Bug on compilation?

[francescofuggitti]

The formula O(end) & ~((~(hasDoneD)) S ((hasDoneE) & (~(hasDoneD)))) is not enforced in the actual plan. The first part of the formula is a reachability goal (i.e., reach the end), the second part of the formula intuitively says "whenever hasDoneE happens, hasDoneD has to happen eventually afterwards", which matches the DECLARE Response(hasDoneE, hasDoneD) template.

A minimal reproducible example is:

from pathlib import Path
from pddl.formatter import domain_to_string, problem_to_string
from pddl.parser.domain import DomainParser
from pddl.parser.problem import ProblemParser
from pylogics.parsers import parse_pltl
from plan4past.compiler import Compiler

goal = "O(end) & ~((~(hasDoneD)) S ((hasDoneE) & (~(hasDoneD))))"

domain_parser = DomainParser()
problem_parser = ProblemParser()

domain = domain_parser(Path("domain.pddl").read_text(encoding="utf-8"))
problem = problem_parser(Path("problem.pddl").read_text(encoding="utf-8"))
formula = parse_pltl(goal)

compiler = Compiler(domain, problem, formula)
compiler.compile()
compiled_domain, compiled_problem = compiler.result

try:
    with open("./new-domain.pddl", "w+", encoding="utf-8") as d:
        d.write(domain_to_string(compiled_domain))
    with open("./new-problem.pddl", "w+", encoding="utf-8") as p:
        p.write(problem_to_string(compiled_problem))
except Exception as e:
    raise IOError(
        "Something wrong occurred while writing the compiled domain and problem."
    ) from e

with the following minimal domain.pddl and the problem.pddl.

The expected plan would be:

• b, c, e, d, goal

[francescofuggitti]

Looking better at the formula, we found that this is actually not a bug on the compilation but at problem about the specification.