HTN issues

[pmdoll]

For first.pamela, When using htn task,

• We should be able to create HTN from pamela class first-tpn instead of first-tpn-htn
• in between constraints are not created
• Bounds are not created for plant activities
• Appearance of labels is unexpected and misleading.

TPN created using cfm method

TPN created using htn task

See pamela file for individual commands for compiling first.pamela file

[dcerys]

Addressing the 4 points above:

• A documented current limitation of the HTN generation is that pmethods cannot have a combination of more than one parallel/sequence/choice. If a 2nd-level parallel/sequence/choice, it's trivial to create a sub-pmethod with the same effect.
• It is true that between constraints are not created. Let's create that as a separate issue, so it can be addressed.
• The bounds of primitive method declarations is addressed by Issue HTN/TPN generation doesn't include bounds (or other metadata) declared for primitive methods #98
• The appearance of the labels is certainly different. The full display of labels is dependent on Issue Harmonize TPN and HTN schemas #43

Using the HTN-generated version, with the bounds specified at the calling site, we can see (missing the between constraint):

[pmdoll]

Capitalized labels with dashes removed should not be related to pamela. It is a planviz bug or warrants an explanation.

[tmarble]

Addressing each of these points, in turn:

• We should be able to create HTN from pamela class first-tpn instead of first-tpn-htn
  • incorrect: PAMELA coding convention for HTN proscribes more than one high level combination form.
• in between constraints are not created
  • addressed in Create between constraints for htn task #102
• Bounds are not created for plant activities
  • addressed in HTN/TPN generation doesn't include bounds (or other metadata) declared for primitive methods #98
• Appearance of labels is unexpected and misleading.
  • The "Do A" is a result of the display-name getting set
  • The full solution to this problem is blocked on the Name Harmonization bugs:
    • plan-schema Fixed TPN notation for incidence-set #22 Approach to handling errors
    • pamela Develop new HTN->TPN generation algorithm #41 Develop new HTN->TPN generation algorithm
    • pamela Harmonize TPN and HTN schemas #43 Harmonize TPN and HTN schemas
    • planviz some TPN activity slots are missing values #55 Planviz support for name harmonization

[dcerys]

All of the items in this compound issue have been included in separate, individual issues