chore(merge): numric-problem-kind into numeric-planning

plaans · Oct 16, 2023 · cb0ca2d · cb0ca2d
2 parents 672f846 + 8d72c7b
commit cb0ca2d
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Showing 4 changed files with 63 additions and 9 deletions.
diff --git a/planning/grpc/api/src/unified_planning.proto b/planning/grpc/api/src/unified_planning.proto
@@ -598,6 +598,8 @@ enum Feature {
     // EXPRESSION_DURATION
     STATIC_FLUENTS_IN_DURATIONS = 27;
     FLUENTS_IN_DURATIONS = 28;
+    REAL_TYPE_DURATIONS = 62;
+    INT_TYPE_DURATIONS = 63;
     // NUMBERS
     CONTINUOUS_NUMBERS = 7;
     DISCRETE_NUMBERS = 8;
@@ -625,6 +627,8 @@ enum Feature {
     // FLUENTS_TYPE
     NUMERIC_FLUENTS = 19;
     OBJECT_FLUENTS = 20;
+    INT_FLUENTS = 60;
+    REAL_FLUENTS = 61;
     // PARAMETERS
     BOOL_FLUENT_PARAMETERS = 50;
     BOUNDED_INT_FLUENT_PARAMETERS = 51;
@@ -642,6 +646,11 @@ enum Feature {
     // ACTION_COST_KIND
     STATIC_FLUENTS_IN_ACTIONS_COST = 45;
     FLUENTS_IN_ACTIONS_COST = 46;
+    REAL_NUMBERS_IN_ACTIONS_COST = 64;
+    INT_NUMBERS_IN_ACTIONS_COST = 65;
+    // OVERSUBSCRIPTION_KIND
+    REAL_NUMBERS_IN_OVERSUBSCRIPTION = 66;
+    INT_NUMBERS_IN_OVERSUBSCRIPTION = 67;
     // SIMULATED_ENTITIES
     SIMULATED_EFFECTS = 25;
     // CONSTRAINTS_KIND

diff --git a/planning/grpc/api/src/unified_planning.rs b/planning/grpc/api/src/unified_planning.rs
@@ -1193,6 +1193,8 @@ pub enum Feature {
     /// EXPRESSION_DURATION
     StaticFluentsInDurations = 27,
     FluentsInDurations = 28,
+    RealTypeDurations = 62,
+    IntTypeDurations = 63,
     /// NUMBERS
     ContinuousNumbers = 7,
     DiscreteNumbers = 8,
@@ -1220,6 +1222,8 @@ pub enum Feature {
     /// FLUENTS_TYPE
     NumericFluents = 19,
     ObjectFluents = 20,
+    IntFluents = 60,
+    RealFluents = 61,
     /// PARAMETERS
     BoolFluentParameters = 50,
     BoundedIntFluentParameters = 51,
@@ -1237,6 +1241,11 @@ pub enum Feature {
     /// ACTION_COST_KIND
     StaticFluentsInActionsCost = 45,
     FluentsInActionsCost = 46,
+    RealNumbersInActionsCost = 64,
+    IntNumbersInActionsCost = 65,
+    /// OVERSUBSCRIPTION_KIND
+    RealNumbersInOversubscription = 66,
+    IntNumbersInOversubscription = 67,
     /// SIMULATED_ENTITIES
     SimulatedEffects = 25,
     /// CONSTRAINTS_KIND
@@ -1274,6 +1283,8 @@ impl Feature {
             Feature::SelfOverlapping => "SELF_OVERLAPPING",
             Feature::StaticFluentsInDurations => "STATIC_FLUENTS_IN_DURATIONS",
             Feature::FluentsInDurations => "FLUENTS_IN_DURATIONS",
+            Feature::RealTypeDurations => "REAL_TYPE_DURATIONS",
+            Feature::IntTypeDurations => "INT_TYPE_DURATIONS",
             Feature::ContinuousNumbers => "CONTINUOUS_NUMBERS",
             Feature::DiscreteNumbers => "DISCRETE_NUMBERS",
             Feature::BoundedTypes => "BOUNDED_TYPES",
@@ -1302,6 +1313,8 @@ impl Feature {
             Feature::HierarchicalTyping => "HIERARCHICAL_TYPING",
             Feature::NumericFluents => "NUMERIC_FLUENTS",
             Feature::ObjectFluents => "OBJECT_FLUENTS",
+            Feature::IntFluents => "INT_FLUENTS",
+            Feature::RealFluents => "REAL_FLUENTS",
             Feature::BoolFluentParameters => "BOOL_FLUENT_PARAMETERS",
             Feature::BoundedIntFluentParameters => "BOUNDED_INT_FLUENT_PARAMETERS",
             Feature::BoolActionParameters => "BOOL_ACTION_PARAMETERS",
@@ -1316,6 +1329,10 @@ impl Feature {
             Feature::TemporalOversubscription => "TEMPORAL_OVERSUBSCRIPTION",
             Feature::StaticFluentsInActionsCost => "STATIC_FLUENTS_IN_ACTIONS_COST",
             Feature::FluentsInActionsCost => "FLUENTS_IN_ACTIONS_COST",
+            Feature::RealNumbersInActionsCost => "REAL_NUMBERS_IN_ACTIONS_COST",
+            Feature::IntNumbersInActionsCost => "INT_NUMBERS_IN_ACTIONS_COST",
+            Feature::RealNumbersInOversubscription => "REAL_NUMBERS_IN_OVERSUBSCRIPTION",
+            Feature::IntNumbersInOversubscription => "INT_NUMBERS_IN_OVERSUBSCRIPTION",
             Feature::SimulatedEffects => "SIMULATED_EFFECTS",
             Feature::TrajectoryConstraints => "TRAJECTORY_CONSTRAINTS",
             Feature::StateInvariants => "STATE_INVARIANTS",
@@ -1347,6 +1364,8 @@ impl Feature {
             "SELF_OVERLAPPING" => Some(Self::SelfOverlapping),
             "STATIC_FLUENTS_IN_DURATIONS" => Some(Self::StaticFluentsInDurations),
             "FLUENTS_IN_DURATIONS" => Some(Self::FluentsInDurations),
+            "REAL_TYPE_DURATIONS" => Some(Self::RealTypeDurations),
+            "INT_TYPE_DURATIONS" => Some(Self::IntTypeDurations),
             "CONTINUOUS_NUMBERS" => Some(Self::ContinuousNumbers),
             "DISCRETE_NUMBERS" => Some(Self::DiscreteNumbers),
             "BOUNDED_TYPES" => Some(Self::BoundedTypes),
@@ -1375,6 +1394,8 @@ impl Feature {
             "HIERARCHICAL_TYPING" => Some(Self::HierarchicalTyping),
             "NUMERIC_FLUENTS" => Some(Self::NumericFluents),
             "OBJECT_FLUENTS" => Some(Self::ObjectFluents),
+            "INT_FLUENTS" => Some(Self::IntFluents),
+            "REAL_FLUENTS" => Some(Self::RealFluents),
             "BOOL_FLUENT_PARAMETERS" => Some(Self::BoolFluentParameters),
             "BOUNDED_INT_FLUENT_PARAMETERS" => Some(Self::BoundedIntFluentParameters),
             "BOOL_ACTION_PARAMETERS" => Some(Self::BoolActionParameters),
@@ -1389,6 +1410,12 @@ impl Feature {
             "TEMPORAL_OVERSUBSCRIPTION" => Some(Self::TemporalOversubscription),
             "STATIC_FLUENTS_IN_ACTIONS_COST" => Some(Self::StaticFluentsInActionsCost),
             "FLUENTS_IN_ACTIONS_COST" => Some(Self::FluentsInActionsCost),
+            "REAL_NUMBERS_IN_ACTIONS_COST" => Some(Self::RealNumbersInActionsCost),
+            "INT_NUMBERS_IN_ACTIONS_COST" => Some(Self::IntNumbersInActionsCost),
+            "REAL_NUMBERS_IN_OVERSUBSCRIPTION" => {
+                Some(Self::RealNumbersInOversubscription)
+            }
+            "INT_NUMBERS_IN_OVERSUBSCRIPTION" => Some(Self::IntNumbersInOversubscription),
             "SIMULATED_EFFECTS" => Some(Self::SimulatedEffects),
             "TRAJECTORY_CONSTRAINTS" => Some(Self::TrajectoryConstraints),
             "STATE_INVARIANTS" => Some(Self::StateInvariants),

