Merge branch 'master' into lprelax

Author: nrealus

ci/ipc.py

@@ -1,17 +1,16 @@
 import os
-from pathlib import Path
 import re
 import subprocess  # nosec: B404
 import sys
 import time
+from pathlib import Path
 from typing import Dict, List, Optional, Tuple
 
 from unified_planning.engines.results import PlanGenerationResultStatus as Status
 from unified_planning.io.pddl_reader import PDDLReader
 from unified_planning.plans import Plan
 from unified_planning.shortcuts import OneshotPlanner
 
-
 # ============================================================================ #
 #                                   Constants                                  #
 # ============================================================================ #
@@ -162,10 +161,7 @@ def validate_plan_with_val(pb: Path, dom: Path, plan: Path) -> bool:
     ext = "pddl"
     if ":hierarchy" in dom.read_text():
         ext = "hddl"
-    cmd = (
-        f"./planning/ext/val-{ext} "
-        f"{dom.as_posix()} {pb.as_posix()} {plan.as_posix()}"
-    )
+    cmd = f"./planning/ext/val-{ext} {dom.as_posix()} {pb.as_posix()} {plan.as_posix()}"
     return (
         subprocess.run(
             cmd,
@@ -185,6 +181,9 @@ def validate_plan_with_val(pb: Path, dom: Path, plan: Path) -> bool:
 pb_folders = Path(__file__).parent.parent / "planning/problems/upf"
 problems = sorted(pb_folders.iterdir(), key=lambda f: f.stem)
 
+# ignore the woodworking domain that requires adherence to the delete-before-add semantics
+problems = [f for f in problems if "ipc2008-woodworking" not in f.stem]
+
 if len(sys.argv) > 1:
     problems = [pb for pb in problems if pb.stem in sys.argv[1:]]
 
@@ -264,7 +263,9 @@ def validate_plan_with_val(pb: Path, dom: Path, plan: Path) -> bool:
                     # Solved problem
                     if result.status in VALID_STATUS:
                         write_line("\nValidating plan by Val", cyan=True)
-                        out_path = Path(out_file).with_stem((Path(out_file).stem + "_val"))
+                        out_path = Path(out_file).with_stem(
+                            (Path(out_file).stem + "_val")
+                        )
                         extract_plan_for_val(result.plan, domain, problem, out_path)
                         if validate_plan_with_val(problem, domain, out_path):
                             write_line("Plan is valid", bold=True, green=True)

justfile

@@ -4,7 +4,8 @@ ci: ci-up-solve ci-up-val ci-ipc ci-warm-up
 
 # Run planning tests for UP integration
 ci-up-solve:
-    python3 planning/unified/deps/unified-planning/up_test_cases/report.py aries -e up_aries_tests
+    # ignore invalid problem `robot_with_variable_duration`. Bug report: https://github.com/aiplan4eu/unified-planning/pull/734
+    python3 planning/unified/deps/unified-planning/up_test_cases/report.py aries -e up_aries_tests -b robot_with_variable_duration
 
 # Run validation tests for UP integration
 ci-up-val:

planning/engine/README.md

@@ -1,18 +1,65 @@
 
-# Aries Planning Engine
+# Aries Planning Engine (APE)
 
-WIP: this in an ongoing effort to reimplement the Aries solver planning capabilities for PDDL.
+Disclaimer this in an ongoing effort to reimplement the Aries solver planning capabilities for PDDL and different functionalities have different maturity levels.
+In particular, elements marked as WIP are not feature complete and should not be relied upon.
 
+The CLI tool currently proposes the following functionalities:
 
+ - `parse`: parsing of PDDL problem files
+ - `parse-domain`: parsing of lone PDDL domain file
+ - `validate` (WIP): validate a PDDL plan
+ - `plan-optimization` (WIP): optimize a given PDDL plans, specifying the target metrics and allowed relaxations
+ - `dom-repair`: Propose fixes of a broken PDDL domain so that a target plan is valid.
 
+ ## Installation
+ 
+The usage section assumes that you have the `ape` executable on your path. It can be installed globally from the latest version in the git repository (but requires a [rust toolchain](https://rust-lang.org/tools/install/)).
 
-## Domain repair
+```sh
+# Install 
+cargo install --bin ape --git https://github.com/plaans/aries aries-plan-engine
+```
+
+To install from a locally checked-out version of aries:
 
+```sh
+# Install `ape` globally, assuming that you are in the same directory as this file (planning/engine/).
+cargo install --bin ape --path .
+```
 
+For development, you can simply replace the `ape` command by `cargo run [--release] --bin ape --` which will compile `ape` and then run it with the arguments provided after the finals `--`.
+Omitting the `--release` flag will produce non-optimized builds that would be substantially faster to compile (but much slower for execution.)
+
+## Usage
 
 ```sh
-# Domain repair options.
-cargo run  --bin aries-plan-engine   -- dom-repair --help
-# Attempts to find fix to the (autmoatically infered) domain for this plan
-cargo run  --bin aries-plan-engine   -- dom-repair planning/problems/pddl/tests/gripper.plan
+# List available commands 
+ape --help
+
+# Print help for a particular command (here `validate`)
+ape validate --help
 ```
+
+
+## Naming conventions for PDDL problems and domains
+
+Ape relies on naming conventions to find the domain associated to a problem files (which avoids having to specify it manually on the command line).
+
+Given a problem file, `ape` would consider candidate domain files in the same or parent directory, with a set of possible name depending on the problem filename:
+
+- `*.pddl` -> `domain.pddl`
+- `XXXXX.YY.pb.pddl` -> `XXXXX.dom.pddl`
+- `XXXXX.pb.pddl` -> `XXXXX-domain.pddl`
+- `instance-NN.pddl` -> `domain-NN.pddl`
+
+These are implemented in the [find_domain_of](https://github.com/plaans/aries/blob/master/planning/planx/src/pddl/find_file.rs) function, which may serve as a reference.
+
+This can be used on the command line with the `find-domain` command, that will print the domain file on the standard output.
+This can be useful when integration with other tools, e.g., 
+```sh
+my-planner --domain `ape find-domain ${PROBLEM_FILE}` --problem ${PROBLEM_FILE}
+```
+It is notably used in the [`zed-pddl`](https://github.com/arbimo/zed-pddl) extension for Zed.
+
+Note that at this point, the discovery is purely based on the filenames, with no attempt to validate that the domain name matches the one declared in the problem.