
+13 −5		unified_planning/engines/compilers/bounded_types_remover.py
+13 −5		unified_planning/engines/compilers/conditional_effects_remover.py
+13 −5		unified_planning/engines/compilers/disjunctive_conditions_remover.py
+13 −7		unified_planning/engines/compilers/grounder.py
+1 −1		unified_planning/engines/compilers/ma_disjunctive_conditions_remover.py
+13 −5		unified_planning/engines/compilers/negative_conditions_remover.py
+13 −5		unified_planning/engines/compilers/quantifiers_remover.py
+13 −5		unified_planning/engines/compilers/state_invariants_remover.py
+7 −2		unified_planning/engines/compilers/tarski_grounder.py
+10 −7		unified_planning/engines/compilers/trajectory_constraints_remover.py
+15 −7		unified_planning/engines/compilers/usertype_fluents_remover.py
+18 −8		unified_planning/engines/factory.py
+14 −1		unified_planning/engines/mixins/replanner.py
+4 −1		unified_planning/engines/mixins/sequential_simulator.py
+14 −6		unified_planning/engines/oversubscription_planner.py
+8 −4		unified_planning/engines/plan_validator.py
+35 −5		unified_planning/engines/replanner.py
+9 −6		unified_planning/engines/sequential_simulator.py
+4 −4		unified_planning/grpc/generated/unified_planning_pb2.py
+9 −0		unified_planning/grpc/unified_planning.proto
+3 −5		unified_planning/interop/to_tarski.py
+2 −2		unified_planning/io/ma_pddl_writer.py
+10 −0		unified_planning/io/pddl_reader.py
+2 −2		unified_planning/io/pddl_writer.py
+2 −1		unified_planning/model/__init__.py
+3 −0		unified_planning/model/expression.py
+2 −2		unified_planning/model/htn/hierarchical_problem.py
+1 −1		unified_planning/model/mixins/actions_set.py
+1 −1		unified_planning/model/mixins/agents_set.py
+1 −1		unified_planning/model/mixins/fluents_set.py
+26 −11		unified_planning/model/mixins/metrics.py
+1 −1		unified_planning/model/mixins/objects_set.py
+1 −1		unified_planning/model/mixins/user_types_set.py
+10 −8		unified_planning/model/multi_agent/ma_problem.py
+166 −22		unified_planning/model/problem.py
+99 −37		unified_planning/model/problem_kind.py
+112 −0		unified_planning/model/problem_kind_versioning.py
+8 −102		unified_planning/plot/causal_graph_plot.py
+4 −3		unified_planning/plot/utils.py
+7 −6		unified_planning/shortcuts.py
+8 −6		unified_planning/test/pddl/enhsp.py
+5 −9		unified_planning/test/test_problem.py
+1 −1		unified_planning/test/test_protobuf_io.py
+28 −1		unified_planning/test/test_replanner.py