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",
@@ -103,15 +107,19 @@
         "UNBOUNDED_INT_ACTION_PARAMETERS",
         # "REAL_ACTION_PARAMETERS",
         # QUALITY_METRICS
-        # "ACTIONS_COST",
+        "ACTIONS_COST",
         # "FINAL_VALUE",
         "MAKESPAN",
         "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
@@ -124,7 +132,8 @@
         "TASK_ORDER_TOTAL",
         "TASK_ORDER_PARTIAL",
         # "TASK_ORDER_TEMPORAL",
-    }
+    },
+    version=2
 )
 
 _ARIES_VAL_SUPPORTED_KIND = up.model.ProblemKind(
@@ -146,12 +155,14 @@
         "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 +191,8 @@
         # FLUENTS_TYPE
         "NUMERIC_FLUENTS",
         "OBJECT_FLUENTS",
+        "INT_FLUENTS",
+        "REAL_FLUENTS",
         # PARAMETERS
         # "BOOL_FLUENT_PARAMETERS",
         # "BOUNDED_INT_FLUENT_PARAMETERS",
@@ -194,9 +207,13 @@
         "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
@@ -209,7 +226,8 @@
         "TASK_ORDER_TOTAL",
         "TASK_ORDER_PARTIAL",
         "TASK_ORDER_TEMPORAL",
-    }
+    },
+    version=2
 )
+5 −5		.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
+12 −7		unified_planning/engines/factory.py
+14 −6		unified_planning/engines/oversubscription_planner.py
+8 −4		unified_planning/engines/plan_validator.py
+5 −3		unified_planning/engines/replanner.py
+8 −4		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
+3 −0		unified_planning/model/expression.py
+26 −11		unified_planning/model/mixins/metrics.py
+10 −8		unified_planning/model/multi_agent/ma_problem.py
+23 −21		unified_planning/model/problem.py
+99 −37		unified_planning/model/problem_kind.py
+112 −0		unified_planning/model/problem_kind_versioning.py
+2 −2		unified_planning/plot/utils.py
+7 −6		unified_planning/shortcuts.py
+0 −13		unified_planning/test/examples/minimals.py
+8 −6		unified_planning/test/pddl/enhsp.py
+5 −11		unified_planning/test/test_problem.py
+1 −1		unified_planning/test/test_protobuf_io.py